A thick plate arrangement and sorting system and application method

Abstract

Provided are a mobile storage space for placing and storing thick plates and a thick plate arrangement and sorting system including the same. The thick plate arrangement and sorting system according to the present invention is characterized in that it includes: a mobile storage space, which is composed of a plurality of mobile pallets with different widths and heights that can be stacked and independently moved; a magnet crane, which places the thick plates on the mobile pallet of the mobile storage space or moves the thick plates from the mobile pallet to other places, and performs face alignment on the thick plates before placing them on the mobile pallet based on the detection information provided by the detection unit; and a controller, which controls the magnet crane for face alignment, measures the angle of inclination relative to the reference value so that the thick plates adsorbed on the magnet adsorber are placed in the same form of aligning the sides each time, and rotates the magnet beam based on this value for correction, and corrects (slip wheel control) the position that changes during this process.

Description

Technical Field

[0001] The present invention relates to a mobile storage space for storing thick plates and a thick plate sorting and arranging system including the same, and in particular to a mobile storage space for storing thick plates and a thick plate sorting and arranging system including the same, which can distinguish the thick plates entering the warehouse according to specifications (size, thickness, material) or outgoing time and customers and place and store them in designated storage spaces. Background Art

[0002] Generally, thick plates refer to steel plates with a thickness of about 6mm or more. After being produced in a steel plant, these thick plates are cut into pieces according to the specifications required by the customer and transferred to a dedicated warehouse or outdoor open-air storage yard for temporary storage until they are shipped out. Usually, square wood or special pallets are laid on the ground of a dedicated warehouse or an open-air storage yard, and the thick plates are stacked (placed) to a certain height for storage using a crane.

[0003] However, the problem with simply placing and storing thick plates like this is that thick plates of various specifications are placed in a mixed state without being differentiated according to specifications (size, thickness, material), delivery time, or customers. Therefore, when the products are shipped out, it is necessary to re-sort only the thick plates to be shipped out from the mixed thick plates of various specifications. As a result, the operating efficiency is extremely low and a long time is required for shipping.

[0004] Reference Figure 1 The problems of the conventional method of simply placing thick plates and storing them will be examined in more detail.

[0005] As for the storage of thick plates, in the prior art, Figure 1 As shown, square wood or special pallets are laid on the ground of a dedicated warehouse or an open-air storage yard, and thick plates are stacked on them to a certain height (about 1.5m) by crane for storage. At this time, as mentioned above, the thick plates placed are not divided according to specifications (size, thickness, material), delivery time, or customers, but are mixed with various specifications.

[0006] Therefore, when the product is shipped out, Figure 1 For example, if the target plate to be shipped is sandwiched between multiple stacked plates, the upper plate is lifted and transported to another place, and only the target plate to be shipped is sorted and extracted, and then the previously transported plate needs to be moved back to the original position. As a result, it takes a long time to ship products out of the warehouse and the work efficiency is greatly reduced.

[0007] Of course, if Figure 2As shown in the figure, it is possible to consider grouping thick plates according to specifications (size, thickness, material) or delivery time, and storing them in piles. However, due to the time difference in the operation process, long-distance movement, and insufficient classification space, the grouping environment and conditions are not good enough. Therefore, the actual situation is that it is inevitable to take the method of Figure 1 Mixed stacking method.

[0008] In addition, when loading thick plates on ships at ports, slings with hooks are used as loading and unloading tools. At this time, about 3 to 6 thick plates (total thickness 9 cm) can be hung on the hook at one time and moved. In order to stably hang multiple thick plates on the hook, the edges of the multiple thick plates moved at one time need to be in a state of being consistent with each other.

[0009] If the face alignment (the degree of mutual consistency of the edge surfaces of the stacked thick plates) of multiple thick plates (about 3 to 6 plates, about 9 cm thick) that are moved at one time is poor, then when the multiple thick plates are hung on the hook and lifted at one time, the thick plate at the bottom may detach from the hook and fall, which may cause significant damage to the product or a serious safety accident.

[0010] Therefore, when loading the product onto the vehicle during the product outbound process, the prior art adopts the following method: Figure 3 In the manner shown, the thick plates 300 are lifted up one by one by a crane 400 so that the side surfaces (in the length direction) of the thick plates 300 are in contact with the vertically erected face alignment arrangement frame 500, and then lowered and aligned with the face in the length direction. The face-aligned thick plates are then lifted up again by the crane in the form of about 3 sheets, and thus loaded onto the vehicle 600.

[0011] However, the problem with this existing facing alignment operation method is that it is performed entirely in the form of manual work by operators directly operating a crane. Therefore, the quality of the facing alignment varies greatly depending on the operator's proficiency. In addition, since the thick plates need to be lifted up one by one by the operator for facing alignment, it takes too much operation time, and loud noise, scratches and other product damage will be generated during the operation.

[0012] Prior art literature

[0013] Patent Literature

[0014] (Patent Document 1) Korean Patent Publication No. 10-2015-0038879 (Publication Date: 2015.04.09) Summary of the invention

[0015] The technical problem to be solved by the present invention is to provide a mobile storage space for placing and storing thick plates, which can distinguish the thick plates according to specifications (size, thickness, material) or delivery time, and store them separately according to customers, so as to efficiently utilize the space and shorten the operation time when the products are shipped out. In order to greatly increase the efficiency of the operation, mechanization can eliminate the factors that hinder group placement (time difference in each process, long-distance movement, insufficient classification space, excessive time required for manual work and increased fatigue of operators, etc.).

[0016] Another technical problem that the present invention aims to solve is to provide a thick plate sorting and arrangement system including a mobile storage space for placing and storing thick plates, and an application method thereof. When the thick plates are distinguished and placed separately according to specifications (size, thickness, material) or delivery time and customers in the mobile storage space, the arrangement status of the thick plates is identified and high-precision surface alignment operations are automatically performed, thereby clearly eliminating the problems of the prior art caused by misalignment of the sides of the thick plates.

[0017] As a means of solving the problem, according to one aspect of the present invention, there is provided a mobile storage space for placing and storing thick plates, characterized in that it includes:

[0018] A thick plate placement section, which is composed of a plurality of moving pallets of different widths and heights;

[0019] A track portion including a plurality of pairs of fixed rails, the plurality of pairs of fixed rails being arranged on a concrete foundation in a form corresponding to the respective moving pallets and being longer than the moving pallets; and

[0020] The pallet driving part is provided with at least two pairs at the lower end of each movable pallet, and moves along the fixed track while making the movable pallet move along the track direction.

[0021] The plurality of movable pallets include an inner movable pallet with the shortest width and height, an outer movable pallet with the longest width and height, and at least one middle movable pallet with a width and height longer than the inner movable pallet and shorter than the outer movable pallet.

[0022] Any one or more than two of the stacked inner moving pallets, the middle moving pallet and the outer moving pallet are simultaneously led forward or backward.

[0023] Here, each movable pallet can be a structure including a horizontal upper placing frame and a pair of vertical side supports, wherein the horizontal upper placing frame has a uniform upper placing surface of a certain area, and the pair of vertical side supports separate the upper placing frame from the concrete foundation and support the upper placing frame, and a pallet driving unit can be arranged at the lower end of the side support.

