KR102184336B1 - Unmanned store system - Google Patents

Abstract

The unmanned store system is started. An unmanned store system according to an embodiment of the present invention includes a product storage device provided in the system body and having a plurality of shelves for displaying or storing products; At least one stacker crane (Stacker Crane) for receiving goods on the shelf or releasing goods from the shelf; A product handling device connected to the stacker crane, interacting with the stacker crane, and gripping a product for handling the product; And a defective product collection device that is provided on one side of the system body and collects defective products that have expired or are not normal due to the action of the stacker crane and the product handling device.

Description

Unmanned store system

The present invention relates to an unmanned store system, and more particularly, can satisfy various solutions for a series of unmanned store technologies for unmanned delivery of ordered products, in particular, when the expiration date has passed or It relates to an unmanned store system capable of effectively collecting defective products that are not normal.

In recent years, the distribution industry and convenience stores are considering the application of an unmanned store system to reduce labor and operating costs.

The unmanned store system refers to a series of devices or systems that when a customer orders and pays for a desired product, a separate robot is operated unmanned to release the product.

The unmanned store system, which is an automated facility type, can provide the effects of low cost, high efficiency, and various operating methods. Therefore, it is expected that the spread of unmanned store systems can gradually spread.

On the other hand, the existing unmanned store system is only a small vending machine type that is commonly encountered in the market, and such a system cannot satisfy various solutions of unmanned store technology.

In particular, in the case of an existing vending machine-type unmanned store device or an unmanned store system that is scheduled to be developed, the expiration date for the product cannot be managed due to its structural limitations, as well as the collection of abnormal products, that is, defective products. Considering that it cannot be done, the need for a new concept of unmanned store system to solve this problem emerges.

Korean Intellectual Property Office Application No. 10-2008-0066836

Therefore, the technical problem to be achieved by the present invention is to satisfy various solutions for a series of unmanned store technologies that release ordered products unmanned, and in particular, defective products that have passed the expiration date or which are not normal can be satisfied. It is to provide an unmanned store system that can effectively collect.

According to an aspect of the present invention, a product storage device provided in the system main body and having a plurality of shelves on which products are displayed or stored; At least one stacker crane (Stacker Crane) for putting goods on the shelf or releasing goods from the shelf; A product handling device connected to the stacker crane, interacting with the stacker crane, and gripping a product for handling the product; And a defective product collection device that is provided on one side of the system main body and collects defective products that have expired or are not normal by the action of the stacker crane and the product handling device. Can be provided.

The defective product collection device includes: a collection device cabinet; And a defective product collection box disposed below the collection device cabinet to enter and exit the collection device cabinet, and receiving defective products therein.

An inspection box handle may be provided on one side of the defective product collection box.

The defective product collection device may further include a collection box opening and closing door that is opened and closed to the collection device cabinet at an upper position of the defective product collection box, and automatically opens when one side of the product handling device is pressed.

The product handling device includes: a handling device main body; A rotating head coupled to the handling device body to be relatively rotatable; And a pair of grippers that are movably coupled to the rotating head and grip a product based on an approach or spaced apart from each other.

The product handling device may include a gripping driving unit coupled to the rotating head and configured to drive the pair of grippers to approach or separate from each other; And a first LM guide configured to guide the movement of the pair of grippers when the pair of grippers are moved by the gripping driving unit.

The product handling device is provided on the rotating head, is connected to the pair of grippers, and drives the pair of grippers in a forking direction crossing a direction in which the pair of grippers are gripped. ; And a second LM guide configured to guide the movement of the pair of grippers when the pair of grippers are moved by the forking driving unit.

The product handling device may further include a head rotation driving unit connected to the handling device main body and the rotating head and rotating the rotating head with respect to the handling device main body, and facing inner walls of the pair of grippers There may be a non-slip pad formed on the surface of the non-slip pattern to prevent slipping may be combined.

The product handling device includes: a product handling bar that is coupled to the rotation head so as to move forward and backward from the rotation head, and pushes and pulls a product; And it may further include a bar driving unit for driving the product handling bar forward and backward.

An adsorption unit may be coupled to an end of the product handling bar.

The product handling device may include a dummy block coupled to one side of the rotating head; And a network camera coupled to the dummy block and photographing a front side based on a predetermined signal.

The product handling device includes: a handling device up/down moving part provided in the handling device main body, connected to the stacker crane, and moving the product handling device up/down along a vertical direction; And a plurality of track rollers rotatably provided on the main body of the handling device, and guiding the movement of the product handling device when the product handling device is moved up/down.

A servo may be provided on one side of the system body, and when a product relocation mode for relocating products is input, the products on the shelf may be automatically relocated by the action of the stacker crane and the product handling device.

A cleaning tool storage unit may be provided on one side of the system main body, and the surface of the shelf is automatically cleaned by the cleaning tool by the action of the stacker crane and the product handling device when entering a shelf cleaning mode for cleaning the shelf. Can be.

An input unit for inputting a predetermined input signal; And a controller for controlling the operation of the stacker crane and the product handling device so that the product ordered based on the input signal of the input unit is released unmanned, wherein the controller includes a product for relocating the product. When entering the relocation mode, the stacker crane and the product handling device are automatically controlled so that the products on the shelf are automatically relocated, and the surface of the shelf is automatically cleaned by the cleaning tool when entering the shelf cleaning mode for cleaning the shelf. Thus, it is possible to automatically control the stacker crane and the product handling device.

For the movement of the stacker crane, a closed loop line connected to the stacker crane in a closed loop type is provided, and when the stacker crane moves based on the rotational motion of the closed loop line, the stacker crane is prevented from swinging. It may include a crane anti swing moving part.

The crane anti-swing moving part may include a line driving part connected to one end of the closed loop line and generating a driving force for rotating the closed loop line; A line follower rotatably connected to the other end of the closed loop line and supporting the other end of the closed loop line rotated by the line driver; A plurality of line guides disposed between the line driver and the line follower to contact the closed loop line and guiding the rotation of the closed loop line; And a line clamp clamped with the closed loop line.

The closed loop line is a timing belt, the line driver is a drive pulley driven by a motor, and the line follower and the line guide may be driven pulleys and idle pulleys, respectively.

The stacker crane, a crane body disposed along the vertical direction; A lower moving part provided in a lower area of the crane body and moving along a lower rail; And an upper moving part provided in an upper area of the crane body and moving along an upper rail.

