KR101576543B1 - Carriage system and method for loading and unloading object using carriage - Google Patents

Abstract

Disclosed is a method for transferring an object using a transfer truck system and a transfer truck. According to an aspect of the present invention, there is provided a transport truck system comprising: a transport truck for transporting an object; A trajectory for a conveyance truck installed so that the conveyance truck can run; And at least one conveying port which is disposed adjacent to the trajectory for the conveyance truck and on which the object is loaded, the conveyance truck comprising: a carrier unit installed to be able to run along the trajectory for the conveyance truck; And a transfer unit that is vertically connected to the carrier unit and loads the object, which is extended in the direction of the transfer port, to the transfer port.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a transfer system,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a method for transferring objects using a transfer truck system and a transfer truck, and more particularly, to a transfer truck system capable of loading an object in multiple stages and a method for transferring objects using the transfer truck.

Overhead shuttles (OHS) and overhead hoist transport (OHT) systems are installed in large hospitals, semiconductor and flat panel display production plants where there are many small objects to be transported.

The conveyance truck system includes a conveyance truck for conveying the object and a trajectory for the conveyance truck that is installed on the ceiling so that the conveyance truck can run, and includes a trajectory and a branch trajectory branched from the trajectory.

For example, in a case where a conveyance truck system is installed in a semiconductor or display flat panel production line, a traveling track and a branch track branched from a traveling track are installed in a ceiling space in a clean room. And travels along the branch trajectory to transport the object.

Here, the traveling orbit and the branch orbit are supported by the pillars or the like in the ceiling space of the clean room. The traveling orbit and the branch orbit include the orbital body and the feeding orbit.

In the trajectory for traverse bogie, there is at least one branch section that branches from the trajectory to the branch trajectory and at least one confluence section where the branch trajectory joins the trajectory. The traverse bogie has a trajectory And a branch orbit.

On the other hand, since the conventional conveyance and delivery system is a system for vertically loading an object to a conveyance port, only one object can be loaded on one conveyance port on a plane.

Therefore, it is not possible to load the object in multiple stages at the same position on the plane, and there is a space limitation in which it is difficult to load and store a large number of objects.

[Patent Document 1] Korean Patent Laid-Open No. 10-2009-0023139 (Assist Technologies Japan Co., Ltd.) 2009.03.04 Disclosure

SUMMARY OF THE INVENTION Accordingly, the present invention has been made in view of the above problems, and it is an object of the present invention to provide a transfer bogie system and an object transfer method using a transfer bogie, which can improve the efficiency of space utilization by loading objects in multiple stages.

According to an aspect of the present invention, there is provided a conveyance bogie for conveying an object; A trajectory for a conveyance truck installed so that the conveyance truck can run; And at least one conveying port which is disposed adjacent to the trajectory for the conveyance truck and on which the object is loaded, the conveyance truck comprising: a carrier unit installed to be able to run along the trajectory for the conveyance truck; And a transfer unit that is vertically connected to the carrier unit and loads the object received in the transport port direction to the transport port.

Wherein the transfer unit includes: an object accommodating portion that is vertically connected to the carrier unit, the object accommodating portion accommodating the object; A transfer module disposed inside the object accommodating portion and extending in the direction of the transfer port to load the object on the transfer port; And a transfer drive module disposed inside the object accommodating portion and connected to the transfer module to extend the transfer module toward the transfer port.

Wherein the transfer module includes: an object supporting unit that supports the object and extends in a direction of the transfer port with respect to a bottom surface of the object accommodating unit; And a sliding plate which is stacked to be movable between the object supporting portion and the bottom surface of the object accommodating portion so as to be relatively movable and which extends from the bottom surface of the object accommodating portion toward the conveying port, Relative to each other and can be extended toward the conveying port at the same time.

The transfer module may include a roller unit that is installed at one end of the sliding plate extending in the direction of the conveying port and rotates in contact with the conveying port when the sliding plate is elongated and supports one end of the sliding plate .

The transfer drive module includes a first driving unit connected to the slinging plate and extending the sliding plate toward the conveying port with respect to the bottom surface of the object accommodating unit. And a second driving unit connected to the object supporting unit and extending in the direction of the conveying port with respect to the sliding plate in association with the first driving unit.

Wherein the first driving unit includes: a rack gear installed in the object accommodating unit, the rack gear being disposed in the direction of the feeding port; A pinion gear installed on the sliding plate, the pinion gear being engaged with the rack gear and rotated; And a first driving motor installed on the sliding plate, the first driving motor being connected to the pinion gear and providing rotational force to the pinion gear.

The second driving unit may include a first pulley and a second pulley installed at both sides of the sliding plate in the sliding direction, A first belt wound around the first pulley and having one end fixed to one side of the object support and the other end fixed to a bottom surface of the object accommodating portion; And a second belt fixed to one side of the object support part at one end and fixed to a bottom surface of the object receiving part at the other end and being wound on the second pulley so as to face the first belt, The slider may slide in the sliding plate and extend in the direction of the conveying port when the slider is slid in the direction of the conveying port.

The transfer drive module may further include a guide unit installed on a bottom surface of the object accommodating unit and an upper surface of the sliding plate to guide the object supporting unit and the sliding plate to extend in the transport port direction.

The guide portion may be an LM type linear guide for guiding the object supporting portion and the sliding plate toward the conveying port.

The guide portion includes first and second LM guide rails provided on a bottom surface of the object accommodating portion and on an upper surface of the sliding plate, the first and second LM guide rails being long in a direction of the transport port in which the object supporting portion and the sliding plate slide, And a first and a second LM block which are respectively installed on the sliding plate and the object supporting part and are moved along the first and second LM guide rails.

