Side fork type shuttle

Abstract

The present invention relates to a side fork type shuttle. A side fork type shuttle according to one embodiment of the present invention comprises a shuttle body having a mounting space and a loading / unloading unit mounted in the mounting space and loading / unloading cargo in a first axis direction traversing the driving direction of the shuttle body. The loading / unloading unit includes a fork module capable of extending the body along the first axis direction and for mounting cargo upward, and a lift module for moving the fork module up and down. Through this, the present invention can stably load and unload heavy cargo.

Description

Technology Field

[0001] The present invention relates to a side fork type shuttle, and more specifically, to a side fork type shuttle capable of stably loading and unloading heavy cargo by comprising a fork module that can be extended toward the side of the shuttle body and loads cargo upward, and a lift module that moves the fork module up and down. Background Technology

[0003] The term "logistics" is an abbreviation of "physical distribution" and refers to the collective function or activities of effectively moving products and goods from producers to consumers. Generally, it encompasses various activities such as packaging, loading and unloading, transportation, storage, and information.

[0004] Typically, the transportation of products and goods involves various processes such as packaging, storage, collection / loading, transport, unloading / delivery, and storage. Regardless of the means of transportation used, the movement of products and goods is impossible without going through these processes. Physical distribution (logistics) is the comprehensive view of this entire movement. In recent years, as mass production, mass sales, and mass consumption have become the trends of the times, the importance of logistics is gradually increasing due to the growing need to streamline the flow of materials connecting these processes.

[0005] In modern enterprises, logistics activities—the accurate and rapid delivery of products to consumers—have emerged as a crucial component, alongside commercial distribution activities, or the transaction aspect. In other words, with economic development, the view arose that pursuing only the reduction of production costs would make it impossible to win in fierce corporate competition, and that distribution costs must also be reduced as much as possible.

[0006] Currently, as a means of logistics rationalization, the construction of distribution centers that concentrate delivery centers, truck terminals, and warehouse complexes around large cities, the promotion of unit load systems that aim for standardized transportation using containers or pallets, and cooperative integrated transportation that aims for transportation efficiency through the organic combination of each transportation agency are underway, and there are also places being established by the government.

[0007] Since the rapid inbound and outbound of goods is vital for logistics warehouses, most are equipped with cargo inbound and outbound systems utilizing mechanized or automated loading and unloading means; a representative example is the shuttle inbound / outbound system, which performs automated cargo inbound and outbound operations by transporting goods using shuttles.

[0008] Looking at the cargo transfer process in the shuttle inbound / outbound system, first, when a loading / unloading task is generated, the central server assigns the task to a specific shuttle. The assigned shuttle then travels to the loading location along a pre-set route. Upon arrival at the loading location, the shuttle loads the designated cargo. Once loading is complete, the shuttle travels to the unloading location along the pre-set route. Finally, upon arrival at the unloading location, the shuttle unloads the loaded cargo, completing the cargo transfer operation.

[0009] In such shuttle loading and unloading systems, various types of shuttles capable of loading and unloading cargo in diverse ways may be used. One example is a side-fork type shuttle that loads and unloads cargo using forks extending laterally from a shuttle body, as disclosed in Korean Registered Patent No. 10-2319364, "Cargo Transfer Shuttle and Cargo Loading and Unloading System Using the Same" (hereinafter referred to as the "Prior Invention"). A shuttle loading and unloading system that loads or unloads cargo using a side-fork type shuttle has the advantage of excellent space utilization and cargo transfer efficiency in a logistics warehouse.

[0010] A side-fork type shuttle in the prior art comprises a mast vertically positioned on a shuttle body, a carrier coupled to the mast so as to be vertically movable, and a pair of telescopic forks coupled to both ends of the carrier and capable of gripping a cargo. In this case, the pair of telescopic forks can extend in length toward the side of the shuttle body and grip the cargo by applying pressure toward the center of the cargo from both sides of the targeted cargo.

[0011] However, side-fork type shuttles with this gripping method have a limitation in that they are not suitable for loading and unloading heavy cargo. Specifically, in order to grip heavy cargo by applying pressure from both sides toward the center of the cargo, a significant amount of pressure is required, and even if such pressure is applied, the cargo may not be able to withstand it and may be damaged. Prior art literature

[0013] Republic of Korea Registered Patent No. 10-2319364 The problem to be solved

[0014] The present invention aims to solve the problems of the aforementioned prior art, and the objective of the present invention is to provide a side fork type shuttle capable of stably loading and unloading heavy cargo by comprising a fork module that can extend toward the side of the shuttle body and load cargo upward, and a lift module that moves the fork module up and down. means of solving the problem

[0016] A side fork type shuttle according to one embodiment of the present invention comprises a shuttle body having a mounting space and a loading / unloading unit mounted in the mounting space and loading / unloading cargo in a first axis direction traversing the driving direction of the shuttle body, wherein the loading / unloading unit includes a fork module capable of extending the body along the first axis direction and mounting cargo upward, and a lift module for lifting and lowering the fork module.

[0017] At this time, the fork module may include a base plate coupled within a mounting space, a movable plate coupled to the base plate so as to be movable along a first axis direction, and a mounting plate coupled to the movable plate so as to be movable along a first axis direction, positioned to cover the upper side of the mounting space according to the moving position, and capable of mounting cargo.

[0018] In addition, the moving plate receives power from a separate first drive motor and moves in the first axis direction relative to the base plate, and the mounting plate can move in the first axis direction relative to the moving plate by the movement of the moving plate.

[0019] Additionally, the fork module may further include a rack gear positioned longitudinally in the first axis direction on the lower surface of a moving plate, a first pinion gear positioned to mesh with the rack gear on a base plate and connected to receive power from a first drive motor, a second pinion gear positioned to mesh with the rack gear at a position spaced apart from the first pinion gear in the first axis direction on the base plate, and a pinion connecting gear connecting the first pinion gear and the second pinion gear so that they rotate in the same direction.