According to the present invention, it is possible to meet various solutions for a series of unmanned store technology that releases ordered products unmanned, and in particular, it is possible to effectively collect defective products that have passed the expiration date or that are not normal. .

1 is a perspective view of an unmanned store system according to an embodiment of the present invention.
2 is a front view of FIG. 1.
FIG. 3 is a plan view of FIG. 1 and is a view applied to a store.
Figure 4 is a side view of the main part of Figure 3;
5 is a view of the shelf removed from FIG. 4.
6 is a configuration diagram conceptually showing FIG. 4.
7 is a perspective view of FIG. 4.
8 is an enlarged view of area A of FIG. 7.
9 is an operation diagram of the product handling device.
10 is a perspective view of a product handling device.
11 is a rear perspective view of FIG. 10.
12 to 14 are diagrams for explaining the movement of the product handling device, respectively.
15 is a structural diagram of an apparatus for collecting defective products.
16 and 17 are diagrams illustrating a use state of FIG. 15.
18 to 21 are diagrams illustrating a process of adjusting the height of a shelf as a structural diagram of a product storage device.
22 is a view for explaining the interval adjustment of the shelf.
23 is a front view of FIG. 22.
24 is a perspective view of a product safety delivery device.
Fig. 25 is a front projection view of Fig. 24;
26 is a structural diagram of an outlet region.
FIG. 27 is a diagram for explaining the use state of FIG. 24;
FIG. 28 is an enlarged view of FIG. 27, illustrating a process of moving a product.
29 is a perspective view of a product information management type product warehousing device.
30 to 35 are diagrams showing the operation of the product direction alignment unit step by step.
36 to 38 are diagrams for explaining a product relocation function of the unmanned store system according to an embodiment of the present invention.
39 to 41 are diagrams for explaining an automatic cleaning function of an unmanned store system according to an embodiment of the present invention.
42 is a control block diagram of an unmanned store system 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 implementation of the present invention, reference should be made to the accompanying drawings illustrating preferred embodiments of the present invention and the contents described in the accompanying drawings.

Hereinafter, the present invention will be described in detail by describing a preferred embodiment of the present invention with reference to the accompanying drawings. The same reference numerals in each drawing indicate the same member.

1 is a perspective view of an unmanned store system according to an embodiment of the present invention, FIG. 2 is a front view of FIG. 1, FIG. 3 is a plan view of FIG. 1 and a view applied to a store, and FIG. 4 is a main part of FIG. It is a side view, FIG. 5 is a view in a state in which the shelf is removed from FIG. 4, FIG. 6 is a schematic diagram of FIG. 4, FIG. 7 is a perspective view of FIG. 4, and FIG. 8 is an enlarged view of area A of FIG. Fig. 9 is an operation diagram of the product handling device, Fig. 10 is a perspective view of the product handling device, Fig. 11 is a rear perspective view of Fig. 10, and Figs. 12 to 14 are respectively explaining the movement of the product handling device 15 is a structural diagram of a defective product collection device, FIGS. 16 and 17 are diagrams of a use state of FIG. 15, and FIGS. 18 to 21 are structural diagrams of a product storage device, illustrating a process of adjusting the height of a shelf. Figures are drawings, Figure 22 is a view for explaining the distance adjustment of the shelf, Figure 23 is a front view of Figure 22, Figure 24 is a perspective view of a product safety shipping device, Figure 25 is a front projection view of Figure 24, Figure 26 is It is a structural diagram of the outlet area, FIG. 27 is a diagram for explaining the use state of FIG. 24, FIG. 28 is an enlarged view of FIG. 27 and a diagram showing a process of moving a product, and FIG. 29 is a product information management type product warehousing A perspective view of the device, FIGS. 30 to 35 are diagrams showing the operation of the product direction alignment unit step by step, and FIGS. 36 to 38 illustrate a product relocation function of the unmanned store system according to an embodiment of the present invention. 39 to 41 are diagrams for explaining an automatic cleaning function of an unmanned store system according to an embodiment of the present invention, and FIG. 42 is a control of an unmanned store system according to an embodiment of the present invention It is a block diagram.

Referring to these drawings, the unmanned store system according to the present embodiment can satisfy various solutions for a series of unmanned store technologies that release ordered products unmanned, especially after the expiration date or normal This is to enable effective collection of defective products.

The unmanned store system according to the present embodiment capable of providing such an effect includes a system main body 100 and a defective product collection device 300 provided in the system main body 100.

In addition, the system main body 100 of the unmanned store system according to the present embodiment includes a product storage device 200, a product information management type product warehousing device 400, a product safety release device 500, and a product handling device 600. It is prepared by location and performs the corresponding function. The product handling device 600 is connected to a stacker crane 120, and receives a product on a shelf or releases a product from the shelf through interaction with the stacker crane 120.

Looking at each configuration, first, the system main body 100 forms the exterior structure of the unmanned store system according to the present embodiment.

When installing the unmanned store system according to the present embodiment in a store, after arranging the system body 100 on one side of the store as shown in FIG. 3, a product storage device 200, a defective product collection device 300, and a product information management type product A stacker crane 120 to which the warehousing device 400, the product safe shipping device 500, and the product handling device 600 is connected may be installed.

Referring to FIG. 3 briefly, a user, that is, a customer, enters the store through the door 10 and purchases products unattended through the unmanned store system. In the store, an administrator access door 20 is provided on one side of the wall 30, which constitutes a place in which only authorized administrators are allowed to enter.

A cleaning tool storage unit 101 is provided on one side of the system main body 100. A cleaning tool 102 such as a sponge is provided in the cleaning tool storage unit 101. In addition, a servo 105 is provided in front of the cleaning tool storage unit 101.

Although not shown in the drawing, at least one kiosk may be disposed on one side of the store of FIG. 3. Kiosk (KIOSK) is a touch screen type information delivery system that selects and orders products. Such a kiosk (KIOSK) may be installed separately from the unmanned store system according to the present embodiment, but may be mounted on one side of the system main body 100. Therefore, it should be said that all of these matters belong to the scope of the present invention.

As shown in FIGS. 1, 3, 4, 9, and 18 to 23, the product storage device 200 constitutes a place where products are stored. For example, in a convenience store, products such as confectionery, chocolate, and bread may be stored in the product storage device 200 for each location.

