System and method for automatically replacing battery of conveying robot

Abstract

The present disclosure relates to an automatic battery replacement system for a transfer robot and an automatic battery replacement system for a transfer robot using the same. The automatic battery replacing system of the conveying robot according to the embodiment of the invention comprises the conveying robot which can automatically move and comprises a lifting module for supporting and lifting goods; a battery detachably mounted on the transport robot and supplying power required for operation of the transport robot as a power source; and a battery replacement robot that sucks and transports the battery, and performs an operation of suctioning and removing the battery mounted on the transport robot or mounting a new fully charged battery on the transport robot.

Description

Technical Field

[0001] The present invention relates to an automatic battery replacement system and method for a transport robot, and more specifically, to an automatic battery replacement system and method for a transport robot, which can use a magnetic clamp to automatically replace the battery set in a transport robot that transports goods, thereby reducing the idle time of the transport robot and improving the operation rate of the transport robot. Background Art

[0002] A forklift is a vehicle used to load relatively heavy goods and transport them to the user's desired location before unloading them. It is widely used in various fields of industry. Generally speaking, a forklift is equipped with a hydraulically raised fork bar, and moves while lifting the goods with the fork bar, and then puts the goods down at the desired location.

[0003] Traditional forklifts require an operator to drive or operate them, but recently with the increasing demand for logistics mechanization and automation technology, unmanned forklifts are being developed, and attention to this unmanned cargo delivery technology is also increasing.

[0004] In addition, automatic parking technology that can perform autonomous parking of a vehicle without user intervention has been recently introduced, providing convenience for drivers. Automatic parking robots that automatically perform vehicle parking can also be regarded as a type of unmanned cargo delivery technology.

[0005] In the case of a parking robot that performs parking by entering under the vehicle, directly lifting the vehicle, and then moving it, a fork lever for lifting the vehicle may be installed similarly to a forklift. The parking robot in this manner may be configured to move toward the vehicle, lift the vehicle using the fork lever, and move in a state where the vehicle is lifted.

[0006] The use of this parking robot can not only greatly improve the convenience of vehicle users, but also make more efficient use of parking space in narrow spaces, thus helping to alleviate parking difficulties and urban traffic congestion.

[0007] On the other hand, cargo transport equipment such as forklifts have appropriate loading capacity according to different sizes and uses. However, if the center of gravity of the forklift loaded with cargo is seriously unbalanced due to exceeding the loading weight, unskilled operation or eccentric cargo weight during operation, it is possible that the loaded cargo falls and causes personal injury accidents or property damage accidents, or safety accidents occur due to the overturning or tipping of the equipment. Summary of the invention

[0008] 1. Technical issues to be resolved

[0009] In order to prevent the above safety accidents, it is necessary to accurately measure the weight and center of gravity of the goods loaded on the transport device and perform motion control accordingly. To this end, the technical problem to be solved by the present invention is to provide a transport robot that is configured to automatically correct control parameters based on the change in the center of gravity according to the state of the loaded goods, thereby significantly improving the motion control performance.

[0010] In addition, in the case of a transport robot that operates with a battery as a power source, it may take several hours to charge the built-in battery, and the transport robot cannot operate during the battery charging, resulting in a reduced operating rate. Therefore, another technical problem to be solved by the present invention is to provide a system and method for automatically replacing batteries installed on the transport robot using a magnet clamp, thereby reducing the idle time of the transport robot and improving the operating rate of the transport robot.

[0011] The technical problems to be solved by the present invention are not limited to the above-mentioned technical problems. For those skilled in the art, other technical problems not mentioned can be clearly understood through the following description.

[0012] (II) Technical solution

[0013] According to one aspect of the present invention, an automatic battery replacement system for a transport robot can be provided, the system comprising: a transport robot capable of moving by itself and comprising a lifting module for supporting cargo for lifting; a battery detachably mounted on the transport robot and serving as a power source to supply power required for the operation of the transport robot; and a battery replacement robot that absorbs and carries the battery and performs operations of absorbing the battery installed on the transport robot and removing it or installing a fully charged new battery on the transport robot.

[0014] The automatic battery replacement system for a conveying robot according to one aspect of the present invention may further include: a control unit that collects remaining power information of a battery installed on the conveying robot and issues a command to replace the battery to the conveying robot.

[0015] The battery replacement robot can be set at a battery charging station.

[0016] In addition, the battery replacement robot can be installed on a mobile robot that can move by itself, and the mobile robot can move directly to the transport robot where the battery needs to be replaced to perform the battery replacement work.

[0017] An installation space for installing the battery may be formed on a body of the transport robot, and the battery may be installed to be exposed on a surface of the body.

[0018] The battery replacement robot can use a magnetic clamp composed of an electromagnet to absorb the battery.

[0019] At this time, the battery may include a metal case, and the battery pack is built in the metal case.

[0020] The battery replacement robot may be configured as a gantry robot.

[0021] When the battery replacement robot is configured as a gantry robot, the battery replacement robot may include a beam installed in a horizontal direction and a telescopic member slidably coupled to the beam and extendable in a vertical direction, and the magnet clamp may be installed at an end of the telescopic member.

