KR20160123728A

KR20160123728A - Method of Managing a Shuttle Rack Automated Warehouse System

Info

Publication number: KR20160123728A
Application number: KR1020150054243A
Authority: KR
Inventors: 김남욱; 김영진
Original assignee: 주식회사 티에스피지
Priority date: 2015-04-17
Filing date: 2015-04-17
Publication date: 2016-10-26

Abstract

The present invention relates to an operation method for an automatic shuttle rack warehouse system, which is a method for operating an automatic shuttle rack system including: a storage rack storing cargo; a stacker crane installed to be adjacent to the storage rack and mounting and moving the cargo and a shuttle; and the shuttle moving the cargo while moving the storage rack. The operation method for an automatic shuttle rack warehouse system includes: a 10^th step (S10, S11) in which a field PC receives warehousing information of the cargo from a management server; an 11^th step (S11, S21) in which a worker receives the warehousing information from the field PC; a 12^th step (S12, S22) in which the worker carries the cargo to a warehousing unit using a transfer unit; a 13^th step (S13, S23) in which the shuttle and the stacker crane transfers the cargo in the warehousing unit by a control signal generated in the field PC and loads the cargo on the storage rack; a 14^th step (S14, S24) in which the field PC receives releasing information of the cargo from the management server; a 15^th step (S15, S25) in which the shuttle and the stacker crane takes the cargo out of the storage rack by the control signal generated by the field PC and transfers the cargo to a releasing unit; and a 16^th step (S16, S26) in which the worker receives the releasing information of the cargo from the field PC and releases the cargo using the transfer unit. The operation method for an automatic shuttle rack warehouse system performs first-in and first-out by additionally including a 13-1^th step (S13-1, S23-1) in which the first-in and last-out, wherein the cargo entered first is transferred out last, are performed or in which the cargo is reloaded in other layer, other row, or other number of the storage rack (10) after the 13^th step (S13, S23).

Description

[0001] The present invention relates to a shuttle rack automatic warehouse system,

The present invention relates to an automated system for loading / unloading cargo into / out of a warehouse, and more particularly, to a shuttle rack To an operating method of an automatic warehouse system.

In general, logistics is a reduction of physical distribution, which refers to the flow of water from producer to consumer. Specifically, logistics includes both the process of transporting, unloading, storing and packaging produced goods, and the distribution process of materials such as distribution processing and transportation infrastructure. The logistics warehouse, which is a member of the logistics system, is a place where goods are loaded, stored, and shipped, and technology for reducing the time and manpower used for loading and unloading is being actively developed.

In conventional conventional warehouses, in order to load or unload a cargo, the cargo is lifted by a forklift and loaded or unloaded in a storage rack installed in the warehouse. At this time, the position of the cargo stored in the storage rack is divided into the "row" in the height direction, the "column" in the longitudinal direction, and the "address" in the depth direction in the "row" Or manually recorded on a computer.

With the development of technology for inputting and outputting such cargo, automation systems have been introduced for automatically loading or unloading cargo into storage racks using shuttles and satellites that are automatically controlled by on-site PCs and servers . For example, a system for loading and unloading cargo using an aisle cart has been proposed, as in International Publication No. WO2002 / 020376, but in a broader sense all management from goods receipt to warehousing A possible management system has been proposed.

However, in the conventional management system, the information about the cargo at the loading position and the loading position of the cargo, and information about the number, column, stage, and address of the rack are checked by the operator using a gun scanner In addition, there is a problem that an automation system such as a malfunction of a worker or an input due to a mistake is directly recorded in a management server, but it is incomplete in many parts.

Korean Patent No. 10-0698010 (Announcement of Mar. 23, 2007) Korean Patent No. 10-0751567 (Announcement of 2007.08.27) Korean Registered Patent No. 10-0322498 (Announced on Mar. 02, 2002) Korean Patent No. 10-420117 (Bulletin of May 28, 2014) Korean Registered Patent No. 10-4240513 (Announcement March 31, 2013) Korean Patent Publication No. 10-2012-0135246 (Dec. 12, 2012) Korean Patent No. 10-0493842 (Announcement of 5006.07.27) WO 2002/020376 (published Aug. 31, 2001) Japanese Patent P5004-431258A (Announcement 5004.04.30) U.S. Patent No. US6652213 (registered on November 25, 5003) U.S. Patent No. 4,459,078 (Registered on July 10, 1984)

The object of the present invention, which is devised to solve the above problems, is to provide a shuttle rack automatic warehouse system equipped with a forklift or a shuttle and a stacker crane in a storage rack, And a method of operating the shuttle rack automatic warehouse system.

In order to achieve the above object, a method of operating a shuttle rack automatic warehouse system according to the present invention includes: a storage rack for storing a cargo; a stacker crane installed adjacent to the storage rack to load and move the cargo and the shuttle; A method of operating an automatic shuttle rack system having a shuttle for moving a cargo while moving, the method comprising: a tenth step (S10, S11) of receiving, from a management server, goods receipt information of a cargo; An eleventh step (S11, S21) in which the worker receives the goods receipt information from the scene PC; A twelfth step (S12, S22) in which the worker carries the cargo by using the transportation means; A thirteenth step (S13, S23) in which the shuttle and the stacker crane are carried by the control signal generated by the field PC and loaded in the storage rack; Step 14 (S14, S24) in which the shop PC receives the shipment information of the cargo from the management server; A fifteenth step (S15, S25) in which the shuttle and the stacker crane transport the cargo from the storage rack to the delivery unit by a control signal generated by the field PC; (S16, S26) of receiving the cargo dispatch information from the on-site PC by the operator and delivering the cargo to the transportation means. In the thirteenth step (S13, S23) And the first-in-first-out is carried out first from the last loaded cargo positioned close to the stacker crane on the basis of the stacker crane in the fifteenth (S15, S25) stage.

In accordance with another aspect of the present invention, there is provided a method for operating a shuttle rack automatic warehouse system including a storage rack for storing a cargo, a stacker crane for loading and moving the cargo and the shuttle while being installed adjacent to the storage rack, (S10, S20) of receiving, from a management server, goods receipt information of a cargo, the method comprising the steps of: An eleventh step (S11, S21) in which the worker receives the goods receipt information from the field PC or the management server; A twelfth step (S12, S22) in which the worker carries the cargo to the work site; A thirteenth step (S13, S23) in which the shuttle or the stacker crane is carried by the control server or the field PC and loaded on the storage rack; Step 14 (S14, S24) in which the shop PC receives the shipment information of the cargo from the management server; A fifteenth step (S15, S25) in which the shuttle and the stacker crane transport the cargo from the storage rack to the delivery unit by a control signal received from the management server or the field PC; (S16, S26) in which the worker receives the cargo dispatch information from the management server or the on-site PC to deliver the cargo. In the thirteenth step (S13, S23), the stacker cranes The cargoes inserted from the near position are sequentially loaded, and in the fifteenth step (S15, S25), the first-in-first-out cargo placed in a position close to the stacker crane is shipped first.

A method of operating a shuttle rack automatic warehouse system according to another embodiment of the present invention includes a storage rack for storing cargo, a stacker crane for loading and moving the cargo and the shuttle while being installed adjacent to the storage rack, 10. A method of operating an automatic shuttle rack system having a shuttle for moving a cargo while moving, comprising: a tenth step (S10, S20) of receiving, from a management server, goods receipt information of a cargo; An eleventh step (S11, S21) in which the worker receives the goods receipt information from the scene PC; A twelfth step (S12, S22) in which the worker carries the cargo to the work site; A thirteenth step (S13, S23) in which the shuttle and the stacker crane are carried by the control signal generated by the field PC and loaded in the storage rack; Step 13-1 (S13-1, S23-1) of reloading the cargo to another row, another row, or another address of the storage rack; Step 14 (S14, S24) in which the shop PC receives the shipment information of the cargo from the management server; A fifteenth step (S15, S25) in which the shuttle and the stacker crane transport the cargo from the storage rack to the delivery unit by a control signal generated by the field PC; (S16, S26) in which the worker receives the delivery information of the cargo from the site PC to deliver the cargo, and in the 13th step, The cargo loaded at a position distant from the step 13-1 is reloaded from a position near the stacker crane based on the stacker crane. In the fifteenth step, And the first-in first-out is performed.

A method of operating a shuttle rack automatic warehouse system according to another embodiment of the present invention includes a storage rack for storing a cargo, a stacker crane for loading and moving the cargo and the shuttle while being installed adjacent to the storage rack, A method of operating an automatic shuttle rack system having a shuttle for moving a cargo while moving, the method comprising the steps of: loading a cargo from a pre-loaded cargo at the time of arrival to a position close to the cargo outlet by a shuttle or a stacker crane; And the first-in-first-out is performed.

Here, the receiving unit is a receiving conveyor for conveying the stacker crane to the stacker crane (S12-1) under the control of the field PC when the operator places the cargo on the conveying means, or is a place designated by a row and an address at a certain position in the storage rack.

In addition, if the cargo moved from the stacker crane is placed, the delivery unit is a delivery conveyor for carrying (S15-1) to the delivery position where the operator can receive the delivery to the delivery means under the control of the field PC, As shown in FIG.

In the case where the goods receipt part is a goods receipt conveyor or a goods dispatch conveyor, the goods conveyor or goods conveyor is operated by the control signal of the field PC, whereas when the goods receipt part and the goods receipt part are designated in the storage rack, And the shuttle transports the cargo while moving between the loading and unloading portions and the stacker crane.

For example, the first-in and first-out operation methods are such that, among the freight moved through the loading conveyor at the time of arrival, the loaded freight is loaded from a position far from the stacker crane in the corresponding row to be loaded by the shuttle or the stacker crane, And the cargo is taken out by a shuttle or a stacker crane from the last loaded cargo in a position close to the crane, and is transported to a delivery conveyor and delivered.

Another example of the first-in, first-out is that the loaded cargo, which has been loaded into the storage rack at the time of receipt, is loaded from a position close to the stacker crane in the corresponding row by the shuttle or the stacker crane, and the shuttle or stacker crane The other cargo loaded at the other end, the column and the address is reloaded so as to be loaded from a distance from the stacker crane, and the cargo next to the stacker crane at the time of shipment is taken out by a shuttle or a stacker crane, .

As another example of the first-in, first-out cargo among the cargoes moved through the loading conveyor at the time of stocking is loaded from a position remote from the stacker crane in the corresponding row to be loaded by the shuttle or the stacker crane, And is transported and reloaded to the corresponding stage, column and address designated by the shuttle or the stacker crane as the goods departure.

For example, the first-in, first-out operation method is a method in which, for example, a freight out of the cargo moved through the loading conveyor at the time of stocking is transported by a shuttle or a stacker crane at a position distant from the stacker crane, And is loaded and unloaded.

Another example of first-in-first-out selection is to load the loaded cargo out of the cargo moved through the loading conveyor at the time of arrival from a position remote from the stacker crane in the corresponding column to be loaded by the shuttle or the stacker crane, And is reloaded from a position far from the stacker crane while being transported to the other end, the heat and the address, and the pre-loaded cargo in the vicinity of the stacker crane at the time of delivery is transported to a delivery conveyor .

Another example of first-in-first-out is that the loaded cargo loaded at the corresponding stage, column and address designated as the goods receipt at the time of arrival is loaded from a position close to the stacker crane and transferred from the loaded goods close to the stacker crane at the time of delivery to a shuttle or stacker crane And conveyed to a destination, a heat and an address designated as a conveying or delivering part by a delivery conveyor by the conveying device.

Another example of first-in-first-out, when a shuttle and a stacker crane are placed between a plurality of storage racks, the loaded cargo among the loads loaded into the priority storage rack at the time of arrival is carried by a shuttle or a stacker crane, The rack is loaded from a position far from the loading part, and is transported by the shuttle or the stacker crane from the loaded goods to the rearmost rack, and is delivered.

Another example of first-in-first-out is that when a goods conveyor and a goods conveyor are installed on both sides of one storage rack, and a shuttle and a stacker crane are disposed between the goods conveyor and the storage rack, the goods conveyor and the storage rack, The loaded cargo among the cargoes is transported by the shuttle or the stacker crane and loaded from the delivery conveyor side, and the delivered cargo is delivered by the shuttle or the stacker crane by the shuttle or the stacker crane.

In addition, the site PC generates storage information for designating a loading position such as a column, an address and the like of the storage rack in which the cargo is to be loaded based on the stock information received from the management server, and generates a control signal based on the storage information .

In addition, the operator recognizes the mark attached to the cargo by the recognizing device, acquires the receipt information about the cargo and transmits it to the site PC, and at least one of the cargo conveyor and the cargo conveyor carries the cargo Carries out at least one of the processes of recognizing the mark, acquiring the cargo information about the cargo and transmitting it to the site PC. Here, the field PC confirms whether the goods receipt information received from the management server is in agreement with at least one of the reception information and the cargo information, and if it does, the subsequent work is performed. If the dispatch is inconsistent, And waits for the next command of the post-management server.

