JPH09124108A - Automated warehouse crane device and automated warehouse - Google Patents

Abstract

PROBLEM TO BE SOLVED: To place a cargo on a cargo receiving shelf while accomplishing its positioning without arranging any positioning part in each cargo receiving shelf. SOLUTION: On the upper face of an upper fork 15 in a fork device 11 installed in a stacker crane, a pair of positioning plates 25 are arranged at the predetermined interval in the advancing and retracting direction of the upper fork 15. The positioning plate 25 is provided with a guide face 25a tilting downward from its tip side in the advancing and retracting direction of the fork device 11. If a cargo W deviates in the depth direction of a cargo receiving shelf 23, the cargo W is guided along the guide face 25a when it is received, so that the deviation in the depth direction is corrected, and then, positioning on the upper fork 15 is carried out. Therefore, no deviation in the depth direction is accumulated even when picking and placing of the cargo W are repeated. On the other hand, a deviation in the width direction is corrected when the cargo W is guided along a guide face 24a in a positioning part, 24 in the placement of the cargo W.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic warehouse crane device and an automatic warehouse for positioning and placing a load on a receiving rack in an automatic warehouse.

[0002]

2. Description of the Related Art Generally, the stop position of a stacker crane traveling along a frame shelf in an automated warehouse is a reference position where the center of the fork corresponds to the center of the storage section, but some deviation is allowed. ing. Therefore, if the stacker crane repeatedly picks up the same load and puts it on the load, the shift of the load placement position will gradually increase.
This may interfere with the work of picking up and placing the load. In order to solve this problem, for example, JP-A-6-135519
The gazette discloses an automatic warehouse framework shelf 51 shown in FIG.

As shown in the figure, in this frame shelf 51, each of the cargo receiving shelves 52 has a positioning portion 54 having a guide surface 54a which is inclined downward from above the base end of the shelf bar 53 toward the tip side of the shelf bar 53. Is provided. And fork 56
Even when the load 55 is placed in a state of being displaced in the width direction from the center of the load 55, when the load 55 is unloaded from the fork 56 to the load receiving shelf 52, the load 55 is guided by the guide surface 54a and is stored in the storage portion 5.
Since the load 55 is positioned in the width direction (horizontal direction in the figure), the load 55 is placed on the load receiving shelf 52 so as to be positioned substantially in the center thereof. As a result, even if the same load is repeatedly picked up and placed on the stacker crane, the load 55 is always placed at a predetermined loading position, which hinders the loading and loading operations. Don't come

[0004]

However, the positioning portion 5
Although the load 55 is always positioned in the width direction of the storage portion 57 by No. 4, it is not positioned in the depth direction of the storage portion 57. As a result, if the same load 55 is repeatedly picked up and placed on the stacker crane, the shift of the load placement position may gradually increase in the depth direction.

If the displacement of the load placement position in the depth direction becomes large, it will not only interfere with the traveling of the stacker crane, but also if the load 55 is a part after painting, it will be predetermined so as not to scratch the coated surface. There is a problem in that the fork 56 and the receiving rack 52 hit the painted surface other than the hit surface, and the painted surface is damaged. In addition, if the loading position shifts to the back side, the coating surface may be damaged by hitting a regulating member that regulates the shift of the load 55 on the back side of the storage unit 57. To eliminate this, the storage unit 57 is removed. If the width is increased in the depth direction, there is also a problem in that the frame racks are correspondingly increased in size.

Further, for example, when the load 55 has a special shape that undulates at the bottom, it is necessary to place the load 55 on the load receiving shelf 52 in a stable posture. The receiving rack 52 may be used.
However, if the loading position shifts in the depth direction of the storage unit 57, the undulations of the load 55 may be placed on the load receiving shelf 52, and the load 55 may be placed in an unstable posture. It was

As a method of solving such a problem, it can be easily considered to provide a positioning portion for positioning the load in the depth direction of the storage portion 57 on the load receiving shelf 52. However, like the positioning portion 54, each storage portion is provided. Since it is necessary to individually provide a positioning part for 57, the number of parts for the positioning part is very large. Therefore, a large number of parts for positioning parts are required, which is costly and
The work of assembling the parts for the positioning portion to the respective cargo receiving shelves 52 becomes very troublesome. This problem is common to the positioning portion 54 provided on the frame shelf 51 shown in FIG.

