JPH06127644A - Fork device and housing shelf - Google Patents

Abstract

PURPOSE:To provide a housing shelf which can house from an article of a small size to an article of a large size, and a fork device which can load stably from an article of a small size to an article of a large size and can take in and out them to the housing shelf. CONSTITUTION:A housing shelf A2 is composed of a pair of left side and right side shelf plates 63a and 63b having a comb teeth form. The table part 62 of a fork device A1 is made in a form almost coincident to the form of a clearance 19 between the shelf plates 63a and 63b, and both side edges of the table part 62 are formed in a comb teeth form.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fork device and a storage rack. More specifically, the present invention relates to a storage shelf for storing articles used in a three-dimensional automated warehouse and the like, and a fork device for loading and unloading articles from the storage rack.

[0002]

2. Description of the Related Art Recently, products are stored in warehouses,
A three-dimensional automated warehouse has been developed in order to automate the work of taking out necessary inventory items from the warehouse and computerize inventory management. In this automated warehouse, stacker cranes are used to automate the loading and unloading of workpieces (products). The fork device mounted on this stacker crane allows workpieces to be stored in or removed from storage shelves. I am.

FIGS. 9A and 9B are a schematic explanatory view of a three-dimensional automatic warehouse G and a schematic front view of a stacker crane 101. Reference numeral 102 denotes a rack device provided with a large number of storage shelves 103 vertically and horizontally at regular intervals, 101 denotes a stacker crane equipped with a fork device 106, and the stacker crane 101 is provided between the rack devices 102 along a traveling path 104a. The space 104b runs parallel to the rack device 102. In addition, the elevator 105 in the stacker crane 101 is designed to move up and down, and the fork device 106 is mounted on the elevator 105.
Is installed. Then, when the work is loaded into the automatic warehouse G by, for example, a conveyor, the work is picked up by the fork device 106 and transferred onto the fork device 106. As soon as the work is loaded on the fork device 106, the stacker crane 10
At the same time that 1 moves horizontally, the elevator 105 ascends and carries the work to the position of the storage shelf 103 instructed by the host computer. When the work is carried to the intended storage shelf 103 in this way, the fork device 106 extends to send the work onto the storage shelf 103 and place the work on the storage shelf 103. Empty fork device 10
6 returns to picking up the received work again. Further, the fork device 106 is also used when a work in stock on the storage shelf 103 is taken out and is put out to the outside.

FIG. 10 shows a conventional fork device 10 used in the above-mentioned three-dimensional automatic warehouse G.
6 is a perspective view showing the structures of 6 and a storage shelf 103. FIG. The fork device 106 includes a fixed frame 108 and an intermediate frame 10.
The table portion 112 is supported by a pair of right and left extension / contraction drive mechanisms 111 constituted by the work frame 110 and the work frame 110. The extension / contraction drive mechanism 111 can be extended or retracted to cause the table portion 112 to project or retract. . Also, one unit of storage rack 10
3 is composed of a pair of left and right shelf plates 114 attached to the structural columns 113 of the rack device 102, and a gap for vertically passing the table portion 112 of the fork device 106 between the left and right shelf plates 114. The part 115 is opened. Then, from the fork device 106 to the storage shelf 1
When the work 107 is transferred to the storage 03, the storage shelf 103
The table portion 112 on which the work 107 is placed is projected at a position slightly higher than the above, and the work 107 is placed above the storage shelf 103.
After positioning, the work 107 is transferred onto the storage shelf 103 when the fork device 106 is lowered so as to pass through the central gap portion 115 of the storage shelf 103. On the contrary, the work 107 on the storage shelf 103 is attached to the fork device 1
In the case of taking out by the 06, the table portion 112 is projected at a position slightly lower than the storage shelf 103, and the storage shelf 10
After arranging the table part 112 below 3, the storage shelf 1
When the fork device 106 is raised so as to pass through the gap 115 in the center of 03, the work 107 on the storage shelf 103 is placed on the table 112, and the work 112 is retracted by retracting the table 112. You can take it out.