Further, the shuttle and the stacker crane are installed between the divided storage racks or installed on one side of the storage rack arranged in one, and the outlet is arranged on the opposite side or on the same side.

Further, in order to prevent the shuttle from excessively moving at the corresponding address of the loading section or the loading section and falling from the storage rack, the stopper is provided in the storage rack so as to be in contact with the body of the shuttle or the moving wheel, An encoder installed on the mobile wheel axis to detect rotation of the mobile wheel shaft so that the mobile wheel shaft can be forcibly stopped, and a barcode label installed on the storage rack or sensors installed on the body for sensing the mirror reflector.

In order to check whether there is a cargo in the warehouse and the warehouse in the storage rack, the presence or absence of the cargo presence / absence sensor at the position where the cargo is loaded or unloaded and the conveying means of the operator who can recognize the barcode label attached to the cargo And information on the presence or absence of the cargo recognized by at least one of the installed scanners is transmitted to the management server or the site PC.

The storage rack is provided with a number plate attached to each row so as to be recognized by the operator, a lamp attached to each column so as to blink to display the corresponding row at the time of input / output, and a column, And at least one of electric sign boards arranged to be displayed in numerals is installed and controlled by a management server or a field PC.

As described above, according to the present invention, since the shuttle and the stacker crane are provided, there is an effect that the cargo is automatically carried out from stocking to shipment.

In addition, there is an effect that the first-in-first-out and second-in-first-out operations in which the first-in-first-out and second-in-first-in-first-out cargoes are delivered first can be selectively and automatically controlled.

In addition, the working radius of the transportation means including the forklift used for transporting the cargo to and from the warehouse is minimized, and the storage efficiency of the warehouse can be maximized.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate preferred embodiments of the invention and, together with the description, serve to further the understanding of the technical idea of the invention, It should not be interpreted.
1 is a perspective view schematically showing a shuttle rack automatic warehouse system according to a preferred embodiment of the present invention.
2 is a side view of Fig.
3 is an enlarged view of the dressing conveyor shown in Fig.
4 is a perspective view schematically showing the shuttle shown in Fig.
5 is a side view showing a state in which the shuttle shown in Fig. 4 is installed.
6 is a plan view showing the interior of the shuttle shown in Fig.
Figs. 7 and 8 are side views of the shuttle shown in Fig.
Figs. 9 and 10 are partially enlarged views showing sensors for detecting the lifting and moving range of the top plate shown in Figs. 4 and 6. Fig.
11 is a perspective view schematically showing the stacker crane shown in Fig.
12 is a plan view of a portion of the lower portion of the carriage shown in FIG.
13 is a side view of the carriage shown in Fig.
14 is an enlarged view of the "A"
15 is an enlarged perspective view showing the upper frame shown in Fig.
16 is a block diagram illustrating an operation method for loading / unloading a cargo in the shuttle rack automatic warehouse system shown in FIG. 1 according to an embodiment of the present invention.
17 is a flowchart showing the operating method of FIG.
18 to 20 are schematic diagrams showing various examples of operation methods for loading / unloading cargo according to the configuration of Fig.
FIG. 21 is a configuration diagram illustrating an operation method of loading / unloading goods into / from the shuttle rack automatic warehouse system shown in FIG. 1 according to another embodiment of the present invention.
22 is a flowchart showing the operating method of FIG.
Figs. 23 to 25 are schematic diagrams showing an example of use for an operation method of loading / unloading a cargo according to the configuration of Fig.
26 and 27 are schematic diagrams showing yet another embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the detailed description of known functions and configurations incorporated herein will be omitted when it may unnecessarily obscure the subject matter of the present invention.

1 is a perspective view schematically showing a shuttle rack automatic warehouse system according to a preferred embodiment of the present invention. 2 is a side view of Fig. 3 is an enlarged view of the dressing conveyor shown in Fig. 4 is a perspective view schematically showing the shuttle shown in Fig. 5 is a side view showing a state in which the shuttle shown in Fig. 4 is installed. 6 is a plan view showing the interior of the shuttle shown in Fig. Figs. 7 and 8 are side views of the shuttle shown in Fig. Figs. 9 and 10 are partially enlarged views showing sensors for detecting the lifting and moving range of the top plate shown in Figs. 4 and 6. Fig. 11 is a perspective view schematically showing the stacker crane shown in Fig. 12 is a plan view of a portion of the lower portion of the carriage shown in FIG. 13 is a side view of the carriage shown in Fig. 14 is an enlarged view of the "A" 15 is an enlarged perspective view showing the upper frame shown in Fig.

1 and 2, a shuttle rack automatic warehouse system according to the present invention includes a storage rack 10, a loading conveyor 20, a delivery conveyor 30, a shuttle 100, and a stacker crane 200 .

As shown in FIGS. 1 and 2, the storage rack 10 is installed to store and store the cargo. A plurality of beams 12 and the posts 11 are coupled to each other to cross each other, And is provided so as to have a plurality of rows in the vertical direction on the plane and a plurality of addresses in the horizontal direction in the plane. 2, the longitudinal rails 13 are installed so that the shuttle 100 can be moved for each row. Therefore, when the shuttle 100 is positioned in the corresponding stage and column by the stacker crane 200, the shuttle 100 moves from the carriage 240 to the storage rack 10 and moves along the longitudinal rail 13 to lower the cargo at the corresponding address. Thereafter, the shuttle 100 is mounted on the carriage 240 of the stacker crane 200 again. Here, the vertical direction is a direction in which the stacker crane 200 moves in the plan view, and the horizontal direction is a direction in which the shuttle 100 is moved away from or approach the stacker crane 200 in any one plane.

Here, the storage rack 10 is separately installed on one or both sides or three or more portions. In case of one, the stacker crane 200 is disposed on one side, and when the stacker crane 200 is separated from the storage racks 10, Respectively. Therefore, the stacker crane 200 reciprocates in the vertical direction between the storage racks 10. Of course, the movement of the stacker crane 200 moves along the lower rail 14 and the upper rail 15, as described above.

In the storage rack 10, a second charging electrode (not shown) connected to an external power source is provided at one or a plurality of designated addresses. Accordingly, when at least one shuttle 100 requiring charging of the battery pack 130 is located at each designated address, the first charging electrode 131 and the second charging electrode, which will be described later, of the shuttle 100 are connected to each other, And the battery pack 130 can be charged. At this time, a charger for converting the external power source into the electricity of the battery pack 130 may be further provided, and the operation control of the shuttle 100 according to the charged state of the battery pack 130 is as described above.

The storage rack 10 may not be installed separately and the stacker crane 200 may be installed on one side of the storage rack 10 and may be installed to transport the shuttle 100 by the stacker crane 200 have. In addition, the bottom of the storage rack 10 can be installed lower than the ground by excavating the floor of the warehouse. In this case, more cargo can be loaded in a limited space. The storage rack 10 further includes a stopper. This stopper is installed near the shortest end of the storage rack 10 on the opposite side of the stacker crane 200 and limits the maximum movement position at which the shuttle 100 can move to the opposite side of the stacker crane 200. That is, the stopper is in contact with the body 100 or the moving wheel 143 of the shuttle 10 so as to prevent the shuttle 100, which has moved to the opposite side of the stacker crane 200, The beams 12 or the longitudinal rails 13 of the storage rack 10 so as to be able to move in the vertical direction.

The storage rack 10 further includes a cargo presence / absence sensor for detecting the presence or absence of the cargo at the address where the cargo is loaded or unloaded. The presence or absence of the presence sensor can also be installed in the receiving conveyor 20. In addition, the cargo presence / absence sensor is installed to check whether the cargo is present at the designated address when the worker 310 places the cargo on the corresponding address when the cargo is loaded by using the transportation means, or when the cargo of the corresponding address is taken out. The presence / absence sensor may be a mirror reflection type photo sensor. In this case, a light source is provided on one of the posts 11 or the beam 12, a mirror reflector is provided on the opposite post 11 or the beam 12, the light emitted from the light source is reflected on the mirror reflector, The existence of the cargo can be confirmed according to When the cargo exists at the time of arrival according to the information acquired from the cargo presence / absence detection sensor, the shuttle 100 moves and carries the cargo. When the cargo exists at the time of delivery, the worker 310 takes out the cargo to the transportation means. Of course, if the cargo does not exist, the management server 320 that has received the cargo analyzes all the errors including the shuttle 100, the worker 310, and the on-site PC 300, and then generates the next control signal, . The worker 310 can input the presence or absence of cargo in the storage rack 10 directly to the on-site PC 300 or input to the on-board smart device to communicate with the on-site PC 300 or the management server 320 by communication Or may be provided with a scanner on the vehicle and scan the mark attached to the cargo to provide communication to the field PC 300 or the management server 320. [ The storage rack 10 is provided with a display board for displaying numbers, columns, and addresses of the corresponding stages, the numbers and the addresses designated at the time of input / output of the cargo so that the operator 310 can visually confirm them, And at least one of the plates provided at each row, column, and address. Here, the lamp is flickered at a position capable of displaying at least one of the corresponding stage, column, and address at the time of input / output, so that the worker 310 can confirm it. Accordingly, the worker 310, who receives the command to load or unload the cargo from the field PC 300 at a specified row, column and address, visually confirms the electric signboard, the lamp, or the license plate while the worker 310 is moving to load or unload the cargo, You can make sure that you check the goods receipt or delivery location exactly.

The loading conveyor 20 is installed at a position where the cargo is loaded into the storage rack 10, as in Fig. Further, it is possible to further include a delivery conveyor 30 (see Figs. 16 and 17) at a position where the cargo is taken out of the storage rack 10. Since the goods conveyor 20 and the goods conveyor 30 have the same configuration, the goods conveyor 20 will be described as an example. A description will be made of a case where the cargo is put on the cargo conveyor 20 as an example. When the cargo is placed on the loading conveyor 20 by means of a forklift, for example, the cargo is moved by the sixth power source 24 to move the cargo to the carriage 240 of the stacker crane 200. At this time, a barcode scanner (not shown) installed on the goods conveyor 20 scans the barcode label attached to the cargo while the cargo is being conveyed by the receiving conveyor 20, and transmits the information to the corresponding field PC or management server 320 ). The cargo conveyed to the carriage 240 by the loading conveyor 20 is placed on the supporting panel 241 by the carriage conveyor 242 mounted on the carriage 240.

The loading conveyor 20 may be installed only to move to the carriage 240 of the stacker crane 200 without changing direction or may be provided with a first receiving conveyor 21 and a second receiving conveyor 21, And may be installed as a second loading conveyor 22. In this case, a part of the first receiving conveyor 21 is provided so as to overlap with the second receiving conveyor 22 at the intersection of the first receiving conveyor 21 and the second receiving conveyor 22, (21) so that the cargo can be placed on the second receiving conveyor (22). As another example, the carriage conveyor 242 and the receiving conveyor 20 may be omitted. In this case, the forklift carries the cargo from a certain place to the carriage 240, the longitudinal rail 13 is installed, the shuttle 100 moves from the carriage 240 to the cargo along the longitudinal rail 13, It may be carried to the carriage 240. Here, the sixth power source 24 may be provided for each item, or may be installed in the first on-bayer 21 and on the second receiving conveyor 22, respectively. One or more of the loading conveyors 20 are connected to each other depending on the moving distance of the cargo. The dressing conveyor 20 is made up of a chain 23 or a belt or roller.

On the other hand, the shuttle 100 is mounted on the stacker crane 200 and moves to the corresponding end of the storage rack 10 and the corresponding row. Then, the shuttle 100 transports the cargo while moving from the stacker crane 200, To store or lift the cargo to be shipped. 4 to 6, the shuttle 100 includes a body 110, a top plate 120, a battery pack 130, a first charging electrode 131, a first power source 140, A mobile wheel 143, a first guide roller 144, an upper link 150, a lower link 151, a first connecting link 152, a second connecting link 153, The first and second power source 154, the elevation rotation shaft 160, the elevation guide member 161, the elevation guide roller 162, the top plate elevation detection sensor 163, the elevation rotation detection member 164, A first moving position detection sensor 172, a combination position detection sensor 173, a battery pack charging amount confirmation sensor 174, a control board 180 and a transmitter 181 . The shuttle 100 is made to move along the longitudinal rails 13 by the movement wheels 143 as shown in Fig. 5, and the longitudinal rails 13 are fixed to the storage rack 10 and the carriage (not shown) of the stacker crane 200 240, and a detailed description will be given later. Here, since the shuttle 100 of the present invention is a device for moving the cargo to the loading position, it should be recognized that the function and the structure are different from those of the shuttle of the prior art similar to the satellite described in the prior art. Three or more shuttles 100 may be installed to accommodate the same stacker crane 200 according to the size of the storage rack 10 or the amount of cargo to be transported. For example, when two shuttles 100 are provided, one more than the number of transportation means such as forklifts used by a worker 310 (see Fig. 16) can be operated. . Also, in case of three or more units, the shuttle 100 can operate the other shuttle 100 except the shuttle 100 being charged to carry the cargo. Of course, when the number of shuttles 100 increases, the second charging electrode can be installed at a plurality of designated addresses of the storage rack 10 for charging a plurality of shuttles 100, and the stacker cranes 200 can also be installed in two or more Can be installed.