[0024] In addition, preferably, the interval between the side supports of the adjacent inner and outer sides of the movable pallet is narrow, and the interval between the upper placement racks is relatively wide, so that the setting area is reduced while as many thick plates as possible can be placed and stored according to specifications (size, thickness, material) or delivery time and customers, thereby improving space efficiency.

[0025] In addition, a plurality of movable pallets applicable to the movable storage space according to one aspect of the present invention can be independently moved along corresponding track portions by means of pallet driving portions provided on the respective pallets.

[0026] In addition, the track portion of the mobile storage space suitable for one side according to the present invention may include: a track mounting groove, which is formed to a certain depth on the concrete foundation; a fixed rail, which is fixed to the groove surface of the track mounting groove; and a pair of side rails, which are adjacent to the track mounting groove and are arranged on the concrete foundation on both sides of the fixed rail.

[0027] In addition, a pallet drive unit suitable for a mobile storage space according to one side of the present invention may include: a center wheel, which is rotatably mounted on the lower end of the mobile pallet and rolls along the track surface of the fixed track; a pair of side guide rollers, which are arranged on the lower end of the mobile pallet along the left and right sides with the center wheel as a reference and roll along the side guide grooves of the side track; and a motor, which is used to rotate the center wheel.

[0028] As a means of solving the problem, according to another aspect of the present invention, there is provided a thick plate arrangement and sorting system, characterized in that it includes:

[0029] According to the aforementioned one side of the mobile storage space;

[0030] A magnet crane, which uses a plurality of magnet adsorbers to adsorb and lift the thick plate and place the thick plate on a mobile pallet in a mobile storage space or move the thick plate from the mobile pallet to other places;

[0031] A detection unit, which is arranged on the magnet beam or the movable pallet of the magnet crane and detects the longitudinal arrangement state of the thick plate adsorbed and lifted by the magnet crane; and

[0032] The controller controls the position of the trolley of the magnet crane according to the instructions input through the input device, and based on the information of the detection unit, the magnet beam rotates in the horizontal direction and then moves a certain distance in the second direction, thereby correcting the length direction arrangement state of the thick plate being sucked and lifted.

[0033] Here, multiple magnetic attractors are arranged at equal intervals at the same height in the length direction of the magnet beam at the lower part of the magnet beam through a connecting component. A rotating device is provided in the center of the magnet beam, which is connected by a lifting wire rope and a sliding wheel to rotate the magnet beam. The rotating device controls the magnet beam to rotate a specified angle in the horizontal direction clockwise or counterclockwise through a controller based on the detected information, thereby correcting the length direction arrangement state of the thick plate being attracted and lifted.

[0034] In addition, a controller suitable for a thick plate arrangement and sorting system according to another aspect of the present invention may include: an instruction recognition unit, which recognizes instructions input through an input device; a rotation angle calculation unit, which calculates the rotation angle of a magnet beam for correcting the length direction arrangement state of the thick plate based on information (information about the length direction arrangement state of the adsorbed and lifted) transmitted from the detection unit; and a rotation device control unit, which controls the rotation device in the center of the magnet beam based on the rotation angle calculated by the rotation angle calculation unit and corrects the length direction arrangement state of the thick plate.

[0035] Preferably, the controller may also include: a sliding wheel position control unit, which controls the position of the sliding wheel equipped with the magnet beam lifting device and the lateral moving device based on the identified command information; and a lifting device control unit, which controls the magnet beam lifting device based on the identified command information.

[0036] More preferably, the controller may further include: a pallet drive control unit, which sets the second direction target position of each mobile pallet constituting the mobile storage space based on the identified instruction information, and controls the pallet drive unit so that the mobile pallet can move to the set target position.

[0037] In addition, the detection unit applicable to the thick plate arrangement and sorting system according to another aspect of the present invention can be any one of a movable touch bar method, a non-contact sensing method using a laser beam or ultrasonic wave, and a screen shooting method.

[0038] As a means of solving the problem, according to yet another aspect of the present invention, there is provided a method for operating a thick plate arrangement and sorting system, as a method for operating the thick plate arrangement and sorting system according to the aforementioned other aspect, comprising the following steps:

[0039] (a) a step of leading a specific movable pallet from a first position where a plurality of movable pallets are stacked on each other to a second position where thick plates are arranged and placed;

[0040] (b) the step of adsorbing and lifting the thick plate to be moved, so that the magnet beam in the state of adsorbing and lifting the thick plate moves to the target position on the drawn moving support plate;

[0041] (c) if the target position is reached, a step of calculating the rotation angle of the magnet beam and the second direction center deviation correction amount for correcting the longitudinal arrangement state of the thick plate (face alignment operation);

[0042] (d) a step of rotating the magnet beam and moving it in a second direction based on the rotation angle and center deviation correction amount calculated in step (c), thereby correcting the longitudinal arrangement state of the thick plate (face alignment operation); and

[0043] (e) A step of placing the thick plate on the upper placement surface of the specific movable pallet led out in step (a), and then returning the movable pallet to the first position.

[0044] Here, in step (c), the angle θ of the thick plate is calculated or measured by any one of the methods selected from a movable touch bar method, a non-contact sensing method using a laser beam or ultrasonic wave, and a screen shooting method, and a minus (-) sign is added to the calculated or measured angle θ value to determine the rotation angle of the magnet beam.

[0045] In addition, the second direction center deviation correction amount in the step (c) can be determined from a correction map in which the second direction center deviation correction amount for each rotation angle is stored using the rotation angle as a factor.

[0046] As for the mobile storage space for storing thick plates according to one aspect of the present invention, the advantage is that the thick plates can be placed on multiple mobile pallets according to specifications (size, thickness, material) or delivery time and customers, so that the maintenance and management of the thick plates are easy and the delivery operations can be carried out quickly and easily. Because it is a structure in which multiple mobile pallets can be stacked on each other, the required space is not large and the space utilization rate is relatively high.

[0047] In addition, with regard to the thick plate arrangement and sorting system according to the other aspect of the present invention, the thick plates are differentiated according to specifications or delivery time and customers and are placed separately in the mobile storage space. At the same time, when the thick plates placed in the mobile storage space are delivered from the warehouse (or placed in the mobile storage space), the arrangement status of the thick plates can be identified based on the output information of the detection unit and the surface alignment operation can be automatically performed with high accuracy. Therefore, existing problems such as noise and scratches can be eliminated and the operation time required for the arrangement of the thick plates can be greatly shortened.

[0048] As for the thick plate arrangement and sorting system according to the other aspect of the present invention, mechanization and automation are also used to improve the previous problems of poor working conditions such as the inability to operate 24 hours a day and excessive idle time due to the characteristics of only being able to handle the sorting of thick plates one by one and the need for simple repetitive manual operations due to the alignment operations. As a result, the effect of reducing manpower consumption and increasing the absolute workload can be achieved.

[0049] In addition, from the perspective of simple repetitive operation characteristics, cycle time is very important. The present invention can minimize the physical distance (reduced by 5% compared to the benchmark). During the operation, each step is electronically processed and the situation is judged and the system is automatically operated based on this. Therefore, for the randomly stored thick plate piles (Pile, the state of being loaded on transportation equipment or the state of being transported by a forklift), sorting and face-to-face alignment operations can be repeatedly and continuously carried out in a small space through a short cycle time. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is a diagram schematically showing a conventional method of placing and storing thick plates.

[0051] Figure 2 This is a diagram schematically showing another conventional method of placing and storing thick plates.