The transfer unit may further include an elevation module installed at one side of the sliding plate and connected to the object supporting part to elevate the object supporting part.

The elevation module may be an LM linear guide for elevating and retracting the object support in a height direction.

The elevation module includes a guide plate disposed at a heightwise direction of the object supporting unit, one side of which is connected to the object supporting unit and the other side of which is connected to the sliding plate. A third LM guide rail installed on the guide plate, the third LM guide rail being long in the height direction of the object supporting unit; A third LM block coupled to the object support and moved along the third LM guide rail; A lead screw installed on the guide plate and disposed in parallel with the third LM guide rail and coupled with the third LM block; And a second driving motor connected to the lead screw to provide a rotational force to the lead screw.

Wherein the transport bogie is connected to the carrier unit and includes a frame portion in which the object accommodating portion is housed; And an elevating unit provided inside the frame unit and including a plurality of elevating belts connected to the object accommodating unit to elevate the object accommodating unit with respect to the frame unit.

The conveyance truck may further include a conveying unit provided inside the frame unit and connected to the object accommodating unit to allow the object accommodating unit to horizontally reciprocate inside and outside the frame unit.

The transporting port may include a loading unit on which the object is loaded, and a plurality of the loading units may be stacked in multiple stages.

According to another aspect of the present invention, there is provided a method of transferring a transfer bollard to an upper portion of a transfer port on which an object is to be loaded; Placing the object accommodating portion in which the object is accommodated in the lower portion of the plurality of stacked stacking portions provided in the transfer port with the stacking portion to which the object is to be loaded; And a step of horizontally transporting the object from the object accommodating portion to the corresponding loading portion and loading the object in the loading portion when the object accommodating portion is seated in the loading portion, .

Wherein when the transporting carriage is transported to an upper portion of the transporting port, the object receiving portion is moved to a position corresponding to the loading portion so as not to be interfered by the plurality of loading portions other than the loading portion while the object receiving portion descends And may further include a step of horizontally conveying.

The step of horizontally transporting the object to the corresponding loading unit and loading the object to the loading unit may load the object to the loading unit by extending the transfer module contained in the object receiving unit toward the loading unit .

And returning the transfer module to the object accommodating portion and raising the object accommodating portion when the object is loaded on the corresponding loading portion.

In the embodiment of the present invention, by including the transfer unit extending in the direction of the conveying port, the object can be loaded in multiple stages, and the efficiency of space utilization can be improved.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic view showing a delivery truck system according to an embodiment of the present invention; FIG.
Fig. 2 is an enlarged view of a portion A in Fig. 1, showing a traveling state of a transportation bogie in a branch section. Fig.
3 is a cross-sectional view illustrating a conveyance truck according to an embodiment of the present invention.
4 is an enlarged cross-sectional view showing a carrier unit according to an embodiment of the present invention.
5 is a process diagram illustrating a process of loading an object with a transfer unit according to an embodiment of the present invention.
6 and 7 are operational state diagrams showing operations of the transfer unit according to an embodiment of the present invention.
8 is a plan view showing a transfer unit according to an embodiment of the present invention.
9 is a side view of the transfer unit as viewed in the direction A in Fig.
10 is an enlarged view of part B of Fig. 7, which is an operational state diagram showing the operation of the elevation module according to an embodiment of the present invention.

In order to fully understand the present invention, operational advantages of the present invention, and objects achieved by the practice of the present invention, reference should be made to the accompanying drawings and the accompanying drawings which illustrate preferred embodiments of the present invention.

Hereinafter, the present invention will be described in detail with reference to the preferred embodiments of the present invention with reference to the accompanying drawings. Like reference symbols in the drawings denote like elements.

In this embodiment, the object includes a cassette in which a substrate or the like is embedded, a tray on which a substrate or the like is placed, and the like.

2 is a partially enlarged view of a portion A of Fig. 1, showing a traveling state of a transportation bogie in a branch section, Fig. 3 is a view showing a traveling bogie according to an embodiment of the present invention. Fig. 4 is an enlarged cross-sectional view illustrating a carrier unit according to an embodiment of the present invention, and FIG. 5 is a cross-sectional view of a carrier unit according to an embodiment of the present invention, 6 and 7 are operational state diagrams showing the operation of the transfer unit according to an embodiment of the present invention, Fig. 8 is a plan view showing a transfer unit according to an embodiment of the present invention, Fig. 9 Fig. 10 is an enlarged view of a portion B in Fig. 7, which shows the operation of the elevating module according to the embodiment of the present invention. Fig. A phase diagram.

Referring to FIG. 1, a conveyance truck system according to an embodiment of the present invention includes a conveyance truck 200 for conveying an object M, a trajectory 100 for the conveyance truck 200, And at least one conveyance port P disposed adjacent to the trajectory 100 for conveyance and on which the object M is loaded.

The trajectory trajectory 100 serves to guide the traveling of the traverse bogie 200.

The trajectory track 100 includes a straight section S1, a curve connecting section S2 and a branch section S3 (or a branching and merging section).

The curve connecting section S2 is a section in which a part of the continuous straight section S1 has a certain curvature and the branch section S3 is a section in which the conveying carriage 200 can travel in a straight line. Are sections that are arranged side by side and mutually spaced apart from each other to connect the rectilinear sections S1.

The traveling track 110 may be disposed in the straight section S1 and the curve connecting section S2 and the branch section S3 may be provided in the traveling track 110 so as to interconnect the plurality of traveling orbits 110, The branching trajectory 130 can be arranged.

