KR100779144B1 - Apparatus for storing and shipping goods - Google Patents

Abstract

An apparatus for storing and shipping goods is provided for automatic physical distribution works that select and feed only a case in which a wanted product is stored. An apparatus for storing and shipping goods includes a ground position detection section(40), a height detection section, a pick-up unit(20), a unit moving section(10), and a control section. The ground position detection section detects the position of the ground. The height detection section detects the entire loading height of the cases loaded on the ground. The pick-up unit chucks and feeds at least one selected from the cases. The unit moving section moves the pick-up unit. The control section controls the pick-up unit and the unit moving section to feed the case of the pick-up unit on the basis of the information detected by the ground position detection section and the height detection section.

Description

Flat storage and combination shipping device {Apparatus for storing and shipping goods}

1 is a structural diagram of a planar storage and combined delivery device according to an embodiment of the present invention.

FIG. 2 is a perspective view of the pickup unit of FIG. 1. FIG.

3A and 3B are diagrams illustrating operations of the height sensing unit of FIG. 2, respectively.

4 is a perspective view of the chucking part of FIG. 2.

5 is a perspective view illustrating the operation of FIG. 4.

6 is an exploded perspective view of FIG. 4.

7A to 7C are diagrams showing the operation of the pickup unit of FIG. 2 step by step, respectively.

* Explanation of symbols for the main parts of the drawings

1: ground 2: case

10: unit moving part 12: X axis gantry part

14: Y-axis gantry 16: lifting and lowering drive

20: pickup unit 30: unit body

40: ground position detection unit 50: height detection unit

51: first rail 52: rail block

53: sensor unit 54: connection

60: chucking portion 61: moving piece

63: rotating member 65: handle holder

70: chucking driving unit 72: inclined connecting rod

72a: first projection portion 72b: second projection portion

75 cylinder 76 cylinder body

76a: third projection 77: cylinder rod

77a: fourth projection

The present invention relates to a flat storage and combined delivery device, and more particularly, because a series of logistics operations for selecting and transporting only a case containing a desired product can be automatically carried out, the work efficiency can be improved. Of course, the present invention relates to a flat storage and a combined unloading device capable of minimizing the loss (Loss) that can occur by relying on the manpower.

The term logistics is short for physical distribution, a generic term for a function or activity that effectively transfers goods and goods from producers to consumers. Generally refers to various activities such as packaging, unloading, transport, storage and information.

Transportation of goods and goods is usually carried out through various processes such as packaging, storage, collection / loading, transportation, interim transshipment, unloading / delivery, storage and remodeling. Regardless of the means of transportation, the movement of goods and goods is impossible without this process. It is physical distribution (logistics) to see the whole of this movement as a whole.

In recent years, mass production, mass sales, and mass consumption have become the trends of the times, and the importance of logistics is increasing because of the increased need for efficient flow of goods between them.

In modern enterprises, not only the commercial distribution activities, that is, the logistics activities that deliver products accurately and quickly, but also in the hands of consumers have emerged as an important part. In other words, with the economic development, the pursuit of lowering the production cost cannot overcome the intense corporate competition and the distribution cost should be reduced as much as possible.

Currently, as a means of rationalizing logistics, the construction of distribution centers that concentrate delivery centers, truck terminals, warehouse complexes, etc. around large cities, and unit load systems for the consistency of transportation using containers or pallets. The coordination of transport, which aims to make transportation more efficient through the organic combination of transport agencies, is underway in some countries.

As such, the term logistics is a very broad term, but when applied to the manufacturer's environment of making a particular product or object, the term logistics involves moving an intermediate product or finished product from one place to another. Can be seen as logistics, and a series of systems can be seen as a logistics system.

In particular, when a plurality of cases in which different products are stored for each kind made by a manufacturer are temporarily loaded in a predetermined place, it is necessary to separately move cases for each product of the same type.

For example, 100 cases of chocolate milk as a product, 100 cases of strawberry milk, 100 cases of banana milk are temporarily mixed in a certain place, and all or only selected parts If you need to move them to another place, you need to transfer them by type so that the cases do not mix with each other.