[0022] Alternatively, the battery replacement robot may be configured as a selectively compliant assembly robot arm (SCARA).

[0023] When the battery replacement robot is configured as a SCARA, the battery replacement robot may include an arm member coupled with at least one rotation axis as a reference axis, and the magnet holder may be mounted at an end of the arm member.

[0024] Two battery replacement robots may be provided, one of which may remove the battery from the transport robot and the other of which may install the fully charged battery on the transport robot.

[0025] On the other hand, according to another aspect of the present invention, a method for automatically replacing the battery of a conveying robot can be provided, which is a method for replacing the battery of a conveying robot, wherein the conveying robot is capable of moving by itself and includes a lifting module for supporting cargo for lifting, and a battery used as a power source is detachably installed on the conveying robot, and the method includes: a collection step, collecting the remaining power information of the battery installed on the conveying robot; a command step, when it is determined that the battery installed on the conveying robot needs to be replaced, the control unit issues a battery replacement command to the conveying robot; a removal step, the battery replacement robot uses a magnetic clamp to absorb the battery installed on the conveying robot and removes it from the conveying robot; and an installation step, the battery replacement robot uses a magnetic clamp to absorb the fully charged battery and install it on the conveying robot.

[0026] According to another aspect of the present invention, the automatic battery replacement method of the transport robot may further include: a moving step, wherein the transport robot that receives the battery replacement command from the control unit moves to the charging station where the battery replacement robot is set, or the mobile robot with the battery replacement robot moves to the transport robot that receives the battery replacement command.

[0027] The removing step and the installing step may be performed sequentially by a battery replacement robot.

[0028] The removing step and the installing step may be performed respectively by different battery replacement robots.

[0029] (III) Beneficial effects

[0030] The transport robot according to the present invention senses the displacement of a beam member loaded with goods using strain gauges, estimates the changing center of gravity based on the sensed values, and corrects control parameters based on the estimated center of gravity, thereby significantly improving motion control performance.

[0031] In addition, the transport robot according to the present invention has a structure in which the gear part and the motor part of the steering unit provided in the wheel drive module are manufactured separately from each other and detachably combined, thereby having excellent assembly properties and easy maintenance such as component replacement and repair.

[0032] When the transport robot according to the present invention is used as a parking robot, automatic parking of a vehicle can be performed without user intervention, thereby greatly improving the convenience of vehicle users and improving space utilization by effectively utilizing limited parking space.

[0033] In addition, the automatic battery replacement system for the transport robot provided by the present invention utilizes a magnetic clamp to automatically replace the battery installed on the transport robot, thereby reducing the idle time of the transport robot and improving the operation rate of the transport robot.

[0034] The effects of the present invention are not limited to the above-mentioned effects, and other effects not mentioned can be clearly understood from the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a diagram showing a transport robot according to the present embodiment.

[0036] Figure 2 is a plan view of the transport robot according to the present embodiment, showing the center of gravity in a no-load state.

[0037] Figure 3 2 is a plan view of the transport robot according to the present embodiment, illustrating changes in the center of gravity in a loaded state with cargo.

[0038] Figure 4 yes Figure 1 The enlarged view of the portion indicated by “A” in FIG. 1 is a view for explaining the position where the strain gauge is attached to the beam member.

[0039] Figure 5 is a perspective view showing an assembled state of a wheel drive module of the transport robot according to the present embodiment.

[0040] Figure 6 is a side view showing an assembled state of the wheel drive module of the transport robot according to the present embodiment.

[0041] Figure 7 is a perspective view showing a motor portion of a steering unit in a wheel drive module of a transport robot according to the present embodiment.

[0042] Figure 8 1 is a perspective view showing a state in which a gear portion and a motor portion of a steering unit in a wheel drive module of a transport robot according to the present embodiment are separated.

[0043] Fig. 9 : is a diagram schematically showing the automatic battery replacement system of the transport robot according to the present embodiment.

[0044] Description of reference numerals:

[0045] 10: Delivery Robot

[0046] 100: Framework module

[0047] 110: First Frame

[0048] 120: Second Frame

[0049] 200: Lifting module

[0050] 210: Lifting unit

[0051] 211, 211': beam member

[0052] 211a: Vertical part

[0053] 211b: Horizontal support

[0054] 212: Roller

[0055] 300: Wheel drive module

[0056] 310: Wheel

[0057] 320: Wheel frame

[0058] 330: Drive unit (drive motor)

[0059] 340: Steering unit

[0060] 341: Gear Department

[0061] 341a: Steering gear

[0062] 341b: Gear side housing

[0063] 342: Motor Department

[0064] 342a: Steering motor

[0065] 342b: Output gear

[0066] 342c: Motor side housing

[0067] 400: Strain gauge

[0068] 500: Battery

[0069] 510: Battery housing

[0070] 20: Battery replacement robot

[0071] 21: Magnetic clamp DETAILED DESCRIPTION

[0072] Hereinafter, embodiments of the present invention are described in detail with reference to the accompanying drawings. The following embodiments are proposed to fully convey the concept of the present invention to those skilled in the art. The present invention is not limited to the embodiments proposed below, but may also be embodied in other forms. In order to facilitate understanding of the present invention, parts of the drawings that are not related to the description may be omitted, and the dimensions of the components may be somewhat exaggerated.