The product storage device 200 may form a cabinet structure. In the case of this embodiment, the stacker crane 120 has a structure in which the product storage device 200 is disposed on both sides thereof. Therefore, space efficiency can be increased and the foot print can be reduced, and more diverse and more products can be stored and displayed in the same place.

A plurality of shelves 210 are disposed in the product storage device 200 along the height direction thereof. Products may be placed on the shelf 210. The structure of the product storage device 200 including a plurality of shelves 210 may be the same as that of FIG. 1, but this is only an example, and the scope of the present invention is not limited to the shape of the drawing. That is, it is not necessary for the product storage device 200 to have a cabinet structure, and even if the height and width, or the number of shelves 210 in the product storage device 200 are different from the drawings, there is no relationship.

The product storage device 200 will be described in more detail with reference to FIGS. 18 to 23. In the case of an existing vending machine-type unmanned store system or an unmanned store system to be developed, due to its structural limitations, the space between the shelves 210 in which products are displayed or stored, or the product display position on the shelves 210 Because it was impossible to adjust the interval for the product, a lot of difficulties were inevitable in displaying products of different sizes.

However, when the product storage device 200 as in this embodiment is applied, such a problem can be solved. That is, it is possible to adjust the distance between the shelves 210 in which the products are displayed or stored, or the distance to the product display position on the shelf 210, so that products of various sizes can be easily stored.

The product storage device 200 capable of providing such an effect includes a plurality of shelves 210 in which products are displayed or stored, and a shelf support unit 220 to support the plurality of shelves 210.

The shelf support unit 220 includes a plurality of slots 224 to which the shelf 210 is detachably coupled along the height direction to adjust the distance between the shelves 210, and is connected to the shelf 210 210).

The shelf support unit 220 includes a pair of posts 221 disposed to be spaced apart from one side of the shelf 210 along the length direction of the shelf 210, and a coupling side wall 222 coupled to the post 221 And, it includes a pair of supports 223 disposed in front of the posts 221.

The post 221 may be firmly supported at the corresponding position by being screwed to the system body 100.

In this way, structural simplification can be achieved by applying the shelf support unit 220 to the structure of the post 221 and the support 223. Therefore, it is possible to reduce the facility cost.

The slots 224 formed in the product storage device 200 are disposed at the same height on the post 221 and the support 223. Therefore, the shelf 210 may be disposed in a horizontal direction to support the product.

At this time, not all of the shelves 210 must be coupled to all the slots 224 formed in the shelf support unit 220. In particular, when considering the size of the product, that is, its height, it is necessary to adjust the width between the shelves 210. This can be done automatically through the system mode. As shown in FIGS. 19 and 20, the width, that is, the gap between the shelves 210 may be adjusted by the action of the stacker crane 120 and the product handling device 600. When the operation of the stacker crane 120 and the product handling device 600 is completed, as shown in FIGS. 18 to 21, one shelf 210 may be positioned downward.

In addition to these structures and functions, the product storage device 200 is further equipped with a concise adjustment guide 240. The concise adjustment guide 240 is a structure that is movably coupled to the shelf 210 in order to adjust the spacing of the product display position on the shelf 210.

The concise adjustment guide 240 is also moved in position by the action of the stacker crane 120 and the product handling device 600 so that the distance to the product display position on the shelf 210 can be adjusted. That is, as shown by reference numeral P of FIG. 23, the product handling device 600 grips the concise adjustment guide 240 and moves the concise adjustment guide 240, so that the distance to the product display position on the shelf 210 can be adjusted. . Accordingly, products having a small volume or a large volume can be easily displayed or stored on one shelf 210. Since the pair of grippers 630 of the product handling device 600 grips the product while being disposed above the concise adjustment guide 240, there is no interference phenomenon.

A stacker crane 120 is provided around the shelf 210 of the product storage device 200 as a means for moving the product in addition to the auxiliary role of moving the shelf 210 and the simple adjustment guide 240. A product handling device 600 to be described later is connected to the stacker crane 120. Accordingly, the product handling device 600 handles the product while operating cooperatively with the stacker crane 120.

Referring first to the stacker crane 120 with reference to FIGS. 6 to 8, the stacker crane 120 is provided to be movable on one side of the product storage device 200, and by the action of the product handling device 600, the shelf ( 210) serves to store the product or release the product from the shelf 210.

In the case of the present embodiment, a plurality of, for example, a dual stacker crane 120 is applied between the product storage devices 200. In this way, when the dual stacker crane 120 is applied, there is an advantage in that the handling time of the product can be shortened.

A lower rail 113 and an upper rail 114 are provided along the direction in which the stacker crane 120 is moved so that the stacker crane 120 can be moved.

The lower rail 113 is connected to the lower part of the stacker crane 120 along the direction in which the stacker crane 120 is moved, and guides the lower part of the stacker crane 120, and the upper rail 114 is the stacker crane 120 It is connected to the upper part of the stacker crane 120 along the moving direction and guides the upper part of the stacker crane 120.

The stacker crane 120 may include a crane body 130, a lower moving part 140 and an upper moving part 150 respectively connected to the lower and upper portions of the crane body 130.

The crane body 130 forms a kind of column structure arranged along the vertical direction. A linear motor is applied to the crane body 130 so that the fork unit 160 can be moved up/down along the crane body 130.

The lower moving part 140 is a part provided in the lower area of the crane body 130 and moved along the lower rail 113. The lower moving part 140 is provided with a lower wheel 141 guided by the lower rail 113. The lower wheel 141 is applied as a non-powered free-rotating roller that is applied in plural per position.

The upper moving part 150 is provided in the upper area of the crane body 130 and is a part that is moved along the upper rail 114. The upper moving part 150 is provided with an upper wheel 151 guided by the upper rail 114. The upper wheel 151 may also be applied as a non-powered free rotation roller, and a plurality of upper wheels 151 may be applied for each position.

Line clamps 121 and 122 are provided on the stacker crane 120. The line clamps 121 and 122 are parts that are clamped with the closed loop line 171 which is a component of the crane anti-swing moving unit 170.

These line clamps 121 and 122 include a lower line clamp 121 clamped with a closed loop line 171 at a position adjacent to the lower rail 113, and a closed loop line 171 at a position adjacent to the upper rail 114 It may include an upper line clamp 122 and clamped. For the maintenance of the stacker crane 120, the line clamps 121 and 122 may be advantageous to have a detachable structure. In this case, the lower line clamp 121 may be connected to the lower moving part 140, and the upper line clamp 122 may be connected to the upper moving part 150.