The present invention has been made in order to solve the above problems, and a first object of the present invention is to provide a load receiving rack to a load receiving rack in a positioned state without providing a positioning portion on each load receiving rack. The second purpose is to provide a crane device for an automatic warehouse and an automatic warehouse that can store a load in a state where the load is positioned in the depth direction of the storage unit.

[0009]

In order to solve the above problems, in the invention according to claim 1, an automatic warehouse crane device is provided with a fork capable of advancing and retracting for loading and unloading a load into and from a load receiving shelf. In the above, the fork is provided with a positioning portion having an inclined guide surface capable of guiding a load to a predetermined position on the fork.

According to the second aspect of the present invention, the positioning portion is provided so as to be movable with respect to the fork. In the invention according to claim 3, the positioning portion is provided so as to position the load guided by the inclined guide surface in the advancing and retracting direction of the fork.

According to a fourth aspect of the invention, there is provided an automatic warehouse equipped with the crane device according to the third aspect,
The load receiving shelf is provided with a second positioning portion having an inclined guide surface for guiding the load in the width direction so that the load can be positioned.

Therefore, according to the first aspect of the present invention,
By moving the fork provided in the automatic warehouse crane device forward and backward, the cargo can be picked up and placed on the receiving rack. At the time of unloading, the unloading is guided on the inclined guide surface and positioned on the fork at a predetermined position by the positioning portion, and is unloading on the fork. Since the fork is always placed in a predetermined positional relationship with respect to the cargo receiving rack, the load on the fork is always positioned at the predetermined position of the cargo receiving rack. Therefore, it is not necessary to provide a positioning portion on each of the cargo receiving shelves.

According to the second aspect of the present invention, the position of the positioning portion relative to the fork is moved according to the size and shape of the load, so that the positioning position of the load with respect to the load receiving rack is dependent on the size and shape of the load. It is possible to change to the positioning position.

According to the third aspect of the present invention, the load guided on the inclined guide surface at the time of unloading is positioned on the fork in the advancing / retreating direction of the fork by the positioning portion and is unloading on the fork. Then, the load positioned on the fork in the advancing / retreating direction is placed on the load receiving shelf, whereby the load is positioned at a predetermined position in the depth direction of the load receiving shelf.

According to the invention described in claim 4, according to claim 3,
In an automated warehouse equipped with the crane device described in
At the time of unloading, the load is guided while being guided by the inclined guide surface of the positioning portion and positioned in the advancing and retracting direction of the fork. When the load on this fork is placed on the receiving rack,
Since the load is guided by the inclined guide surface of the second positioning portion and is positioned also in the width direction of the front side of the load receiving shelf, the load is positioned in two directions of the front width direction and the depth direction of the load receiving shelf.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to FIGS. As shown in FIG. 5, the automated warehouse 1 is provided with a plurality of rows of frame shelves 2 (only one row is shown), and each of the frame shelves 2 has a continuous direction (horizontal direction in FIG. 5) and a step direction (same direction). A plurality of storage units 3 provided in the vertical direction in the figure) are sectioned and set. The storage units 3 are formed to have the same depth, width, and height. A loading / unloading port 4 for loading / unloading a load (work) W is provided at an end of each frame shelf 2.

A stacker crane 5 as a crane device is installed between the frame shelves 2. In the automated warehouse 1 according to the present embodiment, the load W is loaded and unloaded from both sides of the frame rack 2 by the two stacker cranes 5 that sandwich the frame rack 2.

