WO2021029508A1 - Item transfer shuttle and item warehousing/release system using same - Google Patents
Item transfer shuttle and item warehousing/release system using same Download PDFInfo
- Publication number
- WO2021029508A1 WO2021029508A1 PCT/KR2020/002963 KR2020002963W WO2021029508A1 WO 2021029508 A1 WO2021029508 A1 WO 2021029508A1 KR 2020002963 W KR2020002963 W KR 2020002963W WO 2021029508 A1 WO2021029508 A1 WO 2021029508A1
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- WIPO (PCT)
- Prior art keywords
- article
- carrier
- transfer shuttle
- goods
- shuttle
- Prior art date
Links
- 238000012546 transfer Methods 0.000 title claims abstract description 70
- 238000003825 pressing Methods 0.000 claims description 16
- 238000000034 method Methods 0.000 claims description 15
- 238000000926 separation method Methods 0.000 claims description 9
- 230000003028 elevating effect Effects 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 230000009467 reduction Effects 0.000 abstract description 3
- 238000003860 storage Methods 0.000 description 12
- 230000032258 transport Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000009826 distribution Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 230000007423 decrease Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 239000010410 layer Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
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- 238000004806 packaging method and process Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 239000002356 single layer Substances 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
- B65G57/04—Stacking of articles by adding to the top of the stack from above by suction or magnetic devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07581—Remote controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
- B66F9/141—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements with shuttle-type movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/18—Load gripping or retaining means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/18—Load gripping or retaining means
- B66F9/183—Coplanar side clamps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
Definitions
- the present invention relates to an article transfer shuttle and an article entry/exit system using the same, and more particularly, by providing a telescopic fork for holding an article and a carrier provided to load the article to be elevated along a mast disposed in a vertical direction with the body
- the present invention relates to an article transfer shuttle capable of stacking incoming goods in multiple stages, releasing goods of a predetermined height, and warehousing or releasing a plurality of goods at once, and an article entry/exit system using the same.
- logistics is an abbreviation of physical distribution, and is a generic term for functions or activities that effectively transfer products and goods from producers to consumers. Generally refers to several activities such as packing, unloading, transport, storage and information.
- Logistics warehouses are equipped with an item loading/unloading system using a mechanized or automated means of loading and unloading goods, because rapid goods receipt and delivery are vital, and an automated goods loading/unloading system is typically used using a goods transfer shuttle. .
- a product transfer shuttle running horizontally at the same height as each floor for each floor of a multi-storey rack warehouse in which goods are stored is provided to store goods in or leave the rack warehouse.
- the conventional goods transfer shuttle can only load one or a predetermined quantity of goods, so the quantity of goods received or released at a time is very limited, and goods are arranged and stored in a single layer for each floor of the rack warehouse.
- the warehouse rack In order to store a large amount of goods, there is a problem that the warehouse rack must be formed in a large number of layers, and thus a large number of transfer shuttles must be provided.
- the present invention is to solve the problems of the prior art mentioned above, and an object of the present invention is an article transfer shuttle that loads and stores incoming goods in multiple stages and releases a desired quantity of goods at once, and It is to provide a system for entering and leaving goods using this.
- another object of the present invention is to provide an article transfer shuttle provided with a departure preventing means capable of preventing the separation of articles loaded on the transfer shuttle during movement of the article transfer shuttle, and an article loading and unloading system using the same.
- Another object of the present invention is to provide an article transfer shuttle and an article loading/unloading system using the same, in which the departure preventing means prevents interference with articles loaded on a carrier or articles disembarked from a carrier.
- An article transfer shuttle is an article transfer shuttle for receiving or shipping articles from a rack warehouse in which articles are stacked in multiple stages in each unit rack, and includes horizontal running rails installed on each floor of the unit rack.
- a shuttle body that moves along and transports goods, one or more masts arranged in a vertical direction on the shuttle body, a carrier that is formed to load and is coupled to the mast so as to be able to move up and down, and coupled to both ends of the carrier and loaded in a unit rack It includes a telescopic fork that grips and loads the items loaded in the carrier or grips and unloads the items loaded in the carrier, and stores and releases one or more items in a multi-stage stacked form during the loading and unloading process.
- the article transfer shuttle may further include a control unit for controlling the operation of the shuttle body, the carrier, and the telescopic fork so as to store and release articles into and out of the rack warehouse.
- the telescopic fork includes a friction member disposed on the distal fork to increase the friction force with respect to the item being gripped, and the control unit controls the motion so that the distance between the distal forks narrows while the distal fork faces both sides of the product. Can be gripped.
- the telescopic fork includes a pressing member provided to protrude and release from the distal fork, and the control unit can control the operation so that the pressing member protrudes while the distal fork faces both sides of the article to grip the article. .
- control unit receives information on the target item to be gripped by the telescopic fork among the items loaded in multiple stages in the unit rack when the item is shipped from a separate server, and controls the operation so that the target item and the item loaded on the upper layer of the target item are simultaneously released. I can.
- control unit may cause the telescopic fork to grip the target product when the product is released, and control the operation so that the carrier rises by a reference distance while the target product is gripped, so that a plurality of products are released.
- the article transfer shuttle may further include a separation preventing means formed to prevent separation of articles loaded in the carrier during movement of the shuttle body.
- the separation preventing means may include a pressing loop connected to the mast so as to be disposed on the upper end of the carrier and provided to be elevating and descending, and having a pressing surface formed at the lower side to press the article loaded on the carrier.
- the pressure loop is formed separately in two, and each of the separated pressure loops may be rotatably coupled to the mast at one end so that the upper space of the carrier can be opened.
- control unit controls the operation so that the pressure loop descends and presses the loaded object when the shuttle body moves, and when the telescopic fork loads or unloads the object, the pressure loop rotates upward to open the upper space of the carrier. I can.
- control unit may control the operation of the carrier and the telescopic fork so that the article can be stacked and stored in a unit rack when the article is received.
- the goods receiving and discharging system according to an embodiment of the present invention, a rack warehouse in which goods are stacked in multiple stages in each unit rack, the goods transfer shuttle described above, and a storage signal including information on the storage location and storage height of the goods, and , A server that generates a delivery signal including information on the delivery location and delivery height of the product and transmits it to the control unit of the delivery shuttle, wherein the control unit includes a shuttle body, a carrier, and a telescopic fork according to the delivery signal and delivery signal received from the server. Control the operation.
- goods can be stacked and stored in multiple stages for each rack warehouse of each floor, so that a large amount of goods can be stored even if only a relatively small number of rack floors are provided, and as the number of rack floors decreases, the quantity of goods transfer shuttles As it can be reduced, there is an effect of reducing manufacturing cost.
- one article transfer shuttle can store or leave a large amount of articles at a time, the time required for receiving or sending out can be reduced.
- a pressurizing loop for pressing the stacked multi-stage articles from the upper side is provided, so that the multi-stage hostile articles can be stably transferred.
- the pressure loop is divided into two and provided to open upward, interference by the pressure loop can be prevented in the process of loading or unloading multi-stage items into a carrier.
- FIG. 1 is a diagram schematically illustrating an article receiving/exiting system according to an embodiment of the present invention.
- FIG. 2 is a diagram illustrating a state in which an article is stored in an article in and out of a system according to an embodiment of the present invention.
- FIG. 3 is a block diagram schematically illustrating an article transfer shuttle according to an embodiment of the present invention.
- FIG. 4 is a view showing a state in which a carrier of an article transfer shuttle and a telescopic fork connected thereto are elevating and descending according to an embodiment of the present invention.
- FIG. 5 is a view showing a state in which the article transfer shuttle according to an embodiment of the present invention loads a plurality of articles.
- FIG. 6 is a view showing a state in which a telescopic fork of an article transfer shuttle holds an article according to an embodiment of the present invention.
- FIG. 7 is a view showing a state in which a telescopic fork of an article transfer shuttle grips an article according to another embodiment of the present invention.
- FIG. 8 is a view showing a state in which a pressing loop of an article transfer shuttle presses a loaded article according to another embodiment of the present invention.
- FIG. 9 is a view showing a state in which the pressing loop of the article transfer shuttle according to another embodiment of the present invention is opened.
- FIG. 1 is a diagram schematically illustrating an article receiving/exiting system according to an embodiment of the present invention
- FIG. 2 is a view showing a state in which an article is received/exited in an article receiving/exiting system according to an embodiment of the present invention. .
- the goods receiving/exiting system includes an article transfer shuttle 10, a server 30, and a rack warehouse 40.
- the article transfer shuttle 10 moves along the rail R and is provided to automatically store the article in the rack warehouse 40 or release the article from the rack warehouse 40. And the goods transfer shuttle 10 is connected to the server 30 by the network (20).
- the network 20 various types of wired or wireless networks capable of transmitting and receiving data between the product transfer shuttle 10 and the server 30 may be used.
- the server 30 may transmit an operation control signal to the goods transfer shuttle 10 to control the operation of the goods transfer shuttle 10 to store the goods in the rack warehouse 40 or release them from the rack warehouse 40. .
- the server 30 transmits a storage signal or a delivery signal to the goods transfer shuttle 10 so that the goods transfer shuttle 10 stores the goods in the rack warehouse 40 by itself or releases the goods from the rack warehouse 40. You can do it.
