WO2019208871A1

WO2019208871A1 - Distribution/transportation cable robot system and method for managing distribution by using same

Info

Publication number: WO2019208871A1
Application number: PCT/KR2018/007034
Authority: WO
Inventors: 김창세; 박종오; 최은표; 김학준; 정진우
Original assignee: 전남대학교산학협력단
Priority date: 2018-04-25
Filing date: 2018-06-21
Publication date: 2019-10-31

Abstract

The present invention relates to a robot system controlled by a cable and, more specifically, to a multi-distribution/transportation cable robot system capable of transporting and classifying cargo throughout an entire distribution warehouse or distribution storage yard. The purpose of the present invention is to provide a cable robot system and a method for managing distribution, the cable robot system being capable of freely conducting distribution/transportation without a conveyor system by comprising: a first cable robot (10) comprising a first end effector (13), first winch modules (11) arranged in front of and behind the first end effector (13), and cables (121, 122, 123) for moving the first end effector (13); a second cable robot (20) comprising a second end effector (23) and second winch modules (21), which are identical to the first end effector (13) and the first winch modules (11), respectively, and cables (221, 223, 223); a third cable robot (30) comprising third winch modules (31) installed on the first and second end effectors (23), respectively, a third end effector (33) arranged between the first and second end effectors (23), and cables (321, 322, 323); and a controller.

Description

Logistics transfer cable robot system and logistics management method using the same

The present invention relates to a logistics transport system, and more particularly, to a multi-logistic transport cable robot system capable of transporting and sorting cargo throughout a logistics warehouse or a logistics yard as a cable-controlled robot system.

Logistics warehouses, where many cargoes are stored, play an important role that forms the backbone of not only each business site but also the entire industry in that the more efficiently managed, the more efficient the logistics warehouse can be.

Therefore, the technology to achieve efficient cargo transfer and fast cargo entry into the right place in the logistics warehouse is a field that is continuously researched and developed regardless of the market situation.

The related art can be broadly classified into a technology related to a management system of a logistics warehouse and a technology related to a device or a system in which cargo is transported and stacked in the warehouse.

By the way, most of the prior art related to the device or system that is responsible for the transport and loading of cargo is a type of technology in which a large conveyor is installed over the entire space of the warehouse.

For example, the 'automatic cargo loading device and the cargo transfer system using the same' disclosed in the Republic of Korea Patent Publication No. 10-2017-0047888 (published date: 2017. 05. 08) shown in FIG. Apparatus 100 and a cargo transfer system using the same. The present invention is composed of a main frame 110, a plurality of loading conveyors (130, 180) provided at different heights on the main frame 110, and the transmission means 150 rotatably provided on the main frame (110) In order to load a plurality of cargoes sequentially on the

stacking conveyors

130 and 180 of a plurality of floors, a loading performance of the transfer apparatus 100 is improved, and a technology capable of automating a loading operation is proposed.

By the way, the prior art has the advantage of automating the loading and transportation of cargo in a large cargo warehouse, but in order to realize this requires equipment that is formed throughout the cargo loading rack (S) requires a huge installation cost, so many mechanical configurations There is a problem that requires a considerable cost for maintenance.

Meanwhile, in the logistics storage space goods location management system and logistics storage space goods location management method disclosed in the Republic of Korea Patent Publication No. 10-1301151 (Registration Date: Aug. 21, 2013) of the prior art, accurate three-dimensional of the load goods Although there is an advantage in providing information, the logistics transfer in the warehouse is dependent on the forklift, so the internal logistics transfer itself cannot be made under the control of the system, and there is a possibility that a loading error may occur due to a worker's mistake, especially a large height. If the rack (S) is installed there is a problem that the loading operation must be made dangerously by mobilizing a separate crane.

Therefore, while the logistics transfer can be made accurately and freely across all the plurality of cargo racks, the conveyor system does not need to be installed over all the multiple cargo racks, thereby reducing the cost, and also the logistics transportation between the multiple cargo racks. There is no need to rely on, and even in the case of a high position cargo stack (S) is required a technology for a logistics transport system that can be freely in and out of logistics.

[Preceding technical literature]

1. Korean Patent Publication No. 10-2017-0047888 (published date: 2017. 05. 08)

2. Republic of Korea Patent Publication No. 10-1301151 (Registration Date: 2013. 08. 21)

Accordingly, the present invention is to improve the problems of the prior art, the logistics transport can be made accurately and freely without the conveyor system is installed throughout the plurality of cargo racks can be reduced costs, and also between the plurality of cargo racks Logistics transfer does not need to depend on the forklift, and in the case of a cargo stack S in a high position, it is intended to provide a multi-logistics transport cable robot system and a logistics management method capable of free access of logistics.

The multi-logistics transport cable robot system according to the present invention for achieving this object, the first end effector 13 and the front end and the rear end of the first end effector 13 having a predetermined internal space having a frame shape, respectively When the first winch module 11 and the first end effector 13 disposed are connected to the first winch module 11 at the front and the rear, respectively, and are unwound from one of the first winch modules 11, the remaining first winch module 11 is connected to the first winch module 11. The first cable robot 10 and the first end effector 13 and the first winch module, which are composed of

cables

121, 122, and 123 which move the first end effector 13 in the winding direction by being wound by the winch module 11. A second cable robot composed of the second end effector 23, the second winch module 21, and the

cables

221, 222, and 223 which are the same as the one in (11), and are arranged in parallel with the first cable robot 10 and spaced apart by a predetermined distance. 20 and the first end effector 13 and the second end effector 23, respectively. The third winch module 31, the third end effector 33 disposed between the first end effector 13 and the second end effector 23, and the third winch module 31 and the third end effector ( And a third cable robot 30 composed of

cables

321, 322, and 323 connecting the 33, respectively, and a control unit controlling the first to

third winch modules

11, 21, and 31.

