Stocker for automated equipment

Abstract

A stoker for automation equipment is disclosed. The disclosed stoker for automation equipment includes a first frame arranged in a first direction, a second frame arranged in a second direction perpendicular to the first frame, a first conveying unit that supports the second frame and is arranged on the first frame and moves the second frame in the first direction along the first frame, and a second conveying unit connected to the second frame and moves in the second direction to move an item and load the item. The first frame includes a gear unit arranged along the first frame, and the first conveying unit includes a control unit that rotates by engaging with the gear unit and a motor unit connected to the control unit and providing power to rotate the control unit.

Description

Technology Field

[0001] The present disclosure relates to a stoker for automated equipment with improved transfer stability and efficiency. Background Technology

[0002] Manufactured goods can generally be stacked on separate loading frames for storage and transport, and recently, reflecting consumer demand, there is an increasing need for the ability to store and transport various types of goods.

[0003] For example, goods may include semi-finished and finished products, and in particular, due to the recent explosive increase in demand for secondary batteries, the storage and transportation of goods such as cells are taking place.

[0004] Such items generally tend to increase in weight and volume, leading to problems where workers consume significant time and costs to stack or store them. Furthermore, devices such as automated stockers capable of automatically transporting heavy items must be designed with a large self-weight to stably support the goods. Due to this heavy self-weight, these stockers face difficulties in precise movement or stopping caused by the inertia generated during transport.

[0005] Therefore, there are difficulties in accurately stacking goods on the loading frame, and problems exist where damage to goods or inaccurate placement may occur due to instability during transport. Efficient technology is required to solve these problems. The problem to be solved

[0006] The purpose of the present disclosure is to provide a stoker for automated equipment with improved transfer stability and efficiency.

[0007] The present disclosure for achieving the above objective may provide a stoker for an automated facility comprising: a first frame arranged in a first direction; a second frame arranged in a second direction perpendicular to the first frame; a first conveying unit that supports the second frame and is arranged on the first frame to move the second frame in a first direction along the first frame; and a second conveying unit connected to the second frame to move in a second direction and to move an article to load an article. The first frame includes a gear unit arranged along the first frame, and the first conveying unit includes a control unit that rotates by engaging with the gear unit and a motor unit connected to the control unit to provide power to rotate the control unit.

[0008] The second transfer unit comprises a third frame positioned in a third direction, a pair of support members positioned on the third frame and moving along the third frame, and a gripping member positioned between the support members to selectively grip the item and load the item onto a loading frame, and further comprises a processor connected to the first transfer unit and the second transfer unit to control the first transfer unit and the second transfer unit, wherein the processor can rotate the control unit to control the first transfer unit and the second transfer unit to move in a first direction.

[0009] The device further includes a photographing unit for photographing the external shape of the above-mentioned article, and the support member comprises a plurality of first protrusions arranged in a grid shape that are connected to be optionally height-adjustable and are disposed in a first part of the support member, and a second protrusion disposed to be protruding from a second part of the support member perpendicular to the first part, wherein each of the first protrusions comprises a body part that supports the above-mentioned article and is height-adjustable, and a first measuring part disposed on the upper part of the body part to contact the above-mentioned article and measure pressure, and the body part may include a side part disposed to be inclined along the outer surface of the body part.

[0010] The above processor measures the external shape of the item through the above-mentioned imaging unit, determines a first center of the item based on the measured external shape of the item, measures the weight and weight distribution of the item through the above-mentioned measuring unit, determines the position of the item based on the measured weight distribution of the item, determines a second center of the item based on the measured weight distribution, determines the direction of movement of the item based on the determined second center, determines the direction of movement of the item based on the position of the determined second center, determines a plurality of first protrusions to be raised among a plurality of first protrusions in the determined direction of movement, determines a second protrusion located in the determined direction of movement, the protrusion height at which the second protrusion protrudes, and determines the generation angle of the plurality of first protrusions to move the item, protrudes the second protrusion to the determined protrusion height, raises the first protrusion to the determined generation angle, the protrusion height of the determined second protrusion is proportional to the measured weight of the item, the determined generation angle is inversely proportional to the measured weight of the item, and the raised The height of the rise can gradually decrease as it approaches the second protrusion.

