KR20170067279A

KR20170067279A - Pallet exchanging apparatus and prt vehicle vertical transfer device using the same

Info

Publication number: KR20170067279A
Application number: KR1020150173764A
Authority: KR
Inventors: 엄주환; 정락교; 강석원; 김백현; 변윤섭; 오윤석; 송준현
Original assignee: 한국철도기술연구원; 현대엘리베이터주식회사
Priority date: 2015-12-08
Filing date: 2015-12-08
Publication date: 2017-06-16
Also published as: KR101790722B1

Abstract

The present invention proposes a pallet replacement device. A pallet replacing apparatus according to an embodiment of the present invention includes: a first conveying unit positioned in a front-rear direction of a pallet to draw in or out a pallet; And a second conveying portion located at one side of the first conveying portion and positioned in front and rear directions of the pallet to draw or draw the pallet, wherein the first conveying portion includes a first conveyor for drawing or pulling the pallet into or out of the second conveying portion, And a second conveyor located at a lower portion of the conveyor and drawing or pulling the pallet into or out of the second conveying portion, wherein the second conveying portion is located at a lower portion of the third conveyor and the third conveyor that draw or pull the pallet into or out of the first conveyor, And a fourth conveyor for pulling or pulling the pallet into or out of the second conveyor, wherein the pallet located at the first conveying portion and the pallet located at the second conveying portion are simultaneously replaced.

Description

[0001] PALLET EXCHANGING APPARATUS AND PRT VEHICLE VERTICAL TRANSFER DEVICE USING THE SAME [0002]

The present invention relates to a pallet replacement device and a PRT vehicle vertical transfer system using the same.

PRT (Personal Rapid Transit) is a system that allows several small vehicles to move from the source to the destination nonstop and plan small and slim structures compared to other light rail systems. It is possible to provide passenger car service such as high system accessibility and privacy guarantee, and it is possible to maximize reduction of maintenance cost by implementing unmanned operation and perfect operation automation.

It is an environmentally friendly public transportation system that is driven by 100% electricity and has no air pollutants emitted from the system itself.

On the structural side, it ensures the safe movement of the vehicle on the track and bridge structure, and it provides comfortable ride comfort to passengers through precise manufacture and installation. All parts except the track can be manufactured in various materials and shapes suited to the area characteristics. It is easy to construct and has a short construction period because it is assembled on site beforehand by module.

It also minimizes the generation of dust and dust during installation and it also has advantages of simple branch structure and slim advantage by utilizing on-board branching device. In addition, applying a system that allows PRT to be vertical can have a great effect in promoting PRT in current traffic environment in Korea.

On the other hand, Korean Patent Laid-Open Publication No. 2014-0003791 (entitled "VEHICLE VERTICAL TRANSFER DEVICE AND METHOD") relates to an entrance conveyor device for transferring a vehicle into a vertical transfer device; A vertical conveying device for vertically conveying the vehicle; And the vehicle is taken out from the vertical conveying device).

In the conventional vehicle vertical conveying apparatus, when the vehicle stops at a designated position of the entrance, the entrance and the transverse conveyor of the lift cooperate to move the automobile on the lift, and the lift stops at the designated exit layer through the ascending or descending, When the transverse conveyor at the exit is interlocked, the vehicle moves to the exit and then stops.

However, such a conventional vehicle vertical transfer device requires safety verification, and there is a problem that continuous circulation operation is impossible.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a pallet replacement device that minimizes the waiting time of goods receipt of a PRT vehicle.

In addition, by providing a PRT vehicle vertical transfer system capable of continuously transferring a PRT vehicle by two lift sections interlocked with each other by using a single light driving section and capable of stable and rapid vertical transfer, which is an advantage of the elevator system .

According to a first aspect of the present invention, there is provided a pallet replacing apparatus comprising: a first conveying unit located in a front and rear direction of a pallet to introduce or withdraw a pallet; And a second conveying portion located at one side of the first conveying portion and positioned in front and rear directions of the pallet to draw or draw the pallet, wherein the first conveying portion includes a first conveyor for drawing or pulling the pallet into or out of the second conveying portion, And a second conveyor located at a lower portion of the conveyor and drawing or pulling the pallet into or out of the second conveying portion, wherein the second conveying portion is located at a lower portion of the third conveyor and the third conveyor that draw or pull the pallet into or out of the first conveyor, And a fourth conveyor for pulling or pulling the pallet into or out of the second conveyor, wherein the pallet located at the first conveying portion and the pallet located at the second conveying portion are simultaneously replaced.

The pallet replacement method according to the second aspect of the present invention comprises the steps of transferring a first pallet located in a first conveyor of a first transfer section to a third conveyor of a second transfer section, And a second pallet transported to the second conveyor of the first transporting unit is moved to the first conveying unit of the first transporting unit by using the upper and lower pallet transporting units .

The pallet replacement method according to the third aspect of the present invention is characterized by comprising the steps of: transferring a first pallet located in a third conveyor of a second transfer section to a first conveyor of a first transfer section; To a fourth conveyor of the second conveyance unit; And conveying the first pallet conveyed to the first conveyor of the first conveyance unit to the second conveyor of the first conveyance unit using the pallet upper and lower conveyance unit.

The PRT vehicle vertical transfer system according to the fourth aspect of the present invention is characterized in that the PRT vehicle is installed in an upper or lower portion of the upper I / A first lift portion located at one side of the lower I / O portion and the lower I / O portion, a first lift portion having a pallet at the lower portion, a second lift portion located at the other side of the lower I / O portion, A lift driver for moving the lift portion, the first and second lift portions up and down in the vertical direction and the pallet of the upper input / output portion, the pallet of the lower input / output portion, the pallet of the first lift portion and the pallet of the second lift portion, And a pallet replacing device provided on each of the upper inlet / outlet section, the lower outlet section, the first lift section, and the second lift section.

According to a fifth aspect of the present invention, there is provided a PRT vehicle vertical transfer method comprising the steps of: transferring a PRT vehicle located in a lower entry / exit section to a first lift section; The first lift portion is moved in an upward direction and the second lift portion is moved in a downward direction; The PRT vehicle positioned inside the first lift portion is transferred to the upper I / O portion; The PRT vehicle located at the lower entry / exit section is transferred to the second lift section; The second lift portion is moved in the upward direction and the first lift portion is moved in the downward direction; And a PRT vehicle located inside the second lift section is transferred to the upper I / O section.