[0052] Figure 3 This is a diagram schematically showing the surface alignment work of thick plates performed when thick plates are taken out of a warehouse and loaded onto a vehicle.

[0053] Figure 4 The present invention is a perspective view of a mobile storage space for storing thick plates according to one side.

[0054] Figure 5 Seen from the front Figure 4 A diagram of the mobile storage space is shown.

[0055] Figure 6 Seen from the side Figure 4 A diagram of the mobile storage space is shown.

[0056] Figure 7 This is a schematic cross-sectional view showing a preferred embodiment of a rail portion and a pallet driving portion of a mobile storage space for placing and storing thick plates according to one aspect of the present invention.

[0057] Figure 8 This is a schematic diagram for explaining the operation of a movable storage space for storing planks according to one aspect of the present invention.

[0058] Fig. 9 This is a schematic diagram of the thick plate arrangement and sorting system according to another aspect of the present invention.

[0059] Fig.10 This is a schematic side view showing a state in which a detection unit for detecting the longitudinal arrangement state of thick plates lifted by the magnet crane is mounted on the magnet beam, as seen from one side in the longitudinal direction of the magnet beam.

[0060] Fig.11 and Fig.10This is a schematic plan view of the thick plate arrangement and sorting system when the detection unit is installed on the magnet beam, as seen from a plan view.

[0061] Fig.12 The diagram exemplifies a process of correcting the longitudinal arrangement of thick plates lifted by the magnet crane (thick plate surface alignment process).

[0062] Fig.13 It is a block diagram showing a preferred embodiment of a controller applicable to a thick plate arranging and sorting system according to another aspect of the present invention.

[0063] Fig.14 This is a schematic sequence diagram for explaining how to operate the thick plate arranging and sorting system.

[0064] Description of symbols

[0065] 1: Mobile storage space 2: Magnetic crane

[0066] 3: Thick plate 4: Inspection department

[0067] 5: Controller 10: Thick plate placement unit

[0068] 12: Inner movable pallet 13: Middle movable pallet

[0069] 14: Outer movable pallet 16: Track part

[0070] 18: Pallet drive unit 20: Column

[0071] 21: Track rack 22: Truss

[0072] 23: Sliding wheel 24: Lifting wire rope

[0073] 25: Magnet beam 26: Connecting parts

[0074] 27: Magnetic adsorber 28: Rotating device

[0075] 40: first detection component 42: second detection component

[0076] 50: Command recognition unit 52: Rotation angle calculation unit

[0077] 54: Rotation device control unit 55: Pull pulley position control unit

[0078] 56: Lifting device control unit 58: Pallet drive control unit

[0079] 102: Upper shelf 103: Upper placement surface

[0080] 104: Side bracket 160: Track mounting slot

[0081] 162: Groove surface 164: Fixed track

[0082] 166L, 166R: Side rails 168: Side guide grooves

[0083] 180: Center wheel 181L, 181R: Guide roller bracket

[0084] 182L, 182R: Side guide rollers 184: Motor

[0085] 186: Control box

[0086] D1: Distance in the first direction between the first detection component and the second detection component

[0087] D2: The distance to the thick plate measured by the first detection component

[0088] D3: The distance to the thick plate measured by the second detection component DETAILED DESCRIPTION

[0089] Hereinafter, preferred embodiments of the present invention will be examined in detail with reference to the accompanying drawings.

[0090] The terms used in the specification are only used to illustrate specific embodiments and are not intended to limit the present invention. Unless otherwise clearly expressed herein, a singular expression includes a plural expression.

[0091] It should be understood that the terms "include" or "have" in this specification are intended to specify the existence of the features, numbers, steps, actions, constituent elements, parts or combinations thereof recorded in the specification, and do not preclude the existence or additional possibility of one or more other features or numbers, steps, actions, constituent elements, parts or combinations thereof.

[0092] In addition, although the terms "first", "second", etc. may be used to describe various components, the components are not limited by the terms. The terms are used only to distinguish one component from other components.

[0093] Furthermore, terms such as “…part”, “…unit”, and “…module” described in the specification refer to units that process at least one function or operation, which can be implemented by hardware or software or a combination of hardware and software.

[0094] When describing with reference to the drawings, the same reference numerals are given to the same components and repeated descriptions thereof are omitted. In addition, when describing the present invention, if it is determined that a specific description of a related known technology may unnecessarily obscure the gist of the present invention, the detailed description thereof is omitted.

[0095] Hereinafter, the present invention will be described using three-axis coordinates for the sake of convenience.

[0096] Here, the X-axis direction in the figure refers to the width direction of the mobile storage space for placing and storing thick plates according to the embodiment of the present invention, and is described below using the term "first direction". The front-to-back length direction of the mobile storage space is defined as the Y-axis direction orthogonal to the X-axis direction on the same plane, and is described below using the direction term "second direction". In addition, the Z-axis direction, as a direction perpendicular to the XY plane, refers to the height direction of the mobile storage space.

[0097] Figure 4 is a perspective view of a mobile storage space for storing thick plates according to one side of the present invention, Figure 5 Seen from the front Figure 4 A diagram of the mobile storage space shown. And, Figure 6 Seen from the side Figure 4 Referring to the drawings of the mobile storage space shown, the overall structure of the mobile storage space for storing thick plates according to one aspect of the present invention will first be examined.

[0098] Reference Figures 4 to 6 According to one aspect of the present invention, a mobile storage space 1 for placing and storing thick plates includes: a thick plate placement portion 10, which is composed of a plurality of mobile pallets 12 to 14 with different widths and heights; a track portion 16, which includes a plurality of pairs of fixed rails 164, and the plurality of pairs of fixed rails 164 are arranged on a concrete foundation in a form corresponding to each mobile pallet 12 to 14 and are longer than the mobile pallets 12 to 14.

[0099] Each movable pallet 12~14 can be a structure including a horizontal upper placement frame 102 and a pair of vertical side supports 104. The horizontal upper placement frame 102 has a uniform upper placement surface 103 of a certain area on it. The pair of vertical side supports 104 separates the upper placement frame 102 from the concrete foundation and supports the upper placement frame 102. A pallet driving unit 18 is provided at the lower end of the side support 104, which moves along the fixed track 164 of the track part 16 while making the movable pallets 12~14 move forward and backward along the second direction.

[0100] The plurality of movable pallets 12 to 14 may include an inner movable pallet 12, an outer movable pallet 14, and at least one intermediate movable pallet 13 disposed between the inner movable pallet 12 and the outer movable pallet 14. Among the plurality of movable pallets, the inner movable pallet 12 has the shortest width and height, and the outer movable pallet 14 has the longest width and height. In addition, the width and height of the intermediate movable pallet 13 are longer than the inner movable pallet 12, and shorter than the outer movable pallet 14.

[0101] The accompanying drawings show an example of a structure in which three intermediate movable pallets 13 are arranged between the innermost inner movable pallet 12 and the outermost outer movable pallet 14, but the present invention is not limited thereto. In other words, the number of intermediate movable pallets 13 can be increased or decreased compared to the number shown in the drawings, depending on the installation area of ​​the mobile storage space 1 of the present embodiment or the number of thick plates required to be placed.