The multi-logistics transport cable robot system and the logistics management method according to the present invention do not need to install a conveyor system over all of the plurality of cargo racks, while the logistics transport can be made precisely and freely across the plurality of cargo racks, thereby enormous cost. It can be reduced, and also the logistics transport between a plurality of cargo racks do not need to depend on the forklift, and even in the case of a high position cargo stack (S) there is an effect that can freely enter and exit the logistics.

1 is a perspective view of the prior art,

2 is a perspective view of a cable robot system according to a first embodiment of the present invention;

3 is a perspective view of the system of FIG. 2 installed in a distribution rack;

4 is an enlarged perspective view of the first cable robot in FIG.

5 is an enlarged perspective view of the third cable robot in FIG.

6 is a conceptual diagram illustrating an embodiment of a winch module;

7 is a conceptual diagram illustrating a loading module;

8 is a perspective view of a cable robot system according to a second embodiment of the present invention;

9 is a front view of FIG. 8;

10 is an operating state diagram continuing from FIG. 9;

11 is a conceptual diagram showing the configuration of a drive winch.

Specific structural or functional descriptions presented in the embodiments of the present invention are only illustrated for the purpose of describing the embodiments according to the inventive concept, and the embodiments according to the inventive concept may be implemented in various forms. In addition, it should not be construed as limited to the embodiments described herein, it should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention.

Hereinafter, with reference to the accompanying drawings will be described in detail with respect to the present invention.

Logistics transport cable robot system and a logistics management method using the same according to the present invention will be described through the following two embodiments. Each embodiment proposes a configuration in which the logistics movement is fully automated without the conveyor system being installed over the entire warehouse or logistics yard by adopting the same principle.

In both embodiments, a logistics transport cable robot system and a logistics management method are presented for each embodiment.

Hereinafter, each embodiment will be described one by one.

<제1실시예>First Embodiment

For reference, as shown in FIG. 2, the longitudinal direction of any one cargo stack S is referred to as the y axis, and the direction in which the plurality of cargo stacks S are arranged in sequence is referred to as the x axis, and the height direction is the z axis. Let's call it.

The cables connected to the lower front and rear of the first end effector 13 are called first and

second cables

121 and 122, and the cables connected to the upper front and rear of the first end effector 13 are third cables. The cables connected to the lower front and rear of the second end effector 13 are referred to as 123 and the fourth and

fifth cables

221 and 222, and the cables connected to the upper front and rear of the second end effector 23. The cable is called a sixth cable 223, and the cables connected to the lower front and rear of the third end effector 33 are called the seventh and

eighth cables

321 and 322, and the upper front of the third end effector 33. And the cable connected to the rear will be referred to as the ninth cable (123).

As shown in FIG. 2, the cable robot system according to the present exemplary embodiment includes first and

second cable robots

10 and 20 facing each other along the longitudinal direction of the corridor formed between the cargo stacks S and disposed at right angles to the corridor direction. ), A third cable robot 30 including a third end effector 33 moved between the first and

second cable robots

10 and 20, and a control unit.

As shown in FIGS. 2 and 4, the first cable robot 10 includes a first end effector 13 and a front end and a rear end of the first end effector 13 having a frame shape, respectively. First to

third cables

121, 122, and 123 to the first winch module 11 disposed and the first end effector 13 to the first winch module 11 installed at the front and the rear of the first end effector 13, respectively. When the cable is unwinded from any one of the first winch module 11 by connecting to the first winch module 11 to move the first end effector 13 in the winding direction when the cable is wound in the first winch module 11 It consists of three

cables

121, 122 and 123.

That is, the first winch module 11 varies the

first cables

121 and 122 along the x-axis direction shown in FIGS. 2 and 4, where the

first cables

121 and 122 are x of the first end effector 13. The first end effector 13 is moved in the winding direction when one of the

first cables

121 and 122 is wound up and unwinded on the other side, connected to both ends in the axial direction.

The second cable robot 20 is the same as the first end effector 13 and the first winch module 11, the second end effector 23 and the second winch module 21, and the fourth to

sixth cables

221, 222, and 223. It is configured to, and parallel to the first cable robot 10 is arranged spaced apart by a predetermined distance.

The third cable robot 30 includes a third winch module 31 installed in the first end effector 13 and the second end effector 23, and the first end effector 13 and the second end effector 23. And a third end effector 33 disposed between the third end effector 33 and seventh to

ninth cables

321, 322, and 323 connecting the third winch module 31 and the third end effector 33, respectively.

The first to

third winch modules

11, 21, and 31 are installed at the front and rear of each end effector, and three drums 41 are installed at any one of the front or rear winch modules. Six drums 41 are installed in the

winch modules

11, 21, and 31, respectively.

The controller controls the first to

third winch modules

11, 21, and 31 so that the third end effector 33 finally withdraws or loads the cargo according to the place where the cargo is loaded or the place where the cargo is to be loaded. Command is sent.

As shown in FIG. 3, both the first winch module 11 constituting the first cable robot 10 and the second winch module 21 constituting the second cable robot 20 are spaced at regular intervals. In the rack (S) arranged in parallel to form a plurality of corridors are arranged on the side of the front rack and the rear rack of the rack (S).

As shown in FIG. 5, unlike the first and

second cable robots

10 and 20, the third winch module 31 constituting the third cable robot 30 is directly the first and second end effectors 13. , Respectively, the seventh to

ninth cables

321, 322, and 323, which are installed at the 23 and connected to the third winch module 31 installed at the first and

second end effectors

13 and 23, respectively, are wound on one side and some on the other. As the unwinded, the third end effector 33 moves. At this time, the third end effector 33 is in charge of directly transporting or loading cargo.

Therefore, in the present invention, the conveyor or similar equipment can be freely loaded or withdrawn the cargo in the required position with only each end effector that is variable by cables without having to be installed to pass each part of every rack (S). have.

