US 12,325,120 B2
Gas cylinder transfer apparatus and gas cylinder logistics system including the same
Tae Ho Kim, Cheonan-si (KR); Wang Hyeon Son, Cheonan-si (KR); and Chong Whan Lee, Cheonan-si (KR)
Assigned to SEMES CO., LTD., Cheonan-si (KR)
Filed by SEMES CO., LTD., Cheonan-si (KR)
Filed on Jul. 19, 2021, as Appl. No. 17/379,412.
Claims priority of application No. 10-2020-0089762 (KR), filed on Jul. 20, 2020.
Prior Publication US 2022/0016788 A1, Jan. 20, 2022
Int. Cl. B25J 5/00 (2006.01); B25J 9/16 (2006.01); B25J 15/00 (2006.01); B25J 19/02 (2006.01)
CPC B25J 15/0038 (2013.01) [B25J 5/007 (2013.01); B25J 9/1697 (2013.01); B25J 19/023 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A gas cylinder transfer apparatus comprising:
a transfer vehicle configured to transfer a gas cylinder; and
a transfer robot disposed on the transfer vehicle; and
a control unit configured to control operations of the transfer vehicle and the transfer robot,
wherein the transfer robot comprises:
a robot hand configured to support a lower surface portion of the gas cylinder; and
a hand drive unit configured to move the robot hand in horizontal and vertical directions,
wherein the hand drive unit comprises:
a tilt drive part configured to adjust an inclination of the robot hand so that an upper portion of the gas cylinder is inclined backward after the gas cylinder is supported on the robot hand,
wherein the control unit is further configured to control operations of the tilt drive part, such that, when the gas cylinder is loaded onto a stage or unloaded from the stage, the control unit controls the operations of the tilt drive part so that a support member is in a horizontal state, and
wherein a tilt sensor configured to measure a tilt of the support member is mounted on the robot hand, and the control unit is configured to adjust the inclination of the support member based on measurement signals received from the tilt sensor.