GOODS TRANSPORTATION SYSTEM USING AUTONOMOUS MOBILE ROBOT

The present invention relates to a goods transportation system for automatically transporting goods by using an autonomous mobile robot (AMR) within a specific place, and more specifically, to a goods transportation system using an autonomous mobile robot (AMR), which can reduce power consumption of the AMR to extend the operational time by loading goods on a cart part having a conveyor installed inside, raising the cart part, on which the goods are loaded, by the AMR entering below the cart part, moving the AMR along a movement path toward a conveyor part to transport the goods in the cart part toward the conveyor part, in a state in which docking between the cart part and the conveyor part is completed, transmitting electric power of the conveyor part to the cart part, and operating the conveyor installed in the cart part to discharge the goods.

BACKGROUND OF THE INVENTION

Field of the Invention

The present invention relates to a goods transportation system for automatically transporting goods by using an autonomous mobile robot (AMR) within a specific place, and more specifically, to a goods transportation system using an autonomous mobile robot (AMR), which can reduce power consumption of the AMR to extend the operational time by loading goods on a cart part having a conveyor installed inside, raising the cart part, on which the goods are loaded, by the AMR entering below the cart part, moving the AMR along a movement path toward a conveyor part to transport the goods in the cart part toward the conveyor part, in a state in which docking between the cart part and the conveyor part is completed, transmitting electric power of the conveyor part to the cart part, and operating the conveyor installed in the cart part to discharge the goods.

Background Art

As a device for transporting goods, there is an automatic guided vehicle (AGV). The AGV means a vehicle automatically moving without a driver, and is used in various industrial fields since effectively performing repeated movement of goods.

To address the weaknesses of the AGV, an autonomous mobile robot (AMR) has been developed. The AMR is faster in movement speed than the AGV, can receive guidance of a movement path in real time using various sensors installed thereon, and can adjust the movement path in real time, thereby widening the application range of the AMR.

As a conventional art related to automatic transportation of goods, Korean Patent No. 10-2151764 discloses a mobile robot for logistics transportation and a transportation system including the same.

The conventional art proposes a mobile robot for logistics transportation including: a storage space for storing goods; a robot conveyor which is installed inside the storage space, and includes a rotation part on which goods are placed, and a rotation driving part rotating the rotation part; a gear installed in front of the robot conveyor in order to be linked with an external conveyor; and a rotational force transfer part which is installed between a rotary shaft of the rotation part and the gear to transfer a rotational force. The mobile robot for logistics transportation uses all power, such as driving power of the conveyor for carrying and transporting goods and transferring the goods from the inside to the outside, leading to significant battery consumption and shorter usage time.

As another conventional art, Korean Patent No. 10-2339212 discloses a mobile robot for an automatic warehouse transport robot.

The transfer robot for an automatic warehouse that moves along the travel paths formed between the shelves on which boxes are loaded and transfers the boxes comprises: a body having a box loading unit in which the boxes are accommodated; a loading arm for loading the boxes on the shelves or moving the boxes on the shelves to the box loading unit; and a traveling unit provided in a lower portion of the body to move along the traveling paths. The loading arm includes a fixed arm member installed on the body, a moving arm member for supporting and moving the boxes, and several intermediary arm members provided between the fixed and moving arm members to move the moving arm member. The intermediary arm members include a main intermediary arm member installed to contact the fixed arm member, and an auxiliary intermediary arm member provided between the main intermediary arm member and the moving arm member. A pair of main pinion gears, protruding laterally at the front and rear ends, are installed on the main intermediary arm member. The pair of main pinion gears are connected by a main moving belt. A rack is installed on one side of the fixed arm member in the longitudinal direction to correspond to the main pinion gears, and a rack is installed on one side of the auxiliary intermediary arm member in the longitudinal direction to correspond to the main pinion gears, thereby moving both the main and auxiliary intermediary arm members to both sides. A pair of auxiliary pinion gears is installed at the front and rear ends of the auxiliary intermediary arm member to protrude to right and left sides and to be located at a height different from the main pinion gears. The pair of auxiliary pinion gears are connected by an auxiliary moving belt. A rack is installed on one side of both the main intermediary arm member in the longitudinal direction to correspond to the auxiliary pinion gear, and a rack is installed on one side of the moving arm member in the longitudinal direction to correspond to the auxiliary pinion gear, thereby moving the moving arm member to both sides. Guide members are installed in the longitudinal direction on both sides of the main intermediary arm member and one side of the auxiliary intermediary arm member. Guide rollers are installed on one side of the fixed arm member, the other side of the auxiliary intermediary arm member, and one side of the moving arm member in the longitudinal direction such that the top and the bottom thereof are in contact with support jaws formed at the top and the bottom of the guide member. A moving belt unit for moving the main intermediary arm member to both sides is installed on the inner bottom side of the fixed arm member. The traveling unit includes a main traveling unit installed at the bottom of the body for traveling forward and backward, and an auxiliary traveling unit installed at the bottom of the body for traveling to both sides to be able to ascend and descend. When traveling forward and backward, the auxiliary traveling unit travels in a raised state, and when traveling to horizontally, the auxiliary traveling unit moves downward, such that the main traveling unit travels while being raised upwards.