The stacker crane 5 includes a traveling platform 8 having wheels 7a and 7b for traveling on rails 6 laid on the ground, a pair of masts 9 standing on the traveling platform 8, and a space between the masts 9. It is provided with an elevating carriage 10 and the like which is arranged so as to be vertically movable in a state of being suspended by a wire (not shown). Further, the lifting carriage 10 is provided with a fork device 11 for loading and unloading the framed shelves 2.

The stacker crane 5 is equipped with a crane controller 12 below the front mast 9, and receives it by optical communication from a ground controller (not shown) installed in front of the traveling area (direction of the crane controller 12). The operation is controlled by the crane controller 12 based on the work command. The stop position of the stacker crane 5 is a reference position where the center of the fork device 11 corresponds to the center of the storage section 3 in the width direction.

As shown in FIG. 2, the fork device 11 includes
The base 13 formed on the elevating carriage 10 and the base 13 in the left-right direction (the stacker crane 5 in FIG. 5).
Middle fork 14 that is horizontally movable in a horizontal direction).
4 and an upper fork 15 that is horizontally movable in the left-right direction. A fork motor 16 for driving both forks 14 and 15 is provided below the base 13.

The drive shaft of the fork motor 16 is a gear train 17
Is operatively connected to a pair of left and right pinions 18 via both, and both the pinions 18 are meshed with a rack 14 a formed on the lower surface of the middle fork 14. The middle fork 14 is provided with a pair of left and right sprockets 19, 20. One end of the left sprocket 19 has a connecting portion 21a at the right end of the base 13 and the other end has a connecting portion 2 at the right end of the upper fork 15.
One chain 21 fixed to 1b is hooked, and one end of the right sprocket 20 has a connecting portion 22a at the left end of the base 13 and the other end has a connecting portion 2 at the left end of the upper fork 15.
One chain 22 fixed to 2b is hooked. When the middle fork 14 moves on the base 13, the upper fork 15 moves in the same direction with respect to the middle fork 14 by the same amount as the moving amount via the two chains 21 and 22. ing.

The amount of protrusion of the upper fork 15 during a predetermined operation is determined by a limit switch provided on the base 13 detecting a dog (not shown) provided on the middle fork 14, and the amount of load and load. At the time of placement, the upper fork 15 is always projected from the base 13 by a predetermined amount.

As shown in FIG. 1, arms 2b (however, only two are shown in the figure) are fixed to each of the columns 2a constituting the frame shelf 2 at equal intervals in the step direction. The load receiving shelves 23 are formed by the extending portions that extend to the front and rear (continuous direction) sides of the arm 2b. Then, the load W is placed so as to straddle a pair of cargo receiving shelves 23 facing each other between the adjacent columns 2a, and an area partitioned by the respective cargo receiving shelves 23 in the step direction is a storage portion. Three
It has become.

A pair of positioning portions 24 as second positioning portions are provided on each of the load receiving shelves 23 at positions corresponding to the four corners of the bottom of the load W to be placed. The positioning portion 24 has a guide surface 24a as an inclined guide surface that descends and slopes from the upper base end of the load receiving shelf 23 toward the tip end, and the load W that hits the guide surface 24a at the time of placing the load on the guide surface 24a. The load is guided along the load receiving shelves 23 and positioned in the center of the storage portion 3 in the width direction (continuous direction).

As shown in FIGS. 1 and 2, the upper fork 15 has a pair of positioning plates 25 on the upper surface of the upper fork 15.
25 are fixed so as to face each other. Positioning plate 25
Has a guide surface 25a as an inclined guide surface that descends and inclines toward the center of the upper surface of the upper fork 15 in the forward and backward direction of the fork device 11 from its tip.
At the time of unloading, the load W that hits the guide surface 25a is guided along the guide surface 25a and positioned by the pair of positioning plates 25 in the advancing and retracting direction of the upper fork 15.

Next, the operation of the automatic warehouse 1 will be described.
The stacker crane 5 is controlled in operation based on a work command received by the crane controller 12 from the ground controller, and performs a predetermined carrying work. That is, the stacker crane 5 carries the work of transporting the load W between the predetermined storage section 3 and the loading / unloading port 4, or between different storage sections 3.