- the transmitted warehousing signal includes information on the target storage location and storage height of the warehousing item
- the transmitted delivery signal includes information on the storage location and storage height of the warehousing target product.
- Rack warehouse 40 is a plurality of shelves are combined in multiple stages to form a plurality of unit racks (41).
- articles are stacked and stored in multiple stages. Therefore, the article entry/exit system according to the present embodiment can store a large amount of articles even if a relatively small number of racks is provided, and as the number of rack floors decreases, the number of article transfer shuttles decreases, thereby reducing manufacturing cost.
- the article (B) stored in the rack warehouse may be a bucket in which the product is accommodated.
- the article (B) stored in the rack warehouse may be provided to be temporarily coupled to the lower portion of the other article so that a predetermined coupling force is formed in a multi-stage stacked state.
- the articles stored in the same unit rack 41 may be of the same type.
- FIG. 3 is a block diagram schematically illustrating an article transfer shuttle 10 according to an embodiment of the present invention
- FIG. 4 is a carrier 300 of the article transfer shuttle according to an embodiment of the present invention and It is a diagram showing a state in which the connected telescopic fork 400 moves up and down.
- Figure 5 is a view showing a state in which the article transfer shuttle according to an embodiment of the present invention to load a plurality of articles (B).
- the article transfer shuttle includes a shuttle body 100, a mast 200, a carrier 300, a telescopic fork 400, and a control unit 500.
- the shuttle body 100 is provided with a driving unit to transport the goods to the target point along the rail (R).
- the shuttle body 100 moves to the target position where the article is stored in order to receive the article, and returns from the target position when the article is unloaded.
- the goods are moved to the target location where the goods are stored, and when the goods are loaded, they return from the target position.
- the mast 200 is disposed vertically on the shuttle body. Specifically, the mast 200 may be provided in plural, and the plurality of masts 200 may form a pair. At this time, the pair of masts 200 are arranged to be spaced apart from each other along the transport direction of the shuttle body, and a carrier 300 on which an article is loaded may be connected between the pair of masts 200.
- the carrier 300 may be connected to the mast 200 to move up and down along the length direction of the mast.
- the telescopic fork 400 is connected to both ends of the carrier 300, and the connected telescopic fork 400 grips the product and loads it on the carrier 300, or grips and unloads the product loaded in the carrier.
- the telescopic fork 400 loads an article into the carrier 300 by sequentially performing length extension, gripping, and length reduction operations, or by sequentially performing gripping, length extension, and grip release operations to the carrier 300. Loaded items can be unloaded.
- the controller 500 controls the shuttle body 100, the carrier 300, and the telescopic fork 400 so that the goods are stored or released.
- control unit 500 receives from the server 30 a warehousing signal including the warehousing position and warehousing height information, and a delivery signal including the delivery take and delivery height information, and the shuttle body 100 according to the received signal, By controlling the carrier 300 and the telescopic fork 400, the goods are received or released.
- the control unit 500 receives a receiving signal from the server 30 and controls the operation of the shuttle body 100 to move to the receiving position according to the received receiving signal. .
- the control unit 500 controls the operation of the carrier 300 to reach the wearing height, and when the carrier 300 reaches the wearing height, the telescopic fork 400 is placed on the carrier 300. Grasp the loaded goods and get off at the rack warehouse. At this time, the items to be unloaded are loaded in multiple stages.
- control unit 500 controls the operation so that the shuttle body 100, which has finished getting off, returns to the initial position to complete the storage of the goods.
- the control unit 500 receives a shipment signal from the server 30.
- the delivery signal may include information on the delivery location and delivery height of the product.
- the delivery location refers to the location on the plane coordinates where the delivery items that require delivery are stacked
- the delivery height information is the target product (T) to be held by the telescopic fork 400 from the lower shelf of the unit rack 41 for delivery. Is the height of That is, the delivery signal includes information on the target article T.
- the controller 500 controls the operation of the shuttle body 100 to move to a set shipping position.
- the control unit 500 controls the operation so that the carrier 300 reaches the shipping height at which the target article T is located, and the carrier 300 is positioned at the target article T.
- the telescopic fork 400 grips the target article T.
- the control unit 500 allows the telescopic fork 400 to extend and grips the target article T, and then causes the carrier 300 to rise by a reference distance to temporarily couple the gripped article and the lower article of the gripped article. Let it be released. Thereafter, the control unit 500 allows the telescopic fork 400 to be reduced so that the gripped target article and the article accumulated on the top thereof are loaded into the carrier 300.
- the controller 500 controls the operation so that the height of the carrier 300 is located at the bottom, and then controls the operation so that the shuttle body 100 returns to the initial position to complete the delivery of the goods. do.
- FIG. 6 is a view showing a state in which the telescopic fork 400 of the article transfer shuttle according to an embodiment of the present invention grips the target article T.
- the telescopic fork 400 provided in the article transfer shuttle according to the present embodiment is provided in a pair at both ends of the carrier 300, the pair of telescopic forks 400 are each shear fork 410, It may be made of a middle fork 430 and an end fork 450.
- the front fork 410 is connected to the carrier 300 so that the telescopic fork 400 is supported, and the middle fork 430 is connected to overlap with the front fork 410 and the area overlapping with the front fork 410 is adjusted.
- the interruption fork 430 may be provided as one or more as necessary so that the extension length of the telescopic fork 400 may be further extended.
- the end fork 450 is connected to overlap with the middle fork 430 and moves so that the area overlapping with the middle fork 430 is adjusted so that the length of the telescopic fork 400 is extended or reduced, and the other end forks forming a pair It is moved to narrow the gap between the and each other so that the object located between the distal fork can be gripped.
- One or more friction members 451 may be provided on the distal fork 450 in order to increase the friction force with respect to the gripped article.
- the friction member 451 protrudes from a surface on which the article of the distal fork is gripped and may be made of a material having a high coefficient of friction.
- the friction member 451 may be made of a rubber material and may be connected to an air pressure or hydraulic device.
- the control unit may be provided so that the volume of the friction member 451 increases or decreases by controlling the air pressure or hydraulic device so that the object positioned between the distal forks is gripped or the grip is released. At this time, the distal fork 450 does not move so that the distance between the other distal forks forming a pair and each other is narrowed.
- FIG. 7 is a view showing a state in which the telescopic fork 400 of the article transfer shuttle according to another embodiment of the present invention grips the target article (T).
- the telescopic forks of the goods transfer shuttle according to the present embodiment are provided in a pair at both ends of the carrier 300 like the telescopic forks 400 provided in the goods transfer shuttle according to an embodiment, and each shear fork It may be made of 410, a middle fork 430 and an end fork 450.
- the front fork 410, the middle fork 430 and the end fork 450 are also provided in the same manner as the front fork 410, the middle fork 430, and the end fork 450 of the telescopic fork according to an embodiment of the present invention.
- a pressing member 453 is provided instead of the friction member 451 on the end fork 450.
- the pressing member 453 is disposed on the surface where the article of the distal fork is gripped, and the pressing member 453 protrudes from the distal fork 450 to grasp the article positioned between the distal forks or the protrusion is released to grip the article. Can be released.
- the operation of the pressing member 453 may be controlled by the controller 500.
- FIG. 8 is a view showing a state in which a pressing loop 600 of an article transfer shuttle according to another embodiment of the present invention presses a loaded article
- FIG. 8 is an article transfer shuttle according to another embodiment of the present invention. It is a view showing a state in which the pressurization loop 600 is opened.
- the article transfer shuttle 10 in addition to the shuttle body 100, the mast 200, the carrier 300, the telescopic fork 400 and the control unit 500, the article transfer shuttle 10 according to the present embodiment has a pressure loop ( 600) may be further included.
- the pressure loop 600 is a separation preventing means formed to prevent separation of the articles loaded on the carrier 300 during the movement of the shuttle body 100, and the mast 200 to be disposed on the upper side of the carrier 300 It can be provided so as to be connected and elevating.
- a pressing surface is formed on the lower side of the pressing loop 600 so that the article loaded on the carrier 300 can be pressed downward from the upper side.
- control unit 500 allows the pressurization loop 600 to be located at the top of the mast in normal times, and when the goods are loaded in the carrier 300, the pressurization loop 600 descends before the shuttle body 100 moves.
- the operation is controlled to press the article loaded on 300) from the top to the bottom. Accordingly, even if the article transfer shuttle 10 according to the present embodiment moves at high speed while the multi-stage articles are loaded, the separation of the loaded articles can be prevented.
- the pressure loop 600 is formed to be separated into two, and each of the separated pressure loops 600 may be rotatably coupled to the mast 200 at one end so that the upper space of the carrier 300 can be opened.
- control unit 500 controls the operation so that the pressurization loop 600 is located at the top and is opened when the telescopic fork 400 loads the object into the carrier 300 or gets off the carrier 300, thereby being gripped by the telescopic fork It is possible to prevent interference of the pressure loop 600 with the multi-stage article B to be loaded or unloaded.
