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WO2019208871A1 - Système de robot à câble de distribution/transport et procédé de gestion de distribution mettant en œuvre ce dernier - Google Patents

Système de robot à câble de distribution/transport et procédé de gestion de distribution mettant en œuvre ce dernier Download PDF

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Publication number
WO2019208871A1
WO2019208871A1 PCT/KR2018/007034 KR2018007034W WO2019208871A1 WO 2019208871 A1 WO2019208871 A1 WO 2019208871A1 KR 2018007034 W KR2018007034 W KR 2018007034W WO 2019208871 A1 WO2019208871 A1 WO 2019208871A1
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WO
WIPO (PCT)
Prior art keywords
end effector
cable
drive
cargo
pulley
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2018/007034
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English (en)
Korean (ko)
Inventor
김창세
박종오
최은표
김학준
정진우
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Industry Foundation of Chonnam National University
Original Assignee
Industry Foundation of Chonnam National University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020180047919A external-priority patent/KR102062516B1/ko
Priority claimed from KR1020180047920A external-priority patent/KR102124388B1/ko
Application filed by Industry Foundation of Chonnam National University filed Critical Industry Foundation of Chonnam National University
Publication of WO2019208871A1 publication Critical patent/WO2019208871A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls

Definitions

  • 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.
  • 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.
  • FIG. Apparatus 100 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)
  • a loading performance of the transfer apparatus 100 is improved, and a technology capable of automating a loading operation is proposed.
  • 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.
  • 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.
  • 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 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
  • 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 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.
  • S cargo stack
  • FIG. 2 is a perspective view of a cable robot system according to a first embodiment of the present invention
  • FIG. 3 is a perspective view of the system of FIG. 2 installed in a distribution rack;
  • FIG. 4 is an enlarged perspective view of the first cable robot in FIG.
  • FIG. 5 is an enlarged perspective view of the third cable robot in FIG.
  • FIG. 6 is a conceptual diagram illustrating an embodiment of a winch module
  • FIG. 7 is a conceptual diagram illustrating a loading module
  • FIG. 8 is a perspective view of a cable robot system according to a second embodiment of the present invention.
  • FIG. 9 is a front view of FIG. 8;
  • FIG. 10 is an operating state diagram continuing from FIG. 9;
  • 11 is a conceptual diagram showing the configuration of a drive winch.
  • the longitudinal direction of any one cargo stack S is referred to as the y axis
  • the direction in which the plurality of cargo stacks S are arranged in sequence is referred to as the x axis
  • the height direction is the z axis.
  • 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.
  • the cable connected to the rear will be referred to as the ninth cable (123).
  • the cable robot system 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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).
  • the third winch module 31 constituting the third cable robot 30 is directly the first and second end effectors 13.
  • 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.
  • the third end effector 33 moves.
  • the third end effector 33 is in charge of directly transporting or loading cargo.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • three first winch modules 11 may be installed on both sides of the first cable robot 10, respectively.
  • 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.
  • 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.
  • 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.
  • the third end effector 33 may be made somewhat smaller than the first and second end effectors 13 and 23.
  • each of the first to third winch modules 11, 21, and 31 may be configured as shown in FIG. 6.
  • 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.
  • 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 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.
  • a ball screw made of a variable nut block 46b with a variable pulley 44 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.
  • 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.
  • 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.
  • 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.
  • a variable support mechanism other than the guide roller 47a and the guide rail 47b may be adopted.
  • 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.
  • the motor driver 43 may be installed to control the rotational drive of the motor by a control signal transmitted from the controller.
  • 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.
  • 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.
  • 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.
  • the fork foot driver 361 is illustrated as a cylinder mechanism operated by pneumatic or hydraulic pressure.
  • 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.
  • 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.
  • control of the change in cable length can be determined by the following equation.
  • 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.
  • 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.
  • 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.
  • the logistics management method using a multi-logistics transport cable robot system 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.
  • 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.
  • 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.
  • the third end effector 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
  • 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.
  • 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.
  • 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.
  • a variable weight 365 and a horizontal sensor 366 are placed on the bottom of the third end effector 33.
  • 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.
  • 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.
  • 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 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).
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the end effector 56 and the drive cable 55 may be connected in various ways.
  • the drive cable 55 is fastened in a ring shape installed in the end effector 56.
  • 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.
  • 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.
  • 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.
  • 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.
  • towing one spot appears to be bent.
  • 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.
  • a similar wheel may be installed to push or pull the high-altitude stand 53 by human or equipment power.
  • 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.
  • 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.
  • the controller 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • a variable support mechanism other than the guide roller 117a and the guide rail 117b may be adopted.
  • 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.
  • 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.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un système de robot commandé par un câble et, plus précisément, un système de robot à câble de transport/distribution multiple apte à transporter et à classer une cargaison dans l'ensemble d'un entrepôt de distribution ou d'un parc de stockage de distribution. Le but de la présente invention est de fournir un système de robot à câble et un procédé destiné à la gestion de la distribution, le système de robot à câble étant apte à effectuer librement une distribution/transport sans système de transporteur, en comprenant : un premier robot à câble (10) comprenant un premier effecteur d'extrémité (13), des premiers modules de treuil (11) disposés devant et derrière le premier effecteur d'extrémité (13), et des câbles (121, 122, 123) destinés à déplacer le premier effecteur d'extrémité (13) ; un deuxième robot à câble (20) comprenant un deuxième effecteur d'extrémité (23) et des deuxièmes modules de treuil (21), qui sont identiques au premier effecteur d'extrémité (13) et aux premiers modules de treuil (11), respectivement, et des câbles (221, 223, 223) ; un troisième robot à câble (30) comprenant des troisièmes modules de treuil (31) logés sur les premier et deuxième effecteurs d'extrémité (23), respectivement, un troisième effecteur d'extrémité (33) disposé entre les premier et deuxième effecteurs d'extrémité (23), et des câbles (321, 322, 323) ; et un dispositif de commande.
PCT/KR2018/007034 2018-04-25 2018-06-21 Système de robot à câble de distribution/transport et procédé de gestion de distribution mettant en œuvre ce dernier Ceased WO2019208871A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR10-2018-0047920 2018-04-25
KR1020180047919A KR102062516B1 (ko) 2018-04-25 2018-04-25 다중 물류이송 케이블 로봇 시스템 및 이를 이용한 물류 관리 방법
KR10-2018-0047919 2018-04-25
KR1020180047920A KR102124388B1 (ko) 2018-04-25 2018-04-25 케이블 견인 도르래를 갖는 물류이송 케이블 로봇 시스템 및 이를 이용한 물류 관리 방법