The cable robot of any one of the first to

third cable robots

10, 20, and 30 may change the end effector only on a two-dimensional plane in which the x-axis extends vertically, but the first and second end effectors 13 The third cable robot 30 is installed to allow the third end effector 33 to be variable between the first and second cable robots 30, that is, the third cable robot 30 is connected to the first and

second cable robots

10 and 20. By being variably installed in the y-axis direction, the third cable robot 30 is finally configured to be freely movable in a three-dimensional space, so that the conveyor or the whole area of each rack S on which cargo is loaded can be moved. Since cargo can be freely loaded and transported without the construction of similar facilities, an optimal and effective logistics management system can be constructed without enormous equipment installation costs.

At this time, the third end effector 33 is wound when one of the seventh to

ninth cables

321, 322, and 323 connected to the front and rear of the third end effector 33 are respectively wound on the y-axis direction and the other is unwound. Is moved in the direction.

In particular, as shown in FIG. 3, each cargo stack S is installed high, but the first and

second end effectors

13, 23 vary upward due to the first and second high-altitude pulleys 14, 24. As the first and

second end effectors

13 and 23 are eventually varied in the x-axis and z-axis directions, the third end effector 33 also varies in the x-axis and z-axis directions, thereby providing a cargo stack (S). You can move from one corridor between the next to the next corridor.

Looking at the first cable robot 10 in more detail with reference to FIG. 4, three first winch modules 11 may be installed on both sides of the first cable robot 10, respectively.

In this case, as shown in FIG. 4, since the drums 41 installed on the first winch module 11 are installed in three units on both sides, a total of six drums 41 are installed. In addition, two of the three drums 41 constituting the first winch module 11 installed on one side of the first end effector 13 on the x-axis are formed on the front lower portion of the first end effector 13. Two

cables

121 and 122 are connected, and the other one is connected to the upper front of the first end effector 13 by a third cable 123.

For reference, although not shown in detail, the

first cables

121, 122, 123 and the first end effector 13 may be connected by a ring method, or may be connected by using a revolute joint, or a combination of a ring and a rotating joint. May be connected.

Here, the first and

second cables

121 and 122 support the load of the first end effector 13 and maintain the balance of the first end effector 13.

The third cable 123 is connected to the upper end of the first end effector 13 to maintain the load and balance of the first end effector 13.

And the third cable robot 30 is also installed in a similar configuration as the first and second cable robot (10, 20) as shown in FIG. However, the third end effector 33 may be made somewhat smaller than the first and

second end effectors

13 and 23.

In this case, each of the first to

third winch modules

11, 21, and 31 may be configured as shown in FIG. 6. For reference, as illustrated in the foregoing description and FIG. 2, each of the first to

third winch modules

11, 21, and 31 is provided with six drums 41. Six drums 41 are arranged at the front and rear of each end effector, respectively, of which two cables 41 are wound on the lower end of the end effector via a

high pulley

14 and 24. , The cable wound on the other drum 41 may be directly connected to the top of the end effector.

Specifically, each of the first to

third winch modules

11, 21, and 31 is provided with three cylindrical drums 41 to which cables are wound, and each drum 41 to uniformly wind the cables to the drum 41. The variable pulley 44 and the guide pulley 45, the variable mechanism for moving the variable pulley 44 corresponding to the cable winding speed along the longitudinal direction of the drum 41, and the drum drive motor 42.

Here, the variable mechanism includes a front timing pulley 48a coaxially connected to the drum 41 to be rotated, a rear timing timing pulley 48b disposed in parallel with the front timing pulley 48a, and front and rear timing pulleys. The belt 49 for connecting and synchronizing the 48a and 48b, and the variable screw pulley 44 while being variable by riding the screw rotation shaft 46a and the screw rotation shaft 46a coaxially connected to the rear timing pulley 48b, By consisting of a ball screw made of a variable nut block 46b with a variable pulley 44, the cable winding position guided to the variable pulley 44 in accordance with the speed at which the cable is wound on the drum 41 is interlocked, the cable The drum 41 is wound up at even intervals.

In particular, the nut block 46b for moving the variable pulley 44 is directly moved by the rotation of the screw rotation shaft 46a which is rotated in conjunction with the drum 41, and the linkage is moved to the front and rear timing pulleys 48a and 48b. Since the variable pulley 44 is variable at an optimum speed according to the diameter of the front and rear timing pulleys 48a and 48b, the cable can be wound around the drum 41 at regular intervals. Therefore, there is a special effect that the cable is wound around the drum 41 at regular intervals even if a separate screw rotation shaft 46a driving mechanism is not provided and interlocked with the control unit.

In this case, as shown in FIG. 6, a variable support mechanism may be necessary to prevent the nut block 46b from rotating together with the screw rotation shaft 46a and to make a linear motion. In the embodiment of the present invention, the nut block 46b is connected to the guide roller 47a, and the guide roller 47a is configured to be passively variable along the guide rail 47b. However, in the known art, a variable support mechanism other than the guide roller 47a and the guide rail 47b may be adopted.

In addition, an encoder that detects a change in the length of the cable or a load cell (not shown) for detecting the tension may be installed. The tension detection signal detected by the load cell (not shown) is transmitted to a control unit to be described later, and the control unit may perform accurate position control of the end effector by utilizing tension and encoder information of the cable transmitted from the winch.

In addition, as shown in FIG. 6, the motor driver 43 may be installed to control the rotational drive of the motor by a control signal transmitted from the controller.

On the other hand, the third end effector 33 needs to be provided with a means for loading or withdrawing cargo, that is, the loading module 36 in the cargo stack (S).

The shape and structure of the stacking module 36 that performs this action can be adopted in the prior art without any particular limitation, one embodiment of which is shown in FIG. However, in FIG. 7, in addition to the method of maintaining the balance of the third end effector 33 by adjusting the cable, a supplemental maintaining means of the third end effector 33 is provided.

The loading module 36 includes a fork foot 362 and a fork foot for driving the fork foot 362 to move the cargo loaded in the third end effector 33 and load the cargo in the cargo rack as shown in FIG. 7. In order to prevent the driver 361 and the third end effector 33 from inclining according to the moving position of the load, the weight body 365 and the weight body 365 installed on the bottom of the third end effector 33 and varying the weight body ( 365 may be configured as a weight 365 driver to vary.