3 and 4, the trajectory body 140 is provided on each of the traveling track 110 and the branch trajectory 130 so that the traveling carriage 200 can make contact with the traveling carriage 200. As shown in FIG.

2, the branching section S3 is provided with a traveling track side branching guide 150 for guiding the traveling carriage 200 to continue to run straight along the traveling orbit 110, 200 is provided on a branch orbit side branching guide (170) for guiding the branching orbit side branching guide (170) to travel along a branch orbit (130).

For example, when the conveying carriage 200 continues to run straight along the trajectory 110 in the branching section S3, the conveying carriage 200 travels along the traveling-track side branching guide 150 , The transporting carriage 200 travels along the branching track side branching guide 170 when the transporting carriage 200 tries to branch along the branching trajectory 130 in the branching section S3.

At this time, the traveling track side branching guide 150 and the branching track side branching guide 170 are arranged to face each other on the upper part of the conveying carriage 200. This causes the branching roller 237 of one of the pair of branching rollers 237 to move up and selectively contact any one of the traveling-track side branching guide 150 and the branching-side side branching guide 170, Or travel along the branch trajectory 130. [

When the conveyance truck system according to the embodiment of the present invention is installed in a semiconductor or display flat panel production line, the traveling track side branching guide 150 and the branching track side branching guide 170 are supported by a support, It can be installed in a space.

3 and 4, the trajectory body 140 of the traveling trajectory 110 and the branch trajectory 130 is disposed on the lower side of the traveling track side branch guide 150 and the branch orbit side branch guide 170 .

Referring to FIG. 2, a case in which the conveyance truck 200 branches from the upper travel trajectory 110 and merges into the lower travel trajectory 110 will be described in detail.

The upper branching orbit side branching guide 170 is provided adjacent to the branching area A1 where the conveying carriage 200 starts to branch off from the upper traveling orbit 110 and the lower traveling orbit 110 is provided in the branching section S3, And the lower branch orbit side branching guide 170 is provided adjacent to the joining region A2 joined to the lower branching orbit side guide.

Therefore, the conveying carriage 200 is continuously brought into contact with the upper branch-orbital-side branching guide 170 and the lower-branch-orbit side-branching guide 170 in the branching area A1 of the branching section S3.

When the conveyance truck 200 travels along the lower branch orbital side branch guide 170, the lower orbiting road 110 adjacent to the confluence area A2 is provided with the upper orbiting track side 110 provided on the upper side orbits 110 The lower traveling track side branching guide 150 is provided corresponding to the branching guide 150.

Therefore, the conveyance truck 200 joins the lower travel orbit 110 along the lower branch orbital side branch guide 170 and the lower travel orbital side branch guide 150 and travels.

As described above, the conveying carriage 200 is provided with the upper-side moving orbital-side branching guide 170, the lower-branching orbit side-branching guide 170, and the lower- And then joins the lower travel track 110 and travels.

On the other hand, in the present embodiment, the pair of branch rollers 237 that travel along the traveling-track side branching guide 150 or the branching-orbit side branching guide 170 in the branching section S3, Side branching guide 150 or the branching-orbit-side branching guide 170, as shown in FIG.

1, a conveyance port P capable of loading or unloading the object M is disposed adjacent to the trajectory 100 for conveyance.

In the present embodiment, the transport port P includes a plurality of stacking units P1 to which the object M is loaded, and the plurality of stacking units P1 are stacked in a multi-stage structure in the height direction.

This is to increase the space utilization efficiency of the conveyance truck system by loading the object M onto a plurality of stacking units P1 stacked in the height direction.

Although not shown in the trajectory track 100, various sensors, a power supply device, a communication device, and the like may be provided for controlling the traveling of the conveyance truck 200.

In the following description, a plurality of loading units P1 stacked in the height direction of the conveying port P disposed adjacent to the traverse vehicle trajectory 100 according to the present embodiment is provided with a conveyance truck (200) will be described.

3, the conveyance truck 200 according to the present embodiment includes a carrier unit 230 installed to be capable of traveling along a trajectory 100 for a conveyance truck, a conveyor unit 230 connected to the carrier unit 230, And a transfer unit P for loading an object M extended in the direction of the transfer port P and accommodated in the transfer port P so as to be able to move up and down in the frame unit 210. [ A lifting unit 270 provided inside the frame unit 210 and lifting the transfer unit 250 up and down and a transfer unit 250 provided inside the frame unit 210 and connected to the transfer unit 250, And a transfer unit 280 for horizontally reciprocating the frame 250 to the inside and outside of the frame unit 210.

1 to 3, the frame unit 210 is transported along the traveling orbit 110 and the branch trajectory 130, and the object M to be loaded or unloaded to the transport ports P The accommodated transfer unit 250 is seated inside.

The frame part 210 has a structure in which an opening through which the object M can pass is formed in the side part and the lower part.

The frame unit 210 is conveyed by the carrier unit 230 along the trajectory 100 for the traverse bogie and is conveyed to the conveyance port P disposed adjacent to the trajectory 100 for the conveyance bogie.

The carrier unit 230 is connected to the frame unit 210 and serves to enable the frame unit 210 to travel along the traveling orbit 110 and the branch orbit 130.

3 and 4, the carrier unit 230 includes a carrier main body 231 and a carrier main body 231. The carrier main body 231 is connected to the carrier trajectory 110 and the branch trajectory 130, A pair of driving rollers 233 which are connected to the carrier main body 231 and are disposed adjacent to one side of a pair of driving rollers 233, A pair of support rollers 235 which are in contact with side portions of the guide rails 130 to support the carrier main body portion 231, A pair of branch rollers 237 selectively connected to any one of the pair of branch rollers 237 and a pair of branch rollers 237 connected to the pair of branch rollers 237, A pair of branching rollers 237 are interlocked so as to be selectively in contact with any one of the guide 150 and the branching track side branching guide 170 It includes a roller group linked module (239).

