JPH11139511A - Multi-stage cargo handling device, stacker crane, and automatic warehouse - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a multi-stage cargo handling device capable of being made lower in height and lighter in weight than a conventional device. SOLUTION: A pair of guide rails 27, 31, 35 provided with guide grooves and three intermediate moving sections 20-22 provided with connecting members 28, 32, 36 connecting the guide rails 27, 31, 35 are arranged between a base section 19 and the uppermost stage moving section 23. The intermediate moving sections 20-22 are made narrower in width, the upper their stages, and the upper faces of the guide rails 27, 31, 35 are arranged at nearly the same height. The guide rails 27, 31, 35 are supported by support rollers 26, 30, 34 fitted to the guide rails arranged on the outside or on the inside of the support rails 24 of the base section 19. The uppermost moving section 23 is supported by the guide rails 35 via support rollers 41 fitted to support rails 40 extended along the guide rails 35 of the upper intermediate moving section 22.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a multi-stage load transfer apparatus and a stacker suitable for an automatic warehouse having a frame shelf on which a front shelf and a rear shelf are arranged and which can store two loads in the depth direction. It relates to cranes and automatic warehouses.

[0002]

2. Description of the Related Art Conventionally, there has been known a double-reach type automatic warehouse provided with a frame shelf in which a front shelf and a rear shelf are arranged so as to be able to store two loads in the depth direction in order to increase the load storage efficiency ( For example, Japanese Utility Model Laid-Open No. 63-162704,
No. 58921). In a double-reach automated warehouse,
The transfer device provided in the stacker crane is driven by two stages of retracting strokes so as to be able to handle the front shelf and the back shelf.

A stacker crane used in a double-reach automatic warehouse is a multi-stage fork device (multi-stage load transfer device).
It has. The multi-stage fork device has a base portion, a plurality of intermediate-stage movable portions, and an uppermost-stage movable portion on which a load is placed, and each of the movable portions is interlocked with a drive device provided on the base portion. It is configured to expand and contract.

Japanese Patent Application Laid-Open No. 8-58921 discloses a multi-stage fork device as shown in FIG. In this multi-stage fork device, a pair of fixing portions 104 provided with a large number of support rollers 101 and 102 and guide rollers 103 are mounted on a carriage 100 mounted on a stacker crane in a traveling direction of the stacker crane (the left-right direction in FIG. 14). It is provided so as to extend in a direction perpendicular to the plane of FIG. A lower intermediate stage movable section 105 is movably disposed between the fixed sections 104 so as to be engaged with the support rollers 101 and 102 and the guide roller 103. The lower intermediate stage movable portion 105 is provided with an I-shaped cross section rail 10 on both sides.
6, the lower surface of the rail 106 is in contact with the support roller 101, and the outer groove of the rail 106 is engaged with the support roller 102 and the guide roller 103.

[0005] Inside the rail 106 is a rail 10 on both sides.
7 is supported via a support roller 109 that engages with an inner groove of the rail 106 such that a lower half thereof can be stored in the lower intermediate stage movable portion 105 substantially. . In addition, the middle intermediate stage movable portion 108 is provided with a roller 11 for preventing a lateral runout, which is in contact with the inner groove of the rail 106.
0 is provided. Inside the middle intermediate stage movable section 108, upper middle stage movable section 112 having rails 111 on both sides is provided.
However, the support roller 11 provided on the inside of the rail 107 so as to be able to be stored almost entirely in the middle intermediate stage movable portion 108.
3a. Inside the rail 107, a roller 113b for preventing lateral runout that comes into contact with the outer groove of the rail 111 is provided.

A bracket 115 provided on the uppermost movable portion 114 is provided inside the upper intermediate movable portion 112, and the bracket 115 is provided outside the bracket 115 so that the bracket 115 can be almost entirely stored in the upper intermediate movable portion 112. Support roller 116
Has been supported through. Outside the bracket body 115, there is provided a roller 117 for preventing lateral runout that comes into contact with the inner groove of the rail 111.

Each of the intermediate movable portions 105, 108 and 112 is provided with a pinion 118 to 120, and a rack 122 which meshes with a pinion 121 provided on the fixed portion 104 below the lower intermediate movable portion 105. Is provided. Each of the intermediate stage movable parts 105, 108, 112 has a rack 123-1 at a position facing the pinions 118-120.
26 are provided. A rack 127 meshing with the pinion 118 is provided on the fixed portion 104 side, and a rack 128 meshing with the pinion 120 is provided on the uppermost movable portion 114. And pinion 12
When the motor 1 is rotated by a motor (not shown), the intermediate movable sections 105, 108, 112 and the uppermost movable section 114 are moved in conjunction with each other via the pinions 118 to 120 and the racks 122 to 128. ing.