Here, the fork foot driver 361 may be any known mechanism as long as the fork foot 362 is a mechanism capable of varying the fork foot 362. In FIG. 7, the fork foot driver 361 is illustrated as a cylinder mechanism operated by pneumatic or hydraulic pressure.

In addition, a weight 365 driver for varying the weight body 365 may also adopt any known technique, and in FIG. 7, a pinion and a rack gear 363 are used. The pinion and the rack gear 363 allow for more precise position control of the weight body 365.

For reference, the third end effector 33 may move in the y-axis and z-axis due to the third winch module 31, and may also be moved along with the first and

second end effectors

13 and 23 to move in the x-axis. The third winch module 31 has a total of five degrees of freedom since the rotation operation is possible based on the x-axis and the y-axis. Accordingly, the inclination of the third end effector 33 as the cargo moves on the third end effector 33 includes six drums included in the third winch module 31, that is, the first and

second end effectors

13 and 23. 3 can be controlled by three drums 41 respectively installed.

For reference, the control of the change in cable length can be determined by the following equation.

Li = ai-x-R ＊ bi

(N = 1 to n, where n is the number of cables, where n = 6, since six drive cables are all connected to one end effector.)

(Li is the length of the i-th cable, and each cable is the length from the pulley breakout point to the end effector connection point.)

(ai is the position of the i-th pulley breakpoint.)

(x is the position of the end effector)

(R is the rotation angle of the end effector)

(bi is the position on the end effector junction end effector.)

In addition, in the present invention, additional means for horizontal adjustment may be installed in the form of a weight body 365, rack gear 363, pinion gear 364 and the horizontal sensor 366, as will be described later. Here, the horizontal sensor 366 may transmit the information value of the degree out of the horizontal to the control unit to enable the control unit to operate the third winch module 31 to maintain the level of the third end effector 33.

That is, the control unit which receives the information provided by the horizontal sensor 366 operates the third winch module 31 by its own calculation or the weight body 365 in the direction in which the third end effector 33 can be horizontally maintained. ) Can be moved.

On the other hand, in the logistics management method using a multi-logistics transport cable robot system according to the present embodiment, when a certain horizontal direction is called the x-axis, a horizontal direction perpendicular to the x-axis is called the y-axis, and the height direction is called a z-axis The first cable robot 10 is installed so that the first end effector 13 is changed into first to

third cables

121, 122, and 123 along the x-axis and z-axis directions, and a predetermined distance from the first end effector 13. After installing the second cable robot 20 so that the second end effector 23 can be changed into the fourth to

sixth cables

221, 222, and 223 along the x-axis and z-axis directions at the points spaced apart from each other. The third cable robot 30 may vary between the seventh and

ninth cables

321, 322, and 323 along the y-axis and z-axis directions between the effector 13 and the second end effector 23. ) And the third end effector 33 in the y-axis and z-axis directions with the first and

second end effectors

13 and 23 stopped. The second end effector 33 also moves along the x-axis and z-axis by simultaneously varying the first and

second end effectors

13 and 23 in the x-axis and z-axis directions while moving the cargo. The third and

second end effectors

13 and 23 raise the third end effector 33 in the z-axis direction, and the first and second end effectors in the third step. By moving (13,23) in the x-axis direction, the third end effector 33 is moved in the x-axis direction over the loaded cargo top, in which case the time relationship between the second and third steps is Characterized in that there is no.

In this case, in loading or unloading any cargo into the cargo stack S in the second end effector 33 in the second step, when the cargo is moved inside the third end effector 33, the third end effector When the inclination (33) is inclined, the seventh cable (321) and the other side of the four of the seventh and eighth cables (321,322) connected to the lower end of the third end effector (33) to maintain the load and balance By varying the winding or unwinding length of the eighth cable 322, the third end effector 33 may be rotated by a predetermined angle with respect to the y-axis to maintain the third end effector 33 horizontally. .

Alternatively, the seventh and

eighth cables

321 and 322 connecting lower portions of the first end effector 13 and the third end effector 33 and the lower end of the third end effector 23 and the third end effector 33 may be connected. The ratio of the seventh and

eighth cables

321 and 322 is that the ninth cable 323 and the second end effector 23 and the third end connecting the first end effector 13 and the third end effector 33 to the upper portion. By changing the third end effector 33 to be rotated by an angle with respect to the x-axis by changing the ratio of the ninth cable 323 connecting the upper part of the effector 33 to the horizontal level of the third end effector 33. Can be maintained.

In particular, in the second step, as shown in FIG. 7, a variable fork foot 362 is installed in the third end effector 33 so that the cargo loaded in the third end effector 33 can be loaded into the rack. When the third end effector 33 is tilted as the fork foot 362 moves the cargo in the rack direction, a variable weight 365 and a horizontal sensor 366 are placed on the bottom of the third end effector 33. In addition, an additional means may be provided to vary the weight body 365 in accordance with the measured value of the horizontal sensor 366 to maintain the level of the third end effector 33.

As described above, the present invention can carry out or load the cargo in the correct position with a system that is freely controlled by the controller at a much lower cost without installing the conveyor system in the form of passing through all points of the rack S on which the cargo is loaded.

<제2실시예>Second Embodiment

For reference, as shown in FIG. 8, as shown in FIG. 8, in the following, the direction in which two high-altitude stands 53 on both sides of the cargo stack S are connected in a direction perpendicular to the x-axis and the x-axis is arranged in parallel. The horizontal direction connecting the stack S will be referred to as the y-axis, and the vertical direction up and down will be referred to as the z-axis.

Logistics transport cable robot system having a cable pulley according to the present embodiment is an end effector 56 installed between the high-rise stand 53 on both sides of the cargo stack (S), the high-level stand 53 as shown in FIG. ), A drive cable 55 connecting the high-altitude stand 53 and the end effector 56, a plurality of drive winches 51 and 52 which wind or unwind the drive cable 55, and a traction mechanism 61. 62,552, the movable body 58 which is provided for each lower part of the air stand 53, and moves the air stand 53 in parallel with each other, and a control part (not shown).