On the other hand, referring to Figures 4 to 8, a crane anti-swing moving part 170 (Crane Anti Swing Moving Part) is provided in the unmanned store system according to the present embodiment. Of course, the crane anti-swing moving unit 170 is not necessarily applied, but if the crane anti-swing moving unit 170 is applied as in this embodiment, it is possible to prevent swing during the moving operation of the stacker crane 120. .

The crane anti-swing moving part 170 is provided to be connected to the stacker crane 120 between the lower rail 113 and the upper rail 114, and cooperatively with the lower rail 113 and the upper rail 114 120).

The crane anti-swing moving unit 170 includes a line driving unit 172, a line follower 173 and a line guide 174 as a means for moving the closed loop line 171 and the closed loop line 171 do.

The closed loop line 171 is a structure connected to the stacker crane 120 in a closed loop type to move the stacker crane 120. In this embodiment, the closed loop line 171 is applied as a timing belt.

This closed loop line 171, that is, the timing belt is connected to the stacker crane 120. That is, the closed loop line 171 is connected to the stacker crane 120 in one area of the lower and upper portions by the lower line clamp 121 and the upper line clamp 122 of the stacker crane 120. Accordingly, when the closed loop line 171 is moved, the stacker crane 120 connected thereto may be moved to a desired position while being guided by the lower rail 113 and the upper rail 114.

In particular, this structure is in a state where the upper part of the stacker crane 120, that is, the upper moving part 150 is constrained by the closed loop line 171, so that the stacker even at the time when the running and lifting and lowering operations of the stacker crane 120 are completed. It allows the crane 120 to shake to be minimized. Thus, as before, there is no need to wait for a long time until the amount of shaking generated in the stacker crane 120 falls within a certain range, and a forking operation for the product can be immediately performed. Therefore, the capacity to handle the cargo volume can be significantly improved than before.

In addition, when the crane anti-swing moving part 170 is applied as in this embodiment, the upper part of the stacker crane 120, that is, the upper moving part 150 is constrained by the closed loop line 171, as shown in FIG. Even if the forking operation of the fork unit 160 is in progress, it is possible to significantly reduce the shaking generated in the stacker crane 120, thereby improving the positional accuracy, as well as the position error due to the shaking of the stacker crane 120 Since a space to compensate for is not required additionally, the efficiency of space utilization can be increased.

The line driver 172, the line follower 173, and the line guide 174 are connected to the closed loop line 171 and serve to move the closed loop line 171.

The line driver 172 is connected to one end of the closed loop line 171 and is a part that generates a driving force for rotating the closed loop line 171. In this embodiment, the line driver 172 may be applied as a driving pulley driven by the motor 176.

The line follower 173 is rotatably connected to the other end of the closed loop line 171 and supports the other end of the closed loop line 171 rotated by the line driver 172. In this embodiment, the line follower 173 may be applied as a driven pulley.

The line guide 174 is disposed between the line driving unit 172 and the line follower 173 in contact with the closed loop line 171 and serves to guide the rotation of the closed loop line 171. In this embodiment, the line guide 174 is applied as an idle pulley, and is disposed in various places of the closed loop line 171 to guide the movement of the closed loop line 171 while supporting the tension of the closed loop line 171 .

However, the line driving unit 172, the line follower 173, and the line guide 174 may be applied as a driving sprocket driven by the motor 176, a driven sprocket, and an idle sprocket, or driven by the motor 176. It can also be applied as a driven sheave, driven sheave and idle roller.

On the other hand, as previously described, the stacker crane 120 is an electric moving structure provided to be movable on one side of the product storage device 200, while substantially grasping and moving the product or concise with the shelf 210 The product handling device 600 is in charge of moving the adjustment guide 240 or performing the rearrangement operation (FIGS. 36 to 38) and the cleaning operation (FIGS. 39 to 41 ). The product handling device 600 is connected to the stacker crane 120 and operates cooperatively with the stacker crane 120 to perform the aforementioned various tasks.

In particular, in the case of an existing vending machine-type unmanned store system or an unmanned store system that is scheduled to be developed, due to its structural limitations, it is possible to store or release while handling only standardized products in a certain form. Considering that handling of so-called, atypical products having various sizes and appearances is difficult, the product handling apparatus 600 applied to the present embodiment can effectively solve this problem. In other words, the product handling apparatus 600 of the present embodiment described below can handle not only general products but also non-standard products having various sizes and appearances, so that the warehousing or releasing operation can be smoothly performed. To be there.

The product handling device 600 capable of providing such an effect includes a handling device main body 610 and a rotating head 620 coupled to the handling device main body 610 so as to be relatively rotatable, as shown in FIGS. 9 to 14. ), and a pair of grippers 630 that substantially handle the product.

The handling device main body 610 forms the exterior structure of the product handling device 600 and is coupled to the stacker crane 120. The handling device main body 610 is connected to the stacker crane 120, and a handling device up/down moving part 681 for moving the product handling device 600 up/down along the vertical direction is coupled. .

Due to the handling device up/down moving unit 681, the entire product handling device 600 may be lifted along the vertical direction with respect to the stacker crane 120 as shown in FIG. 11. A plurality of track rollers 682 are provided in the handling device body 610 for a stable lifting operation.

The track rollers 682 are rotatably provided on the handling device main body 610, and when the product handling device 600 is moved up/down, they serve to guide the movement of the product handling device 600 Do it. The track rollers 682 can be applied as non-powered free rotation rollers.

The rotation head 620 is coupled to the handling device body 610 so as to be able to rotate relative to each other. Since the product storage device 200 is disposed on both sides of the stacker crane 120, the rotating head 620 coupled to the stacker crane 120 is coupled to the handling device main body 610 so as to be relatively rotatable. Accordingly, as shown in FIG. 9, the rotating head 620 can be disposed on both sides of the product storage device 200, and work on both of the product storage devices 200 can be performed. A head rotation driving unit 625 is provided for the rotation operation of the rotation head 620, that is, the turning operation of FIG. 11.

Head rotation driving unit 625 is the product handling device 600 is connected to the handling device main body 610 and the rotation head 620, and rotates the rotating head 620 based on the handling device main body 610 as shown in FIG. It plays a role of driving. The head rotation driving unit 625 may be applied in a motor, pulley, and belt structure.