The carrier body portion 231 is connected to the frame portion 210 and serves to transfer the object M placed on the frame portion 210 to a destination.

The coupling between the carrier body 231 and the frame 210 is such that a coupling bar 232 coupled to the lower portion of the carrier body 231 is fixedly coupled to the upper portion of the frame body 210, The frame unit 210 is moved along the trajectory 100 for the transportation.

The pair of driving rollers 233 are connected to both side portions of the carrier main body 231 so that the carrier main body 231 can travel along the traveling track 110 and the branch trajectory 130 .

A pair of drive rollers 233 are disposed on the trajectory body 140 provided in the traveling orbit 110 and the branch orbit 130 when the carrier main body portion 231 travels along the traveling track 110 and the branch trajectory 130. [ ). ≪ / RTI >

In the branching region A1 and the joining region A2 of the branch trajectory 130 shown in Fig. 1, one of the pair of driving rollers 233 is in contact with the branching trajectory 130 Drive.

This is because, as shown in Fig. 2, in a part of the branching area A1 of the branching section S3 or a part of the confluence area A2, a pair of drive rollers 233 can be brought into contact with the track body 140 Because some are absent.

The carrier main body portion 231 and the frame portion 210 are driven by the pair of driving rollers 233 traveling along the traveling track 110 and the branch trajectory 130, To the feed port (P).

When the carrier main body 231 and the frame portion 210 travel along the traveling trajectory 110 and the branch trajectory 130, the pair of the support rollers 235 move the traveling trajectory 110 and the branch trajectory 130 130 so as to support the carrier main body 231 and the frame portion 210.

Particularly, in the case where the carrier main body portion 231 travels in the branching section S3, a pair of the branching regions A1 in which the branching section S3 starts and the pairing region A2 in which the branching section S3 ends Only one drive roller 233 of the pair of drive rollers 233 travels along the track body 140 because a part of the track body 140 in which the drive roller 233 can be in contact is not present, The carrier main body portion 231 may be frequently deviated from the track body 140 in the branching region A1 and the joining region A2 of the step S3.

Therefore, in this embodiment, a pair of support rollers 235 are provided to prevent the carrier body portion 231 from being deviated in the branching section S3, and the carrier body portion 231 is supported by the track body 140, So that the vehicle can run smoothly.

A pair of support rollers 235 is connected to the carrier main body 231 and is disposed adjacent to one side of the pair of drive rollers 233. [ The pair of support rollers 235 are driven by being brought into contact with the trajectory body 110 and the side of the trajectory body 140 of the branch trajectory 130.

4, the pair of support rollers 235 are arranged so as to cross the pair of drive rollers 233 such that the carrier main body portion 231 is deviated from the track body 140 prevent.

In this embodiment, the carrier main body 231 can run along the trajectory 110 or the branch trajectory 130 in the branching interval S3. This is because the pair of branching rollers 237 and the pair of branching rollers 237 Is performed by a branching roller interlocking module (239) for selectively bringing the branching roller (237) into one of the traveling track side branching guide (150) and the branching track side branching guide (170).

The pair of branch rollers 237 are connected to the carrier main body 231 and disposed on the upper portion of the carrier main body 231.

One branching roller 237 of the pair of branching rollers 237 in the branching section S3 is divided into a traveling track side branching guide 150 and a branching orbit side branching guide The carrier main body 231 enters the traveling track 110 or the branch track 130 depending on whether the carrier main body 231 is selectively in contact with any one of the traveling path 170 and the traveling path 170.

In order to selectively bring any one of the pair of branching rollers 237 into contact with either the traveling-track side branching guide 150 or the branching-track side branching guide 170, the branching roller interlocking module 239 .

That is, the branching roller interlocking module 239 is connected to the pair of branching rollers 237 so that one branching roller 237 of the pair of branching rollers 237 is connected to the traveling-track side branching guide 150 and the branching orbit side The remaining branching rollers 237 are brought into contact with one of the pair of branching rollers 237 so as to be brought into contact with each other by the traveling track side branching guide 150 and the branching track side branching guide 170 ).

The branching roller interlocking module 239 in this embodiment includes a pair of link members 239a connected to the pair of branching rollers 237 and a pair of branching rollers 239b connected to the pair of link members 239a, A pair of link members 239a are arranged in a direction opposite to each other so that one of the branching rollers 237 of the guide rail 237 is selectively brought into contact with either one of the traveling track side branching guide 150 and the branching track side branching guide 170 A connection bracket 239b for interconnecting one end of the pair of link members 239a and the link member driving portion 239c and a link member 239b for connecting the traveling track side branch guide 150 and the branch trajectory And a link member guide portion 239d that is disposed in the direction of the side branch guide 170 and is connected to one side of the pair of link members 239a to guide the movement of the pair of link members 239a.

Each of the pair of link members 239a is correspondingly connected to each of the pair of branch rollers 237 so that the branching roller 237 is connected to the traveling track side branching guide 150 and the branching track side branching guide 170 ) Direction.

The lifting and lowering of the pair of link members 239a is performed by the link member driving portion 239c. The link member driving portion 239c includes a pair of link members 239a interlocked with each other to form a pair of branch rollers 237, One of the branching rollers 237 contacts one of the traveling track side branching guide 150 and the branching track side branching guide 170 and the remaining branching rollers 237 contact the traveling track side branching guide 150 and the branching track Side branching guide 170 to be released from contact.