As shown in FIG. 8, the altitude stand 53 is installed at each side of each of the corridors formed between any two of the plurality of cargo racks S1, S2, S3, and S4 spaced apart from each other by a predetermined distance. In other words, the high-altitude stand 53 is disposed on the x-axis line with the cargo stack S therebetween to face each other. Therefore, the altitude stand 53 is a set of two.

As shown in FIG. 8, a plurality of drive winches 51 and 52 are installed for each air stand 53, and the cable wound or unwound by the drive winches 51 and 52 is an end effector 56 to be described later. (Hereinafter, the drive winches 51 and 52 may be used to distinguish the winch for directly driving the end effector 56 to move the end effector 56 from the towing winch 61 which will be described later.) It will be called.)

As shown in FIG. 8, the end effector 56 is installed between two high-altitude stand 53 facing each other and varies along the x-axis.

The drive cable 55 (reference to the cable to be wound or wound by the drive winch (51, 52) will be referred to as the "drive cable 55" hereinafter to distinguish from the 'towing cable 552' which will be described later. ) Connects the end effector 56 and the drive winches 51, 52. Since the drive winches 51 and 52 are installed for each air stand 53 on both sides, the drive winches 51 and 52 are wound around the drive winches 51 and 52, and the drive winches 51 and 52 on the other side. When the drive cable 55 is unwound, the end effector 56 is variable toward the high-altitude stand 53 provided with the drive winches 51 and 52 to be wound.

Herein, the drive winches 51 and 52 are more specifically shown in FIG. 8 based on the first drive winch 51 directly connected to the end effector 56 by the drive cable 55 and the upper stand 53. As the drive cable 55 passes through the installed high pulley 54, it may be divided into a second drive winch 52 connected to the end effector 56.

That is, in FIG. 8, the first and second driving winches 51 and 52 are both installed at the lower part of the high-altitude stand 53, and the driving winch is directly connected to the upper part of the end effector 56 by the driving cable 55. The first drive winch 51 is referred to as a second drive winch 52, the drive cable 55 is connected to the lower portion of the end effector 56 through the high pulley 54 will be referred to as.

In this case, when the first drive winch 51 unwinds the drive cable 55, and the second drive winch 52 winds up the drive cable 55, the end effector 56 is raised and the first drive winch 51. ) Winds up the drive cable 55, and when the second drive winch 52 unwinds the drive cable 55, the end effector 56 is lowered.

Accordingly, the end effector 56 has the x-axis and z-axis directions on a plane connecting the two high-altitude stand 53 in accordance with the extent to which the first and second drive winches 51 and 52 wind up or unwind the drive cable 55. Is variable.

The control unit controls the rotation of the first and second driving winches 51 and 52 and the towing winch 61 to be described later to finally control the moving distance, direction and speed of the end effector 56.

For reference, the end effector 56 and the drive cable 55 may be connected in various ways. In the embodiment according to the present embodiment, the drive cable 55 is fastened in a ring shape installed in the end effector 56. Alternatively, although shown as being coupled, the end effector 56 and the drive cable 55 may be connected in the form of a revolute joint.

The towing winch 61 pulls a portion of the drive cable 55 connecting the first drive winch 51 and the upper part of the end effector 56 to the outer direction as shown in FIGS. After raising 56, the movable body 58 prevents the interference between the drive cable 55 and the cargo stack S when the two air stands 53 are simultaneously moved in the y-axis direction. do.

Here, a portion of the drive cable 55 connecting the first drive winch 51 and the upper end effector 56 is provided with a traction pulley 62 as shown in FIG. 9, and a traction pulley 62 and a traction pulley. Winch 61 is connected by traction cable 552. Therefore, when the towing winch 61 winds up the towing cable 552, the towing pulley 62 is changed in the direction of the towing winch 61, and the driving cable 55 at the point where the towing pulley 62 is installed is also pulled together. In the direction of 61), as shown in FIG. 10, the drive cable 55 is completely exposed to the moving stack 58 as the cargo stack S is completely exposed as if the stage curtain is fully exposed as the stage curtain is rolled up. Interference between the drive cable 55 and the cargo stack S is prevented when the 53 is moved in the y-axis direction at the same time.

Due to this interference prevention, it is only necessary to move the end effector 56 from the front of the first cargo stack S of the cargo stack S shown in FIG. 8 to the front of the second cargo stack S of S2. It is possible.

For reference, in FIG. 8, the tow cable 552 may appear to be connected to the drive cable 55 at the point where the tow cable 552 and the drive cable 55 meet, but the tow cable 552 is shown in FIGS. 9 and FIG. As shown in FIG. 10, the drive cable 55 is fixedly connected to the pulley pulley 62 rather than the drive cable 55, and the drive cable 55 riding the roller installed in the pulley pulley 62 passes the pulley pulley 62 to the pull cable 552. When towing, one spot appears to be bent.

In this case, moving the end effector 56 from the front of the S1 to the front of the S2 may be performed by moving the high-altitude stand 53 itself by mobilizing a third piece of equipment, or under the high-temperature stand 53. Alternatively, a similar wheel may be installed to push or pull the high-altitude stand 53 by human or equipment power.

Alternatively, as shown in FIG. 8, the rail 57 may be installed along the moving path of the air stand 53 so that the air stand 53 moves along the rail 57.

In this case, in order to move the air stand 53 along the rail 57, the movable body 58 may be installed in the lower part of the air stand 53 as shown in FIG. 8. The movable body 58 and the rail 57 may be moved to a driving unit (not shown) installed in the movable body 58. The driving unit (not shown) may be a type in which a wheel is engaged with a general motor and may be configured as a linear pulse propulsion type, or a rail 57 is formed of a rack gear 163 and the movable body 58 is a motor. It may be in the form of the pinion gear 164 is driven.