The pair of grippers 630 are movably coupled to the rotating head 620 and serve to grip the product based on an approach or spaced apart from each other.

As shown in FIG. 13, when the pair of grippers 630 is moved forward and backward is called a forking operation, and when the pair of grippers 630 is approached or opened as shown in FIG. 14, it is called a gripping operation. Since it is possible, it is possible to handle not only general products but also non-standardized products having various sizes and appearances, so that warehousing or releasing operations can be performed smoothly.

The product can be gripped by the interaction of the forking action and the gripping action. In addition, the shelf 210 and the concise adjustment guide 240 may be moved or rearranged (FIGS. 36 to 38) and cleaning operations (FIGS. 39 to 41 ).

An anti-slip pad 631 is provided on an inner wall facing each other of the pair of grippers 630 with an anti-slip pattern 632 for preventing slipping. When gripping a product due to the anti-slip pad 631 made of an elastic material, there is an advantage that the product is not damaged even if a somewhat strong force is provided. In addition, due to the anti-slip pattern 632, it is possible to prevent a phenomenon in which the gripped product falls arbitrarily.

A gripping driving unit 640 and a first LM guide 641 are provided in the product handling device 600 for gripping a product by a pair of grippers 630.

The gripping driving unit 640 is coupled to the rotating head 620 and serves to drive the pair of grippers 630 to approach or separate from each other. The gripping driving unit 640 may be applied as a gear structure of a motor, a rack, and a pineer, but may be replaced by other means, such as a cylinder.

The first LM guide 641 serves to guide the movement of the pair of grippers 630 when the pair of grippers 630 are moved by the gripping drive unit 640. A stable gripping operation may be implemented due to the first LM guide 641.

A forking driving unit 650 and a second LM guide 651 are provided in the product handling device 600 for the forking operation of the pair of grippers 630.

The forking driving unit 650 is provided on the rotating head 620 and connected to a pair of grippers 630, and forking a pair of grippers 630 to cross the direction in which the pair of grippers 630 are gripped. It plays a role of driving in the (forking) direction. The forking driving unit 650 may also be applied in a motor and gear structure, but may be replaced by other means, such as a cylinder.

The second LM guide 651 serves to guide the movement of the pair of grippers 630 when the pair of grippers 630 are moved by the forking driving unit 650. A stable forking operation may be implemented due to the second LM guide 651.

In addition to these configurations, the product handling device 600 is further equipped with a product handling bar 660. The product handling bar 660 is a structure coupled to the rotation head 620 so as to move forward and backward in the rotation head 620 and serves to push or pull the product as shown in FIG. 12.

To this end, a bar driving unit 665 for driving the product handling bar 660 back and forth is applied. An adsorption part 661 is provided at an end of the product handling bar 660. The forking operation of a pair of grippers 630 allows the product to be stored on the shelf 210 or to take out the product from the shelf 210. In this operation, the product handling bar 660 is used to auxiliaryly push or remove the product. ) Is provided. Unlike the pair of grippers 630, the product handling bar 660 is auxiliaryly driven and serves to push or pull the product. The forward and backward motion of the product handling bar 660 may be applied to a motor and a ball screw structure, but this may also be replaced by other means, such as a cylinder.

A dummy block 671 is coupled to one side of the rotating head 620. In addition, a network camera 672 is provided on the dummy block 671. The network camera 672 serves to photograph the front side based on a predetermined signal at a corresponding location. Due to the network camera 672, it is possible to determine whether there is a product on the shelf 210 and whether the surface of the shelf 210 is contaminated. In the latter case, the automatic cleaning function can be performed as shown in FIGS. 39 to 41.

On the other hand, referring to FIGS. 1, 3, and 15 to 17, a defective product collection device 300 is provided in the unmanned store system according to the present embodiment.

In the case of an existing vending machine-type unmanned store system or an unmanned store system that is to be developed, due to its structural limitations, it is not possible to manage the expiration date of the product, as well as to collect abnormal products, that is, defective products. none.

However, if the defective product collection device 300 is applied as in the present embodiment, there is an advantage in that the expiration date or abnormal defective products can be collected. This defective product collection device 300 is provided on one side of the system main body 100, and serves to collect defective products that have passed the expiration date or are not normal by the action of the stacker crane 120 and the product handling device 600 Do it.

Defective goods collection device 300 is disposed below the collection device cabinet 310 and the collection device cabinet 310, enters and exits the collection device cabinet 310, and a defective product collection box 320 in which defective products are accommodated. Includes.

Since the collection device cabinet 310 constituting the defective product collection device 300 forms a cabinet having a box structure, installation and removal of the defective product collection device 300 may be facilitated.

The defective product collection box 320 is disposed below the collection device cabinet 310 and enters and exits the collection device cabinet 310, and forms a place in which defective products are accommodated. As shown in FIG. 17, a check box handle 321 is provided on one side of the defective product collection box 320 so that the manager can easily take out the defective product collection box 320.

A collection box opening and closing door 330 is provided at an upper position of the defective product collection box 320. The non-powered opening and closing of the collection box opening and closing door 330 is coupled to the collection device cabinet 310 so as to be opened and closed at the upper position of the defective product collection box 320. This collection box opening and closing door 330 is automatically opened when the pair of grippers 630 of the product handling device 600 is pressed, and is closed again when the gripper 630 is removed. As a result, the pair of grippers 630 of the above-described product handling device 600 can be further used for collecting defective products in addition to normal products.

On the other hand, in the unmanned store system according to the present embodiment, the product safety delivery device 500 is coupled to one side of the system main body 100, and forms a place where ordered products are shipped. A plurality of product safety delivery devices 500 are disposed in the system, but the scope of the present invention is not limited to the number of them.

In the case of an existing vending machine-type unmanned store system or an unmanned store system that is expected to be developed, it is a method to simply take out products from the always open shipping department (not shown). Considering that there are no measures to deal with, such as theft or the replacement of products of various customers, it can be said that the necessity of the product safety delivery device 500 as in this embodiment is large.

In particular, the product safety delivery device 500 applied to the present embodiment may provide an important role in enabling the product to be shipped through the delivery unit 511 to be safely shipped without being stolen or reversed. For reference, only the product safety delivery device 500 area is displayed in FIG. 1, and the product safety delivery device 500 as shown in FIGS. 24 to 28 may be mounted therein.