As shown in Figs. 4 to 6, the body 110 is a member for mounting the above-described components, and for protecting each component from the outside. The body 110 is in the form of a box having an open upper surface, and the upper plate 120 is disposed on the opened upper surface. Of course, the upper surface of the body 110 may be closed, or the upper plate 120 may be disposed on the closed upper surface.

The battery pack 130 is installed to supply power to the first power source 140. The first packed electrode 131 including positive and negative electrodes is connected to the external power source . That is, the battery pack 130 is charged in such a manner that the shuttle 100 is installed in the carriage 240 of the stacker crane 200 described later and installed in the first charging electrode 131 and the carriage 240 installed in the shuttle 100 When the second charging electrode (not shown) is connected, external power is supplied through the first charging electrode 131 to be installed. At this time, a charger for converting the external power source and the power source of the battery pack 130 into each other may be further provided. Of course, the second charging electrode also includes (+) and (-) electrodes for connection with the first charging electrode. As another example of charging the battery pack 130, a second charging electrode connected to an external power source is installed at a specific address of the storage rack 10, and after the shuttle 100 moves to a specific address of the storage rack 10 The second charging electrode and the first charging electrode 131 may be connected to charge the battery pack 130 by receiving external electricity. Here, the converter may further include a voltage of the external electric power for transforming the external power source and a voltage of the battery pack 130. [

The first power source 140 is installed in the body 110 to rotate the mobile wheel shaft 142 that receives power from the battery pack 130 and connects the mobile wheel 143. In this case, when the moving wheel axle 142 is installed at the front / rear of the body 110, it is preferable that a plurality of the moving wheel axles 142 are rotatably installed. Of course, it may be provided to rotate only the mobile wheel shaft 142 on either side of the front / rear of the body 110. For example, when two mobile wheel shafts 142 are provided on the front and rear portions of the body 110, the front two mobile wheel shafts 142 are arranged side by side, A driving gear is installed between the driven gears for rotating the driven gears. A first power source 140 is installed to rotate the driving gears . The first power source 140 may be provided to rotate only one of the mobile wheel shafts 142 on either side of the body 110 or may be installed to rotate all the mobile wheel shafts 142, Here, it is preferable that two pieces are provided so as to respectively rotate the moving wheel side 142 disposed on the front and rear portions of the body 110, respectively.

The drop prevention sensor is a sensor that allows the carriage 240 to ride the shuttle 100 when the shuttle 100 travels on the longitudinal rails 13 provided in the storage rack 10 and returns to the carriage 240 of the stacker crane 200 The controller 100 forcibly stops the shuttle 100 when it arrives at a position ahead of the carriage 240. More specifically, the shuttle 100 is lowered from the carriage 240 to move the cargo to the corresponding address, and the carriage 240 is moved together with the stacker crane 200 to load the next cargo. While the carriage 240 is moving, the shuttle 100 has to wait to wait for the carriage 240 to return to board the carriage 240. At this time, the movement position of the shuttle 100 is firstly detected by the first movement position detection sensor 172 so as to wait at a position ahead of the carriage 240, and secondarily, Lt; / RTI > Here, only the fall prevention sensor may be used with respect to the standby position of the shuttle 100 while the first movement position detection sensor 172 is excluded. The drop prevention sensor includes a position control encoder 141 attached to at least one mobile wheel shaft 142 for forcibly stopping the shuttle 100 moving beyond the movement range by detecting the rotation of the movement wheel shaft 142 . The drop prevention sensor senses the bar code label attached to the post 310, the beam 311 or the longitudinal rail 13 of the corresponding row of the storage rack 10 and forcibly stops the shuttle 100 moving over the movement range A barcode scanner. The drop prevention sensor detects a mirror reflector attached to the post 310, the beam 311, or the longitudinal rail 13, and detects a mirror reflection that can forcibly stop the shuttle 100 moving over the movement range Type photoelectric sensor. The drop prevention sensor may include at least one of an encoder 141, a barcode scanner, and mirror reflection type photo sensors. The fall prevention sensor can prevent the shuttle 100 from falling on the passage on the side of the stacker crane 200 and can also be installed to prevent the shuttle 100 from falling off the storage rack 10 in addition to moving toward the opposite side of the stacker crane 200 .

The moving wheel axle 142 is installed to rotate by the first power source 140 and is disposed on the front and rear portions of the body 110 and the moving wheels 143 are mounted on both sides thereof. The moving wheel axles 142 are preferably arranged in the width direction of the body 110 and may be manufactured such that one moving wheel 143 is mounted on each side of one moving wheel axle 142, Two moving wheels 143 may be mounted on both sides of one mobile wheel shaft 142. [ 6, at least one or two moving wheel shafts 142 are provided on the front and rear portions of the body 110, respectively, when the pair of the moving wheels 143 are mounted on the one moving wheel shaft 142, Can be installed. Therefore, for example, the moving wheels 143 may be arranged in two on the front and rear portions of the body 110, or four in the front and rear portions. In another example, when one mobile wheel shaft 142 is provided on the front and rear portions of the body 110, four moving wheels 143 are installed on all four rear portions of the body 110.

At least four of the moving wheels 143 are provided on the front of the body 110 and at least four are provided on the rear of the body 110 to move the shuttle 100. More specifically, And at least two each are provided on both sides of the rear portion. In addition, at least two moving wheels 143 located at one side of the front side or the rear side are located at the front / rear side and have a certain distance in a range that does not interfere with each other. At this time, the distance between the moving wheels 143 located at the front and rear is set according to the distance between the carriage of the stacker crane 200 and the storage rack 10. That is, when the space between the storage rack 10 and the carriage 240 of the stacker crane 200 is larger than the diameter of one moving wheel 143, And the distance between the moving wheels 143 located at the front and rear of the moving wheels 143 is set to the extent that the space between the moving wheels 143 is prevented from rattling. For example, two moving wheels 143 may be provided in front and rear in each side portion, three or four or more moving wheels 143 may be provided, Three moving wheels 143 may be provided at regular intervals. Conversely, when the distance between the storage rack 10 and the carriage 240 is narrow and one moving wheel 143 does not fall or rattles, only one moving wheel 143 may be installed. In order to prevent the interference between the carriage 240 and the storage rack 10 during the forward / backward movement of the stacker crane 200, a sufficient gap must be ensured between the carriage 240 and the storage rack 10, It is preferable that at least two moving wheels 143 are installed on the respective sides for the stable movement of the shuttle 100 since the wheels may be missing or jittery due to the spacing.

5, the first guide roller 144 is rotated by the movement wheel 143 while the shuttle 100 is moving as the movement wheel 143 is placed on the upper surface of the longitudinal rail 13 to perform the rolling motion, It is a wheel installed to prevent derailment from the rail (13). Accordingly, the first guide roller 144 rotates by friction when it contacts the longitudinal rails 13, preventing the movement wheels 143 from derailing from the longitudinal rails 13. The first guide roller 144 may be positioned below the movement wheel 143 and may be in continuous contact with the side surface of the longitudinal rail 13 and may be in contact with the side surface of the longitudinal rail 13 And may be installed so as to intermittently contact the side surface.

The upper plate 120 is a member installed to raise and lower the upper part of the body 110 so as to lift up the pallet on which the cargo or the cargo is placed to transport the cargo.

The upper link 150, the lower link 151, the first connecting link 152, the second connecting link 153, the elevating rotary shaft 160 and the second power source 154 are formed as shown in FIGS. 7 and 8 Similarly, members that are installed to lift the upper plate 120 are members. The upper link 150 and the lower link 151 are disposed at the four corners of the upper plate 120 and change the angle of the upper link 150 and the lower link 151 with respect to the fastening portion, As shown in FIG. The upper portion of the upper link 150 is mounted on the upper plate 120 and the lower portion of the upper link 150 is mounted on the upper portion of the lower link 151 and the lower portion of the lower link 151 is connected to the body 110 . At this time, the fastening between the upper link 150, the lower link 151, the upper plate 120 and the body 110 is fastened so as to be rotatable with respect to each other. The other side of the upper link 150 and the lower link 151 is coupled to the other side of the lifting and lowering shaft 160 while the other side of the upper link 150 and the lower link 151 are coupled to each other. A first connection link 152 and a second connection link 153 are provided. The elevation rotary shaft 160 is installed on the body 110 so as to be rotated by the second power source 154. That is, the lifting and lowering shaft 160 is disposed to be substantially parallel to the moving wheel shaft 142, and the first connecting link 152 and one side of the second connecting link 153 are fastened to both side portions. The other side of each of the first connection link 152 and the second connection link 153 is installed so as to be overlapped with the fastening portion of the upper link 150 and the lower link 151. The upper part of the upper link 150 is fastened to the upper plate 120 and the lower part of the lower link 151 is fastened to the body 110. The lower part of the upper link 150 and the upper part of the lower link 151 Respectively. Of course, each fastening portion is fastened so as to be rotatable about its axis.

8, when the elevation shaft 160 is rotated in one direction by the second power source 154, the first connection link 152 and the second connection link 153 move in opposite directions to each other, The upper plate 150 and the lower link 151 fastened to the link are pushed so that the upper link 150 and the lower link 151 are substantially perpendicular to each other. 7, when the elevation shaft 160 is rotated in the opposite direction by the second power source 154, the first connection link 152 and the second connection link 153 move to the original position, The upper link 150 and the lower link 151 are bent so that the upper plate 120 is lowered.

7 and 8, the first connecting link 152 and the second connecting link 153 are connected to each other at one side of the connecting portion of the upper link 150 and the lower link 151, 142 so as to avoid interference with each other. The first connection link 152 and the second connection link 153 are bent so that the other side of the first connection link 152 and the second connection link 153 can be moved by the rotational movement of the lifting and lowering shaft 160.

The elevation guide member 161 and the elevation guide roller 162 are connected to the second power source 154, the elevation rotation shaft 160, the first connection link 152, the second connection link 153, the upper link 150, Members for stably ensuring that the top plate does not move out of the swinging or lifting position while the top plate 120 is lifted by the linkage operation of the link 151. Here, the elevation guide member 161 is installed on the side portion of the upper plate 120 so that the upper portion is fixed and protruded downward. The pair of elevation guide rollers 162 are provided at least on the body 110 so as to be in contact with both side surfaces of the elevation guide member 161, and preferably two pairs are provided. The elevating guide roller 162 is for making the up / down movement of the upper plate 120 stable by making contact with the elevating guide member 161 and may be an elevating guide supporting member including a guide bar as well as a roller. The elevation guide member 161 and the elevation guide roller 162 may be disposed on both side portions of the planar body 110, or may be disposed on only one side portion. Therefore, the elevation guide member 161 is lifted and lowered along the upper plate 120 while the upper plate 120 is lifted and lowered, and the elevation guide roller 162 which is in close contact with the side surface of the elevation guide member 161 rolls The movement of the elevation guide member 161 is stabilized without shaking, and eventually the elevation movement of the upper plate 120 can be stabilized without shaking.