[0008]

In the fork device, each of the intermediate movable portions 105, 108 and 112 has at least a lower portion fitted inside the lower intermediate movable portion. It is compact.
However, the lower intermediate stage movable portion 105 is provided with the I-shaped rail 10.
6 has a lower surface provided on the fixing portion 104 side.
1, and a side surface of the rail 106 is supported by a support roller 102 provided on the fixed portion 104 side. Therefore, the structure on the fixing portion 104 side is still large, and the weight is correspondingly increased. Further, the middle intermediate stage movable portion 108 is supported by the rail 106 in a state in which a support roller 109 supported at the lower end thereof is engaged with a groove provided inside the rail 106. It is difficult to reduce the height of 108 and the weight becomes heavy. As a result, it is difficult to further reduce the height of the entire movable part of the fork device.

However, in a fork device equipped on a stacker crane used in an automatic warehouse, when the height of the entire movable part is large, the movable part performs a loading operation or a scooping operation on a shelf of the automatic warehouse. In such a case, it is necessary to form a large dead space for entry and exit, and the storage efficiency of shelves deteriorates. Further, when the weight of the fork device is heavy, there is a problem that the power consumption of the driving device for moving the carriage up and down increases accordingly.

The present invention has been made in view of the above-mentioned problems, and a first object of the present invention is to provide a multi-stage type transfer capable of reducing the height and weight of the conventional apparatus. Mounting device. A second object is to provide a stacker crane with a multi-stage load transfer device having the multi-stage load transfer device. A third object is to provide an automatic warehouse provided with a frame shelf on which a front shelf and a rear shelf are arranged so that two loads can be stored in the depth direction, and the stacker crane.

[0011]

In order to achieve the first object, according to the first aspect of the present invention, there is provided a base unit, a plurality of intermediate stage movable units, and an uppermost stage movable unit, A multi-stage loading / unloading device in which each of the movable portions is extended and retracted in conjunction with a drive mechanism driven by a drive source provided on a base portion, wherein each of the intermediate-stage movable portions guides a support roller. And a pair of guide rails arranged on both sides of the intermediate stage movable portion, and a connecting member for coupling the guide rails, and the guide rails of each of the intermediate stage movable portions have substantially the same upper surface. The lowermost intermediate stage movable portion is disposed between the pair of support rails provided on the base portion with each guide rail adjacent to the inside of the support rail. The upper middle stage movable parts are Is disposed adjacent to the inside of the guide rail of the lower intermediate stage movable portion, and a support roller for supporting the guide rail is disposed on one of the support rail and the adjacent guide rail. A guide groove for engaging with the support roller is provided on the other side, and a support roller for supporting an upper guide rail is disposed on one of the guide rails of the adjacent intermediate stage movable portion, and the support roller is provided on the other side. The uppermost movable portion is provided with a support rail extending along a pair of guide rails of the lower intermediate movable portion adjacent to the inside of the guide rail. A support roller for supporting the uppermost movable portion is provided on one of the rail and the guide rail, and a guide groove for engaging with the support roller is provided on the other. It has been kicked.

According to the second aspect of the present invention, three intermediate stage movable portions are provided, and a connecting member of each intermediate stage movable portion is formed in a bent state such that the intermediate portion is located above both ends, At least the connecting member of the intermediate stage movable portion arranged at the center has 3
Divided into three pieces, with the center being one step lower.
It is formed by joining individual members by welding.

According to a third aspect of the present invention, in the first or second aspect of the invention, the intermediate stage movable portion is formed to be lighter as the intermediate stage movable portion disposed on the upper side, and The thickness of the intermediate stage movable portion provided on the upper side is thinner.

According to a fourth aspect of the present invention, in any one of the first to third aspects of the present invention, the support roller for supporting the intermediate stage movable portion includes a support rail of a base portion and a corresponding lower part. Are provided on each of the guide rails.

According to a fifth aspect of the present invention, there is provided a stacker crane according to any one of the first to fourth aspects of the present invention. A transfer device was provided.

In order to achieve the third object, an automatic warehouse according to a sixth aspect of the present invention is arranged such that a front shelf and a back shelf are arranged and move along a frame shelf capable of storing two loads in the depth direction. A multi-stage loading / unloading device which is mounted on a vertically movable carriage and which is operated with a two-stage retraction stroke with respect to the front and rear shelves; An automatic warehouse with a stacker crane that performs work,
The stacker crane includes a multi-stage load transfer device according to any one of claims 1 to 4 as a multi-stage load transfer device.

According to the first aspect of the present invention, the uppermost movable portion is operated to extend and contract in conjunction with each intermediate movable portion disposed inside the pair of support rails provided on the base portion. The lowermost intermediate stage movable section moves along the support rail via a support roller provided on one of the guide rail and the support rail of the base section. The intermediate stage movable part higher than the lowermost intermediate stage movable part is movable through the lower intermediate stage via a support roller provided on one of the guide rail of the lower intermediate stage movable part and the guide rail of the lower intermediate stage movable part. It moves along the guide rail of the section. The uppermost movable portion moves along the guide rail of the intermediate movable portion via a support rail extending along the pair of guide rails of the lower intermediate movable portion and a support roller provided on one of the guide rails. I do.