However, in the prior art, since there is no separate flat storage and combination delivery device for selecting and transporting only the desired product, it is necessary to manually carry out only the case where the desired product is stored among the plurality of cases. Since there is no choice but to rely on this, there is a problem that the efficiency is lowered and a huge loss (Loss) occurs in the logistics process.

An object of the present invention is to improve the efficiency of the work as well as to minimize the loss (Loss) that can occur by depending on the manpower because a series of logistics operations to select and transport only the case containing the desired product can be automatically carried out It is to provide a flat storage and combination shipping device that can be.

The object, according to the present invention, the ground position detecting unit for detecting the position of the ground; A height sensing unit sensing an overall stacking height of the cases stacked on the ground; A pick-up unit for chucking and transferring at least one selected from a plurality of cases disposed on the ground; A unit moving unit which moves the pickup unit; And a control unit for controlling the pickup unit and the unit moving unit for conveying the case of the pickup unit based on the sensed information of the ground position detecting unit and the height detecting unit. Achieved by the device.

Here, the unit moving unit, the X-axis gantry portion for supporting the pickup unit, for moving the pickup unit in the X-axis direction with respect to the ground; A Y-axis gantry portion disposed on both sides of the X-axis gantry portion along the longitudinal direction of the X-axis gantry portion to move the X-axis gantry portion in the Y-axis direction perpendicular to the X-axis along with the pickup unit; And an elevating driving unit provided in the X-axis gantry to lift the pickup unit up and down with respect to the Z-axis direction, which is the loading direction of the case.

The pickup unit includes a unit body movable in the Z-axis direction; And a case coupled to the unit body so as to be movable in the Z-axis direction, the at least one selected from among cases stacked while moving in the Z-axis direction by the control of the controller based on the ground position sensing unit and the sensing signal of the height sensing unit. It may include a chucking unit for chucking any one, wherein the ground position detecting unit is provided in the unit body, when the unit body is lowered, the lower end is in contact with the ground to detect the position of the ground and transmit to the controller The height detecting unit is coupled to the unit main body so as to be movable in the Z-axis direction from the unit main body, and detects an entire height of the stacked cases in contact with the uppermost case upper surface among the stacked cases and transmits the detected height to the control unit. Can be.

The ground position detecting unit is movable in the Z axis direction with respect to the unit body.

The height detection unit, the first rail formed in the unit body along the Z-axis direction; A rail block coupled to the first rail and moving along the first rail; A sensing sensor unit which contacts the upper surface of the uppermost case among the stacked cases and senses the overall height of the stacked cases; And at least one end of both ends may be relatively rotatable in a coupling area of the rail block and the sensing sensor unit, and may include a connection unit interconnecting the rail block and the sensing sensor unit.

At both ends of the connection part, first and second hinges may be provided to rotate the rail block and the detection sensor part relative to the connection part, respectively.

The chucking unit may include: a pair of moving pieces coupled to a predetermined second rail and movable in the Z-axis direction along the second rail; A pair of rotating members having opposite sides rotatably provided on the moving pieces, respectively; A pair of handle holders respectively coupled to the rotating members so as to face the rotating members, and selectively disposed on handle portions formed at both side surfaces of the case; And a chucking driving part configured to rotate the pair of rotating members so that the pair of handle holders are approached and spaced apart from the handle parts formed on both sides of the case.

Each of the pair of rotating members may include a straight bar having an end coupled to one moving piece; A non-linear bar spaced apart from the straight bar by a predetermined distance and disposed in parallel with the straight bar, and formed to be bent at least in part; The bottom of the straight bar and the non-linear bar are interconnected, but may include a connection bar having the handle holder coupled to the inside.

The straight bar, the non-linear bar and the connecting bar formed on each of the pair of rotating members may be provided symmetrically with each other, and the straight bar and the connecting bar may have substantially the same shape.

The chucking driving unit, the inclined connecting rod for connecting the non-linear bars formed on each of the pair of rotating members inclined at different positions; And a cylinder connecting the non-linear bars formed on each of the pair of rotating members at the same position.

The cylinder, the cylinder body coupled to any one of the non-linear bars; And a cylinder rod coupled to the cylinder body, extending and contracted with respect to the cylinder body, and having an end coupled to the other one of the non-linear bars.