The upper plate elevation detection sensor 163 is a sensor for limiting the operation of the second power source 154 by detecting the elevation height of the upper plate 120 as shown in FIGS. The upper plate elevation detection sensor 163 detects the elevation rotation sensing member 164a which is an elevation rotation sensing member 164 provided on the elevation rotation axis 160 and a lower rotation sensing member 164a which is provided on the elevation rotation axis 160 to limit the range of the rising and falling of the upper plate 120, And an up-rotation detection sensor 163a and a down-rotation detection sensor 163b, respectively, for detecting the detection signal 164b. 6, the upward rotation sensing member 164a and the downward rotation sensing member 164b are disposed to be adjacent to each other on the elevation rotation shaft 160 and protrude outward. The upward rotation sensing member 164a and the downward rotation sensing member 164b, The rotation detecting sensor 163b is installed to detect the rising rotation detecting member 164a and the falling rotation detecting member 164b, respectively. Here, the upward rotation sensing member 164a and the downward rotation sensing member 164b may be installed on the same line at predetermined angles. 10, when the up-and-down rotating shaft 160 rotates in one direction to raise the upper plate 120 and the up-rotation detecting member 164a is detected by the up-rotation detecting sensor 163a, the second power source 154 The upper plate 120 is stopped in an elevated state as shown in FIG. 9, when the elevation rotary shaft 160 rotates in the opposite direction to lower the upper plate 120 and the lower rotation detecting member 164b is detected by the lower rotation detecting sensor 163b, the second power source 154, The upper plate 120 is stopped in a state in which the upper plate 120 is lowered as shown in FIG. Here, the upper rotation and the lower rotation sensing member 164a and the lower rotation sensing member 164b are disposed such that the rotation angle of the lift rotation shaft 160 is approximately 149 ± 5 °. The rotational angle of the upper link 150 and the upper link 150 is determined by the moving distance of the first connecting link 152 and the second connecting link 153, the bending angle of the upper link 150 and the lower link 151, And the height between the fastening point and the fastening point of the lower link 151 and the body 110 is taken into consideration. In addition, the angle of rotation is determined by the point at which the upper link 150 and the lower link 151 become straight when the first connection link 152 and the second connection link 153 move, But also a point at which the upper link 150 and the lower link 151 come back to the original position when the second link 153 is in the home position.

The first cargo detecting sensor 170 is a sensor for detecting whether a pallet or a cargo (collectively referred to as a "pallet") is placed on the upper plate 120 and is built in the body 110 or the upper plate 120, As shown in FIG. The first cargo detection sensor 170 may be a photo sensor, for example, and detects whether a pallet is present on the top plate 120 through an image obtained from the photo sensor. As shown in FIG. 6, the first cargo detection sensors 170 may be installed at a pair of corners which are diagonally opposite to each other, and at least one of the first cargo detection sensors 170 may be installed at any one point.

The second cargo detection sensor 171 is a sensor for detecting whether a pallet or a cargo (collectively referred to as "pallet") exists ahead of the movement direction of the shuttle 100, So as to be inclined horizontally or upwardly. The second cargo detection sensor 171 may be, for example, a laser sensor. 6, the second cargo detection sensor 171 is provided at the front and rear portions of the shuttle 100 in the moving direction of the shuttle 100. When the shuttle 100 moves forward or backward, Can be detected.

The first movement position detection sensor 172 is a sensor for detecting the position of the shuttle 100 in real time during the movement of the shuttle 100 to the storage space of the storage rack 10. For this purpose, the first movement position detection sensor 172 may be, for example, a GPS or a laser sensor or a scanner. In the case of the laser sensor, the first movement detection sensor 172, which is installed at the rear end of the row of the storage rack 10, (Not shown), and detects the reflected laser to detect the precise moving position of the shuttle 100. In the case of a scanner, an accurate marking position of the shuttle 100 is detected by scanning a mark including a bar code label attached to the post 310 of the storage rack 10 or the beam 311. Thus, the movement position of the shuttle 100 can be detected by the first movement position detection sensor 172 and the shuttle 100 can be correctly positioned at the storage location of the cargo. The first moving position detection sensor 172 may be installed on only one side of the body 110 when the storage rack 10 is installed on one side of the stacker crane 200. When the storage rack 10 is installed on both sides of the stacker crane 200, one of the storage racks may be installed on each side of the body 110. The position of the shuttle 100 detected by the first movement position detection sensor 172 is transmitted to a plurality of APs (not shown) installed on all sides of the storage rack 10 in a wired or wireless manner, The signal is transmitted to the corresponding control panel (PLC for example) or the corresponding PC (personal computer) by wire or wireless to control the movement of the shuttle 100.

Here, the storage rack 10 is, for example, a unit in which a stage is divided in units of a height direction, one layer can be represented by one stage, two layers can be represented by two stages, Is a unit that distinguishes the vertical direction on the plane, and can be displayed in one column, two columns, etc. on the left or right side, and the address is a unit for distinguishing the position where the cargo is loaded in the horizontal direction on the plane, The first address, the second address, ..., etc. from the near side to the near side with reference to the stacker crane 200 in the row of the stacker cranes. Of course, it can be shown as another example. Such a detailed description of the storage rack 10 will be described later.

The cooperative position detection sensor 173 is a sensor for detecting whether the shuttle 100 is located at the correct position when it is moved from the storage rack 10 to the carriage 240 of the stacker crane 200. The cohesion position detection sensor 173 is installed on a lower side or a side surface of the body 110 and detects a third detection plate (not shown) installed on the carriage 240 to generate a signal indicating that the shuttle 100 is positioned .

The first charging electrode 131 is installed below the body 110 to charge the battery pack 130 when the shuttle 100 is incorporated into the carriage 240. When the shuttle 100 is incorporated in the carriage 240, the second charging electrode connected to the external power source and the first charging electrode 131 are connected to the carriage 240 while the external power is supplied to the battery pack 130 So that the battery pack 130 is charged. The first charging electrode 131 and the second charging electrode include (+) and (-) electrodes. In addition, a charger for converting the external power source and the power source of the battery pack 130 into one may be further provided.

The battery pack charge amount confirmation sensor 174 is installed to check the charge amount of the battery pack 130. The battery pack charging amount confirmation sensor 174 is configured to generate a signal for charging the battery pack 130 when the charging amount of the battery pack 130 is lowered below a predetermined range. At this time, the battery pack charge amount checking sensor 174 may be manufactured to measure the voltage of the battery pack 130 and detect a buffer state and a state requiring charging. The control board 180 receiving the charging signal generated by the battery pack charging amount checking sensor 174 stops the operation of the shuttle 100 and moves the carriage 240 or the storage rack 10 of the stacker crane 200, The shuttle 100 is moved to a specific address for charging the battery 100, and then the charging is progressed. Of course, when the battery pack 130 of the shuttle 100 is fully charged, the battery pack charge amount confirmation sensor 174 senses the charge and generates a buffer signal. Accordingly, the control board 180, which has received the buffer signal of the battery pack charge amount confirmation sensor 174, controls the shuttle 100 to proceed with the work. The battery pack charging amount checking sensor 174 can be configured to allow the operator 310 to recognize the charged amount through a display (not shown) installed on the outer surface of the body 110 through a bar graph, a numerical value, or a color .

The control board 180 is built in the body 110 and receives signals from various sensors constituting the shuttle 100 and the corresponding field PC or integrated field PC (not shown) To control the movement. Here, the on-site PC or the integrated on-site PC is installed to monitor the entry / exit management and warehouse system of the cargo, and includes a server (not shown) for managing all the management including warehouse operation and inventory management using the automatic warehouse system, Reception and transmission. The control board 180 communicates with the field PC or the integrated field PC and includes a first power source 140, a second power source 154, a top board elevation detection sensor 163, a first cargo detection sensor 170, The first movement position detection sensor 172, the combination position detection sensor 173, the transmitter 181, the AP, the combination position detection sensor 173 and the battery pack charge amount confirmation sensor 174, And ultimately to control the shuttle 100. The shuttle 100 is controlled by the microprocessor. At this time, a transmitter 181 may be installed on a part of the body 110 in order to transmit a signal of the control board 180 to the corresponding site PC, and may be installed outside through the AP 812 built in the body 110 And is configured to wirelessly communicate with the AP.

Although not shown, when a stopper is provided in the storage rack 10 so as to collide with the movement wheel 143 and the shuttle 100 moves beyond the movement range, the movement wheel 143 and the stopper collide with each other to shuttle 100 ) May be stopped.

On the other hand, the stacker crane 200 is a device that carries the cargo and the shuttle 100 at the time of receipt and carries the cargo to the corresponding stage of the storage rack 10 to be loaded and the corresponding row. 1 and 11 to 15, the stacker crane 200 includes a lower frame 210, a driving roller 211, a third power source 212, a driven roller 213, And the carriage 240 and the carriage fixing unit 220. The upper frame 220 includes the upper frame 220, the third guide roller 221, the first elevating roller 222, the second elevating roller 223, (250). The stacker crane 200 includes a pair of struts 230 interposed between the lower frame 210 and the upper frame 220 to connect the lower frame 210 and the upper frame 220, (240). Two or more stacker cranes 200 may be installed along the same lower rail 14 and upper rail 15 depending on the cargo volume of the cargo or the size of the storage rack 10. [ have. At this time, movement between the stacker cranes 200 is controlled via the field PC 300 by a control signal of the management server 320 so that they do not interfere with each other. Hereinafter, the stacker crane 200 will be described in detail.

The lower frame 210 is a member that moves along the lower rail 14 installed on the floor and is provided with drive rollers 211 and driven rollers 213 which roll on the lower rails 14 and roll on both sides. A second moving position detecting sensor (not shown) for detecting the moving position of the stacker crane 200 is mounted on the lower frame 210. The second moving position detection sensor includes at least one of a laser sensor and a barcode scanner. For example, in the case of a laser sensor, it is installed to detect a conveyed signal after being emitted to a second sensing plate (not shown) provided at one end side of the lower rail 14. In addition, in the case of a barcode scanner, the lower frame 210 is installed to recognize a barcode label attached to the beam 311 of the storage rack 10 during movement. Accordingly, a signal detected by the second movement position detection sensor is received by the control panel 225 (for example, a PLC) through the optical modem or the wireless modem, and is configured to recognize and control the position of the stacker crane 200.

The drive roller 211 is installed to be driven by the third power source 212 and the driven roller 213 is installed to move along the lower frame 210 which is moved by the drive roller 211. The lower frame 210 is moved along the lower rail 14 while the driving roller 211 is rotated by the third power source 212 and the driven roller 213 rotates with the movement of the lower frame 210, . Here, it is preferable that one driving roller 211 and one driven roller 213 are provided. As another example, it may be constituted by two lower rails 14, two or one lower frame 210, two driving rollers 211, and two or one driven rollers 213. In this case, when the stacker crane 200 moves or moves, the rotating speed of the driving roller 211 and the moving position of the lower frames 210 are accurately calculated so that the stacker crane 200 may be twisted The roller of the lower rail 14 is prevented from loosening or the like.

The second guide roller 214 is a roller for preventing derailment while the drive roller 211 and the driven roller 213 are in rolling contact with the upper surface of the lower rail 14, And is installed in the lower frame 210 to be in contact therewith. The second guide roller 214 is disposed in contact with both side surfaces of the lower rail 14 near the drive roller 211 and the driven roller 213. The second guide roller 214 may be provided so as to continuously contact the lower rail 14 or intermittently contact with the side surface of the lower rail 14 at a predetermined clearance.

The upper frame 220 is a member that moves along the upper rail 15 installed on the ceiling and includes a third guide roller 221 which rolls on the upper rail 15 on both sides thereof, Up roller including a first elevating roller 222 and a second elevating roller 223 for supporting an elevating member (not shown in the drawing, hereinafter collectively referred to as a " elevating member " At this time, a fixing bar 16 is provided across the neighboring storage rack 10 so as to fix the upper rail 15 tightly. The fixing bar 16 is mounted on the ceiling at regular intervals along the upper rail 15 Many are installed. In this case, a plurality of fixing bars 16 are provided on the ceiling, and the upper rails 15 are installed across the fixing bars 16. At this time, a plurality of fixing bars 16 may be installed across the fixed sub-bar 17 protruded and fixed to the ceiling side in the storage rack 10. Here, the fixed sub-bar 17 may be separately manufactured and attached to the storage rack 10, or the post 310 near the stacker cranes 200 may be extended.

The third guide roller 221 is a roller that stably moves the upper frame 220 along the upper rail 15 and is disposed on both sides of the upper frame 220 as shown in FIG. As shown in Fig. The third guide roller 221 may be provided to be in contact with the upper rail 15 continuously or intermittently in contact with the side surface of the upper rail 15 at a predetermined clearance.