[0073] Figure 1 is a diagram showing a transport robot according to the present embodiment. Figure 2 is a plan view of the transport robot according to the present embodiment, showing the center of gravity in a no-load state. Figure 3 2 is a plan view of the transport robot according to the present embodiment, illustrating changes in the center of gravity in a loaded state with cargo. Figure 4 yes Figure 1 The enlarged view of the portion indicated by “A” in FIG. 1 is a view for explaining the position where the strain gauge is attached to the beam member.

[0074] in addition, Figure 5 and Figure 6 1 and 2 are a perspective view and a side view showing an assembled state of a wheel drive module of a transport robot according to the present embodiment. Figure 7 is a perspective view showing a motor portion of a steering unit in a wheel drive module of a transport robot according to the present embodiment, Figure 8 1 is a perspective view showing a state in which a gear portion and a motor portion of a steering unit in a wheel drive module of a transport robot according to the present embodiment are separated.

[0075] In the following, the transport robot according to the present invention is described as a preferred embodiment of a "parking robot". However, the present invention is not limited thereto, and the technical concept of the present invention can be applied to any cargo transport device including a configuration for lifting cargo (a "vehicle" in the following embodiments) (a "lifting module" in the following embodiments) and a configuration for enabling the transport robot to move autonomously (a "wheel drive module" in the following embodiments).

[0076] First refer to Figure 1 The transfer robot 10 according to the present embodiment may include a frame module 100 , a lifting module 200 movably installed on the frame module 100 , and a wheel driving module 300 installed on the lower end of the frame module 100 .

[0077] The transport robot 10 according to the present embodiment uses the frame module 100 as the base of the structure, and can move in the front-rear direction and the left-right direction through the wheel drive module 300. In addition, the transport robot 10 according to the present embodiment can use the lifting module 200 to lift the vehicle, as will be described later, which can be achieved by supporting the wheels of the vehicle from the bottom by the lifting unit 210 of the lifting module 200. At this time, the transport robot 10 according to the present embodiment is configured to support the front wheels and the rear wheels of the vehicle, so that the vehicle can be stably supported.

[0078] The transport robot 10 according to the present embodiment can perform a parking operation by identifying a vehicle and lifting the identified vehicle and moving it to a designated parking position. In addition, the transport robot 10 according to the present embodiment can be operated automatically. For example, the transport robot 10 according to the present embodiment can be operated by a remote control device such as a remote controller without manual operation by an operator or the like.

[0079] In this embodiment, the frame module 100 may include a first frame 110 and a second frame 120 extending from both ends of the first frame 110 in a direction orthogonal to the extension direction of the first frame 110, roughly forming a "ㄷ"-shaped structure, and may be configured to move by itself through a wheel drive module 300 to be described later.

[0080] The transport robot 10 according to the present embodiment approaches the side of the vehicle to perform parking of the vehicle, and when approaching the side of the vehicle, the first frame 110 extends in the front-rear direction of the vehicle, and the second frame 120 extends in the width direction of the vehicle. In addition, when the lifting unit 210 of the lifting module 200 to be described later enters the lower part of the vehicle from the side of the vehicle, the vehicle to be parked is located in the "ㄷ"-shaped space formed by the first frame 110 and the second frame 120.

[0081] The frame module 100 may support and move the lifting module 200 to be described later. The lifting module 200 may slide along the extension direction of the first frame 110 in a state of being coupled to the first frame 110 of the frame module 100. To this end, a guide rail may be provided on the first frame 110. The guide rail is installed along the extension direction of the first frame 110 to support and move the lifting module 200.

[0082] The guide rail is located outside the first frame 110. The guide rail may be installed to protrude from the outer surface of the first frame 110. Preferably, the guide rail is provided on at least one of the upper surface and the front surface of the first frame 110 to support the lifting module 200 and enable it to move.

[0083] The first frame 110 may house a power unit (not shown) for driving a lifting module 200 to be described later, a power source (not shown) for supplying power to the power unit, a controller (not shown) for controlling the power unit, and the like.

[0084] In this embodiment, the lifting module 200 substantially performs the function of supporting the wheels of the vehicle to lift the vehicle. In order to perform the operation of supporting the wheels of the vehicle to lift the vehicle, the lifting module 200 can move along the guide rails provided on the first frame 110. That is, the lifting module 200 can be movably coupled to the guide rails provided on the first frame 110.

[0085] As shown in the figure, the lifting module 200 of this embodiment can be composed of a pair of lifting units 210 to respectively support the front wheels and the rear wheels of the vehicle for lifting. In addition, each lifting unit 210 can include a pair of beam members 211, 211', so the transport robot 10 according to this embodiment can include a total of four beam members 211, 211'.

[0086] The lifting unit 210 may be movably coupled to the rails of the first frame 110. In essence, the beam members 211, 211' constituting the lifting unit 210 may move on the rails and directly contact the wheels of the vehicle, thereby supporting the wheels of the vehicle for lifting.