[0005]

In the fork device 106 and the storage shelf 103 as described above, the shelf board 1 is usually used.
The size of the gap between the fourteen and the width of the table portion 112 depends on the work 1
The size is slightly smaller than the width of 07. But,
Large size workpiece 107 to small size workpiece 10
Up to 7 can be placed on the same storage shelf 103, and in order to increase the versatility of the storage shelf 103, it is necessary to reduce the gap portion 115 between the shelf plates 114. On the other hand, in order to stably support the work 107 having a large size to the work 107 having a small size on the table portion 112, it is necessary to widen the width of the table portion 112.

However, the shelf board 114 of the storage shelf 103 is
The gap portion 115 between them is the table portion 1 of the fork device 106.
Since it is for passing the plate 12, the gap size between the shelf plates 114 and the width of the table part 112 are related to each other, and the gap part 115 between the shelf plates 114 is formed in the table part 112.
Cannot be narrower than the width of. Therefore, in order to generalize the storage shelves 103, the gaps 11 between the shelves 114 are formed.
When 5 is narrowed, the width of the fork device 106 is unavoidably narrowed, and there is a risk that the work 107 may fall off the table portion 112 when the large work 107 is taken in and out of the storage shelf 103. On the other hand, if the width of the table portion 112 is widened so that the large work 107 can be stably supported, the size of the gap between the shelf plates 114 of the storage shelf 103 must be increased, and the small work 107 cannot be stored in the storage shelf 103. .

Therefore, in the conventional case, the storage shelf 103
Gap size and the table portion 112 of the fork device 106
There is a problem in that the size of the work 107 that can be stored is substantially determined by the width of the space, and the three-dimensional automatic warehouse is dedicated.

The present invention has been made in view of the above-mentioned drawbacks of conventional examples, and an object of the present invention is to provide a storage rack capable of storing articles having small dimensions to articles having large dimensions, and An object of the present invention is to provide a fork device that can stably mount small articles to large-sized articles and take them in and out of the storage rack.

[0009]

In the storage rack of the present invention, the shelf boards are arranged at almost the same height so as to face each other,
It is a storage shelf in which a gap portion is formed between opposite edges of the shelf plate, and at least one notch portion is provided at an edge of at least one of the shelf plates facing the gap portion. It is characterized by the provision of.

Further, the fork device of the present invention is a fork device provided with a table portion for conveying articles, wherein at least one side edge of the table portion is provided with one or more notches. It is characterized in that the shape of the table portion is substantially matched with the shape of the gap portion provided in the storage rack.

[0011]

In the storage shelf of the present invention, since at least one of the shelf plates has a notch portion formed in a comb shape, for example,
The outer dimensions of the shelf plate are as large as those of the shelf plate having no notch, and when articles are to be placed, small articles can be placed as well as shelves having a large width. That is, it is possible to place articles of various sizes, which are slightly larger than the minimum gap width of the gap portion to the entire width of the storage rack.

Further, in the fork device of the present invention,
Since the notch is provided on at least one side edge of the table part, the outer dimension of the table part is as large as the table part having no notch part, and it is possible to stably mount small articles to large articles. it can.

Moreover, since the shape of the gap portion of the storage rack and the shape of the table portion of the fork device are substantially the same, the protruding portion of the table portion and the cutout portion of the shelf plate, and also the cutout portion of the table portion. The table part of the fork device can pass vertically through the gap by matching the part and the protruding part of the shelf plate, and the fork device transfers the article to the storage shelf or stores it in the storage shelf. It is possible to take out an article that has been stored.

Therefore, according to the fork device and the storage rack of the present invention, it is possible to store from a small-sized article to a large-sized article in the storage rack, and, nevertheless, from a small-sized article to a large-sized article. With the fork device, it is possible to transfer or take out the articles to or from the storage box while maintaining safety and high reliability.