[0102] The plurality of movable pallets constituting the movable storage space 1 of one side of the present invention, more specifically, the inner movable pallet 12, the middle movable pallet 13 and the outer movable pallet 14 can be as follows: Figures 4 to 6 As shown, the products (thick plates 3) are stored in a state of being stacked on top of each other, and any one or more than two of the stacked pallet sets can be led out to the front or rear at the same time.

[0103] In other words, the mobile storage space 1 on one side of the present invention, which is composed of multiple mobile pallets of different widths and heights, can be exposed to the outside as long as any one of them is extended forward or backward in the stacked state, or more than two mobile pallets can be extended in a telescopic structure, so that the upper placement surfaces 103 of the corresponding mobile pallets can be exposed to the outside at the same time.

[0104] According to such a structure, the present invention draws out the desired mobile pallet from the stacked pallet collection to the front or rear and then transports the thick plate 3 and places it on the upper placement surface 103 of the drawn out mobile pallet, so that the thick plates 3 can be individually distinguished and placed for storage according to specifications (size, thickness, material) or delivery time and customers. When delivering the goods, only the mobile pallet with the delivery target thick plate 3 is drawn out and it can be quickly delivered.

[0105] According to the mobile storage space 1 for storing thick plates on one side of the present invention, preferably, the side brackets 104 constituting each mobile pallet 12 to 14 may also be a structure in which the inner area is open except for the upper, lower, left and right edge areas. In this case, the thick plates 3 on other mobile pallets located inside the mobile pallet can also be easily identified from the side of the device, and there is an advantageous effect from the perspective of lightweight.

[0106] The interval G1 between the side brackets 104 of each adjacent movable pallet 12-14 on the inner and outer sides is relatively narrow, and the interval G2 between the upper placement racks 102 is relatively wide. At this time, while minimizing the installation area, as many thick plates 3 as possible can be placed according to specifications (size, thickness, material) or delivery time and customers, so that limited or restricted space can be used more effectively.

[0107] At least two pairs of pallet driving units 18 are provided at the lower end of each mobile pallet 12-14, and the corresponding mobile pallets 12-14 are moved along the corresponding track portion 16, more specifically, along the fixed track 164 while moving along the track direction. At this time, the two or more pairs of pallet driving units 18 provided on the same mobile pallet can be driven in the same manner according to the same driving command, and the pallet driving units 18 provided on other mobile pallets can be driven independently of each other.

[0108] Thus, each mobile pallet 12 to 14 is independently moved along the corresponding track portion 16 by the drive of the pallet driving portion 18 provided on each mobile pallet 12 to 14, and is led forward or backward in a collection of pallets stacked on each other, so that it can be converted into a state for placing thick plates or taking them out of storage, or conversely, it can be converted from the led-out state into a state for storing thick plates, that is, a state stacked on each other.

[0109] Figure 7 This is a schematic cross-sectional view showing a preferred embodiment of a rail portion and a pallet driving portion of a mobile storage space for placing and storing thick plates according to one aspect of the present invention.

[0110] The track portion 16 of the mobile storage space 1 according to one aspect of the present invention is preferably as follows: Figure 7 As shown, it includes: a track installation groove 160, which is formed to a certain depth on a concrete foundation (number omitted); a fixed rail 164, which is fixed to a groove surface 162 of the track installation groove 160. In addition, a pair of side rails 166L and 166R can be included, which are adjacent to the track installation groove 160 and are set on the concrete foundation at both sides of the fixed rail 164.

[0111] In the case where the rail portion 16 is composed of a fixed rail 164 and a pair of side rails 166L, 166R, the pallet driving portion 18 may include: a center wheel 180, which is rotatably mounted on the lower end of the mobile pallet and rolls along the rail surface of the fixed rail 164; and side guide rollers 182L, 182R, which are arranged on the lower end of the mobile pallet along the left and right sides in the form of placing the center wheel 180 in the middle and roll along the side rails 166L, 166R.

[0112] like Figure 7 As shown, the center wheel 180 is rotatably mounted at the center of the lower end of the side bracket 104, and rolls along the fixed track 164 through the rotational power provided by the adjacently configured electric motor 184 (drive motor). A pair of side guide rollers 182L and 182R can be mounted on the lower parts of the guide roller brackets 181L and 181R extending left and right on both side surfaces of the lower end part of the side bracket 104 in a form that can rotate in the horizontal direction.

[0113] Here, the role of a pair of side guide rollers 182L, 182R is to prevent the central wheel 180 arranged on a moving pallet in a pair of mutually opposing forms, that is, Figure 5 In the front view, the left center wheel installed on the left side bracket of the same mobile pallet and the right center wheel installed on the right side bracket have different movement deviations and the resulting detachment of the center wheels due to different driving environments or conditions (friction, electricity, track conditions, etc.).

[0114] Figure 7 In the figure, reference numeral 168 refers to a side guide groove formed with a certain depth on the facing surfaces of a pair of side rails 166L, 166R in order to prevent the side guide rollers 182L, 182R from detaching, and reference numeral 186 refers to a cable duct for dividing the channel through which the communication cable connected to the motor 184 and the power cable for providing power pass.

[0115] The operation and effect of the mobile storage space for storing thick plates according to one aspect of the present invention constructed as above will be briefly examined with reference to the accompanying drawings.

[0116] Figure 8 This is a schematic diagram for illustrating the operation of a mobile storage space for storing thick plates according to one aspect of the present invention. It is a diagram showing the process of sorting and placing the mixed thick plates according to specifications (size, thickness, material) or delivery time or customers when multiple thick plates 3 are loaded onto a transfer vehicle in a mixed state.

[0117] like Figure 8 As shown, a plurality of thick plates are loaded onto the transfer vehicle in a mixed state, and the crane lifts the thick plates one by one or more than one (when the thick plates of the same specification are stacked adjacent to each other up and down) from the top and places them on a specific moving pallet. For example, if the first and second thick plates from the top have the same specifications, the two thick plates 3-1 are lifted at the same time and placed on the inner moving pallet 12.

[0118] When placing two thick plates 3-1 lifted by the crane on the inner moving pallet 12, only the inner moving pallet 12 is drawn out from the stacked pallets and the thick plates 3-1 are placed on the upper placement surface 103 of the corresponding moving pallet 12. After the thick plates 3-1 are placed, the inner moving pallet 12 is moved to the original position. Other thick plates loaded on the transfer vehicle are also placed in the same manner in the order of drawing out a specific moving pallet-placing-original position.

[0119] Because the area of ​​the placement surface 103 increases as the inner movable pallet 12 approaches the outer movable pallet 14, thick plates can be separated and placed according to quantity. For example, a large number of thick plates of the same specification can be placed on the outer movable pallet 14, while a relatively small number of thick plates of the same specification can be placed on the middle movable pallet 13 or the inner movable pallet 12 for storage.

[0120] In the past, when placing and storing thick plates, square wood or special boards were laid on the ground of a special warehouse or an open-air storage yard, and the thick plates were stacked on top to a certain height (about 1.5m) by a crane for storage. At this time, the thick plates were not distinguished according to specifications (size, thickness, material) or delivery time or customers, but were mixed with various specifications (see the accompanying drawing of the prior art). Figure 1 ).

[0121] Therefore, when the product is shipped out, if the target plate is sandwiched between the stacked plates, the plate at the top is lifted and moved to another place, and only the target plate is sorted and extracted, and the previously moved plates need to be moved back to the original position. As a result, it takes a long time to ship the product out, and the work efficiency is greatly reduced.