[0087] The lifting unit 210 composed of two pairs of beam members 211, 211' can enter the lower part of the vehicle from the left or right side of the vehicle by the movement of the transfer robot 10. The horizontal length of the beam members 211, 211' can be determined according to the width of the vehicle.

[0088] The beam members 211 and 211' of this embodiment may be configured as curved members generally referred to as fork bars. Specifically, the beam members 211 and 211' may include: a vertical portion 211a coupled to the guide rail of the first frame 110; and a horizontal support portion 211b bent from the lower end of the vertical portion 211a and extending in the horizontal direction, and directly contacting the wheels of the vehicle to support the wheels. In the horizontal support portion 211b, a roller 212 may be installed at the portion contacting the wheels of the vehicle to reduce friction with the wheels.

[0089] The roller 212 may be installed on the surfaces facing each other of a pair of beam members 211, 211' constituting one lifting unit 210, and may be rotatably coupled to the beam members 211, 211'. In addition, a pair of rollers 212 may be provided to correspond to the positions of the left and right wheels of the vehicle, respectively, and the pair of rollers 212 may be installed at positions spaced apart from each other along the length direction of the beam members 211, 211'.

[0090] In addition, in this embodiment, the plurality of beam members 211, 211' constituting the lifting unit 210 can each independently run on the guide rail. For example, a pair of beam members 211, 211' constituting one lifting unit 210 can move along the extension direction of the first frame 110 (also the extension direction of the guide rail) to approach or move away from the wheels of the vehicle.

[0091] More specifically, when the lifting unit 210 enters the lower part of the vehicle to lift the wheels of the vehicle, a pair of beam members 211, 211' are located in the front and rear directions of the wheels relative to the wheels located on the same line along the width direction of the vehicle. At this time, the first beam member 211 located in front of the wheels and the second beam member 211' located behind the wheels can move in opposite directions on the guide rails. The first beam member 211 and the second beam member 211' can approach each other, that is, move in the direction of the wheels, to cooperate with each other to support and lift the wheels of the vehicle. On the contrary, the first beam member 211 and the second beam member 211' can move away from each other, that is, move in the opposite direction of the wheels, to release the state of supporting the wheels so as to lower the vehicle.

[0092] The lifting module 200 of this embodiment may further include a power unit (not shown) for moving the lifting unit 210. The power unit (not shown) may include a motor, a gear driven to rotate by the motor, a rack meshed with the gear, etc., so as to move the lifting unit 210 on the guide rail provided on the frame module 100.

[0093] On the other hand, in this embodiment, the lifting unit 210 can be configured to move not only in the horizontal direction but also in the vertical direction on the first frame 110, so that the position can be adjusted when entering the lower part of the vehicle or in the state of lifting the vehicle.

[0094] According to the present embodiment, the wheel driving module 300 substantially performs the function of moving the transport robot 10. The wheel driving module 300 provides the transport robot 10 with a moving power, and also provides a steering function for adjusting the direction during the movement.

[0095] The wheel drive module 300 is installed at the lower end of the frame module 100, supporting the frame module 100 and enabling it to move. A plurality of wheel drive modules 300 may be provided. For example, the wheel drive modules 300 may be respectively installed at both ends in the length direction of the second frame 120 as a component of the frame module 100, so that four wheel drive modules 300 may be provided in one conveying robot 10. That is, according to this embodiment, the conveying robot 10 may be supported at four points by four wheel drive modules 300. However, this embodiment is not limited thereto, and the number of wheel drive modules 300 provided in one conveying robot 10 may be increased as needed.

[0096] On the other hand, refer to Figure 2 According to the present embodiment, when the transport robot 10 is in a “no-load state” without any cargo, the center of gravity (CoG) does not change and remains constant.

[0097] However, if Figure 3 As shown, when the transport robot 10 is in a "loaded state" loaded with cargo C such as a vehicle, the overall center of gravity changes due to the load. In particular, if the transport robot 10 according to the present embodiment has a higher payload than the vehicle body, the center of gravity in the loaded state may change significantly depending on the load, which may cause a sharp decline in motion control performance. The decline in motion control performance may be a factor that causes the above-mentioned safety accident.

[0098] As a configuration to solve these problems, the transport robot 10 according to the present embodiment may further include a strain gage 400 installed on the beam members 211 , 211 ′ to measure the displacement of the beam members 211 , 211 ′ caused by the loaded cargo.

[0099] Reference Figure 1 and Figure 4 The strain gauge 400 may be attached to and installed on the upper surface of the beam members 211, 211', and more specifically, may be installed on the upper surface of the horizontal supporting portion 211b of the beam members 211, 211' that substantially supports the cargo.

[0100] In addition, in this embodiment, each of the plurality of beam members 211, 211' may be provided with at least one strain gauge 400. When the strain gauges 400 are installed on both sides of the length direction of each beam member 211, 211', the center of gravity may be estimated more accurately.