[0011] The support member further includes a second measuring unit positioned on the side of the second part to measure pressure, and the processor can determine the moving position of the article based on the pressure value measured through the first measuring unit by raising the entire plurality of first protrusions to a first height after the article is moved, and fix the article in contact with the second protrusion by raising the plurality of first protrusions positioned closest to the edge of the article, and if the pressure measured through the second measuring unit exceeds a preset pressure value, move the article, and if the pressure value of the second measuring unit measured in real time while the article is moving is less than or equal to the preset pressure value, stop the movement of the article and further raise the height to which the raised first protrusion rises, and if the pressure measured through the second measuring unit exceeds the preset pressure value after the raised first protrusion rises further, control the article to move again. Brief explanation of the drawing

[0012] FIG. 1 is a side view showing a loading frame according to one embodiment of the present disclosure. FIG. 2 is a photograph showing a loading frame according to one embodiment of the present disclosure. FIG. 3 is a perspective view showing a stoker for an automated facility according to one embodiment of the present disclosure. FIG. 4 is a perspective view showing a second transfer unit according to one embodiment of the present disclosure. FIG. 5 is a photograph showing a stoker for an automated facility according to one embodiment of the present disclosure. FIG. 6 is an enlarged perspective view showing a first frame and a first transfer unit according to one embodiment of the present disclosure. FIG. 7 is a perspective view showing a stoker for an automated facility that loads goods inside a loading frame according to one embodiment of the present disclosure. FIGS. 8 and 9 are photographs showing a stoker for an automated facility moving inside a loading frame according to one embodiment of the present disclosure. FIG. 10 is a cross-sectional view showing a second transfer section according to another embodiment of the present disclosure. Figure 11 is an enlarged view showing area A of Figure 10. FIG. 12 is a cross-sectional view of FIG. 10 in which a plurality of first and second protrusions are protruded. FIG. 13 is a cross-sectional view showing the state in which the item has moved from FIG. 12. FIG. 14 is a perspective view showing one first protrusion according to another embodiment of the present disclosure. FIG. 15 is a schematic diagram showing a photographing unit, an article, and a third frame according to another embodiment of the present disclosure. Specific details for implementing the invention

[0013] To fully understand the structure and effects of the present disclosure, preferred embodiments of the present disclosure are described with reference to the accompanying drawings. However, the present disclosure is not limited to the embodiments disclosed below, but can be implemented in various forms and various modifications can be made. The description of the embodiments is provided merely to ensure that the present disclosure is complete and to fully inform those skilled in the art of the scope of the invention. In the accompanying drawings, the components are depicted enlarged from their actual size for convenience of explanation, and the proportions of each component may be exaggerated or reduced.

[0014] Where a component is described as being "on" or "in contact" with another component, it should be understood that while it may be directly touching or connected to the other component, there may also be another component in between. On the other hand, where a component is described as being "immediately on" or "in contact" with another component, it should be understood that there is no other component in between. Other expressions describing the relationship between components, such as "between" and "directly between," can be interpreted in the same way.

[0015] Terms such as "first," "second," etc., may be used to describe various components, but said components shall not be limited by said terms. Such terms may be used solely for the purpose of distinguishing one component from another. For example, without departing from the scope of the present disclosure, the first component may be named the second component, and similarly, the second component may be named the first component.

[0016] A singular expression includes a plural expression unless the context clearly indicates otherwise. Terms such as "comprising" or "having" are intended to indicate the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and may be interpreted as implying that one or more other features, numbers, steps, actions, components, parts, or combinations thereof may be added.

[0017] Unless otherwise defined, the terms used in the embodiments of the present disclosure may be interpreted in the sense commonly known to those skilled in the art.

[0018] Hereinafter, with reference to FIGS. 1 to 9, a stoker (1) for an automated facility according to one embodiment of the present disclosure will be described.

[0019] FIG. 1 is a side view showing a loading frame (F) according to one embodiment of the present disclosure, FIG. 2 is a photograph showing a loading frame (F) according to one embodiment of the present disclosure, FIG. 3 is a perspective view showing a stoker (1) for automation equipment according to one embodiment of the present disclosure, FIG. 4 is a perspective view showing a second transfer unit (21) according to one embodiment of the present disclosure, FIG. 5 is a photograph showing a stoker (1) for automation equipment according to one embodiment of the present disclosure, FIG. 6 is an enlarged perspective view showing a first frame (10) and a first transfer unit (11) according to one embodiment of the present disclosure, FIG. 7 is a perspective view showing a stoker (1) for automation equipment loading an item (P) inside a loading frame (F) according to one embodiment of the present disclosure, FIG. 8 and FIG. 9 are photographs showing a stoker (1) for automation equipment in a state of moving inside a loading frame (F) according to one embodiment of the present disclosure.

[0020] The stoker (1) for automated equipment is a device that can automatically stack items (P) inside a stacking frame (F).