[0122] Therefore, the thick plates are grouped on site according to the specifications (size, thickness, material) or the delivery time, and the customers and placed and stored according to the stacking form (refer to the prior art drawings). Figure 2 ). Compared with the method of placing thick plates without distinguishing them, this method does not require double operations when the products are shipped out and greatly reduces the operation time, but its disadvantage is that it requires relatively more space.

[0123] On the contrary, the advantage of the mobile storage space for storing thick plates according to one aspect of the present invention is that the thick plates can be placed on multiple mobile pallets according to specifications (size, thickness, material) or delivery time and customers, so that the thick plates can be easily maintained and managed, and delivery operations can be carried out quickly and easily. Because it is a structure in which multiple mobile pallets can be stacked on each other, the required space is not large and the space utilization rate is relatively high.

[0124] Next, another aspect of the present invention, which includes the mobile storage space for placing and storing thick plates according to the aforementioned one aspect, will be examined.

[0125] Fig. 9 This is a schematic diagram of the thick plate arrangement and sorting system according to another aspect of the present invention.

[0126] Reference Fig. 9According to another aspect of the present invention, the thick plate arrangement and sorting system comprises: a mobile storage space 1; and a magnetic crane 2, which comprises a plurality of magnetic adsorbers 27, and the thick plates 3 are adsorbed and lifted by the plurality of magnetic adsorbers 27 arranged in this way and placed on the mobile pallets 12 to 14 of the mobile storage space 1, or the thick plates 3 placed on the mobile pallets 12 to 14 are moved to other places.

[0127] Here, the mobile storage space 1 applicable to the thick plate arrangement and sorting system according to another aspect of the present invention is the same as the mobile storage space 1 for placing and storing thick plates according to the aforementioned one aspect. Therefore, repeated description thereof will be omitted below.

[0128] The magnetic crane 2 may include: a column 20, which is erected at a certain height and has a track frame 21 extending in the second direction at the upper end; a truss 22, which moves linearly in the second direction along the track frame 21 of the column 20; a sliding wheel 23, which moves linearly in the first direction on the truss 22; a magnet beam 25, which is connected to a plurality of magnet absorbers 27; and a rotating device 28, which is arranged in the center of the magnet beam 25.

[0129] A plurality of magnet attractors 27 can be arranged at the same height and at equal intervals in the length direction of the magnet beam 25 at the lower part of the magnet beam 25 through the connecting member 26, and the rotating device 28 disposed in the center of the magnet beam 25 can be connected to the sliding wheel 23 through the lifting wire rope 24. At this time, the lifting wire rope 24 is connected to the lifting device (not shown) mounted on the sliding wheel 23 and its length can be adjusted.

[0130] The magnet lift 2 constructed as described above is a well-known structure, and thus a detailed description thereof will also be omitted below.

[0131] However, in the above-mentioned magnetic crane, a chain can also be used as the connecting component 26, but the chain may be difficult to control due to shaking during the surface alignment process described later. Therefore, a preferred structure is that instead of the chain, an air compressor or hydraulic cylinder, or a spring can be used to suppress the shaking and absorb / mitigate the vertical impact transferred when the thick plate is lowered.

[0132] According to another aspect of the present invention, the thick plate arrangement and sorting system includes a detection unit 4 (refer to Fig.10 The detection unit 4 can be arranged on the magnet beam 25 or the movable pallets 12 to 14 of the magnet crane 2, and can detect the lengthwise arrangement state of the thick plate 3 adsorbed and lifted by the magnet crane 2 and transmit the detection information (lengthwise arrangement state information of the thick plate) to the controller 5.

[0133] The controller 5 drives the driving device according to the command inputted through another input device and controls the second direction position of the truss 22 on the column 20 and the first direction position of the pulley 23 on the truss 22. In addition, the lifting height of the magnet beam 25 relative to the pulley 23 is controlled.

[0134] In particular, the rotating device 28 is controlled based on the information transmitted from the detection unit 4 to rotate the magnet beam 25 in the horizontal direction, thereby correcting the longitudinal arrangement of the thick plates lifted by adsorption (surface alignment operation). Figures 10 to 12 Conduct an inspection.

[0135] Fig.10 and Fig.11 This is an exemplary diagram showing a case where a detection unit is arranged on a magnet beam of a magnet crane.

[0136] More specifically, Fig.10 This is a schematic diagram showing the magnet beam from one side in the longitudinal direction, showing the detector for detecting the longitudinal arrangement of the thick plates lifted by the magnet crane, which is mounted on the magnet beam. Fig.11 is seen from the plane and Fig.10 A schematic diagram of the thick plate arrangement and sorting system according to this embodiment when the same detection unit is installed on the magnetic beam. It should be noted that in order to help understand the present invention, the accompanying drawings show some exaggerated parts.

[0137] like Fig.10 and Fig.11 As shown, the detection part 4 can be a detection part mounting frame 29 on one side of the magnet beam 25. Fig.10 A structure for detecting the angle θ (the angle formed by one side edge of the thick plate (or the center of the thick plate in the length direction) and the first direction reference line (L1) of the accompanying drawing when the thick plate being sucked and lifted is observed from a plane) of the thick plate 3 being sucked and lifted while performing linear reciprocating motion in the direction of the arrow (hereinafter explained using the expression "advance and retreat").

[0138] like Fig.11 As shown, the detection unit 4 may preferably include: a first detection component 40, which is arranged at a specified position (initial position) on one side of the detection unit mounting frame 29 in a form capable of advancing and retreating along a second direction; and a second detection component 42, which is configured at a position separated from the first detection component 40 by a certain distance D1 along the first direction in a form capable of advancing and retreating along a second direction perpendicular to the first direction.

[0139] Here, the first detection component 40 and the second detection component 42 can be arranged in the form of forming an initial position on the same line in the first direction. As a light sensing method using a touch bar or a laser beam, it can be a method of measuring the moving distance until the location of the thick plate is identified using a laser beam. The light sensing method using the touch bar or the laser beam measures the moving distance from the initial position to the second direction until it reaches one side of the thick plate.

[0140] Of course, it is not limited to the optical sensing method using a touch bar or a laser beam. Depending on the situation, it can also be a non-contact sensing method using ultrasound or a fixed shooting method. The non-contact sensing method using ultrasound is a method of using ultrasound to measure the distance to the location where the thick plate is recognized. The fixed shooting method is a method of obtaining image information of the thick plate attached to the magnet beam and being adsorbed and lifted, then analyzing the image information obtained by the controller described later and deriving the arrangement state of the thick plate.

[0141] The information detected by the detection unit 4 is transmitted to the controller 5. The controller 5 grasps the longitudinal arrangement state of the thick plate 3 being sucked and lifted based on the transmitted information. Fig.10 and Fig.11 ) as shown, in the case of measuring the distance while performing forward and backward movement along the second direction, the length direction arrangement state of the adsorbed and lifted thick plate 3 can be grasped based on the distance D1 between the two detection components 40 and 42 and the respective measured distances D1 and D3 information.

[0142] More specifically, as shown in Figure ( Fig.10 and Fig.11 ), the controller 5 can calculate the angle value θ of the thick plate 3 being sucked and lifted relative to the virtual first direction reference line L1 based on the distance D1 between the two detection components 40 and 42 and the respective measured distances D2 and D3. Here, θ can be derived using the simple mathematical formula tanθ=(D2-D3) / D1.