[0020] Additionally, the fork module further comprises a first pulley positioned to rotate by a second axis of rotation in a horizontal direction orthogonal to the first axis direction at one end of the first axis direction of the moving plate, a second pulley positioned to rotate by a second axis of rotation at the other end of the first axis direction of the moving plate, a first belt with one end fixed to a mounting plate and the other end fixed to a base plate while hooked onto the first pulley, and a second belt with one end fixed to a mounting plate and the other end fixed to a base plate while hooked onto the second pulley, and when the moving plate moves in the first axis direction, the mounting plate can move in the first axis direction relative to the moving plate by the tension force of the first belt or the second belt.

[0021] Additionally, the fork module includes one or more vertical plates vertically arranged along a first axis direction on the upper surface of a base plate, one or more guide rails vertically arranged along a first axis direction on the upper surface of a moving plate, and one or more vertical blocks vertically arranged along a first axis direction on the lower surface of a mounting plate, and the vertical plates and vertical blocks may each have one or more rail rollers inserted into the guide rails to guide the movement of the moving plate and the mounting plate in the first axis direction.

[0022] In addition, the lift module can move the fork module up and down using a cam structure.

[0023] Additionally, the lift module comprises a second drive motor that generates power, a drive gear connected to the second drive motor and arranged to rotate by a horizontal third axis direction rotation axis, a first connecting gear arranged to mesh with the drive gear, a first driven gear arranged to mesh with the first connecting gear, a first link bar arranged lengthwise in a horizontal fourth axis direction orthogonal to the third axis and having one end coupled to the first driven gear so as to be offset from the rotation center axis, a first rotating member arranged to rotate by a rotation axis in the third axis direction and having the other end of the first link bar coupled so as to be offset from the rotation center axis, a first cam member sharing a rotation axis with the first driven gear and having a first cam roller arranged to be offset from the rotation center axis, a second cam member sharing a rotation axis with the first rotating member and having a second cam roller arranged to be offset from the rotation center axis, a first cam block arranged lengthwise in the fourth axis direction and coupled to the fork module having an insertion slot into which the first cam roller is inserted, and a second cam member arranged lengthwise in the fourth axis direction It includes a second cam block that is coupled with a fork module and has an insertion slot into which a cam roller is inserted, and when a second drive motor provides power, the first cam block and the second cam block can move up and down together.

[0024] In addition, when a tensile force is applied to the first link bar, the first cam block and the second cam block may be positioned such that the angle of placement from one end of the first link bar and the center axis of rotation of the first cam roller differs from each other by a predetermined angle of deviation, and the angle of placement from the other end of the first link bar and the center axis of rotation of the second cam roller differs from each other by an angle of deviation.

[0025] Additionally, the lift module comprises a rotating shaft that is elongated in the third axis direction and has one end axially coupled to a first connecting gear, a second connecting gear that is axially coupled to the other end of the rotating shaft, a second driven gear that is arranged to mesh with the second connecting gear, a second link bar that is elongated in the fourth axis direction and has one end coupled to the second driven gear away from the center axis of rotation, a second rotating member that is arranged to rotate by the axis of rotation in the third axis direction and has the other end of the second link bar coupled away from the center axis of rotation, a third cam member that shares the axis of rotation with the second driven gear and has a third cam roller that is arranged away from the center axis of rotation, a fourth cam member that shares the axis of rotation with the second rotating member and has a fourth cam roller that is arranged away from the center axis of rotation, a third cam block that is elongated in the fourth axis direction and has an insertion slot into which the third cam roller is inserted and coupled to the fork module, and a fourth cam block that is elongated in the fourth axis direction and has an insertion slot into which the fourth cam roller is inserted and coupled to the fork module. When the second drive motor provides power, the first cam block, second cam block, third cam block, and fourth cam block can move up and down together.

[0026] Additionally, the fork module includes one or more first-axis guide rollers that rotate around a rotation axis in the first-axis direction and one or more second-axis guide rollers that rotate around a rotation axis in the second-axis direction in the horizontal direction orthogonal to the first-axis direction, and the first-axis guide rollers and the second-axis guide rollers can guide the lifting and lowering movement of the fork module by the lift module by independently rolling contacting each other on different contact surfaces. Effects of the invention

[0028] According to the present invention, a fork module extending toward the side of a shuttle body and mounting cargo upward, and a lift module for moving the fork module up and down are provided to stably load and unload heavy cargo, thereby enabling the loading and unloading of heavy cargo without damage. Brief explanation of the drawing

[0030] FIG. 1 is a schematic diagram illustrating a side fork type shuttle according to one embodiment of the present invention. FIG. 2 is a diagram showing the disassembled view of a side fork type shuttle according to one embodiment of the present invention. FIG. 3 is a diagram showing the disassembled view of a loading / unloading unit according to one embodiment of the present invention. FIGS. 4 (a) to (e) is a drawing illustrating the loading process of a side fork type shuttle according to one embodiment of the present invention. FIG. 5 is a diagram showing the disassembled view of a fork module according to one embodiment of the present invention. FIG. 6 is a drawing illustrating the arrangement of rack gears according to one embodiment of the present invention. Figures 7 (a) and (b) illustrate the process of extending the length of a fork module according to one embodiment of the present invention. Figures 8 (a) and (b) illustrate the process of reducing the length of a side fork type shuttle according to one embodiment of the present invention. FIG. 9 is a diagram showing the disassembled view of a lift module according to one embodiment of the present invention. FIG. 10 is a drawing showing the first side plate and the second side plate of a lift module according to one embodiment of the present invention omitted. FIGS. 11 (a) and (b) and FIGS. 12 (a) and (b) illustrate the operation process of a lift module for fork-type upward movement according to an embodiment of the present invention. FIG. 13 is a drawing illustrating the arrangement of a first axis guide roller and a second axis guide roller according to an embodiment of the present invention. Specific details for implementing the invention

[0031] It should be noted that the technical terms used in this invention are used merely to describe specific embodiments and are not intended to limit the invention. Furthermore, unless specifically defined otherwise in this invention, the technical terms used in this invention should be interpreted in the sense generally understood by those skilled in the art to which this invention pertains, and should not be interpreted in an overly broad or overly narrow sense. Additionally, if a technical term used in this invention is an incorrect technical term that fails to accurately express the concept of the invention, it should be understood as being replaced by a technical term that can be correctly understood by those skilled in the art.