The cylinder may be coupled to a higher position than the inclined connecting rod.

The ground may further include display means for displaying a position where the cases are disposed.

In order to fully understand the present invention, the operational advantages of the present invention, and the objects achieved by the practice of the present invention, reference should be made to the accompanying drawings which illustrate preferred embodiments of the present invention and the contents described in the accompanying drawings.

Hereinafter, the present invention will be described in detail by explaining preferred embodiments of the present invention with reference to the accompanying drawings. Like reference numerals in the drawings denote like elements.

1 is a structural view of a planar storage and combined delivery device according to an embodiment of the present invention, Figure 2 is a perspective view of the pickup unit of Figure 1, Figures 3a and 3b are respectively for the height sensing of Figure 2 4 is a perspective view of the chucking part of FIG. 2, FIG. 5 is a perspective view showing the operation of FIG. 4, FIG. 6 is an exploded perspective view of FIG. 4, and FIGS. 7A to 7C are respectively FIG. 2. Figures are step by step operations of the pickup unit.

Referring to these drawings, mainly referring to Figure 1, the planar storage and combination shipping device according to an embodiment of the present invention, a plurality of cases (2) disposed on the ground (see 1, 7a to 7c) A pick-up unit 20 for chucking and lifting at least one selected from among the pick-up units, a unit moving unit 10 for moving the pick-up unit 20 toward the case 2 located on the ground 1, It includes a control unit (not shown) for controlling the operation of the unit moving unit 10.

The planar storage and combined delivery device is a device for lifting one or several selected from the plurality of cases 2 arranged on the ground 1 and transporting them to another place. That is, the planar storage and combined delivery device of the present embodiment, as described above, for example, 100 boxes of chocolate milk (2), 50 boxes of strawberry milk (2), banana milk When 20 boxes containing the case 2 are mixed in the ground 1 as shown in FIG. 1, they can be viewed as a device for classifying each of the types and transferring them to different places.

Of course, in order to precede this series of operations, it is preferable that the cases 2 all have substantially the same volume, as shown in the enlarged portion of FIG. 1, the handles 4 formed on both sides of the cases 2. Is preferably the same.

In addition, the ground (1) should be further formed with a display means (not shown) for indicating the position where the case (2) is disposed. Only then, the control unit (not shown) controls the unit moving unit 10 so that the pickup unit 20 can be moved to a desired position.

An example of the display means may be a method of forming a tiled display pattern on the ground 1. In this way, after the tiled display pattern is formed on the ground 1, when the cases 2 are placed on the ground 1, the case 2 to be picked up is disposed at a certain point (position) of the ground 1 I can figure out if there is.

Therefore, the controller can perform a series of control operations due to the signal thus identified. Of course, in addition to the tiled display pattern, a method of displaying a predetermined position on the ground 1 and arranging the cases 2 only at this position may be an example of the display means.

In the case of the present embodiment, it is assumed that the following operation is automatically performed under the above-described conditions. The following describes each configuration.

Prior to the description of the pickup unit 20, the unit moving unit 10 will be described first. The unit moving unit 10 is a means for moving the pickup unit 20 to the place where the case 2 to be picked up is controlled by the control unit. Although it may be implemented in various configurations, in the present embodiment, a configuration called gantry is applied.

The unit moving part 10 applied to this embodiment supports the pick-up unit 20 and moves the pick-up unit 20 in the X-axis direction with respect to the ground 1 and the X-axis gantry part 12. , Along the longitudinal direction of the X-axis gantry 12, are disposed on both sides of the X-axis gantry 12 to move the X-axis gantry 12 together with the pickup unit 20 in the Y-axis direction perpendicular to the X-axis. The elevating drive unit 16 provided in the Y-axis gantry 14 and the X-axis gantry 12 for moving to move the pickup unit 20 up and down with respect to the Z-axis direction, which is the loading direction of the case 2. It is provided.

Since both the X-axis gantry portion 12, the Y-axis gantry portion 14, and the elevating drive portion 16 need to be precisely controlled, so-called linear motion may be applied. Of course, a simple rail structure, a gear structure, or the like may also be applied.