In this case, the controller (not shown) may control the moving distance of the moving body 58, and the drive cable 55 is flipped to both sides by the pulley pulley 62, and the drive cable 55 and the cargo stack S are separated. When the interference does not occur, the moving body 58 can be moved. The movement of the moving body 58 is a target point is set in front of the cargo stack (S) of the point when the point that needs to load or withdraw the cargo (F) is selected on the system.

Meanwhile, in the first and second drive winches 51 and 52 according to an embodiment of the present invention, a drive motor 112 disposed in the center and side surfaces of the drive motor 112 are arranged side by side as shown in FIG. 11. The dual drum 111 is connected to rotate together with the driving of the drive motor 112 is installed.

Here, the double drum 111 has a form in which the drums are arranged on both sides of the driving motor 112 in a symmetrical manner, and as shown in FIG. 8, the drive cables 55 wound or unwound from each of the drums on both sides end with each other. Since the effector 56 is balanced, the end effector is controlled by simultaneously rotating a double drum 111 consisting of two drums with one driving motor 112 without the controller (not shown) synchronizing the two drums. The balance of the end effector 56 can be maintained since the two drive cables 55 that balance 56 are variable at the same speed.

In addition, the first and second drive winches 51 and 52 are installed on both sides of the drive motor 112 and the drive motor 112, as shown in FIG. And is provided for each of the double drums 111 and consists of a variable mechanism for varying the variable pulley 114, the guide pulley 115 and the variable pulley 114 to uniformly wind the cable uniformly wound on the double drum 111 at regular intervals. It may consist of units.

If the drive cable 55 is wound around the double drum 111 in a randomly wound manner, the cable is not wound side by side at regular intervals. A situation may arise in which control for the correct movement of 56 cannot be made.

Therefore, the variable pulley 114 which acts to change the cable position just before winding so that the cable can be wound around the drum in parallel and uniformly wound on the double drum 111 is shown in FIG. It is prepared as shown in. At this time, the guide pulley 115 serves to guide the drive cable 55 to the variable pulley 114 in a fixed position.

A variable mechanism is responsible for allowing the variable pulley 114 to be variable along a length direction of the double drum 111 while being linked to rotation of the double drum 111.

As shown in FIG. 11, the variable mechanism includes a front timing pulley 118a coaxially driven to the double drum 111 and a rear timing timing pulley 118b disposed in parallel with the front timing pulley 118a. The belt 119 for connecting and synchronizing the front and rear timing pulleys 118a and 118b, and the variable pulley (Variable Pulley) while being mounted on the screw rotation shaft 116a and the screw rotation shaft 116a coaxially connected to the rear timing pulley 118b. It is composed of a ball screw consisting of a nut block 116b connected with the variable pulley 114 is connected to the 114, the cable winding guided to the variable pulley 114 according to the speed of the cable is wound on the double drum (111) The position is interlocked so that the cables are wound around the double drum 111 at even intervals.

In particular, the nut block 116b for moving the variable pulley 114 is directly moved by the rotation of the screw rotation shaft 116a which is rotated in conjunction with the dual drum 111, the linkage is the front and rear timing pulleys 118a, 118b. Since the variable pulley 114 is variable at an optimum speed according to the diameters of the front and rear timing pulleys 118a and 118b, the cable may be wound on the dual drum 111 at regular intervals. Therefore, there is a special effect that the cable is wound around the double drum 111 at regular intervals even if a separate screw rotation shaft 116a driving mechanism is not provided and interlocked with the control unit.

In this case, as shown in FIG. 11, a variable support mechanism may be necessary to prevent the nut block 116b from rotating together with the screw rotation shaft 116a and to make a linear motion. In an embodiment of the present invention, the nut block 116b is connected to the guide roller 117a, and the guide roller 117a is configured to be passively variable along the guide rail 117b. However, in the known art, a variable support mechanism other than the guide roller 117a and the guide rail 117b may be adopted.

In addition, an encoder that detects a change in the length of the cable or a load cell (not shown) for detecting the tension may be installed. The tension detection signal detected by the load cell (not shown) is transmitted to a controller which will be described later, and the controller may control the position of the end effector 56 by using the tension and encoder information of the cable transmitted from the winch.

In addition, the driving motor 112 may be provided with a motor driver 113 for controlling the rotational drive of the driving motor 112 by a control signal transmitted from the control unit as shown in FIG.

Meanwhile, in the logistics management method using the logistics transport cable robot system according to the present embodiment, referring to FIGS. 9 and 10, the end effector (when the drive cable 55 is wound or unwound with the drive winches 51 and 52) may be used. 56) in the x- or y-axis direction to load cargo F into cargo stack S with end effector 56 or to load cargo F from cargo stack S to end effector 56. Withdrawing, raising the end effector 56 in the z-axis direction while pulling or unwinding the drive cable 55 with the drive winch to raise more than the top of the cargo stack S, and towing with the towing winch 61. Winding the cable 552 to pull the pulley 62 in the x-axis direction toward the high-stand stand 53; and moving the high-level stand 53 on both sides in parallel to the y-axis direction with the movable body 58 at the same time. Pass the end effector 56 over the top of the cargo stack (S). It is a step.

The present invention described above is not limited to the above-described embodiment and the accompanying drawings, and various substitutions, modifications, and changes are possible within the scope without departing from the technical spirit of the present invention. It will be evident to those who have knowledge of.