[0032] Furthermore, singular expressions used in the present invention include plural expressions unless the context clearly indicates otherwise. In the present invention, terms such as "composed of" or "comprising" should not be interpreted as necessarily including all of the various components or steps described in the invention, and should be interpreted as meaning that some of the components or steps may not be included, or that additional components or steps may be included.

[0033] In addition, it should be noted that the attached drawings are intended only to facilitate an understanding of the concept of the present invention, and should not be interpreted as limiting the concept of the present invention.

[0035] The side fork type shuttle according to the present invention will be examined in more detail below with reference to the attached drawings.

[0037] FIG. 1 is a schematic diagram illustrating a side fork type shuttle according to an embodiment of the present invention, FIG. 2 is a diagram illustrating a disassembled view of a side fork type shuttle according to an embodiment of the present invention, FIG. 3 is a diagram illustrating a disassembled view of a loading / unloading unit according to an embodiment of the present invention, and FIG. 4 (a) to (e) are diagrams illustrating the loading process of a side fork type shuttle according to an embodiment of the present invention.

[0038] A side fork type shuttle (10) according to one embodiment of the present invention is configured to include a shuttle body (100) forming the body of the shuttle as shown in FIG. 1, and a loading / unloading unit (300) mounted on the shuttle body (100) for loading or unloading cargo.

[0039] The shuttle body (100) may be equipped with a number of wheels, including a driving wheel connected to a separate driving motor to enable the shuttle to travel, and may travel along a separate rail that guides the driving path using the number of wheels.

[0040] As shown in FIG. 2, the shuttle body (100) may have a mounting space (S) at the center of the driving direction, and the loading / unloading unit (300) may be mounted in the mounting space (S) of the shuttle body.

[0041] The loading / unloading unit (300) can load or unload cargo in a first axis direction that crosses the driving direction of the shuttle body (100). To this end, the loading / unloading unit (300) may be equipped with a fork module (310) and a lift module (350) as shown in FIG. 3. The fork module (310) can load cargo (G) upward and extend its body along the first axis direction. The lift module (350) coupled with the fork module (310) can move the fork module (310) up and down. At this time, the lift module (350) may be mounted on the shuttle body (100), and the fork module (310) may be mounted on the lift module.

[0042] Referring to FIGS. 4 (a) to (e), the cargo loading process of the shuttle (10) is examined. First, as shown in FIGS. 4 (a), the cargo (G) to be loaded and the fork module (310) are positioned parallel to each other along a virtual first axis extension line. Then, as shown in FIGS. 4 (b), the fork module (310) is extended so that a part of the body of the fork module (310) is placed below the cargo (G). In this position, as shown in FIGS. 4 (c), the lift module (350) moves the fork module (310) upward so that the cargo (G) is mounted upward on the extended fork module (310). With the cargo (G) mounted on the extended fork module (310), the length of the fork module (310) is reduced as shown in (d) of FIG. 4 so that the cargo (G) is positioned on the upper side of the shuttle body (100), and then, as shown in (e) of FIG. 4, the lift module (350) moves the fork module (310) downward to complete the loading of the cargo (G). Through this process, the shuttle (10) loaded with the cargo (G) travels to the unloading point, and then, by performing the loading process in reverse order at the unloading point, the cargo (G) can be unloaded at the unloading point on the side of the shuttle body (100).

[0043] In this way, the side fork type shuttle (10) according to the present embodiment loads and unloads cargo (G) by placing it upward, so heavy cargo can be loaded and unloaded stably without damage.

[0045] FIG. 5 is a diagram showing the disassembled view of a fork module according to one embodiment of the present invention, and FIG. 6 is a diagram showing the arrangement of a rack gear according to one embodiment of the present invention.

[0046] Hereinafter, the fork module (310) will be described in more detail with reference to FIGS. 5 and 6.

[0047] Referring to FIG. 5, the fork module (310) includes a base plate (311) mounted on a lift module (350), a movable plate (312) coupled to the base plate (311) so as to be movable along a first axis direction, and a mounting plate (313) coupled to the movable plate (312) so as to be movable along a first axis direction, and the base plate (311), the movable plate (312), and the mounting plate (313) together form the body of the fork module (310).

[0048] The base plate (311) is coupled within the mounting space (S) of the shuttle body (100) via the lift module (350), and while it can be moved up and down by the lift module (350), its position in the first axis direction can be fixed.

[0049] The moving plate (312) can be coupled to the base plate (311) so as to be movable in the first axis direction on the upper side of the base plate (311). The moving plate (312) can be movable in the first axis direction relative to the base plate (311) through a rack and pinion gear system. To this end, a rack gear (315) may be disposed on the moving plate (312), and a first drive motor (314), a first pinion gear (316), a pinion connecting gear (317), and a second pinion gear (318) may be disposed on the base plate (311).

[0050] As shown in FIG. 6, the rack gear (315) can be positioned lengthwise in the first axis direction on the lower surface of the movable plate (312). The first drive motor (314) is positioned so that its motor axis is positioned in the second axis direction in a horizontal direction perpendicular to the first axis, and the first pinion gear (316) is connected to the motor axis of the first drive motor (314). Thus, the first pinion gear (316) can rotate around the axis of rotation in the second axis direction. The second pinion gear (318) can be positioned to rotate around the axis of rotation in the second axis direction at a position spaced a predetermined distance from the first pinion gear (316) in the first axis direction, and the pinion connecting gear (317) can be connected to the first pinion gear (316) and the second pinion gear (318) so that the first pinion gear (316) and the second pinion gear (318) rotate in the same direction. At this time, the upper ends of the outer surfaces of the first pinion gear (316) and the second pinion gear (318) mesh with the rack gear (315) at the same height, but the upper end of the outer surface of the connecting gear (317) can be positioned at a lower height than the first pinion gear (316) and the second pinion gear (318) so that the pinion connecting gear (317) does not mesh with the rack gear (315). Accordingly, the moving plate (312) can receive power from the first driving motor (314) transmitted from the first pinion gear (316) and the second pinion gear (318) through the rack gear (315).