According to a sixth aspect of the present invention, there is provided a PRT vehicle vertical transfer method comprising the steps of: transferring a PRT vehicle located in a top entry / exit section to a first lift section; The first lift portion is moved downward and the second lift portion is moved upward; The PRT vehicle positioned inside the first lift portion is transferred to the lower I / O portion; The PRT vehicle positioned at the entrance and exit of the vehicle is transferred to the second lift portion; The second lift portion is moved in the downward direction and the first lift portion is moved in the upward direction; And a PRT vehicle positioned inside the second lift portion is transferred to the lower I / O portion.

According to the above-mentioned problem solving means of the present invention, the effect of simultaneously replacing the pallet on which the PRT vehicle is loaded and the empty pallet at the time of entry or departure of the PRT vehicle, .

In addition, the PRT vehicle vertical conveyance system is capable of continuously conveying the PRT vehicle by moving up and down the two lift parts linked to each other by using one light driving part, thereby achieving stable and fast vertical conveying, which is an advantage of the elevator system There are advantages.

1 is a perspective view of a pallet replacement apparatus according to an embodiment of the present invention.
2 is an operational example of a pallet replacement apparatus according to an embodiment of the present invention.
3 is a plan view and a front view of a first transfer unit according to an embodiment of the present invention.
4 is a plan view of a pallet upper and lower conveying portion according to an embodiment of the present invention.
5 is a view for explaining the operation of the upper and lower drive cams of the pallet upper and lower transfer unit according to the embodiment of the present invention.
6 is a view for explaining the operation of the guide hinge part of the pallet upper and lower conveying part according to the embodiment of the present invention.
7 is a view for explaining a shifting unit according to an embodiment of the present invention.
8 is a flowchart of a pallet replacement method according to an embodiment of the present invention.
9 is a flowchart of a pallet replacement method according to another embodiment of the present invention.
10 is a schematic diagram of a PRT vehicle vertical transport system in accordance with an embodiment of the present invention.
11 is a schematic diagram of a PRT vehicle vertical transfer system according to another embodiment of the present invention.
12 is a flowchart of a PRT vehicle vertical transfer method according to an embodiment of the present invention.
13 to 17 are views for explaining a vertical transfer method of a PRT vehicle according to an embodiment of the present invention.
18 is a flowchart of a PRT vehicle vertical transfer method according to another embodiment of the present invention.
19 to 23 are views for explaining a vertical transfer method of a PRT vehicle according to another embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. It should be understood, however, that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In the drawings, the same reference numbers are used throughout the specification to refer to the same or like parts.

Throughout this specification, when a part is referred to as being "connected" to another part, it is not limited to a case where it is "directly connected" but also includes the case where it is "electrically connected" do.

Throughout this specification, when a member is " on " another member, it includes not only when the member is in contact with the other member, but also when there is another member between the two members.

Throughout this specification, when an element is referred to as "including " an element, it is understood that the element may include other elements as well, without departing from the other elements unless specifically stated otherwise. The terms "about "," substantially ", etc. used to the extent that they are used throughout the specification are intended to be taken to mean the approximation of the manufacturing and material tolerances inherent in the stated sense, Accurate or absolute numbers are used to help prevent unauthorized exploitation by unauthorized intruders of the referenced disclosure. The word " step (or step) "or" step "used to the extent that it is used throughout the specification does not mean" step for.

FIG. 1 is a perspective view of a pallet replacing apparatus according to an embodiment of the present invention. FIG. 2 is an operational view of a pallet replacing apparatus according to an embodiment of the present invention. 4 is a plan view of the upper and lower pallet transporting unit according to the embodiment of the present invention. FIG. 5 is a plan view of the upper and lower transporting unit of the pallet transporting unit according to the embodiment of the present invention. 6 is a view for explaining the operation of the guide hinge portion of the upper and lower pallet transporting portion according to the embodiment of the present invention. FIG. 7 is a view for explaining a shifting portion according to an embodiment of the present invention, 8 is a flow chart of a pallet replacement method according to an embodiment of the present invention, FIG. 9 is a flowchart of a pallet replacement method according to another embodiment of the present invention, FIG. 10 is a flowchart of a pallet replacement method according to an embodiment of the present invention, Figure 11 is a schematic diagram of a PRT vehicle vertical transfer system in accordance with another embodiment of the present invention, Figure 12 is a flow diagram of a PRT vehicle vertical transfer method in accordance with an embodiment of the present invention, 17 is a view for explaining a vertical transfer method of a PRT vehicle according to an embodiment of the present invention, FIG. 18 is a flowchart of a vertical transfer method of a PRT vehicle according to another embodiment of the present invention, FIGS. 19 to 23 FIG. 5 is a view for explaining a vertical transfer method of a PRT vehicle according to another embodiment of the present invention. FIG.

First, a pallet replacing apparatus 10 (hereinafter referred to as "pallet replacing apparatus 10") according to an embodiment of the present invention will be described with reference to FIGS. 1 to 3. FIG.

Referring to FIG. 1, the pallet replacement apparatus 10 includes first and second transfer units 100 and 200 for pulling in or out the pallet 20.

The first transfer part 100 is located in the front-rear direction of the pallet 20, and pulls or pulls the pallet 20.

The first transfer unit 100 is configured to draw the pallet 20 located in the first transfer unit 100 to the second transfer unit 200 or to transfer the pallet 20 received from the second transfer unit 200 to the first transfer unit 200. [ (100).

The second transfer part 200 is located at one side of the first transfer part 100 and is located in the front and rear direction of the pallet 20 to draw in or out the pallet 20.

The second conveyance unit 200 is configured to draw the pallet 20 located in the second conveyance unit 200 to the first conveyance unit 100 or to move the pallet 20 received from the first conveyance unit 100 to the second conveyance unit 100. [ (200).

2, the first conveyance unit 100 includes a first conveyor 110 for pulling or pulling the pallet 20 into and out of the second conveyance unit 200 and a second conveyor 110 located below the first conveyor 110, And a second conveyor 120 that draws or draws the first conveyor 20 into the second conveyor 200.

The first conveyor 110 includes a plurality of first rollers 111 spaced apart from each other by a predetermined distance in the horizontal direction and the second conveyor 120 includes a plurality of second Roller 121 as shown in FIG.

The second conveyance unit 200 is disposed below the third conveyor 210 and the third conveyor 210 that draw or pull the pallet 20 into or out of the first conveyance unit 100. The second conveyance unit 200 includes the pallet 20, And a fourth conveyor 220 which draws or draws the first conveyor 220 into the first conveyor 220.