[0101] The displacement value sensed by the strain gauge 400 may be transmitted to a control unit (not shown) for controlling the operation of the transport robot 10 according to the present embodiment. The control unit (not shown) may estimate the center of gravity of the transport robot 10 based on the sensed value of the strain gauge 400, and may automatically correct the control parameters based on the estimated center of gravity.

[0102] The conveying robot 10 including four independent wheel drive modules 300 has basic parameters for control. At this time, when the mass and center of gravity of the goods loaded on the conveying robot 10 change, the load applied to each wheel drive module 300 will also change. Therefore, the control unit (not shown) of the present embodiment can perform control to adjust the position or height of each beam member 211, 211' based on the estimated center of gravity, or can perform control to adjust the rotation speed of the drive motor 330 or the steering motor 342a provided in the wheel drive module 300 to be described later. In this way, the moving angle or driving posture of the conveying robot 10 can be stably controlled, thereby improving the control stability of the conveying robot 10.

[0103] As described above, in the present embodiment, the system is configured to automatically correct control parameters based on the center of gravity that changes according to the state (position or form) of the load loaded on the beam members 211 , 211 ′ of the transport robot 10 .

[0104] The structure of the wheel driving module 300 provided in the transport robot 10 according to the present embodiment will be described in more detail below.

[0105] Reference Figures 5 to 8 The wheel driving module 300 of this embodiment may include: a wheel 310; a wheel frame 320, on which the wheel 310 is rotatably mounted; a driving unit 330, used to rotate the wheel 310; and a steering unit 340, used to rotate the wheel frame 320 to adjust the direction of the wheel 310.

[0106] The driving unit 330 may be provided as a driving motor 330 directly coupled to the axle of the wheel 310. The driving motor 330 may be mounted on the wheel frame 320 in a direction opposite to the mounting direction of the wheel 310, and the driving motor 330 may be connected to the axle of the wheel 310 through a through hole formed in the wheel frame 320.

[0107] The wheel 310 can rotate around the horizontal axis under the force applied by the driving motor 330. The wheel 310 can rotate clockwise or counterclockwise around the horizontal axis, so that the transport robot 10 can move forward or backward.

[0108] On the other hand, in the wheel driving module 300 of the transport robot 10 according to the present embodiment, the steering unit 340 may be manufactured into a structure in which the gear part 341 and the motor part 342 are separated, and the gear part 341 and the motor part 342 may be detachably coupled by bolt coupling or the like.

[0109] Specifically, the steering unit 340 of this embodiment may include: a gear part 341, including a steering gear 341a connected to the wheel frame 320 and a gear side housing 341b accommodating the steering gear 341a; and a motor part 342, including: a steering motor 342a, applying power to rotate the steering gear 341a; an output gear 342b, combined with the output shaft of the steering motor 342a and gear-engaged with the steering gear 341a; and a motor side housing 342c, forming a space for accommodating the output gear 342b, and the steering motor 342a is installed at the lower end of the motor side housing 342c.

[0110] First, the structure of the gear part 341 of the steering unit 340 is described. The steering gear 341a can be set as a disc gear and combined with the rotating shaft set in the wheel frame 320. Therefore, when the steering gear 341a rotates, the wheel frame 320 also rotates. The steering gear 341a is meshed with the output gear 342 of the motor part 342.

[0111] The gear side housing 341b provides a space for accommodating the steering gear 341a. The gear side housing 341b has a substantially cylindrical structure corresponding to the shape of the steering gear 341a, and is provided at one side with a coupling portion for coupling with a motor side housing 342c to be described later.

[0112] More specifically, the gear side housing 341b may be configured such that one side of the cylindrical housing is cut open to open the side wall. In addition, the cut side of the gear side housing 341b may be formed with a plurality of first fastening holes H1 for bolting with the motor side housing 342c.

[0113] Since one side portion of the gear side housing 341b is cut away, when the steering gear 341a is installed inside the gear side housing 341b, a portion of the steering gear 341a protrudes to the outside of the gear side housing 341b.

[0114] Next, the configuration of the motor part 342 of the steering unit 340 is described. The steering motor 342a provides power for rotating the steering gear 341a. The output gear 342b is coupled to the output shaft of the steering motor 342a, and the outer peripheries of the output gear 342b and the steering gear 341a can mesh with each other (gear meshing) and rotate.

[0115] The motor side housing 342c provides a space for accommodating the output gear 342b. In addition, a coupling portion for coupling with the gear side housing 341b may be provided on one side of the motor side housing 342c.

[0116] The motor-side housing 342c has a connection portion corresponding to the shape of the gear-side housing 341b. A plurality of second fastening holes H2 are formed on one side of the motor-side housing 342c connected to the gear-side housing 341b so that the bolts B can pass therethrough.

[0117] The gear side housing 341b and the motor side housing 342c may be coupled to each other using bolts B. More specifically, the gear side housing 341b and the motor side housing 342c may be coupled to each other by threading the bolts B passing through the second fastening holes H2 and the first fastening holes H1 in a state where the coupling portions are butted against each other.

[0118] That is, in this embodiment, the gear part 341 and the motor part 342 of the steering unit 340 can be detachably assembled by bolting between the gear side housing 341b and the motor side housing 342c. The gear part 341 and the motor part 342 of the steering unit 340 can be easily separated by loosening the bolt B.