According to the invention of claim 2, according to claim 1,
In the invention described in (1), the uppermost movable portion works together with the three intermediate movable portions. Since the connecting member of each intermediate stage movable portion is bent upward, for example, a pinion or a sprocket provided for forming a drive mechanism is less likely to interfere with the connecting member. In addition, since the connecting member is divided into three parts at positions located above both ends thereof, and the three members are joined by welding with the center being one step lower, the effect is further enhanced.

According to a third aspect of the present invention, in the first or second aspect of the present invention, the intermediate stage movable portion is formed to be lighter as the intermediate stage movable portion disposed on the upper side is connected. Even if the members are made thinner, the height of the entire movable part can be further reduced while maintaining the required strength.

According to a fourth aspect of the present invention, in the first aspect of the present invention, the intermediate stage movable portion is provided on a support rail of a base portion and a corresponding lower guide rail, respectively. For the provided support roller,
It moves with the guide groove of the guide rail engaged.

According to the fifth aspect of the present invention, since the multi-stage load transfer device mounted on the stacker crane is lightweight, the power consumption of the driving device for raising and lowering the carriage is reduced.

According to a sixth aspect of the present invention, a stacker crane for loading and unloading a load includes the multi-stage load transfer device according to any one of the first to fourth aspects.
The power consumption of the stacker crane is reduced. Further, since the height of the movable part is low, the space for the movable part to enter and exit the shelf of the automatic warehouse can be reduced.

[0023]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention embodied in a stacker crane for a double-reach automatic warehouse will be described below with reference to FIGS.

As shown in FIG. 12, a double-reach type automatic warehouse (hereinafter, simply referred to as an automatic warehouse) 1 has a pair of left and right frame shelves 2a and 2b arranged to face each other.
In the frame shelves 2a and 2b, a number of shelves 3a (shown in FIG. 8) are connected in a continuous direction (left-right direction in FIG. 12) and a stepwise direction (FIG. 1).
2 (in the direction perpendicular to the plane of the paper of FIG. 2) at predetermined intervals.
Each storage unit 3 stores the load W in the depth direction (the vertical direction in FIG. 12).
The shelf 3a has a length capable of storing two loads W in the depth direction. Two shelves, a front shelf 4 and a back shelf 5, are formed in each storage section 3 in the depth direction, and one load W is stored in each of the two shelves 4, 5. Further, at the front end (the left end in FIG. 12) of the framework shelves 2a and 2b, an entrance 6 and an exit 7 are provided.

The passage 8 between the frame shelves 2a and 2b of the automatic warehouse 1
, A rail 9 is laid, and a stacker crane 10 is provided on the rail 9 so as to be able to run. The stacker crane 10 includes a pair of masts 1 erected on a traveling platform 11.
A multi-stage fork device (hereinafter simply referred to as a fork) as a multi-stage load transfer device that suspends a carriage 13 between the carriages 2 and 12 so as to be able to move up and down, and is capable of moving back and forth on the carriage 13 in the left-right direction (vertical direction in FIG. 14). A traveling motor 15 for traveling the stacker crane 10 and an elevating motor 16 for elevating the carriage 13 are arranged on the traveling platform 11. The fork device 14 is equipped with a fork motor 17 (illustrated in FIGS. 1, 5, and 8) as a drive source. The fork device 14 is provided in accordance with the difference in the distance between the front shelf 4 and
It is designed to be driven by a step-out stroke.
A crane controller 18 for driving and controlling each of the motors 15 to 17 is provided on the lower front surface of the front mast 12.

Next, the fork device 14 will be described with reference to FIGS. FIG. 1 is a partially cutaway schematic front view of the fork device 14, and for convenience of illustration, a support roller for supporting a guide rail and the like is shown on the right side, and a roller and the like for preventing the guide rail and the like from swaying in the lateral direction are shown on the left side. ing. FIG. 2 shows FIG.
3 is an enlarged view on the right side of FIG. As shown in FIG. 1, the fork device 14 includes a base portion 19 fixed on the carriage 13 and a plurality of (three in this embodiment) intermediate stage movable portions 20 to 22, that is, a lower intermediate stage movable portion 20, A middle intermediate stage movable unit 21, an upper intermediate stage movable unit 22, and an uppermost stage movable unit 23 are provided.