In this embodiment, one end of the pair of link members 239a is interconnected by the connection bracket 239b so that the pair of link members 239a can be interlocked with each other, (239c).

The link member driving unit 239c includes a driving motor 239c which is provided at one side of the carrier main body 231 and moves the pair of link members 239a in opposite directions as they rotate.

That is, as the drive motor 239c is connected to the connection bracket 239b and rotated, one of the link members 239a of the pair of link members 239a is connected to the traveling-track side branching guide 150 or the branch- The other link member 239a is lowered in the direction in which it is brought into contact with the guide 170 and the other link member 239a is disengaged from the traveling track side branching guide 150 and the branching track side branching guide 170. [

In order to guide the movement of the pair of link members 239a when one of the pair of link members 239a is lifted in the direction of the traveling track side branch guide 150 or the branch orbit side branch guide 170 A link member guide portion 239d is connected to one side of the pair of link members 239a.

The pair of link members 239a are lifted and lowered along the link member guide portion 239d and the side portions of the pair of link members 239a are supported by the link member guide portion 239d.

On the other hand, a part of the track body 140, in which the pair of drive rollers 233 can contact with each other in the branching region A1 where the branching section S3 starts and the junction region A2 where the branching section S3 ends, Only one drive roller 233 of the pair of drive rollers 233 travels along the track body 140 so that the carrier body portion 231 can be deviated from the track body 140. [

Therefore, in the present embodiment, as described above, when a pair of branch rollers 237 is traveling along with the pair of support rollers 235, the branching roller 237 is separated from the traveling track side branch guide 150 or the branch orbit side branch guide 170 The bending portions 155 and 175 bent in the direction of the pair of branch rollers 237 are formed on the lower ends of the traveling track side branching guide 150 and the branching track side branching guide 170 to prevent the traveling track side branching guide 150 and the branching track side branching guide 170 from being bent.

As described above, in the branching section S3, the pair of branching rollers 237 are interlocked so as to be selectively brought into contact with and disconnected from any one of the traveling-track side branching guide 150 and the branching orbit side branching guide 170 The carrier main body portion 231 is moved in the direction of the trajectory 110 or the branch trajectory 130 quickly and smoothly in the branching section S3 by providing the branching roller interlocking module 239 for ascending and descending in the opposite direction, It is possible to prevent the occurrence of a failure due to the switching of the direction and to improve the reliability of the rapid delivery of the goods.

In the present embodiment, the transfer unit 250 receives the object M and is transferred to the transfer port P by the carrier unit 230 in a state of being contained in the frame part 210. [

The transfer unit 250 according to the present embodiment includes an object accommodating portion 251 that is vertically connected to the carrier unit 230 and accommodates the object M, A transfer module 253 extending in the direction of the port P to load the object M on the transfer port P and a transfer module 253 disposed in the object accommodating portion 251 and connected to the transfer module 253, 253 in the direction of the transfer port (P).

Hereinafter, an operation of loading the object M onto the stacking unit P1 stacked in multiple stages using the transfer unit 250 will be described with reference to FIG.

First, as shown in FIG. 5 (a), the transporting carriage 200 is transported to an upper portion of the transporting port P disposed adjacent to the transporting track 100.

5 (b), the transfer unit 250 is horizontally transported to the position of the loading unit P1 on which the object M is to be loaded by the transport unit 280. As shown in Fig.

When the plurality of stacking units P1 are stacked in a plurality of stages as in the present embodiment, the plurality of stacking units P1 are stacked to prevent the transfer units 250 from being interfered by the stacked stacking units P1 during the lowering. (P1) may be spaced horizontally with respect to the mutual height direction.

The transfer unit 250 can be reciprocated in the horizontal direction with respect to the frame portion 210 by the transfer unit 280 so that the transfer unit 250 is correctly positioned in the loading portion P1.

The transfer unit 280 is connected to the upper portion of the object accommodating portion 251 to have a multi-stage slide structure for horizontally reciprocating the object accommodating portion 251 between the frame portion 210 and the transfer ports P .

5 (c), the transfer unit 250 is lowered to the corresponding loading portion P1 of the transfer port P on which the object M is to be loaded by the elevating unit 270. Then, as shown in Fig.

The lifting unit 270 includes a plurality of lifting and lowering belts 273 connected to the object accommodating unit 251 and a lifting and lowering belt 273 for winding and unwinding the lifting and lowering belt 273 to the loading unit P1 And an elevating portion 271 for elevating and lowering.

The ascending and descending section 271 descends the transfer unit 250, specifically, the object accommodating section 251 to load the object M from the object accommodating section 251 onto the loading section P1, To lift up the object accommodating portion 251 in order to unload the object M loaded into the object accommodating portion 251.

The lifting unit 271 is provided with a transfer unit 250, specifically the object accommodating unit 251, by winding and unwinding a plurality of lifting belts 273 connected to a driving motor (not shown) with a winding drum (not shown) Is moved up and down adjacent to the loading section P1.

The transfer unit 250 is lowered to the loading part P1 and placed on the loading part P1 as shown in Fig. 5 (c). Then, as shown in Figs. 5 (d) and 5 And the object M is horizontally conveyed to the loading unit P1 from the unit 251. [

A process of horizontally moving the object M using the transfer unit 250 in the object accommodating unit 251 and loading the object M in the loading unit P1 will be described below.

6 to 9, the transfer module 253 is extended to the loading part P1 of the transfer port P to load the object M on the loading part P1, (Not shown).