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Abstract
The present invention relates to an item transfer shuttle and an item warehousing/release system using same. An item transfer shuttle according to one embodiment of the present invention comprises: a shuttle body for transferring items along rails; one or more masts arranged on the shuttle body in a vertical direction; a carrier in which the items are loaded; and telescopic forks which are connected to both ends of the carrier, and which hold the items stored in a rack warehouse so as to load same onto the carrier or which hold the items loaded onto the carrier so as to unload same therefrom, wherein the carrier is connected to the masts so as to be lifted/lowered. An item warehousing/release system, according to one embodiment of the present invention, includes the aforementioned transfer shuttle, the rack warehouse, and a server. According to the present invention, the items can be compiled and stored in multiple stages for each level of the rack warehouse so that a large number of items can be stored even though only relatively few rack levels are provided, the number of item transfer shuttles can be reduced according to a reduction in the number of rack levels so as to reduce manufacturing costs, and one item transfer shuttle can store or release the large number of items all at once so that the time required for warehousing or release can be reduced.
Description
본 발명은 물품 이송 셔틀 및 이를 이용한 물품 입출고 시스템에 관한 것으로, 더욱 상세하게는 물품을 파지하는 텔레스코픽 포크 및 물품이 적재되도록 마련되는 캐리어가 몸체와 수직 방향으로 배치되는 마스트를 따라 승하강 되도록 마련됨으로써 입고 물품을 다단으로 쌓을 수 있고 소정 높이의 물품을 출고할 수 있으며 다수의 물품 한 번에 입고 또는 출고할 수 있는 물품 이송 셔틀 및 이를 이용한 물품 입출고 시스템에 관한 것이다.The present invention relates to an article transfer shuttle and an article entry/exit system using the same, and more particularly, by providing a telescopic fork for holding an article and a carrier provided to load the article to be elevated along a mast disposed in a vertical direction with the body The present invention relates to an article transfer shuttle capable of stacking incoming goods in multiple stages, releasing goods of a predetermined height, and warehousing or releasing a plurality of goods at once, and an article entry/exit system using the same.
물류라는 용어는 물적 유통(physical distribution)의 줄임말로서, 생산자로 부터 소비자에게 제품, 재화를 효과적으로 옮겨주는 기능 또는 활동의 총칭이다. 일반적으로 포장, 하역, 수송, 보관 및 정보와 같은 여러 활동을 말한다.The term logistics is an abbreviation of physical distribution, and is a generic term for functions or activities that effectively transfer products and goods from producers to consumers. Generally refers to several activities such as packing, unloading, transport, storage and information.
통상적으로 제품, 재화를 수송하는 데는 포장, 보관, 집하/적재, 수송, 하역 /배달, 보관 등의 여러 과정을 거친다. 어떠한 수송수단을 이용하든 이러한 과정을 거치지 않고는 제품, 재화의 이동은 불가능하다. 이러한 이동의 전체를 종합적으로 보는 것이 물적 유통(물류)인 것이다. 근래에 들어서는 대량생산, 대량판매, 대량소비가 시대의 추세가 되었으며, 그 사이를 잇는 물자의 흐름을 효율화할 필요성이 커졌기 때문에 물류의 중요성이 점차 커지고 있다. In general, transporting products and goods goes through several processes such as packaging, storage, collection/loading, transport, unloading/delivery, and storage. Regardless of which means of transportation, products and goods cannot be moved without going through this process. The overall view of this movement is material distribution (logistics). In recent years, mass production, mass sales, and mass consumption have become the trend of the times, and the importance of logistics is gradually increasing as the necessity to streamline the flow of goods between them has grown.
근대기업에서는 상적 유통활동, 즉 거래의 부분만이 아니라, 제품을 소비자 의 손에까지 정확하고 신속하게 배달할 물류 활동이 중요한 부분으로서 부각되었다. 즉 경제발전과 함께, 생산비용의 인하만을 추구하다가는 격심한 기업경쟁에서 이길 수가 없으며, 유통비도 가능한 한 절감되도록 해야 한다는 견해가 대두되었다. In modern companies, commercial distribution activities, that is, not only part of the transaction, but also logistics activities that deliver products to consumers' hands accurately and quickly, have emerged as an important part. In other words, a view has emerged that by pursuing only reduction of production costs along with economic development, it is impossible to win fierce corporate competition, and that distribution costs should be reduced as much as possible.
현재, 물류 합리화의 수단으로서, 대도시 주변에 배달 센터, 트럭 터미널, 창고단지 등을 집중적으로 들어서게 하는 유통 센터의 건설, 컨테이너나 팔레트를 이용하여 수송의 일관화를 꾀하는 유닛 로드 시스템(unit load system)의 추진, 각 수송기관의 유기적 결합으로 수송의 효율화를 지향하는 협동일관수송 등이 진행되고 있으며, 국가에서 조성하고 있는 곳도 있다. Currently, as a means of rationalization of logistics, the construction of distribution centers that intensively build delivery centers, truck terminals, and warehouse complexes around large cities, and a unit load system that aims to achieve consistent transportation using containers or pallets. In the meantime, cooperative and integrated transport aimed at improving the efficiency of transport through the organic combination of transport organizations are being promoted, and some are being promoted by the state.
물류 창고는 신속한 물품의 입고와 출고가 생명이기 때문에 대부분 기계화 또는 자동화된 물품의 적재 및 하역 수단을 이용한 물품 입출고 시스템을 구비하고 있으며, 대표적으로 물품 이송 셔틀을 이용하여 자동화된 물품 입출고 시스템이 사용되고 있다.Logistics warehouses are equipped with an item loading/unloading system using a mechanized or automated means of loading and unloading goods, because rapid goods receipt and delivery are vital, and an automated goods loading/unloading system is typically used using a goods transfer shuttle. .
종래의 물품 이송 셔틀은 물품이 보관되는 다층의 랙 창고의 각 층 별로 각 층과 동일 높이로 수평 주행하는 물품 이송 셔틀이 물품을 랙 창고로 입고하거나 랙 창고로부터 출고하도록 마련된다.In the conventional article transfer shuttle, a product transfer shuttle running horizontally at the same height as each floor for each floor of a multi-storey rack warehouse in which goods are stored is provided to store goods in or leave the rack warehouse.
하지만, 종래의 물품 이송 셔틀은 하나 또는 소정 수량의 물품만을 적재할 수 있어 한 번에 입고 또는 출고하는 물품의 수량이 매우 제한적이며, 랙 창고의 각 층별로 물품이 단층을 이루도록 배열되어 보관될 수밖에 없어 대량의 물품이 보관 가능토록 하기 위해서는 창고 랙이 많은 수의 층을 이뤄야 하고 이에 따라 이송 셔틀 또한 많은 수가 구비되어야 한다는 문제점이 존재한다.However, the conventional goods transfer shuttle can only load one or a predetermined quantity of goods, so the quantity of goods received or released at a time is very limited, and goods are arranged and stored in a single layer for each floor of the rack warehouse. In order to store a large amount of goods, there is a problem that the warehouse rack must be formed in a large number of layers, and thus a large number of transfer shuttles must be provided.
본 발명은 위에서 언급한 종래 기술이 가지는 문제점을 해결하기 위한 것으로 본 발명이 이루고자 하는 목적은, 입고되는 물품을 다단으로 적재하여 보관하고 원하는 수량의 물품을 한 번에 출고시키도록 하는 물품 이송 셔틀 및 이를 이용한 물품 입출고 시스템을 제공함에 있다.The present invention is to solve the problems of the prior art mentioned above, and an object of the present invention is an article transfer shuttle that loads and stores incoming goods in multiple stages and releases a desired quantity of goods at once, and It is to provide a system for entering and leaving goods using this.
또한, 본 발명이 이루고자 하는 다른 목적은 물품 이송 셔틀의 이동 중에 이송 셔틀에 적재된 물품의 이탈을 방지할 수 있는 이탈 방지 수단이 구비된 물품 이송 셔틀 및 이를 이용한 물품 입출고 시스템을 제공함에 있다.In addition, another object of the present invention is to provide an article transfer shuttle provided with a departure preventing means capable of preventing the separation of articles loaded on the transfer shuttle during movement of the article transfer shuttle, and an article loading and unloading system using the same.
또한, 본 발명이 이루고자 하는 또 다른 목적은 이탈 방지 수단이 캐리어에 적재되는 물품 또는 캐리어로부터 하차시키는 물품에 간섭이 방지되도록 하는 물품 이송 셔틀 및 이를 이용한 물품 입출고 시스템을 제공함에 있다.In addition, another object of the present invention is to provide an article transfer shuttle and an article loading/unloading system using the same, in which the departure preventing means prevents interference with articles loaded on a carrier or articles disembarked from a carrier.
본 발명의 일 실시예에 따른 물품 이송 셔틀은, 각각의 단위 랙에 물품이 다단으로 적재되는 랙 창고에서 물품을 입고하거나 출고하는 물품 이송 셔틀로서, 단위 랙의 각 층마다 설치되는 수평 주행 레일을 따라 이동하며 물품을 이송하는 셔틀 바디, 셔틀 바디에 수직 방향으로 배치되는 하나 이상의 마스트, 물품이 적재되도록 형성되어 마스트에 승하강 가능하게 결합되는 캐리어, 그리고 캐리어의 양단에 결합되고, 단위 랙에 적재된 물품을 파지하여 캐리어에 적재시키거나 캐리어에 적재된 물품을 파지하여 하차시키는 텔레스코픽 포크를 포함하고, 물품의 입출고 과정에서 물품을 하나 이상 다단 적재된 형태로 입고 및 출고한다.An article transfer shuttle according to an embodiment of the present invention is an article transfer shuttle for receiving or shipping articles from a rack warehouse in which articles are stacked in multiple stages in each unit rack, and includes horizontal running rails installed on each floor of the unit rack. A shuttle body that moves along and transports goods, one or more masts arranged in a vertical direction on the shuttle body, a carrier that is formed to load and is coupled to the mast so as to be able to move up and down, and coupled to both ends of the carrier and loaded in a unit rack It includes a telescopic fork that grips and loads the items loaded in the carrier or grips and unloads the items loaded in the carrier, and stores and releases one or more items in a multi-stage stacked form during the loading and unloading process.