[0143] In addition, the controller 5 controls the rotating device 28 based on the calculated angle value θ to rotate the magnet beam 25 by the calculated angle θ and to rotate the rotating device 28 in the opposite direction by -θ, thereby making a correction to make one side edge (or the center in the length direction) of the thick plate 3 parallel or consistent with L1, and then moving the thick plate 3 in the second direction, thereby achieving surface alignment so that the center of the thick plate 3 and the target position on the upper placement surface 103 of the movable pallet are consistent.

[0144] Fig.12is a diagram sequentially illustrating a process (surface alignment process) in which a thick plate lifted by a magnet crane is arranged at a target position by the control of a controller based on information from a detection unit, and is an example of a process in which a thick plate lifted by a magnet crane is arranged at a target position by the control of a controller based on information from a detection unit. Fig.11 The same diagram is used to illustrate the process (face alignment process) of arranging the thick plate lifted by the magnet crane at the target position based on the θ value extracted from the configuration of the two movable detection components.

[0145] The controller 5 controls the magnetic crane 2 and, after adsorbing and lifting (lifting) a thick plate 3, for example, a thick plate 3 loaded on a transport vehicle, on one side, the location where the center line L2 in the length direction (first direction) of the magnetic beam 25 and the center line L3 in the first direction of the movable pallet 12 to 14 coincide is set as the target position and the thick plate 3 is moved.

[0146] For reference, the target position can be the crane position at the location where the center line L2 of the length direction (first direction) of the magnet beam 25 and the center line L3 of the first direction of the movable pallet 12~14 coincide with each other when viewed from a plane. More specifically, the position value of the magnet beam 25 can be a value set during the prior equipment setting process and stored in a storage device such as a memory in numerical form for the first direction and the second direction respectively.

[0147] The controller 5 derives the first direction distance value and the second direction distance value in the current position for moving the magnet beam 25 to the target position (the first direction position value and the second direction position value of the target position - the first direction position value and the second direction position value of the current position) based on the current position of the magnet beam 25 in the position for adsorbing and lifting the thick plate 3 and the set target position, and converts the derived distance value into a control value to control the magnet crane 2.

[0148] If the magnet beam 25 reaches the target position, the controller 5 calculates how much one side of the thick plate 3 (or the first direction center line L4 of the thick plate 3) is deviated relative to the first direction center line L3 (or the aforementioned L1) of the moving pallet 12-14 before the thick plate 3 is put down (calculate θ) based on the information provided by the detection unit 4 using the above-mentioned mobile touch bar or laser beam or fixed camera image recognition method (refer to Fig.12 (b)).

[0149] After completing the calculation of θ, the controller 5 causes the rotating device 28 (refer to Fig. 9 ),like Fig.12As shown in (c), the magnet beam 25 is rotated in the opposite direction by -θ degrees, so that one side of the thick plate 3 (or the first direction center line L4 of the thick plate 3) and the first direction center line L3 (or the aforementioned L1) of the movable pallets 12 to 14 are parallel. For example, if the deflection angle, i.e., θ, is 15 degrees, a command is output to the rotating device 28 to rotate the magnet beam 25 by -15 degrees.

[0150] According to the above process, if the magnet beam 25 rotates in the opposite direction, the controller 5 calculates the spacing distance between the first direction center line L4 of the thick plate 3 and the first direction center line L3 of the movable pallets 12 to 14 (the line equivalent to the target position) during the rotation process, and controls the magnet crane 2 based on the calculated spacing distance to perform the length direction arrangement state correction (face alignment operation) to make the first direction center line L4 of the thick plate 3 and the first direction center line L3 (target position) of the movable pallets 12 to 14 consistent.

[0151] If the length direction arrangement state correction (face alignment operation) is completed, the operation of placing the thick plate 3 on the movable pallet 12~14 is completed by lowering the magnet beam 25 to the corresponding position and placing the thick plate 3 at the specified position (target position) of the movable pallet 12~14. At this time, the calculation of the spacing distance (the spacing distance between the first direction center line L4 of the thick plate 3 and the first direction center line L3 of the movable pallet 12~14) can consider using the mapping data method.

[0152] That is, the following method can be considered: when the magnet beam 25 is rotated to a specific angle after reaching the target position (the state in which the first direction center line L2 of the magnet beam 25 and the first direction center line L3 of the movable pallet 12~14 are consistent), the spacing distance that varies according to the rotation angle (the spacing distance between the first direction center line L4 of the thick plate 3 and the first direction center line L3 of the movable pallet 12~14) is derived through simulation and stored in the form of mapping data for use.

[0153] Of course, in addition to the method of using data derived through simulation (mapping data method), all practical methods that can be derived, such as the method of using a calculation program, can be considered. The calculation program automatically calculates and outputs the spacing distance by deriving a prescribed relationship between the rotation angle of the magnet beam 25 and the spacing distance based on the angle at the target position and using the derived relationship to input the rotation angle.

[0154] As for the use of the thick plate arrangement and sorting system according to this embodiment, it can be divided into a first position and a second position for operation. At this time, the thick plates 3 can be sorted and aligned at the second position (refer to Figure 6), wherein a plurality of movable pallets (about 4-5) of different widths and heights are stacked at the first position, and the second position is a position for placing a thick plate 3 to lead out designated movable pallets 12 to 14 and place the thick plate 3.

[0155] In addition, if the maximum number of plates can be loaded within the range allowed by one mobile pallet, the plates can be transported and placed on a pile bed planned in the yard by a second magnet crane (not shown). In this case, even if a plurality of plates are placed on the pile bed in the yard, the same plates can be grouped and placed, so that no additional separation operation (operation of sorting out only the plates to be stored from the mixed plates) occurs.

[0156] Depending on the situation, in addition to the above-mentioned operation methods, it is also possible to consider the system operation method of setting up a third position in order to separate the trailer (cargo loading area) and tractor (head) of the transport vehicle and set up multiple at a designated position (the position where the thick plate is loaded or the loading is completed). In this case, the transport equipment divided into the tractor and trailer can be effectively used, thereby increasing the work efficiency.

[0157] In the process of loading the thick plates from the mobile pallet for product delivery or transporting the thick plates that have been aligned to the stacking bed in the field in the above-mentioned manner, the face alignment state of the thick plates may also be skewed. Therefore, in the case of loading the thick plates from the mobile pallet for product delivery or transporting the thick plates to the stacking bed in the field, the face alignment similar to the above-mentioned face alignment operation can be performed again to prevent the face alignment state of the thick plates from being skewed.

[0158] The loading position for product delivery or the stacker placed on the site can be managed by computer. Therefore, if the corresponding position (loading position or stacker position on the site) is set as the second target position for movement and delivery in advance, the face alignment of the thick plate can be strictly managed during loading or moving to the designated stacker on the site through the same procedure as the above-mentioned face alignment operation.

[0159] Fig.13 It is a block diagram showing a preferred embodiment of a controller applicable to a thick plate arranging and sorting system according to another aspect of the present invention.

[0160] like Fig.13 As shown, the controller 5 of the thick plate arrangement and sorting system according to another aspect of the present invention includes an instruction recognition unit 50 and a rotation angle calculation unit 52. The instruction recognition unit 50 recognizes the instruction transmitted by other input devices or the main server, and the rotation angle calculation unit 52 calculates the rotation angle of the magnet beam 25 used for the thick plate surface alignment operation based on the information transmitted from the detection unit 4.