The transfer module 253 includes an object supporting portion 253a that supports the object M and extends in the direction of the transfer port P with respect to the bottom surface of the object accommodating portion 251 and an object supporting portion 253b that supports the object M, A sliding plate 253b which is stacked on the bottom surface of the sliding plate 253 so as to be relatively movable and extends on the bottom surface of the object accommodating portion 251 in the direction of the transport port P, And a roller portion 253c provided at one end of the sliding plate 253b which extends in the direction of the arrow P and which is in contact with the transport port P to support one end of the sliding plate 253b when the sliding plate 253b is extended do.

The object supporting portion 253a is an area for supporting the object M and is extended in the direction of the loading portion P1 to load the object M onto the loading portion P1 or to load the object M onto the loading portion P1 And unloads the object M.

The object supporting portion 253a is extended in the direction of the loading portion P1 in interlock with the sliding plate 253b to be described later.

The sliding plate 253b is disposed between the object supporting portion 253a and the bottom surface of the object accommodating portion 251 and is slid on the bottom surface of the object accommodating portion 251 and extended in the direction of the loading portion P1 .

In this embodiment, one sliding plate 253b is shown to be disposed between the bottom surface of the object supporting portion 253a and the bottom of the object accommodating portion 251. However, the present invention is not limited thereto, and a plurality of sliding plates 253b may be provided in multiple stages It is possible.

The object supporting portion 253a and the sliding plate 253b described above are provided so as to be movable relative to each other and are simultaneously extended in the direction of the loading portion P1 by the transfer drive module 255 to be described later.

7, when the sliding plate 253b extends in the direction of the loading part P1, the object supporting part 253a is also moved relative to the upper part of the sliding plate 253b, P1.

One end portion of the sliding plate 253b which extends in the direction of the loading portion P1 to support one end of the sliding plate 253b while the sliding plate 253b is extended in the direction of the loading portion P1, (253c).

While the sliding plate 253b is being extended, the roller portion 253c is brought into contact with the bottom surface of the loading portion P1 so as to roll in the direction in which the sliding plate 253b is extended and to support one end of the sliding plate 253b do.

The extension of the object support portion 253a and the sliding plate 253b is performed by the transfer drive module 255. [

The transfer drive module 255 serves to extend the transfer module 253 disposed inside the object accommodating portion 251 toward the loading portion P1 of the transfer port P. [

The transfer drive module 255 includes a first driving unit 256 connected to the sliding plate 253b to extend the sliding plate 253b in the direction of the transfer port P with respect to the bottom surface of the object accommodating unit 251, A second driving part 257 connected to the object supporting part 253a and linked to the first driving part 256 to extend the object supporting part 253a in the direction of the transfer port P with respect to the sliding plate 253b, And a guide unit 258 installed on the bottom surface of the guide plate 251 for guiding the sliding plate 253b to extend in the direction of the transport port P. [

The first driving unit 256 serves to extend the sliding plate 253b in the direction of the loading unit P1 with respect to the bottom surface of the object accommodating unit 251. [

The first driving part 256 includes a rack gear 256a provided in the object accommodating part 251 and long in the direction of the transport port P and a rack gear 256b provided on the sliding plate 253b and meshed with the rack gear 256a And a first driving motor 256c provided on the sliding plate 253b and connected to the pinion gear 256b to provide rotational force to the pinion gear 256b.

The second driving unit 257 is interlocked with the first driving unit 256 to extend the object supporting unit 253a in the direction of the loading unit P1 with respect to the sliding plate 253b.

The second driving portion 257 includes a first pulley 257a and a second pulley 257b provided on both sides in the sliding direction of the sliding plate 253b and one end fixed to one side of the object supporting portion 253a and the other end A first belt 257c fixed to the bottom surface of the object accommodating portion 251 and wound around the first pulley 257a and a second belt 257b fixed at one end of the object supporter 253a and at the other end thereof to the object accommodating portion 251, And a second belt 257d which is fixed to the bottom surface of the first belt 257c and is disposed opposite to the first belt 257c and wound around the second pulley 257b.

The guide portion 258 is disposed on the bottom surface of the object accommodating portion 251 and is connected to the sliding plate 253b to guide the sliding plate 253b in the direction of the loading portion P1 .

The guide part 258 may be constituted by an LM type linear guide for guiding the sliding plate 253b in the direction of the transfer port P, that is, the loading part P1 where the object M is to be loaded .

8 and 9, the guide portion 258 is provided on the bottom surface of the object accommodating portion 251 and the upper surface of the sliding plate 253b, respectively, and the object supporting portion 253a and the sliding plate 253b, The first and second LM guide rails 258a and 258c are disposed in the direction of the transport port P in which the first and second LM guides 251 and 252 are slid. The first and second LM guide rails 258a and 258c are disposed on the sliding plate 253b and the object supporter 253a, respectively. And first and second LM blocks 258b and 258d that are moved along rails 258a and 258c.

An operation of loading the object M to the loading unit P1 using the transfer module 253 and the transfer driving module 255 configured as described above will be described below.

First, as shown in FIG. 6, the object accommodating portion 251 is lowered to one side of the loading portion P1 to which the object M is to be loaded. The object M is placed inside the object accommodating portion 251 while being supported by the object supporter 253a.

7, the transfer module 253 is extended in the direction of the loading unit P1 and the object M is placed on the loading unit P1.

As to the extending operation of the transfer module 253, the first driving motor 256c rotates the pinion gear 256b to slide the sliding plate 253b along the rack gear 256a.

At this time, the sliding plate 253b is coupled to the first LM guide rail 258a by the first LM block 258b and is extended along the first LM guide rail 258a in the direction of the loading portion P1 .