PATENT LITERATURE

Patent Documents

SUMMARY OF THE INVENTION

Accordingly, the present invention has been made to solve the above-mentioned problems occurring in the prior arts, and it is an objective of the present invention to provide a goods transportation system using an autonomous mobile robot (AMR), which can reduce power consumption of the AMR to extend the operational time by loading goods on a cart part having a conveyor installed inside, raising the cart part, on which the goods are loaded, by the AMR entering below the cart part, moving the AMR along a movement path toward a conveyor part to transport the goods in the cart part toward the conveyor part, in a state in which docking between the cart part and the conveyor part is completed, transmitting electric power of the conveyor part to the cart part, and operating the conveyor installed in the cart part to discharge the goods.

It is another objective of the present invention to provide a goods transportation system using an autonomous mobile robot (AMR), which can automatically detect the position of the cart part and perform the docking action between the cart part and the conveyor part, since the cart part includes: a base frame on which a conveyor for the transportation of goods is installed; a leg frame which is fixed to the base frame and has casters installed at the bottom thereof; a cover which is fixed to the base frame to protect the goods stored inside; and an arm docking part which is fixed to the base frame for docking between the cart part and the conveyor part, and an RFID tag is installed on one side of the cart part, thereby facilitating smooth transportation of goods.

It is a further objective of the present invention to provide a goods transportation system using an autonomous mobile robot (AMR), which after the docking between the cart part and the conveyor part, uses power transferred through a power connector to operate a conveyor installed on the cart part, thereby reducing power consumption of the AMR to increase the hours of use.

To accomplish the above object, according to the present invention, there is provided a goods transportation system using an autonomous mobile robot (AMR), which transports goods within a specific place using an AMR, including: an AMR which moves along a predetermined path or a movement path using acquired information; a cart part which is mounted on the AMR for loading goods thereon while moving; and a conveyor part which receives the goods loaded on the cart part20and moves the goods to a specific location.

The goods transport system using an AMR according to the present invention can load goods on a cart part having a conveyor installed inside, raise the cart part, on which the goods are loaded, by the AMR entering below the cart part, and transport the goods in the cart part toward the conveyor part by moving the AMR along a movement path toward a conveyor part. Since the cart part includes: a base frame on which a conveyor for the transportation of goods is installed; a leg frame which is fixed to the base frame and has casters installed at the bottom thereof; a cover which is fixed to the base frame to protect the goods stored inside; and an arm docking part which is fixed to the base frame for docking between the cart part and the conveyor part, and an RFID tag is installed on one side of the cart part, the goods transport system using an AMR can automatically detect the position of the cart part and perform the docking action between the cart part and the conveyor part, thereby facilitating smooth transportation of goods. The goods transport system using an AMR, after the docking between the cart part and the conveyor part, uses power transferred through a power connector to operate a conveyor installed on the cart part, thereby reducing power consumption of the AMR to increase the hours of use.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