The product safety delivery device 500 includes a delivery device cabinet 510, a delivery side barcode scanner 512 provided on one side of the delivery device cabinet 510, and an electric delivery unit opening and closing door 520.

The delivery device cabinet 510 forms the exterior structure of the product safety delivery device 500. A delivery unit 511 through which products are delivered is provided in the delivery device cabinet 510. An electric outlet opening/closing door 520 is provided in the outlet portion 511. The electric outlet opening/closing door 520 maintains a normally closed state.

The delivery-side barcode scanner 512 is provided on one side of the delivery device cabinet 510 adjacent to the delivery unit 511 and serves to recognize a barcode printed on a receipt of an ordered product. When a customer orders a product at a kiosk, a receipt is output. When the barcode formed on the receipt is recognized by the shipping-side barcode scanner 512 and authentication is completed, the electric outlet opening door 520 is opened. Therefore, the customer can take out the product in the delivery unit 511.

In this way, the electric outlet opening door 520 is in a structure in which the electric outlet opening door 520 is opened only when the electric outlet opening door 520 is kept closed and his receipt is authenticated.This prevents the product from being reversed or stolen even if the number of customers is crowded. I can.

A factory-side touch monitor 561 is provided at the top of the front of the factory-side bar code scanner 512 adjacent to the delivery device cabinet 510 to display the delivery status. If multiple customers use it at the same time, you can check the status of shipment for your product and receive the product.

One side of the factory-side touch monitor 561 is provided with a factory-side lamp 562 provided to be flashable. The factory-side lamp 562 may be operated differently in color by interlocking with the opening and closing of the electric delivery part opening/closing door 520.

As described above, the electric delivery unit opening and closing door 520 is coupled to be able to open and close to the entrance area of the delivery unit 511, and when the barcode printed on the receipt of the ordered product is recognized by the delivery side barcode scanner 512, it is electrically operated. It opens automatically. Therefore, even if there are many customers and it is crowded, it is possible to prevent the product from being reversed or stolen.

A first area sensor 531 (AREA SENSOR) is provided in the entrance area of the delivery unit 511. The first area sensor 531 transmits a signal to keep the electric delivery unit opening/closing door 520 open when an object is placed at the entrance of the delivery unit 511. For example, it is dangerous if the electric delivery unit opening/closing door 520 is closed while a hand is put into the delivery unit 511 in order to take out a product from the delivery unit 511. In order to prevent this, the first area sensor 531 is provided.

When an object is placed at the entrance of the delivery unit 511, the first area sensor 531 keeps the electric delivery unit opening and closing door 520 always open when a hand is put into the delivery unit 511 It senses so much.

A product discharge port 513 is formed at the rear of the delivery device cabinet 510 so that the ordered product can be discharged to the delivery unit 511. In addition, a product discharging door 514 is provided at the product discharge port 513 to open and close. The product discharging door 514 is an opening and closing method, and when the gripper 630 of the product handling device 600 is pressed, it opens and allows the product to be discharged through the product discharge port 513.

A slide chute 515 is provided in the product discharge port 513 in the delivery device cabinet 510 to guide the discharged product to the delivery unit 511. The slide chute 515 is operated inclined so that the product can be stably guided and discharged.

An up/down product support 516 is provided in the delivery unit 511. The up/down product support 516 is a plate guided by the slide chute 515 to support falling products, and is provided to be movable up/down at a corresponding position. Accordingly, the product can be safely placed on the up/down product support 516 without damage. The up/down product support 516 may be driven in a cylinder manner, but there is no relationship even if a motor and a gear structure are applied. A second area sensor 532 for sensing a product is provided around the slide chute 515.

In the delivery device cabinet 510, a non-delivery product storage unit 540 is provided under the delivery unit 511 to store products that are not released. In addition, a third area sensor 533 that detects whether or not there is a product is provided on the wall surface of the non-shipment product storage unit 540.

A floor opening door 550 may be provided on the bottom of the non-delivery product storage unit 540 so that the delivery unit 511 and the non-delivery product storage unit 540 can selectively communicate with each other. When the non-delivered product falls to the floor opening door 550 while the up/down product support 516 is operated upward of the slide chute 515, the bottom opening door 550 by the shobar 551 ) Is automatically opened and the non-release product may be stored in the non-release product storage unit 540.

On the other hand, in the unmanned store system according to the present embodiment, as shown in Figs. 1, 3, and 29 to 35 in order to display or store products or to re-introduce exhausted products The device 400 is provided.

For reference, in the case of an existing vending machine-type unmanned store system or an unmanned store system that is to be developed, considering the fact that it is difficult to store products because it is impossible to manage product information such as orders and inventory due to structural limitations. In view, the importance of the product information management type product warehousing device 400 is raised.

In particular, when the product information management type product warehousing device 400 is applied as in this embodiment, efficient product management because it is possible to store products while easily managing product information such as orders and inventory, rather than simply warehousing products. There is an advantage that it becomes possible.

The product information management type product warehousing device 400 includes a product warehousing conveyor 410 and a product warehousing table 420.

The product storage conveyor 410 is disposed over the inside and outside of the system body 100, and allows the product disposed outside the system body 100 to be moved into the system body 100. When a product enters the system body 100 through the product storage conveyor 410, the product may be moved to the shelf 210 by the action of the stacker crane 120 and the product handling device 600.

The product storage table 420 is a table disposed in an end area of the product storage conveyor 410 outside the system body 100. A warehouse-side barcode scanner 421 for recognizing product information is provided on the product storage table 420. The manager only needs to read the barcode of the product on the barcode scanner 421 and then put it on the product storage conveyor 410, and then, the management of product information such as orders and inventory can be automatically performed.

A product input tunnel 430 into which a product to be received is input is provided outside the product storage conveyor 410 adjacent to the product storage 420. The received product passes through the product input tunnel unit 430 and is directed toward the product storage device 200. At this time, if the size of the product is too large, it cannot pass through the product input tunnel unit 430, so it can be removed.

A product size check sensor 440 is provided at one side of the product input tunnel unit 430 to check the size of the product passing through the product input tunnel unit 430. When the size of the product is checked by the product size check sensor 440, the product may be stored in the shelf 210 at a position corresponding thereto. If the size of the product is large, as shown in FIGS. 18 to 21, the shelves 210 may be spaced apart, and then the product may be displayed there.