The elevating means includes a lifting member, a first elevating roller 222 and a second elevating roller 223 which are ascending and descending rollers, and a fourth power source 224 ) Are made to operate in conjunction with each other. This will be described with reference to FIGS. 11 and 15. FIG. Here, the elevating member is a wire or a chain, and is a member that allows the carriage 240 to be lifted or lowered by raising or lowering both sides of the carriage 240 while being wound or unwound by the power of the fourth power source 224. To this end, the elevating member is composed of two members. One of the elevating members is mounted on the fourth power source 224 so as to be wound or unwound. The portion drawn out from the fourth power source 224 is wound on the first elevating roller 222, (Not shown) mounted on one side of the upper frame 220 and fixed to the fixing portion 215 of the upper frame 220. The other elevating member is mounted on the fourth power source 224 so as to be wound or unwound by the fourth power source 224 and the portion drawn out from the fourth power source 224 is wound on the second elevating roller 223, And the end portion of the rear end of the carriage lifting roller is fixed to the fixing portion 215 of the upper frame 220. At this time, the elevating member is installed so as to be wound on a roller (not shown) provided on one side and the other side of the carriage 240. That is, each elevating member is mounted on the first elevating roller 222, the second elevating roller 223, and the carriage elevating roller on both sides of the carriage 240 so as to apply the pulley principle. Therefore, when raising the carriage 240, the fourth power source 224 operates to simultaneously wind the two lift members, and each of the lift members moves along the first lift roller 222 and the second lift roller 223 And lifts the carriage 240 by simultaneously lifting one side portion and the other side portion of the carriage 240 while being wound. When the carriage 240 is lowered, the fourth power source 224 operates to simultaneously release the two lift members, and each of the lift members moves along the first lift roller 222 and the second lift roller 223, The carriage 240 is lowered by simultaneously lowering the one side portion and the other side portion of the carriage 240. Here, the one end of the elevating member may be directly fixed to both side portions of the carriage 240. One or a pair of the first elevating roller 222 or the second elevating roller 223 may be disposed at an intermediate portion of the upper frame 220 while excluding the first elevating roller 222 and the second elevating roller 223, And the lifting member wound on the lifting roller may be installed to lift and lower the carriage 240 while being wound or unwound by the fourth power source 224.

As shown in FIG. 11, the pillars 230 are installed on both side portions of the lower frame 210 and the upper frame 220, respectively. The pillars 230 are installed on both sides of the pair of pillars 230, Provide a travel route. The support 230 may be provided with a third power source 212, a fourth power source 224, a control panel 225 (for example, a PLC), and a boarding section 226 on which a facility ball is mounted. Here, the control panel 225 is configured to receive and control signals of all devices and sensors installed in the stacker crane 200. For example, the control panel 225 receives the position signal of the stacker crane 200 from the second moving position detecting sensor and communicates with the field PC or the integrated field PC to transmit the third power source 212 and the fourth power source 224 So as to move the stacker cranes 200 and the carriage 240. Wherein the field PC or integrated field PC is configured to communicate with the server described above.

The carriage 240 is installed on the strut 230 so as to be able to ascend and descend, and is a device for mounting the shuttle 100 to move the cargo to a corresponding position for loading the cargo. The carriage 240 is installed so as to move along the support 230 while the support panel 241 on which the shuttle 100 is mounted, the first conveyor 242 installed on the support panel 241 and the support panel 241 are mounted And a third movement position detection sensor (not shown) for detecting and controlling the movement position of the guide panel 243, the carriage lift-up roller 244, and the carriage 240. [

Here, the support panel 241 is manufactured such that the bottom of the space in which the shuttle 100 is mounted is low and the side portions of both sides are protruded upward. A first conveyor 242 is provided on both sides of the support panel 241 and the first conveyor 242 is operated by a power source (not shown) to place the cargo on the support panel 241 And a cargo is placed on the shuttle 100 when the shuttle 100 is mounted between the first conveyors 242 at this time. For example, when the shuttle 100 is mounted on the support panel 241, a pair of first conveyors 242 carries the cargo and places it on the shuttle 100, and the top plate 120 of the shuttle 100 If you ascend, you can lift the cargo. In consideration of this, the size and height of the support panel 241 are determined. Here, the first conveyor 242 is the same as or similar to the configuration in which the leg portion 460 is excluded from the receiving conveyor 20 described later, and the power source for driving the first conveyor 242 is a pair of first conveyors 242, and one power source may be installed to operate two or three or more first conveyors 242, respectively.

The guide panel 243 is installed to be fixed to the support panel 241 while being disposed between the support 230 and the support panel 241. The carriage raising and lowering roller 244 is mounted on the guide panel 243 in such a manner that the carriage raising and lowering roller 244 is brought into close contact with both side portions of the strut 230 and rolls in order to stabilize the movement of the carriage 240 ascending and descending by the raising and lowering means. At this time, the guide panel 243 is concaved in the height direction so that a part of the column 230 is inserted, so that the movement of the carriage 240 can be further stabilized.

The third movement position detection sensor is mounted on the support panel 241 to sense whether the carriage 240 is accurately positioned at the corresponding stage and row of the storage rack 10 for loading the cargo. The third moving position detecting sensor detects an identification member (not shown) mounted on the support 230 and detects the position of the carriage 240. This identification member may be provided in the post 310 or the beam 311 of the storage rack 10. It is also possible to check whether the carriage 240 is positioned at the set position by sensing the third movement position detecting sensor and the position is such that the shuttle 100 mounted on the carriage 240 moves out of the carriage 240, So that it can be moved to the mobile terminal 10. In addition, the third movement position detecting sensor may be a laser sensor or a bar code scanner capable of recognizing the bar code label when the identification member attached to the column 230 is a bar code label.

The carriage fixing device 250 may further include a carriage fixing device 250 as shown in FIG. 12 to increase the supporting force while preventing the support panel 241 from shaking or sagging while the cargo is placed on or removed from the carriage 240. The carriage fixing device 250 includes a rod 252 that is mounted on the support panel 241 and is drawn or inserted by the fifth power source 251 and a pillar 230 that can receive the end side portion of the rod 252. [ (Not shown). Therefore, when the carriage 240 stops at a certain position, the rod 252 is drawn out and accommodated in the receiving member 253, thereby preventing the support panel 241 from being shaken or sagged when loading or unloading the load, The supporting force can be increased. At this time, the housing member 253 may be installed in the strut 230, the guide panel 243, or the post 310 or the beam 311 of the storage rack 10. A part of the rod 252 is formed in a substantially wedge shape so that the rod 252 can be easily accommodated in the receiving member 253 or the rod 252 can be formed in a wedge shape . The part of the rod 252 and the groove 253 of the receiving member 253 are preferably wedge-shaped to maximally increase the supporting force even when the weight of the cargo is loaded on the carriage 240 And other shapes such as a polygonal shape including a rectangular shape, a circular shape, a rectangular shape, and a pentagon shape.

Various operating methods for loading / unloading goods into / from the shuttle rack automatic warehouse system including the storage rack 10, the shuttle 100, and the stacker crane 200 shown in FIGS. 1 to 15 according to the present invention include There is a first-in-first-out operation method in which goods are shipped first, and a first-in-first-out operation method in which goods are shipped after goods received in advance. These methods vary in various ways depending on the configuration of the loading conveyor 20 and the output conveyor 30, and the installation position of the stacker cranes 200.

Herein, the on-site PC 300 described above or described below includes all the operations and operations of the shuttle 100 and the various sensors and devices including the stacker crane 200 during the loading and unloading of the cargo, To monitor the status of the device. The on-site PC 300 receives the movement information of the shuttle 100 and the stacker crane 200 from the management server 320 and controls the control board 180 of the shuttle 100 and the control panel 225 of the stacker crane 200 . In addition, the field PC 300 manages the alternation information between the workers 310, the worker 310 can input / output information, can input / output the slip and report of the cargo, The operator can communicate with the label printer provided by the worker 310 to print the label. Of course, the label printer of the worker 310 may directly communicate with the management server 320 or may communicate with the management server 320 via the on-site PC 300. [ On the other hand, the on-site PC 300 may be one, may be a plurality of units to control each of the units, or may be provided with an integrated site PC 300 that can be integratedly managed in a plurality of units.

The management server 320 described above or later communicates with a customer upper system (not shown). In addition to the request for goods receipt and goods issue from the customer upper system, the management server 320 transmits the type, quantity, / Warehousing time, storage date, storage period, and the like, and transmits part or all of the input / output information to the on-site PC 300. In addition, the management server 320 generates and stores the loading information including the loading position of the cargo, stores and uses the information on the operating method regarding the first-in first-out and first-in and first-out, Management of all the entrance / exit operations in the warehouse including managing the generation or storage of information, generating movement information of the shuttle 100 and the stacker crane 200, charging the shuttle 100, and the like . The management server 320 may transfer the movement information of the shuttle 100 and the stacker cranes 200 to the control board 180 of the shuttle 100 and the control panel 225 of the stacker cranes 200, ). &Lt; / RTI > The on-site PC 300 transmits information about the current position and movement of the shuttle 100 and the stacker crane 200, and control signals to the management server 320 320, or may provide the worker 310 with all the information of the management server 320 to confirm in the field.

16 is a block diagram illustrating an operation method for loading / unloading a cargo in the shuttle rack automatic warehouse system shown in FIG. 1 according to an embodiment of the present invention. 17 is a flowchart showing the operating method of FIG. 18 to 20 are schematic diagrams showing various examples of operation methods for loading / unloading cargo according to the configuration of Fig. Hereinafter, 'outside' refers to a position where the worker 310 loads or unloads the cargo to and from the storage rack 10 by means of the carrier, and 'inside' refers to the opposite side of 'outside'. Here, 'inside' may be located at a remote position from the stacker crane 200, and 'outside' may be represented by a position close to the stacker crane 200. In addition, the shuttle 100 is operated so as to place the next cargo at the entry / exit address while the cargo is loaded or unloaded into the storage rack 10 by the transportation means at the time of entrance / exit.

As shown in FIGS. 16 and 17, when the loading conveyor 20 and the output conveyor 30 are provided, the operation method of first-in-first-out and first-in and first-out is divided into various cases. Will be described in detail. Hereinafter, the loading section refers to a place where the load is stored at the time of loading, and refers to a place specified by at least one row, column and address of the loading conveyor 20 or the storage rack 10. In addition, the warehouse refers to a place where the cargo is stored at the time of shipment, and refers to a place specified by the column and the address of at least one of the warehouse conveyor 30 or the storage rack 10. Therefore, in the following description, there will be described a case where there is both a goods conveyor 20 and a goods conveyor 30, and a case where there is only one or none of them. The receiving section and the receiving section are structured so as to be replaced by a position designated by the column and address of the storage rack 10 when the receiving conveyor 20 or the output conveyor 30 is not present. These various structures will also be described separately.

In the first case, as shown in FIG. 18, the loading conveyor 20 and the delivering conveyor 30 are provided. In the shuttle rack automatic warehouse system in which the storage rack 10 is divided into two sides and the stacker crane 200 is installed therebetween, The operation method of the hoist will be explained through the process from goods receipt to delivery. Here, the case where the goods receipt part and the goods receipt part are the goods conveyor 20 and the goods conveyor 30 will be described as an example.

First, the field PC 300 receives the goods receipt information of the cargo from the management server 320 (S10). Here, the management server 320 receives and manages the goods receipt information for the cargo, including the type and quantity of the goods, the receipt date and time, the storage date and the storage period, from the customer's parent system, And transmits all of them to the field PC 300. At this time, the management server 320 generates storage information including designation of a loading position such as a row, a column and an address of the storage rack 10 in which the cargo is to be loaded.

Next, the worker 310 receives the goods receipt information from the field PC 300 (S11). The smart device including the tablet PC and PDA held by the worker 310, or precisely the worker 310, receives from the field PC 300 the goods receipt information including the kind, quantity, date of receipt and time of the goods. When the freight arrives at the specified date and time as the receipt information, the worker 310 confirms the receipt information for the freight using a marking device such as a scanner or the like such as a barcode label attached to the freight, And transmits the reception information to the field PC 300. The management server 320 receiving the reception information from the field PC 300 confirms whether the information about the cargo in the received goods information received from the customer upper system matches the reception information of the worker 310. Here, if there is no barcode label on the cargo at the time of receipt, the worker 310 further includes a label printer communicating with the field PC 300, and a label or receipt A label for the information may also be printed out and attached to the cargo.

Next, the worker 310 carries the cargo and carries it to the wife-wearing conveyor 20 (S12). After the worker 310 receives the cargo, the cargo is transported to the loading conveyor 20 by using a transportation means such as a forklift. At this time, while the goods conveyor 20 is operated under the control of the field PC 300 to move the goods, markers such as barcode labels attached to the goods are recognized using a recognition device such as a scanner, And transmits the cargo information to the field PC 300. Then, the management server 320 receives the cargo information and confirms that it matches the information about the cargo in the stock information received at the customer upper system. At this time, the management server 320 may individually confirm the goods receipt information, the reception information, and the cargo information in steps S11 and S12, or may check them simultaneously in step S12.

Next, the loading conveyor 20 is operated by the control signal of the field PC 300 to transport the cargo to the shuttle 100 and the stacker crane 200 (S12-1). At this time, the cargo conveyed by the loading conveyor 20 is carried to the stacker crane 200, and the carriage conveyor 242 which operates the cargo by the control signal of the field PC 300 is loaded on the stacker crane 200 The shuttle 100 is placed on the floor.