The present invention relates to a goods transportation system for automatically transporting goods by using an autonomous mobile robot (AMR) within a specific place, and more specifically, to a goods transportation system using an autonomous mobile robot (AMR), which can reduce power consumption of the AMR to extend the operational time by loading goods on a cart part having a conveyor installed inside, raising the cart part, on which the goods are loaded, by the AMR entering below the cart part, moving the AMR along a movement path toward a conveyor part to transport the goods in the cart part toward the conveyor part, in a state in which docking between the cart part and the conveyor part is completed, transmitting electric power of the conveyor part to the cart part, and operating the conveyor installed in the cart part to discharge the goods.

Hereinafter, referring to the attached drawings, a preferred embodiment of the present invention will be described in detail.

FIG.1is a configuration diagram of a goods transportation system using an autonomous mobile robot (AMR) according to the present invention,FIG.2is a configuration diagram of the AMR and a cart part according to the present invention,FIG.3is a partially exploded view of the AMR according to the present invention, andFIGS.4and5are operational examples of the AMR and the cart part according to the present invention. The goods transportation system using an autonomous mobile robot (AMR) according to the present invention, which transports goods within a specific place using an AMR includes: an AMR1which moves along a predetermined path or a movement path using acquired information; a cart part20which is mounted on the AMR1for loading goods (W) thereon while moving; and a conveyor part40which receives the goods (W) loaded on the cart part20and moves the goods (W) to a specific location.

Firstly, the AMR1is an autonomous mobile robot that moves along a predetermined path or a path determined based on information acquired from various sensors while loading goods (W) thereon. Alternatively, an automatic guided vehicle (AGV) or an AGV-type mobile robot can be used instead of the AMR.

The cart part20is is mounted on the AMR1and moves while the goods (W) for transportation is loaded inside the cart part20. The conveyor part40receives the goods (W) inside the cart20moved by using the AMR1and moves the goods (W) to a specific location using a conveyor.

Therefore, after mounting the cart part20, on which the goods (W) for transportation is loaded inside, onto the top of the AMR1, the AMR1moves along the predetermined path toward the conveyor part40. After the movement is complete, the AMR1moves the goods inside the cart part20toward the conveyor part50.

Additionally, a lifting part10capable of lifting the cart part20is installed on the top of the AMR1. The lifting unit10includes: a drive motor11which generates lifting power; a main gearbox14where the rotational force of a motor shaft12of the drive motor11is transmitted and outputted by diverging to one or both sides thereof; a transmission gearbox16to which a rotational force of a gearbox output shaft15of the main gearbox14is transmitted; a rack gear shaft17, a portion of which is inserted into the transmission gearbox16, and which moves in and out of the transmission gearbox16by the rotation of the gearbox output shaft15; a flange18which is fixedly coupled to one end of the rack gear shaft17; and an upper plate19which is fixedly coupled to the flange18.

Firstly, the drive motor11is a drive motor different from a driving part used for the movement of the AMR1. The motor shaft12is rotated by electric power supplied from a battery installed in the AMR1to the drive motor11, the rotational force of the motor shaft12is transmitted to the main gearbox14via a coupling13. Since a bevel gear is installed inside the main gearbox14, the direction of power transmission is changed to 90° and is transmitted to the gearbox output shaft15on one or both sides. The power transmitted to the gearbox output shaft15is then transmitted to the transmission gearbox16.

Inside the transmission gearbox16, a portion of the rack gear shaft17is inserted, and a pinion gear meshing with the gear of the rack gear shaft17is installed. So, the gearbox output shaft15rotates the pinion gear, and according to the rotation of the pinion gear, the rack gear shaft17ascends or descends in the axial direction of the rack gear shaft17. The rotational power transmitted to the transmission gearbox16is transmitted to another adjacent transmission gearbox via a power transmission shaft16a, such that all of the four rack gear shafts17installed in the AMR1ascend or descend by the same distance.

The flange18is fixedly installed at one end of the rack gear shaft17, and a flat-shaped upper plate19is installed on the flange18, such that the upper plate19also ascends or descends according to the ascending or descending movement of the rack gear shaft17.