X-axis gantry portion 12 is formed in a single line, both ends are movably coupled to the Y-axis gantry portion 14 located on both sides of the X-axis gantry portion (12). A pair of Y-axis gantry portions 14 are arranged on both sides of the X-axis gantry portion 12, and are arranged high above the ground 1 by a plurality of columns 13. And the elevating drive unit 16 is coupled to the X-axis gantry 12 serves to raise and lower the pickup unit 20 in the vertical direction on the X-axis gantry (12).

As a result, the pickup unit 20 has a structure capable of moving in all directions of the X, Y, and Z axes based on the control signal. However, when moving in the X-axis direction, the pick-up unit 20 moves alone along the longitudinal direction of the X-axis gantry portion 12 on the X-axis gantry portion 12, but the movement in the Y-axis direction is Proceeds with the gantry (12).

The pickup unit 20 includes a unit body 30, a ground position detecting unit 40, a height detecting unit 50, and a chucking unit 60.

The unit body 30 is a part which forms the external appearance of the pickup unit 20, as shown in FIG. 1, FIG. 2, and FIGS. 7A-7C. It has an approximately rectangular tube structure. All of the outer surface may be shielded, but in the present embodiment, the unit body 30 is completed by arranging the frames appropriately in consideration of weight and partially welding or assembling each other.

The cross-sectional opening area of the unit body 30 is larger than the upper surface area of the case 2. Therefore, as shown in FIGS. 7B and 7C, when the unit body 30 is lowered in the Z-axis direction by the elevating driving unit 16, the cases 2 may be disposed inside the unit body 30. do. The height of the unit body 30 is preferably designed to be longer than the maximum height that the cases 2 can be stacked, for example.

The ground position detecting unit 40 is provided on both sides of the lower region of the unit body 30. Of course, all of the peripheral surface of the unit body 30 may be disposed. When the unit body 30 descends, the lower end contacts the ground 1 to sense the position or height of the ground 1 and transmits the detected signal to the controller. That is, only when the position of the ground 1 is known, the stacking height of the cases 2 stacked on the ground 1, that is, the number of the stacked cases 2 can be determined.

As shown in the drawing, the ground position detecting unit 40 is provided at the lower end of the shaft unit 42 extending in the Z-axis direction on both sides of the lower region of the unit body 30. At this time, the shaft unit 42 is the unit body ( 30) may be fixed, and may be independently moved in the Z-axis direction with respect to the unit body 30 in the same manner as the height detection unit 50 and the chucking unit 60.

As shown in FIGS. 3A and 3B, the height sensing unit 50 may contact the upper surface 2a of the uppermost case 2 of the stacked cases 2, and the overall height of the stacked cases 2 may be adjusted. In other words, it detects the number of stacked cases 2 and transmits them to the controller.

The height sensing unit 50 is provided to be movable in the Z-axis direction in the unit body 30 by the following configuration. That is, the height detecting unit 50 is coupled to the first rail 51 and the first rail 51 formed along the Z-axis direction in the unit body 30 and move along the first rail 51. Block 52, a sensor unit 53 for detecting the overall height of the stacked case (2) in contact with the upper surface (2a) of the uppermost case (2) of the stacked case (2), and the rail block ( 52 and a connecting portion 54 for connecting the sensor 53 to each other.

At this time, it is preferable that both ends of the connecting portion 54 is relatively rotatably connected in the coupling area of the rail block 52 and the sensing sensor unit 53. That is, it is preferable that first and second hinges 55a and 55b are provided at both ends of the connecting portion 54 to rotate the rail block 52 and the sensing sensor portion 53 relative to the connecting portion 54, respectively. .

Accordingly, as shown in FIG. 3A, the rail block 52 descends along the first rail 51 so that the upper surface 2a of the case 2 of the uppermost case 2 among the cases 2 on which the detection sensor unit 53 is loaded. ), The total height of the cases 2 relative to the ground 1 can be detected.