이때, 물품 이송 셔틀은 물품을 랙 창고에 입출고하도록 셔틀 바디, 캐리어 및 텔레스코픽 포크를 동작 제어하는 제어부를 더 포함할 수 있다.In this case, the article transfer shuttle may further include a control unit for controlling the operation of the shuttle body, the carrier, and the telescopic fork so as to store and release articles into and out of the rack warehouse.
또한, 텔레스코픽 포크는 말단 포크에 배치되어 파지되는 물품에 대한 마찰력을 높여주는 마찰 부재를 포함하고, 제어부는 말단 포크가 물품의 양 측면과 대면한 상태에서 말단 포크 간의 간격이 좁아지도록 동작 제어하여 물품을 파지하도록 할 수 있다.In addition, the telescopic fork includes a friction member disposed on the distal fork to increase the friction force with respect to the item being gripped, and the control unit controls the motion so that the distance between the distal forks narrows while the distal fork faces both sides of the product. Can be gripped.
또한, 텔레스코픽 포크는 말단 포크로부터 돌출 및 돌출 해제되도록 마련되는 가압 부재를 포함하고, 제어부는 말단 포크가 물품의 양 측면과 대면한 상태에서 가압 부재가 돌출되도록 동작 제어하여 물품을 파지하도록 할 수 있다.In addition, the telescopic fork includes a pressing member provided to protrude and release from the distal fork, and the control unit can control the operation so that the pressing member protrudes while the distal fork faces both sides of the article to grip the article. .
또한, 제어부는 물품 출고시 단위 랙에 다단 적재된 물품 중 텔레스코픽 포크가 파지할 목표 물품에 대한 정보를 별도의 서버로부터 수신하여 목표 물품과 목표 물품의 상층에 적재된 물품이 동시에 출고되도록 동작 제어할 수 있다.In addition, the control unit receives information on the target item to be gripped by the telescopic fork among the items loaded in multiple stages in the unit rack when the item is shipped from a separate server, and controls the operation so that the target item and the item loaded on the upper layer of the target item are simultaneously released. I can.
또한, 제어부는 물품의 출고시 텔레스코픽 포크가 목표 물품을 파지하도록 하고, 목표 물품이 파지된 상태에서 캐리어가 기준 거리만큼 상승하도록 동작 제어함으로써 복수의 물품이 출고되도록 할 수 있다.In addition, the control unit may cause the telescopic fork to grip the target product when the product is released, and control the operation so that the carrier rises by a reference distance while the target product is gripped, so that a plurality of products are released.
또한, 물품 이송 셔틀은 셔틀 바디의 이동 중 캐리어에 적재된 물품의 이탈을 방지할 수 있도록 형성되는 이탈 방지 수단을 더 포함할 수 있다. In addition, the article transfer shuttle may further include a separation preventing means formed to prevent separation of articles loaded in the carrier during movement of the shuttle body.
또한, 이탈 방지 수단은 캐리어의 상단에 배치되도록 마스트에 연결되어 승하강 가능하게 마련되고, 하측에 캐리어에 적재된 물품을 가압할 수 있도록 가압 면이 형성되는 가압 루프를 포함할 수 있다.In addition, the separation preventing means may include a pressing loop connected to the mast so as to be disposed on the upper end of the carrier and provided to be elevating and descending, and having a pressing surface formed at the lower side to press the article loaded on the carrier.
또한, 가압 루프는 두 개로 분리 형성되고, 분리된 각각의 가압 루프는 캐리어의 상부 공간이 개방될 수 있도록 일단이 마스트에 회동 가능하게 결합될 수 있다.In addition, the pressure loop is formed separately in two, and each of the separated pressure loops may be rotatably coupled to the mast at one end so that the upper space of the carrier can be opened.
또한, 제어부는 셔틀 바디가 이동할 때에는 가압 루프가 하강하여 적재된 물건을 가압하도록 동작 제어하며, 텔레스코픽 포크가 물건을 적재하거나 하차할 때에는 가압 루프가 상향 회동하여 캐리어의 상부 공간이 개방되도록 동작 제어할 수 있다.In addition, the control unit controls the operation so that the pressure loop descends and presses the loaded object when the shuttle body moves, and when the telescopic fork loads or unloads the object, the pressure loop rotates upward to open the upper space of the carrier. I can.
또한, 제어부는 물품 입고 시 단위 랙에 물품이 다단으로 적재 보관될 수 있도록 캐리어 및 텔레스코픽 포크를 동작 제어할 수 있다.In addition, the control unit may control the operation of the carrier and the telescopic fork so that the article can be stacked and stored in a unit rack when the article is received.
한편, 본 발명의 일 실시예에 따른 물품 입출고 시스템은, 각각의 단위 랙에 물품이 다단으로 적재되는 랙 창고, 상술한 물품 이송 셔틀, 및 물품의 입고 위치 및 입고 높이 정보가 포함된 입고 신호와, 물품의 출고 위치 및 출고 높이 정보가 포함된 출고 신호를 생성하여 물품 이송 셔틀의 제어부에 전송하는 서버를 포함하고, 제어부는 서버로부터 수신한 입고 신호 및 출고 신호에 따라 셔틀 바디, 캐리어 및 텔레스코픽 포크를 동작 제어한다.On the other hand, the goods receiving and discharging system according to an embodiment of the present invention, a rack warehouse in which goods are stacked in multiple stages in each unit rack, the goods transfer shuttle described above, and a storage signal including information on the storage location and storage height of the goods, and , A server that generates a delivery signal including information on the delivery location and delivery height of the product and transmits it to the control unit of the delivery shuttle, wherein the control unit includes a shuttle body, a carrier, and a telescopic fork according to the delivery signal and delivery signal received from the server. Control the operation.
본 발명에 의하면, 각 층의 랙 창고 별로 물품이 다단으로 적재하여 보관할 수 있어 상대적으로 적은 랙 층수만이 구비되어도 대량의 물품이 보관되도록 할 수 있으며 랙 층수가 줄어듬에 따라 물품 이송 셔틀의 수량도 줄어들 수 있어 제조 원가 절감의 효과가 있다.According to the present invention, goods can be stacked and stored in multiple stages for each rack warehouse of each floor, so that a large amount of goods can be stored even if only a relatively small number of rack floors are provided, and as the number of rack floors decreases, the quantity of goods transfer shuttles As it can be reduced, there is an effect of reducing manufacturing cost.
또한, 하나의 물품 이송 셔틀이 한 번에 다량의 물품을 입고 또는 출고 시킬 수 있어 입고 또는 출고에 소요되는 시간이 감소될 수 있다.In addition, since one article transfer shuttle can store or leave a large amount of articles at a time, the time required for receiving or sending out can be reduced.
또한, 적재된 다단의 물품을 상측에서 가압하는 가압 루프가 마련되어 다단으로 적대된 물품을 안정감 있게 이송할 수 있다.In addition, a pressurizing loop for pressing the stacked multi-stage articles from the upper side is provided, so that the multi-stage hostile articles can be stably transferred.
또한, 가압 루프가 이분되어 상향 개방되도록 마련됨으로써 다단의 물품을 캐리어로 적재하거나 캐리어에서 하차시키는 과정에서 가압 루프에 의한 간섭을 방지할 수 있다.In addition, since the pressure loop is divided into two and provided to open upward, interference by the pressure loop can be prevented in the process of loading or unloading multi-stage items into a carrier.
도 1은 본 발명의 일 실시예에 따른 물품 입출고 시스템을 대략적으로 설명하기 위해 도시한 도면이다. FIG. 1 is a diagram schematically illustrating an article receiving/exiting system according to an embodiment of the present invention.
도 2는 본 발명의 일 실시예에 따른 물품 입출고 시스템에서 물품이 입출고 되는 모습을 도시한 도면이다.FIG. 2 is a diagram illustrating a state in which an article is stored in an article in and out of a system according to an embodiment of the present invention.
도 3은 본 발명의 일 실시예에 따른 물품 이송 셔틀을 대략적으로 설명하기 위해 도시한 블록도이다.3 is a block diagram schematically illustrating an article transfer shuttle according to an embodiment of the present invention.
도 4는 본 발명의 일 실시예에 따른 물품 이송 셔틀의 캐리어와 이에 연결된 텔레스코픽 포크가 승하강 하는 모습을 도시한 도면이다.4 is a view showing a state in which a carrier of an article transfer shuttle and a telescopic fork connected thereto are elevating and descending according to an embodiment of the present invention.
도 5는 본 발명의 일 실시예에 따른 물품 이송 셔틀이 복수의 물품을 적재하는 모습을 도시한 도면이다.5 is a view showing a state in which the article transfer shuttle according to an embodiment of the present invention loads a plurality of articles.