Therefore, as illustrated inFIG.4, when power is supplied to the drive motor11while the AMR1is under the cart part20, the rotational force of the motor shaft12of the drive motor11is transmitted to the rack gear shaft17, such that the rack gear shaft17ascends. Such ascending movement of the rack gear shaft17lifts the upper plate19and, as illustrated inFIG.5, performs a lifting action that raises the entire cart part20off the ground. In this state, the cart part20is moved, thereby preventing wear of casters23installed in the cart part20.

FIG.6is a partially exploded view of the cart part according to the present invention, andFIG.7is a partially enlarged view of the cart part according to the present invention. The cart part20includes: a base frame21on which a conveyor27for the transportation of goods (W) is installed; a leg frame22which is fixed to the base frame21and has casters23installed at the bottom thereof; a cover24which is fixed to the base frame21to protect the goods stored inside; and an arm docking part30which is fixed to the base frame21for docking between the cart part20and the conveyor part40. An RFID tag38is installed on one side of the cart part20.

Firstly, the base frame21is a basic frame for forming the cart part20, and the illustrated embodiment relates to a hexahedral frame with an empty interior. The leg frame22, which has the casters23for passive movement of the cart part20, is fixed to the bottom of the base frame21. The cover24is fixed to the base frame21while surrounding the base frame21excluding the front face and the bottom face of the base frame21. An inspection window25is installed on one side of the cover24for checking the internal state or the stored goods (W) with the naked eyes.

The arm docking part30is fixed to the base frame21and designed for docking the cart part20and the conveyor part40. Since an RFID tag38is installed on one side of the arm docking part for communication with the conveyor part40.

Additionally, the arm docking part30includes: a fixed plate31which is fixed to the base frame21; a protruding plate32which is fixed to the fixed plate31and is installed to protrude from the fixed plate31to guide the coupling position of the cart part20; lock plates34which are installed on both sides of the protruding plate32and have pin holes34aformed therein; a lock frame35which is installed to rotate around a hinge36on the lock plate34and to fix the lock pin53; and a negative (−) power connector37for supplying power to the conveyor27installed in the cart part20.

In other words, the arm docking part30is designed to fix the cart part20in close contact with the conveyor part40. The fixed plate31is a plate fixed to one side of the base frame21, and the protruding plate32is a plate protruding a predetermined length from the fixed plate31. In the illustrated embodiment, the protruding plate has a triangular cross-section that narrows as it extends away from the fixed plate31, so while the protruding plate32is coupled to a fitting groove52aof a fitting plate52installed on the conveyor part40, the center position is aligned automatically.

The lock plate34is installed on both sides of the protruding plate32such a lock pin53of the conveyor part40is coupled to the lock plate34. For this, the lock plate34has a pin hole34a, and the lock frame35is installed on the lock plate34to maintain a state in which the lock pin53is fit into the pin hole34a. When the lock pin53enters towards the pin hole34a, the lock frame35rotates around the hinge36, and the lock pin53is firmly held by elasticity of a spring installed in the lock plate34.

The negative (−) power connector37is a power connector to transfer power from the conveyor part40toward the cart part20.

FIG.8is a configuration diagram of a conveyor part according to the present invention, andFIG.9is a partially enlarged view of the conveyor part according to the present invention. The conveyor part40includes: a base frame41which has a conveyor43installed for the transportation of goods (W); a leg frame42which is fixed to the base frame41; and a male docking part50which is fixed to the base frame41for docking with the cart part20. An RFID reader58is installed on one side of the conveyor part40to detect the proximity of the cart part20.

The base frame41is a basic frame for forming a body of the conveyor part40, and the leg frame42is installed on one side of the base frame41to support the base frame41. The male docking part50is fixed to the base frame41for docking between the cart part20and the conveyor part40, and an RFID reader58is installed on one side of the male docking part50so as to communicate with the RFID tag38installed in the cart part20to detect the proximity of the cart part20.