[0021] Here, the article (P) may include various items that can be loaded, and may have an external shape that includes a tetrahedral shape and maintains strength above a certain level. For example, the article (P) may include a secondary battery cell, a pouch, a box, etc.

[0022] In addition, the item (P) may be referred to as FOUP.

[0023] Accordingly, as described below, the gripping part (32) of the second transfer part (21) can grip the item (P) and place it at a pre-set position on the loading frame (F).

[0024] The loading frame (F) can stably support the loaded items (P), and a stoker (1) for automation equipment can be placed inside. The loading frame (F) may include a sufficient number of spaces to allow multiple items (P) to be loaded.

[0025] A stoker (1) for automation equipment may include a first frame (10) positioned in a first direction (D1), a second frame (20) positioned in a second direction (D2) perpendicular to the first frame (10), a first transfer unit (11) that supports the second frame (20) and is positioned on the first frame (10) to move the second frame (20) in the first direction (D1) along the first frame (10), and a second transfer unit (21) that is connected to the second frame (20) and moves in the second direction (D2) to move an item (P) and load the item (P).

[0026] Here, the first direction (D1) may be parallel to the horizontal direction and may correspond to the length direction (Q) of the loading frame (F). For example, the first direction (D1) may be parallel to the x-axis.

[0027] The second direction (D2) may mean a direction perpendicular to the ground. For example, the second direction (D2) may be parallel to the z-axis.

[0028] The third direction (D3) may be perpendicular to the first direction (D1) and the second direction (D2), and may be parallel to the ground.

[0029] The first frame (10) is positioned in the first direction (D1) and is placed inside the loading frame (F) to provide a path for the second frame (20) and the second transfer unit (21) connected to the second frame (20) to move.

[0030] The first frame (10) can guide the movement of the first transfer unit (11) which is connected to the upper part of the first frame (10) and moves.

[0031] In addition, the first frame (10) may include a gear section (12) arranged along the first frame (10). The gear section (12) is arranged parallel to the first frame (10) and can physically restrict and guide the path along which the first transfer section (11) moves.

[0032] For example, the gear section (12) may include various types of gears that are physically connected to the first transfer section (11), such as rack gears arranged in a long line, and can guide the path of the first transfer section (11).

[0033] The first transfer unit (11) is positioned on the first frame (10) and can move along the first frame (10) in a first direction (D1). The first transfer unit (11) is connected to the second frame (20) and can move integrally with the second frame (20) along the first direction (D1).

[0034] Accordingly, the second transfer unit (21) connected to the second frame (20) and the item (P) placed on the second transfer unit (21) can move together in the first direction (D1) as the first transfer unit (11) moves.

[0035] Specifically, the first transfer unit (11) may include a control unit (14) that rotates in engagement with a gear unit (12) and a motor unit (13) connected to the control unit (14) to provide power to rotate the control unit (14).

[0036] The control unit (14) can rotate in engagement with the gear unit (12), and the first transfer unit (11) and the second frame (20) connected to the control unit (14) can move simultaneously as the control unit (14) rotates.

[0037] The adjustment part (14) may include a shape complementary to the gear part (12) so as to mesh with it. For example, the adjustment part (14) may include a pinion gear.

[0038] The control unit (14) is connected to the motor unit (13) and can rotate along the gear unit (12) by using power transmitted from the motor unit (13).

[0039] The motor unit (13) is connected to the control unit (14) and can provide power to cause the control unit (14) to rotate. The motor unit (13) is sufficient as long as it can provide power and may include various types of mechanical configurations. For example, the motor unit (13) may include an electric motor.

[0040] The motor unit (13) can rotate the control unit (14) through power controlled by the control of the processor (4).

[0041] Accordingly, the first transfer unit (11) can stably move the second frame (20), the second transfer unit (21), and the item (P) with a large self-weight in the first direction (D1) through the control unit (14) which rotates in engagement with the gear unit (12), and at the same time control the item (P) to stop or move at a precise position.

[0042] For example, when the first conveying unit (11) moves via a drive belt, etc., it may be difficult to stop at a preset position due to the inertia caused by the heavy weight of the second frame (20), the second conveying unit (21), and the item (P) in order to stop after moving in the first direction (D1), or due to the significant stress on the drive belt.

[0043] In contrast, the adjustment part (14) and the gear part (12) can achieve fine movement of the first transfer part (11) because the adjustment part (14) stops, thereby dispersing the stress generated to stop or move due to the large contact area of ​​the adjustment part (14) and the gear part (12) which are interlocked with each other by the gear, and the contact area means that the friction area for stopping is large.