[0051] And as shown in FIG. 5, the fork module (310) is provided with a pair of vertical plates (323) that are vertically arranged along the first axis direction at both ends of the upper surface of the base plate (311), and a pair of guide rails (324) may be vertically arranged along the first axis direction at both sides of the upper surface of the movable plate (312). A plurality of rail rollers (326) having a rotation axis in the second axis direction are arranged on each of the pair of vertical plates (323), and a plurality of rail rollers (326) may be inserted into the guide rails (324). Thus, the guide rails (324) can guide the movement of the movable plate (312) in the first axis direction.

[0052] Preferably, to minimize the space between the base plate (311) and the moving plate (312), the first drive motor (314) is positioned below the base plate (311), and the first pinion gear (316) and the second pinion gear (318) may be positioned to penetrate the base plate (311) vertically so that only a part of their bodies protrudes upward from the base plate (311). Additionally, the rotation axes of the first pinion gear (316), the second pinion gear (318), and the pinion connecting gear (317) are positioned at the same height relative to each other, and the first pinion gear (316) and the second pinion gear (318) may have the same diameter, while the pinion connecting gear (317) may have a relatively smaller diameter. That is, the first pinion gear (316), the second pinion gear (2), and the pinion connecting gear (317) can be arranged horizontally at the same height to minimize the height space occupied by the gears. By minimizing the space between the base plate (311) and the moving plate (312) and minimizing the height space occupied by the gears, the vertical thickness of the shuttle (10) can be minimized, and thereby the center of gravity of the loaded cargo is lowered, so the shuttle (10) according to this embodiment can be advantageous for loading heavy cargo.

[0053] Meanwhile, the mounting plate (313) is provided with a flat upper surface to allow for upward mounting of cargo. Additionally, the mounting plate (313) moves integrally with the moving plate (312) and can additionally move in the first axis direction relative to the moving plate (312). Through this, the fork module (310) can be extended in the first axis direction. Furthermore, when the base plate (311), the moving plate (312), and the mounting plate (313) are arranged to overlap each other in the vertical direction, the mounting plate (313) can be positioned to cover the upper side of the mounting space (S).

[0054] As described above, the moving plate receives power from the first drive motor (314) and moves in the first axis direction relative to the base plate (311), whereas the mounting plate can move in the first axis direction relative to the moving plate (312) by the movement of the moving plate (312) without being connected to a separate drive motor.

[0055] To this end, a first pulley (319) arranged to rotate by a second axis of rotation may be provided at one end of the first axis of the moving plate (312), and a second pulley (320) arranged to rotate by a second axis of rotation may be provided at the other end of the first axis of the moving plate (312). Additionally, the fork module (310) may be provided with a first belt (321) in which one end is fixed to the lower surface of the mounting plate (313) and the other end is fixed to the upper surface of the base plate (311) while being hooked onto the first pulley (319), and a second belt (322) in which one end is fixed to the lower surface of the mounting plate and the other end is fixed to the upper surface of the base plate (311) while being hooked onto the second pulley (320). Accordingly, when the moving plate (312) moves in the first axis direction, a tensile force is selectively generated in the first belt (321) or the second belt (322) depending on the direction of movement from the first axis direction to one side or the other side, and the mounting plate (313) can move in the direction of the first axis direction to one side or the other side relative to the moving plate (312) by the tensile force generated in the first belt (321) or the second belt (322). At this time, a pair of vertical blocks (325) are vertically arranged along the first axis direction at both ends of the lower surface of the mounting plate (313), and a plurality of rail rollers (326) having a rotation axis in the second axis direction are arranged in each of the pair of vertical blocks (325), and the plurality of rail rollers (326) can be inserted and arranged in the guide rail (324). Accordingly, the guide rail (324) can guide the movement of the mounting plate (313) in the first axis direction. Here, the rail roller (326) placed on the vertical block (325) can be inserted into the guide rail (324) on the opposite side of the rail roller (326) placed on the vertical plate (323).

[0057] FIGS. 7 (a) and (b) illustrate the process of extending the length of a fork module according to one embodiment of the present invention, and FIGS. 8 (a) and (b) illustrate the process of reducing the length of a side fork type shuttle according to one embodiment of the present invention.

[0058] Below, the process of extending and shortening the length of the fork module (310) will be explained in more detail using FIG. 7 (a) and (b) and FIG. 8 (a) and (b) as examples.

[0059] First, when looking at the side cross-section where the first belt (321) is shown in the normal state where the base plate (311), the moving plate (312), and the mounting plate (313) are arranged in an overlapping vertical direction, it will be in the same state as illustrated in FIG. 7 (a). In this state, when the first driving motor (314) rotates to one side, the first pinion gear (316) and the second pinion gear (318) rotate to one side as shown in FIG. 7 (b), and the moving plate (312) moves to one side by means of the rack gear (315) engaged with the first pinion gear (316) and the second pinion gear (318). At this time, a tension force is generated in the first belt (321) by the first pulley (319) which moves integrally with the moving plate (312), and the mounting plate (313) is pulled in one direction by the tension force of the first belt (321) and moves a longer distance in one direction than the moving plate (312).

[0060] In this manner, when the length of the fork module (310) is extended in one direction, looking at the side cross-section where the second belt (322) is shown, it will be in a state as illustrated in FIG. 8 (a). In this state, when the first drive motor (314) rotates in the other direction, the first pinion gear (316) and the second pinion gear (318) rotate in the other direction as shown in FIG. 8 (b), and the movable plate (312) moves in the other direction by means of the rack gear (315) engaged with the first pinion gear (316) and the second pinion gear (318). At this time, a tensile force is generated in the second belt (322) by the second pulley (320) which moves integrally with the movable plate (312), and the mounting plate (313) is pulled in the other direction by the tensile force of the second belt (322) and moves a longer distance in the other direction than the movable plate (312).

