WO2023038383A1 - Pickup robot - Google Patents

Abstract

The present invention provides a pickup robot comprising: a body part which has a cuboid-shaped exterior, formed by a plurality of frames, and has a plurality of wheels rotatably installed on each of the four sides at the bottom portion thereof, so as to move to a set location along an X-track or a Y-track; a picking part which comprises a support arm, protruding from the top portion of the outer surface on one side of the body part along the width direction of the body part, and a picking plate for picking goods up, mounted to the support arm so as to be able to ascend and descend along the height direction of the body part; and a wheel tilting operation part provided inside the bottom portion of the body part, for tilting the upper portions of the wheels arranged in parallel to the Y-track toward the outer surface of the body part when the body part moves along the X-track, and tilting the upper portions of the wheels arranged in parallel to the X-track toward the outer surface of the body part when the body part moves along the Y-track.

Description

pickup robot

The present invention relates to a pickup robot, and relates to a pickup robot that enables the pickup robot to stably and quickly change direction and move along X and Y tracks.

Recently, many domestic companies are introducing various types of logistics systems to maximize profits and increase efficiency in logistics management. Accordingly, as the interest and necessity of logistics technology increases, research in related fields such as logistics transfer, urban logistics, automation, efficiency, eco-friendly technology, and unmanned technology is being actively conducted. In particular, an automatic guided vehicle (AGV), that is, a logistics robot, is positioned as an important factor in determining productivity.

In addition, the logistics market is rapidly changing due to the popularization of smartphones, the rapid growth of the E-commerce market based on FinTech technology, and overheated competition in the logistics industry.

However, the current logistics site is in a reality where it is very difficult to secure manpower due to the nature of the logistics industry as a labor-intensive industry that operates 24 hours a day, a decrease in the labor force due to aging, and an increase in labor costs.

Specifically, it is a phenomenon of labor shortage due to population aging. In other words, due to the decrease in the productive population and the increase in the elderly population, it is a problem of an increase in labor costs and a decrease in the labor force.

In addition, it is difficult to secure manpower due to high work intensity and low work efficiency of unskilled workers. It can be said that the workload of the logistics site is very high compared to other industries, and due to this, the supply and demand of labor at the site is in a very difficult situation.

Logistics sites are becoming a field in which it is difficult for workers with physical inferiority, such as women and the elderly, to participate easily, and this problem is one of the factors that make it more difficult to supply and demand manpower as the working-age population is rapidly decreasing.

Due to the difficulty in securing manpower, the input of unskilled workers is unavoidable, and the improvement of the unskilled workers' work handling ability acts as an important variable for market stability and business success. It is estimated to be close to 3 times.

On the other hand, order picking at the logistics site is considered the most labor-intensive work in the warehouse and is known to form more than 55% of the operating cost in the logistics center.

In addition, since order picking requires a lot of physical labor, the process can be slow, and there is a risk of inefficient copper wire consumption affected by human error. About 55% of the time consumed due to copper wire movement in order picking work It is known to do this, and educating and guiding unskilled people on this is essential for improving productivity at the logistics site.

In fact, as customer needs diversify, the number of product stock keeping units (SKUs) to be managed in the distribution center has increased rapidly. As a result, the importance of assisting field workers in order picking is emphasized even more in modern logistics sites where logistics centers are integrated and large-scale.

Due to these various problems, labor replacement and productivity improvement can be said to be urgent, and a method of employing various robot devices is being actively considered.

The present invention has been derived to solve the above problems, and forms a V-shaped groove on a drive wheel provided in a pickup robot to improve straight drive stability when moving along X and Y tracks, and the drive wheel is selectively attached to the body. An object of the present invention is to propose a pickup robot capable of moving stably along an X track or a Y track by rapidly changing directions by tilting upward along the height direction of a part.

In order to solve the above problems, the present invention is composed of a plurality of frames to form a rectangular shape, and a plurality of wheels are rotatably installed on each of the four sides of the lower part to move to a set position along the X track or Y track. a body part; A picking unit composed of a support arm protruding from an upper portion of one outer surface of the body portion along the width direction of the body portion, and a picking plate installed on the support arm to be movable up and down along the height direction of the body portion to pick logistics. and; It is provided inside the lower side of the body so that when the body moves along the X track, the upper part of the wheel arranged in parallel with the Y track is tilted so as to approach the outer surface of the body, and the body portion along the Y track a wheel tilting driver for tilting an upper portion of the wheel arranged in parallel with the X track to approach an outer surface of the body during movement; We present a pickup robot characterized by including.

Here, the wheel is rotatably coupled to a wheel shaft rotatably hinged upward to a side surface of the body portion, and the wheel tilting driving unit includes a 'c'-shaped connection bracket having both ends coupled to the wheel shaft, respectively; A rotating plate rotatably installed on the frame on the upper side of the connecting bracket to selectively drive forward and reverse rotation, one end of which is rotatably installed in the upper center area of the connecting bracket and the other end is fixedly coupled to the rotating plate to rotate the rotating plate Accordingly, an interlocking member may be included to allow the wheel shaft to be lifted upward along the height direction of the body part so that the wheel is tilted.

In addition, a support piece having both ends protruding may be installed on one side of the frame to support the wheel shaft from the lower side in a state in which the wheel shaft is disposed parallel to the width direction of the body portion and prevent left and right movement.

In addition, the wheel is provided with a V-groove extending along the circumferential direction of the wheel and recessed inward along the radial direction of the wheel, and on upper surfaces of the X track and the Y track, when the wheel is seated, the V-groove is provided. A protruding rail inserted into the V groove may be provided.

In addition, both side surfaces of the protruding rail may be formed to be tapered so that the width becomes narrower toward the top along the height direction of the protruding rail so as to prevent interference with the outer surface of the wheel when the wheel is tilted.

And, on the outer surface of the wheel in contact with the X track and the Y track and on the upper part of the protruding rail in contact with the V-groove, a resin portion to improve grip between the X track and the Y track and the wheel is provided. may be provided.

