JP3360805B2 - Stacker crane slide fork - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a slide provided in a carriage for exchanging a cylindrical load between an arbitrary shelf of a three-dimensional warehouse and a carriage in a stacker crane traveling along the three-dimensional warehouse. Forks

[0002]

2. Description of the Related Art A slide fork provided in a carriage for transferring a load between an arbitrary shelf of a three-dimensional warehouse and a carriage in a stacker crane traveling along the three-dimensional warehouse. A flat loading platform is fixed to the upper side, and a base is used as a slide fork of a stacker crane that moves in the left-right direction with respect to the traveling direction of the stacker crane along a slide rail fixed to the carriage.

Further, particularly in the case of a three-dimensional warehouse for storing a cylindrical load, as shown in FIG.
It was a slide fork of a stacker crane that was moved in the same manner as described above, with a die-shaped carrier fixed to the upper part of the base.

[0004]

In the case of the slide fork of the stacker crane described in the above-mentioned prior art, the stacker is stored in the three-dimensional warehouse when the load is discharged by the slide fork due to the inclination of the three-dimensional warehouse or the stacker crane. The center of the cylindrical load and the center of the U-shape of the bed of the slide fork are displaced from each other, and the load is biased toward the front or rear of the slide fork. For this reason, the weight of the uneven load is applied to the guide roller, the carriage supporting roller, and the like, which are components of the slide fork, and there is a problem that the life of each component is adversely affected.

[0005]

According to the present invention, as means for solving the above-mentioned problems, a load is exchanged between an arbitrary shelf of a three-dimensional warehouse and a carriage in a stacker crane traveling along the three-dimensional warehouse. In the slide fork provided in the carriage, a support is fixed to the base in the front-back direction with respect to the traveling direction of the stacker crane, the base moves in the left-right direction along the slide rail fixed to the carriage, and each support is supported. A link member is hung on each of the link members, and a substantially U-shaped load platform covering the upper portion of the base is axially fixed to each link member. The load platform is a stacker capable of swinging in the front-back direction of the base via the link members. Use as a crane slide fork.

A guide roller is fixed to each slide rail fixed to the carriage, and a slide fork of the above-described stacker crane in which the guide rollers are sandwiched between the guide rollers is used as a slide fork for the carriage or the stacker crane when moving. Improve the stability of.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention is applied to a three-dimensional automated warehouse and is described with reference to the drawings. As shown in FIG. 5, a three-dimensional automated warehouse 1 comprises a plurality of shelves 2 arranged in parallel, a three-dimensional warehouse 3, and adjacent three-dimensional warehouses. An inter-warehouse passage 4 formed between the warehouses 3, a stacker crane 5 traveling in the inter-warehouse passage 4, and a loading / unloading device for delivering a load 9 between the stacker crane 5 and other transport equipment such as a forklift 6. 7, a stacker crane 5 and a control device 8 that outputs a loading / unloading operation command signal to the loading / unloading device 7. When loading, the forklift 6 or the like moves the load 9 to the loading / unloading device 7, and the control device 8 controls the three-dimensional warehouse 3. When the shelf 2 to be stored therein is input, the stacker crane 5 loads the load 9 of the loading / unloading device 7 and stores it on the shelf 2 to be stored. When the shelves 2 in the three-dimensional warehouse 3 to be put out are input to the control device 8 at the time of warehousing, the stacker crane 5 loads the load 9 of the shelves 2 to be laid out, puts out the goods in the warehousing / unloading device 7, and uses the forklift 6 or the like This is a configuration in which the load 9 of 7 is moved.

As shown in FIG. 4, the stacker crane 5 has a mast 11 standing up and down respectively, a carriage 12 that moves up and down along the mast 11, and a traveling wheel that travels along a rail 13A below the warehouse passage 4. 14, a traveling motor 15 that generates a driving force of the traveling wheel 14, a rail guide roller 16 that rolls along a rail 13B on the upper part of the passage 4 between warehouses, and a mast 11 that is a lower portion that generates a driving force that moves the carriage 12 up and down. The lift motor 17, the winding drum 18 which is rotated by the lift motor 17, the winding drum 18 and the wires 19A and 19B having both ends fixed to the front and rear of the carriage 12, and the sheaves 20 for guiding the respective wires 19A and 19B. When the vehicle is in and out, the traveling motor 15 rotates the traveling wheel 14 to move the shelf 2 into or out of the vehicle.
And at the same time, the lift motor 17 rotates the take-up drum 18 to move the carriage 12 up and down along the mast 11 to the height of the shelf 2 desired to be loaded and unloaded through the wires 19A and 19B. Shelf 2 you want to put in and take out
It is configured to move to the position of.

The carriage 12 has a concave main body portion 21 composed of a front and rear vertical portion and a lower horizontal portion, and the carriage 1.
A slide fork 22 above and below the horizontal portion for transferring the load 9 between the inside of the rack 2 and the shelf 2, a slide motor 23 for generating a driving force of the slide fork 22, a chain 24 for transmitting the driving force of the slide motor 23 to the slide fork 22, It consists of a chain sprocket 25 and a mast guide roller 26 that moves the carriage 12 up and down along the front and rear masts 11. The slide motor 23 rotates during loading and unloading, and the slide fork 22 and the shelf 2 via the chain 24 and chain sprocket 25. The load 9 is transferred to and from.