At the stop position of the stacker crane 5, the reference position is a position where the center of the fork device 11 (that is, the upper fork 15) corresponds to the center of the storage portion 3 in the width direction, but a slight deviation is allowed. There is. If the load W is placed at a predetermined position and the stacker crane 5 stops at the reference stop position in both the unloading and the loading operation, the load W is lifted in the protruding state of the fork device 11 during unloading.
Is accurately placed at a predetermined position on the upper fork 15 without engaging with the positioning plate 25, and the load W does not engage with the positioning portion 24 due to the descending of the fork device 11 in the projecting state at the time of loading. It is accurately placed at a predetermined position on the shelf 23.

On the other hand, when the stop position of the stacker crane 5 deviates from the reference position when at least one of the unloading work and the unloading work is stopped, the fork device 11 is in a protruding state as shown in FIG. 3 during the unloading work. In the process of descending at, the load W engages with the guide surface 24a of the positioning portion 24 provided on the load receiving shelf 23 during the descending process. When the fork device 11 further descends from that state, the load W receives the load W on the guide surface 2
4a, and the center position moves to the center side of the pair of load receiving shelves 23 as it descends. When the lowering of the fork device 11 is completed and the load W is placed on the pair of load receiving shelves 23, the center of the load W is set to the pair of load receiving racks 23.
Is placed at a predetermined position corresponding to the center of the.

That is, even if the position of the load W placed on the upper fork 15 at the time of the load placing work deviates from the predetermined load placing position of the load receiving shelf 23 in the width direction thereof, the positioning portion 2
By the action of 4, when the load placement is completed, the load W is positioned and placed on the pair of load receiving shelves 23 in the width direction.

On the other hand, when the load W is placed in the depth direction from the predetermined load-carrying position of the load-receiving shelf 23, the fork device 1 as shown in FIG.
During the process in which 1 is raised in the protruding state, the load W is engaged with the guide surface 25a of the positioning plate 25 provided on the upper fork 15 during the upward movement. When the fork device 11 further rises from that state, the load W is guided along the guide surface 25a, and the load W moves in a direction that corrects the displacement in the depth direction with the rise. Then, when the load W is placed on the upper fork 15 after the ascent of the fork device 11 is completed, the load W is positioned on the pair of positioning plates 25, and the shift in the depth direction is corrected on the upper fork 15. It is placed in place.

Then, when the unloaded goods W are placed on the predetermined goods receiving rack 23, they are placed on the predetermined goods placing position without shifting in the depth direction. At this time, even if the stop position of the stacker crane 5 deviates slightly from the reference position, the position of the load W is corrected in the width direction by the action of the positioning portion 24 in the load placing process.

As a result, even if loading and unloading are repeatedly performed between different storage units 3, the positional deviation amount is not amplified not only in the width direction of the storage unit 3 but also in the depth direction thereof. That is, even if the unloading and the unloading are repeatedly performed between the different storage units 3, the ware W is accurately placed at the predetermined unloading position on the warehousing shelf 23.

Further, when the load W to be loaded is placed in the loading / unloading port 4 with a rotational deviation, the position of the loading plate 4 is corrected in the depth direction by the action of the positioning plate 25 when the loading / unloading port 4 is loaded. Since the positioning portion 24 acts to position the load in the width direction when the load is placed, the load receiving shelf 23 at the receiving destination
Then, it is accurately placed at a predetermined load-carrying position whose rotational deviation has been corrected.

By the way, for example, when the load W has a special shape having undulations at the bottom, a notch for avoiding a protrusion at the bottom of the load W is provided so that the load W can be placed on the load receiving shelf 23 in a stable posture. There is a case where a specially-shaped cargo receiving rack 23 such as one having it is used. In this case, the load W is the receiving rack 23
If the load W is displaced in the depth direction, the protrusion of the load W is placed on the load receiving shelf 23 in an unstable load posture. However, in the present embodiment, the load W is placed not only in the width direction but also in the depth direction at the predetermined positioning position of the load receiving shelf 23, so that the load W is unstable even with a special shape. It is avoided to be placed on the goods receiving rack 23 in the posture.

