IMPROVEMENT IN PALLET TRANSPORTATION SYSTEMS

Abstract

This invention relates to improvements in autonomous transport robots to ensure a safer transport environment during pallet loading, handling, and transfer. The invention aims to develop a stopper control system that prevents the pallet, and consequently the load, from moving on the robot during pallet lifting and handling. It also aims to develop elements that ensure correct positioning at the pallet transfer point. Furthermore, it aims to develop pallet position sensors that check whether the robot loads and releases the pallet correctly.

Description

1 TARIFF IMPROVEMENT IN PALLET TRANSPORTATION SYSTEMS Technical Area This invention enables autonomous transport robots to load, transport, and transfer pallets. In order to ensure a safer transportation environment for the system during the process, it contains 5 It is related to improvements. Previous Technique The storage and transportation of products stacked on pallets is an industry standard. It has been widely adopted all over the world, even if the dimensions and structures of the pallets vary. Generally, all pallets have 10 parts that allow forklifts, pallet trucks, and similar vehicles to lift the pallet. There is a bottom opening. A pallet, when lifted by grasping it from here, rests on its own on the ground. It is placed on its feet. Autonomous transport robots are used for picking up and placing loads in warehouse and production areas. It automates the process. In this process, it plans its own route and identifies obstacles. These systems, which mostly operate autonomously in management and decision-making processes, enable the facility to... 15 Internal transportation operations can be carried out independently of human intervention. is happening. One known example in the field is in patent application number WO2019140471A1. This has been explained. The invention described in this patent application is an autonomously moving forklift. It is a robot with this structure. This robot grasps the pallet from underneath, lifts it, and places it where it will be released in 20 seconds. It moves autonomously. The robot's structure allows it to view the pallet and load from above. It allows him to remove it. Tracks wear out and get damaged with use. Therefore, body integrity is important. It is deteriorating. Factories are using different raw materials, colors, and from different suppliers. The design requires stacking the pallets together. Therefore, automatic 25 Pallet gripping, lifting, and position sensing systems work one after another on different pallets. The system can make mistakes while running. 2 Purpose and Brief Description of the Invention The invention involves lifting and transporting pallets, and consequently the load, on a robot during pallet handling. Development of a stopper control system that enables transportation without movement. The invention also aims to ensure correct positioning at the pallet transfer point. It aims to improve the elements. The robot should load the pallet correctly. checks that it has been loaded and that it has been released correctly when dropping it. It aims to develop pallet position sensors. Definitions of the Figures Illustrating the Invention The improvements developed in the pallet handling conveyor system with this invention will be even better in 10 years. The diagrams and related explanations used to illustrate this are given below. Figure 1 shows an integrated pallet handling conveyor system according to the invention. This is a schematic perspective view along with the transport robot. Figure 2 Schematic perspective of a pallet handling conveyor system according to the invention. It is the appearance. 15 Figure 3 shows the loading and unloading process of a pallet conveying system according to the invention. This is a perspective view of a stationary conveyor. Figure 4 shows the stopper mechanism of a pallet conveyor system according to the invention. It is a detailed perspective view when the device is closed. Figure 5. According to the invention, the stopper mechanism of a pallet conveyor system is 20. It is a detailed perspective view without some role elements when it is closed. Figure 6. Stopper mechanism of a pallet conveyor system according to the invention. When open, it is a detailed perspective view without some role elements. Figure 7 shows a bottom-down detailed perspective of a pallet handling conveyor system according to the invention. It is the appearance. 25 3 The parts in the figures are individually numbered, and the corresponding numbers are shown below. It has been given. 1. Moving conveyor 2. Stationary conveyor 3. Robot 5 4. Pallet 5. Print side 6. Optical sensor 7. Reflective 8. Control unit 10 9. Stopper mechanism 10. Conveyor control sensor 11. Conveyor sensor reflector Detailed Description of the Invention This invention is a movable 15 designed for carrying a pallet (4) on a transport robot (2). The conveyor (1) will be used to take the load from the robot (3) or to give the load to the robot (3). It includes a stationary conveyor (2). The movable conveyor (1) is mounted on the robot (3). It is made and moves together with the robot (3). The conveyor (1) on the robot (3) Therefore, it has its own unique movement route and load loading / unloading algorithm. It is located. 20 The load on the moving conveyor (1) can only be transferred to the fixed conveyor (2) or another It will be able to transfer to the moving conveyor (1). In both cases, the conveyors (1 and 2) pallet (4) The bearing surfaces (5) have the same height from the ground. In this way Lifting and lowering of the pallet (4) during transfer from one conveyor (1 or 2) to another It will not be necessary. 