Next, the shuttle 100 and the stacker crane 200 are operated by the control signal generated by the field PC 300 to load the cargo into the storage rack 10 (S13). The control PC board 180 of the shuttle 100 generates control signals for moving the shuttle 100 and the stacker crane 200 based on the storage information when the goods receipt information, To the control panel 225 of the stacker crane 200. The control panel 225 and the control board 180 receiving the control signal control the stacker crane 200 to move the stacker crane 200 to the corresponding stage and column of the storage position, So as to return to the loading position. On the other hand, if there is a discrepancy between the goods receipt information, the receipt information, and the cargo information in the field PC 300, the management server 320 is notified and the manager confirms it. At this time, the field PC 300 is set to input a setting in advance or to wait for a command from the management server 320 so as to immediately stop or continue the transportation operation of the cargo. In accordance with a pre-inputted setting or a command of the management server 320 The worker 310 can be notified or the operation of the shuttle 100 and the stacker crane 200 can be controlled. At this time, the pre-loaded cargo is loaded in the storage rack 10 at a position distant from the stacker crane 200, and the loaded cargo is loaded in the storage rack 10 at a position near the stacker crane 200.

Here, the operation of the stacker crane 200 controlled by the control panel 225 and the operation of the shuttle 100 controlled by the control board 180 will be briefly described based on the above-described configuration.

The position information of the stacker crane 200 may be detected by a laser sensor for sensing a second detection plate mounted on one end side of the lower rail 14 or a bar code for recognizing a bar code label attached to the post 11 of the storage rack 10. [ The field PC 300 can recognize the second moving position detection sensor mounted on the lower frame 210 while being a scanner and the control panel 225. [ Thereafter, the on-site PC 300 transmits a movement signal of the stacker crane 200 to the control panel 225, and the control panel 225 moves the third power source 212 of the stacker crane 200 and the drive roller 211) The stacker crane 200 is moved to the corresponding row of the storage rack 10 on which the cargo is to be loaded. The position information of the carriage 240 while the stacker crane 200 is positioned in the corresponding column is a scanner for detecting an identification member including a barcode label mounted on the support 230, And can be recognized by the field PC 300 through the detection sensor and the control panel 225. [ Thereafter, the control unit 225 transmits a movement signal of the carriage 240 to the field PC 300 so that the fourth power source 224, which is one of the elevating means, is operated to move the elevating member, the first elevating roller 222 and the second elevating roller 223 are linked to each other, the carriage 240 moves to the corresponding end of the storage rack 10 on which the cargo is to be loaded. When the carriage 240 is positioned at the end of the carriage 240, the control panel 225 operates the fifth power source 251, which is one of the carriage fixing devices 250, 253, respectively. The on-site PC 300 operates the carriage conveyor 242 when the stacker crane 200 arrives at the loading conveyor 20 and the output conveyor 30 in order to load and unload the cargo, Or onto the shuttle 100 mounted on the carriage 240.

The position information of the shuttle 100 may be acquired by a GPS sensor or a laser sensor for sensing a first sensing plate installed on a rear end portion of the longitudinal rail 13 or a beam 12 or a post 11 of the storage rack 10. [ The first moving position detection sensor 172 mounted on the shuttle 100 and the AP installed in the vicinity of the storage rack 10 can be recognized by the field PC 300. [ have. Thereafter, the on-site PC 300 transmits a movement signal of the shuttle 100 to the control board 180, and the control board 180 rotates the first power source 140 of the shuttle 100 and the movement wheel axle 142 The shuttle 100 is moved to the corresponding address of the storage rack 10 on which the cargo is to be loaded. When the shuttle 100 reaches the carriage 240 or a corresponding address, the up / down signal of the upper panel 120 is transmitted to the control board 180 by the on-board PC 300 The control board 180 operates the second power source 154 and the elevation rotation axis 160 to rotate the upper link 150, the lower link 151, the first connection link 152 and the second connection link 153, The upper plate 120 is raised and lowered. On the other hand, the shuttle 100 is provided with one more than the transportation means including the forklift and operates at least two, while the other shuttle 100 is operated to transport or charge the cargo while the one shuttle carries the cargo .

Next, the field PC 300 receives the shipment information of the cargo from the management server 320 (S14). At this time, the management server 320 receives the warehouse information about the cargo such as the type and quantity of the cargo, the warehouse date, and the like from the customer upper system and manages and stores the transferred warehouse information, and transmits part or all of the warehouse information to the field PC 300 do. At this time, the field PC 300 generates movement information of the shuttle 100 and the stacker crane 200 based on the storage information of the cargo.

Next, the shuttle 100 and the stacker crane 200 are operated by the control signal generated by the field PC 300 to take the cargo from the storage rack 10 and transfer the cargo to the leaving conveyor. (S15). The field PC 300 is connected to the shuttle 100 and the stacker crane 200 on the basis of the warehouse information such as the type and quantity of the goods to be shipped and storage information of the storage rack 10, And transmits the generated control signal to the control board 180 of the shuttle 100 and the control board 225 of the stacker crane 200. The control panel 225 and the control board 180 that have received the control signal control the stacker crane 200 to move the stacker crane 200 to the corresponding stage and column, To return to the stacker crane (200). Then, the carriage conveyor 242 moves the cargo on the carriage 240 to the outgoing conveyor 30, which is the outgoing portion. Here, a device capable of acquiring the mark attached to the cargo may be installed on the goods conveyor 30, and the cargo information obtained at this time may be transmitted to the field PC 300. In addition, when the cargo is taken out of the cargo, it is taken out from the cargo located close to the stacker crane 200. Out.

Next, the delivery conveyor 30 is operated by the control signal of the field PC 300 to transport the cargo to the delivery position (S15-1). That is, the cargo conveyor 242 carries the cargo moved to the cargo conveyor 30 by the control signal of the field PC 300, Carry the cargo to a position where it can be made.

Finally, the worker 310 receives the cargo dispatch information from the field PC 300, and cargo is delivered (S16). The worker 310 that has received the shipment information of the shipment acquires the shipment information for the shipment of the shipment conveyor 30 and transmits the shipment information to the on-site PC 300. At this time, the field PC 300 confirms whether the delivery information of the freight and the delivery information of the worker 310 are identical. When these pieces of information match, the worker 310 mounts the cargo on a waiting vehicle or the like by using a transportation means such as a forklift. If the delivery information of the cargo is inconsistent with the delivery information, the on-site PC 300 notifies the management server 320 immediately and confirms by the administrator. At this time, the field PC 300 is set so that setting of the cargo taking-out operation is immediately stopped or continued or it waits for a command of the management server 320, and in accordance with a pre-inputted setting or a command of the management server 320 The worker 310 can be notified or the operation of the shuttle 100 and the stacker crane 200 can be controlled.

Therefore, the cargo loaded at the time of stocking is loaded from the address of the storage rack 10 remote from the stacker crane 200, and the cargo is taken out from the address of the storage rack 10 close to the stacker crane 200 at the time of shipment Cargo is loaded and unloaded by operating method.

In the second case, the first-in first-out operation method will be described with reference to FIG. This first-in first-out operation method is substantially similar to the first-in-first-out operation method described above, but includes the step S13-1 in which the cargo is reloaded after the step S13 in which the cargo is loaded in the storage rack 10 do. Therefore, description of steps S10 to S17 will be briefly described as necessary, and step S13-1 will be described in detail.

First, the field PC 300 receives the goods receipt information of the cargo from the management server 320 (S10).

Next, the worker 310 receives the goods receipt information from the field PC 300 (S11).

Next, the worker 310 carries the cargo and carries it to the wife-wearing conveyor 20 (S12).

Next, the loading conveyor 20 is operated by the control signal of the field PC 300 to transport the cargo to the shuttle 100 or the stacker crane 200 (S12-1).

Next, the shuttle 100 or the stacker crane 200 is operated by the control signal generated by the field PC 300 to load the cargo on the storage rack 10 (S13). At this time, the pre-loaded cargo is loaded in the storage rack 10 at a position distant from the stacker crane 200, and the loaded cargo is loaded in the storage rack 10 in the vicinity of the stacker crane 200.

Next, the cargo is reloaded to another end of the storage rack 10, another row or another address (S13-1). Here, the cargo in the storage rack 10, which is located near the stacker crane 200, is reloaded to the address of the storage rack 10 remote from the stacker crane 200 while transporting the cargo to another stage in another row, And is located at the address of the storage rack 10 close to the storage rack 200.

The on-site PC 300 receives the shipment information of the shipment from the management server 320. The on-site PC 300 receives the storage information of the shipment from the shuttle 100 and the stacker crane 200, As shown in FIG.

Next, the shuttle 100 and the stacker crane 200 are operated by the control signal generated by the field PC 300 to transport the cargo from the storage rack 10 to the outgoing conveyor 30, which is a warehouse (S15 ).

Next, the delivery conveyor 30 is operated by the control signal of the field PC 300 to transport the cargo to the delivery position (S15-1).

Finally, the worker 310 receives the cargo dispatch information from the field PC 300, and cargo is delivered (S16).

Therefore, after the loaded cargo is loaded from the address of the storage rack 10 remote from the stacker crane 200, the loaded cargo is reloaded to the address of the storage rack 10 near the stacker crane 200 The cargo is loaded and unloaded by the first-in-first-out operation method in which the cargo is taken out from the address of the storage rack 10 close to the stacker crane 200 at the factory. Here, reloading can be carried out including the sorting operation of carrying and storing separately the required number of cargoes according to the dispatch information for the loaded cargoes.

In FIG. 18, at least one of the goods receipt part and the goods receipt part may be designated by at least one row, column and address in the storage rack 10 instead of excluding the goods conveyor 20 or the goods conveyor 30.

For example, in FIG. 18, the operating method of first-in-first-out or first-in and first-out is applied with a modified structure in which the stocking portion is designated by at least one row, column and address of the storage rack 10 and the stocking portion is a leaving conveyor 30 . In one embodiment, a stocker is provided on one side of the storage rack 10 and a stacker crane 200 is provided on the other side. In this case, when the cargo is placed on the transportation means at the designated address of the stocker at the time of stocking, the shuttle 100 carries the cargo to a different address in the same row and stacks them close to the stacker cranes 200, And then transported to the other end, the heat and the address of the storage rack 10, and loaded and remotely from the stacker cranes 200 so as to be fed in and out. The operator 310 may place the cargo on the carriage 240 instead of putting the cargo on the conveyor 20 or the storage rack 10 at a designated place. At this time, the carriage conveyor 242 may or may not operate.

As another example, a method of operating first-in-first-out or first-in and first-out is applied in a structure in which the warehouse is designated by at least one row, column and address of the storage rack 10, . In one embodiment, a storage unit may be provided at one side of the storage rack 10, and a stacker crane 200 may be installed at the other side. In this case, the shuttle 100 and the stacker crane 200 carry the pre-stored cargo moved up and down on the loading conveyor 20 at the time of stocking, and are transported from the storage rack 10 away from the stacker crane 200 And the first-in-first-out is carried out from the pre-loaded cargo loaded into the delivery unit at the time of shipment to the vehicle. At this time, the pre-loaded cargo may be loaded from the storage rack 10 at a position remote from the stacker crane 200, and may be taken out of the loaded cargo near the stacker crane 200 at the time of shipment. Alternatively, the worker 310 can be delivered to the transportation means directly from the carriage instead of placing the shuttle 100 at a designated place on the outgoing conveyor 30 or the storage rack 10 at the time of shipment. At this time, the carriage conveyor 242 may or may not operate.

As another example, in the structure in which both the goods conveyor 20 and the goods conveyor 30 are excluded in FIG. 18, the goods receipt portion and the goods receipt portion are at least any one of the rows and columns of the storage rack 10, First-in and first-out methods are applied. This case will be described later with reference to FIG.

19, it is possible to construct a shuttle rack automatic warehouse system in which the storage rack 10 is installed as one part, the stacker crane 200 is installed on one side, and the outlet is provided on the other side have. At this time, the goods conveyor 20 and the goods conveyor 30 may be installed together, or both may not be installed, or only one of them may be installed. The unloading conveyor 20 or the unloading conveyor 30 are replaced by designating at least one row and column of the storage rack 10. These arrangements can also be used to enter / exit the cargo as a first-in, first-out or first-in, first-out operating method. Of course, when the delivery conveyor 30 is provided, the stacker crane 200 and the delivery conveyor 30 are disposed on the opposite sides.

As another example, as shown in FIG. 20, a shuttle rack automatic warehouse system can be configured in which the storage rack 10 is provided as a single part, and the stacker crane 200 and the outlet are provided on one side. At this time, the goods conveyor 20 and the goods conveyor 30 may be installed together, or both may not be installed, or only one of them may be installed. The unloading conveyor 20 or the unloading conveyor 30 are replaced by designating at least one row and column of the storage rack 10. These arrangements can also be used to enter / exit the cargo as a first-in, first-out or first-in, first-out operating method. Of course, when the delivery conveyor 30 is provided, the stacker crane 200 and the delivery conveyor 30 can be disposed on the same side of each other.