In addition, a driving motor and a gear train connected to the driving motor and rotationally driven are provided on one side of the body portion, and a driven gear for rotating the wheel shaft by selectively engaging with the gear train and driving rotation is provided on one side of the wheel shaft. can be installed

In addition, when the wheel axis is disposed parallel to the width direction of the body portion, the gear train and the driven gear are engaged, and when the wheel axis is tilted with respect to the width direction of the body portion, the gear train and the driven gear can make it go away.

In addition, when the wheel shaft is disposed parallel to the width direction of the body after the gear train and the driven gear are separated, a pressing unit may be provided to press the wheel shaft so that the gear train and the driven gear are engaged.

In addition, if the pressurizing part is disposed so that the lower surface is in contact with the wheel axle, and the upper surface is provided with a sliding groove formed to be concave and curved, and an interlocking member installed to be movable up and down, and selectively moving the interlocking member downward to press the wheel axis. It may include a rotating member that is formed convexly and curvedly and is provided with a sliding protrusion contacting the sliding groove to drive rotation.

In addition, when the body portion moves along the X track, the Y wheel arranged in parallel with the Y track is moved upward along the height direction of the body portion lifting the wheel lifting drive unit; can include more.

In addition, the X wheel is rotatably coupled to a wheel shaft rotatably hinged upward to the side surface of the body, and the wheel tilting drive unit has both ends coupled to the wheel shaft. One side of a 'c'-shaped connection bracket An interlocking bar disposed on, a rotation plate rotatably installed in the frame on one side of the interlocking bar and selectively driving forward and reverse rotation, one end of which is rotatably connected to the interlocking bar and the other end is fixedly coupled to the rotation plate, and the rotation plate It may include an interlocking member for tilting the X-wheel by tilting the connecting bar to a position close to the body according to the rotation of the .

In addition, an X wheel pressing unit may be installed at one side of the wheel tilting driving unit to press the upper surface of the connecting bracket downward when the X wheel can be maintained in a horizontally disposed state.

In addition, the X-wheel pressing unit includes a driving motor, a cam member that rotates and drives by the rotation of the driving motor, a connecting member fixedly coupled to one side of the cam member and having an end extending outward, and an end of the connecting member. It may include a pressing member that is fixedly coupled to and selectively contacts and pressurizes the upper surface of the connecting bracket.

In addition, a position detection sensor capable of detecting the position of the body in the X track or Y track may be installed on one side of the X wheel pressing part.

In addition, the Y-wheel is rotatably coupled to a wheel shaft coupled to a 'c'-shaped connecting bracket having both sides connected to a guide bar so as to be able to move up and down along the height direction of the body part, and the wheel lifting driving unit is coupled to a driving motor. A rotating plate that drives forward and reverse rotation according to the drive of the driving motor, and protrudes forward of the rotating plate, and the connecting bracket is inserted between them to lift the connecting bracket according to the rotation of the rotating plate so that the Y wheel is lifted. It may include a protruding member to.

In addition, a Y-wheel pressing unit may be installed at one side of the wheel lifting driving unit to press the upper surface of the connecting bracket downward when the Y-wheel is maintained in a horizontally disposed state.

In addition, the Y-wheel pressing unit includes a driving motor, a cam member that rotates and drives according to the driving of the driving motor, a connecting member fixedly coupled to one side of the cam member and extending along the thickness direction of the cam member, It may include a pressing member that is fixedly coupled to the end of the connecting member and selectively contacts and pressurizes the upper surface of the connecting bracket.

In addition, a position detection sensor capable of detecting the position of the body in the X track or Y track may be installed on one side of the Y wheel pressing part.

In addition, when the goods are picked using the picking unit, the wheel disposed in the direction in which the picking unit is installed is seated in contact with the upper surface of the X track or the Y track, so that the wheel is supported to prevent eccentricity of the body part. can do.

In the present invention, a V-shaped groove is formed in the central region of a driving wheel provided in a pickup robot, so that when the pickup robot moves along the X and Y tracks, the top of the track is inserted into the V-shaped groove of the driving wheel, and the driving wheel There is an effect of improving the straight driving stability of the pick-up robot by allowing the rotational drive of the pickup robot to be performed.

In addition, the driving wheel of the pickup robot is selectively tilted or lifted upward along the height direction of the body so that the direction can be quickly changed so that the pickup robot can move stably along the X track or Y track. there is

1 is a perspective view showing the overall structure of a pickup robot according to an embodiment of the present invention;

2 is a side view showing a structure viewed from the side of a pick-up robot according to an embodiment of the present invention;

3 is a front view showing a structure viewed from the front of a pickup robot according to an embodiment of the present invention;

4 is an enlarged perspective view showing the structure of a wheel tilting driving unit of a pickup robot according to an embodiment of the present invention,

5 is an operating diagram showing the operation of a pickup robot according to an embodiment of the present invention;

6 is a perspective view showing the structure of a gear train of a pickup robot according to an embodiment of the present invention;

7 is a perspective view showing the structure of a pressing unit of a pickup robot according to an embodiment of the present invention;

8 is a perspective view showing the overall structure of a pickup robot according to another embodiment of the present invention;

9 is a perspective view showing the structure of a wheel tilting driving unit and a wheel pressing unit of a pickup robot according to another embodiment of the present invention;

10 is a perspective view showing the structure of a wheel tilting driving unit of a pickup robot according to another embodiment of the present invention;

11 is a perspective view showing the structure of a wheel lifting driving unit and a wheel pressing unit of a pickup robot according to another embodiment of the present invention;

12 is a perspective view of the structure of a wheel lifting drive unit of a pickup robot according to another embodiment of the present invention;

13 is a perspective view showing a connection structure between a guide bar and a connection bracket of a pickup robot according to another embodiment of the present invention.

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

1 is a perspective view showing the overall structure of a pick-up robot according to an embodiment of the present invention, FIG. 2 is a side view showing the structure of a pick-up robot according to an embodiment of the present invention viewed from the side, and FIG. It is a front view showing a structure of a pickup robot viewed from the front according to an embodiment of the present invention, and FIG. 4 is an enlarged perspective view showing the structure of a wheel tilting driving unit of a pickup robot according to an embodiment of the present invention, and FIG. 5 is an operating diagram showing the operation of a pick-up robot according to an embodiment of the present invention, FIG. 6 is a perspective view showing the structure of a gear train of a pick-up robot according to an embodiment of the present invention, and FIG. It is a perspective view showing the structure of the pressing part of the pickup robot according to an embodiment.