25 4 The conveyors (1 and 2) not only have to be at the same height as each other, but also positioned in mirror symmetry, aligned and facing each other This is necessary. Otherwise, two identical conveyors (1 and 2 or 1 and 1) will not work together. They may drop the pallet (4) while transferring it between them. To prevent this, two Optical 5 is required for them to understand that the conveyors (1 and 2 or 1 and 1) are opposite each other. The robot has a conveyor control sensor (10) and a conveyor sensor reflector (11). (3) its position with the conveyor control sensor (10) conveyor sensor He will ensure the position accuracy by checking through the reflector (11). During pallet (4) transfer between conveyors (1 or 2), follow these algorithm steps: The transfer will be carried out after checks are performed accordingly. In this order: 10 a pallet (4) that can be transferred on the counter conveyor (1 or 2) The information about its location is transmitted to the conveyor (1) robot (3) via the communication system, o Conveyor (1) transport system robot (3) to the station with fixed conveyor (2) income, The robot (3) has a pallet (4) on its conveyor (1) for additional safety purposes and 15 checks if it is not present, The robot (3) reports that it has reached the fixed conveyor (2), with the optical conveyor control sensor (10) on the robot (3) and on the counter conveyor (1 or 2) the conveyor sensor reflectors (11) are used together with the robot (3) Checks whether it is properly positioned on the opposite conveyor (1 or 2), 20 The robot (3) confirms that pallet (4) can be sent to the opposite conveyor (1 or 2), First, the moving conveyor (1) on the robot (3) starts working, then the opposite conveyor (1 or 2) pallet (4) transfer to movable conveyor (1) on robot (3) starts to The optical sensor A (6) located on the moving conveyor (1) of the robot (3) is 25 It detects when a pallet has been received. o Optical sensor (6) confirms that the pallet (6) is moving on conveyor (1 or 2) and Monitoring continues until the operation is complete. o B optical sensor (6) tracks what it sees continuously after the first sighting of the palette (4), o C optical sensor (6) that pallet (4) is completely separated from the opposite conveyor (1 or 2) It senses and signals to the control unit (8) to reduce the speed of the conveyor (1 or 2). sends, When the pallet (4) leaves the optical sensor (6), it is in relation to the moving conveyor (1). Centering and correct positioning of the pallet (4) is considered complete. is done, Before the robot (3) moves, the pallet (4) must be transported safely. In order to ensure this, the stopper mechanism (9) is activated, If optical sensor A (6) does not detect any pallet (4), stopper mechanism (9) is lifted up without encountering any obstacle, B and C check whether the Stopper mechanism (9) is in the correct position. optical sensors (6) are activated, 15 mechanically with the Stopper mechanism (9) in the up position When verified, the robot (3) starts moving according to the movement route, While the Robot (3) is in motion, optical sensors B and C (6) determine the position of the pallet (4) constant tracks and situations such as the pallet (4) sliding or tipping over in advance detection and stopping of the robot (3) when necessary, 20 The pallet (4) transfer algorithm described above can be used with a moving conveyor (1) between the fixed conveyor (2) and the movable conveyor (1) and another movable This can be done between conveyors (1). If 2 robots (3) and the 2 moving parts they carry If a transfer is to take place between conveyors (1), one of the robots (3) will change its position. will fix and remain stationary like a stationary conveyor (2) the other robot (3) 25 It will allow him to perform movements that involve positioning. 6 The optical sensors (6) used in the detection of the pallet (4) are not parallel to the ground but intentionally It is positioned at an angle. This allows for higher detection of different types of pallets (4). It provides a working range. The optical sensors (6) used in the system have angular adjustment capability. This allows for more Ability to work with different types of pallets (4) with minimal equipment change 5 is provided. Curtain-type optical sensors (6) are used on the conveyor (1 or 2). This type of optical Even if approximately 20% of the sensor line is cut, the sensors (6) have a thickness of 5mm. It is able to detect an object that has been placed on the conveyor (1 or 2). Thanks to this feature, it can detect an object on the conveyor (1 or 2). a wider sensing area is created and pallet (4) position control is more reliable 10 is being transformed into this state. A more secure structure with the A optical sensor (6) positioned at an angle on the forward and backward axis. This has been ensured. By placing the optical sensor (6) at an angle, earlier pallet entry and earlier Pallet exit detection can be performed. Optical sensor A (6) is placed at a large angle. Scanning diagonally across the area where the palette (4) is located, any foreign object 15 It checks that it is not.

Claims

7 REQUESTS 1. Loading, transporting, and transferring pallets on autonomous transport robots. in order to ensure a safer transportation environment for the system during the process; - with a movable conveyor (1) designed for carrying a pallet (4) on it 5 a load to be taken from robot (3) or given to robot (3) including fixed conveyor (2), - The pressing surfaces (5) carrying pallets (4) of the conveyors (1 and 2) are identical to each other. The load on the ground is only on a fixed conveyor (2) or a mobile conveyor (1) that can transfer to other mobile conveyor (1), 10 - understanding that the two conveyors (1 and 2 or 1 and 1) are opposite each other. conveyor control sensors (10) and conveyor sensors used for reflectors (11), - ensure the pallet (4) is transported safely before moving stopper mechanism (9), 15 - constantly monitor the position of the pallet (4) while in motion and the position of the pallet (4) If the robot detects situations such as sliding or tipping over, (3) a characterized by optical sensors B and C (6) that enable stopping moving conveyor (1).

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