[0061] Through the process described above, the moving plate (312) and the mounting plate (313) can be moved in one direction so that the length of the fork module (310) can be extended in one direction, and the length of the fork module (310) that was extended in one direction can be reduced by moving the moving plate (312) and the mounting plate (313) in the other direction. Conversely, the moving plate (312) and the mounting plate (313) may move in the other direction to extend the length of the fork module (310) in the other direction, and the length of the fork module (310) that was extended in the other direction may be shortened through the movement of the moving plate (312) and the mounting plate (313) in one direction. In this process of extension and shortening in the other direction, the belt that generates tension force when extended changes from the first belt (321) to the second belt (322), and the belt that generates tension force when shortened changes from the second belt (322) to the first belt (321). Since the length is extended or shortened through the same principle as the process of extension and shortening in one direction described above, a description regarding this is omitted.

[0063] FIG. 9 is a diagram showing a disassembled view of a lift module according to one embodiment of the present invention, and FIG. 10 is a diagram showing a lift module according to one embodiment of the present invention with the first side plate and the second side plate omitted.

[0064] Below, we will examine the lift module (350) in more detail with reference to FIGS. 9 and 10.

[0065] As described above, the lift module (350) can operate to move the fork module (310) up and down. At this time, the lift module (350) can move the fork module (310) up and down using a cam structure.

[0066] The lift module (350) supports both lower ends of the fork module (310) and can operate to lift one lower end and the other lower end, respectively. To this end, the lift module (350) may be configured to include a second drive motor (351), a drive gear (352), a first connecting gear (353), a first driven gear (354), a first link bar (355), a first rotating member (356), a first side plate (357), a first cam member (358), a second cam member (359), a first cam block (360), a second cam block (361), a rotating shaft (362), a second connecting gear (363), a second driven gear (364), a second link bar (365), a second rotating member (366), a second side plate (367), a third cam member (368), a fourth cam member (369), a third cam block (370), and a fourth cam block (371).

[0067] The second drive motor (351) generates power for the lift module (350) and may be arranged to have a motor shaft in the third axis direction. Here, the third axis direction is a horizontal axis and may be the same direction as the first axis direction or the second axis direction described above. In the drawings (particularly FIG. 2), the third axis direction is depicted as being the same direction as the second axis direction, but it is not limited thereto.

[0068] The drive gear (352) is coupled to the motor shaft of the second drive motor (351), so that the drive gear (352) can rotate around a rotation axis in the direction of the third axis. The first connecting gear (353) is arranged to mesh with the drive gear (352), and the first driven gear (354) can be arranged to mesh with the first connecting gear (353). The first connecting gear (353) and the first driven gear (354) can rotate around a rotation axis of the third axis, just like the first drive gear (352).

[0069] The first link bar (355) is arranged lengthwise in the direction of the fourth axis in a horizontal direction orthogonal to the third axis, and one end of the first link bar (355) is coupled to the side of the first driven gear (354). At this time, one end of the first link bar (355) is coupled at a position off-center from the rotational center axis of the first driven gear (354), so that when the first driven gear (354) rotates, one end of the first link bar (355) can rotate in a circle of a predetermined size.

[0070] The first rotating member (356) may be positioned to rotate by a rotation axis in the third axis direction at a position spaced a predetermined distance from the first driven gear (354) in the fourth axis direction. At this time, the other end of the first link bar (355) is coupled to the side of the first rotating member (356), and the other end of the first link bar (355) may be coupled at a position away from the rotation center axis of the first rotating member (356). Accordingly, when the other end of the first link bar (355) rotates while drawing a circle of a predetermined size, the first rotating member (356) can rotate axially. Preferably, the coupling position of the first link bar (355) to the first driven gear (354) or the first rotating member (356) at the first end and the other end of the first link bar (355) may be adjusted so that the first link bar (355) can maintain a horizontal position when the first end and the other end of the first link bar (355) rotate while drawing a circle of a predetermined size.

[0071] The first side plate (357) can be fixedly coupled to the shuttle body (100), and the rotation axes of the drive gear (352), the first connecting gear (353), the first driven gear (354), and the first rotating member (356) can be rotatably coupled through the first side plate (357). Accordingly, the drive gear (352), the first connecting gear (353), the first driven gear (354), and the first rotating member (356) can only rotate while coupled to the first side plate (357), and their positions can be fixed.

[0072] The first cam member (358) is coupled to share a rotation axis with the first driven gear (354) on the opposite side of the first driven gear (354) with the first side plate (357) in the center, and a first cam roller (360a) having a rotation axis of the third axis may be positioned. At this time, the rotation axis of the first cam roller (360a) may be spaced apart from the rotation axis of the first cam member (358) by a predetermined distance. The second cam member (359) is coupled to share a rotation axis with the first rotating member (356) on the opposite side of the first rotating member (356) with the first side plate (357) in the center, and a second cam roller having a rotation axis of the third axis may be positioned. At this time, the rotation axis of the second cam roller (361a) may be spaced apart from the rotation axis of the second cam member (359) by a predetermined distance.

[0073] The first cam block (360) is coupled to the lower surface of the base plate (311) of the fork module and may be provided with an elongated insertion hole (H) that is elongated in the fourth axis direction. The first cam roller (360a) of the first cam member may be inserted into the elongated insertion hole (H) of the first cam block (360). The second cam block (361) is coupled to the first cam block (360) on the lower surface of the base plate (311) of the fork module at a position spaced apart in the fourth axis direction and may be provided with an elongated insertion hole (H) that is elongated in the fourth axis direction. The second cam roller (361a) of the second cam member may be inserted into the elongated insertion hole (H) of the second cam block (361).

[0074] The rotating shaft (362) is positioned lengthwise in the direction of the third axis, and one end is axially coupled with the first connecting gear (353). Thus, the rotating shaft (362) can rotate integrally with the first connecting gear (353). The second connecting gear (363) is axially coupled to the other end of the rotating shaft (362) and rotates integrally with the rotating shaft (362), and the second driven gear (364) can be positioned to mesh with the second connecting gear (363). The second driven gear (364) can rotate around the rotation axis of the third axis, just like the second connecting gear (363).

[0075] The second link bar (365) is arranged lengthwise in the direction of the fourth axis, and one end of the second link bar (365) is coupled to the side of the second driven gear (364). At this time, one end of the second link bar (365) is coupled at a position off-center from the rotational axis of the second driven gear (364), so that when the second driven gear (364) rotates, one end of the second link bar (365) can rotate in a circle of a predetermined size.