[0015]

1 is a perspective view showing a fork device A1 and a storage rack A2 according to an embodiment of the present invention. Fork device A
1 is a table portion 62 for mounting a work 61,
It is composed of a fork device body F for moving the table portion 62. The storage shelf A2 is a rack device 1
A pair of L-shaped shelves 6 that form a unit
3a, 63b, each shelf plate 63a,
The vertical piece 64 of 63b is fixed to the structural pillar 65, and the horizontal support plates 66 of the left and right shelf plates 63a and 63b project from the structural pillar 65 and face each other.

The horizontal support plates 66 of the shelf plates 63a and 63b are
The protruding portion 67 is formed in a substantially comb-like shape and has a large protruding length.
And notches 68 between the protrusions 67 are alternately arranged at regular intervals. Therefore, Ryotanaban 63a, the gap 69 between 63b also has a Ryakukushiha shape, size of the gap portion 69 (W _S) is reduced in between the tips of the two protruding portions 67, between both notch 68 The size (W _L ) of the gap 69 is large. Therefore, on this storage shelf A2, the horizontal width P is larger than the minimum gap dimension W _S, smaller than the width W of the storage shelf A2, and the vertical dimension Q is smaller than the depth L of the storage shelf A2. If so, it can be placed.

On the other hand, the table portion 62 of the fork device A1.
Corresponds to the shape and size of the gap portion 69 between the shelf plates 63a and 63b of the storage shelf A2, and the comb-tooth-shaped portion 72 formed of the protruding portion 70 and the cutout portion 71 is formed on both sides of the table portion 62. Has been done. Therefore, the table portion 62 of the fork device A1 can pass vertically through the gap portion 69 of the storage rack A2 by aligning with the gap portion 69 of the storage rack A2. In addition, since the distance between the tips of the left and right protrusions 70 is long, even a workpiece 61 having a large dimension can be stably placed, and if the workpiece 61 is larger than the dimension between the notches 71, it can be stored. It can be transferred to the shelf A2.

Therefore, when the fork device A1 and the storage shelf A2 of the present invention are used, the vertical dimension Q is the pitch t of the notch 68.
Is shorter than the depth L of the storage shelf A2 (t <Q
<L), the horizontal width P is larger than the minimum gap dimension W _{S of} the storage shelf A2, and is smaller than the width W of the storage shelf A2.
_{If S} <P <W, it can be stored on the storage rack A2, and can be transferred to the storage rack A2 by the fork device A1 or taken out from the storage rack A2. Therefore, for example, in a three-dimensional automatic warehouse or the like, it is possible to store the work 61 having a wide range of sizes in the storage shelves A2 of the same standard, and it is possible to generalize the three-dimensional automatic warehouse or the like.

As is clear from the above description, since the maximum size of the article is determined by the width of the table portion 62, the shelf plate 63
It is desirable that the notch depth of the notch 68 of a and 63b be as large as possible. The minimum size of the article is the gap 6
Since determined by the minimum dimension W _S 9, the minimum dimension W _S of the gap portion 69 is preferably as small as possible. However, since the gap portion 69 is a gap for the fork device A1 to pass vertically, a slim type fork device body F is required to reduce the size of the gap portion 69.
3 and 4 show the structure of a slim type fork device body F for this purpose. The fork device main body F is a three-stage fork device main body F including a fixed frame 1, an intermediate frame 11, and a work frame (arm) 21.
1 is configured to extend.

The fixed frame 1 is mainly composed of an E-shaped frame material 2 which is an aluminum extruded product having a substantially E-shaped cross section, and has an end flange portion 3 projecting over the entire length on the upper surface of the E-shaped frame material 2. A plurality of cam followers (rollers) 6, 7 and 8 are rotatably supported on the side surface, the upper surface of the intermediate flange portion 4 and the side surface of the end flange portion 5, respectively.