[0044] The second frame (20) is connected to the first transfer unit (11) and can move together in the first direction (D1) as the first transfer unit (11) moves.

[0045] The second frame (20) can be positioned vertically relative to the first frame (10). The second frame (20) is connected to the second transfer unit (21) so that the second transfer unit (21) can be moved in a direction vertical to the ground.

[0046] Accordingly, the position of the item (P) placed on the second transfer unit (21) can be changed as the second transfer unit (21) moves up and down along the second frame (20).

[0047] The second frame (20) is sufficient if it can move the second transfer unit (21) up and down and may include various mechanical configurations.

[0048] The second transfer unit (21) is connected to the second frame (20) and can move up and down along the second frame (20).

[0049] The second transfer unit (21) can move up and down while the item (P) is placed.

[0050] Specifically, the second transfer unit (21) may include a third frame (30) positioned in a third direction (D3), a pair of support members (31) that support an item (P) and are positioned on the third frame (30) and move along the third frame (30), and a gripping member (32) positioned between the support members (31) to selectively grip the item (P) and load the item (P) onto a loading frame (F).

[0051] The third frame (30) can support the support member (31) and the gripping member (32) to move in the third direction (D3) and guide the path of movement.

[0052] Accordingly, the item (P) can move along the first direction (D1), the second direction (D2) and the third direction (D3), so that it can be moved in all three axes inside the loading frame (F).

[0053] The third frame (30) may include various mechanical configurations as long as it is sufficient to support and guide a pair of support members (31) and gripping members (32). For example, the third frame (30) may include a rail structure.

[0054] Here, the second transfer unit (21), a pair of support units (31), and a gripping unit (32) are connected to a driving unit and can receive power from the driving unit.

[0055] The drive unit may include various mechanical configurations if it is sufficient to be connected to the stoker (1) for the automation equipment and provide power to the stoker (1) for the automation equipment.

[0056] For example, the drive unit may include an electric motor, a drive belt, a hydraulic pump, etc.

[0057] A pair of support members (31) are positioned on the third frame (30) and can move along the third frame (30) in a third direction (D3). A pair of support members (31) can support the lower surface of the article (P) to stably support the article (P). A pair of support members (31) can move in the third direction (D3) due to power transmitted to the drive unit.

[0058] A gripping member (32) may be positioned between a pair of support members (31). Here, the pair of support members (31) may not interfere with the movement of the gripping member (32).

[0059] The gripping member (32) is connected to a pair of support members (31) and a third frame (30) and can grip an item (P) placed on a pair of support members (31) and load the item (P) onto an adjacent loading frame (F).

[0060] For example, the gripping part (32) can stably grip the upper and lower parts of the item (P) and load the item (P) onto an adjacent loading frame (F).

[0061] The gripping portion (32) is sufficient if it can load an item (P) and may include various mechanical configurations for loading the item (P). For example, the gripping portion (32) may spread out or narrow in a second direction (D2) for gripping through a separate additional rail structure, and may additionally move in a third direction (D3) relative to a pair of support portions (31).

[0062] To this end, the gripping part (32) can be connected to move in a third direction (D3) on the third support part (31).

[0063] In addition, the stoker (1) for the automation equipment may further include a processor (4) connected to the first transfer unit (11) and the second transfer unit (21) to control the first transfer unit (11) and the second transfer unit (21).

[0064] That is, the processor (4) is embedded in the stocker (1) for automation equipment and can control the overall operation of the stocker (1) for automation equipment.

[0065] Here, the processor (4) may include one or more of a central processing unit (CPU), a controller, an application processor (AP), a communication processor (CP), and an ARM processor (4).

[0066] After the article (P) is placed on a pair of support members (31), the processor (4) determines the distance to move in the first direction (D1), the second direction (D2), and the third direction (D3) to a position set by the processor (4), and can move the article (P) through the first transfer member (11) and the second transfer member (21) by the determined distance to move.

[0067] Here, the processor (4) can rotate the control unit (14) to control the first transfer unit (11) and the second transfer unit (21) to move in the first direction (D1).

[0068] Next, the processor (4) can move the item (P) to the first transfer section (11) and the second transfer section (21), position the item (P) adjacent to the loading frame (F) to be loaded, and then load the item (P) onto the loading frame (F) by gripping it through the gripping section (32).

[0069] Accordingly, a stoker (1) for an automated facility according to one embodiment of the present disclosure can automatically load articles (P) having various weights and volumes into a loading frame (F).

[0070] Hereinafter, a stoker (1) for an automated facility according to another embodiment of the present disclosure will be described with reference to FIGS. 10 to 14.