The third conveyor 210 includes a plurality of third rollers 211 spaced apart from each other by a predetermined distance in the horizontal direction and the fourth conveyor 220 includes a plurality of fourth Roller 221 as shown in FIG.

2 (a), the first pallet 21, which is seated on the first conveyor 110 of the first conveyance unit 100, moves in the direction of the second conveyance 110 as the first roller 111 rotates, The second pallet 22 is transferred to the third conveyor 210 of the second conveyance unit 200 and the second pallet 22 placed on the fourth conveyor 220 of the second conveyance unit 200 is conveyed to the first conveyance unit 100 as the fourth roller rotates. To the second conveyor 120 of FIG.

2 (b), the second pallet 22 seated on the second conveyor 120 of the first conveyance unit 100 is rotated by the second conveyance unit 200 And the second pallet 22 mounted on the fourth conveyor 220 of the second conveyance unit 200 is conveyed to the third conveyor 210 of the first conveyance unit 100 as the fourth roller 221 rotates, To the second conveyor 120 of the second conveyor.

At this time, the first roller 111 and the second roller 121 are rotated in opposite directions, and the third roller 211 and the fourth roller 221 are rotated in opposite directions.

2 (a), the first roller 111 rotates in a counterclockwise direction to rotate the first pallet 21 located on the first conveyor 110 of the first conveyance unit 100, And the second roller 121 rotates clockwise to move the second pallet 22 drawn from the fourth conveyor 220 of the second conveyance unit 200 to the third conveyor 210 of the second conveyance unit 200, To the first conveyor (110) of the first conveyance part (100).

The fourth roller 221 rotates in the clockwise direction to move the second pallet 22 located on the fourth conveyor 220 of the second conveyance unit 200 to the second conveyor 120 of the first conveyance unit 100, And the third roller 211 rotates counterclockwise so that the first pallet 21 drawn out from the first conveyor 110 of the first conveyance unit 100 is conveyed to the third conveyor 200 of the second conveyance unit 200, (210).

2, the first conveyance unit 100 includes a plurality of first guide rollers 112 and a plurality of second rollers 121 positioned on the upper side of the first rollers 111 and closely contacting the side surface of the pallet 20, And a plurality of second guide rollers 122 disposed on the upper side of the pallet 20 and closely attached to the side surface of the pallet 20.

The second conveyance unit 200 is positioned above the third roller 211 and is located above the third guide roller 212 and the fourth roller 221 which are in close contact with the side surface of the pallet 20, And a plurality of fourth guide rollers 222 which are in close contact with the side surface of the pallet 20.

The first to fourth guide rollers 112, 122, 212 and 222 closely contact the side surface of the pallet 20 to guide the movement of the pallet 20 so that the pallet 20 can be smoothly moved.

Referring to FIGS. 1 to 3, the first and second conveyance units 200 may include roller driving chains 150 and 250 wound around rollers, and roller driving units 160 and 260 for driving the rollers.

In other words, the first transfer unit 100 includes a first roller driving chain unit 150 wound around the first and second rollers 121 and a first roller driving unit 150 rotating the first roller 111 or the second roller 121 And may include a roller driving unit 160.

The second conveying unit 200 includes a second roller driving chain unit 250 wound around the third and fourth rollers 221 and a second roller 219 rotating the third roller 211 or the fourth roller 221. [ And a driving unit 260.

Illustratively, referring to FIG. 3, the first roller driver 160 may be connected to and rotated by one of the plurality of first and second rollers 111 and 121. The first and second rollers 111 and 121 are connected to each other by a first roller drive chain part 150 so that a plurality of first and second rollers 111 and 121 Can be rotated. At this time, the first and second rollers 111 and 121 have gear portions (not shown) formed on one side thereof, and the first roller driving chain portion 150 can be wound on the gear portions.

The second conveying unit 200 includes a second roller driving chain unit 250 wound around the third and fourth rollers 211 and 221 and a second roller driving unit 250 rotating the third roller 211 or the fourth roller 221 2 roller driving unit 260. [

The second roller driving chain part 250 and the second roller driving part 260 of the second transfer part 200 are connected to the first roller driving chain part 150 and the first roller driving part 160 of the first transfer part 100 The detailed description will be omitted.

4 to 7, a description will be given of a shifting part 300 and a pallet upper and lower conveying part 400 according to an embodiment of the present invention.

The pallet replacement apparatus 10 may include a pallet upper and lower transfer unit 400 for moving the pallet 20 drawn in the first transfer unit 100 in the upper or lower direction.

In other words, the present pallet replacing apparatus 10 moves the pallet 20 drawn into the first conveyor 110 of the first conveyance unit 100 to the second conveyor 120, or moves the pallet 20 to the second conveyor 120 of the first conveyance unit 100, The pallet 20 drawn into the conveyor 120 can be moved to the first conveyor 110.

Illustratively, when the pallet 20 on which the PRT vehicle 30 is mounted is brought into the first conveyance section 100 from the second conveyance section 200, the pallet 20 on which the PRT vehicle 30 is placed, The pallet 20 is transported to the first conveyor 110 of the transporting unit 100 and the pallet 20 loaded with the next PRT vehicle 30 is taken out to the first transporting unit 100 after the PRT vehicle 30 is taken out. The pallet 20 can be moved from the first conveyor 110 to the second conveyor 120.

When the pallet 20 on which the PRT vehicle 30 is mounted is brought into the second conveyance section 200 from the first conveyance section 100, the pallet 20 on which the PRT vehicle 30 is placed is conveyed to the second conveyance section 200 The empty pallet 20 is transferred from the second transfer unit 200 to the second conveyor 120 of the first transfer unit 100 and the next PRT vehicle 30 is transferred to the third conveyor 210 of the first transfer unit 100, The empty pallet 20 can be moved from the second conveyor 120 to the first conveyor 110 to be drawn into the pallet 20. [

The pallet upper and lower transfer unit 400 is positioned between the first transfer units 100 and can move the pallet 20 in the vertical direction to be placed on the first conveyor 110 or the second conveyor 120.

The upper and lower pallet transporting unit 400 includes an upper frame 410 contacting the lower surface of the pallet 20, a frame upper and lower driving unit 420 for moving the upper frame 410 in the vertical direction, 430). That is, the upper frame 410 is mounted on the lower surface of the pallet 20, and the upper frame part is moved in the upper or lower direction by the frame up and down driving part 420 so that the pallet 20 is moved upward or downward .