[0076] The second rotating member (366) may be positioned to rotate by a rotation axis in the third axis direction at a position spaced a predetermined distance from the second driven gear (364) in the fourth axis direction. At this time, the other end of the second link bar (365) is coupled to the side of the second rotating member (366), and the other end of the second link bar (365) may be coupled at a position away from the rotation center axis of the second rotating member (366). Accordingly, when the other end of the second link bar (365) rotates while drawing a circle of a predetermined size, the second rotating member (366) can rotate axially. Preferably, the coupling position of the second link bar (365) to the second driven gear (364) or the second rotating member (366) at the end and the other end of the second link bar (365) may be adjusted so that the second link bar (365) can maintain a horizontal position when the end and the other end of the second link bar (365) rotate while drawing a circle of a predetermined size. Additionally, the coupling position of the second driven gear (364) and the second rotating member (366) of the second link bar (365) can be adjusted so that when the first link bar (355) and the other end of the first link bar (355) rotate upward, the first link bar (365) and the other end of the second link bar (365) also rotate upward, and when the first link bar (355) and the other end of the first link bar (355) rotate downward, the other end of the second link bar (365) also rotates downward.

[0077] The second side plate (367) can be fixedly coupled to the shuttle body (100) at a position spaced apart from the first side plate (357) in the third axis direction, and the rotation axes of the second connecting gear (363), the second driven gear (364), and the second rotating member (366) can be rotatably coupled through the second side plate (367). Accordingly, the second connecting gear (363), the second driven gear (364), and the second rotating member (366) can only rotate while coupled to the second side plate (367), and their positions can be fixed.

[0078] The third cam member (368) is coupled to share a rotation axis with the second driven gear (364) on the opposite side of the second driven gear (364) with the second side plate (367) in the center, and a third cam roller (370a) having a rotation axis of the third axis may be positioned. At this time, the rotation axis of the third cam roller (370a) may be spaced apart from the rotation axis of the third cam member (368) by a predetermined distance. The fourth cam member (369) is coupled to share a rotation axis with the second rotating member (366) on the opposite side of the second rotating member (366) with the second side plate (367) in the center, and a fourth cam roller having a rotation axis of the third axis may be positioned. At this time, the rotation axis of the fourth cam roller (371a) may be spaced apart from the rotation axis of the fourth cam member (369) by a predetermined distance.

[0079] The third cam block (370) is coupled to the first cam block (360) on the lower surface of the base plate (311) of the fork module at a position spaced apart in the third axis direction, and may be provided with an elongated insertion hole (H) extending in the fourth axis direction. The third cam roller (370a) of the third cam member may be inserted into the elongated insertion hole (H) of the third cam block (370). The fourth cam block (371) is coupled to the third cam block (370) on the lower surface of the base plate (311) of the fork module at a position spaced apart in the fourth axis direction, and may be provided with an elongated insertion hole (H) extending in the fourth axis direction. The fourth cam roller (371a) of the fourth cam member may be inserted into the elongated insertion hole (H) of the fourth cam block (371).

[0081] FIGS. 11 (a) and (b) and FIGS. 12 (a) and (b) illustrate the operation process of a lift module for fork-type upward movement according to an embodiment of the present invention.

[0082] Below, the driving process of the lift module (350) and the lifting and lowering movement process of the fork module (310) will be explained in more detail using FIG. 11 (a) and (b) and FIG. 12 (a) and (b) as examples.

[0083] First, as described above, the first cam block (360), the second cam block (361), the third cam block (370), and the fourth cam block (371) are coupled to the lower surface of the base plate (311) of the fork module at a spaced-apart position. Therefore, when the first cam block (360), the second cam block (361), the third cam block (370), and the fourth cam block (371) move upward together, the fork module (310) moves upward, and when the first cam block (360), the second cam block (361), the third cam block (370), and the fourth cam block (371) move downward together, the fork module (310) moves downward.

[0084] FIG. 11 (a) is a drawing showing the drive gear (352), first connecting gear (353), first driven gear (354), first link bar (355), first rotating member (356), first cam member (358) and second cam member (359) when the height of the first cam block (360) and the second cam block (361) is at the lowest position, and FIG. 12 (a) is a drawing showing the second connecting gear (363), second driven gear (364), second link bar (365), second rotating member (366), third cam member (368) and fourth cam member (369) when the height of the third cam block (370) and the fourth cam block (371) is at the lowest position.

[0085] In this state, when the second drive motor (351) provides power, as shown in FIG. 11 (b), the drive gear (352) rotates in one direction, the first connecting gear (353) rotates in the other direction, and the first driven gear (354) rotates in one direction. Then, as the first driven gear (354) rotates, one end of the first link bar (355) rotates in a circle of a predetermined size. When one end of the first link bar (355) rotates in a circle of a predetermined size, a pulling force or a pushing force is generated by the first link bar (355) on the first rotating member (356) to which the other end of the first link bar (355) is connected, and the first rotating member (356) also rotates in one direction together with the first driven gear (354). When the first driven gear (354) and the first rotating member (356) rotate, the first cam member (358) sharing a rotation axis with the first driven gear (354) and the second cam member (359) sharing a rotation axis with the first rotating member (356) also rotate together, and accordingly, the first cam roller (360a) of the first cam member (358) and the second cam roller (361a) of the second cam member (359) rotate in a circle of a predetermined size. When the first cam roller (360a) and the second cam roller (361a) rotate in a circle of a predetermined size in this manner, the first cam block (360) in which the first cam roller (360a) is inserted into the third axis direction elongated hole (H) and the second cam block (361) in which the second cam roller (361a) is inserted into the third axis direction elongated hole (H) move up and down.