As shown in these figures, the pick-up robot according to an embodiment of the present invention is composed of a plurality of frames 110 to form a rectangular shape, and a plurality of wheels 120 are respectively formed on the four sides of the lower part. A body part 100 that is rotatably installed and moves to a set position along the X track 1 or Y track 2; A support arm 210 formed to protrude along the width direction of the body 100 on an upper portion of one outer surface of the body 100, and a height direction of the body 100 to the support arm 210 a picking unit 200 comprising a picking plate 220 installed to move up and down along the way and picking up logistics; The upper part of the wheel 121 provided in the lower side of the body part 100 and arranged in parallel with the Y track 2 when the body part 100 moves along the X track 1 is the body part 100. It is tilted so as to approach the outer surface of the part 100, and when the body part 100 moves along the Y track 2, the upper part of the wheel 122 arranged in parallel with the X track 1 is a wheel tilting drive unit 300 that is tilted to approach the outer surface of the body unit 100; characterized by including

The body part 100 is a member in which a plurality of frames 110 are coupled to each other to form a rectangular shape, and various parts are accommodated therein to control the driving of the wheel 120 and the driving of the picking unit 200. play a role

The body part 100 is seated on the upper side of the X track 1 or Y track 2 and is picked at a set position while moving along the X track 1 or Y track 2 by driving the wheel 120. Logistics picked by the unit 200 can be carried out or stored in the logistic storage tower.

The wheel 120 is rotatably coupled to both side surfaces of the body portion 100 arranged in parallel with the X track 1 and both sides of the body portion 100 arranged in parallel with the Y track 2, so that the body portion ( 100) serves to move along the X track (1) and Y track (2).

The wheel 120 is rotatably coupled to a wheel shaft 130 rotatably hinged upward to the side of the body portion 100, and the wheel shaft 130 is rotatably coupled to one side of the frame 110 to the body portion 100 It is effective to support the wheel shaft 130 from the lower side in a state in which it is disposed parallel to the width direction of the support piece 140 with protruding ends on both sides to prevent left and right flow.

The wheel axis 130 is hinged to one side of the frame and rotatably coupled in the up and down directions so that when the moving direction of the body 100 is changed, the upper part of the wheel 120 is close to the side surface of the body 100 It serves to enable tilting arrangement in the direction.

In addition, the support piece 130 supports the wheel shaft 130 from the lower side, and when the wheel shaft 130 tilted for direction change returns to its original position, it is excessively bent out of the direction parallel to the width direction of the body portion 100 It plays a role to enable stable driving by preventing

In addition, the upper portions of both sides of the support piece 140 in contact with the lower surface of the wheel shaft 130 protrude at a certain height along the height direction to prevent the wheel shaft 130 from flowing in the left and right directions, thereby further improving driving stability. let it be

The wheel 120 is provided with a V-groove 123 extending along the circumferential direction of the wheel 120 and recessed inward along the diametric direction of the wheel 120 to prevent departure from the driving path and ensure stable driving. On the upper surfaces of the X track 1 and the Y track 2, a protruding rail 1a inserted into the V groove 123 when the wheel 120 is seated is provided.

Therefore, when the wheel 120 is seated on the X track 1 and the Y track 2, the protruding rail 1a is inserted into the V groove 123, so the wheel 120 is separated from the track. In addition to effectively preventing the wheel 120 from flowing along the width direction in a state where the wheel 120 is seated on the track, there is an effect of increasing driving stability.

In addition, since the V-shaped groove 123 is formed in the wheel 120, the weight of the entire body 100 is equally distributed to the wheel 120, and at the same time, the wheel 120 is naturally centered while seated on the upper surface of the track. This is done so that flow prevention and separation prevention are possible.

Both side surfaces of the protruding rail 1a are narrower toward the top along the height direction of the protruding rail 1a to prevent interference with the outer surface of the wheel 120 when the wheel 120 is tilted. It is preferable to be formed to be tapered so as to be.

When the protruding rail 1a is tilted and arranged so that the width of the protruding rail 1a gradually narrows toward the top along the height direction, the body portion 100 converts the moving direction to the right angle direction. 120) of the V-shaped groove 123 and the protruding rail 1a can be prevented from mutually interfering, so that a smooth direction changing operation can be achieved.

Therefore, the angle at which both sides of the protruding rail 1a are tapered is determined according to the inclination angle of the V-shaped groove 123. When the inclination angle of the V-shaped groove 123 with respect to the bottom surface is large, the protruding rail 1a The tapered angle of ) may be small, and when the inclination angle of the V-shaped groove 123 is small, the inclination angle of the V-shaped groove 123 should be formed large.

The outer surface of the wheel 120 in contact with the X track 1 and the Y track 2 and the upper part of the protruding rail 1a in contact with the V groove 123 have the X track 1 and Y track 2 and the wheel It is preferable that the resin part 124 is provided to improve the contact force with the 120.

More specifically, the resin part 124 provided on the outer surface of the wheel 120 serves to increase the driving traction, and the resin part 124 provided on the upper part of the protruding rail 1a in contact with the V groove 123 ) serves to guide the moving direction of the wheel 120 by enabling centering during driving and preventing departure from the driving path.

On the other hand, as shown in Figure 6, one side of the body portion 100 is provided with a drive motor 150, and a gear train 160 connected to the drive motor 150 and driven to rotate, the wheel shaft 130 On one side, there is installed a driven gear 170 that rotates the wheel shaft 130 by selectively engaging with the gear train 160 and rotationally driven.

The body part 100 has a plurality of driving motors 150 installed therein so that the wheel 120 can be rotated and moved to a desired position, and the driving motor 150 is a gear train in which a plurality of gears are combined ( 160) are connected.

In addition, a driven gear 170 for rotationally driving the wheel 120 by selectively engaging with the gear train 160 is fixedly coupled to the wheel shaft 130 on one side of the wheel 120 .