The frame up and down driving unit 420 includes a cam driving motor 421 coupled to the lower frame 430 and a plurality of up and down driving cam units 422 rotated by the cam driving motor 421 and coupled to the upper frame 410 .

4, the upper and lower drive cam portions 422 can be respectively coupled to the corner portions of the upper frame 410. [ 5, the upper frame 410 can be moved up or down by the upper and lower drive cam portions 422 as the cam drive motor 421 rotates. At this time, the upper and lower driving cam portions 422 can be rotated by receiving the power of the cam driving motor 421 through the driving chain 425 or the driving shaft 424. However, the present invention is not limited to this, and the frame up and down driving unit 420 may be a hydraulic motor driven by hydraulic pressure.

4 and 6, the pallet upper and lower conveyance unit 400 includes at least one guide hinge unit 423, one side of which is coupled to the lower surface of the upper frame 410, and the other side of which is coupled to the lower frame 430 .

Illustratively, the guide hinge portions 423 can be respectively positioned at the front and rear of the upper frame 410, thereby preventing the upper frame 410 from tilting.

Referring to FIGS. 1 and 7, a shifting unit 300 according to an embodiment of the present invention will be described.

The pallet replacement device 10 may include a shifting part 300 for moving the first transfer part 100 in the outward direction so that the pallet 20 is moved upward or downward.

The first conveyance unit 100 may include a first conveyor frame 170 to which the first and second conveyors 110 and 120 are fixed.

The shifting portion 300 may include a shifting drive cam portion 310 that is rotated by the shifting drive motor 320 and the shifting drive motor 320 and is connected to the first conveyor frame 170 on one side .

Specifically, when the pallet 20 is conveyed in the upper or lower direction using the pallet upper and lower conveying section 400, the pallet 20 is restricted from moving in the vertical direction by the first conveyor 110, The first conveyor 110 may be transferred outwardly using the transfer unit 300 and then transferred in the upper or lower direction.

Referring to FIG. 7, the first conveyor frame 170 can be moved inward or outward, in which the pallet 20 is positioned, as the shifting drive cam portion 310 rotates.

The first conveyance unit 100 may include a fixed frame 180 fixed to the floor and a plurality of shifting rollers 190 disposed in the first conveyor frame 170 and contacting the fixed frame 180 have.

The plurality of shifting rollers 190 can guide the first conveyor frame 170 to move smoothly when the first conveyor frame 170 is moved.

The pallet replacing apparatus 10 may include an upper cover 101 located at an upper portion of the first transferring unit 100. The first conveying unit 100 may include a plurality of upper cover supporting rollers 130 that are in contact with the upper cover 101.

For example, when the PRT vehicle 30 enters or leaves the first conveyance part 100, a space for moving the first conveyance part 100 in the outward direction or the inward direction is required. The top cover 101 may be positioned above the moving space of the first transfer unit 100 so that the PRT vehicle 30 is not removed from the moving space.

The first conveyance unit 100 includes a plurality of upper cover supporting rollers 130 that are in contact with a lower surface of the upper cover 101 so that the first conveyance unit 100 is smoothly moved, The support member 101 can be supported so that it is not sagged in the downward direction by an external force.

A pallet replacement method according to an embodiment of the present invention will be described with reference to FIG.

The first pallet 21 located at the first conveyor 110 of the first conveyance unit 100 may be transferred to the third conveyor 210 of the second conveyance unit 200 at step S110.

Illustratively, the PRT vehicle 30 is inserted into the first transfer part 100 and is located above the first pallet 21, and the first pallet 21 on which the PRT vehicle 30 is seated is supported by the first transfer part 100 To the third conveyor 210 of the second conveyance part 200. The second conveyor part 210 of the second conveyance part 200 can be conveyed to the first conveyor 210 of the second conveyance part 200,

The second pallet 22 located in the fourth conveyor 220 of the second conveyance unit 200 is conveyed to the second conveyor 120 of the first conveyance unit 100 at step S120, .

The empty second pallet 22 located on the fourth conveyor 220 of the second conveyance unit 200 may be moved to the second conveyance unit 200 when the PRT vehicle 30 is conveyed to the second conveyance unit 200. [ And conveyed to the second conveyor 120.

That is, the second pallet 22 is moved to the lower portion of the first conveyor 110 on which the PRT vehicle 30 is placed, so that the first pallet 21 and the second pallet 22 can be simultaneously replaced.

In step S130, the second pallet 22 transferred to the second conveyor 120 of the first transfer unit 100 is transferred to the first conveyor 100 of the first transfer unit 100 by using the pallet upper and lower transfer unit 400 110).

Illustratively, the pallet upper and lower conveyance unit 400 may convey the empty pallet 20 conveyed to the first conveyance unit 100 to the first conveyor 110 to allow the next PRT vehicle 30 to be pulled into the pallet 20 .

Step S130 is a step S131 in which the upper and lower pallet transporting portions 400 are moved upward and come into contact with the lower surface of the second pallet 22, A step S133 of moving the first pallet 22 in an upward direction by moving the pallet upper and lower conveying unit 400 in an upward direction, The second pallet 22 is seated on the first conveyor 110 of the first conveyance unit 100 and the second pallet 22 is seated on the first conveyor 110 of the first conveyance unit 100, (Step S135).

Referring to FIG. 9, a pallet 20 replacement method according to another embodiment of the present invention will be described.

The first pallet 21 located on the third conveyor 210 of the second transfer unit 200 may be transferred to the first conveyor 110 of the second transfer unit 200 in step S210.

The first pallet 21 on which the PRT vehicle 30 is placed can be transferred from the first conveyor 110 of the first conveyance part 100 to the third conveyor 210 of the second conveyance part 200 have.

The second pallet 22 located in the second conveyor 120 of the first conveyance unit 100 is conveyed to the fourth conveyor 220 of the second conveyance unit 200 at the step S220, .

The empty second pallet 22 located in the second conveyor 120 of the first conveyance unit 100 is moved in the direction of the second conveyance unit 200 to the second conveyance unit 200. [ And conveyed to the fourth conveyor 220.

The first pallet 21 transferred to the first conveyor 110 of the first transfer unit 100 is transferred to the second conveyor 100 of the first transfer unit 100 using the pallet upper and lower transfer unit 400 120).