When the sliding plate 253b slides in the direction of the loading unit P1 and is extended, the object supporting unit 253a is interlocked with the sliding plate 253b to move the loading unit P1 from the upper surface of the sliding plate 253b. And is extended.

The first and second pulleys 257a and 257b are provided on both sides of the sliding plate 253b in the sliding direction of the sliding plate 253b and the sliding movement of the object supporting portion 253a in the direction of the loading portion P1 is interlocked with the sliding plate 253b. Respectively.

One end of the first belt 257c is fixed to one side of the object supporting portion 253a and the other end is fixed to the bottom surface of the object accommodating portion 251 in a state in which the first belt 257c is wound around the first pulley 257a. One end of the second belt 257d is fixed to one side of the object supporting portion 253a and the other end is fixed to the bottom surface of the object accommodating portion 251 while the second belt 257d is wound around the second pulley 257b.

Here, the first belt 257c and the second belt 257d are disposed opposite to each other.

7 and 8, when the sliding plate 253b is slidably extended in the direction of the loading unit P1, the object supporting unit 253a is coupled to the sliding plate 253b, And is extended in the direction of the loading part P1.

At this time, the object supporting portion 253a is coupled to the second LM guide rail 258c by the second LM block 258d, and is moved along the second LM guide rail 258c in the direction of the loading portion P1 .

The transfer unit 250 according to the present embodiment includes the sliding plate 253b and the sliding plate 253b when the object supporting portion 253a and the sliding plate 253b are extended to the loading position P1 where the object M is seated. And an elevating module 259 installed at one side of the object supporting portion 253a and connected to the object supporting portion 253a to elevate the object supporting portion 253a.

The elevating module 259 may be constituted by an LM type linear guide for elevating and retracting the object supporting portion 253a in the height direction.

The lifting and lowering module 259 has a guide plate 259a and a guide plate 259a which are arranged in the height direction of the object supporting portion 253a while one side is connected to the object supporting portion 253a and the other side is connected to the sliding plate 253b. A third LM guide rail 259b disposed in the height direction of the object supporter 253a and connected to the object supporter 253a and a third LM guide rail 259b displaced along the third LM guide rail 259b, A lead screw 259d provided on the guide plate 259a and disposed in parallel with the third LM guide rail 259b and coupled with the third LM block 259c and a lead screw 259d connected to the lead screw 259d And a second drive motor 259e for providing rotational force to the lead screw 259d.

An operation of loading the object M to the loading unit P1 using the transfer module 253 and the transfer driving module 255 configured as described above will be described below.

10, when the object supporting portion 253a is extended to the position of the loading portion P1 where the object M is seated, the object M corresponds to the height of the loading portion P1 on which the object M is to be seated It is necessary to raise the object.

Although not shown in the present embodiment, when unloading the object M placed on the loading part P1, the object supporting part 253a is positioned below the loading part P1, and the object supporting part 253a, And the object M is unloaded from the loading unit P1.

At this time, the guide plate 259a is installed on the upper surface of the second LM block 258d, one side of which is coupled to the object supporting portion 253a and the other side of which is connected to the sliding plate 253b through the second LM guide rail 258c.

The guide plate 259a is disposed long in the height direction of the object supporting portion 253a to guide the path for moving the object supporting portion 253a up and to support one side of the object supporting portion 253a.

The guide plate 259a is provided with a third LM guide rail 259b extending in the height direction of the object supporter 253a and the object supporter 253a is moved in the height direction along the third LM guide rail 259b A third LM block 259c having one side coupled to the object support 253a and the other side coupled to the third LM guide rail 259b is provided.

The third LM block 259c is coupled to the lead screw 259d provided on the guide plate 259a in parallel with the third LM guide rail 259b and connected to the second drive motor 259e connected to the lead screw 259d And is moved along the lead screw 259d and the third LM guide rail 259b in the height direction of the guide plate 259a.

10, a coupling 259f such as a nut for coupling the lead screw 259d and the third LM block 259c is installed through the guide plate 259a.

When the third LM block 259c is moved in the height direction of the guide plate 259a, the object supporting portion 253a is also moved in the height direction of the guide plate 259a.

5 (d) and 5 (e), the object M is transferred from the object accommodating portion 251 to the loading portion P1 and the object M is placed on the loading portion P1 The object supporting portion 253a and the sliding plate 253b are returned to the object accommodating portion 251 again.

5 (f), after the object accommodating portion 251 is lifted up to the frame portion 210 by the elevation unit 270, the conveyance carriage 200 is moved up to the frame portion 210, And is transported to another transport port P along the drag orbit 100.

Unlike FIG. 5, the transfer unit according to the present embodiment is also applicable to a case where an object is to be unloaded from a transfer port.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Accordingly, such modifications or variations are intended to fall within the scope of the appended claims.

100: Trajectory for traverse bogie 110: Running track:
130: branch trajectory: 150: running trajectory side branch guide
170: branch orbit side branching guide 200:
210: frame part 230: carrier unit
250: transfer unit 251: object receiving portion
253: Transfer module 253a:
253b: Sliding plate 253c: Roller portion
255: transfer drive module 256: first drive
256a: Rack gear 256b: Pinion gear
256c: first drive motor 257: second drive unit
257a: first pulley 257b: second pulley
257c: first belt 257d: second belt
258: guide portion 258a: first LM guide rail
258b: first LM block 258c: second LM guide rail
258d: second LM block 259: lift module
259a: guide plate 259b: third LM guide rail
259c: third LM block 259d: lead screw
259e: second drive motor 259f: coupling
270: lift unit 280: conveying unit

Claims (20)