[0086] Meanwhile, when the first connecting gear (353) rotates in the other direction according to the power provided by the second driving motor (351), as shown in Fig. 12 (b), the second connecting gear (363), which is connected to the first connecting gear (353) by the rotating shaft (362), also rotates in the other direction, and when the second connecting gear (363) rotates in the other direction, the second driven gear (364) rotates in one direction. And as the second driven gear (364) rotates, one end of the second link bar (365) rotates in a circle of a predetermined size. When the first end of the second link bar (365) rotates in a circle of a predetermined size, a pulling or pushing force is generated by the second link bar (365) on the second rotating member (366) to which the other end of the second link bar (365) is connected, and the second rotating member (366) also rotates in one direction together with the second driven gear (364). When the second driven gear (364) and the second rotating member (366) rotate, the third cam member (368), which shares a rotation axis with the second driven gear (364), and the fourth cam member (369), which shares a rotation axis with the second rotating member (366), also rotate together. Accordingly, the third cam roller (370a) of the third cam member (368) and the fourth cam roller (371a) of the fourth cam member (369) rotate in a circle of a predetermined size. When the third cam roller (370a) and the fourth cam roller (371a) rotate in a circle of a predetermined size, the third cam block (370), into which the third cam roller (370a) is inserted into the third axis-direction elongated hole (H), and the fourth cam block (371), into which the fourth cam roller (371a) is inserted into the third axis-direction elongated hole (H), move up and down.

[0087] Through this process, when the second drive motor (351) provides power, the first cam block (360), the second cam block (361), the third cam block (370), and the fourth cam block (371) move up and down together, and the fork module (310) coupled to the first cam block (360), the second cam block (361), the third cam block (370), and the fourth cam block (371) via the base plate (311) also moves up and down as a single unit.

[0088] Preferably, when a pulling force is applied to the first link bar (355) or the second link bar (365), the fork module (310) may be positioned such that the angle of placement from one end of the first link bar (355) and the rotational center axis of the first cam roller (360a) differs from each other by a predetermined angle of deviation, the angle of placement from the other end of the first link bar (355) and the rotational center axis of the second cam roller (361a) differs from each other by a predetermined angle of deviation, the angle of placement from one end of the second link bar (365) and the rotational center axis of the third cam roller (370a) differs from each other by a predetermined angle of deviation, and the angle of placement from the other end of the second link bar (365) and the rotational center axis of the fourth cam roller (371a) differs from each other by a predetermined angle of deviation. Here, the angle of deviation may be 90 degrees.

[0089] With reference to FIGS. 11 (a) to 12 (b), a more specific explanation is provided. When the first driven gear (354) rotates clockwise in the drawing, and one end of the first link bar (355) moves in an arc from the center of rotation of the first driven gear (354) to the 2 o'clock direction, a tensile force is applied to the first link bar (355). When the tensile force is applied to the first link bar (355) in this manner, the fork module (310) moves upward, and when one end of the first link bar (355) moves in an arc from the center of rotation of the first driven gear (354) to the 2 o'clock direction, the first cam roller (360a) can be positioned to move in an arc from the 7 o'clock direction to the 11 o'clock direction. The positioning angle of the second cam roller (361a) relative to the first rotating member (356), the positioning angle of the third cam roller (370a) relative to the second driven gear (364), and the positioning angle of the third cam roller (370a) relative to the second rotating member (366) can also be configured to be the same as the positioning angle of the first cam roller (360a) relative to the first driven gear (354). Through this, when the fork module (310) moves upward under a relatively large force, a tensile force rather than a compressive force can be generated in the first link bar (355) and the second link bar (365). This is because the first link bar (355) and the second link bar (365) have greater strength against tensile force than against compressive force.

[0091] FIG. 13 is a drawing illustrating the arrangement of a first axis guide roller and a second axis guide roller according to an embodiment of the present invention.

[0092] Referring to FIG. 13, the fork module (310) may include one or more first axis guide rollers (327) that rotate around a first axis direction rotation axis and one or more second axis guide rollers (328) that rotate around a second axis direction rotation axis in a horizontal direction orthogonal to the first axis direction. Preferably, four first axis guide rollers (327) and four second axis guide rollers (328) are provided, and they may be individually arranged at the front and rear ends of a pair of vertical plates (323).

[0093] The first axis guide roller (327) and the second axis guide roller (328) can independently roll in contact with different contact surfaces to guide the lifting and lowering movement of the fork module (310) by the lift module (350). At this time, a first contact plate (329) may be provided, which is arranged vertically in a direction perpendicular to the ground to provide a contact surface to the first axis guide roller (327) and contacts the rolling surface of the first axis guide roller (327), and a second contact plate (330) may be provided, which is connected to the first contact plate (329) in a state perpendicular to the ground and contacts the rolling surface of the second axis guide roller (328). Preferably, four first contact plates (329) and four second contact plates (330) are provided, and four first contact plates (329) are individually mounted on the inner surfaces of the front and rear ends of the first side plate (357) and the second side plate (367), and four second contact plates (330) can be individually mounted on the first contact plates (329).

[0094] Through this, the lifting and lowering movement direction of the fork module (310) by the lift module (350) can be stably guided.

[0096] Meanwhile, the above description is merely an illustrative explanation of the technical concept of the present invention, and those skilled in the art to which the present invention pertains will be able to make various modifications and variations within the scope of the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention are intended to explain, not limit, the technical concept of the present invention, and the scope of the technical concept of the present invention is not limited by these embodiments. The scope of protection of the present invention shall be interpreted by the claims below, and all technical concepts within an equivalent scope shall be interpreted as being included within the scope of rights of the present invention. Explanation of the symbols

[0098] 10: Shuttle 100: Shuttle body 300: Loading / unloading unit 310: Fork Module 311: Base Plate 312: Moving plate 313: Mounting plate 314: 1st drive motor 315: Rack gear 316: 1st pinion gear 317: Pinion connecting gear 318: Second pinion gear 319: First pulley 320: 2nd pulley 321: 1st belt 322: Second belt 323: Vertical plate 324: Guide rail 325: Vertical block 326: Rail roller 327: 1st axis guide roller 328: Second axis guide roller 329: First contact plate 330: Second contact plate 350: Lift module 351: Second drive motor 352: Drive gear 353: First connecting gear 354: First driven gear 355: First link bar 356: First rotating member 357: First side plate 358: 1st cam member 359: 2nd cam member 360: 1st Cam Block 361: 2nd Cam Block 362: Rotating shaft 363: Second connecting gear 364: Second driven gear 365: Second link bar 366: Second rotating member 367: Second side plate 368: 3rd cam missing 369: 4th cam missing 370: 3rd Cam Block 371: 4th Cam Block