Illustratively, after the PRT vehicle 30 transferred to the first conveyor of the first conveyance section 100 is removed, the pallet upper and lower conveyance section 400 moves the pallet 20, on which the next PRT vehicle 30 is placed, The empty pallet 20 conveyed to the first conveyance unit 100 may be transferred from the first conveyance to the second conveyance 120 to be drawn into the conveyance unit 100. [

Step S230 is a step S231 in which the upper and lower pallet transporting portions 400 are moved upward to come in contact with the lower surface of the first pallet 21, A step S232 of moving the first conveying unit 100 located at the upper side and a lowering direction of the first conveying unit 100 moving the pallet upper and lower conveying unit 400 downward moves the first pallet 21 downward The first pallet 21 is seated on the second conveyor 120 of the first conveyance unit 100 and the second conveyance unit 100 is moved in the second direction (Step S235).

10 and 11, a description will be given of a PRT vehicle vertical transfer system 1000 (hereinafter referred to as " PRT vehicle vertical transfer system 1000 ") according to an embodiment of the present invention.

The present PRT vehicle vertical transfer system 1000 includes an upper input / output unit 1100 and a lower input / output unit 1100. The PRT vehicle vertical transfer system 1000 includes an upper input / output unit 1100 having a pallet 20 at a lower portion thereof, A pallet 20 is disposed at one side of the lower input / output unit 1200, the upper input / output unit 1100, and the lower input / output unit 1200 having the pallet 20 at the lower part thereof, A second lift part 1400 located on the other side of the first lift part 1300, the upper I / O part 1100 and the lower I / O part 1200 and having a pallet 20 at the lower part, And a lift driving unit 1500 for vertically moving the second lift unit 1400 in the vertical direction.

10, the present PRT vehicle vertical transfer system 1000 includes a first lift portion 1300 or a second lift portion 1100 when the PRT vehicle 30 is inserted into the upper input / output unit 1100. In other words, The PRT vehicle 30 may be transferred to the lower input / output unit 1200 by using the lower input / output unit 1200 and the PRT vehicle 30 transferred through the lower input and output unit 1200 may be output.

11, the present PRT vehicle vertical transfer system 1000 includes a first lift portion 1300 or a second lift portion 1400 when the PRT vehicle 30 is inserted into the lower entry / The PRT vehicle 30 is transferred to the upper input / output section 1100 by using the upper input / output section 1100 and the PRT vehicle 30 transferred through the upper input / output section 1100 can be released.

The lift driving part 1500 is connected to the wire rope 1510 and the wire rope 1510, one side of which is connected to the first lift part 1300 and the other side of which is connected to the second lift part 1400, And a lift driving motor 1520 for vertically moving the two lift portions 1300 and 1400 in opposite directions to each other. Illustratively, the wire rope 1510 may be a 12 mm wire rope 1510 and four wire ropes 1510 may be connected to the first and second lift portions 1300 and 1400 to move up and down.

The PRT vehicle vertical transport system 1000 may further include a balance chain 1530 having one end connected to the first lift portion 1300 and the other end connected to the second lift portion 1400. [

The balance chain 1530 may serve to correct the inclination of the first lift part 1300 or the second lift part 1400 in one direction.

This PRT vehicle vertical transfer system 1000 includes a pallet 20 of the upper input / output unit 1100, a pallet 20 of the lower input / output unit 1200, a pallet 20 of the first lift unit 1300, The PRT vehicle 30 is moved horizontally by replacing the pallet 20 of the first lift part 1300 with the pallet 20 of the first lift part 1300 and the second lift part 1300, And a pallet replacement device 10 provided in the pallet replacement device 1400, respectively.

The pallet replacement apparatus 10 includes a first pallet replacement section 1110 located on the bottom surface of the upper input / output section 1100, a second pallet replacement section 1210 located on the bottom surface of the lower input / A third pallet replacement part 1310 positioned on the bottom surface of the first lift part 1300 and a fourth pallet replacement part 1410 positioned on the bottom surface of the second lift part 1400 .

Specifically, the first and second pallet replacement units 1110 and 1210 include a first conveyor 110 for introducing or withdrawing the pallet 20 into the third or fourth pallet replacement units 1310 and 1410; A second conveyor 120 located below the first conveyor 110 and drawing or pulling the pallet 20 into the third or fourth pallet replacement portions 1310 and 1410; A shifting part 300 for moving the first and second conveyors 120 outwardly or inwardly; And a pallet upper and lower conveying unit 400 for moving the pallet 20 in the vertical direction and placing the pallet 20 on the first conveyor 110 or the second conveyor 120.

The third and fourth pallet replacement portions 1310 and 1410 are located below the third conveyor 210 and the third conveyor 210 that draw or pull the pallet 20 into and out of the first conveyor 110, And a fourth conveyor 220 for pulling or pulling the pallet 20 into or out of the second conveyor 120.

The first and second pallet replacement units 1110 and 1210 have the same configuration as the first transfer unit 100 of the pallet replacement apparatus 10 described above and the third and fourth pallet replacement units 1310 and 1410, May be the same in configuration as the second transfer unit 200 of the pallet replacement apparatus 10 described above. Therefore, detailed description of the first to fourth pallet replacement units 1110, 1210, 1310, and 1410 will be omitted.

The PRT vehicle vertical transfer system 1000 includes a first shock preventing part 1610 located on one side of the lower input / output unit 1200 and a second impact preventing part 1610 located on the other side of the lower input / output unit 1200 The second shock-preventing portion 1620 may be provided. Illustratively, the first and second shock-proof portions 1610 and 1620 may be coil springs having an elastic force.

When the first lift part 1300 moves downward, it is difficult for the first lift part 1300 to coincide exactly with the lower I / O part 1200. Therefore, the first I / O part 1200 moves to a lower position than the lower I / As shown in Fig. At this time, the first shock-preventing portion 1610 contacts the lower surface of the first lift portion 1300 to prevent the first lift portion 1300 from abruptly stopping, and when the first lift portion 1300 rises And the power required for raising the first shock-preventing portion 1610 as it ascends by the elastic force of the first shock-preventing portion 1610 can be reduced.

12 to 17, a PRT vehicle transfer method according to an embodiment of the present invention will be described.

A method of transferring a PRT vehicle according to an embodiment of the present invention is a method of entering a PRT vehicle 30 into a lower input / output unit 1200 and outputting a PRT vehicle 30 to a upper input / output unit 1100.

Referring to FIG. 13, in step S310, the PRT vehicle 30 located in the lower input / output unit 1200 is transferred to the first lift unit 1300.