Meanwhile, as shown in FIG. 21, various operating methods for loading / unloading a cargo using a shuttle rack automatic warehouse system according to the present invention are as shown in FIG. There is a difference in configuration in which the goods conveyor 30 is excluded. That is, the receiving unit and the receiving unit are configured to set the positions and positions of the storage rack 10 at the specified positions while the receiving conveyor 20 and the output conveyor 30 are excluded. In this configuration, the method of operating the first-in first-out and the first-in first-out is the same. This will be described in detail with reference to FIGS. 21 and 22. FIG.

FIG. 21 is a configuration diagram illustrating an operation method of loading / unloading goods into / from the shuttle rack automatic warehouse system shown in FIG. 1 according to another embodiment of the present invention. 22 is a flowchart showing the operating method of FIG. Figs. 23 to 25 are schematic diagrams showing an example of use for an operation method of loading / unloading a cargo according to the configuration of Fig.

In the first case, as shown in FIG. 23, the loading conveyor 20 and the outlet conveyor 30 are excluded, and the storage rack 10 is divided into both sides, and the shuttle rack automatic warehouse system in which the stacker crane 200 is installed The operation method of the hoist will be explained through the process from goods receipt to delivery. In addition, the operation method and the overlapping description of the first-in first-out operation described above with reference to FIG. 18 will be omitted or briefly described, and the difference process will be described in detail.

First, the field PC 300 receives the goods receipt information of the cargo from the management server 320 (S20). Receives the goods receipt information for the cargo of the management server 320, and transmits part or all of the goods receipt information to the site PC. At this time, the management server 320 generates storage information such as designating a loading position such as a row, a column and an address of the storage rack 10 on which the cargo is to be loaded.

Next, the worker 310 receives the goods receipt information from the field PC 300 (S21). When the worker 310 receives the cargo receipt information, the cargo is received, the receipt information is transmitted to the field PC 300, and the field PC 300 checks whether the receipt information matches the receipt information .

Next, the worker 310 carries the cargo to the receiving section of any stage, column and address designated in the storage rack 10 (S22). Here, the receiving section is a structure in which the receiving conveyor 20 is excluded and designated by a column and an address. Then, the worker 310 carries the cargo to the designated receiving section.

Next, the shuttle 100 or the stacker crane 200 operates according to the control signal generated by the field PC 300, carries the cargo in the cargo area, and loads the cargo at the loading position of the storage rack 10 (S23). For example, the cargo placed on the loading section is carried to the stacker crane 200 by the shuttle 100, carried to the corresponding stage and column of the loading position by the stacker crane 200, And then loaded. Of course, the shuttle 100 returns to the stacker crane 200. At this time, the pre-loaded cargo is loaded in the storage rack 10 at a position distant from the stacker crane 200, and the loaded cargo is loaded in the storage rack 10 at a position near the stacker crane 200.

Next, the on-site PC 300 receives the delivery information of the cargo from the management server 320 (S24). At this time, the field PC 300 generates movement information of the shuttle 100 or the stacker crane 200 based on the storage information of the cargo.

Next, the shuttle 100 and the stacker crane 200 are operated by the control signal generated by the field PC 300 to transport the cargo to a warehouse of a certain stage, column and address designated in the storage rack 10 (S25 ). Here, the delivering portion is a structure in which the delivering conveyor 30 is excluded, and which is designated by a column and an address. Then, the worker 310 carries the cargo at the designated warehouse address and receives it.

Finally, the worker 310 receives the cargo dispatch information from the field PC 300 and cargo is delivered (S26). The worker 310 receives the cargo at the designated address of the shipment department according to the shipment information and leaves the shipment. At this time, the worker 310 can acquire the carry-out information of the carried-out cargo at the time of shipment and transmit it to the field PC 300. Thereafter, the field PC 300 confirms whether the shipment information and the export information match, and if the shipment matches, the shipment of the shipment is completed. If the shipment is inconsistent, the on-site PC 300 can immediately notify the administrator and wait for the next command.

In the second case, the first-in first-out operation method in FIG. 23 will be described. The operating method of the first-in first-out method is substantially similar to the operating method of the first-in first out method of FIG. 21, except that the step S23-1 in which the cargo is reloaded after the step S23 in which the cargo is loaded in the storage rack 10, . Therefore, the description of steps S20 to S26 will be briefly described, and step S23-2 will be described in detail. Such an operation mode can be understood only when the goods receipt section is defined as one row, but it is an embodiment that can include a reloading stage, and does not limit other modes including reloading.

First, the field PC 300 receives the goods receipt information of the cargo from the management server 320 (S20).

Next, the worker 310 receives the goods receipt information from the field PC 300 (S21).

Next, the worker 310 carries the cargo to the receiving section of any stage, column and address designated in the storage rack 10 (S22).

Next, the shuttle 100 and the stacker crane 200 operate according to the control signal generated by the field PC 300 so that the cargo is carried at the loading station and loaded at the loading position of the storage rack 10 (S23). At this time, the pre-loaded cargo is loaded in the storage rack 10 at a position distant from the stacker crane 200, and the loaded cargo is loaded in the storage rack 10 in the vicinity of the stacker crane 200.

Next, the cargo is reloaded to another end of the storage rack 10, another row or another address (S23-1). Here, the cargo in the storage rack 10, which is located near the stacker crane 200, is reloaded to the address of the storage rack 10 remote from the stacker crane 200 while transporting the cargo to another stage in another row, And is located at the address of the storage rack 10 close to the storage rack 200.

Next, the warehouse information of the cargo from the management server 320 is received by the site PC) (S24).

Next, the shuttle 100 and the stacker crane 200 are operated by the control signal generated by the field PC 300 to transport the cargo to a warehouse of a certain stage, column and address designated in the storage rack 10 (S25 ).

Finally, the worker 310 receives the cargo dispatch information from the field PC 300 and cargo is delivered (26).

Therefore, after the loaded cargo is loaded from the address of the storage rack 10 remote from the stacker crane 200, the loaded cargo is reloaded to the address of the storage rack 10 near the stacker crane 200 The cargo is loaded and unloaded in a first-in-first-out operation mode in which the cargo is taken out from the address of the storage rack 10 close to the stacker crane 200 at the time of shipment.

In addition, at least one of the stocking portion and the stocking portion may be omitted from the storage rack 10 in FIG. 23, and the operator 310 may be directly placed on the stacker crane 200 by using the conveying means.

As another example, as shown in Fig. 24, a shuttle rack automatic warehouse system in which a storage rack 10 is installed as one part, a stacker crane 200 is installed on one side, and a warehouse and a warehouse are arranged on the other side can do. This configuration can also be used to load / unload a cargo as a first-in, first-out or first-in and first-out operating method.

As another example, as shown in Fig. 25, the storage rack 10 may be provided as a single part, and the stacker crane 200, the goods receipt part and the goods receipt part may be disposed on one side. Such a configuration can also be used to input / output cargo in the above-described operating method of first-in first-out or first-in, first out.

As another example, the stacker crane 200 and the shuttle 100 may be installed between a plurality of storage racks 10 while the loading conveyor 20 and the output conveyor 30 are excluded, as shown in FIG. At this time, the receiving unit and the receiving unit are positions at which the row, column, and address of the storage rack 10 are designated. In this case, the cargo is loaded in the storage rack 10 positioned at the highest priority, and the cargo is discharged from the storage rack 10 located at the rearmost end, whereby first-in-first-out is performed. At this time, the entirety of one side of the storage rack 10 positioned at the topmost position can be put in stock, and the entire one side of the storage rack 10 positioned at the most last position can be shipped. Of course, the goods receipt part and the goods receipt part become the corresponding end, the heat and the address specified in the storage rack 10, and the worker 310 may directly enter and leave the transportation means.

27, a loading conveyor 20 and a delivery conveyor 30 are installed on both sides of one storage rack 10, and a storage rack 10, a loading conveyor 20, a storage rack 10 The stacker crane 200 and the shuttle can be installed between the conveyor 30 and the output conveyor 30, respectively. In this case, the pre-loaded cargo moved from the loading conveyor 20 is loaded from a position near the outlet conveyor 30 of the storage rack 10 by the stacker crane 200 and the shuttle 100, Side stacker cranes 200 and the shuttle 100 to the outgoing conveyor 30 and then delivered to the outgoing conveyor 30 to perform first-in-first-out. At this time, the loading conveyor 20 can be installed up to the storage rack 10 and the product production copper, so that products produced in the product production copper can be stored in the storage rack 10 immediately. In addition, it can be classified by the type of cargo and the number of cargoes at the time of shipment, and can be placed in the cargo carrier 30. Here, the outgoing conveyor 30, the stacker crane on the outgoing conveyor 30, and the outgoing conveyor 30 are excluded, and the outgoing portion is designated in the storage rack 10, and the worker 310 may be delivered directly to the conveying means.

The automatic warehouse system having various configurations including the method of operating the first-in first-out and the first-in and first-out, excluding the goods conveyor 20 and the goods conveyor 30, or at least one of them, Various other operating methods can be utilized.

First, the first-in and first-out are performed in such a manner that the goods receipt part and the delivery part specified by the corresponding step, column and address are located at the same step, column and address. In other words, when the worker 310 is put on the outside of the storage rack 10, that is, at the corresponding end, the row and the address of the dressing portion, the loaded cargoes are sequentially stacked from the inside. Then, the first stage, the row, and the address of the warehouse at the time of shipment, that is, the cargo carried in from the outside of the storage rack 10, are carried out.

In addition, the first-in-first-out is performed in such a manner that the entrance and exit designated by the corresponding column, column, and address are located at different columns, columns, and addresses. When the worker 310 is put on the receiving section of the storage rack 10, the loaded consignments are stacked in order from the inside. Thereafter, the shuttle 100 and the stacker crane 200 carry the pre-loaded cargo located in the inside of the storage rack 10 and transport it from the outside of the storage rack 10 Load. The first-in-first-out is carried out by taking out the first-in-first-out cargo, which is located outside the factory.

Also, the case where the goods receipt part is the goods conveyor 20 and the goods receipt part is designated by the corresponding step, column and address, is the first-in-first-out. The shuttle 100 and the stacker crane 200 are transported from the outside of the storage rack 10 by the heat and the address of the delivery portion when the loaded freight is put on the conveyor 20. [ In addition, the cargo is taken out from the warehouse at the time of shipment, whereby first-in-first-out is performed. This method is useful for the simultaneous goods receipt and for the simultaneous goods shipment. A plurality of output conveyors 30 may be provided if the simultaneous shipment amount is large.

If the goods receipt section is designated by the corresponding column, column and address, and the goods receipt section is the goods conveyor 30, the first-in-first-out is performed. The shuttle 100 and the stacker crane 200 are placed inside the storage rack 10 to store the loaded cargo on the outgoing conveyor 10 30 to carry out first-in-first-out. This method is useful for simultaneous goods receipt and simultaneous shipment. Here, if there is a large amount of simultaneous goods, a plurality of goods conveyors 20 may be provided, or a shuttle 100 having the same or similar number may be provided in comparison with the number of carriers of the worker 310.

On the other hand, when the warehouse and warehouse are in the same column, the goods in the warehouse can be loaded from the inside to the outside of the warehouse, and the first and the second warehouses can be taken out from the warehouse. In this operation, the steps (S13-1 and S23-1) for reloading the cargo are excluded, and the cargo is loaded from the inside and loaded from the outside cargo in the cargo loading step (S13, S23).

On the other hand, various kinds of cargo stored in the storage rack 10 may be classified according to each kind and quantity according to the order of the customer at the time of shipment, and then the goods can be shipped to the departure point. For example, the cargoes of A, B, and C are stored at the ends of A-1, B-1, and C-1, respectively, at the time of stocking, and a cargo a and cargo b , C cargoes are transported at locations A-1, B-1 and C-1 and collected at departing departments A-2, B-2 and C-2. Of course, it is preferable that the goods receipt portion and the goods receipt portion designate heat and address, and the goods receipt conveyor 20 or the goods conveyor 30 may be utilized.

The loading section and the loading section may be designated by any one of a row, a column and an address, but a certain portion of the entire storage rack 10 may be designated as a stock portion and the remaining portion may be designated as a stock portion. In the case where the storage rack 10 has four stages, the first and third stages are stocked, the second and fourth stages are delivered, or the first and second stages are stocked, while the third and fourth stages are stocked Depending on the height, it is also possible to specify the goods receipt department and the goods receipt department. Also, it is possible to divide the row of the storage rack 10 into one or a plurality of units, and to set the goods receipt unit and the goods receipt unit by zones. The setting of the goods receipt unit and the goods receipt unit can be set by the worker 310 or the manager by changing the program through the field PC 300 or the management server 320. [

As described above, those skilled in the art will appreciate that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the above-described embodiments are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined by the appended claims, rather than the detailed description, and all changes or modifications derived from the meaning and scope of the claims and equivalents of the claims are to be construed as being included within the scope of the present invention do.