도 6은 본 발명의 일 실시예에 따른 물품 이송 셔틀의 텔레스코픽 포크가 물품을 파지하는 모습을 도시한 도면이다.6 is a view showing a state in which a telescopic fork of an article transfer shuttle holds an article according to an embodiment of the present invention.
도 7은 발명의 다른 실시예에 따른 물품 이송 셔틀의 텔레스코픽 포크가 물품을 파지하는 모습을 도시한 도면이다.7 is a view showing a state in which a telescopic fork of an article transfer shuttle grips an article according to another embodiment of the present invention.
도 8은 본 발명의 또 다른 실시예에 따른 물품 이송 셔틀의 가압 루프가 적재된 물품을 가압하는 모습을 도시한 도면이다.8 is a view showing a state in which a pressing loop of an article transfer shuttle presses a loaded article according to another embodiment of the present invention.
도 9는 본 발명의 또 다른 실시예에 따른 물품 이송 셔틀의 가압 루프가 개방되는 모습을 도시한 도면이다.9 is a view showing a state in which the pressing loop of the article transfer shuttle according to another embodiment of the present invention is opened.
이하, 본 발명의 바람직한 실시예를 첨부된 도면들을 참조하여 상세히 설명한다. 우선 각 도면의 구성요소들에 참조부호를 부가함에 있어서, 동일한 구성요소들에 대해서는 비록 다른 도면상에 표시되더라도 가능한 한 동일한 부호를 가지도록 하고 있음에 유의해야 한다. 또한, 본 발명을 설명함에 있어, 관련된 공지 구성 또는 기능에 대한 구체적인 설명이 본 발명의 요지를 흐릴 수 있다고 판단되는 경우에는 그 상세한 설명은 생략한다.Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. First of all, in adding reference numerals to elements of each drawing, it should be noted that the same elements have the same numerals as possible even if they are indicated on different drawings. In addition, in describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the subject matter of the present invention, a detailed description thereof will be omitted.
도 1은 본 발명의 일 실시예에 따른 물품 입출고 시스템을 대략적으로 설명하기 위해 도시한 도면이고, 도 2는 본 발명의 일 실시예에 따른 물품 입출고 시스템에서 물품이 입출고되는 모습을 도시한 도면이다.FIG. 1 is a diagram schematically illustrating an article receiving/exiting system according to an embodiment of the present invention, and FIG. 2 is a view showing a state in which an article is received/exited in an article receiving/exiting system according to an embodiment of the present invention. .
도 1 내지 2를 참고하면, 본 실시예에 따른 물품 입출고 시스템은 물품 이송 셔틀(10), 서버(30) 및 랙 창고(40)를 포함한다.Referring to FIGS. 1 to 2, the goods receiving/exiting system according to the present embodiment includes an article transfer shuttle 10, a server 30, and a rack warehouse 40.
물품 이송 셔틀(10)은 레일(R)을 따라 이동하며 자동으로 물품을 랙 창고(40)에 입고하거나 랙 창고(40)로부터 출고하도록 마련된다. 그리고 물품 이송 셔틀(10)은 네트워크(20)에 의해 서버(30)와 연결된다. 여기서 네트워크(20)는 물품 이송 셔틀(10) 및 서버(30) 간에 데이터를 송수신할 수 있는 다양한 종류의 유선 또는 무선 네트워크가 사용될 수 있다.The article transfer shuttle 10 moves along the rail R and is provided to automatically store the article in the rack warehouse 40 or release the article from the rack warehouse 40. And the goods transfer shuttle 10 is connected to the server 30 by the network (20). Here, as the network 20, various types of wired or wireless networks capable of transmitting and receiving data between the product transfer shuttle 10 and the server 30 may be used.
서버(30)는 물품 이송 셔틀(10)에 동작 제어 신호를 전송하여 물품 이송 셔틀(10)의 동작을 제어하여 물품을 랙 창고(40)에 입고시키거나 랙 창고(40)로부터 출고시킬 수 있다. 또한, 서버(30)는 물품 이송 셔틀(10)에 입고 신호 또는 출고 신호를 전송하여 물품 이송 셔틀(10)이 스스로 물품을 랙 창고(40)에 입고시키거나 랙 창고(40)로부터 물품을 출고시키도록 할 수 있다. 이때 전송되는 입고 신호에는 입고 물품의 목표 보관 위치 및 보관 높이 정보가 포함되고, 전송되는 출고 신호에는 출고 목표 물품의 보관 위치 및 보관 높이 정보가 포함된다.The server 30 may transmit an operation control signal to the goods transfer shuttle 10 to control the operation of the goods transfer shuttle 10 to store the goods in the rack warehouse 40 or release them from the rack warehouse 40. . In addition, the server 30 transmits a storage signal or a delivery signal to the goods transfer shuttle 10 so that the goods transfer shuttle 10 stores the goods in the rack warehouse 40 by itself or releases the goods from the rack warehouse 40. You can do it. At this time, the transmitted warehousing signal includes information on the target storage location and storage height of the warehousing item, and the transmitted delivery signal includes information on the storage location and storage height of the warehousing target product.
랙 창고(40)는 복수개의 선반이 다단으로 결합되어 복수개의 단위 랙(41)을 이룬다. 하나의 단위 랙(41)에는 물품이 다단으로 적재되어 보관된다. 때문에 본 실시예에 따른 물품 입출고 시스템은 상대적으로 적은 랙 측수가 구비되어도 대량의 물품을 보관할 수 있으며 랙 층수가 줄어듬에 따라 물품 이송 셔틀의 수량도 줄어들어 제조 원가 절감의 효과가 있다.Rack warehouse 40 is a plurality of shelves are combined in multiple stages to form a plurality of unit racks (41). In one unit rack 41, articles are stacked and stored in multiple stages. Therefore, the article entry/exit system according to the present embodiment can store a large amount of articles even if a relatively small number of racks is provided, and as the number of rack floors decreases, the number of article transfer shuttles decreases, thereby reducing manufacturing cost.
여기서 랙 창고에 보관되는 물품(B)은 제품이 수용된 버킷일 수 있다. 또한, 랙 창고에 보관되는 물품(B)은 다단으로 적재된 상태에서 소정의 결합력이 형성되도록 상부가 다른 물품의 하부와 임시 결합 가능하게 마련될 수 있다. 또한, 동일 단위 랙(41)에 보관되는 물품은 동일한 종류의 물품일 수 있다.Here, the article (B) stored in the rack warehouse may be a bucket in which the product is accommodated. In addition, the article (B) stored in the rack warehouse may be provided to be temporarily coupled to the lower portion of the other article so that a predetermined coupling force is formed in a multi-stage stacked state. In addition, the articles stored in the same unit rack 41 may be of the same type.
도 3은 본 발명의 일 실시예에 따른 물품 이송 셔틀(10)을 대략적으로 설명하기 위해 도시한 블록도이고, 도 4는 본 발명의 일 실시예에 따른 물품 이송 셔틀의 캐리어(300)와 이에 연결된 텔레스코픽 포크(400)가 승하강 하는 모습을 도시한 도면이다. 그리고 도 5는 본 발명의 일 실시예에 따른 물품 이송 셔틀이 복수의 물품(B)을 적재하는 모습을 도시한 도면이다.FIG. 3 is a block diagram schematically illustrating an article transfer shuttle 10 according to an embodiment of the present invention, and FIG. 4 is a carrier 300 of the article transfer shuttle according to an embodiment of the present invention and It is a diagram showing a state in which the connected telescopic fork 400 moves up and down. And Figure 5 is a view showing a state in which the article transfer shuttle according to an embodiment of the present invention to load a plurality of articles (B).
도 3 내지 도 5를 참조하면, 본 실시예에 따른 물품 이송 셔틀은 셔틀 바디(100), 마스트(200), 캐리어(300), 텔레스코픽 포크(400) 및 제어부(500)를 포함한다.3 to 5, the article transfer shuttle according to the present embodiment includes a shuttle body 100, a mast 200, a carrier 300, a telescopic fork 400, and a control unit 500.
셔틀 바디(100)는 구동부가 마련되어 레일(R)을 따라 목표 지점까지 물품을 이송한다. The shuttle body 100 is provided with a driving unit to transport the goods to the target point along the rail (R).
구체적으로 셔틀 바디(100)는 물품을 입고하기 위해 물품이 보관되는 목표 위치까지 이동하고 물품이 하차되면 목표 위치로부터 복귀한다. 또한, 물품을 출고하기 위해 출고 물품이 보관된 목표 위치까지 이동하고 출고 물품이 적재되면 목표 위치로부터 복귀한다.Specifically, the shuttle body 100 moves to the target position where the article is stored in order to receive the article, and returns from the target position when the article is unloaded. In addition, in order to release the goods, the goods are moved to the target location where the goods are stored, and when the goods are loaded, they return from the target position.
마스트(200)는 셔틀 바디에 수직방향으로 배치된다. 구체적으로, 마스트(200)는 복수로 마련될 수 있으며, 복수의 마스트(200)는 쌍을 이룰 수 있다. 이때 한 쌍의 마스트(200)는 셔틀 바디의 이송 방향을 따라 서로 이격되도록 배열되며, 한 쌍의 마스트(200) 사이에는 물품이 적재되는 캐리어(300)가 연결될 수 있다.The mast 200 is disposed vertically on the shuttle body. Specifically, the mast 200 may be provided in plural, and the plurality of masts 200 may form a pair. At this time, the pair of masts 200 are arranged to be spaced apart from each other along the transport direction of the shuttle body, and a carrier 300 on which an article is loaded may be connected between the pair of masts 200.