A product direction alignment unit 450 for aligning the direction of the product is provided at one side of the product storage conveyor 410. Since the product direction alignment unit 450 may uniformly align the product direction, the appearance of the product may be improved, and an advantage may be provided for delivery.

The product direction alignment unit 450 is connected to the X-axis robot 451 and the X-axis robot 451 provided to be movable along the X-axis direction, which is the moving direction of the product warehousing conveyor 410, and is connected to the X-axis robot 451. A Y-axis robot 452 that moves the axis robot 451 along the Y-axis direction crossing the X-axis, and the X-axis robot 451 is coupled to one side of the X-axis robot 451 to move in the X-axis. The first rotation module 453 rotated in the first direction above and connected to the first rotation module 453 to rotate along the first rotation module 453 and cross the rotation direction of the first rotation module 453 A second rotation module 454 that rotates independently of the first rotation module 453 in a second rotation direction, and a product gripping part 455 that is coupled to the second rotation module 454 and grips the product. Can include. The product gripping part 455 may be a vacuum product gripping part 455 that grips a product with a vacuum (VACUUM).

Accordingly, the X-axis robot 451, the Y-axis robot 452, and the first and second rotation modules 453 and 454 are sequentially performed in a state in which the vacuum product gripping unit 455 holds the product as shown in FIGS. 30 to 25. Or, by being driven independently, the direction of the product can be aligned. The merchandise handling device 600 holds the aligned product and moves it to the shelf 210.

Meanwhile, in addition to the above-described structure and functions thereof, the unmanned store system according to the present embodiment may perform a product relocation mode as shown in FIGS. 36 to 38 and a shelf cleaning mode as shown in FIGS. 39 to 41.

For example, when a product relocation mode for relocating products is input, the products on the shelf 210 may be automatically relocated as shown in FIGS. 36 to 38 by the action of the stacker crane 120 and the product handling device 600.

And when entering the shelf cleaning mode for cleaning the shelf 210, the surface of the dirty shelf 210 as shown in FIGS. 39 to 41 by the action of the stacker crane 120 and the product handling device 600 is cleaning tool 102 ) Can be automatically cleaned. The network camera 672 on the product handling device 600 may photograph whether there is contamination on the surface of the shelf 210.

The input unit 800 and the controller 700 may be mounted on the system so that such a mode can be implemented.

The input unit 800 inputs a predetermined input signal, for example, a signal for a rearrangement mode or a shelf cleaning mode.

In addition to the main function of controlling the operation of the stacker crane 120 and the product handling device 600 so that the ordered product is shipped unmanned based on the input signal of the input unit 800, the controller 700 When entering the product relocation mode, the stacker crane 120 and the product handling device 600 are automatically controlled so that the products on the shelf 210 are automatically rearranged, while the shelf ( The stacker crane 120 and the product handling device 600 are automatically controlled so that the surface of 210) is automatically cleaned by the cleaning tool 102.

The controller 700 serves to control the operation of the stacker crane 120 and the product handling device 600 so that the ordered product is delivered unmanned based on the input signal of the input unit 800. The controller 700 performing this role may include a central processing unit 710 (CPU), a memory 720 (MEMORY), and a support circuit 730 (SUPPORT CIRCUIT).

The central processing unit 710 is industrially used to control the operation of the stacker crane 120 and the product handling device 600 so that the ordered product is released unmanned based on the input signal of the input unit 800 in this embodiment. It may be one of various computer processors that can be applied as.

The memory 720 (MEMORY) is connected to the central processing unit 710. The memory 720 can be installed locally or remotely as a computer-readable recording medium, and can be easily used such as random access memory (RAM), ROM, floppy disk, hard disk, or any digital storage type. It may be at least one or more memories.

The support circuit 730 (SUPPORT CIRCUIT) is coupled with the central processing unit 710 to support typical operation of the processor. The support circuit 730 may include a cache, a power supply, a clock circuit, an input/output circuit, a subsystem, and the like.

In this embodiment, the controller 700 controls the operation of the stacker crane 120 and the product handling device 600 so that the ordered product is delivered unmanned based on the input signal of the input unit 800. The control process or the like may be stored in the memory 720. Typically software routines may be stored in memory 720. Software routines can also be stored or executed by other central processing units (not shown).

Although the process according to the present invention has been described as being executed by a software routine, it is also possible that at least some of the processes of the present invention are performed by hardware. As such, the processes of the present invention may be implemented by software executed on a computer system, or by hardware such as an integrated circuit, or by a combination of software and hardware.

Briefly look at the operation of the unmanned store system having this configuration.

When a product is ordered through a kiosk (KIOSK), the controller 700 controls the operation of the stacker crane 120 and the product handling device 600 so that the product is shipped to the delivery unit 511 of the product safety release device 500 Let it be.

As described above, when a customer orders a product at a kiosk, a receipt is output. When the barcode formed on the receipt is recognized by the shipping-side barcode scanner 512 and authentication is completed, the electric outlet opening door 520 is opened. Therefore, the customer can take out the product in the delivery unit 511.

On the other hand, the manager may intermittently determine the inventory amount of the product, and then store the appropriate product through the product information management type product warehousing device 400. After the manager recognizes the barcode of the product on the barcode scanner 421 and puts it on the product warehousing conveyor 410, the management of product information such as orders and inventory may be automatically performed.

According to this embodiment having the structure and action as described above, it is possible to satisfy various solutions for a series of unmanned store technology that releases ordered products unmanned, especially after the expiration date or normal It is possible to effectively collect defective products.

As described above, the present invention is not limited to the described embodiments, and it is obvious to those of ordinary skill in the art that various modifications and variations can be made without departing from the spirit and scope of the present invention. Therefore, it should be said that such modifications or variations belong to the claims of the present invention.