10: Storage rack 11: Post
12: beam 13: longitudinal rail
14: lower rail 15: upper rail
16: fixed bar 17: fixed auxiliary bar
20: goods conveyor 21: first goods conveyor
22: second loading conveyor 23: chain
24: Sixth power source 30: Outgoing conveyor
100: Shuttle 110: Body
120: top plate 130: battery pack
131: first charging electrode 140: first power source
141: Fall prevention sensor 142:
143: traveling wheel 144: first guide roller
150: upper link 151: lower link
152: first connection link 153: second connection link
154: second power source 160:
161: elevating guide member 162: elevating guide roller
163: upper plate elevation sensor 163a: elevation rotation detection sensor
163b: falling rotation detection sensor 164:
164a: Upward rotation sensing member 164b: Lower rotation sensing member
170: first cargo detection sensor 171: second cargo detection sensor
172: first moving position detecting sensor 173: coalescing position detecting sensor
174: Battery pack charge amount checking sensor 180: Control board
181: Transmitter
200: stacker crane 210: lower frame
211: driving roller 212: third power source
213: driven roller 214: second guide roller
215: fixing part 220: upper frame
221: third guide roller 222: first elevating roller
223: second elevating roller 224: fourth power source
225: Control panel 226:
230: support 240: carriage
241: Support panel 242: Carriage conveyor
243: Guide panel 244: Carriage lift roller
250: carriage fixing device 251: fifth power source
252: rod 253: housing member
300: Field PC 310: Worker
320: Management Server.

Claims

A stacker crane 200 mounted adjacent to the storage rack 10 for loading and moving the cargo and the shuttle 100 and a storage rack 10 for storing the cargo while moving the storage rack 10, CLAIMS 1. A method of operating an automatic shuttle rack system having a shuttle (100)
A tenth step (S10, S20) of receiving, from the management server (320), the warehouse information of the cargo by the field PC (300);
An eleventh step (S11, S21) in which the worker (310) receives the goods receipt information from the on-site PC (300) or the management server (320);
A twelfth step (S12, S22) in which the worker (310) carries the cargo by using the transportation means;
(S13, S13) in which the shuttle 100 or the stacker crane 200 transports the goods in the warehouse by the control signal received from the management server 320 or the field PC 300, S23);
(S14, S24) in which the field PC 300 receives the shipment information of the cargo from the management server 320;
(S15, S15) in which the shuttle 100 and the stacker crane 200 carry the cargo from the storage rack 10 to the warehouse by the control signal received from the management server 320 or the field PC 300, S25);
(S16, S26), in which the worker (310) receives the cargo dispatch information from the management server (320) or the field PC (300) and cargo is delivered to the cargo dispatcher
In the thirteenth step S13 and S23, the cargo inserted in a predetermined distance from the stacker crane 200 is sequentially stacked in the corresponding column. In the fifteenth step S15 and S25, the stacker cranes 200, Wherein the shuttle rack and the shuttle rack are connected to each other by a cable.

A stacker crane 200 mounted adjacent to the storage rack 10 for loading and moving the cargo and the shuttle 100 and a storage rack 10 for storing the cargo while moving the storage rack 10, CLAIMS 1. A method of operating an automatic shuttle rack system having a shuttle (100)
A tenth step (S10, S20) of receiving, from the management server (320), the warehouse information of the cargo by the field PC (300);
An eleventh step (S11, S21) in which the worker (310) receives the goods receipt information from the on-site PC (300) or the management server (320);
A twelfth step (S12, S22) in which the worker (310) carries the cargo to the work site;
(S13, S13) in which the shuttle 100 or the stacker crane 200 transports the goods in the warehouse by the control signal received from the management server 320 or the field PC 300, S23);
(S14, S24) in which the field PC 300 receives the shipment information of the cargo from the management server 320;
(S15, S15) in which the shuttle 100 and the stacker crane 200 carry the cargo from the storage rack 10 to the warehouse by the control signal received from the management server 320 or the field PC 300, S25);
(S16, S26) in which the worker (310) receives the cargo dispatch information from the management server (320) or the field PC (300)
In the thirteenth step S13 and S23, the loaded cargoes are loaded sequentially from a position close to the stacker crane 200 in the corresponding row. In the fifteenth step S15 and S25, And a first-in-first-out is carried out from a first-in-first-out cargo.

A stacker crane 200 mounted adjacent to the storage rack 10 for loading and moving the cargo and the shuttle 100 and a storage rack 10 for storing the cargo while moving the storage rack 10, CLAIMS 1. A method of operating an automatic shuttle rack system having a shuttle (100)
A tenth step (S10, S20) of receiving, from the management server (320), the warehouse information of the cargo by the field PC (300);
An eleventh step (S11, S21) in which the worker (310) receives the goods receipt information from the on-site PC (300) or the management server (320);
A twelfth step (S12, S22) in which the worker (310) carries the cargo to the work site;
(S13, S13) in which the shuttle 100 or the stacker crane 200 transports the goods in the warehouse by the control signal received from the management server 320 or the field PC 300, S23);
Step 13-1 (S13-1, S23-1) in which the shuttle 100 or the stacker crane 200 transports the cargo and reloads the cargo to another end of the storage rack 10, another row or another address;
(S14, S24) in which the field PC 300 receives the shipment information of the cargo from the management server 320;
(S15, S15) in which the shuttle 100 and the stacker crane 200 carry the cargo from the storage rack 10 to the warehouse by the control signal received from the management server 320 or the field PC 300, S25);
(S16, S26) in which the worker (310) receives the cargo dispatch information from the management server (320) or the field PC (300)
In the thirteenth step (S13, S23), the cargo inserted from a position distant from the stacker crane (200) in the row is loaded in order. In the 13-1 step (S13-1, S23-1) The first cargo from the position close to the stacker crane 200 is reloaded in order. In the fifteenth step (S15, S25), the first cargo in the vicinity of the stacker crane 200 is shipped first A method of operating a shuttle rack automatic warehouse system.

A stacker crane 200 mounted adjacent to the storage rack 10 for loading and moving the cargo and the shuttle 100 and a storage rack 10 for storing the cargo while moving the storage rack 10, CLAIMS 1. A method of operating an automatic shuttle rack system having a shuttle (100)
Wherein the shuttle (100) or the stacker crane (200) is loaded at a position close to the shipment part from the first one of the cargoes at the time of shipment, How the system operates.

5. The method according to any one of claims 1 to 4,
The receiving unit is a receiving conveyor 20 that transports (S12-1) to the stacker cranes 200 or the shuttle 100 by the control of the field PC 300 when the worker 310 places the load on the carrying means, At one end of the rack 10, designated by row and column,
When the cargo moved from the stacker crane 200 or the shuttle 100 is placed, the delivering unit conveys the worker 310 to a delivery position that can be received by the delivery means (S15-1) under the control of the field PC 300 Outgoing conveyor 30, or a place designated by a column and an address in the storage rack 10,
When the goods receipt unit and the goods receipt unit are located in the storage rack 10 at any position, column and address, the control signal received by the management server 320 or the field PC 300 causes the shuttle 100 to move between the goods receipt unit and the stacker crane The stacker crane 200 is installed on the opposite side of the stacking crane 200 while being moved between the stacking crane 200 and the stacker crane 200, , The loading and unloading portions, and the stacker cranes (200) are located on the same side of the shuttle rack automatic warehouse system.

6. The method of claim 5,
The method of operating the first-
The loaded freight out of the freight moving through the loading conveyor 20 at the time of loading is loaded from a position distant from the stacker crane 200 in the corresponding row to be loaded by the shuttle 100 or the stacker crane 200, From the last loaded cargo at a position close to the stacker crane 200, the cargo is taken out by the shuttle 100 or the stacker crane 200 and transported to and discharged from the output conveyor 30,
When the loaded cargo, which has been loaded at the corresponding stage, column and address designated as the stocking portion in the storage rack 10 at the time of stocking, is loaded from the position close to the stacker crane 200 in the corresponding row by the shuttle 100 or the stacker crane 200 The cargo loaded at the other end, the row, and the address by the shuttle 100 or the stacker crane 200 is reloaded from a position distant from the stacker crane 200, Is taken out by the shuttle 100 or the stacker crane 200 to be delivered to the delivery conveyor 30 and delivered,
The loaded freight out of the cargo moved through the loading conveyor 20 at the time of loading is loaded from a position distant from the stacker crane 200 in the corresponding row to be stacked by the shuttle 100 or the stacker crane 200, The shuttle 100 or the stacker crane 200 is transported and reloaded at a corresponding stage, column, and address designated as a discharge section, and then delivered to the shuttle 100 or the stacker crane 200, How to operate.

6. The method of claim 5,
The method of operating the first-
The loaded freight out of the freight moving through the loading conveyor 20 at the time of loading is transported by the shuttle 100 or the stacker crane 200 at a position distant from the stacker crane 200, And < / RTI >
The loaded freight out of the freight moving through the loading conveyor 20 at the time of loading is loaded from a position distant from the stacker crane 200 in the corresponding row to be loaded by the shuttle 100 or the stacker crane 200, 100 or the stacker cranes 200 to the stacker cranes 200 from the stacked cranes 200 to the stacker cranes 200 at a different position from the stacker cranes 200, The loaded cargo in a position close to the crane 200 is transported to and discharged from the delivery conveyor 30,
The loaded cargo loaded at the corresponding stage, column and address designated as the stocker at the time of stocking is loaded from a position close to the stacker crane 200, Is conveyed by the stacker crane (200) to the output conveyor (30) at the corresponding stage, column and address designated as the conveying or outputting section,
When the shuttle 100 and the stacker crane 200 are disposed between the plurality of storage racks 10, the loaded freight out of the cargoes loaded in the topmost storage rack 10 at the time of arrival is stored in the shuttle 100 or the stacker crane (100) or the stacker crane (200) from a storage unit (200) to a storage rack (10) at a position far from the storage unit Or transported by,
A loading conveyor 20 and a delivering conveyor 30 are installed on both sides of one storage rack 10 and a shuttle 20 is provided between the loading conveyor 20 and the storage rack 10 and between the output conveyor 30 and the storage rack 10. [ When the stacker crane 200 and the stacker crane 200 are arranged in the loading conveyor 20, the loaded cargo among the cargoes moved by the loading conveyor 20 is transported by the shuttle 100 or the stacker crane 200, Wherein the shuttle (100) or the stacker crane (200) carries the goods from the warehoused goods to the goods conveyor (30) and then leaves the warehouse.

6. The method of claim 5,
The management server 320 or the field PC 300 generates storage information designating a loading position such as a column, an address and the like of the storage rack 10 on which the cargo is to be loaded based on the warehouse information, To generate a control signal,
The worker 310 recognizes the mark attached to the cargo to the recognition device and obtains the receipt information about the cargo and transmits the information to the on-site PC 300. At least one of the goods conveyor 20 and the goods conveyor 30 One conveyor performs at least one of the processes of recognizing the mark attached to the cargo and obtaining the cargo information about the cargo and transmitting it to the on-site PC 300 while carrying the cargo,
The on-site PC 300 checks whether or not the goods receipt information received from the management server 320 is in agreement with at least one of the reception information and the cargo information, and if it does, the subsequent work is performed. And waiting for the next command of the management server (320) after completion of the subsequent operation.

5. The method according to any one of claims 1 to 4,
The body 110 of the shuttle 100 or the movement wheels 143 of the shuttle 100 may be provided in the storage rack 10 in order to prevent the shuttle 100 from excessively moving at a corresponding address of the goods receipt part or the delivery part, An encoder 141 installed on the mobile wheel shaft 142 to sense the rotation of the mobile wheel shaft 142 so that the stopper can be forcibly stopped when it moves beyond the set range, Wherein at least one of the sensors installed on the body (110) is installed to detect a bar code label or a mirror reflector installed in the storage rack (300).

5. The method according to any one of claims 1 to 4,
In order to check the presence or absence of the cargo in the goods receipt unit or the goods receipt unit, a cargo presence / absence sensor and a worker 310 capable of recognizing the barcode label attached to the cargo are provided at a position where the cargo is lifted or taken out from the storage rack 10 To the management server (320) or the on-site PC (310), information on the presence or absence of the cargo recognized by at least one of the scanners installed in the transportation means of the shuttle rack.

5. The method according to any one of claims 1 to 4,
The storage rack 10 is provided with a number plate mounted on each row so that the operator 310 can recognize the number, a lamp mounted on each column so as to blink to display the column when entering / leaving the warehouse, , And a display board arranged to display a column and an address in numerals, and is controlled by the management server (320) or the field PC (300).