However, due to the cause of the abnormality, for example, the ground (1) is tilted or the bottom of the stacked cases (2), such as stones stuck in the case 2 is overall skewed, and the like, Figure 3b Likewise, when the sensing sensor 53 is inclined without contacting the upper surface 2a of the case 2 in the horizontal direction, the sensing sensor 53 is easily damaged if the second hinge 55b does not exist. However, in the present exemplary embodiment, the second hinge 55b is provided between the detection sensor unit 53 and the connection unit 54. As shown in FIG. 3B, even if the detection sensor unit 53 is inclined, the angle is removed. The two hinges 55b can properly compensate.

On the other hand, the chucking unit 60, as shown in Figures 4 to 6, on the unit body 30 by the control of the control unit based on the detection signal of the ground position detecting unit 40 and the height detecting unit 50. It serves to chuck at least one selected from the stacked cases 2 while moving in the Z-axis direction. Therefore, the chucking unit 60 also has a structure that can move relative to the unit body 30, like the height sensing unit 50.

The chucking unit 60 is coupled to a predetermined second rail 62 and is provided with two pairs of movable pieces 61 movable along the second rail 62 in the Z-axis direction, and the opposite side of the movable piece 61. A pair of rotary members 63 rotatably provided at the respective ones and the rotary members 63 respectively coupled to the rotary members 63 so as to face each other. A pair of rotary holders 65 and a pair of handle holders 65 selectively disposed in (4) and a pair of handle holders 65 are approached and spaced apart from the handles 4 formed on both sides of the case 2. And a chucking driving unit 70 for rotating the driving unit 63.

At this time, each of the pair of rotating members 63, the straight bar (63a), the end of which is coupled to any one of the moving piece 61, and is spaced apart a predetermined distance from the straight bar (63a), the straight bar ( And a non-linear bar 63b disposed side by side with 63a and curved at least in part, and a connecting bar 63c interconnecting the lower ends of the straight bar 63a and the non-linear bar 63b.

A handle holder 65 for chucking the handle portion 4 of the case 2 is coupled to the inside of the connection bar 63c (see an enlarged portion of FIG. 7C). Since the handle portion 4 formed in the case 2 is in the form of a through hole, the handle holder 65 also has a rod shape. The handle holder 65 is coupled to the inside of the connection bar 63c by the bracket B at the rear end thereof.

At this time, the straight bar 63a, the non-linear bar 63b and the connecting bar 63c are preferably manufactured integrally by a single material.

The straight bar 63a, the non-linear bar 63b, and the connecting bar 63c forming each of the pair of rotating members 63 are provided symmetrically with each other. However, the straight bar 63a and the connection bar 63c have substantially the same shape, but the non-linear bar 63b does not have the substantially same shape. In other words, the region in which the second projection 72b is located on one side of the non-linear bar 63b is more protruded.

On the other hand, the chucking driving unit 70, the inclined connecting rod 72 for connecting the non-linear bars (63b) formed in each of the pair of rotary members 63 inclined at different positions, and a pair of rotary members (63) A cylinder 75 connecting the non-linear bars 63b formed in each of them at the same position.

The first to fourth protrusions 72a, 72b, 76a, and 77a are formed at each of the pair of rotating members 63 to couple the chucking driving parts 70. The first and second protrusions 72a and 72b are portions to which the inclined connecting rod 72 is coupled, and the third and fourth protrusions 76a and 77a are used as portions to which the cylinder 75 is coupled. That is, the cylinder body 76 is coupled to the third protrusion 76a, and the end of the cylinder rod 77 is coupled to the fourth protrusion 77a.

At this time, the third and fourth protrusions 76a and 77a are provided at the same position in the pair of rotating members 63, that is, the upper front part of the non-linear bar 63b. Therefore, after the cylinder 75 is coupled to the third and fourth protrusions 76a and 77a, the cylinder 75 is in a substantially horizontal state.

However, the positions of the first and second protrusions 72a and 72b are different from each other. The first protrusion 72a is located directly below the third protrusion 76a, but the second protrusion 72b is located far lower than the first protrusion 72a with respect to the horizontal direction. Accordingly, when the inclined connecting rod 72 is connected to the first and second protrusions 72a and 72b, the inclined connecting rod 72 is inclined at a predetermined angle as shown in the drawing.