According to this configuration, when the wheel shaft 130 is arranged parallel to the width direction of the body portion 100, the gear train 160 and the driven gear 170 are engaged, and the wheel shaft 130 is the body portion 100. When tilted with respect to the width direction, the gear train 160 and the driven gear 170 are disengaged so that the driving force of the driving motor 150 is not transmitted to the wheel 120, thereby preventing unnecessary rotation of the wheel 120. .

After the gear train 160 and the driven gear 170 are separated, when the wheel axle 130 is arranged parallel to the width direction of the body 100, the wheel axle engages the gear train 160 and the driven gear 170. A pressing unit 180 that presses the 130 may be provided.

After the wheel 120 is tilted with respect to the body 100, the pressing unit 180 is disposed in a direction parallel to the width direction of the body 100, which is the original position, to receive the driving force of the driving motor 150. It plays a role so that it can accurately return to the state it is in.

As shown in FIG. 7, the lower surface of the pressing unit 180 is disposed in contact with the wheel shaft 130 and has a sliding groove 181a formed concavely and curvedly on the upper surface so as to be vertically movable. 181) and the interlocking member 181 are selectively moved downward to press the wheel shaft 130, so that the lower surface is formed convexly and curved, and a sliding protrusion 182a in contact with the sliding groove 181a is provided to rotate and drive rotation It is constituted by including the member 182.

The interlocking member 181 is selectively disposed to be movable in the vertical direction so as to contact the wheel shaft 130, and the upper surface in contact with the rotating member 182 is formed with a sliding groove 181a that is curved concave downward. .

One end of the rotating member 182 has a sliding protrusion 182a in contact with the sliding groove 181a to selectively contact the sliding groove 181a and move the interlocking member 181 downward to press the wheel shaft 130. protrusion is formed.

The other end of the rotating member 182 is fixedly coupled to a separate motor so that the interlocking member 181 can be moved downward by rotating toward the interlocking member 181 when the wheel shaft 130 needs to be pressurized.

In addition, a separate detection sensor capable of detecting whether or not the driven gear 170 and the gear train 160 are accurately coupled by pressing the wheel shaft 130 by the rotation of the rotating member 182 is provided in the body portion 100. ) It is more effective to be provided on one side of the.

The picking part 200 includes a support arm 210 protruding along the width direction of the body part 100 on an upper part of one outer surface of the body part 100, and a height of the body part 100 on the support arm 210. It consists of a picking plate 220 installed to be able to move up and down along the direction to pick the logistics.

The picking unit 200 uses the picking plate 220 to selectively fix the bucket and the picking plate 220 in which the logistics are accommodated, so that the picking of the logistics is performed. It serves as a storage facility.

When the goods are picked using the picking unit 200, the wheel 120 disposed in the direction in which the picking unit 200 is installed is connected to the top surface of the X track 1 or the Y track 2. It is effective to support the body portion 100 so that the wheel 120 is placed in contact with the body portion 100 to prevent tilting due to eccentricity of the body portion 100 due to the weight of the product.

On the other hand, the wheel tilting drive unit 300 is provided inside the lower side of the body unit 100, and when the body unit 100 moves along the X track 1, the wheel 121 arranged in parallel with the Y track 2 The upper part is tilted so as to approach the outer surface of the body part 100, and when the body part 100 moves along the Y track 2, the upper part of the wheel 122 arranged in parallel with the X track 1 is the body part It serves to tilt to approach the outer surface of (100).

That is, by the wheel tilting driving unit 300, the upper part of the wheel 120 is selectively tilted and driven so as to approach the outer surface of the body part 100, so that the body part 100 is X track 1 or Y track 2 change direction along the way so that you can move quickly.

The wheel tilting drive unit 300 is rotatably installed in the 'c'-shaped connection bracket 310 having both ends coupled to the wheel shaft 130 and the frame 110 above the connection bracket 310 to provide optional With the rotation plate 320 driven for forward and reverse rotation, one end is rotatably installed in the upper central region of the connection bracket 310 and the other end is fixedly coupled to the rotation plate 320 to rotate the wheel axis according to the rotation of the rotation plate 320 ( 130) is configured to include an interlocking member 330 so that the wheel 120 is tilted and disposed by lifting upward along the height direction of the body portion 100.

The connection bracket 310 is formed to have a 'c'-shaped longitudinal section, and both ends are fixedly coupled to the wheel shaft 130, respectively, and the wheel shaft 130 provided in the front and rear directions on the side surface of the body 100 during tilting drive ) to be rotated at a certain angle at the same time.

The rotating plate 320 is rotatably installed on one side of the frame 110 provided in the body 100 and selectively drives forward and reverse rotation to move the connecting bracket 310 so that the wheel shaft 130 is selectively inclined. play a role in making

The rotating plate 320 is formed in a disk shape, and a plurality of fastening holes are spaced apart at regular intervals along the circumferential direction and formed through the plate surface of the rotating plate 320 .

The interlocking member 330 has one end rotatably installed in the upper central region of the connecting bracket 310 and the other end fixedly coupled to the rotating plate 320 to convert the rotational motion of the rotating plate 320 into the linear motion of the connecting bracket 310. By switching, the wheel 120 is tilted and driven.

One end of the interlocking member 330 has a recessed fastening groove and is inserted into a fastening pin provided in the upper central region of the connecting bracket 310 to be rotatably coupled, and the other end of the interlocking member 330 is connected to the rotating plate 320. Among the formed plurality of fastening holes, two fastening holes are screwed together so that the arrangement angle thereof is constant.

Therefore, the interlocking member 330 is rotated in a state where the fastening angle is constantly fixed by the rotational drive of the rotating plate 320, and accordingly, by lifting the connecting bracket 310, the wheel shaft 130 is rotated upward, resulting in As a result, the upper portion of the wheel 120 moves in a direction close to the side surface of the body portion 100 so that the tilting operation can be performed.

A process of operating the pick-up robot according to an embodiment of the present invention having the configuration described above will be described with reference to FIGS. 5 to 7.

First, when the operator inputs a command to move the pickup robot to a desired location of the distribution tower, the wheel 120 is rotated and driven by the operation of the driving motor, and the body portion ( 100) moves in a straight line.