[Description of the code]

S, S1, S2, S3, S4: Cargo Stack F: Cargo

10,20,30:

cable robot

11,21,31: winch module

13,23,33,56:

End effectors

14,24,54: High pulley

35: upper pulley 36: loading module

41: drum 42,112: drive motor

43,113: Motor driver 44,114: Variable pulley

45,115: guide

pulley

46a, 116a: screw rotation shaft

46b and 116b:

nut block

47a and 117a: guide roller

47b, 117b:

guide rails

48a, 118a: shear timing pulley

48b, 118b: Rear timing pulley 49, 119: Belt

51, 52: Drive Winch 53: High Altitude Stand

55: drive cable 57: rail

58: mobile 61: towing winch

62: towing pulley 111: double drum

121,122,123,221,222,223,321,322,323: cable

361: Fork Foot Driver 362: Fork Foot

363: rack gear 364: pinion gear

365: weight 366: horizontal sensor

552: towing cable

Claims

The first end effector 13 having a predetermined internal space and having a frame shape, the first winch module 11 disposed at the front and the rear of the first end effector 13, and the first end effector 13, respectively. To the first winch module 11 at the front and the rear, respectively, when unwound by one of the first winch modules 11, the first end effector 13 in the direction of being wound by being wound by the first winch module 11. A first cable robot (10) composed of cables (121, 122, 123) for moving);

The second end effector 23, the same as the first end effector 13 and the first winch module 11, the second winch module 21, and the cables 221, 222, and 223, and are parallel to the first cable robot 10. And second cable robot 20 and spaced apart by a predetermined distance;

A third winch module 31 installed in the first end effector 13 and the second end effector 23, and a third end disposed between the first end effector 13 and the second end effector 23. A third cable robot 30 comprising an effector 33 and cables 321, 322, 323 connecting the third winch module 31 and the third end effector 33, respectively; And,

Logistics transfer cable robot system consisting of; a control unit for controlling the first to third winch modules (11, 21, 31).
The method of claim 1,

Each of the first to third winch modules 11, 21, and 31 installed at the front or the rear of the first to third end effectors 13, 23, and 33 may have three drums 41 for winding or unwinding cables. Including,

Two of the three drums 41 are connected to both lower sides of the first to third end effectors 13, 23, and 33 by cables 121, 122, 221, 222, 321, and 322 to balance the load and balance of the first to third end effectors 33. And the other one of the three drums 41 is connected to the upper center of the first to third end effectors 13, 23, 33 by cables 123, 223, 323 to maintain load and balance,

Cables 121, 122, 221, and 222 connected to the lower sides of the first and second end effectors 13 and 23 are connected to the lower parts of the first and second end effectors 13 and 23 through the high-altitude pulleys 14 and 24. Logistics transfer cable robot system, characterized in that the first and second end effectors (13, 23) can be suspended to the height of the high pulley (14, 24).
The method of claim 1,

Each of the first to third winch modules 11, 21, and 31 installed on any one of the first to third end effectors 13, 23, and 33 may include three cylindrical drums 41 to which cables are wound. The variable pulley 44 and the guide pulley 45 which are provided for each drum 41 to wind the cable uniformly to the drum 41, and the variable pulley 44 at the cable winding speed along the longitudinal direction of the drum 41 are provided. Logistic transfer cable robot system comprising a variable mechanism for moving correspondingly, and a drum drive motor (42).
The method of claim 3,

The variable mechanism includes a front timing pulley 48a coaxially connected to the drum 41 for rotational drive, a rear end timing pulley 48b disposed in parallel with the front timing pulley 48a, and a front and rear timing pulley ( 48a and 48b are connected to the belt 49 for synchronizing and the screw rotation shaft 46a and the screw rotation shaft 46a which are coaxially connected to the rear end timing pulley 48b are variable while being connected to the variable pulley 44 By consisting of a ball screw made of a nut block 46b that is variable with the pulley 44, the cable winding position guided to the variable pulley 44 according to the speed at which the cable is wound on the drum 41 is interlocked, so that the cable Logistics transfer cable robot system, characterized in that the drum 41 is wound at a uniform interval.
The method of claim 1,

The third end effector 33 includes a fork foot 362 for moving the cargo loaded in the third end effector 33 and loading the cargo in the cargo rack, and a fork foot driver 361 for driving the fork foot 362. And a weight body 365 and a weight body 365 installed on the bottom of the third end effector 33 to prevent the third end effector 33 from tilting according to the moving position of the cargo. Logistics transfer cable robot system, characterized in that the loading module (36) consisting of a weight body (365) driver to be installed.
Claims 1 to 5 of the logistics management method using the logistics transport cable robot system consisting of any one of the claims,

When the constant horizontal direction is called the x axis, the horizontal direction perpendicular to the x axis is called the y axis, and the height direction is called the z axis,

The first cable robot 10 is installed so that the first end effector 13 is changed into the first to third cables 121, 122, and 123 along the x-axis and z-axis directions, and the first end effector 13 is fixed by a predetermined distance from the first end effector 13. After installing the second cable robot 20 so that the second end effector 23 can be changed into the fourth to sixth cables 221, 222, and 223 along the x and z-axis directions at the spaced apart point, the first end effector The third cable robot 30 allows the third end effector 33 to be varied with the seventh through ninth cables 321, 322, and 323 along the y-axis and z-axis directions between the 13 and the second end effector 23. Installing the first step;

A second step of loading or unloading cargo while moving the third end effector 33 in the y-axis and z-axis directions while the first and second end effectors 13 and 23 are stopped; And,

By varying the first and second end effector (13, 23) in the x-axis and z-axis direction at the same time, the third end effector (33) is also changed in the x-axis and z-axis direction;

In the third step, the first and second end effectors 13 and 23 raise the third end effector 33 in the z-axis direction, and the first and second end effectors 13 and 23 in the x-axis direction. By moving, the third end effector 33 is moved in the x-axis direction in a form over the loaded cargo top,

Logistics management method characterized in that there is no relationship between time between the second step and the third step.
The method of claim 6,

In the second step, a plurality of cargo stacks (S) arranged long along the y-axis direction are spaced apart in parallel, and the cargo is loaded or unloaded into any one cargo stack (S) by the third end effector (33). In the ship,

When the third end effector 33 is inclined when the cargo is moved inside the third end effector 33, the four seventh and the fifth are connected to the lower part of the third end effector 33 to maintain load and balance. By varying the winding or unwinding lengths of the seventh cable 321 on one side and the eighth cable 322 on the other side of the eight cables 321 and 322, the third end effector 33 has a predetermined angle with respect to the y axis. To be rotated,