캐리어(300)는 마스트(200)에 연결되어 마스트의 길이 방향을 따라 승하강할 수 있다. The carrier 300 may be connected to the mast 200 to move up and down along the length direction of the mast.
그리고 캐리어(300)의 양단에는 텔레스코픽 포크(400)가 연결되고, 연결된 텔레스코픽 포크(400)는 물품을 파지하여 캐리어(300)에 적재시키거나, 캐리어에 적재된 물품을 파지하여 하차시킬 수 있다.In addition, the telescopic fork 400 is connected to both ends of the carrier 300, and the connected telescopic fork 400 grips the product and loads it on the carrier 300, or grips and unloads the product loaded in the carrier.
구체적으로 텔레스코픽 포크(400)는 길이 연장, 파지, 길이 축소 동작을 순차적으로 수행함으로써 물품을 캐리어(300)에 적재시키거나, 파지, 길이 연장, 파지 해제 동작을 순차적으로 수행함으로써 캐리어(300)에 적재된 물품을 하차시킬 수 있다.Specifically, the telescopic fork 400 loads an article into the carrier 300 by sequentially performing length extension, gripping, and length reduction operations, or by sequentially performing gripping, length extension, and grip release operations to the carrier 300. Loaded items can be unloaded.
제어부(500)는 셔틀 바디(100), 캐리어(300) 및 텔레스코픽 포크(400)를 제어하여 물품의 입고 또는 출고가 수행되도록 한다.The controller 500 controls the shuttle body 100, the carrier 300, and the telescopic fork 400 so that the goods are stored or released.
구체적으로, 제어부(500)는 서버(30)로부터 입고 위치 및 입고 높이 정보가 포함된 입고 신호와 출고 취이 및 출고 높이 정보가 포함된 출고 신호를 수신하고 수신한 신호에 따라 셔틀 바디(100), 캐리어(300) 및 텔레스코픽 포크(400)를 제어하여 물품의 입고 또는 출고가 수행되도록 한다.Specifically, the control unit 500 receives from the server 30 a warehousing signal including the warehousing position and warehousing height information, and a delivery signal including the delivery take and delivery height information, and the shuttle body 100 according to the received signal, By controlling the carrier 300 and the telescopic fork 400, the goods are received or released.
물품의 입고 시에 제어부(500)의 동작 제어 순서를 살펴보면, 제어부(500)는 서버(30)로부터 입고 신호를 수신하고 수신된 입고 신호 따라 입고 위치로 셔틀 바디(100)가 이동하도록 동작 제어한다. 입고 위치에 셔틀 바디(100)가 위치되면 제어부(500)는 캐리어(300)가 입고 높이에 도달하도록 동작 제어하고 캐리어(300)가 입고 높이에 도달하면 텔레스코픽 포크(400)가 캐리어(300)에 적재된 물품을 파지하여 랙 창고로 하차시킨다. 이때, 하차되는 물품은 다단으로 적재되도록 한다.Looking at the order of operation control of the control unit 500 when receiving goods, the control unit 500 receives a receiving signal from the server 30 and controls the operation of the shuttle body 100 to move to the receiving position according to the received receiving signal. . When the shuttle body 100 is positioned in the wearing position, the control unit 500 controls the operation of the carrier 300 to reach the wearing height, and when the carrier 300 reaches the wearing height, the telescopic fork 400 is placed on the carrier 300. Grasp the loaded goods and get off at the rack warehouse. At this time, the items to be unloaded are loaded in multiple stages.
마지막으로 제어부(500)는 하차를 완료한 셔틀 바디(100)가 초기 위치로 복귀하도록 동작 제어하여 물품의 입고를 완료한다.Finally, the control unit 500 controls the operation so that the shuttle body 100, which has finished getting off, returns to the initial position to complete the storage of the goods.
그리고 물품의 출고 시에 제어부(500)의 동작 순서를 살펴보면, 제어부(500)는 서버(30)로부터 출고 신호를 수신한다. 이때, 출고 신호에는 물품의 출고 위치 및 출고 높이 정보가 포함될 수 있다. 여기서 출고 위치란 출고를 요하는 출고 물품이 쌓여 있는 평면 좌표 상의 위치를 의미하고, 출고 높이 정보란 단위 랙(41)의 하측 선반으로부터 텔레스코픽 포크(400)가 출고를 위해 파지할 목표 물품(T)의 높이이다. 즉, 출고 신호에는 목표 물품(T)에 대한 정보가 포함되어 있다.And looking at the operation sequence of the control unit 500 when the product is shipped, the control unit 500 receives a shipment signal from the server 30. At this time, the delivery signal may include information on the delivery location and delivery height of the product. Here, the delivery location refers to the location on the plane coordinates where the delivery items that require delivery are stacked, and the delivery height information is the target product (T) to be held by the telescopic fork 400 from the lower shelf of the unit rack 41 for delivery. Is the height of That is, the delivery signal includes information on the target article T.
제어부(500)는 설정된 출고 위치로 셔틀 바디(100)가 이동하도록 동작 제어한다. 설정된 출고 위치에 셔틀 바디(100)가 위치되면 제어부(500)는 캐리어(300)가 목표 물품(T)이 위치된 출고 높이에 도달하도록 동작 제어하고 캐리어(300)가 목표 물품(T)이 위치된 높이에 도달하면 텔레스코픽 포크(400)가 목표 물품(T)을 파지하도록 한다.The controller 500 controls the operation of the shuttle body 100 to move to a set shipping position. When the shuttle body 100 is positioned at the set shipping position, the control unit 500 controls the operation so that the carrier 300 reaches the shipping height at which the target article T is located, and the carrier 300 is positioned at the target article T. When the height is reached, the telescopic fork 400 grips the target article T.
이때, 제어부(500)는 텔레스코픽 포크(400)가 연장되고 목표 물품(T)을 파지하도록 한 뒤, 캐리어(300)가 기준 거리만큼 상승하도록 하여 파지된 물품과 파지된 물품의 하측 물품 간의 임시 결합이 해제되도록 한다. 이후 제어부(500)는 텔레스코픽 포크(400)가 축소되도록 하여 파지된 목표 물품 및 그 상단에 쌓여 있는 물품을 캐리어(300)에 적재하도록 한다. 캐리어(300)에 물품이 적재되면 제어부(500)는 캐리어(300)의 높이가 최 하단에 위치하도록 동작 제어한 후, 셔틀 바디(100)가 초기 위치로 복귀하도록 동작 제어하여 물품의 출고를 완료한다.At this time, the control unit 500 allows the telescopic fork 400 to extend and grips the target article T, and then causes the carrier 300 to rise by a reference distance to temporarily couple the gripped article and the lower article of the gripped article. Let it be released. Thereafter, the control unit 500 allows the telescopic fork 400 to be reduced so that the gripped target article and the article accumulated on the top thereof are loaded into the carrier 300. When the goods are loaded in the carrier 300, the controller 500 controls the operation so that the height of the carrier 300 is located at the bottom, and then controls the operation so that the shuttle body 100 returns to the initial position to complete the delivery of the goods. do.
도 6은 본 발명의 일 실시예에 따른 물품 이송 셔틀의 텔레스코픽 포크(400)가 목표 물품(T)을 파지하는 모습을 도시한 도면이다.6 is a view showing a state in which the telescopic fork 400 of the article transfer shuttle according to an embodiment of the present invention grips the target article T.
도 6을 살펴보면 본 실시예에 따른 물품 이송 셔틀에 마련되는 텔레스코픽 포크(400)는 캐리어(300)의 양단에서 한 쌍으로 마련되고, 한 쌍의 텔레스코픽 포크(400)는 각각 전단 포크(410), 중단 포크(430) 및 말단 포크(450)로 이루어질 수 있다.Referring to Figure 6, the telescopic fork 400 provided in the article transfer shuttle according to the present embodiment is provided in a pair at both ends of the carrier 300, the pair of telescopic forks 400 are each shear fork 410, It may be made of a middle fork 430 and an end fork 450.
전단 포크(410)는 캐리어(300)에 연결되어 텔레스코픽 포크(400)가 지지되도록 하며, 중단 포크(430)는 전단 포크(410)와 중첩되도록 연결되고 전단 포크(410)와 중첩되는 면적이 조절되도록 이동함으로써 텔레스코픽 포크(400)의 길이가 연장 또는 축소되도록 할 수 있다. 이때 중단 포크(430)는 마련되어 필요에 따라 하나 이상으로 마련되어 텔레스코픽 포크(400)의 연장 길이가 더욱 길어지도록 할 수 있다.The front fork 410 is connected to the carrier 300 so that the telescopic fork 400 is supported, and the middle fork 430 is connected to overlap with the front fork 410 and the area overlapping with the front fork 410 is adjusted. By moving so that the length of the telescopic fork 400 can be extended or reduced. At this time, the interruption fork 430 may be provided as one or more as necessary so that the extension length of the telescopic fork 400 may be further extended.