For example, in a state in which the body part 100 moves along the X track 1, the wheel 120 arranged in parallel with the X track 1 is driven to rotate while seated on the upper surface of the X track 1. so that the body part 100 moves along the X track 1, and at this time, the wheel 120 arranged in parallel with the Y track 1 is separated from the Y track 2 and the height of the body part 100 It rotates upward along the direction to become a tilted state.

In this state, when moving along the X track (1) and changing direction to move along the Y track (2), the wheel tilting drive unit 300 operates to move the wheel 120 arranged in parallel with the Y track (2) is seated on the upper surface of the Y track 2, and the wheel 120 arranged in parallel with the X track 1 is tilted so as to be separated from the X track 1.

Looking at the process of tilting the wheel 120 in more detail, the rotation of the rotating plate 320 causes the interlocking member 330 fixedly coupled to the rotating plate 320 to move while the end of the interlocking member 330 rotates. The coupled connection bracket 310 is lifted inward.

The end of the wheel shaft 130 fixedly coupled to the end of the connecting bracket 310 by the lifting of the connecting bracket 310 is lifted in the upper direction of the body portion 100, and as a result, the wheel 120 is X track 1 ) is in a state of separation from

When the wheel 120 deviates from the X track 1, the driven gear 170 is detached from the gear train 160, and power of the driving motor 150 is not transmitted to the wheel 120 side.

At the same time, the wheel 120 arranged in parallel with the Y track 2 rotates the rotation plate 320 of the other wheel tilting driving unit 300 in the opposite direction, and the interlocking member 330 moves, and the end of the interlocking member 330 moves. The connecting bracket 310 rotatably coupled is pushed outward and descends.

As the connecting bracket 310 descends, the end of the shaft 130 fixed to the end of the connecting bracket 310 moves downward of the body 100, and as a result, the wheel 120 moves along the Y track ( 2) is seated on the upper surface.

When the wheel 120 is seated on the upper surface of the Y track 2, the driven gear 170 comes into contact with the gear train 160, and the rotating member 182 of the pressing part 180 rotates to rotate the interlocking member ( 181 is moved downward so that the interlocking member 181 presses the wheel shaft 130 so that the driven gear 170 is accurately engaged with the gear train 160 and the power of the driving motor 150 can be accurately transmitted.

In this state, the body part 100 is turned to the Y track 2 and moves along the Y track to move to a position set by the operator and stop, and picking in a state where the body part 100 is stopped at the set position. The unit 200 operates to fix and lift the bucket containing the logistics to the picking plate 220 so that it can be taken out of the logistics tower or stored in another place by the above-described process.

And, when the bucket is fixed to the picking plate 220, when lifting, the wheel 120 disposed in the direction in which the picking part 200 is installed is in contact with the upper surface of the X track 1 or the Y track 2 By being seated, the wheel 120 is in a state of supporting the body portion 100 so that the body portion 100 is eccentric and does not tilt to one side.

The pick-up robot according to the present invention having the configuration described above forms a V-shaped groove on the drive wheel provided in the pick-up robot to improve straight driving stability when moving along the X and Y tracks, and the drive wheel is selectively attached to the body part. It is possible to move stably along the X track or Y track by quickly changing the direction by tilting it upward along the height direction.

Meanwhile, FIG. 8 is a perspective view showing the overall structure of a pickup robot according to another embodiment of the present invention, and FIG. 9 is a perspective view showing the structure of a wheel tilting driving unit and a wheel pressing unit of the pickup robot according to another embodiment of the present invention. 10 is a perspective view showing the structure of a wheel tilting driving unit of a pickup robot according to another embodiment of the present invention, and FIG. 11 is a structure of a wheel lifting driving unit and a wheel pressing unit of a pickup robot according to another embodiment of the present invention. 12 is a perspective view showing the structure of a wheel lifting drive unit of a pickup robot according to another embodiment of the present invention, and FIG. 13 is a perspective view showing a connection structure between a guide bar and a connection bracket of a pickup robot according to another embodiment of the present invention. It is a perspective view shown.

As shown in these figures, the pick-up robot according to another embodiment of the present invention is composed of a plurality of frames 110 to form a rectangular shape, and has X wheels 122 and Y wheels on the four sides of the lower part, respectively. A plurality of wheels 120 made of wheels 121 are rotatably installed and the body portion 100 moves to a set position along the X track 1 or Y track 2; A support arm 210 formed to protrude along the width direction of the body 100 on an upper portion of one outer surface of the body 100, and a height direction of the body 100 to the support arm 210 a picking unit 200 comprising a picking plate 220 installed to move up and down along the way and picking up logistics; The upper part of the X wheel 122 disposed in parallel with the X track 1 is provided inside the lower side of the body part 100 when the body part 100 moves along the Y track 2. a wheel tilting drive unit 300 that is tilted to approach the outer surface of the body unit 100; When the body part 100 moves along the X track 1, the Y wheel 121 arranged in parallel with the Y track 2 moves upward along the height direction of the body part 100, The wheel lifting drive unit 400 to be lifted; characterized by including

The body part 100 is a member in which a plurality of frames 110 are coupled to each other to form a rectangular shape, and various parts are accommodated therein to control the driving of the wheel 120 and the driving of the picking unit 200. play a role

The body part 100 is seated on the upper side of the X track 1 or Y track 2 and is picked at a set position while moving along the X track 1 or Y track 2 by driving the wheel 120. Logistics picked by the unit 200 can be carried out or stored in the logistic storage tower.

The wheel 120 is composed of an X wheel 122 rotatably installed on both sides of the body portion 100 disposed in parallel with the X track 1 and a body portion 100 disposed in parallel with the Y track 2. It is composed of Y wheels 121 rotatably coupled to both sides, and serves to allow the body 100 to move along the X track 1 and the Y track 2.

The X wheel 122 is rotatably coupled to the wheel axle 130 rotatably hinged upward to the side of the body 100, and the wheel axle 130 is hinged to one side of the frame to rotate upward and downward. By being rotatably coupled, when the moving direction of the body portion 100 is changed, the upper portion of the X wheel 122 serves to be tilted in a direction close to the side surface of the body portion 100.