[0071] Here, the same reference numbers are used for identical configurations, and redundant descriptions are omitted. Furthermore, configurations that are differentiated from the aforementioned configurations will be described later.

[0072] For example, the first frame (10), the first transfer unit (11), the second frame (20), the second transfer unit (21), the third frame (30), and a pair of gripping units (32) may be identical to the configuration described above.

[0073] FIG. 10 is a front cross-sectional view showing a second transfer unit (21) according to another embodiment of the present disclosure, FIG. 11 is an enlarged view showing area A of FIG. 10, FIG. 12 is a front cross-sectional view showing a state in which a plurality of first protrusions (41) and second protrusions (42) protrude in FIG. 10, FIG. 13 is a front cross-sectional view showing a state in which an article (P) has moved from FIG. 12, FIG. 14 is a perspective view showing one first protrusion (41) according to another embodiment of the present disclosure, and FIG. 15 is a schematic diagram showing a shooting unit (2), an article (P), and a third frame (30) according to another embodiment of the present disclosure.

[0074] The stocker (1) for the automation equipment may further include a shooting unit (2) for photographing the external shape of an article (P). The shooting unit (2) can photograph the external shape of the article (P) in the direction shown in FIG. 10 and transmit the photographed image to a processor (4).

[0075] The shooting unit (2) is sufficient if it can capture an image including the external shape of the item (P) and may include various configurations. For example, the shooting unit (2) may include a vision camera.

[0076] The support member (31) is arranged in a horizontal direction and may include a first part (31a) which is arranged on the lower surface of the support member (31) and supports an article (P), and a second part (31b) which is formed integrally with the first part (31a) and arranged vertically with respect to the first part (31a).

[0077] The support member (31) may include a plurality of first protrusions (41) arranged in a grid shape and connected to be optionally height-adjustable and disposed in the first part (31a) of the support member (31), and a second protrusion (42) disposed to be protruding in the second part (31b) of the support member (31) perpendicular to the first part (31a).

[0078] Each of the first protrusions (41) includes a body part (41a) that is positioned to be height-adjustable and supports an article (P), and a first measuring part (43) that is positioned on the upper part of the body part (41a) and contacts the article (P) to measure pressure, and the body part (41a) may include a side part (41b) that is positioned to be inclined along the outer surface of the body part (41a).

[0079] The first part (31a) may include a plurality of first protrusions (41) arranged in a grid shape that are optionally height-adjustable connected to the first part (31a).

[0080] A plurality of first protrusions (41) are positioned in the first part (31a) and can rise and fall independently of each other under the control of the processor (4).

[0081] Here, a plurality of first protrusions (41) are connected to a driving unit (not shown) and can move up and down by receiving driving force from the driving unit.

[0082] For example, the drive unit may include various mechanical components capable of providing power, such as a hydraulic pump or an electric motor. In addition, a plurality of first protrusions (41) are connected to independent hydraulic lines (L)(L) and can move up and down independently.

[0083] A plurality of first protrusions (41) can be arranged in a grid pattern on the first part (31a) and can come into contact with an article (P) located on the first part (31a).

[0084] Specifically, each of the plurality of first protrusions (41) may include a body part (41a) that supports an article (P) and is positioned to be height-adjustable on the first part (31a), and a first measuring part (43) that is positioned on the upper part of the body part (41a) and contacts the article (P) to measure pressure.

[0085] The body part (41a) can be connected to the first part (31a) so as to be movable up and down, and when positioned to protrude upward, it can come into contact with the lower surface of the article (P) located on the upper side.

[0086] One first protrusion (41) may include one body part (41a).

[0087] In addition, the body part (41a) can receive driving force through the hydraulic line (L), and the height protruding from the upper surface of the first part (31a) can be adjusted by the control of the processor (4).

[0088] The body portion (41a) is cylindrical except for the side portion (41b) at the top and may include a structure that can adjust its length vertically. For example, the body portion (41a) may include a multi-stage structure or a cylinder structure.

[0089] Additionally, the body portion (41a) may include a side portion (41b) positioned to be inclined along the outer surface of the body portion (41a).

[0090] The side portion (41b) can be located on the upper part of the body portion (41a), and when the item (P) moves, the area in contact with the item (P) can be minimized.

[0091] Accordingly, when the item (P) moves, the contact area with the lower surface of the item (P) is reduced, thereby improving the efficiency of the item (P)'s movement.

[0092] The first measuring part (43) is positioned on the upper part of the body part (41a), so that when the body part (41a) moves upward and comes into contact with the lower surface of the article (P), the first measuring part (43) can measure the pressure value.