The intermediate frame 11 is mainly composed of a deformed frame member 12 which is a deformed pultruded product, and a vertical protruding portion 14 protrudes over the entire length in the center of both upper and lower surfaces, and an L-shaped groove-shaped protruding portion is formed on the left and right sides thereof. 13 and 15 are protruding. The cam followers 6 and 8 of the fixed frame 1 are fitted in the groove portions 13a on the side surfaces of the groove-shaped protruding portion 13 protruding on the lower surface of the intermediate frame 11 and the groove portions 15a on the side surfaces of the groove-shaped protruding portion 15, respectively. Thus, the intermediate frame 11 and the fixed frame 1 are integrally coupled so as not to be separated. Further, the cam follower 7 is inserted between the vertical protrusion 14 and the groove-shaped protrusion 15. Therefore, the intermediate frames 11 can slide smoothly by the cam followers 6, 7, 8 rolling.

The work frame 21 has a structure which is substantially plane-symmetrical to the fixed frame 1, and is mainly composed of an E-shaped frame material 22 which is an aluminum extrusion molded product having a substantially E-shaped cross section. Cam followers (rollers) 26, 27, and 28 are rotatably supported on the side surface of the end flange portion 23 protruding from the lower surface of the E-shaped frame member 22, the lower surface of the intermediate flange portion 24, and the side surface of the end flange portion 25, respectively. ing. Thus, the cam followers 26 and 28 are fitted into the groove portions 13a on the side surfaces of the groove-shaped protrusions 13 protruding on the upper surface of the intermediate frame 11 and the groove portions 15a on the side surfaces of the groove-shaped protrusions 15, whereby the intermediate frame 11 is formed. And the work frame 21 are integrally coupled so as not to be separated. A cam follower 27 is inserted between the vertical protrusion 14 and the groove-shaped protrusion 15. Therefore, the work frame 21 can slide smoothly by rolling the cam followers 26, 27, 28.

Thus, in the fork device body F, the intermediate frame 11 is slidably supported by the fixed frame 1, the work frame 21 is slidably supported by the intermediate frame 11, and the work frame 21 holds the fixed frame 1 in place. It is designed to extend in both directions as the center. Moreover, the diameters of the cam followers 6 and 8 of the fixed frame 1 and the cam followers 26 and 28 of the working frame 21 are substantially equal to the inner dimensions of the groove-shaped protrusion 13 and the groove-shaped protrusion 15 of the intermediate frame 11 (that is, the cam followers). 6, 8, 26, 28 do not rattle in the groove-shaped protrusions 13, 15 and are prevented from being in a hard-fitted state in the groove-shaped protrusions 13, 15). Therefore, the intermediate frame 11 and the working frame 21 can be prevented from swinging in the vertical direction. Further, the diameters of the cam followers 7 of the fixed frame 1 and the cam followers 27 of the working frame 21 are also substantially equal to the width between the horizontal protrusion 14 and the groove-shaped protrusion 15 of the intermediate frame 11 (that is, the cam followers 7, 27 are Since the rattling does not occur in the horizontal protruding portion 14 and the hard fitting state does not occur in the horizontal protruding portion 14, it is possible to prevent the intermediate frame 11 and the work frame 21 from swinging laterally.

Next, the drive mechanism of the fork device body F will be described. The fixed frame 1 is fixed to the motor block 41. The motor block 41 includes a drive motor 42, a speed reducer 43, a front plate 44, and a drive pinion mechanism 45, and the central portion of the fixed frame 1 is fixed to the front plate 44. The drive pinion mechanism 45 is composed of three pinions 45a, 45b, 45c, the central driving pinion 45a is directly connected to the output shaft 43a of the speed reducer 43, and the two driven pinions 45b, 45c rotate on the front plate 44. It is freely pivoted and meshes with the driving pinion 45a on both sides of the driving pinion 45a. A rack 46 is provided on the lower surface of the intermediate frame 11 over the entire length, and the driven pinions 45b and 45c on both sides mesh with the rack 46. Therefore, when the driving pinion 45a is driven by the drive motor 42, the intermediate frame 11 is driven by the engagement between the driven pinions 45b and 45c and the rack 46 of the intermediate frame 11, and the intermediate frame 11 is projected. At this time, as shown in FIG. 5, the rack 46 moves the drive pinion 45c (or 45
Since the intermediate frame 11 can be projected until just before the disengagement with b), the three pinions 45a,
According to the drive pinion mechanism 45 including 45b and 45c, the protrusion distance of the intermediate frame 11 is set between the drive and driven pinions 45a and 45b as compared with the case where only one pinion (for example, the drive pinion 45a) is used. It can be extended by the horizontal distance L1. Further, the protruding direction of the intermediate frame 11 can be changed by the rotation direction of the drive pinion 45a.