In addition, the Y wheel 121 is a wheel shaft 130 coupled to a 'c'-shaped connection bracket 401, both sides of which are connected to the guide bar 190 so as to be able to move up and down along the height direction of the body portion 100 is rotatably coupled to

The wheel 120 is provided with a V-groove 123 that extends along the circumferential direction of the wheel 120 and is recessed inward along the radial direction of the wheel 120 to prevent deviation from the running path and ensure stable driving. .

By this V-groove 123, when the wheel 120 is seated on the X track 1 and the Y track 2, the rail is inserted into the V-groove 123, so the wheel 120 moves along the track It is possible to effectively prevent separation from the wheel 120 and prevent the wheel 120 from flowing along the width direction while seated on the track, thereby increasing driving stability.

In addition, since the V-shaped groove 123 is formed in the wheel 120, the weight of the entire body 100 is equally distributed to the wheel 120, and at the same time, the wheel 120 is naturally centered while seated on the upper surface of the track. This is done so that flow prevention and separation prevention are possible.

The picking part 200 includes a support arm 210 protruding along the width direction of the body part 100 on an upper part of one outer surface of the body part 100, and a height of the body part 100 on the support arm 210. It is installed to be movable up and down along the direction and consists of a picking plate 220 for picking logistics.

The picking unit 200 uses the picking plate 220 to selectively fix the bucket and the picking plate 220 in which the logistics are accommodated, so that the picking of the logistics is performed. It serves as a storage facility.

When the goods are picked using the picking unit 200, the wheel 120 disposed in the direction in which the picking unit 200 is installed is connected to the top surface of the X track 1 or the Y track 2. It is effective to support the body portion 100 so that the wheel 120 is placed in contact with the body portion 100 to prevent tilting due to eccentricity of the body portion 100 due to the weight of the product.

On the other hand, the wheel tilting drive unit 300 is provided inside the lower side of the body unit 100, and when the body unit 100 moves along the Y track 2, the X wheel 122 arranged in parallel with the X track 1 It serves to tilt so that the upper part of the body portion 100 approaches the outer surface.

That is, by tilting and driving the upper part of the wheel 120 by the wheel tilting actuator 300 so as to come close to the outer surface of the body part 100, the body part 100 changes direction along the Y track and moves quickly. .

The wheel tilting driving unit 300 includes an interlocking bar 340 disposed on one side of a 'c'-shaped connecting bracket 301 having both ends coupled to the wheel shaft 130, and an interlocking bar 340 on one side of the interlocking bar 340. A rotation plate 350 rotatably installed on the frame 110 and selectively driven for forward and reverse rotation, one end rotatably connected to the interlocking bar 340 and the other end fixedly coupled to the rotation plate 350 In accordance with the rotation of the rotating plate 350, the connecting bar 340 is tilted to a position close to the body portion 100 so that the X wheel 122 is tilted. It is configured to include an interlocking member 360 there is.

The connection bracket 301 is formed to have a 'c'-shaped longitudinal section, and both ends are fixedly coupled to the wheel shaft 130, respectively, and the wheel shaft 130 provided in the front and rear directions on the side surface of the body 100 during tilting drive ) serves to tilt so as to be rotated at a certain angle at the same time, and the interlocking bar 340 is disposed parallel to the upper surface of the connecting bracket 301 on one side of the connecting bracket 301.

The rotating plate 350 is rotatably installed on one side of the frame 110 provided in the body portion 100 and selectively drives forward and reverse rotation to move the interlocking bar 340 so that the wheel shaft 130 is selectively inclined. play a role in making

The rotation plate 350 is formed in a disk shape, and a plurality of fastening holes are spaced apart at regular intervals along the circumferential direction and formed through the plate surface of the rotation plate 350 .

The interlocking member 360 has one end rotatably installed on one side of the interlocking bar 340 and the other end fixedly coupled to the rotation plate 350 to convert the rotational motion of the rotational plate 350 into the linear motion of the connecting bracket 340. The wheel 120 is tilted and driven.

One end of the interlocking member 360 is formed through fastening holes so that the interlocking bar 340 is rotatably coupled by sabbing the fastening holes, and the other end of the interlocking member 360 is fastened to a plurality of fastening holes formed in the rotating plate 350. and fixed

Therefore, the interlocking member 360 is rotated in a state where the fastening angle is constantly fixed by the rotational drive of the rotating plate 350, and accordingly, by lifting the connecting bracket 340, the wheel shaft 130 is rotated upward, resulting in As a result, the upper portion of the wheel 120 moves in a direction close to the side surface of the body portion 100 so that the tilting operation can be performed.

An X wheel pressing unit 370 is installed on one side of the wheel tilting driving unit 300 to press the upper surface of the connecting bracket 301 downward when the X wheel 122 can maintain a horizontally arranged state.

The X-wheel pressing unit 370 is fixedly coupled to a driving motor 371, a cam member 372 that is rotationally driven by the rotation of the driving motor 371, and one side of the cam member 372, so that the end is It is configured to include a connecting member 373 extending outwardly, and a pressing member 374 fixedly coupled to an end of the connecting member 373 and selectively contacting and pressurizing the upper surface of the connecting bracket 301. .

The drive motor 371 is a member that rotates and drives the drive shaft in the forward and reverse directions when power is applied, and the cam member 372 is connected to the drive shaft of the drive motor 371 to rotate and drive by the forward and reverse rotation of the drive shaft. is the absence of

The connecting member 373 is a member that is fixedly coupled to one side of the cam member 372 and has an end extending outward, and the pressing member 374 is fixedly coupled to the end of the connecting member 373 and has a flat bottom surface. By doing so, the lower surface comes into contact with the upper surface of the connecting bracket 301 and serves to press the upper surface of the connecting bracket 301.

In addition, a position detection sensor 380 capable of detecting the position of the body part 100 in the X track 1 or the Y track 2 is installed on one side of the X wheel pressing part 370, so that the body part By detecting the position of (100), the time point at which the wheel tilting driving unit 300 should be driven can be determined.

On the other hand, in the wheel lifting drive unit 400, when the body unit 100 moves along the X track 1, the Y wheel 121 arranged in parallel with the Y track 2 follows the height direction of the body unit 100. It serves to move upwards.