[0161] The information calculated by the rotation angle calculation unit 52 (the angle information of the skewness of the thick plate relative to L1) is transmitted to the rotation device control unit 54. The rotation device control unit 54 determines the control value of the rotation device 28 in the center of the magnet beam 25 based on the transmitted information (the rotation angle information calculated by the rotation angle calculation unit 52), and controls the rotation device 28 through the determined control value, thereby correcting the length direction arrangement state of the thick plate (face alignment operation).

[0162] For example, if the angle θ of the thick plate being sucked and lifted relative to the first direction reference line is 15 degrees, the rotation device control unit 54 outputs a command to the rotation device 28 to rotate the magnet beam 25 in the opposite direction by the degree of the skew angle. That is, the control value for rotating the magnet beam 25 (or the magnet attractor 27) by -15 degrees is determined as the control value of the rotation device 28, and the driving of the rotation device 28 is controlled based on this.

[0163] In addition, the controller 5 includes: a sliding wheel position control unit 55, which controls the position (first direction and second direction position) of the sliding wheel 23 equipped with a magnet beam lifting device (omitted from the figure) and a lateral moving device (omitted from the figure) based on the command information recognized by the command recognition unit 50; and a lifting device control unit 56, which controls the magnet beam lifting device based on the recognized command information.

[0164] In addition, the controller 5 of the thick plate arrangement and sorting system according to another aspect of the present invention may also include a pallet drive control unit 58. The pallet drive control unit 58 sets the second direction target position of each mobile pallet of the mobile storage space 1 based on the instruction information recognized by the instruction recognition unit 50, and controls the pallet drive unit 18 so that the mobile pallet can move to the target position.

[0165] When loading a vehicle for thick plates out of the warehouse, the following method is used in the prior art: the thick plates are lifted up one by one by a crane, and then lowered down in a state where the sides (length direction) of the thick plates are in contact with a vertically erected face alignment arrangement table so that the length direction faces are aligned, and then about three thick plates (thicknesses of the thick plates may be different) are lifted up again by a crane each time and loaded onto the vehicle (refer to Figure 3 ).

[0166] However, the problem with this existing alignment method is that it is performed entirely in a manual manner by operators directly operating a crane. Therefore, the quality of the alignment varies greatly depending on the operator's proficiency. In addition, since the thick plates need to be lifted up one by one by the operator for alignment, it takes too much operation time, and loud noises and scratches may occur during the operation, which may cause product damage.

[0167] On the contrary, the present invention distinguishes thick plates according to specifications (size, thickness, material) or delivery time and customers and places them separately in the mobile storage space, so that when the thick plates placed in the mobile storage space are delivered (or placed in the mobile storage space), the arrangement status of the thick plates can be identified based on the output information of the detection unit and the surface alignment operation can be automatically performed with high accuracy, thereby eliminating noise and scratch problems and greatly shortening the operation time required for the arrangement of the thick plates.

[0168] The present invention also improves the problem of too much idle time due to the poor working conditions such as the fact that the sorting and face alignment operations of thick plates can only be handled one by one and the simple repetitive operations need to be performed manually, which makes it impossible to operate 24 hours a day. As a result, the effect of reducing manpower consumption and increasing the absolute workload can be achieved.

[0169] In addition, from the perspective of simple repetitive operation characteristics, cycle time is very important. The present invention can minimize the physical distance (reduced by 5% compared to the benchmark). During the operation, each step is electronically processed and the situation is judged and the system is automatically operated based on this. Therefore, for the randomly stored thick plate piles (Pile, the state of being loaded on transportation equipment or the state of being transported by a forklift), sorting and face-to-face alignment operations can be repeatedly and continuously carried out in a small space through a short cycle time.

[0170] The following is a brief examination of the method of using the aforementioned thick plate arrangement and sorting system. For ease of description, the structures shown in the above attached drawings are described with reference to the corresponding reference numerals.

[0171] Fig.14 This is a schematic sequence diagram for explaining the method of using the thick plate arrangement and sorting system. When using the thick plate arrangement and sorting system, first, a specific movable pallet (one of 12 to 14) is led out from a first position where a plurality of movable pallets are stacked and placed to a second position where thick plates are arranged and placed (S100 (refer to Figure 6 ). For example, when the thick plate 3 is placed on the inner movable pallet 12, the inner movable pallet 12 is led out from the first position to the second position.

[0172] If the specific moving pallet 12 is led to the second position, then the S200 operation is performed, and the magnet crane 2 moves and moves to the position where the moving target thick plate 3 is located (for example, Figure 6 The transport vehicle loading interval) is used to adsorb and lift the moving object thick plate 3, so that the magnet beam 25 in the state of adsorbing and lifting the thick plate 3 moves to the target position on the drawn moving pallet 12. Here, the target position is the same as the aforementioned target position.

[0173] Then, if the magnet beam 25 reaches the target position (the location where the first direction center line L2 of the magnet beam 25 coincides with the first direction center line L3 of the upper placement surface of the extended movable pallet 12), the rotation angle of the magnet beam 25 and the second direction center deviation correction amount S300 for correcting the longitudinal arrangement state of the thick plate 3 (face alignment operation) are calculated.

[0174] In step S300, as described above, the angle θ of the skewness of the thick plate 3 is calculated or measured by any one of the methods selected from the mobile touch bar method, the non-contact sensing method using a laser beam or ultrasonic wave, and the image shooting method, and a minus (-) sign is added to the calculated or measured angle θ value, thereby determining the rotation angle of the magnet beam 25.

[0175] Furthermore, the second direction center deviation correction amount in step S300 is to correct the length direction arrangement state of the thick plate 3 (face alignment operation) and to correct the second direction position of the thick plate 3 that changes in the process of rotating the magnet beam 25 by -θ degrees at the target position. The rotation angle is used as a factor and the second direction center deviation correction amount for each rotation angle can be derived by using the stored correction mapping method.

[0176] Of course, in addition to the method of using data derived through simulation (mapping data method), all practical methods that can be derived, such as the method of using a calculation program, can be considered. The calculation program automatically calculates and outputs the spacing distance by deriving a prescribed relationship between the rotation angle of the magnet beam 25 at the target position and the spacing distance based on the angle and using the derived relationship to input the rotation angle.

[0177] Then, the operation S400 is performed to rotate the magnet beam 25 and move it in the second direction based on the rotation angle and the center deviation correction amount calculated in the step S300, thereby correcting the longitudinal arrangement state of the thick plate 3 (surface alignment operation).

[0178] For example, if the angle of the thick plate 3 calculated or measured in step S300 is θ, then in step S400, the magnet beam 25 is rotated by -θ, so that the magnet beam 25 moves in the second direction by the second direction center deviation correction amount corresponding to the rotation angle (the distance value determined by -θ for moving the magnet beam in the second direction), thereby correcting the longitudinal arrangement state of the thick plate 3 (face alignment operation).

[0179] Finally, if the correction is completed (the face alignment operation is completed) through step S400, the magnet beam 25 is lowered as usual, and the thick plate 3 is placed on the upper placement surface of the specific mobile pallet 12 drawn in step S100. Then, the mobile pallet (the mobile pallet 12 on which the thick plate 3 with the face alignment operation completed is placed) is returned to the original position, that is, the first position, thereby completing the arrangement and sorting.