Step S310 is a step S311 in which the PRT vehicle 30 enters the lower input / output section, a step S312 in which the pallet 20 on which the PRT vehicle 30 is placed is transferred to the first lift section 1300 And a step S313 in which the empty pallet 20 located in the first lift part 1300 is transferred to the lower input / output unit 1200.

Referring to FIG. 14, in step S320, the first lift portion 1300 is moved upward and the second lift portion 1400 is moved downward.

In step S320, the first lift part 1300 is moved in the upward direction and the second lift part 1400 is moved in the downward direction (S321). In step S321, the pallet 20 (S322) in which the upper input / output unit 1100 is moved upward and the pallet 20 located in the upper input / output unit 1100 are moved downward.

Referring to FIG. 15, in step S330, the PRT vehicle 30 located in the first lift portion 1300 is transferred to the upper input / output unit 1100.

Step S330 is a step S331 in which the pallet 20 on which the PRT vehicle 30 placed on the first lift part 1300 is placed is transferred to the upper input / output unit 1100, and the upper input / output unit 1100 A step S332 of transferring the empty pallet 20 to the first lift unit 1300 and a step S333 of leaving the PRT vehicle 30 transferred to the upper input / output unit 1100 may be included.

Referring to FIG. 15, in step S340, the PRT vehicle 30 located in the lower input / output unit 1200 is transferred to the second lift unit 1400.

Step S340 is a step S341 in which the PRT vehicle 30 enters the lower input / output unit 1200 and the pallet 20 on which the PRT vehicle 30 is placed is transferred to the second lift unit 1400 The step S342 of moving the empty pallet 20 located in the second lift portion 1400 to the lower input / output unit 1200 may be included.

As shown in FIG. 15, steps S330 and S340 may proceed in the same time zone.

Referring to FIG. 16, in step S350, the second lift portion 1400 is moved upward and the first lift portion 1300 is moved downward.

In step S350, the second lift part 1400 is moved in the upward direction and the first lift part 1300 is moved in the downward direction (S351). The pallet 20 The step S352 of moving the pallet 20 in the upper direction and the step S353 of moving the pallet 20 located in the upper input / output unit 1100 in the downward direction.

Referring to FIG. 17, in step S360, the PRT vehicle 30 located in the second lift portion 1400 is transferred to the upper input / output unit 1100.

In step S360, the pallet 20 on which the PRT vehicle 30 positioned in the second lift part 1400 is placed is transferred to the upper input / output unit 1100 (S361). The upper input / output unit 1100 The step S362 of transferring the empty pallet 20 to the second lift unit 1400 and the step S363 of leaving the PRT vehicle 30 transferred to the upper input / output unit 1100 may be included.

18 to 23, a PRT vehicle transfer method according to another embodiment of the present invention will be described.

The PRT vehicle transfer method according to another embodiment of the present invention is a method for entering the PRT vehicle 30 into the upper input / output unit 1100 and the PRT vehicle 30 leaving the lower input / output unit 1200. [

Referring to FIG. 19, in step S410, the PRT vehicle 30 located in the upper input / output unit 1100 is transferred to the first lift unit 1300.

Step S410 is a step S411 in which the PRT vehicle 30 enters the upper input / output section 1100 and the pallet 20 on which the PRT vehicle 30 is placed is transferred to the first lift section 1300 Step S412 may be performed in which the empty pallet 20 positioned in the first lift part 1300 is transferred to the upper input / output unit 1100 (S413).

Referring to FIG. 20, in step S420, the first lift portion 1300 is moved in the downward direction and the second lift portion 1400 is moved in the upward direction.

In operation S420, the first lift portion 1300 is moved in the downward direction and the second lift portion 1400 is moved in the upward direction in operation S421. In operation S421, the pallet 20 The step S422 of moving the pallet 20 in the upper direction and the step S423 of moving the pallet 20 in the lower input / output unit 1200 in the downward direction.

Referring to FIG. 21, in step S430, the PRT vehicle 30 located in the first lift part 1300 is transferred to the lower I /

In operation S430, the pallet 20 on which the PRT vehicle 30 positioned in the first lift portion 1300 is placed is transferred to the lower input / output unit 1200 (S431). The lower input / output unit 1200, A step S432 of conveying the empty pallet 20 to the first lift portion 1300 and a step S433 of leaving the PRT vehicle 30 conveyed to the lower input / output unit 1200 may be included.

Referring to FIG. 21, in step S440, the PRT vehicle 30 located in the upper input / output unit 1100 is transferred to the second lift unit 1400.

Step S440 is a step S441 in which the PRT vehicle 30 enters the upper input / output section 1100 and the pallet 20 on which the PRT vehicle 30 is mounted is transferred to the second lift section 1400 And the step S443 in which the empty pallet 20 located in the second lift portion 1400 is transferred to the upper input / output unit 1100 in step S442.

As shown in Fig. 21, steps S430 and S440 may be performed in the same time zone.

Referring to FIG. 22, in step S450, the second lift portion 1400 is moved in the downward direction, and the first lift portion 1300 is moved in the upward direction.

In step S450, the second lift part 1400 is moved in the downward direction and the first lift part 1300 is moved upward in step S451. In step S451, the pallet 20 (S452) in which the lower input / output unit 1200 is moved upward, and a step S453 in which the pallet 20 located in the lower input / output unit 1200 is moved downward.

Referring to FIG. 23, in step S460, the PRT vehicle 30 located in the second lift portion 1400 is transferred to the lower I /

In step S460, the pallet 20 on which the PRT vehicle 30 placed on the second lift part 1400 is placed is transferred to the lower input / output unit 1200 (S461). The lower input / output unit 1200 The step S462 of transferring the empty pallet 20 to the second lift portion 1400 and the step of transferring the PRT vehicle 30 transferred to the lower input / output unit 1200 may be included.

It will be understood by those of ordinary skill in the art that the foregoing description of the embodiments is for illustrative purposes and that those skilled in the art can easily modify the invention without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

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 their equivalents should be construed as being included within the scope of the present invention.