말단 포크(450)는 중단 포크(430)와 중첩되도록 연결되고 중단 포크(430)와 중첩되는 면적이 조절되도록 이동함으로써 텔레스코픽 포크(400)의 길이가 연장 또는 축소되도록 하며, 쌍을 이루는 다른 말단 포크와 서로 간의 간격이 좁아지도록 이동되어 말단 포크 사이에 위치된 물건을 파지할 수 있다.The end fork 450 is connected to overlap with the middle fork 430 and moves so that the area overlapping with the middle fork 430 is adjusted so that the length of the telescopic fork 400 is extended or reduced, and the other end forks forming a pair It is moved to narrow the gap between the and each other so that the object located between the distal fork can be gripped.
말단 포크(450)에는 파지되는 물품에 대한 마찰력을 높여주기 위해 하나 이상의 마찰 부재(451)가 마련될 수 있다. 여기서 마찰 부재(451)는 말단 포크의 물품이 파지되는 면에 돌출 형성되며 마찰계수가 높은 재질로 이루어질 수 있다. One or more friction members 451 may be provided on the distal fork 450 in order to increase the friction force with respect to the gripped article. Here, the friction member 451 protrudes from a surface on which the article of the distal fork is gripped and may be made of a material having a high coefficient of friction.
예를 들면, 마찰 부재(451)는 고무 재질로 마련되고 기압 또는 유압 장치와 연결될 수 있다. 이때 제어부는 기압 또는 유압 장치를 제어하여 마찰 부재(451)의 부피가 커지거나 축소되도록 함으로써 말단 포크 사이에 위치된 물건이 파지되거나 파지가 해제되도록 마련될 수 있다. 이때 말단 포크(450)는 쌍을 이루는 다른 말단 포크와 서로 간의 간격이 좁아지도록 이동하지 않는다.For example, the friction member 451 may be made of a rubber material and may be connected to an air pressure or hydraulic device. In this case, the control unit may be provided so that the volume of the friction member 451 increases or decreases by controlling the air pressure or hydraulic device so that the object positioned between the distal forks is gripped or the grip is released. At this time, the distal fork 450 does not move so that the distance between the other distal forks forming a pair and each other is narrowed.
도 7은 본 발명의 다른 실시예에 따른 물품 이송 셔틀의 텔레스코픽 포크(400)가 목표 물품(T)을 파지하는 모습을 도시한 도면이다.7 is a view showing a state in which the telescopic fork 400 of the article transfer shuttle according to another embodiment of the present invention grips the target article (T).
도 7을 참조하면 본 실시예에 따른 물품 이송 셔틀의 텔레스코픽 포크는 일실시예 따른 물품 이송 셔틀에 마련되는 텔레스코픽 포크(400)와 마찬가지로 캐리어(300)의 양단에서 한 쌍으로 마련되고, 각각 전단 포크(410), 중단 포크(430) 및 말단 포크(450)로 이루어질 수 있다.Referring to FIG. 7, the telescopic forks of the goods transfer shuttle according to the present embodiment are provided in a pair at both ends of the carrier 300 like the telescopic forks 400 provided in the goods transfer shuttle according to an embodiment, and each shear fork It may be made of 410, a middle fork 430 and an end fork 450.
전단 포크(410), 중단 포크(430) 및 말단 포크(450) 역시 본 발명의 일 실시예에 따른 텔레스코픽 포크의 전단 포크(410), 중단 포크(430) 및 말단 포크(450)와 동일하게 마련되지만, 말단 포크(450)에 마찰 부재(451) 대신 가압 부재(453)가 마련된다. 여기서 가압 부재(453)는 말단 포크의 물품이 파지되는 면에 배치되고, 가압 부재(453)는 말단 포크(450)로부터 돌출됨으로써 말단 포크 사이에 위치된 물품을 파지하거나 돌출이 해제됨으로써 물품의 파지가 해제될 수 있다. 이때 가압 부재(453)의 동작은 제어부(500)에 의해 제어될 수 있다.The front fork 410, the middle fork 430 and the end fork 450 are also provided in the same manner as the front fork 410, the middle fork 430, and the end fork 450 of the telescopic fork according to an embodiment of the present invention. However, instead of the friction member 451 on the end fork 450, a pressing member 453 is provided. Here, the pressing member 453 is disposed on the surface where the article of the distal fork is gripped, and the pressing member 453 protrudes from the distal fork 450 to grasp the article positioned between the distal forks or the protrusion is released to grip the article. Can be released. In this case, the operation of the pressing member 453 may be controlled by the controller 500.
도 8은 본 발명의 또 다른 실시예에 따른 물품 이송 셔틀의 가압 루프(600)가 적재된 물품을 가압하는 모습을 도시한 도면이고, 도 8은 본 발명의 또 다른 실시예에 따른 물품 이송 셔틀의 가압 루프(600)가 개방되는 모습을 도시한 도면이다.FIG. 8 is a view showing a state in which a pressing loop 600 of an article transfer shuttle according to another embodiment of the present invention presses a loaded article, and FIG. 8 is an article transfer shuttle according to another embodiment of the present invention. It is a view showing a state in which the pressurization loop 600 is opened.
도 8 내지 9를 참조하면, 본 실시예에 따른 물품 이송 셔틀(10)은 셔틀 바디(100), 마스트(200), 캐리어(300), 텔레스코픽 포크(400) 및 제어부(500) 외에도 가압 루프(600)를 더 포함할 수 있다.8 to 9, in addition to the shuttle body 100, the mast 200, the carrier 300, the telescopic fork 400 and the control unit 500, the article transfer shuttle 10 according to the present embodiment has a pressure loop ( 600) may be further included.
가압 루프(600)는 셔틀 바디(100)의 이동 중 캐리어(300)에 적재된 물품의 이탈을 방지할 수 있도록 형성되는 이탈 방지 수단으로, 캐리어(300)의 상측에 배치되도록 마스트(200)에 연결되어 승하강 가능하는하게 마련될 수 있다. 그리고 캐리어(300)에 적재된 물품을 상측에서 하향 가압할 수 있도록 가압 루프(600)의 하측에는 가압 면이 형성된다. The pressure loop 600 is a separation preventing means formed to prevent separation of the articles loaded on the carrier 300 during the movement of the shuttle body 100, and the mast 200 to be disposed on the upper side of the carrier 300 It can be provided so as to be connected and elevating. In addition, a pressing surface is formed on the lower side of the pressing loop 600 so that the article loaded on the carrier 300 can be pressed downward from the upper side.
여기서 제어부(500)는 평시에는 가압 루프(600)가 마스트의 최상단에 위치되도록 하며 캐리어(300)에 물품이 적재되면, 셔틀 바디(100)가 이동하기 전에 가압 루프(600)가 하강하여 캐리어(300)에 적재된 물품을 상측에서 하측방향으로 가압하도록 동작 제어한다. 이로써 본 실시예에 따른 물품 이송 셔틀(10) 다단의 물품이 적재된 상태로 고속 이동하여도 적재된 물품의 이탈이 방지될 수 있다.Here, the control unit 500 allows the pressurization loop 600 to be located at the top of the mast in normal times, and when the goods are loaded in the carrier 300, the pressurization loop 600 descends before the shuttle body 100 moves. The operation is controlled to press the article loaded on 300) from the top to the bottom. Accordingly, even if the article transfer shuttle 10 according to the present embodiment moves at high speed while the multi-stage articles are loaded, the separation of the loaded articles can be prevented.
가압 루프(600)는 두 개로 분리 형성되고, 분리된 각각의 가압 루프(600)는 캐리어(300)의 상부 공간이 개방될 수 있도록 일단이 마스트(200)에 회동 가능하게 결합될 수 있다. The pressure loop 600 is formed to be separated into two, and each of the separated pressure loops 600 may be rotatably coupled to the mast 200 at one end so that the upper space of the carrier 300 can be opened.
여기서 제어부(500)는 텔레스코픽 포크(400)가 물건을 캐리어(300)로 적재하거나 캐리어(300)로부터 하차할 때 가압 루프(600)가 최상단에 위치되고 개방되도록 동작 제어함으로써, 텔레스코픽 포크에 파지되어 적재되거나 하차하는 다단의 물품(B)에 대한 가압 루프(600)의 간섭을 방지할 수 있다.Here, the control unit 500 controls the operation so that the pressurization loop 600 is located at the top and is opened when the telescopic fork 400 loads the object into the carrier 300 or gets off the carrier 300, thereby being gripped by the telescopic fork It is possible to prevent interference of the pressure loop 600 with the multi-stage article B to be loaded or unloaded.
이상의 설명은 본 발명의 기술 사상을 예시적으로 설명한 것에 불과한 것으로서, 본 발명이 속하는 기술 분야에서 통상의 지식을 가진 자라면 본 발명의 본질적인 특성에서 벗어나지 않는 범위에서 다양한 수정 및 변형이 가능할 것이다. 따라서, 본 발명에 개시된 실시예들은 본 발명의 기술 사상을 한정하기 위한 것이 아니라 설명하기 위한 것이고, 이러한 실시예에 의하여 본 발명의 기술 사상의 범위가 한정되는 것은 아니다. 본 발명의 보호 범위는 아래의 청구범위에 의하여 해석되어야 하며, 그와 동등한 범위 내에 있는 모든 기술 사상은 본 발명의 권리범위에 포함되는 것으로 해석되어야 할 것이다.The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains will be able to make various modifications and variations without departing from the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain the technical idea, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be interpreted as being included in the scope of the present invention.