As shown in FIG. 4 and FIG.
Are connected to a pair of support rails 24 by three connecting members 25a, 25
b. The connecting member 25a is welded to the center of the support rail 24, and the connecting member 25b is welded to both ends of the support rail 24 by welding. As shown in FIGS. 1 to 3, the support rail 24 is formed in a substantially U-shaped cross section, and is welded to the connecting members 25a and 25b at its lower end with the groove positioned outside. Inside the support rail 24, a support roller 26 that supports the lower intermediate stage movable portion 20 is supported via a support shaft. As the support roller 26, a bearing having a small width and a large diameter is used. As shown in FIG. 5, two support rollers 26 are provided near the center of each support rail 24 and one at each end.

As shown in FIG. 5 and FIG. 6, the lower intermediate stage movable portion 20 includes a pair of guide rails 27 connected to three connecting members 2.
8 to form a connection. As shown in FIG.
The connecting member 28 is formed in a bent state such that the intermediate portion is located above both ends, and is joined to the center portion and both ends of the guide rail 27 by welding, respectively. Figure 1
As shown in FIG. 3, the guide rail 27 has a substantially U-shaped cross section, and is welded to the connecting member 28 at the lower end thereof with the guide groove 27a positioned outside. The guide rail 27 is formed so that the guide groove 27a is
6 is movably supported along the support rail 24 in a state of being engaged with the support rail 6. That is, the lower intermediate stage movable portion 20 is disposed between the support rails 24 such that each guide rail 27 is adjacent to the inside of the support rail 24.

As shown in FIGS. 1, 2, and 5, the support rail 24 is provided with a roller 29 for preventing the guide rail 27 from swaying when the guide rail 27 is moved. The roller 29 is located at a position where it can contact the guide groove 27a.
At least two rollers 29 on one side are arranged at an interval capable of contacting the guide rail 27. In this embodiment, four rollers 29 are provided on each side. Inside the guide rail 27, a support roller 30 that supports the middle intermediate stage movable portion 21 is supported via a support shaft. As the support roller 30, a bearing having a small width and a large diameter is used. The support roller 30 is formed smaller than the support roller 26. The support roller 30 is provided on each guide rail 27.
Are arranged in the vicinity of the center and one at each end.

As shown in FIGS. 6 and 7, the middle intermediate stage movable portion 21 connects a pair of guide rails 31 to three connecting members 3.
2 to form a connection. As shown in FIG.
The connecting member 32 is formed in a bent state such that the intermediate portion is located above both ends. The connecting member 32 is divided into three parts at the middle part, and is formed by welding three members in a state where the center is lowered by one step. The connecting member 32 is welded to the center and both ends of the guide rail 31, respectively. 1 to 3
As shown in the figure, the guide rail 31 has a substantially U-shaped cross section, and is welded to the connecting member 32 at the lower end thereof with the guide groove 31a positioned outside. The guide rail 31 is movably supported along the guide rail 27 with the guide groove 31a engaged with the support roller 30. That is, the middle intermediate stage movable portion 21 is provided between the guide rails 27 of the lower intermediate stage movable portion 20 and each of the guide rails 3.
1 is disposed adjacent to the inside of the guide rail 27. Each guide rail 31 is disposed such that its upper surface is substantially the same height as the upper surface of the guide rail 27.

As shown in FIGS. 1, 2 and 5, the guide rail 27 is provided with rollers 33 for preventing the guide rail 31 from swaying when the guide rail 31 is moved. The rollers 33 are provided at positions where at least two rollers 33 on one side can be brought into contact with the guide grooves 31a.
1 are arranged at an interval that can be brought into contact therewith. In this embodiment, four rollers 33 are provided on each side.
Inside the guide rail 31, a support roller 34 for supporting the upper intermediate stage movable portion 22 is supported via a support shaft.
The supporting roller 34 is located near the center of each guide rail 31.
And one at each end.

As shown in FIGS. 1 and 7, the upper intermediate stage movable portion 22 is formed by connecting a pair of guide rails 35 with a connecting member 36. The connecting member 36 is formed by one plate. As shown in FIG. 1, the connecting member 36 is formed in a bent state such that the intermediate portion is located above both ends. The connecting member 36 is fixed to the guide rail 35 by a bolt 37. As shown in FIGS. 1 to 3, each guide rail 35 has guide grooves 35 a and 35 b formed on the outside and inside thereof, respectively, and the guide rail 35 is formed in a state where the guide grooves 35 a formed on the outside are engaged with the support rollers 34. It is supported movably along 31. That is, the upper middle stage movable unit 22 is
Each guide rail 35 is arranged between the one guide rail 31 so as to be adjacent to the inside of the guide rail 31.
Each guide rail 35 is disposed such that its upper surface is substantially the same height as the upper surface of the guide rail 31. That is,
Guide rails 27, 31 of each of the intermediate stage movable parts 20 to 22,
35 has its upper surface arranged at substantially the same height.