10: pallet replacement device 20: pallet
21: first pallet 22: second pallet
30: PRT vehicle
100: first conveying portion 101: upper cover
110: first conveyor 111: first roller
112: first guide roller
120: second conveyor 121: second roller
122: second guide roller
130: roller for supporting upper cover
150: roller driving chain part 160: roller driving part
170: first conveyor frame 180: stationary frame
190: shifting roller
200: Second transfer part
210: Third conveyor 211: Third roller
212: Third guide roller
220: Fourth conveyor 221: Fourth roller
222: fourth guide roller
250: second roller drive chain part 260: second roller drive part
270: second conveyor frame
300: shifting part 310: shifting driving cam part
320: Shifting drive motor
400: pallet upper and lower conveying unit 410: upper frame
420: frame upper and lower drive unit 421: drive motor
422: upper and lower drive cam portion 423: guide hinge portion
424: drive shaft 425: drive chain
430: Lower frame
1000: PRT vehicle vertical transport system
1100: upper input / output section 1110: first pallet replacement section
1200: lower input / output section 1210: second pallet replacement section
1300: first lift part 1310: third pallet replacement part
1400: second lift part 1410: fourth pallet replacement part
1500: lift driving part 1510: wire rope
1520: Lift drive motor 1530: Balance chain
1610: first impact preventing portion 1620: second impact preventing portion

Claims

In the pallet replacement apparatus,
A first conveying unit positioned in the front and rear direction of the pallet to draw or pull out the pallet, respectively; And
And a second conveying unit located at one side of the first conveying unit and positioned in front and back directions of the pallet to draw in or draw out the pallet,
The first conveying portion
A first conveyor for pulling or pulling the pallet to the second conveyance unit;
And a second conveyor located below the first conveyor and drawing or pulling the pallet into the second conveyance unit,
The second conveying portion
A third conveyor for drawing or pulling the pallet into and out of the first conveyor;
And a fourth conveyor located at a lower portion of the third conveyor and drawing or pulling the pallet into or out of the second conveyor,
Wherein the pallet located at the first transferring part and the pallet placed at the second transferring part are simultaneously replaced.

The method according to claim 1,
Wherein the first conveyor includes a plurality of first rollers spaced apart in a horizontal direction by a predetermined distance,
Wherein the second conveyor includes a plurality of second rollers spaced apart in a horizontal direction by a predetermined distance,
The first conveying portion includes a first roller driving chain portion wound around the first and second rollers and a first roller driving portion rotating the first roller or the second roller,
Wherein the first and second rollers rotate in opposite directions to each other.

The method according to claim 1,
Wherein the third conveyor includes a plurality of third rollers spaced apart in a horizontal direction by a predetermined distance,
The fourth conveyor includes a plurality of fourth rollers spaced apart in a horizontal direction by a predetermined distance,
The second conveying portion includes a second roller driving chain portion wound around the third and fourth rollers and a second roller driving portion rotating the third roller or the fourth roller,
And the third and fourth rollers rotate in opposite directions to each other.

3. The method of claim 2,
The first conveying portion
A plurality of first guide rollers positioned above the first rollers and brought into close contact with side surfaces of the pallet; And
And a plurality of second guide rollers located on the upper side of the second roller and brought into close contact with side surfaces of the pallet.

The method of claim 3,
The second conveying portion
A plurality of third guide rollers positioned above the third rollers and brought into close contact with side surfaces of the pallet; And
And a plurality of fourth guide rollers located on the upper side of the fourth roller and brought into close contact with side surfaces of the pallet.

The method according to claim 1,
A shifting part for shifting the first conveying part outward or inward; And
And a pallet up-and-down conveying unit located between the first conveying unit and moving the pallet upward and downward to be placed on the first conveyor or the second conveyor.

The method according to claim 6,
The pallet upper and lower conveying portion
An upper frame contacting the lower surface of the pallet;
A frame up and down driving unit for moving the upper frame in the vertical direction; And
And a lower frame provided on the floor surface.

8. The method of claim 7,
The frame up /
A cam driving motor coupled to the lower frame; And
And a plurality of upper and lower drive cam portions rotated by the cam drive motor and coupled to the upper frame.

8. The method of claim 7,
The pallet upper and lower conveying portion
And at least one guide hinge part having one side coupled to a lower surface of the upper frame and the other side coupled to the lower frame.

The method according to claim 6,
The first conveying portion
And a first conveyor frame to which the first and second conveyors are fixed,
The shifting portion
A shifting drive motor; And
And a shifting drive cam portion rotated by the shifting drive motor and having one side connected to the first conveyor frame.

11. The method of claim 10,
The first conveying portion
A fixed frame fixed to the floor surface; And
And a plurality of shifting rollers located in the first conveyor frame and contacting the fixed frame.

11. The method of claim 10,
And an upper cover positioned above the first transfer unit,
The first conveying portion
And a plurality of upper cover supporting rollers contacting the upper cover.

In the pallet replacement method,
(a) transferring a first pallet located in a first conveyor of a first conveyance unit to a third conveyor of a second conveyance unit;
(b) transferring a second pallet located on a fourth conveyor of the second conveyance part to the second conveyor of the first conveyance part, when the first pallet is conveyed; And
(c) moving the second pallet conveyed to the second conveyor of the first conveyance unit to the first conveyor of the first conveyance unit using the pallet upper and lower conveyance unit.

14. The method of claim 13,
The step (c)
The upper and lower pallet transporting portions are moved upward to contact the lower surface of the second pallet;
Moving the first conveying unit located in the front and rear direction of the second pallet in an outward direction;
Moving the pallet upper and lower conveying portions in an upper direction to move the second pallet upward;
Moving the first conveying portion in an inward direction; And
And the pallet upper and lower conveying portion is moved in the downward direction so that the second pallet is seated on the first conveyor of the first conveying portion.

In the pallet replacement method,
(a) transferring a first pallet located in a third conveyor of the second conveyance section to a first conveyor of the first conveyance section;
(a) transferring a second pallet located on a second conveyor of the first conveyance part to a fourth conveyor of the second conveyance part when the first pallet is conveyed; And
(c) transferring the first pallet conveyed to the first conveyor of the first conveyance unit to the second conveyor of the first conveyance unit using the pallet upper and lower conveyance unit.

16. The method of claim 15,
The step (c)
The upper frame of the upper and lower pallet transporting portions is moved upward to contact the lower surface of the first pallet;
Moving the first conveying part located in the front-rear direction of the first pallet in an outward direction;
Moving the pallet upper and lower conveying portions in a downward direction to move the first pallet in a downward direction;
Moving the first conveying portion in an inward direction; And
Wherein the pallet upper and lower conveying portion is moved in a downward direction so that the first pallet is seated on the second conveyor of the first conveying portion.