The wheel lifting driving unit 400 protrudes forward of the driving motor 410, the rotating plate 420 that drives forward and reverse rotation according to the driving of the driving motor 410, and the rotating plate 420, and between them The connection bracket 401 is inserted and the rotation plate 420 is rotated to lift the connection bracket 401 so that the Y wheel 121 is lifted.

The drive motor 410 is a member for which power is applied and the drive shaft rotates in the forward and reverse directions, and the rotating plate 420 is connected to the drive shaft of the drive motor 410 to rotate and drive by the forward and reverse rotation of the drive shaft. is absent

The protruding member 430 protrudes forward from the rotating plate 420, and the connecting bracket 401 is inserted therebetween to lift the connecting bracket 401 according to the rotation of the rotating plate 420 so that the Y wheel 121 ) plays a role in lifting.

It is preferable that the protrusion length of the protruding member 430 is formed to be greater than the thickness of the connection bracket 401 to prevent the connection bracket 401 from being separated from the protrusion member 430 .

In addition, a Y-wheel pressing unit 440 is installed on one side of the wheel lifting driving unit 400 to press the upper surface of the connecting bracket 401 downward when the Y-wheel 121 maintains a horizontally arranged state.

The Y-wheel pressing unit 440 is fixedly coupled to a driving motor 441, a cam member 442 that rotates according to the drive of the driving motor 441, and one side of the cam member 442, and the cam member 442 ) Consists of a connecting member 443 extending along the thickness direction of the connecting member 443 and a pressing member 444 that is fixedly coupled to the end of the connecting member 443 and selectively contacts and pressurizes the upper surface of the connecting bracket 401. has been

The drive motor 441 is a member for which power is applied and the drive shaft rotates in the forward and reverse directions, and the cam member 442 is connected to the drive shaft of the drive motor 441 through a gear to drive the drive shaft forward and reverse rotation. It is a rotationally driven member.

The connection member 443 is fixed to one side of the cam member 442, and both ends are formed to extend a certain length along the direction of the head of the cam member 442, and move up and down according to the rotational driving of the cam member 442.

The pressing member 444 is fixedly coupled to the end of the connecting member 442 at a certain angle and contacts the upper surface of the connecting bracket 401 to press the connecting bracket 401 so that the Y wheel 121 is disposed horizontally. to keep the status quo.

In addition, a position detection sensor 450 capable of detecting the position of the body part 100 in the X track 1 or Y track 2 is installed on one side of the Y wheel pressing part 440, so that the body part ( 100) is detected so that the time point at which the wheel lifting drive unit 400 should be driven can be determined.

A process of operating the pick-up robot according to an embodiment of the present invention having the configuration described above will be described as follows.

First, when the operator inputs a command to move the pickup robot to a desired location of the distribution tower, the wheel 120 is rotated and driven by the operation of the driving motor, and the body portion ( 100) moves in a straight line.

For example, in a state in which the body part 100 moves along the X track, the X wheel 122 arranged in parallel with the X track rotates while being seated on the upper surface of the X track, so that the body part 100 moves along the X track. At this time, the Y wheel 121 arranged in parallel with the Y track is separated from the Y track and moves upward along the height direction of the body 100 to be in a lifted state.

In this state, when moving along the X track (1) and changing direction to move along the Y track, the wheel lifting driving unit 400 operates and the Y wheel 121 arranged in parallel with the Y track moves along the upper surface of the Y track. and the X wheel 122 arranged in parallel with the X track is tilted so as to be separated from the X track.

Looking at the process of lifting the Y wheel 121 in more detail, when the rotating plate 420 driven forward and reversely rotates according to the driving of the driving motor 410, it protrudes forward of the rotating plate 420 and The Y wheel 121 is lifted by moving the connecting bracket 401 upward while the protruding member 430 connected to the connecting bracket 401 moves upward.

Looking at the process of tilting the X wheel 122 in more detail, the rotation of the rotating plate 350 causes the interlocking member 360 fixedly coupled to the rotating plate 350 to move while rotating at the end of the interlocking member 360 The interlocking bar 340 is tilted inward, and the end of the wheel shaft 130 fixedly coupled to the end of the connecting bracket 301 is tilted by the tilting of the interlocking bar 340, resulting in an X wheel ( 122) is detached from the X track 1.

In this state, the body part 100 is turned to the Y track 2 and moves along the Y track to move to a position set by the operator and stop, and picking in a state where the body part 100 is stopped at the set position. The unit 200 operates to fix and lift the bucket containing the logistics to the picking plate 220 so that it can be taken out of the logistics tower or stored in another place by the above-described process.

And, when the bucket is fixed to the picking plate 220, when lifting, the wheel 120 disposed in the direction in which the picking part 200 is installed is in contact with the upper surface of the X track 1 or the Y track 2 By being seated, the wheel 120 is in a state of supporting the body portion 100 so that the body portion 100 is eccentric and does not tilt to one side.

The pick-up robot according to the present invention having the configuration described above forms a V-shaped groove on the drive wheel provided in the pick-up robot to improve straight driving stability when moving along the X and Y tracks, and the drive wheel is selectively attached to the body part. It is possible to move stably along the X track or Y track by quickly changing the direction by tilting it upward along the height direction.

Since the above has only been described with respect to some of the preferred embodiments that can be implemented by the present invention, as noted, the scope of the present invention should not be construed as being limited to the above embodiments, and the scope of the present invention described above It will be said that the technical idea and the technical idea together with the root are all included in the scope of the present invention.