Further, the fixed frame 1 and the working frame 2
On the inner side surface of the rack 1, racks 9 and 29 are provided above the intermediate flange portions 4 and 24 over the entire length. On the other hand, an opening 47 is provided between the upper surface of the horizontal protruding portion 14 and the lower surface of the upper groove-shaped protruding portion 13 in the central portion of the intermediate frame 11, and the upper surface of the horizontal protruding portion 14 is doubled in the opening 47. Stroke transmission pinion mechanism 48
Is provided. The double-stroke transmission pinion mechanism 48 includes a plurality of transmission pinions 50a, 50b, 50c arranged in a line with meshing pinions 49a, 49b at both ends.
The rotation of one meshing pinion 49a is transmitted to the other meshing pinion 49b via the transmission pinions 50a, 50b, 50c. Further, both meshing pinions 49a and 49b mesh with the racks 9 and 29 of the fixed frame 1 and the work frame 21 (however, at the time of extension, the meshing pinion 49a forms the work frame 21).
It may come off from the rack 29 of the mating pinion 49.
b may come off from the rack 9 of the fixed frame 1). Accordingly, when the intermediate frame 11 is slid by the drive pinion mechanism 45, the meshing pinion 49a is rotated by the meshing of the rack 9 and the meshing pinion 49a, and this rotation is transmitted to the transmission pinions 50a, 50b, 50.
It is transmitted to the other meshing pinion 49b through c, and the meshing pinion 49b rotates. As a result, the meshing pinion 49
Since the rack 29 is fed by the rotation of b, the work frame 21 is driven and the work frame 21 is projected. Therefore, when the intermediate frame 11 is projected by the drive pinion mechanism 45, the work frame 21 is further projected from the intermediate frame 11 by the double stroke transmission pinion mechanism 48, and when the intermediate frame 11 is retracted, the work frame 21 is also retracted at the same time. Moreover, when the work frame 21 is projected, the rack 29 of the work frame 21 is engaged with the meshing pinion 49b (or 4) as shown in FIG.
9a) Work frame 21 until just before disengaged
Since the double stroke transmission pinion mechanism 48 is used, the projecting distance of the work frame 21 can be reduced by using the double stroke transmission pinion mechanism 48 as compared with the case where power is transmitted to the work frame 21 by one pinion (for example, the meshing pinion 49a). It can be extended by the distance L2 between the meshing pinions 49a and 49b. The work frame 21 also slides in both directions according to the protruding direction of the intermediate frame 11.

The horizontal distance from the center of the driven pinion 45c (45b) of the drive pinion mechanism 45 to the end of the rack 9 of the fixed frame 1 and the rack 4 of the intermediate frame 11.
From the end of 6, the meshing pinion 4 of the double stroke transmission mechanism 48
The horizontal distance to the center of 9a (49b) is almost equal. In addition, the fixed frame 1 and the intermediate frame 11
And the lengths of the work frames 21 are equal to each other.