As shown in FIGS. 1, 2, and 6, the guide rail 31 is provided with a guide member 38 for preventing the guide rail 35 from swaying when the guide rail 35 moves. The guide member 38 is provided at a position where at least two guide members 38 on one side can contact the guide rail 35 at a position where the guide member 38 can contact the guide groove 35a. The guide member 38 is formed of a material having a small frictional resistance.

As shown in FIGS. 1 and 7, the uppermost movable portion 23 has a pair of support rails 40 on the lower surface of a support plate 39 for supporting loads, and a pair of guide rails 35 of the upper intermediate movable portion 22. It is arranged adjacent to the inside of the guide rail 35 so as to extend. A support roller 41 that engages with the guide groove 35b and supports the uppermost movable portion 23 is disposed on the support rail 40. Two support rollers 41 are provided near the center of each support rail 40 and one at each end. A slider 42 for preventing the support rail 40 from swaying when the support rail 40 is moved is provided on the support rail 40 at a position where the slider 42 can contact the guide groove 35b. The slider 42 is provided near the support roller 41. The slider 42 is formed of a material having a small frictional resistance.

Next, a description will be given of a drive mechanism for expanding and contracting the movable parts 20 to 23. 1, 5, and 9
As shown in (a) and (b), the connecting portion 2 of the base portion 19
A pair of pinions 43a and 43b are rotatably supported at the center of the lower surface of 5a via a bracket 44. The axis of each of the pinions 43a and 43b is
The driving gear 46 fixed to the output shaft of the fork motor 14 supported on the lower surface of the connecting portion 25a via the bracket 45 meshes with the driving gear 46, and rotates in the same direction.

At the center in the width direction of the lower intermediate stage movable unit 20, a rack 47 is disposed so as to extend over the entire length thereof in the moving direction of the lower intermediate stage movable unit 20. The rack 47 always meshes with at least one of the pinions 43a and 43b, and the pinion 4
It is moved in the rotation direction of 3a, 43b.

As shown in FIGS. 5 and 6, etc., sprockets 48 and 49 are provided on the connecting members 28 on both the left and right sides of the lower intermediate stage movable portion 20 with point symmetry with respect to the center point of the lower intermediate stage movable portion 20. It is arranged rotatably at the position. 1 to 3
As shown in FIG.
8 is disposed so as to protrude from both upper and lower sides thereof, with its axis being orthogonal to the moving direction of the lower intermediate stage movable portion 20. As shown in FIGS. 5 and 6, one end of the sprocket 48 supported by the left connecting member 28 is fixed to the right connecting member 25 b of the base portion 19, and the other end of the sprocket 48 is connected to the middle intermediate stage movable portion 21. A chain 50 fixed to the right connecting member 32 is wound. A chain in which one end is fixed to the left connecting member 25b of the base portion 19 and the other end is fixed to the left connecting member 32 of the middle intermediate stage movable portion 21 is attached to the sprocket 49 supported by the right connecting member 28. 51
Is wrapped around.

The chains 50 and 51 are fixed to the connecting member 32 via brackets 50a and 51a so that the position thereof cannot be adjusted, and the adjusters attached to the bracket 52 fixed to the connecting member 25b are connected to the connecting member 25b. It is fixed via bolts 53. As shown in FIG. 11, the bracket 52 is fixed to the fixing member 5 with respect to the connecting member 25b.
2a and a support part 52 through which an adjustment bolt 53 is penetrated
The tension can be adjusted by adjusting the screwing position of the nut 54.

As shown in FIG. 6 and the like, the middle intermediate stage movable portion 2
The sprockets 55, 5
6 is rotatably disposed at a point-symmetric position with respect to the center point of the middle intermediate stage movable portion 21. As shown in FIGS. 1 to 3, the sprockets 55 and 56 project from the upper and lower sides of the connecting member 32, and the axis thereof is set at the middle intermediate stage movable portion 2.
1 in a state orthogonal to the moving direction. As shown in FIG. 6, one end of the sprocket 55 supported by the left connecting member 32 is fixed to the right connecting member 28 of the lower intermediate stage movable portion 20, and the other end is connected to the upper intermediate stage movable portion 22. A chain 57 fixed around the right end of the member 36 is wound. The sprocket 56 supported by the right connecting member 32 has one end fixed to the left connecting member 28 of the lower intermediate stage movable portion 20 and the other end connected to the upper intermediate stage movable portion 22.
A chain 58 fixed around the left end of the connecting member 36 is wound.

The chains 57 and 58 are fixed to the connecting member 28 via brackets 57a and 58a so that the position thereof cannot be adjusted, and the adjusters attached to the bracket 59 fixed to the connecting member 36 are fixed to the connecting member 36. It is fixed via bolts. The bracket 59 and the adjustment bolt are configured similarly to the bracket 52 and the adjustment bolt 53.