For reference, referring to the drawings, the inclined connecting rod 72 and the cylinder 75, the hole (Hole) fitted to the first to fourth projections (72a, 72b, 76a, 77a), respectively, and the inclined connecting rod 72 In addition, there is shown a nut, washer, etc. for allowing the cylinder 75 to be rotatably assembled to the projections 72a, 72b, 76a, and 77a. For the convenience of the drawings, reference numerals will be omitted.

The operation of the planar storage and combined delivery device having such a configuration will be described with reference to FIGS. 1 and 7A to 7C.

First, as shown in FIG. 1, when chucking and lifting at least one selected from the plurality of cases 2 arranged on the ground 1, the control unit moves to the area where the case 2 is located. Move it.

That is, the pickup unit 20 is positioned above the pickup target case 2 by controlling the movement of the X-axis gantry portion 12 and the Y-axis gantry portion 14.

When the pick-up unit 20 is positioned above the pick-up case 2, the movement of the X-axis gantry 12 and the Y-axis gantry 14 is stopped, and the elevating driving unit 16 operates to FIG. 7A. As shown, the pickup unit 20 is lowered in the A direction. While the pickup unit 20 descends, the height sensing unit 50 and the chucking unit 60 are not operating yet.

7B, when the ground position detecting unit 40 touches the ground 1, the controller stops the operation of the elevating driving unit 16. Then, the ground position detecting unit 40 detects the position of the ground 1 and transmits it to the control unit.

When the position of the ground 1 is detected, the control unit operates the height detecting unit 50. 3A and 7B, the rail block 52 descends along the first rail 51 so that the uppermost case 2 among the cases 2 on which the detection sensor unit 53 is loaded. By contacting the upper surface (2a) in the horizontal direction it is possible to detect the overall height of the cases (2) relative to the ground (1). The detected result is sent to the controller.

As such, when the position (height) of the ground 1 is sensed and the overall height of the stacked cases 2 is sensed, the controller operates the chucking unit 60. For example, as shown in FIGS. 7A to 7C, when the five cases 2 are to be picked up and four cases 2 are to be picked up, the control unit moves the chucking unit 60 from the upper side to the fourth position. Lower the case 2 so that the handle holder 65 is adjacent to the handle portion 4 of the case (see enlarged portion of FIG. 7C).

Then, the cylinder 75 is operated. When power is applied to the cylinder 75 and the length of the cylinder rod 77 extends from the cylinder body 76, the distance between the third and fourth protrusions 76a and 77a is increased by the extension length of the cylinder rod 77. . However, since the inclined connecting rods 72 are inclinedly connected to the pair of rotating members 63 at different positions, the third and second protrusions 76a and 77a are extended so that the third protrusions 76a are rotated. As a result, the fourth protrusion 77a approaches the case 2 side.

Therefore, as a whole, the pair of rotating members 63 operate in the form of the dashed line of FIG. 5, and thus the handle holder 65 coupled to the pair of rotating members 63 is formed in the case 2. It is fitted to the handle part 4. When the handle holder 65 is fitted to the handle portion 4, the operation of the cylinder 75 is stopped.

Subsequently, the pick-up unit 20 is lifted by the opposite operation, that is, the elevating driving unit 16, and then the pick-up unit 20 is moved by the movement of the X-axis gantry portion 12 and the Y-axis gantry portion 14. ) Is moved to another location. Then, in the moved position, the above-described operation proceeds again to put down the case 2 lifted up by chucking on the ground 1.

As described above, according to the present embodiment, since a series of logistics operations for selecting and transferring only the case 2 in which a desired product is stored can be automatically performed, the work efficiency can be improved as well as the loss that can be caused by dependence on manpower. (Loss) can be minimized.

As described above, the present invention is not limited to the described embodiments, and various modifications and changes can be made without departing from the spirit and scope of the present invention, which will be apparent to those skilled in the art. Therefore, such modifications or variations will have to be belong to the claims of the present invention.

As described above, according to the present invention, since a series of logistics operations for selecting and transporting only a case containing a desired product can be automatically performed, the work efficiency can be improved and the loss that can be caused by dependence on manpower ( Loss can be minimized.