When the load W is easily damaged, for example, after being painted, etc., if the load W is displaced in the depth direction, it will hit a regulating member or the like on the back side of the storage section 3 and the coated surface will be damaged. May be attached. However, in the present embodiment, since the load W is placed in the predetermined positioning position of the load receiving shelf 23 without displacement in the depth direction, the coated surface is damaged by hitting the regulating member on the back side of the storage section 3. Sticking is also avoided. Since there is no risk of hitting a regulating member or the like on the back side of the storage section 3, it is not necessary to provide a clearance in the depth direction of the storage section 3 in consideration of scratches of the load W, and accordingly, the framework in the depth direction is correspondingly increased. It is easy to reduce the size of the shelf 2.

As described above in detail, in the present embodiment, the effects listed below can be obtained. (A) A pair of positioning plates 25 are provided on the upper fork 15 on which the load W is placed when the stacker crane 5 loads and places the load W, and the load placed on the storage unit 3 is displaced in the depth direction. Since the position of W is corrected to the proper position when the load is picked up, it is not necessary to individually provide a positioning portion for correcting the positional deviation in the depth direction on the side of the load receiving shelf 23. Therefore, if it is provided on the side of the cargo receiving shelves 23, it is necessary to provide it for each of the cargo receiving shelves 23, so that a large number of positioning components can be achieved by only the two positioning plates 25 provided on the upper fork 15. Therefore, the number of positioning components can be greatly reduced, and the work of assembling the positioning components can be significantly reduced, so that the load W can be positioned in the depth direction of the storage unit 3 at an extremely low cost. be able to.

(B) Positioning plate 2 capable of positioning the load W placed on the upper fork 15 in the advancing / retreating direction.
Since the load W is provided, it is possible to correct the position of the load W displaced in the depth direction of the load receiving shelf 23 by guiding the load W along the guide surface 25a during the load pickup.

(C) Positioning plate 2 on upper fork 15
5 is provided to correct the position of the load W in the depth direction of the storage section 3, and the positioning section 24 is provided on the load receiving shelf 23 to shift the stop position of the stacker crane 5 from the reference position during the loading and unloading work. Since the positional deviation of the load W in the width direction of the storage unit 3 due to the above is corrected, even if the loads W are repeatedly picked up and placed between different storage units 3, the load W is set to the predetermined load placement position on the load receiving shelf 23. In addition, it can be placed accurately without any deviation in the width direction and the depth direction.

(D) Since the load W can be accurately placed at a predetermined load placement position on the load receiving shelf 23 in both the width direction and the depth direction, for example, the load W has a special shape and the load W having the special shape is used.
Even when the load receiving rack 23 having a shape corresponding to the above is used, the load W can be always placed on the load receiving rack 23 in a stable posture.

(F) Since the load W can be accurately placed at a predetermined load placement position on the load receiving shelf 23 in both the width direction and the depth direction, for example, even when the load W is a easily scratched painted part, its coating Since the surface does not hit the receiving rack 23 or the regulating member on the back side of the storage unit 3 and is always placed only at the portion determined as the contact surface with the receiving rack 23, it is almost certain that the painted surface will be scratched. Can be prevented.

The present invention is not limited to the above-described embodiment, but may be configured as follows, for example, within a range not departing from the gist of the invention. (1) As shown in FIG. 6, the upper fork 15 is provided with a positioning plate 26 having a pair of guide surfaces 26a extending at both ends in the width direction thereof. The position of the load W may be corrected. According to this configuration, for example, JP-A-6-13551
As shown in FIG. 10 disclosed in Japanese Unexamined Patent Publication No. 9-52, all the positioning portions 54 provided on the individual cargo receiving shelves 52 are eliminated, and a large number of positioning portions provided on the individual cargo receiving shelves by the conventional device. It is only necessary to provide the pair of positioning plates 26 on the upper fork 15. As a result, the number of parts of the positioning part can be significantly reduced, and the labor of assembling the positioning parts can be saved, resulting in a significant cost reduction. A notch 23 a is formed in the load receiving shelf 23 so that the positioning plate 26 does not interfere with the load receiving shelf 23 when the fork device 11 moves up and down in a protruding state.