As shown in FIGS. 6 and 7, the sprockets 60, 61 are attached to the connecting member 36 of the upper intermediate stage movable portion 22.
Is rotatably disposed at a point-symmetric position with respect to the center point of the upper intermediate stage movable portion 22. As shown in FIGS. 1 to 3, both sprockets 60 and 61 project from the upper and lower sides of the connecting member 36, and the axis thereof is set at the upper intermediate stage movable portion 22.
Are arranged in a state orthogonal to the moving direction of the moving object. As shown in FIGS. 6 and 7, one end of the sprocket 60 supported on the left side of the connecting member 36 is fixed to the connecting member 32 on the right side of the middle intermediate stage movable portion 21, and the other end is connected to the uppermost movable portion. 23
A chain 62 fixed around the right end of the support plate 39 is wound. One end of the sprocket 61 supported on the right side of the connecting member 36 is fixed to the connecting member 32 on the left side of the middle intermediate stage movable portion 21, and the other end is connected to the uppermost movable portion 2.
The chain 63 fixed to the left end of the third support plate 39
Is wrapped around.

The chains 62 and 63 are fixed to the support plate 39 via brackets 62a and 63a so that the positions thereof cannot be adjusted, and the adjusting members attached to the bracket 64 fixed to the connecting member 32 for the connecting member 32. It is fixed via bolts. The bracket 64 and the adjustment bolt are configured similarly to the bracket 52 and the adjustment bolt 53.

The drive gear 46, the pinions 43a, 43b,
Rack 47, sprockets 48, 49, 55, 56, 6
0, 61 and chains 50, 51, 57, 58, 62,
A drive mechanism driven by a drive source (fork motor 17) provided on the base 19 side is configured by 63.

As shown in FIG. 2 and FIG.
A stopper 65 for restricting the movement of the lower intermediate stage movable portion 20 to the left as shown in FIGS.
Is protruding. Stopper 6 engageable with stopper 65 on the lower surface of connecting member 28 at the center of lower intermediate stage movable portion 20
6 are protrudingly provided. As shown in FIGS. 3 and 5, a stopper 67 for regulating the rightward movement of the lower intermediate stage movable portion 20 as shown in FIGS. 4 and 5 is protruded from the connecting member 25 b on the right side of the base portion 19. I have. A stopper 68 that can be engaged with the stopper 67 is provided on the lower surface of the connecting member 28 at the center of the lower intermediate stage movable portion 20 so as to protrude therefrom.

As shown in FIGS. 2, 5, and 6, the connecting member 28 on the left side of the lower intermediate stage movable portion 20 moves the middle intermediate stage movable portion 21 to the left as shown in FIGS. A stopper 69 for regulating the pressure is projected. Middle middle stage movable section 21
A stopper 70 that can be engaged with the stopper 69 is protruded from the lower surface of the connecting member 32 at the center. As shown in FIGS. 3 and 6, the connecting member 28 on the right side of the lower intermediate stage movable portion 20 has a stopper 71 for regulating the rightward movement of the intermediate intermediate stage movable portion 21 as shown in FIGS. It is protruding. A stopper 72 that can engage with the stopper 71 protrudes from the lower surface of the connecting member 32 at the center of the middle intermediate stage movable portion 21.

As shown in FIGS. 2 and 6, the upper intermediate stage movable section 2 is attached to the connecting member 32 on the left side of the intermediate intermediate stage movable section 21.
A stopper 73 for restricting the leftward movement of FIG. 2 in FIGS. A stopper 74 that can be engaged with the stopper 73 is protrudingly provided on the lower surface of the coupling member 36 of the upper intermediate stage movable portion 22 near the center. As shown in FIGS. 3 and 7, the connecting member 32 on the right side of the middle intermediate stage movable portion 21 has a stopper 75 that regulates the rightward movement of the upper middle stage movable portion 22 as shown in FIGS. 4 and 7. It is protruding. A stopper 7 is provided on the lower surface of the coupling member 36 of the upper intermediate stage movable portion 22 near the center.
A stopper 76 which can be engaged with the projection 5 is protruded.

As shown in FIGS. 2 and 7, on the upper surface near the left end of the connecting member 36 of the upper intermediate stage movable portion 22, the leftmost movement of the uppermost movable portion 23 is restricted as shown in FIGS. A stopper 77 is protruded. A stopper 78 that can be engaged with the stopper 77 is protrudingly provided on the lower surface of the uppermost movable portion 23 near the center of the support plate 36. As shown in FIGS. 3 and 7, a stopper 79 that regulates the rightward movement of the uppermost movable portion 23 as shown in FIGS. 4 and 7 is provided on the upper surface of the connecting member 36 of the upper intermediate movable portion 22 near the right end. It is protruding. A stopper 80 that can be engaged with the stopper 79 is protrudingly provided on the lower surface of the support plate 39 of the uppermost movable portion 23 near the center.