The slide fork 22 which is a feature of the present invention
1 to 3, the outer rail 27A in which the slide rail is fixed to the front and rear of the upper surface of the horizontal portion of the main body portion 21 of the carriage 12, the middle rail 27B slidably arranged between the outer rails 27A, and the middle rail 2 will be described.
It is composed of an inner rail 27C slidably arranged between 7B and a roller 27D that smoothes the sliding between the rails.
The stacker crane 5 is driven by the driving force of the slide motor 23.
The base 28 fixed to the upper portion of the inner rail 27C is moved by sliding toward the left or right shelf 9 of FIG. further,
A total of eight supports 29 are arranged on the base 28 on the front and back, and on the left and right. A link member 30 is suspended from one end of each support 29 with one end of the support member 29 suspended. A substantially U-shaped luggage carrier 31 that covers the upper side is fixed by a shaft. Also,
A total of two guide rollers 32 are fixed to the upper and lower surfaces of each of the front and rear outer rails 27A.
It has a structure in which the front and rear of the cargo bed 31 are sandwiched at 2. The sliding technique of the slide fork 22 on the shelf 2 is not described in detail because the existing technique is used.

With the above-described structure, when the load 9 is loaded or unloaded, the base 28 moves in the direction of the shelf 2 desired to be loaded or unloaded along with the sliding of the slide rail, and the load platform 3 moves together with the base 28.
When 1 reaches a position where it is not in contact with the guide roller 32, the holding force of the guide roller 32 is released and it swings back and forth.

For example, a detailed description will be given of the operation of loading the cylindrical load 9 from the shelf 2 to the carriage 12 by the stacker crane 5 and the carriage 1 by the method described above.
2 moves and stops at the position of the shelf 2 where the user wants to leave. Next, the slide fork 22 is placed on the shelf 2 at the base 28 and the loading platform 31.
To move. In the present embodiment, due to the inclination of the stacker crane 5 or the three-dimensional warehouse 3, there is a deviation between the center of the load 9 and the center of the loading platform 31 of the slide fork 22. However, the stacker crane 5 slightly rises to lift the load 9 when the loading platform 31 reaches the lower portion of the load 9 as in the conventional case. At this time, the load platform 31 that can swing in the front-back direction contacts the load 9, and at the same time, moves along the load 9 by the amount of deviation between the load 9 and the slide fork 22. Therefore,
The load applied to the slide fork 22 of the load 9 is not biased.
Further, when the load 9 is lifted, the loading platform 31 returns to its original position by the amount of the shift, and the loading platform 31 moves to the guide roller 32.
It is accommodated in the carriage 12 while being guided to. Of course, even when the stacker crane 5 or the carriage 12 is moving, the loading platform 31 housed in the carriage 12 is not pinched by the guide rollers 32 and does not swing, so that the loading 9 can be unloaded safely.

Further, urethane rubber 33 (FIG. 7) or a spring (not shown) may be used to ensure the return of the displacement amount of the loading platform 31.

Of course, these structures are effective not only at the time of warehousing but also at the time of warehousing, and moreover, the same effect is obtained not only when working on the three-dimensional warehouse 3 but also when moving from the stacker crane 5 to the warehousing / unloading device 7. It happens.

[0015]

In the structure of the above embodiment, even if the center of the cylindrical load stored in the three-dimensional warehouse and the center of the loading platform of the slide fork are displaced due to the inclination of the three-dimensional warehouse or the stacker crane. The link mechanism of the slide fork causes the load platform to swing and move by the amount of the shift, so that the load biased on the slide fork can be reduced. In addition, since loading and unloading is not performed with the displacement occurring, it is possible to prevent the cylindrical load from rolling and preventing the load from falling.

[Brief description of drawings]

FIG. 1 is a side view of a slide fork of the present invention.

FIG. 2 is a front view of the slide fork of the present invention.

FIG. 3 is a top view of the slide fork of the present invention.

FIG. 4 is a side view of the stacker crane of the present invention.

FIG. 5 is a perspective view of a three-dimensional automatic warehouse of the present invention.

FIG. 6 is a side view of a conventional slide fork.

FIG. 7 is a side view of a slide fork using the urethane rubber of the present invention.

[Explanation of symbols]

1 three-dimensional automatic warehouse 2 shelves 3 three-dimensional warehouse Passage between 4 warehouses 5 Stacker crane 6 forklift 7 Storage and retrieval device 8 control device 9 packages 11 masts 12 carriage 13A lower rail 13B upper rail 14 traveling wheel 15 Traveling motor 16 Rail guide roller 17 Lift motor 18 winding drum 19A front wire 19B rear wire 20 sheaves 21 body 22 slide forks 23 Slide motor 24 chains 25 chain sprockets 26 Mast Guide Roller 27A outer rail 27B Middle Rail 17C inner rail 28 base 29 Support 30 link materials 31 loading platform 32 Guide roller 33 Urethane rubber

Claims (3)

(57) [Claims] 1. A slide fork provided in a carriage for transferring a load between an arbitrary shelf of a three-dimensional warehouse and a carriage in the stacker crane traveling along the three-dimensional warehouse, wherein a stacker crane is provided on a base. Supports are fixed to the front and rear with respect to the traveling direction, the base moves in the left and right directions along slide rails fixed to the carriage, and a link material is hung on each support, and the base is attached to each link material. U to cover
A slide fork of a stacker crane, which is formed by fixing a die-shaped carrier to an axis and is swingable in the front-rear direction of the base through a link material. 2. A slide fork for a stacker crane according to claim 1, wherein a guide roller is fixed to each of the slide rails fixed to the carriage, and the guide rollers are sandwiched between the guide rollers. 3. A slide fork for a stacker crane according to claim 1, wherein the base or the support and the loading platform are connected by an elastic body, and an elastic force is applied to the loading platform so as to always maintain the neutral position.