Alternatively, the seventh and eighth cables 321 and 322 connecting the lower end of the first end effector 13 and the third end effector 33 and the lower end of the third end effector 23 and the third end effector 33 are connected to each other. The ratio of the seventh and eighth cables 321 and 322 is that the ninth cable 323 and the second end effector 23 and the third end effector connecting the upper end of the first end effector 13 and the third end effector 33. (33) By changing the third end effector 33 to be rotated by a predetermined angle with respect to the x-axis by changing it so as to be different from the ratio of the ninth cable 323 connecting the upper part,

Logistics management method characterized in that the level of the third end effector (33).
The method of claim 7, wherein

In the third end effector 33, a variable fork foot 362 is installed to load the cargo loaded in the third end effector 33 in the rack, and the fork foot 362 moves the cargo in the rack direction. When the third end effector 33 is tilted accordingly, a variable weight body 365 and a horizontal sensor 366 are disposed on the bottom of the third end effector 33, according to the measured value of the horizontal sensor 366. Logistics management method characterized in that the weight of the variable 365 to maintain the level of the third end effector (33).
Two high-altitude stands 53 spaced apart at regular intervals to face each other;

An end effector 56 disposed between the two air stands 53 and variable toward the one air stand 53;

A drive cable 55 connecting the high air stand 53 and the end effector 56;

Drive winches (51, 52) installed in the high-altitude stand (53) for varying the end effector (56) by winding or unwinding the drive cable (55);

A traction mechanism (61, 62, 552) installed in the high air stand (53) to pull a predetermined portion of the drive cable (55) above the high air stand (53);

A movable body 58 installed at each lower portion of the high stand 53 to move the high stand 53 in parallel with each other; And,

Logistics transfer cable robot system consisting of; a control unit for controlling the drive winch (51, 52) and the traction mechanism.
The method of claim 9,

The towing mechanisms 61, 62, and 552 may include a towing winch 61 installed on an upper stand 53.

A traction pulley 62 installed at a predetermined portion of the drive cable 55 to rotate in contact with the drive cable 55;

Towing winch 61 and the towing pulley 62, logistics transport cable robot system characterized in that consisting of a traction cable 552 is wound or unwound by the traction winch (61).
The method of claim 9,

The drive winches 51 and 52 are installed below the high-altitude stand 53, and some drive winches 51 are directly connected to the end effector 56 by a drive cable 55, and the other drive winches 52 are connected to the end effector 56. The drive cable 55 is connected to the end effector 56 via a high-speed roller installed on the high-stand stand 53,

At a predetermined position of the drive cable 55 directly connecting the end effector 56 and some drive winches 51, a traction pulley 62 is rotated according to the variable of the drive cable 55.

When the towing winch 61 winds up the traction cable 552, and the traction pulley 62 pulls the drive cable 55, when the high-altitude stand 53 facing the movable body 58 is moved at the same time. Logistics transfer cable robot system, characterized in that the interference between the drive cable 55 and the cargo stack (S) is prevented.
The method of claim 9,

The rails 57 are installed in parallel to each other in the lower part of the air stand 53 respectively disposed on both sides of the distribution warehouse, and the moving body 58 is moved along the rails 57. Cable robotic system.
The method of claim 10,

The drums installed on the driving winches 51 and 52 to wind or unwind the drive cables 55 may be connected to the drive motor 112 disposed at the center and side by side to both sides of the drive motor 112. Logistics transfer cable robot system, characterized in that the double drum (111) rotated together in accordance with the drive.
The method of claim 13,

The drive winches 51 and 52 are provided at both sides of the drive motor 112, the drive motor 112, and the double drums 111 to which the cables are wound, and each of the double drums 111, and the drive cables 55. ), A variable pulley 114 for winding the double drum 111 at regular intervals, a guide pulley 115 for transmitting the drive cable 55 to the variable pulley 114, and a variable mechanism for varying the variable pulley 114. Logistics transfer cable robot system, characterized in that consisting of (116a, 116b, 118a, 118b, 119).
The method of claim 14,

The variable mechanism includes a front timing pulley 118a coaxially connected to the dual drum 111 to be driven in rotation, a rear end timing pulley 118b disposed in parallel to the front timing pulley 118a, and a front and rear timing pulley ( 118a and 118b are connected to the belt 119 for synchronizing and the screw rotation shaft 116a and the screw rotation shaft 116a which are coaxially connected to the rear end timing pulley 118b and are connected to the variable pulley 114 to be variable. By consisting of a ball screw made of a nut block 116b that is variable with the pulley 114, the cable winding position guided to the variable pulley 114 in accordance with the speed at which the cable is wound on the double drum 111 is interlocked, the cable Logistics transfer cable robot system characterized in that the double drum 111 is wound at a uniform interval.
A logistics management method using a logistics transport cable robot system comprising any one of claims 9 to 15,

In a distribution warehouse in which a plurality of cargo stacks S are arranged in parallel in parallel in the longitudinal direction to form a plurality of corridors parallel to the cargo stacks S, the length of the cargo stack S is referred to as an x-axis, When the direction connecting the stacks (S) is called the y-axis, and the vertical direction is called the z-direction,

While moving or winding the drive cable 55 with the drive winch to move the end effector 56 in the x-axis or z-axis direction to load the cargo (F) in the cargo stack (S) with the end effector 56 or Withdrawing cargo F from cargo stack S to end effector 56;

Lifting the end effector 56 in the z-axis direction while winding or unwinding the drive cable 55 with the drive winch to raise more than the top of the cargo stack S;

Winding the traction cable 552 with the traction winch 61 to pull the traction pulley 62 toward the high-altitude stand 53 in the x-axis direction; And,

Passing the end effector 56 over the upper end of the cargo stack (S) by moving the high-altitude stand (53) on both sides with the movable body (58) in the y-axis direction; logistics management method using a logistics transport cable robot system.