As shown in FIGS. 2, 3 and 5, the movable member 20 to 22 is attached to the connecting member 25b on the left side of the base portion 19.
The three sensors S1 to S3 for confirming the stop position when the camera is moved to the left as shown in FIGS. 4 and 5 are provided. Three sensors S4 to S6 for checking the stop position when moving each of the movable parts 20 to 22 to the right in FIGS.
Are arranged. Sensor S1, sensor S4, sensor S
The sensor 3 and the sensor S6 are arranged at positions facing each other. The sensors S2 and S5 are disposed at point-symmetric positions with respect to the center of the base portion 19. Each sensor S1
In S6, a light emitting / receiving optical sensor is used.

As shown in FIGS. 2, 5 and 6, the lower intermediate stage movable portion 20 has movable portions 20 to 22 at a reference position (standby position), a moving state to the left with respect to the reference position, and A detected member 81 for confirming which of the states of movement to the right with respect to the reference position is provided. The detected member 81 is detected by the two sensors S1 and S4 in a state where the lower intermediate stage movable portion 20 is disposed at the reference position, and is detected only by the sensor S1 when it moves leftward from the reference position, and moves rightward from the reference position. When it moves, it is formed to a length that is detected only by the sensor S4.

As shown in FIG. 2, FIG. 3 and FIG. 5, four detected members 82 to 85 are arranged on the connecting member 28 at the center of the lower intermediate stage movable portion 20. The detected member 82 is provided at a position where the sensor S2 can detect the state in which the uppermost movable portion 23 has moved to a position corresponding to the left back shelf 5. The detected member 83 is disposed at a position where the sensor S3 can detect the state in which the uppermost movable portion 23 has moved to a position corresponding to the left front shelf 4. The detected member 84 is disposed at a position where the sensor S5 can detect the uppermost movable portion 23 in a state where the uppermost movable portion 23 has moved to a position corresponding to the right back shelf 5. It is arranged at a position where it can be detected by the sensor S6 while moving to a position corresponding to the front shelf 4.

As shown in FIG. 5 and FIG.
In the state where the fork device 14 is stopped at the reference position at a position facing the storage unit 3, the load confirmation sensor 86 for detecting the presence or absence of the load W on the front shelf 4 and the back shelf 5, 87 are provided one by one (however, only the left side is shown in FIG. 5). Cargo confirmation sensor 8
6, 87 uses a diffuse reflection type optical sensor. A notch portion 88 is formed in the connecting member 25b at the position where the two load confirmation sensors 86, 87 are disposed.
Reference numeral 7 is attached to a predetermined position via a bracket 89. Both load confirmation sensors 86 and 87 are attached in a state of being inclined with respect to the horizontal direction, and the load confirmation sensor 86 for detecting the load on the front shelf 4 is greater than the load confirmation sensor 87 for detecting the load on the back shelf 5. It is installed with a large inclination angle.

Next, the operation of the device configured as described above will be described. A description will be given of an example of a loading operation in which the stacker crane 10 loads the cargo W received from the storage opening 6 into the back shelf 5 of the right frame shelf 2b. The stacker crane 10 on which the load W received from the storage port 6 is placed on the fork device 14 is driven by the traveling motor 15 in accordance with a command from the crane controller 18 and travels along the rails 9.
Stop at the position corresponding to. In addition, the lifting motor 16 is driven by a command from the crane controller 18, and the carriage 13 stops at a position corresponding to the predetermined back shelf 5.

The crane controller 18 includes the carriage 1
When 3 stops at the position corresponding to the predetermined back shelf 5, the signals of both the load confirmation sensors 86 and 87 are input to confirm that the load W is not present on the front shelf 4 and the back shelf 5. When a load W is present on at least one of the shelves 4 and 5, the crane controller 18 outputs a load presence signal to a higher-level controller (not shown) to interrupt the loading operation. When there is no load W on both the shelves 4 and 5, the crane controller 18 starts the storage operation on the back shelf 5. Then, the crane controller 18 outputs a drive command to the fork motor 17 to move the movable part of the fork device 14 to the right.
In response to this command, the fork motor 17 drives the drive gear 46 to rotate counterclockwise in FIG. 9A. Drive gear 46
9A, the pinions 43a and 43b are rotated clockwise in FIG. 9A, and the lower intermediate stage movable portion 20 moves to the right in FIG.

When the sprocket 49 moves together with the lower intermediate stage movable portion 20, one end of the chain 51 wound around the sprocket 49 is fixed to the base portion 19, so that the sprocket 49 moves clockwise in FIG. Move while rotating. As a result, the lower intermediate stage movable section 2
The middle intermediate stage movable portion 21 supported by the guide rail 27 of No. 0 via the support roller 30 and connected to the other end of the chain 51 has a moving distance of the lower intermediate stage movable portion 20 of 2 in the moving direction of the sprocket 49. Move twice.