[0119] The gear side housing 341b and the motor side housing 342c are combined to provide a space for accommodating the steering gear 341a and the output gear 342b. A portion of the steering gear 341a protruding from the gear side housing 341b is accommodated in the space of the motor side housing 342c.

[0120] In addition, the main body of the steering motor 342a can be installed at the lower end of the motor side housing 342c. The output shaft of the steering motor 342a is installed through the motor side housing 342c, and the output gear 342b combined with the output shaft of the steering motor 342a is accommodated in the internal space of the motor side housing 342c.

[0121] The operation of the steering unit 340 is described below. The output gear 342b mounted on the output shaft of the steering motor 342a is rotated by the driving of the steering motor 342a, and the rotational force of the output gear 342b is transmitted to the steering gear 341a, so that the rotation axis of the wheel frame 320 rotates, so that the wheel frame 320 can rotate in the horizontal direction. That is, the wheel frame 320 connected to the steering gear 341a is driven by the steering motor 342a to rotate around the axis in the vertical direction, so that the moving direction of the transport robot 10 according to the present embodiment can be adjusted.

[0122] The wheel driving module 300 provided in the transport robot 10 according to the present embodiment has two rotating mechanisms.

[0123] First, the vertical rotation of the wheel 310 is used to realize the moving function of the transport robot 10. Here, the vertical rotation of the wheel 310 refers to the rotation with the horizontal direction as the axis. The vertical rotation of the wheel 310 can be realized by the driving of the driving unit 330, so that the transport robot 10 can move forward or backward.

[0124] According to the present embodiment, situations in which the transport robot 10 needs to move include when the transport robot 10 moves to the position of the vehicle to be parked, when the lifting unit 210 enters the lower part of the vehicle in order to start parking the vehicle, and when the transport robot 10 moves to a designated parking position while the vehicle is lifted; when the lifting unit 210 is withdrawn from the lower part of the vehicle after parking the vehicle is completed, and when the transport robot 10 leaves the area after parking the vehicle is completed.

[0125] The second is the horizontal rotation of the wheel frame 320 for realizing the steering function of adjusting the moving direction when the conveying robot 10 moves. Here, the horizontal rotation of the wheel frame 320 refers to the rotation with the vertical direction as the axis. The horizontal rotation of the wheel frame 320 can be realized by driving the steering unit 340, more specifically, the steering unit 340 can be used to rotate the wheel frame 320 on which the wheel 310 is installed, thereby changing the moving direction of the conveying robot 10.

[0126] That is, in the wheel driving module 300 of the transfer robot 10 according to the present embodiment, the driving unit 330 provides power required for the transfer robot 10 to move, and the steering unit 340 provides power for adjusting the moving direction of the transfer robot 10 .

[0127] Hereinafter, a process in which the transport robot 10 according to the present embodiment performs parking of a vehicle, that is, a process in which cargo is transported, will be described.

[0128] In order to start the parking operation of the vehicle, the transport robot 10 according to the present embodiment moves to the side of the vehicle to be parked. In addition, the transport robot 10 according to the present embodiment can be further moved toward the vehicle in a state of being located at the side of the vehicle so that the lifting unit 210 enters the lower part of the vehicle. Such movement of the transport robot 10 can be achieved by controlling the wheel drive module 300 by a remote control device, as described above, the movement of the transport robot 10 can be achieved by driving the drive unit 330, and the movement direction adjustment of the transport robot 10 can be achieved by driving the steering unit 340.

[0129] The lifting unit 210 enters the lower part of the vehicle so that the pair of beam members 211, 211' are respectively located in front of and behind the front and rear wheels of the vehicle to be parked. When the lifting unit 210 enters the lower part of the vehicle, the height of the lifting unit 210 or the width between the pair of beam members 211, 211' constituting the lifting unit 210 can be adjusted as needed. For example, the transport robot 10 can scan the height, wheel width and other information of the vehicle to be parked, and drive the power unit (not shown) provided in the lifting module 200 according to this information to appropriately adjust the vertical position and horizontal position of the beam members 211, 211'.

[0130] After the lifting unit 210 enters the lower part of the vehicle, the pair of beam members 211 and 211' constituting the lifting unit 210 are arranged to face each other across the wheels. In this state, the lifting module 200 can be controlled to drive the pair of beam members 211 and 211' to move in a direction facing each other. In this way, the pair of beam members 211 and 211' are in contact with the wheels. In this case, when the pair of beam members 211 and 211' are further moved toward each other, the wheels of the vehicle can be lifted and separated from the ground in a state supported by the pair of beam members 211 and 211'.

[0131] On the other hand, in a state where the vehicle is lifted by the lifting unit 210, the overall center of gravity of the transport robot 10 may change due to the weight of the loaded vehicle. In this regard, in the present embodiment, the system may be configured to sense the displacement of the beam members 211, 211' using the strain gauges 400 attached to the beam members 211, 211', and the control unit (not shown) estimates the changed center of gravity of the transport robot 10 based on the sensed value received from the strain gauges 400 to automatically correct the control parameters.