[0093] For example, the first measuring unit (43) may include a pressure sensor.

[0094] Here, the measured pressure value is transmitted to the processor (4), and the processor (4) can determine various information such as the weight and shape of the item (P) based on the transmitted pressure value.

[0095] One first measuring part (43) can be placed in one body part (41a).

[0096] The second part (31b) may include a second protrusion (42) positioned to protrude by the control of the processor (4) and located on the upper inner side of the second part (31b).

[0097] The second protrusion (42) is formed flat so as to increase the contact area with the side of the item (P) that has moved to be in close contact with the support member (31), thereby minimizing movement and vibration while the item (P) moves inside the loading frame (F), and maximizing the stability of the item's movement.

[0098] Here, it is sufficient for the second protrusion (42) to be able to move up and down from the second part (31b) and to receive power from the driving part. For example, the second protrusion (42) may include various mechanical configurations. Specifically, the second protrusion (42) may include a hydraulic cylinder structure.

[0099] The second part (31b) may include a second measuring part (42a) positioned on the side of the second part (31b) to measure pressure by contacting the article (P).

[0100] The second measuring unit (42a) is positioned below the second unit (31b) and can transmit information measured by contacting a moved item (P) to the processor (4), and the processor (4) can determine whether the item (P) has come into contact with the second unit (31b) based on the transmitted information. For example, the second measuring unit (42a) may include a pressure sensor and a contact sensor.

[0101] For example, if the pressure value measured by the second measuring unit (42a) exceeds the contact reference pressure value stored in the processor (4), the processor (4) can determine that the article (P) has come into contact with the second unit (31b).

[0102] The second measuring unit (42a) may be composed of multiple units.

[0103] That is, the support member (31) may further include a second measuring member (42a) positioned on the side of the second member (31b) to measure pressure.

[0104] Hereinafter, a stoker (1) for an automated facility according to another embodiment of the present disclosure will be described with reference to FIGS. 12 to 15.

[0105] The processor (4) can measure the external shape of the item (P) through the shooting unit (2) and transmit the captured image to the processor (4) before the item (P) is placed on a pair of support members (31) and the item (P) is moved through the first transfer unit (11) and the second transfer unit (21).

[0106] Next, the processor (4) can determine a first center (K1) of the article (P) based on the external shape of the measured article (P). Here, the first center (K1) may include a geometric center.

[0107] Next, the processor (4) can determine the location of the item (P) based on the weight distribution of the measured item (P).

[0108] That is, the processor (4) can determine the position where the external shape is placed on the support member (31) based on the pressure value measured through the first measuring unit (43).

[0109] For example, the processor (4) may determine that an item (P) is located at a corresponding location if the pressure value measured through the first measuring unit (43) exceeds a preset value. Meanwhile, if the pressure value measured through the first measuring unit (43) is less than or equal to a preset value, it may determine that an item (P) is not located at a corresponding location.

[0110] Accordingly, the processor (4) can determine the position of the article (P) on the support member (31) based on the measured pressure value. Thus, as described below, the position can be determined even for articles (P) arranged in various shapes, thereby increasing the stability of gripping and movement through the gripping member (32).

[0111] Additionally, the processor (4) can measure the weight and weight distribution of the item (P) through the first measuring unit (43).

[0112] For example, the processor (4) can raise all of the plurality of first protrusions (41) to measure the weight of the item (P) based on the pressure value measured through the first measuring part (43).

[0113] In addition, the processor (4) can measure a first pressure value by first raising the plurality of first protrusions (41) located on the support member (31) located on one side of the plurality of first protrusions (41) each placed on a pair of support members (31), and then measure a second pressure value by sequentially raising the plurality of first protrusions (41) located on the support member (31) located on the other side.

[0114] Next, the processor (4) can determine the weight distribution by comparing the first pressure value and the second pressure value.

[0115] For example, if the first pressure value is greater than the second pressure value, it can be determined that the center of gravity of the article (P) is located at a position adjacent to the support member (31) on one side. That is, the processor (4) can determine the weight distribution by determining that the center of gravity of the article (P) is eccentric at a position adjacent to the support member (31) on one side.

[0116] Next, the processor (4) can determine a second center (K2) of the article (P) based on the measured weight distribution. Here, the second center (K2) may include a center of gravity.

[0117] For example, referring to FIG. 10, the center of gravity may mean the center of gravity with respect to the first direction (D1).

[0118] Afterwards, the processor (4) can determine the direction of movement (T) of the item (P) based on the determined second center (K2).