Claims (12)
- 각각의 단위 랙에 물품이 다단으로 적재되는 랙 창고에서 물품을 입고하거나 출고하는 물품 이송 셔틀로서,As an article transfer shuttle that receives or leaves goods in a rack warehouse where goods are stacked in multiple stages in each unit rack,상기 단위 랙의 각 층마다 설치되는 수평 주행 레일을 따라 이동하며 물품을 이송하는 셔틀 바디;A shuttle body moving along horizontal running rails installed on each floor of the unit rack and transferring goods;상기 셔틀 바디에 수직 방향으로 배치되는 하나 이상의 마스트;At least one mast disposed in a vertical direction to the shuttle body;물품이 적재되도록 형성되어 상기 마스트에 승하강 가능하게 결합되는 캐리어; 및A carrier that is formed to load articles and is coupled to the mast to be elevating and descending; And상기 캐리어의 양단에 결합되고, 상기 단위 랙에 적재된 물품을 파지하여 상기 캐리어에 적재시키거나 상기 캐리어에 적재된 물품을 파지하여 하차시키는 텔레스코픽 포크A telescopic fork that is coupled to both ends of the carrier and holds the goods loaded in the unit rack and loads them on the carrier or grips and unloads the goods loaded in the carrier를 포함하고, 물품의 입출고 과정에서 물품을 하나 이상 다단 적재된 형태로 입고 및 출고하는 것을 특징으로 하는 물품 이송 셔틀.Including, the goods transfer shuttle, characterized in that for receiving and releasing one or more items in a multi-stage stacked form in the process of entering and leaving the goods.
- 제 1 항에 있어서, 상기 물품 이송 셔틀은The method of claim 1, wherein the article transfer shuttle물품을 상기 랙 창고에 입출고하도록 상기 셔틀 바디, 캐리어 및 텔레스코픽 포크를 동작 제어하는 제어부를 더 포함하는 것을 특징으로 하는 물품 이송 셔틀.An article transfer shuttle, further comprising a control unit for controlling the operation of the shuttle body, the carrier, and the telescopic fork to store and release articles into and out of the rack warehouse.
- 제 2 항에 있어서, 상기 텔레스코픽 포크는The method of claim 2, wherein the telescopic fork말단 포크에 배치되어 파지되는 물품에 대한 마찰력을 높여주는 마찰 부재를 포함하고, It includes a friction member disposed on the distal fork to increase the friction force for the gripped article,상기 제어부는 상기 말단 포크가 물품의 양 측면과 대면한 상태에서 상기 말단 포크 간의 간격이 좁아지도록 동작 제어하여 물품을 파지하도록 하는 것을 특징으로 하는 물품 이송 셔틀.The control unit is an article transfer shuttle, characterized in that in a state in which the distal fork faces both sides of the article and controls the operation so that the distance between the distal forks is narrowed to grip the article.
- 제 2 항에 있어서, 상기 텔레스코픽 포크는The method of claim 2, wherein the telescopic fork말단 포크로부터 돌출 및 돌출 해제되도록 마련되는 가압 부재를 포함하고,It includes a pressing member provided to protrude and release from the distal fork,상기 제어부는 상기 말단 포크가 물품의 양 측면과 대면한 상태에서 가압 부재가 돌출되도록 동작 제어하여 물품을 파지하도록 하는 것을 특징으로 하는 물품 이송 셔틀.Wherein the control unit controls an operation so that the pressing member protrudes while the distal fork faces both sides of the article to grip the article.
- 제 2 항에 있어서,The method of claim 2,상기 제어부는 물품 출고시 상기 단위 랙에 다단 적재된 물품 중 상기 텔레스코픽 포크가 파지할 목표 물품에 대한 정보를 별도의 서버로부터 수신하여 상기 목표 물품과 상기 목표 물품의 상층에 적재된 물품이 동시에 출고되도록 동작 제어하는 것을 특징으로 하는 물품 이송 셔틀.The control unit receives information on the target product to be gripped by the telescopic fork among the items stacked in the unit rack when the product is released from a separate server, so that the target product and the product loaded on the upper layer of the target product are simultaneously released. Goods transfer shuttle, characterized in that for controlling motion.
- 제 5 항에 있어서, 상기 제어부는The method of claim 5, wherein the control unit물품의 출고시 상기 텔레스코픽 포크가 상기 목표 물품을 파지하도록 하고, 상기 목표 물품이 파지된 상태에서 상기 캐리어가 기준 거리만큼 상승하도록 동작 제어함으로써 복수의 물품이 출고되도록 하는 것을 특징으로 하는 물품 이송 셔틀.An article transfer shuttle, characterized in that the telescopic fork grips the target article when the article is released, and controls the operation so that the carrier rises by a reference distance while the target article is being held, so that a plurality of articles are shipped.
- 제6 항에 있어서, 상기 물품 이송 셔틀은The method of claim 6, wherein the article transfer shuttle상기 셔틀 바디의 이동 중 상기 캐리어에 적재된 물품의 이탈을 방지할 수 있도록 형성되는 이탈 방지 수단을 더 포함하는 것을 특징으로 하는 물품 이송 셔틀.The article transfer shuttle further comprising a separation preventing means formed to prevent separation of the articles loaded on the carrier during movement of the shuttle body.
- 제 7 항에 있어서, 상기 이탈 방지 수단은The method of claim 7, wherein the departure preventing means상기 캐리어의 상단에 배치되도록 상기 마스트에 연결되어 승하강 가능하게 마련되고, 하측에 상기 캐리어에 적재된 물품을 가압할 수 있도록 가압 면이 형성되는 가압 루프를 포함하는 것을 특징으로 하는 물품 이송 셔틀.An article transfer shuttle comprising a pressure loop connected to the mast so as to be disposed on an upper end of the carrier and provided to be elevating and descending, and having a pressure surface formed at a lower side to press the article loaded on the carrier.
- 제 8 항에 있어서, 상기 가압 루프는The method of claim 8, wherein the pressure loop두 개로 분리 형성되고, 분리된 각각의 가압 루프는 상기 캐리어의 상부 공간이 개방될 수 있도록 일단이 상기 마스트에 회동 가능하게 결합되는 것을 특징으로 하는 것을 특징으로 하는 물품 이송 셔틀.The article transfer shuttle, characterized in that one end is rotatably coupled to the mast so that the upper space of the carrier can be opened.
- 제9 항에 있어서, 상기 제어부는The method of claim 9, wherein the control unit상기 셔틀 바디가 이동할 때에는 상기 가압 루프가 하강하여 적재된 물건을 가압하도록 동작 제어하며, 상기 텔레스코픽 포크가 물건을 적재하거나 하차할 때에는 상기 가압 루프가 상향 회동하여 상기 캐리어의 상부 공간이 개방되도록 동작 제어하는 것을 특징으로 하는 물품 이송 셔틀.When the shuttle body moves, the pressure loop descends to pressurize the loaded object, and when the telescopic fork loads or unloads the object, the pressure loop rotates upward to open the upper space of the carrier. Goods transfer shuttle, characterized in that.
- 제2 항에 있어서, 상기 제어부는The method of claim 2, wherein the control unit물품 입고 시 상기 단위 랙에 물품이 다단으로 적재 보관될 수 있도록 상기 캐리어 및 텔레스코픽 포크를 동작 제어하는 것을 특징으로 하는 물품 이송 셔틀.An article transfer shuttle, characterized in that for controlling the operation of the carrier and the telescopic fork so that the article can be stacked and stored in the unit rack when the article is received.
- 각각의 단위 랙에 물품이 다단으로 적재되는 랙 창고;A rack warehouse in which goods are stacked in multiple stages in each unit rack;제 2 항에 기재된 물품 이송 셔틀; 및The article transfer shuttle according to claim 2; And물품의 입고 위치 및 입고 높이 정보가 포함된 입고 신호와, 물품의 출고 위치 및 출고 높이 정보가 포함된 출고 신호를 생성하여 상기 물품 이송 셔틀의 제어부에 전송하는 서버A server that generates a warehousing signal including information on the warehousing location and warehousing height of the product, and a release signal including information on the warehousing location and height of the product, and transmits it to the control unit of the product transfer shuttle를 포함하고, 상기 제어부는 상기 서버로부터 수신한 입고 신호 및 출고 신호에 따라 상기 셔틀 바디, 캐리어 및 텔레스코픽 포크를 동작 제어하는 것을 특징으로 하는 물품 입출고 시스템.Including, wherein the control unit according to the reception signal and the delivery signal received from the server to control the operation of the shuttle body, the carrier and the telescopic fork.
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KR1020190098270A KR102319364B1 (en) | 2019-08-12 | 2019-08-12 | Goods Transfer Shuttle And Goods Loading/Unloading System Using the Same |
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CN113976450A (en) * | 2021-11-30 | 2022-01-28 | 青岛黄海学院 | Logistics sorting device and method |
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KR102669031B1 (en) | 2021-03-16 | 2024-05-24 | 주식회사 개미창고 | Stock space state real-time management system |
KR20220129157A (en) | 2021-03-16 | 2022-09-23 | 주식회사 개미창고 | Stored and released information real-time sharing one-stop distributing system |
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KR20210019279A (en) | 2021-02-22 |
KR102319364B1 (en) | 2021-10-28 |
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