[0132] The transport robot 10 that lifts the vehicle using the lifting unit 210 can move to a designated parking position through the operation of the wheel driving module 300, and after moving to the desired parking position, put down the vehicle at the designated parking position, thereby completing the parking operation.

[0133] When the vehicle is put down, the pair of beam members 211, 211' can move away from each other so that the wheels of the vehicle are lowered and contact the ground. In addition, in this state, the pair of beam members 211, 211' can be further moved to be completely separated from the wheels, and then the transport robot 10 can complete the parking operation of the vehicle and move to another location.

[0134] As described above, the transport robot 10 according to the present embodiment can realize automatic parking of the vehicle by continuously or repeatedly performing the operation of moving the frame module 100 constituting the body using the wheel driving module 300 and the operation of lifting or lowering the vehicle using the lifting module 200 .

[0135] According to the transport robot 10 of this embodiment, when loading cargo such as a vehicle, the displacement of the beam members 211, 211' is sensed by using the strain gauges 400 attached to the beam members 211, 211', the changing center of gravity is estimated based on the sensing value of the strain gauges 400, and the control parameters are corrected based on the estimated center of gravity, thereby significantly improving the motion control performance.

[0136] In addition, the transport robot 10 according to the present embodiment has a structure in which the gear part 341 and the motor part 342 of the steering unit 340 provided in the wheel drive module 300 are manufactured separately from each other and are detachably coupled, thus having excellent assembly properties and easy maintenance such as component replacement and repair.

[0137] When the transport robot 10 according to the present embodiment is used as a parking robot, automatic parking of a vehicle can be performed without user intervention, thereby greatly improving the convenience of vehicle users and improving space utilization by effectively utilizing limited parking space.

[0138] Fig. 9 FIG. 1 is a diagram schematically showing an automatic battery replacement system for a transport robot according to the present embodiment. Fig. 9 The automatic battery replacement system of the conveying robot provided in the conveying robot 10 provided in the present invention is described.

[0139] First, the transport robot 10 according to the present embodiment may be provided with a battery 500 as a power source. The power stored in the battery 500 may be used as driving power for driving the elevating module 200 and the wheel driving module 300.

[0140] The battery 500 may be provided in the form of a battery pack built into a housing made of a metal material. The battery pack is formed by integrating a plurality of battery cells into one by appropriately connecting in series, in parallel, or in a series-parallel hybrid manner according to the required voltage, capacity, and discharge amount, so that the charging / discharging process can be performed. The battery 500 may receive power from the outside for charging, and discharge the power stored in the battery 500 to supply the driving power of the lifting module 200 and the wheel driving module 300 as described above.

[0141] In addition, in the present embodiment, the battery 500 may be detachably mounted on the transport robot 10. For example, the battery 500 may be mounted to be exposed on the surface of the frame module 100 constituting the body of the transport robot 10. To this end, an installation space S for mounting the battery 500 may be formed on the first frame 110 or the second frame 120 constituting the frame module 100.

[0142] The battery 500 may be provided with a connection terminal so that when the battery 500 is inserted into the installation space S and installed, it is automatically electrically connected to the configurations requiring power such as the lifting module 200 and the wheel drive module 300. In addition, the upper end of the battery housing may be provided with a stepped structure so that the battery 500 can be stably installed in the installation space S.

[0143] On the other hand, the automatic battery replacement system of the conveying robot according to the present embodiment may include: a control unit (not shown), which collects the remaining power information of the battery 500 installed on the conveying robot 10 and issues a battery replacement command to the conveying robot 10; and a battery replacement robot 20, which is set at a charging station and replaces the battery 500 installed on the conveying robot 10.

[0144] The control unit (not shown) can collect the remaining power information of the battery 500, and when it is determined that the battery 500 needs to be replaced, it can command the transport robot 10 to move to the charging station and replace the battery 500. The transport robot 10 that receives the command from the control unit (not shown) can move to the charging station by itself, and the battery replacement robot 20 set at the charging station can perform the work of replacing the battery 500 installed on the transport robot 10.

[0145] The battery replacement robot 20 may include a magnet gripper 21 composed of an electromagnet, and the magnet gripper 21 may be used to absorb and carry the battery 500. Specifically, the battery replacement robot 20 may use the magnet gripper 21 to absorb the battery 500 and remove it from the transport robot 10 or install a fully charged new battery on the transport robot 10.

[0146] As an example, the battery replacement robot 20 can be set as a gantry robot. The battery replacement robot 20 set as a gantry robot may include a girder installed in the horizontal direction and a telescopic member slidably coupled to the girder and retractable in the vertical direction, and the magnet clamp 21 may be installed at the end of the telescopic member. Through the extension of the telescopic member, the magnet clamp 21 installed at the end of the telescopic member can descend and adsorb the battery 500, and then the telescopic member can retract in the state of adsorbing the battery 500, thereby removing the battery 500 from the conveying robot 10. In addition, the telescopic member can slide on the girder to transport the battery 500 to the charging position. Afterwards, the battery replacement robot 20 can use the magnet clamp 21 to adsorb another fully charged battery of the charging station, and install the fully charged battery on the conveying robot 10 through the sliding and retracting operation of the telescopic member.