[0180] In the above detailed description of the present invention, only specific embodiments thereof are described. However, it should be understood that the present invention is not limited to the specific embodiments mentioned in the detailed description, but includes all modifications, equivalents and substitutes within the spirit and scope of the present invention as defined in the claims.

Claims

1. A thick plate arrangement and sorting system, characterized in that: include: A mobile storage space comprising a plurality of mobile pallets of different widths and heights; A magnet crane, which uses a plurality of magnet adsorbers to adsorb and lift the thick plate and place the thick plate on a mobile pallet in a mobile storage space or move the thick plate from the mobile pallet to other places; A detection unit is provided on the magnet beam or the movable pallet of the magnet crane to detect the arrangement state of the thick plate adsorbed and lifted by the magnet crane; as well as The controller controls the position of the pulley of the magnet crane according to the command input through the input device, and makes the magnet beam rotate in the horizontal direction and move a certain distance in the second direction based on the information of the detection unit, so as to correct the longitudinal arrangement state of the thick plate being sucked and lifted. The controller includes: An instruction recognition unit that recognizes an instruction inputted through the input device; A rotation angle calculation unit, which calculates the rotation angle of the magnet beam for correcting the longitudinal arrangement state of the thick plate based on the information (information on the longitudinal arrangement state of the adsorbed and lifted) transmitted from the detection unit; A rotating device control unit controls the rotating device at the center of the magnet beam based on the rotation angle calculated by the rotation angle calculation unit and corrects the arrangement state of the thick plate; a pallet drive control unit, which sets a second direction target position of each of the mobile pallets constituting the mobile storage space based on the recognized instruction information, and controls the pallet drive unit so that the mobile pallet can move to the set target position; A plurality of movable pallets of the movable storage space are placed in a first position in a stacked form, and only a specific movable pallet among the plurality of movable pallets stacked and placed in the first position is moved by a controller to a second position in front of the first position for arranging and placing thick plates; In order to correct the second direction position of the thick plate that changes during the process of rotating the magnet beam according to the rotation angle, the controller moves the magnet beam in the second direction by the center deviation correction amount corresponding to the rotation angle, thereby controlling the center of the thick plate to be consistent with the target position on the upper placement surface of the mobile pallet where the object is placed.

2. The thick plate arrangement and sorting system according to claim 1, characterized in that: Mobile storage space includes: A thick plate placement section, which is composed of a plurality of movable pallets with different widths and heights; A track portion including a plurality of pairs of fixed rails, the plurality of pairs of fixed rails being arranged on a concrete foundation in a form corresponding to the respective moving pallets and being longer than the moving pallets; and The pallet driving part is provided with at least two pairs at the lower end of each movable pallet, and moves along the fixed track while making the movable pallet move along the track direction. The plurality of movable pallets include an inner movable pallet with the shortest width and height, an outer movable pallet with the longest width and height, and at least one middle movable pallet with a width and height longer than the inner movable pallet and shorter than the outer movable pallet.

3. The thick plate arrangement and sorting system according to claim 2, characterized in that: Each mobile pallet includes a horizontal upper placement frame and a pair of vertical side supports. The horizontal upper placement frame has a uniform upper placement surface of a certain area on the upper side, and the pair of vertical side supports separate the upper placement frame from the concrete foundation and support the upper placement frame. A support plate driving part is arranged at the lower end of the side bracket.

4. The thick plate arrangement and sorting system according to claim 3, characterized in that: The interval (G1) between the side brackets of the inner and outer adjacent movable pallets is narrow, and the interval (G2) between the upper placement racks is relatively wide.

5. The thick plate arrangement and sorting system according to claim 2, characterized in that: The plurality of movable pallets are independently moved along the corresponding track parts by means of pallet driving parts arranged at the respective pallets.

6. The thick plate arrangement and sorting system according to claim 2, characterized in that: The track department includes: Track mounting grooves, which are formed to a certain depth in the concrete foundation; A fixed rail, which is fixed to the groove surface of the rail mounting groove; A pair of side rails are adjacent to the rail mounting groove and are arranged on the concrete foundation at both sides of the fixed rail.

7. The thick plate arrangement and sorting system according to claim 6, characterized in that: The pallet drive unit includes: The center wheel is rotatably mounted on the lower end of the moving pallet and rolls along the track surface of the fixed track; A pair of side guide rollers are arranged on the lower end of the movable pallet along the left and right sides with the center wheel as the reference, and roll along the side guide grooves of the side rails; An electric motor is used to rotate the central wheel.

8. The thick plate arrangement and sorting system according to claim 1, characterized in that: A plurality of magnet attractors are arranged at equal intervals at the same height in the length direction of the magnet beam through a connecting member at the lower part of the magnet beam. A rotating device is arranged in the center of the magnet beam, which is connected to the sliding wheel through the lifting wire rope to make the magnet beam rotate. The rotating device rotates the magnet beam in a horizontal direction clockwise or counterclockwise by a predetermined angle under the control of the controller based on the information detected by the detection unit.

9. The thick plate arrangement and sorting system according to claim 1, characterized in that: The controller also includes: A pulley position control unit that controls the position of a pulley equipped with a magnet beam lifting device and a lateral moving device based on the recognized command information; and The lifting device control unit controls the magnet beam lifting device based on the recognized command information.

10. The thick plate arrangement and sorting system according to claim 1, characterized in that: The detection unit is any one method selected from a movable touch bar method, a non-contact sensing method using a laser beam or ultrasonic waves, and a screen capturing method.

11. A method for using a thick plate arrangement and sorting system, as a method for using the thick plate arrangement and sorting system according to claim 1, characterized in that: The following steps are involved: (a) a step of leading a specific movable pallet from a first position where a plurality of movable pallets are stacked on each other to a second position where thick plates are arranged and placed; (b) the step of adsorbing and lifting the thick plate to be moved, so that the magnet beam in the state of adsorbing and lifting the thick plate moves to the target position on the specific moving pallet led out to the second position; (c) if the magnet beam in the state of lifting the thick plate by adsorption reaches the target position, a step of calculating the rotation angle of the magnet beam and the correction amount of the center deviation in the second direction for correcting the arrangement state of the thick plate in the longitudinal direction (face alignment operation); (d) a step of rotating the magnet beam and moving it in a second direction based on the rotation angle and center deviation correction amount calculated in step (c), thereby correcting the longitudinal arrangement state of the thick plate (face alignment operation); and (e) A step of placing the thick plate on the upper placement surface of the specific movable pallet led out in step (a), and then returning the movable pallet to the first position.

12. The method for using the thick plate arrangement and sorting system according to claim 11, characterized in that: In step (c), the angle (θ) of the skewness of the thick plate is calculated or measured by any one of the methods selected from a movable touch bar method, a non-contact sensing method using a laser beam or ultrasonic wave, and a screen shooting method, and a minus (-) sign is added to the calculated or measured angle (θ) value to determine it as the rotation angle of the magnet beam.

13. The method for using the thick plate arrangement and sorting system according to claim 11, characterized in that: The second direction center deviation correction amount in the step (c) is determined from a correction map in which the second direction center deviation correction amount for each rotation angle is stored using the rotation angle as a factor.

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