Furthermore, the male docking part50includes: a fastening plate51fixed to the base frame41; a lock pin53fixed to one side of the fastening plate51and inserted into the pin hole34aof the lock plate34during docking between the cart part20and the conveyor part40; a positive (+) power connector57for supplying power to the conveyor27installed in the cart part20; a gripper54to press the cart part20toward the conveyor part40; a horizontal movement cylinder55for the horizontal movement of the gripper54; and a vertical movement cylinder56for the vertical movement of the gripper54.

That is, the male docking part50is provided to fix the cart part20moved toward the conveyor part40in close contact with the conveyor part40. The fastening plate51is a plate fixed to one side of the base frame41, and the fitting plate52having the fitting groove52ais installed on the fastening plate51. The protruding plate32of the cart part20is coupled to the fitting groove52aof the fitting plate52, and the shape of the protruding plate32corresponds to the shape of the fitting groove52a.

The lock pin53protrudes a predetermined length from the fastening plate51, and penetrates through the pin hole34aof the lock plate34installed in the cart part20. The positive (+) power connector57is a power connector to transfer power from the conveyor part40to the cart part20.

The gripper54is configured to maintain the state in which the cart part20is in close contact with the conveyor part40. When the cart part20moves close to the conveyor part40, the conveyor part40detects the movement of the cart part20through the RFID reader58and the RFID tag38. After the detection, the gripper54is moved toward the cart part20, and then, is moved toward the gripper hole31aformed in the fixed plate31. Accordingly, the gripper54grips the fixed plate31by the horizontal movement cylinder55and the vertical movement cylinder56, and then, presses the cart part20toward the conveyor part40so that a firm coupling state between the cart part20and the conveyor part40can be maintained.

At this time, since the gripper54can raise and lower the cart part20, even though the height of the cart part20is changed due to wear of components, such as the casters23, according to the use period of the cart part20, the gripper54can consistently maintain the cart part20in close contact with the conveyor part40at a constant position, thereby facilitating transportation of the goods stored in the cart part.

Here, rollers can be installed under the protruding plate32to facilitate the insertion action of the protruding plate32into the fitting plate52of the conveyor part40.

When the cart part20is completely close and fixed to the conveyor part40by the gripper54, power of the conveyor part40is transmitted toward the cart part20by the positive (+) and negative (−) power connectors57and37, so the conveyor27installed on the cart part20is operated and the goods stored on the top of the conveyor27are moved toward the conveyor43of the conveyor part40, then transportation of the goods (W) is completed. After the completion of the transportation of the goods, the gripping of the cart part20by the gripper54is released. After the release, the AMR1moves the cart part20to the position for loading goods again.

FIGS.10and11are operational examples of the present invention, whereinFIG.10illustrates the movement of the cart part20toward the conveyor part40, andFIG.11illustrates a state in which the cart part20is completely moved toward the conveyor part40and is fully pressed by the operation of the gripper54.

The unexplained reference numeral26designates a warning light, and33and59designate stopper pads. The warning light26is provided to indicate the movement of the cart part20when the car part20moves to prevent accidents, and the stopper pads33and59are provided to absorb impact during the tight coupling of the cart part20with the conveyor part40.

Finally, the goods transport system using an AMR according to the present invention can load goods on a cart part having a conveyor installed inside, raise the cart part, on which the goods are loaded, by the AMR entering below the cart part, and transport the goods in the cart part toward the conveyor part by moving the AMR along a movement path toward a conveyor part. Since the cart part includes: a base frame on which a conveyor for the transportation of goods is installed; a leg frame which is fixed to the base frame and has casters installed at the bottom thereof; a cover which is fixed to the base frame to protect the goods stored inside; and an arm docking part which is fixed to the base frame for docking between the cart part and the conveyor part, and an RFID tag is installed on one side of the cart part, the goods transport system using an AMR can automatically detect the position of the cart part and perform the docking action between the cart part and the conveyor part, thereby facilitating smooth transportation of goods. The goods transport system using an AMR, after the docking between the cart part and the conveyor part, uses power transferred through a power connector to operate a conveyor installed on the cart part, thereby reducing power consumption of the AMR to increase the hours of use.