Therefore, the slim type fork device A1
And the work frame 21 can be inserted into a narrow space. Moreover, by using the drive pinion mechanism 45 and the double-stroke transmission pinion mechanism 48, the projecting length of the work frame 21 is set to L2 (= 2).
XL1) can be extended, and conversely, the length when contracted and shortened by that amount (the length of the fixed frame 1 etc.) can be shortened, and the fork device A can be made more compact. In addition, the cam followers 6, 7 of the fixed frame 1
8 and cam followers 26, 27, 28 of the work frame 21
And the groove-shaped protrusion 13 and the horizontal protrusion 1 of the intermediate frame 11.
Since the fixed frame 1, the intermediate frame 11 and the work frame 21 are assembled by fitting with 4 and the groove-shaped protrusion 15, the fork device A has a high load bearing strength in spite of the slimness of the fork device A. can do.

FIG. 7 is a perspective view showing another embodiment of the present invention. In this storage shelf B2, each shelf board 6
The horizontal support plates 66 of 3a and 63b are substantially U-shaped,
A cross-shaped gap 69 is formed between the shelf plates 63a and 63b. On the other hand, the fork device B1 includes a storage shelf B2.
There is provided a cross-shaped table portion 62 matching the shape and size of the gap portion 69.

FIG. 8 is a perspective view showing still another embodiment of the present invention. In this storage shelf C2, the horizontal support plate 66 of the one shelf plate 63a has a comb-teeth shape,
The horizontal support plate 66 of the other shelf plate 63b has a straight edge. On the other hand, the table portion 62 of the fork device B1 also has a comb-like shape on one side and a straight edge on the other side according to the shape and size of the gap 69 of the storage shelf C2.

Although not shown, the table portion of the fork device and the shape of the storage rack can be various other than those in the above embodiment. For example, the left and right protrusion lengths of the comb tooth-shaped protrusions of the table portion of the fork device may be different, or the protrusion lengths of the individual protrusions may be different, or the positions of the left and right protrusions may be changed to the front and rear. You can shift it.

[0031]

According to the storage shelf of the present invention, various articles from wide articles to narrow articles (that is, large articles to small articles) can be stored on the shelf boards. Moreover, by using the fork device of the present invention, it is possible to stably mount large articles to small articles on the table portion, and yet, articles of various sizes can be safely and highly reliably stored in the storage box. It can be put in and taken out.

Therefore, by using the storage rack and fork device of the present invention, it becomes possible to store articles of various sizes in, for example, a three-dimensional automated warehouse, and also to store articles of various sizes in a mixed manner. It becomes possible to do. Therefore, it becomes possible to generalize the three-dimensional automated warehouse.

[Brief description of drawings]

FIG. 1 is a perspective view showing a fork device and a storage rack according to an embodiment of the present invention.

FIG. 2 is a perspective view showing dimensions of a work.

FIG. 3 is a partially cutaway perspective view showing the fork device body of the above.

FIG. 4 is a cross-sectional view of the fork device body of the above.

FIG. 5 is a view for explaining the operation of the drive pinion mechanism of the above.

FIG. 6 is a view for explaining the operation of the above double stroke transmission pinion mechanism.

FIG. 7 is a perspective view showing a fork device and a storage rack according to another embodiment of the present invention.

FIG. 8 is a perspective view showing a fork device and a storage rack according to still another embodiment of the present invention.

FIG. 9A is a schematic explanatory view of a three-dimensional automatic warehouse, and FIG. 9B is a schematic front view of a stacker crane.

FIG. 10 is a perspective view showing a conventional fork device and a storage rack.

[Explanation of symbols]

 A1, B1, C1 Fork device F Fork device main body A2, B2, C2 Storage shelf 62 Table part 63a, 63b Shelf plate 69 Gap part 68, 71 Notch part

Claims (2)

[Claims] 1. A storage shelf in which shelves are arranged at substantially the same height so as to face each other, and a gap portion is formed between opposite edges of the shelves, wherein A storage shelf, characterized in that at least one of the shelf plates is provided with one or two or more cutouts at an edge thereof facing the gap. 2. A fork device provided with a table portion for conveying articles, wherein at least one side edge of the table portion is provided with one or more notches, and the shape of the table portion is claimed. Item 2. A fork device characterized in that it substantially conforms to the shape of the gap portion provided in the storage rack of item 1.