In a PRT vehicle vertical transfer system,
An upper input / output section having a pallet at a lower portion of the PRT vehicle;
A lower input / output sub-unit located at a lower portion of the upper input / output sub-unit, the lower input / output sub-unit having the pallet at the lower portion of the PRT vehicle;
A first lift unit located at one side of the upper I / O unit and the lower I / O unit and having a pallet at a lower portion thereof;
A second lift portion located on the other side of the upper I / O portion and the lower I / O portion and having a pallet at a lower portion thereof;
A lift driving part for moving the first and second lift parts up and down in the vertical direction; And
The first lift portion, the second lift portion, and the pallet of the upper input / output portion, the pallet of the lower input / output portion, the pallet of the first lift portion and the pallet of the second lift portion are exchanged to horizontally move the PRT vehicle, And a pallet replacement device respectively provided in the first lift portion and the second lift portion.

18. The method of claim 17,
The lift driver
A wire rope having one side connected to the first lift portion and the other side connected to the second lift portion; And
And a lift drive motor coupled to the wire rope, for vertically moving the first and second lift portions in opposite directions to each other.

18. The method of claim 17,
And a balance chain in which one end is connected to the first lift part and the other end is connected to the second lift part.

18. The method of claim 17,
The pallet replacement device
A first pallet replacing unit positioned on a bottom surface of the upper I /
A second pallet replacing unit located on a bottom surface of the lower I /
A third pallet replacement part located on the bottom surface of the first lift part; And
And a fourth pallet replacing portion located on a bottom surface of the second lift portion.

21. The method of claim 20,
The first and second pallet replacement parts
A first conveyor for introducing or withdrawing the pallet into the third or fourth pallet replacement part;
A second conveyor located below the first conveyor for drawing or pulling the pallet into the third or fourth pallet replacement part;
A shifting portion for moving the first and second conveyors outwardly or inwardly; And
And a pallet up-and-down conveying unit for moving the pallet in the up-and-down direction to seat the pallet on the first conveyor or the second conveyor.

22. The method of claim 21,
The third and fourth pallet replacement parts
A third conveyor for drawing or pulling the pallet into and out of the first conveyor;
And a fourth conveyor located below the third conveyor for drawing or pulling the pallet into or out of the second conveyor.

18. The method of claim 17,
A first shock absorber positioned on a bottom surface located on one side of the lower I / And
And a second shock absorber positioned on a bottom surface located on the other side of the lower I / O take-off unit.

In a PRT vehicle vertical transfer method,
(a) a PRT vehicle located at a lower input / output section is transferred to a first lift section;
(b) the first lift portion is moved upward and the second lift portion is moved downward;
(c) the PRT vehicle located at the first lift portion is transferred to the upper I / O portion;
(d) a PRT vehicle located at the lower input / output section is transferred to the second lift section;
(e) the second lift portion is moved upward and the first lift portion is moved downward; And
(f) the PRT vehicle located at the second lift portion is transferred to the upper I / O portion.

25. The method of claim 24,
The step (a)
The step of the PRT vehicle entering the lower input / output section;
The pallet on which the PRT vehicle is placed is transferred to the first lift portion; And
And the empty pallet located at the first lift part is transferred to the lower input / output sub-part.

25. The method of claim 24,
The step (b)
The first lift portion is moved upward and the second lift portion is moved downward;
Moving the pallet located in the lower input / output unit upward; And
And the pallet located in the upper I / O section is moved in a downward direction.

25. The method of claim 24,
The step (c)
The pallet on which the PRT vehicle positioned inside the first lift part is transferred to the upper I / O section;
The empty pallet located in the upper input / output unit is transferred to the first lift unit; And
And a PRT vehicle transferred to the upper I / O vehicle departs.

25. The method of claim 24,
The step (d)
The step of the PRT vehicle entering the lower input / output section;
The pallet on which the PRT vehicle is placed is transferred to the second lift portion; And
And the empty pallet located at the second lift part is transferred to the lower input / output sub-part.

25. The method of claim 24,
The step (e)
The second lift portion is moved upward and the first lift portion is moved downward;
Moving the pallet located in the lower input / output unit upward; And
And the pallet located in the upper I / O section is moved in a downward direction.

25. The method of claim 24,
The step (f)
The pallet on which the PRT vehicle positioned inside the second lift part is transferred to the upper I / O section;
A step of transferring the empty pallet located in the upper input / output unit to the second lift unit; And
And the PRT vehicle transferred to the upper I / O section departs.

In a PRT vehicle vertical transfer method,
(a) the PRT vehicle located at the upper input / output section is transferred to the first lift section;
(b) the first lift portion is moved downward and the second lift portion is moved upward;
(c) a PRT vehicle located at the first lift portion is transferred to a lower I / O portion;
(d) a PRT vehicle located in the upper input / output section is transferred to the second lift section;
(e) the second lift portion is moved downward and the first lift portion is moved upward; And
(f) the PRT vehicle located in the second lift portion is transferred to the lower I / O vehicle.

32. The method of claim 31,
The step (a)
The step of the PRT vehicle entering the upper input / output section;
The pallet on which the PRT vehicle is placed is transferred to the first lift portion; And
And the empty pallet located at the first lift portion is conveyed to the upper I / O section.

32. The method of claim 31,
The step (b)
The first lift portion is moved downward and the second lift portion is moved upward;
Moving the pallet located at the upper portion of the upper portion of the I / And
And moving the pallet located at the lower entry / exit section in a downward direction.

32. The method of claim 31,
The step (c)
The pallet on which the PRT vehicle positioned inside the first lift part is transferred to the lower I / O vehicle;
The empty pallet located in the lower input / output unit is transferred to the first lift unit; And
And a PRT vehicle transferred to the lower I / O vehicle departs.

32. The method of claim 31,
The step (d)
The step of the PRT vehicle entering the upper input / output section;
The pallet on which the PRT vehicle is placed is transferred to the second lift portion; And
And an empty pallet located in the second lift part is transferred to the upper I / O section.

32. The method of claim 31,
The step (e)
The second lift portion is moved downward and the first lift portion is moved upward;
Moving the pallet located at the upper portion of the upper portion of the I / And
And moving the pallet located at the lower entry / exit section in a downward direction.

32. The method of claim 31,
The step (f)
The pallet on which the PRT vehicle positioned inside the second lift part is transferred to the lower input / output section;
The empty pallet located at the lower input / output unit is transferred to the second lift unit; And
And the PRT vehicle transferred to the lower input / output section comes out.