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Publication Number Publication Date
WO2019208871A1 true WO2019208871A1 (fr) 2019-10-31

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PCT/KR2018/007034 Ceased WO2019208871A1 (fr) 2018-04-25 2018-06-21 Système de robot à câble de distribution/transport et procédé de gestion de distribution mettant en œuvre ce dernier

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WO (1) WO2019208871A1 (fr)

Cited By (1)

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CN113650035A (zh) * 2021-09-16 2021-11-16 南京信息工程大学 一种绳驱动汽车换挡机器人

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JP2014504397A (ja) * 2010-11-24 2014-02-20 サムスン ヘビー インダストリーズ カンパニー リミテッド ワイヤを用いた自律移動装置の制御システム及びその方法
KR20140065058A (ko) * 2012-11-21 2014-05-29 주식회사 에스에프에이 멀티태스킹 스토커 시스템
KR20140118309A (ko) * 2013-03-28 2014-10-08 현대제철 주식회사 차체 부품 운반용 지그
KR101667274B1 (ko) * 2015-09-24 2016-10-19 대우조선해양 주식회사 백히팅용 케이블 로봇
KR20170137504A (ko) * 2016-06-03 2017-12-13 전남대학교산학협력단 케이블 로봇용 윈치모듈

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Publication number Priority date Publication date Assignee Title
JP2014504397A (ja) * 2010-11-24 2014-02-20 サムスン ヘビー インダストリーズ カンパニー リミテッド ワイヤを用いた自律移動装置の制御システム及びその方法
KR20140065058A (ko) * 2012-11-21 2014-05-29 주식회사 에스에프에이 멀티태스킹 스토커 시스템
KR20140118309A (ko) * 2013-03-28 2014-10-08 현대제철 주식회사 차체 부품 운반용 지그
KR101667274B1 (ko) * 2015-09-24 2016-10-19 대우조선해양 주식회사 백히팅용 케이블 로봇
KR20170137504A (ko) * 2016-06-03 2017-12-13 전남대학교산학협력단 케이블 로봇용 윈치모듈

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113650035A (zh) * 2021-09-16 2021-11-16 南京信息工程大学 一种绳驱动汽车换挡机器人

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