(2) The positioning plate 25 is attached to the upper fork 1
5 may be provided so as to be movable in the forward and backward directions. For example, as shown in FIG. 7, the positioning plate 25 is fixed to the upper fork 15 by fastening the bolt 27 and the nut 28 through the elongated hole 15a formed in the upper fork 15, and the bolt 27 is fixed to the elongated hole 15a. The positioning plate 25 may be movably fixed to the upper fork 15 by changing the insertion position. According to this configuration, the position of the positioning plate 25 is adjusted according to the size and shape of the load W, so that the load placing position of the load W is set at a predetermined position according to various sizes and shapes in the depth direction of the storage unit 3. be able to.

(3) When the load W having a special shape has a protrusion on the bottom thereof, as shown in FIG.
Alternatively, the upper fork 15 may be supported and placed in a state of being separated from the upper surface of the upper fork 15. That is, as shown in the figure, in the metal support frame 29a that constitutes the positioning portion 29, the guide portion 29b and the support portion 29c that bends and extends horizontally at the lower end side thereof are continuously formed. A substantially L-shaped resin member 30 is fixed to the support portion 29c so as to cover the upper surface thereof. The load W guided along the inclined guide surface 30a of the resin member 30 is placed on the horizontally extending support surface 30b. The resin member 30 is made of a hard resin and has a function of protecting the coated surface of the load W from the metal support frame 29a and a function of reducing the friction coefficient of the guide surface 30a. According to this structure, even if the load W has a special shape, the load W can be stably placed on the upper fork 15, so that the load W can be stably transported, and the coated surface is not damaged. . Further, there is no concern that the load W is caught on the guide surface 30a due to the small friction coefficient of the guide surface 30a. If the load W is not easily scratched, such as a coated product, the resin member 30 may be omitted. In this case, a coating layer that reduces the friction coefficient of the guide surface or the like may be formed.

(4) The shape and number of positioning portions can be changed as appropriate. As shown in FIG. 9, four rod-shaped positioning portions 31 may be provided at four corners of the upper surface of the upper fork 15 so as to project obliquely at predetermined positions on the upper fork 15 so that the load W can be guided. Of course, this positioning part 31 can be moved back and forth 1
The number may be two for each or three for one of the front and the back. Positioning is possible with these configurations. In this configuration, the contact surface of the positioning portion 31 with the load W serves as an inclined guide surface.

(5) Positioning plate 26 in the configuration of FIG.
And the positioning plate 25 in the above-mentioned embodiment are provided side by side with the upper fork 15, and when the upper fork 15 picks up the load, the positional deviation of the load W is caused by the action of the two sets of positioning plates 25 and 26 in the width direction and the depth of the storage section 3. The configuration may be such that both directions are corrected. According to this configuration, the upper fork 1
5 only needs to have two sets of positioning plates 25 and 26.
Can be placed in a predetermined load-carrying position of the cargo-receiving shelf 23 in all the storage sections 3 without any displacement in both the width direction and the depth direction. Therefore, the number of parts of the positioning parts and the number of assembling steps thereof can be further reduced as compared with the above embodiment.

(6) In the configuration of FIG. 8, the positioning portion 2
A notch for avoiding the protrusion of the load W may be formed in 9. (7) The present invention may be applied to a stacker crane equipped with a cantilever type lifting carriage.