[0119] For example, when the second center (K2) is positioned adjacent to a support member (31) on one side (which may mean the left side based on FIG. 10), the processor (4) can determine a direction of movement (T) in which the article (P) is moved so as to be placed in close contact with the support member (31) on one side through a plurality of first protrusions (41).

[0120] Conversely, when the second center (K2) is positioned adjacent to the support (31) on the other side (which may mean the right side based on FIG. 10), the processor (4) can determine a direction of movement (T) to move the article (P) so that it is positioned in close contact with the support (31) on the other side through a plurality of first protrusions (41).

[0121] That is, the processor (4) can determine the direction of movement of the item (P) based on the location of the determined second center (K2).

[0122] Next, the processor (4) determines the plurality of first protrusions (41) to be raised among the plurality of first protrusions (41) in the determined direction of movement (T), determines the second protrusion (42) located in the determined direction of movement (T), the protrusion height at which the second protrusion (42) protrudes, and the generation angle (R) of the plurality of first protrusions (41) for moving the item (P), protrudes the second protrusion (42) to the determined protrusion height, and raises the first protrusion (41) to the determined generation angle (R).

[0123] Here, the protrusion height of the determined second protrusion (42) may be proportional to the measured weight of the item (P). Accordingly, as the weight of the item (P) increases, the contact area with the second protrusion (42) of the item (P) that moves to be placed in close contact with the support member (31) adjacent to the second center (K2) increases.

[0124] Accordingly, movement and vibration can be minimized while the item (P) moves inside the loading frame (F), thereby maximizing the stability of the item's movement.

[0125] Meanwhile, the determined generation angle (R) is inversely proportional to the weight of the measured item (P), and the height of the rise can be gradually lowered as it approaches the raised second protrusion (42).

[0126] For example, the processor (4) can increase the generating angle (R) formed by the multiple first protrusions (41) rising as the weight of the item (P) increases, so that the item (P) slides well in the movement direction (T) determined by the generating angle (R).

[0127] Meanwhile, the heavier the weight of the item (P), the better it slides in the direction of movement (T) determined by its own weight even at a small generation angle (R), thereby minimizing structural stability and power consumption.

[0128] Here, the height of a plurality of first protrusions (41) can be sequentially adjusted to become a generation angle (R). In addition, the processor (4) can sequentially rise and fall at a determined generation angle (R) to move the item (P).

[0129] Next, the processor (4) can determine the moving position of the article (P) based on the pressure value measured through the first measuring unit (43) by raising the entire plurality of first protrusions (41) to a first height after the article (P) has been moved.

[0130] For example, the processor (4) can determine through the first measuring unit (43) that the item (P) is located above a position exceeding a preset value.

[0131] Next, the processor (4) can raise a plurality of first protrusions (41) positioned closest to the edge of the article (P) to fix the article (P) in contact with the second protrusion (42). That is, the plurality of first protrusions (41) positioned closest to the edge of the article (P) can be raised to fix the article (P) in contact with the second protrusion (42).

[0132] Afterwards, the processor (4) can move the item (P) if the pressure measured through the second measuring unit (42a) exceeds a preset pressure value.

[0133] That is, when the processor (4) exceeds a preset pressure value through the second measuring part (42a), it determines that the item (P) is placed in close contact with the second protrusion (42) and the second part (31b), and determines that the item (P) is stably fixed, and can move the item (P) inside the loading frame (F).

[0134] Accordingly, by determining through the second measuring unit (42a) that the item (P) is placed in close contact with the support unit (31) on one side or the other side and moving it, the contact area with the item (P) is maximized, thereby minimizing vibrations and fine movements that occur while the item (P) is moving.

[0135] Meanwhile, the processor (4) can stop the movement of the item (P) and further increase the height to which the raised first protrusion (41) rises when the pressure value of the second measuring unit (42a) measured in real time while the item (P) is moving is less than or equal to the preset pressure value, and after the raised first protrusion (41) rises further, if the pressure measured through the second measuring unit (42a) exceeds the preset pressure value, the item (P) can be moved again.

[0136] That is, if the position changes due to vibrations or the like while the item (P) is moving, the pressure value measured in real time through the second measuring unit (42a) may become less than or equal to the preset pressure value.

[0137] At this time, the processor (4) determines that the position of the item (P) has moved out of a stable position, and further raises the first protrusion (41) which is positioned adjacent to the edge of the item (P) and is in a raised state to bring the item (P) closer to the second part (31b) and the second protrusion (42) and fix it, and then determines the fixed state again through the second measuring part (42a) and moves the item (P), thereby enabling stable movement of the item (P).