Claims (19)

It is composed of a plurality of frames 110 to form a rectangular shape, and a plurality of wheels 120 are rotatably installed on each of the four sides of the lower part to set positions along the X track 1 or Y track 2. The body part 100 moving to and; A support arm 210 formed to protrude along the width direction of the body 100 on an upper portion of one outer surface of the body 100, and a height direction of the body 100 to the support arm 210 a picking unit 200 comprising a picking plate 220 installed to move up and down along the way and picking up logistics; The upper part of the wheel 121 provided in the lower side of the body part 100 and arranged in parallel with the Y track 2 when the body part 100 moves along the X track 1 is the body part 100. It is tilted so as to approach the outer surface of the part 100, and when the body part 100 moves along the Y track 2, the upper part of the wheel 122 arranged in parallel with the X track 1 is a wheel tilting drive unit 300 that is tilted to approach the outer surface of the body unit 100; A pickup robot characterized in that it includes. According to claim 1, The wheel 120 is rotatably coupled to the wheel shaft 130 rotatably hinged upward to the side surface of the body portion 100, The wheel tilting driving unit 300 is rotatably installed in a 'c'-shaped connection bracket 340 having both ends coupled to the wheel shaft 130 and the frame 110 above the connection bracket 340 rotation plate 350 which is selectively driven in forward and reverse rotation, one end of which is rotatably installed in the upper central region of the connection bracket 340 and the other end is fixedly coupled to the rotation plate 350 to rotate the rotation plate 350 A pick-up robot comprising an interlocking member 360 for tilting the wheel 120 by lifting the wheel shaft 130 upward along the height direction of the body 100 according to rotation. According to claim 2, On one side of the frame 110, in a state where the wheel axle 130 is disposed parallel to the width direction of the body portion 100, both ends support the wheel axle 130 from the lower side and prevent left and right movement. A pick-up robot characterized in that a protruding support piece (190) is installed. According to claim 1, The wheel 120 is provided with a V-groove 123 extending along the circumferential direction of the wheel 120 and recessed inward along the radial direction of the wheel 120, and the X track 1 and The pick-up robot, characterized in that the upper surface of the Y track (2) is provided with a protruding rail (1a) inserted into the V-groove (123) when the wheel (120) is seated. According to claim 4, Both side surfaces of the protruding rail 1a increase in width toward the top along the height direction of the protruding rail 1a so as to prevent interference with the outer surface of the wheel 120 when the wheel 120 is tilted. A pickup robot characterized in that it is formed to be tapered so as to be narrow. According to claim 4, The outer surface of the wheel 120 in contact with the X track 1 and the Y track 2 and the upper part of the protruding rail 1a in contact with the V groove 123 have the X track 1 and the A pick-up robot characterized in that a resin part 124 is provided to improve grip between the Y track 2 and the wheel 120. According to claim 2, A driving motor 150 and a gear train 160 connected to the driving motor 150 and rotationally driven are provided on one side of the body part 100, and on one side of the wheel shaft 130, the gear train 160 ) and a driven gear 170 for rotationally driving the wheel shaft 130 by selectively engaging with the pick-up robot. According to claim 7, When the wheel shaft 130 is disposed parallel to the width direction of the body portion 100, the gear train 160 and the driven gear 170 are meshed with each other, and the wheel shaft 130 is connected to the body portion 100. The pickup robot, characterized in that the gear train 160 and the driven gear 170 are separated when tilted with respect to the width direction of ). According to claim 8, When the wheel shaft 130 is disposed parallel to the width direction of the body portion 100 after the gear train 160 and the driven gear 170 are separated, the gear train 160 and the driven gear ( 170) is provided with a pressing part 180 for pressing the wheel shaft 130 to be engaged. According to claim 9, The pressing part 180 is disposed so that its lower surface is in contact with the wheel shaft 130 and has a sliding groove 181a formed concavely and curved on the upper surface, and an interlocking member 181 installed to be movable up and down, and the interlocking member ( 181) is selectively moved downward to press the wheel shaft 130, including a rotating member 182 having a sliding protrusion 182a in contact with the sliding groove 181a that is formed convexly and curved to press the wheel shaft 130 and rotates. A pickup robot characterized in that. According to claim 1, When the body part 100 moves along the X track 1, the Y wheel 121 arranged in parallel with the Y track 2 moves upward along the height direction of the body part 100, A pickup robot further comprising a wheel lifting drive unit 400 for lifting. According to claim 11, One side of the wheel tilting driving unit 300 is installed with an X wheel pressing unit 370 that presses the upper surface of the connecting bracket 301 downward when the X wheel 122 can maintain a horizontally arranged state. Characterized pickup robot. According to claim 12, The X-wheel pressing unit 370 is fixedly coupled to a driving motor 371, a cam member 372 that is rotationally driven by the rotation of the driving motor 371, and one side of the cam member 372 to have an end Characterized in that it includes a connecting member 373 extending outwardly and a pressing member 374 fixedly coupled to an end of the connecting member 373 and selectively contacting and pressurizing the upper surface of the connecting bracket 301 pickup robot. According to claim 13, Characterized in that a position detection sensor 380 capable of detecting the position of the body part 100 in the X track 1 or Y track 2 is installed on one side of the X wheel pressing part 370. pickup robot. According to claim 11, The Y wheel 121 is a wheel shaft 130 coupled to a 'c'-shaped connecting bracket 401 having both sides connected to a guide bar 190 so as to be able to move up and down along the height direction of the body part 100 rotatably coupled to, The wheel lifting driving unit 400 protrudes forward from a driving motor 410, a rotating plate 420 that drives forward and reverse rotation according to driving of the driving motor 410, and the rotating plate 420, and between them A pick-up robot comprising a protruding member 430 into which a connection bracket 401 is inserted and lifting the connection bracket 401 according to the rotation of the rotating plate 420 so that the Y wheel 121 is lifted. According to claim 15, One side of the wheel lifting drive unit 400 is characterized in that the Y wheel pressing unit 440 for pressing the upper surface of the connecting bracket 401 downward when the Y wheel 121 maintains a horizontally arranged state is installed. A pickup robot made with According to claim 16, The Y-wheel pressing unit 440 is fixedly coupled to a driving motor 441, a cam member 442 rotationally driven according to driving of the driving motor 441, and one side of the cam member 442, and the cam A connecting member 443 extending along the thickness direction of the member 442, and a pressing member 444 that is fixedly coupled to an end of the connecting member 443 and selectively contacts and presses the upper surface of the connecting bracket 401. ) A pickup robot comprising a. According to claim 17, A position detection sensor 450 capable of detecting the position of the body part 100 in the X track 1 or Y track 2 is installed on one side of the Y wheel pressing part 440. pickup robot. According to any one of claims 1 to 18, When the goods are picked using the picking unit 200, the wheel 120 disposed in the direction in which the picking unit 200 is installed is connected to the upper surface of the X track 1 or the Y track 2. A pick-up robot, characterized in that the wheels 120 are seated in contact with each other to support the body portion 100 to prevent eccentricity.

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