100: system body 101: storage unit for cleaning equipment
102: cleaning tool 113: lower rail
114: upper rail 120: stacker crane
121: lower line clamp 122: upper line clamp
130: crane body 140: lower moving part
141: lower wheel 150: upper moving part
151: upper wheel 170: crane anti-swing moving part
171: closed loop line 172: line driver
173: line follower 174: line guide
176: motor 200: product storage device
210: shelf 220: shelf support unit
221: post 222: coupling side wall
223: support 230: slot
240: concise adjustment guide 300: defective product collection device
310: collection device cabinet 320: collection of defective products
321: inspection box handle 330: collection box opening door
400: product information management type product warehousing device 410: product warehousing conveyor
420: goods receiving table 421: receiving side barcode scanner
430: product input tunnel part 440: product size check sensor
450: product direction alignment unit 451: X-axis robot
452: Y-axis robot 453: 1st rotation module
454: second rotation module 455: product holding unit
500: product safety delivery device 510: delivery device cabinet
511: delivery unit 512: delivery side barcode scanner
513: product outlet 514: product discharge door
515: slide suit 516: up/down product support
520: electric outlet opening and closing door 531: first area sensor
532: second area sensor 533: third area sensor
540: non-shipment product storage unit 550: floor opening door
561: factory-side touch monitor 562: factory-side lamp
600: product handling device 610: handling device body
620: rotating head 625: head rotating drive unit
630: gripper 631: anti-slip pad
632: anti-slip pattern 640: gripping drive
641: first LM guide 650: forking driving unit
651: second LM guide 660: product handling bar
661: adsorption unit 665: bar drive unit
671: dummy block 672: network camera
681: handling device up/down moving unit 682: track roller
700: controller 800: input

Claims (19)

A product storage device provided in the system body and having a plurality of shelves on which products are displayed or stored;
At least one stacker crane (Stacker Crane) for putting goods on the shelf or releasing goods from the shelf;
A product handling device connected to the stacker crane, interacting with the stacker crane, and gripping a product for handling the product;
A defective product collection device provided on one side of the system main body and configured to collect defective products that have expired or are not normal due to the action of the stacker crane and the product handling device; And
For the movement of the stacker crane, a closed loop line connected to the stacker crane in a closed loop type is provided, and when the stacker crane moves based on the rotational motion of the closed loop line, the stacker crane is prevented from swinging. An unmanned store system comprising a crane anti swing moving part. The method of claim 1,
The defective product collection device,
Collection device cabinet; And
An unmanned store system comprising a defective product collection box disposed under the collection device cabinet and entering and exiting the collection device cabinet, and receiving defective products therein. The method of claim 2,
Unmanned store system, characterized in that the handle is provided on one side of the defective product collection box. The method of claim 2,
The defective product collection device,
An unmanned store system, characterized in that the unmanned store system further comprises a collection box opening door that is opened and closed to the collection device cabinet at an upper position of the defective product collection box, and automatically opens when one side of the product handling device is pressed. The method of claim 1,
The product handling device,
A handling device body;
A rotating head coupled to the handling device body to be relatively rotatable; And
An unmanned store system comprising a pair of grippers that are movably coupled to the rotating head and grip a product based on motions approached or spaced apart from each other. The method of claim 5,
The product handling device,
A gripping driving unit coupled to the rotation head and driving the pair of grippers to approach or spaced apart from each other; And
And a first LM guide for guiding the movement of the pair of grippers when the pair of grippers is moved by the gripping driving unit. The method of claim 5,
The product handling device,
A forking driver provided on the rotation head, connected to the pair of grippers, and driving the pair of grippers in a forking direction crossing a direction in which the pair of grippers are gripped; And
And a second LM guide configured to guide the movement of the pair of grippers when the pair of grippers are moved by the forking driving unit. The method of claim 5,
The product handling device further includes a head rotation driving unit connected to the handling device body and the rotation head, and rotating the rotation head with respect to the handling device body,
An unmanned store system, characterized in that a non-slip pad having a non-slip pattern formed on a surface thereof is coupled to an inner wall facing the pair of grippers. The method of claim 5,
The product handling device,
A product handling bar that is coupled to the rotation head so as to move forward and backward from the rotation head, and pushes and pulls a product; And
An unmanned store system, further comprising a bar driving unit for driving the product handling bar forward and backward. The method of claim 9,
Unmanned store system, characterized in that the adsorption unit is coupled to the end of the product handling bar. The method of claim 5,
The product handling device,
A dummy block coupled to one side of the rotation head; And
And a network camera coupled to the dummy block and photographing a front side based on a predetermined signal. The method of claim 5,
The product handling device,
A handling device up/down moving part provided in the handling device main body, connected to the stacker crane, and moving the product handling device up/down along a vertical direction; And
Unmanned, characterized in that it further comprises a plurality of track rollers that are rotatably provided in the handling device body and guide the movement of the product handling device when the product handling device is moved up/down. Store system. The method of claim 1,
Servo is provided on one side of the system body,
An unmanned store system, characterized in that the product on the shelf is automatically rearranged by the action of the stacker crane and the product handling device when a product relocation mode for relocating products is input. The method of claim 13,
A cleaning tool storage unit is provided on one side of the system body,
When a shelf cleaning mode for cleaning the shelf is input, the surface of the shelf is automatically cleaned by the cleaning tool by the action of the stacker crane and the product handling device. The method of claim 14,
An input unit for inputting a predetermined input signal; And
Further comprising a controller for controlling the operation of the stacker crane and the product handling device so that the ordered product is delivered unmanned based on the input signal of the input unit,
The controller,
When entering a product relocation mode for relocating products, the stacker crane and the product handling device are automatically controlled so that the products on the shelf are automatically relocated,
When a shelf cleaning mode for cleaning the shelf is input, the stacker crane and the product handling device are automatically controlled so that the surface of the shelf is automatically cleaned by the cleaning tool. delete The method of claim 1,
The crane anti-swing moving part,
A line driver connected to one end of the closed loop line and generating a driving force for rotating the closed loop line;
A line follower rotatably connected to the other end of the closed loop line and supporting the other end of the closed loop line rotated by the line driver;
A plurality of line guides disposed between the line driver and the line follower to contact the closed loop line and guiding the rotation of the closed loop line; And
An unmanned store system comprising a line clamp clamped with the closed loop line. The method of claim 17,
The closed loop line is a timing belt,
The line driving unit is a driving pulley driven by a motor,
Wherein the line follower and the line guide are driven pulleys and idle pulleys, respectively. The method of claim 1,
The stacker crane,
A crane body disposed along the vertical direction;
A lower moving part provided in a lower area of the crane body and moving along a lower rail; And
An unmanned store system comprising an upper moving part provided with an upper wheel and provided in an upper area of the crane body and moved along an upper rail.

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