[0138] Here, the preset pressure value can be pre-set by the user within the processor (4).

[0139] In addition, the item (P) moves in a determined direction of movement (T), so that the second center (K2), which is the center of gravity, moves to a position adjacent to the gripping part (32), and the gripping part (32) can grip and move the item (P) closest to the second center (K2), thereby maximizing the stability of gripping the item (P) and loading it within the loading frame (F).

[0140] Meanwhile, after the raised first protrusion (41) is raised further, if the pressure measured through the second measuring part (42a) is less than or equal to a preset pressure value, the user is notified through sound, display, etc., so that the user can adjust the position of the item (P) to perform continuous loading.

[0141] Although various embodiments of the present disclosure have been described individually above, each embodiment is not required to be implemented alone, and the configuration and operation of each embodiment may be implemented in combination with at least one other embodiment.

[0142] Furthermore, although preferred embodiments of the present disclosure have been illustrated and described above, the present disclosure is not limited to the specific embodiments described above. It is understood that various modifications can be made by those skilled in the art without departing from the essence of the present disclosure as claimed in the claims, and such modifications should not be understood individually from the technical spirit or perspective of the present disclosure. Explanation of the symbols

[0143] 1: Stoker for automation equipment 10: 1st frame 11: 1st transfer unit 20: 2nd frame 21: 2nd transfer unit 30: 3rd frame

Claims

Claim 1 A first frame positioned in a first direction; a second frame positioned in a second direction perpendicular to the first frame; a first transfer unit that supports the second frame and is positioned on the first frame to move the second frame in the first direction along the first frame; and a second transfer unit connected to the second frame to move in the second direction and to move an item to load the item; wherein the first frame includes a gear unit positioned along the first frame, and the first transfer unit includes a control unit that rotates in engagement with the gear unit; and a motor unit connected to the control unit to provide power to rotate the control unit; and the second transfer unit includes a third frame positioned in a third direction; and a pair of support units that support the item and are positioned on the third frame to move along the third frame. A stoker for automated equipment comprising: a gripping member disposed between the support members and selectively gripping the article and loading the article onto a loading frame; further comprising a processor connected to the first transfer member and the second transfer member to control the first transfer member and the second transfer member, wherein the processor rotates the adjustment member to control the first transfer member and the second transfer member to move in a first direction, and further comprises a shooting member that photographs the external shape of the article; wherein the support member comprises a plurality of first protrusions disposed in a first part of the support member, connected to be height-adjustable and arranged in a grid shape; and a second protrusion disposed to be protruding from a second part of the support member perpendicular to the first part; wherein each of the first protrusions comprises a body member disposed to be height-adjustable and supporting the article; and a first measuring member disposed on the upper part of the body member to contact the article and measure pressure; wherein the body member comprises a side member disposed to be inclined along the outer surface of the body member. Claim 2 delete Claim 3 delete Claim 4 In claim 1, the processor measures the external shape of the article through the imaging unit, determines a first center of the article based on the measured external shape of the article, measures the weight and weight distribution of the article through the first measuring unit, determines the position of the article based on the measured weight distribution of the article, determines a second center of the article based on the measured weight distribution, determines the direction of movement of the article based on the determined second center, determines the direction of movement of the article based on the position of the determined second center, determines a plurality of first protrusions to rise among a plurality of first protrusions in the determined direction of movement, determines a second protrusion located in the determined direction of movement, the protrusion height at which the second protrusion protrudes, and determines the angle of creation of the plurality of first protrusions to move the article, protrudes the second protrusion to the determined protrusion height, raises the first protrusion to the determined angle of creation, the protrusion height of the determined second protrusion is proportional to the measured weight of the article, and the angle of creation is proportional to the measured weight of the article and A stoker for automated equipment that is inversely proportional, and the rising height gradually decreases as it approaches the second protrusion. Claim 5 A stoker for an automated facility according to claim 4, wherein the support member further comprises a second measuring member disposed on the side of the second member to measure pressure, and the processor, after the article is moved, raises all of the plurality of first protrusions to a first height to determine the moving position of the article based on the pressure value measured through the first measuring member, raises the plurality of first protrusions disposed closest to the edge of the article to fix the article so that it contacts the second protrusion, and if the pressure measured through the second measuring member exceeds a preset pressure value, moves the article, and if the pressure value of the second measuring member measured in real time while the article is moving is less than or equal to the preset pressure value, stops the movement of the article and further raises the height to which the raised first protrusion rises, and after the raised first protrusion rises further, if the pressure measured through the second measuring member exceeds a preset pressure value, controls the article to move again.

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