Claims

Claim 1 A shuttle body having a mounting space; and a loading / unloading unit mounted in the mounting space and loading / unloading cargo in a first axis direction traversing the driving direction of the shuttle body, wherein the loading / unloading unit includes a fork module that can extend the body along the first axis direction and loads cargo upward; The lift module includes a fork module that moves up and down using a cam structure, wherein the lift module comprises: a second drive motor that generates power; a drive gear connected to the second drive motor and arranged to rotate by a horizontal third axis direction rotation axis; a first connecting gear arranged to mesh with the drive gear; a first driven gear arranged to mesh with the first connecting gear; a first link bar arranged lengthwise in a horizontal fourth axis direction orthogonal to the third axis, with one end coupled to the first driven gear so as to be offset from the rotation center axis; a first rotating member arranged to rotate by the rotation axis in the third axis direction, with the other end of the first link bar coupled so as to be offset from the rotation center axis; a first cam member sharing a rotation axis with the first driven gear and having a first cam roller arranged offset from the rotation center axis; a second cam member sharing a rotation axis with the first rotating member and having a second cam roller arranged offset from the rotation center axis; and an insertion member arranged lengthwise in the fourth axis direction and having the first cam roller inserted therein. A side fork type shuttle comprising: a first cam block having an elongated hole and coupled to the fork module; and a second cam block having an insertion elongated hole arranged in the fourth axis direction and coupled to the fork module, into which the second cam roller is inserted, wherein when the second drive motor provides power, the first cam block and the second cam block move up and down together. Claim 2 A side fork type shuttle according to claim 1, wherein the fork module comprises: a base plate coupled within the mounting space; a movable plate coupled to the base plate so as to be movable along the first axis direction; and a mounting plate coupled to the movable plate so as to be movable along the first axis direction, positioned to cover the upper side of the mounting space according to the moving position, and capable of supporting cargo. Claim 3 In claim 2, the moving plate receives power from a separate first drive motor and moves in the first axis direction relative to the base plate, and the mounting plate moves in the first axis direction relative to the moving plate by the movement of the moving plate, a side fork type shuttle. Claim 4 In claim 3, the fork module further comprises: a rack gear positioned longitudinally in the first axis direction on the lower surface of the movable plate; a first pinion gear positioned to mesh with the rack gear on the base plate and connected to receive power from the first drive motor; a second pinion gear positioned to mesh with the rack gear at a position spaced apart from the first pinion gear in the first axis direction on the base plate; and a pinion connecting gear connecting the first pinion gear and the second pinion gear so as to rotate in the same direction between the first pinion gear and the second pinion gear, thereby forming a side fork type shuttle. Claim 5 In claim 3, the fork module further comprises: a first pulley positioned to rotate by a second axis of rotation in a horizontal direction orthogonal to the first axis direction at one end portion of the moving plate in the first axis direction; a second pulley positioned to rotate by the second axis of rotation at the other end portion of the moving plate in the first axis direction; a first belt having one end fixed to the mounting plate and the other end fixed to the base plate while hooked onto the first pulley; and a second belt having one end fixed to the mounting plate and the other end fixed to the base plate while hooked onto the second pulley, and a side fork type shuttle in which, when the moving plate moves in the first axis direction, the mounting plate moves in the first axis direction relative to the moving plate by the tension force of the first belt or the second belt. Claim 6 In claim 5, the fork module comprises one or more vertical plates vertically arranged along the first axis direction on the upper surface of the base plate; one or more guide rails vertically arranged along the first axis direction on the upper surface of the movable plate; and one or more vertical blocks vertically arranged along the first axis direction on the lower surface of the mounting plate, wherein the vertical plates and vertical blocks each have one or more rail rollers inserted into the guide rails to guide the movement of the movable plate and the mounting plate in the first axis direction. Claim 7 delete Claim 8 delete Claim 9 A side fork type shuttle according to claim 1, wherein, when a tensile force is applied to the first link bar, the first cam block and the second cam block are positioned such that the angle of placement from one end of the first link bar and the rotational center axis of the first cam roller differs from each other by a predetermined offset angle, and the angle of placement from the other end of the first link bar and the rotational center axis of the second cam roller differs from each other by the offset angle, so that when a tensile force is applied to the first link bar, the first cam block and the second cam block move upward. Claim 10 In claim 1, the lift module comprises: a rotating shaft that is elongated in the direction of the third axis and has one end axially coupled to the first connecting gear; a second connecting gear axially coupled to the other end of the rotating shaft; a second driven gear that is arranged to mesh with the second connecting gear; a second link bar that is elongated in the direction of the fourth axis and has one end coupled to the second driven gear away from the center axis of rotation; a second rotating member that is arranged to rotate by the axis of rotation in the direction of the third axis and has the other end of the second link bar coupled away from the center axis of rotation; a third cam member that shares the axis of rotation with the second driven gear and has a third cam roller positioned away from the center axis of rotation; a fourth cam member that shares the axis of rotation with the second rotating member and has a fourth cam roller positioned away from the center axis of rotation; and a third cam block that is elongated in the direction of the fourth axis, has an insertion slot into which the third cam roller is inserted, and is coupled to the fork module. A side fork type shuttle comprising a fourth cam block that is arranged lengthwise in the direction of the fourth axis and has an insertion slot into which the fourth cam roller is inserted and coupled with the fork module, wherein when the second drive motor provides power, the first cam block, second cam block, third cam block, and fourth cam block move up and down together. Claim 11 In claim 1, the fork module comprises one or more first-axis guide rollers rotating around a rotation axis in the first-axis direction; and one or more second-axis guide rollers rotating around a rotation axis in the second-axis direction in a horizontal direction orthogonal to the first-axis direction, wherein the first-axis guide rollers and the second-axis guide rollers each independently roll in contact with different contact surfaces to guide the lifting and lowering movement of the fork module by the lift module, a side fork type shuttle.

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