[0147] As another example, the battery replacement robot 20 can be configured as a Selective Compliance Assembly Robot Arm (SCARA) known as a horizontal multi-joint robot. The battery replacement robot 20 configured as a SCARA may include an arm member coupled with at least one rotation axis as a reference axis, and the magnet clamp 21 may be mounted on the end of the arm member. The magnet clamp 21 can be moved within a predetermined operating range by pivoting or rotating the arm member with the rotation axis as a reference. By adjusting the position of the magnet clamp 21, the process of adsorbing the battery 500 and removing it from the transport robot 10 and transporting it to the charging position, and installing the fully charged battery of the charging station on the transport robot 10 can be performed similarly to the above process.

[0148] On the other hand, as described above, one battery replacement robot 20 can perform the work of removing the battery 500 from the transport robot 10 and the work of installing the fully charged battery on the transport robot 10, but in this embodiment, the system is configured to set up two battery replacement robots 20, one battery replacement robot 20 can perform the work of removing the battery 500 from the transport robot 10, and the other battery replacement robot 20 can perform the work of installing the fully charged battery on the transport robot 10, that is, the battery replacement work can be dualized.

[0149] In addition, although the above description describes that the battery replacement robot 20 is set at the charging station, the battery replacement robot 20 of this embodiment can be provided not only in the form of being fixedly installed at the charging station, but also in the form of being installed on another mobile robot that can move by itself. In this case, when the battery 500 needs to be replaced, the transport robot 10 does not need to be moved directly to the charging station, but the mobile robot equipped with the battery replacement robot 20 can be moved to the transport robot 10 where the battery 500 needs to be replaced to perform the replacement work of the battery 500. Such a mobile robot can be provided with a battery loading space, which is used to collect the battery 500 removed from the transport robot 10 and transport it to the charging station, and load the fully charged battery in the charging station and transport it to the transport robot 10.

[0150] According to the present embodiment, the automatic battery replacement system of the transport robot automatically replaces the battery 500 provided in the transport robot 10 by using the magnet clamp 21 , thereby reducing the idle time of the transport robot 10 and improving the operating rate of the transport robot 10 .

Claims

1. An automatic battery replacement system for a transport robot, comprising: A transport robot capable of moving on its own and including a lifting module for supporting the cargo for lifting; a battery that is detachably mounted on the transport robot and serves as a power source to supply power required for the transport robot to operate; and The battery replacement robot absorbs and carries the battery, and performs operations of sucking and removing the battery installed on the transport robot or installing a fully charged new battery on the transport robot.

2. The automatic battery replacement system for a transport robot according to claim 1, further comprising: The control unit collects the remaining power information of the battery installed on the transport robot and sends a command to the transport robot to replace the battery.

3. The automatic battery replacement system for a transport robot according to claim 1, wherein: The battery replacement robot is arranged at a battery charging station, or, The battery replacement robot is installed on a mobile robot that can move by itself. The mobile robot directly moves to the transport robot where the battery needs to be replaced to perform the battery replacement work.

4. The automatic battery replacement system for a conveying robot according to claim 1, wherein: An installation space for installing the battery is formed on the body of the transport robot, and the battery is installed to be exposed on the surface of the body.

5. The automatic battery replacement system for a transport robot according to claim 1, wherein: The battery comprises a metal shell, and the battery pack is built in the metal shell. The battery replacement robot uses a magnet gripper composed of an electromagnet to absorb the battery.

6. The automatic battery replacement system for a transport robot according to claim 5, wherein: The battery replacement robot is configured as a gantry robot or a selectively compliant assembly robot arm.

7. The automatic battery replacement system for a conveying robot according to claim 1, wherein: Two battery replacement robots are provided, one of which performs the work of removing the battery from the transport robot, and the other of which performs the work of installing the fully charged battery on the transport robot.

8. A method for automatically replacing a battery of a transport robot, which is a method for replacing a battery of the transport robot, wherein the transport robot is capable of moving by itself and comprises a lifting module for supporting cargo for lifting, and a battery used as a power source is detachably mounted on the transport robot, the method comprising: A collecting step of collecting remaining power information of a battery installed on the transport robot; A command step, when it is determined that the battery installed on the transport robot needs to be replaced, the control unit sends a battery replacement command to the transport robot; a removal step, in which the battery replacement robot uses a magnetic gripper to absorb the battery mounted on the transport robot and removes it from the transport robot; as well as In the installation step, the battery replacement robot uses a magnetic clamp to absorb the fully charged battery and install it on the transport robot.

9. The automatic battery replacement method for a transport robot according to claim 8, further comprising: A moving step in which the transport robot that receives the battery replacement command from the control unit moves to a charging station where a battery replacement robot is set, or a mobile robot with a battery replacement robot moves to the transport robot that receives the battery replacement command.

10. The automatic battery replacement method for a transport robot according to claim 8, wherein: The removing step and the installing step are performed sequentially by a battery replacement robot, or, The removing step and the installing step are respectively performed by different battery replacement robots.

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