The invention grasped from the above-mentioned embodiment and not described in the scope of claims is described below together with its effects. (A) In any one of claims 1 to 4, the positioning part includes a support part capable of supporting the load in a state of being separated from the upper surface of the fork. According to this configuration, since the load is supported by the supporting portion and placed in a state of being separated from the fork, it is possible to stably transport the load even if the load has a special shape in which the bottom portion is undulated. . Further, in the case of a load that is easily damaged, such as a coated product, the non-coated surface can be transported without touching the easily damaged coated surface, so that the coated surface is not damaged.

(B) In any one of claims 1 to 3, the automatic warehouse is equipped with the crane device. With this automatic warehouse, the same effect as that of any one of claims 1 to 3 can be obtained.

[0049]

As described in detail above, according to the invention described in claim 1, a positioning part having an inclined guide surface capable of guiding a load to a predetermined position is provided on a fork provided in the crane device for an automatic warehouse. Since the load placed on the load receiving shelves is placed in the correct position when the load is picked up, the load can be placed on all the load receiving shelves in a predetermined position only with the positioning part on the fork. Loads can be placed in position. Therefore, since the positioning part can be provided only on the fork side, the number of parts of the positioning part and the man-hour for assembling the positioning part can be significantly reduced.

According to the invention as set forth in claim 2, since the positioning portion is provided so as to be movable with respect to the fork, the size of the load is changed by moving the position of the positioning portion with respect to the fork according to the size and shape of the load. The positioning position can be set according to the shape.

According to the third aspect of the invention, since the positioning portion is provided so that the load can be positioned in the advancing / retreating direction of the fork, the load is guided along the inclined guide surface and positioned at a predetermined position. The load can be repositioned to the proper position in the depth direction of the receiving rack.

According to the fourth aspect of the present invention, the fork side is provided with the positioning part capable of correcting the position of the load in the advancing and retracting direction, and the second positioning part capable of correcting the position in the width direction of the load receiving shelf side. Since the position of the load is corrected by the positioning portion in the depth direction of the load receiving shelf during unloading, and the position of the load is corrected by the second positioning portion in the width direction of the load receiving rack during loading, the width direction and the depth of the load receiving shelf are adjusted. The load can be placed in a regular position in both directions.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a storage section and a fork.

FIG. 2 is a side sectional view of a lift carriage.

FIG. 3 is a front view showing an operation at the time of loading.

FIG. 4 is a front view showing the operation at the time of loading.

FIG. 5 is a partial perspective view of an automated warehouse.

FIG. 6 is a front view of a fork provided with a positioning plate of another example.

7 is a partial side sectional view of a fork of another example different from FIG.

FIG. 8 is a side view of a fork different from FIG.

9 is a perspective view of another example of a fork different from FIG. 8. FIG.

FIG. 10 is a partial front view of a conventional device.

[Explanation of symbols]

1 ... Automatic warehouse, 5 ... Stacker crane as crane device, 15 ... Upper fork as fork, 23 ...
24. Positioning part as second positioning part, 24a ... Guide surface as inclined guide surface of second positioning part, 25, 26 ... Positioning plate as positioning part, 25a, 26a ... Guide surface as an inclined guide surface, 29 ... Positioning portion, 30a ... Guide surface as an inclined guide surface, 31 ... Positioning portion, W ... Load.

Claims (4)

[Claims] 1. An automatic warehouse crane device comprising a fork that is capable of advancing and retracting for loading and unloading a load into and from a load receiving shelf, wherein the fork has an inclination capable of guiding the load to a predetermined position on the fork. An automated warehouse crane device provided with a positioning part having a guide surface. 2. The crane device for an automated warehouse according to claim 1, wherein the positioning unit is provided so as to be movable with respect to the fork. 3. The crane for an automated warehouse according to claim 1, wherein the positioning portion is provided so as to position the load guided by the inclined guide surface in the advancing / retreating direction of the fork. apparatus. 4. An automatic warehouse equipped with the crane device according to claim 3, wherein the cargo receiving rack has a second positioning having an inclined guide surface for guiding a load in a width direction thereof. Automatic warehouse where department is established.