A conveyance truck installed so as to be able to run in a trajectory for the conveyance truck and to convey the object; And
At least one conveying port disposed adjacent to the trajectory for the conveying carriage and loaded with the object,
The conveyance truck
A carrier unit provided so as to be able to travel along the trajectory of the conveyance truck; And
And a transfer unit that is vertically connected to the carrier unit and loads the object, which is extended in the direction of the transfer port, to the transfer port,
The transfer unit includes:
An object accommodating portion that is vertically connected to the carrier unit and accommodates the object;
An object supporting portion which is disposed inside the object accommodating portion and supports the object and extends in the direction of the conveying port with respect to the bottom surface of the object accommodating portion and is stacked so as to be relatively movable between the object supporting portion and the bottom surface of the object accommodating portion A transfer module that has a sliding plate that slides on a bottom surface of the object accommodating portion and extends in the direction of the transport port to load the object on the transport port; And
And an elevating module installed on one side of the sliding plate, the elevating module being connected to the object supporting part to elevate the object supporting part. The method according to claim 1,
The transfer unit includes:
And a transfer drive module disposed within the object receiving portion and connected to the transfer module to extend the transfer module toward the transfer port. delete The method according to claim 1,
The transfer module includes:
Further comprising a roller unit installed at one end portion of the sliding plate extending in the direction of the conveying port and supporting the one end of the sliding plate in contact with the conveying port when the sliding plate is elongated, . 3. The method of claim 2,
The transfer drive module includes:
A first driving unit connected to the slinging plate to extend the sliding plate toward the conveying port with respect to the bottom surface of the object accommodating unit; And
And a second driving part connected to the object supporting part and extending in the direction of the conveying port with respect to the sliding plate, the second driving part interlocking with the first driving part. 6. The method of claim 5,
Wherein the first driving unit includes:
A rack gear which is installed in the object accommodating portion and is arranged long in the conveyance port direction;
A pinion gear installed on the sliding plate, the pinion gear being engaged with the rack gear and rotated; And
And a first drive motor mounted on the sliding plate, the first drive motor being connected to the pinion gear to provide rotational force to the pinion gear. The method according to claim 6,
Wherein the second driver comprises:
A first pulley and a second pulley installed on both sides of the sliding plate in a sliding direction;
A first belt wound around the first pulley and having one end fixed to one side of the object support and the other end fixed to a bottom surface of the object accommodating portion; And
And a second belt which is fixed to one side of the object support part at one end and is fixed to the bottom surface of the object receiving part at the other end and is wound on the second pulley so as to face the first belt,
Wherein when the sliding plate is slidably extended in the direction of the conveying port, the object supporting portion is slidably engaged with the sliding plate and extended in the conveying port direction. 6. The method of claim 5,
The transfer drive module includes:
And a guide unit installed on a bottom surface of the object accommodating unit and on an upper surface of the sliding plate to guide the object supporting unit and the sliding plate to extend in the direction of the transport port. 9. The method of claim 8,
The guide portion
And the LM type linear guide for guiding the object supporting portion and the sliding plate toward the conveying port. 9. The method of claim 8,
The guide portion
First and second LM guide rails provided on the bottom surface of the object accommodating portion and on the upper surface of the sliding plate, respectively, in the direction of the transport port in which the object supporter and the sliding plate slide,
And first and second LM blocks mounted on the sliding plate and the object support, respectively, the first and second LM blocks being moved along the first and second LM guide rails. delete The method according to claim 1,
The elevating module includes:
And the LM type linear guide for elevating and lowering the object supporting portion in the height direction. The method according to claim 1,
The elevating module includes:
A guide plate having one side connected to the object support unit and the other side connected to the sliding plate, the guide plate disposed in the height direction of the object support unit;
A third LM guide rail installed on the guide plate, the third LM guide rail being long in the height direction of the object supporting unit;
A third LM block coupled to the object support and moved along the third LM guide rail; And
A lead screw installed on the guide plate and disposed in parallel with the third LM guide rail and coupled with the third LM block; And
And a second drive motor coupled to the leadscrew to provide a rotational force to the leadscrew. The method according to claim 1,
The conveyance truck
A frame unit connected to the carrier unit and having the object accommodating unit incorporated therein; And
And a lift unit provided inside the frame unit and including a plurality of elevating belts connected to the object accommodating unit to elevate the object accommodating unit with respect to the frame unit. 15. The method of claim 14,
The conveyance truck
And a conveying unit provided inside the frame portion and connected to the object accommodating portion to allow the object accommodating portion to horizontally reciprocate to the inside and outside of the frame portion. The method according to claim 1,
The transfer port
And a loading part on which the object is loaded,
Wherein the plurality of stacking units are stacked in multiple stages. Transferring the transporting truck of claim 1 to an upper portion of the transporting port to which the object is to be loaded;
Placing and lowering the object accommodating portion in a plurality of stacked stacking units provided in the transporting port to the stacking unit in which the object is to be loaded; And
When the object accommodating portion is seated in the loading portion, the transfer module is extended in the direction of the loading portion so that the object is horizontally transferred from the object accommodating portion to the loading portion, and the object supporting portion is elevated by the elevating module And loading the object into the corresponding loading unit. 18. The method of claim 17,
Wherein when the transporting carriage is transported to an upper portion of the transporting port, the object receiving portion is moved to a position corresponding to the loading portion so as not to be interfered by the plurality of loading portions other than the loading portion while the object receiving portion descends The method of claim 1, further comprising the step of horizontally conveying the object. delete 18. The method of claim 17,
And returning the transfer module to the object accommodating portion and raising the object accommodating portion when the object is loaded on the corresponding loading portion.

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