Claims (12)

A ground position detecting unit detecting a position of the ground; A height sensing unit sensing an overall stacking height of the cases stacked on the ground; A pick-up unit for chucking and transferring at least one selected from a plurality of cases disposed on the ground; A unit moving unit which moves the pickup unit; And And a control unit for controlling the pickup unit and the unit moving unit for conveying the case of the pickup unit based on the sensed information of the ground position detecting unit and the height detecting unit. . The method of claim 1, The unit moving unit, An X-axis gantry portion supporting the pickup unit and moving the pickup unit in the X-axis direction with respect to the ground; A Y-axis gantry portion disposed on both sides of the X-axis gantry portion along the longitudinal direction of the X-axis gantry portion to move the X-axis gantry portion in the Y-axis direction perpendicular to the X-axis along with the pickup unit; And And a lifting and lowering driving unit provided in the X-axis gantry to lift the pickup unit up and down with respect to the Z-axis direction, which is the loading direction of the case. The method of claim 1, The pickup unit, A unit body movable in the Z-axis direction; And At least one selected from among the cases are coupled to the unit body so as to be movable in the Z-axis direction, and moved in the Z-axis direction under the control of the controller based on the ground position sensing unit and the sensing signal of the height sensing unit. It includes a chucking unit for chucking one, The ground position detecting unit is provided in the unit body when the unit body is lowered, the lower end is in contact with the ground to detect the position of the ground and transmits to the control unit, The height detecting unit is coupled to the unit body so as to be movable in the Z-axis direction from the unit body, and detects the overall height of the stacked cases in contact with the upper case of the uppermost case among the stacked cases to transmit to the control unit Flat storage and combination shipping device characterized in. The method of claim 3, And the ground position detecting unit is movable in the Z-axis direction with respect to the unit body. The method of claim 1, The height sensing unit, A first rail formed in the unit body along the Z-axis direction; A rail block coupled to the first rail and moving along the first rail; A sensing sensor unit which contacts the upper surface of the uppermost case among the stacked cases and senses the overall height of the stacked cases; And At least one end of the both ends is relatively rotatable in the coupling region of the rail block and the sensing sensor unit, the planar storage and combination shipping device, characterized in that it comprises a connecting portion for interconnecting the rail block and the sensing sensor unit. The method of claim 5, At both ends of the connecting portion, the first and second hinges for rotating the rail block and the detection sensor relative to the connecting portion, respectively, characterized in that the planar storage and combination shipping device. The method of claim 3, The chucking unit, Two pairs of moving pieces coupled to a predetermined second rail and movable in the Z-axis direction along the second rail; A pair of rotating members having opposite sides rotatably provided on the moving pieces, respectively; A pair of handle holders respectively coupled to the rotating members so as to face the rotating members, and selectively disposed on handle portions formed at both side surfaces of the case; And And a chucking driving unit for rotating the pair of rotating members so that the pair of handle holders are approached and spaced apart from the handle portions formed on both sides of the case. The method of claim 7, wherein Each of the pair of rotating members, A straight bar whose end is coupled to either moving piece; A non-linear bar spaced apart from the straight bar by a predetermined distance and disposed in parallel with the straight bar, and formed to be bent at least in part; Planar storage and combination shipment device comprising a connection bar which is connected to the lower end of the straight bar and the non-linear bar, the handle holder is coupled to the inside. The method of claim 8, The straight bar, the non-linear bar and the connecting bar formed on each of the pair of rotating members are provided symmetrically with each other, And said straight bar and said connecting bar have substantially the same shape. The method of claim 9, The chucking driving unit, An inclined connecting rod connecting the non-linear bars formed on each of the pair of rotating members to be inclined at different positions; And A cylinder connecting the non-linear bars formed on each of the pair of rotating members at the same position, The cylinder, A cylinder body coupled to any one of the non-linear bars; And And a cylinder rod coupled to the cylinder body, the cylinder rod extending and contracting with respect to the cylinder body, and having an end portion coupled to the other one of the non-linear bars. The method of claim 10, The cylinder storage and combination storage device, characterized in that coupled to a higher position than the inclined connecting rod. The method of claim 1, And a display means for displaying a position at which the cases are arranged on the ground.

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