Similarly, when the sprocket 56 moves together with the middle intermediate stage movable portion 21, one end of the chain 58 wound around the sprocket 56 is fixed to the lower intermediate stage movable portion 20. It moves while rotating clockwise in FIG. As a result, the upper intermediate stage movable portion 22 supported by the guide rail 31 of the intermediate intermediate stage movable portion 21 via the support roller 34 and connected to the other end of the chain 58 has a middle intermediate stage movable portion in the moving direction of the sprocket 56. It moves twice the moving distance of the step movable portion 21.

When the sprocket 61 moves together with the upper intermediate stage movable portion 22, one end of the chain 63 wound around the sprocket 61 is moved to the middle intermediate stage movable portion 2.
1 is fixed to the sprocket 61 in FIG.
It moves while rotating clockwise in (b). as a result,
The uppermost movable portion 23 supported by the guide rail 35 of the upper intermediate movable portion 22 via the support roller 41 and connected to the other end of the chain 63 moves the upper intermediate movable portion 22 in the moving direction of the sprocket 61. Move twice the distance.

Each of the intermediate stage movable portions 20 to 22 is provided with a guide groove 27a, 31a, 35a of each of the guide rails 27, 31, 35.
Are supported in a state in which they are engaged with the support rollers 26, 30, and 34, respectively, and the rollers 29, 33 or the guide member 38 move while being in contact with the guide grooves 27a, 31a, and 35a. The uppermost movable portion 23 is supported in a state where the support roller 41 is engaged with the guide groove 35b of the guide rail 35, and the slider 42 is
It moves in a state of contact with 5b. As a result, chain 5
The pulling force of each intermediate stage movable part 20
To 22 or the uppermost movable portion 23 in a state deviated to one side from the center in the direction orthogonal to the moving direction,
Each of the intermediate-stage movable portions 20 to 22 and the uppermost-stage movable portion 23 move straight.

During the drive control of the fork motor 17, the crane controller 18 determines the state of the fork device 14 based on the output signals of the sensors S1 to S6. The crane controller 18 detects the detected member 8 only from the sensor S4.
1 is input, the movable parts 20 to 23
Is determined to be on the right side of the reference position, and it is determined to be normal if the operation is to enter the storage section 3 on the right side. When a detection signal is input from the sensor S5 during the warehousing operation on the right back shelf 5, a stop command is output to the fork motor 17. As a result, the fork motor 17 is stopped, and as shown in FIGS. 8 and 12, the fork device 14 is in a state where the uppermost movable portion 23 is arranged at a predetermined position suitable for transferring the load W to the back shelf 5. Becomes Next, the elevator motor 16 is driven to lower the carriage 13 by a predetermined amount, and the fork device 14
The load W placed thereon is transferred to the back shelf 5. Next, the crane controller 18 outputs a drive command to the fork motor 17 to move the movable part of the fork device 14 to the left. With this command, the fork motor 17 drives the drive gear 46 to rotate clockwise in FIG. 9A. As the drive gear 46 rotates, the pinions 43a and 43b
9B, the lower intermediate stage movable unit 20 moves to the left in FIG. 9B together with the rack 47.

When the sprocket 48 moves together with the lower intermediate stage movable portion 20, one end of the chain 50 wound around the sprocket 48 is fixed to the base portion 19, so that the sprocket 48 is counterclockwise in FIG. Move while rotating in the direction. As a result, the middle intermediate stage movable portion 21 supported by the guide rail 27 of the lower intermediate stage movable portion 20 via the support roller 30 and connected to the other end of the chain 50 moves the lower intermediate stage movable portion 21 in the moving direction of the sprocket 48. It moves twice as long as the moving distance of the movable part 20.

Similarly, when the sprocket 55 moves together with the middle intermediate stage movable portion 21, one end of the chain 57 wound around the sprocket 55 is fixed to the lower intermediate stage movable portion 20. It moves while rotating counterclockwise in FIG. As a result, the upper intermediate stage movable portion 22 supported by the guide rail 31 of the intermediate intermediate stage movable portion 21 via the support roller 34 and connected to the other end of the chain 57
Move twice the moving distance of the middle intermediate stage movable part 21 in the moving direction.

When the sprocket 60 moves together with the upper intermediate stage movable portion 22, one end of the chain 62 wound around the sprocket 60 is moved to the intermediate intermediate stage movable portion 2.
1 is fixed to the sprocket 60 in FIG.
It moves while rotating counterclockwise in (b). As a result, the uppermost movable section 23 supported by the guide rail 35 of the upper intermediate movable section 22 via the support roller 41 and connected to the other end of the chain 62 moves the upper intermediate movable section 23 in the moving direction of the sprocket 60. It moves twice the moving distance of No. 22.

The crane controller 18 has two sensors S
When the detection signal of the detected member 81 is input from S1 and S4, it is determined that each of the movable parts 20 to 23 is located at the reference position, and a stop command is output to the fork motor 17. As a result, the fork motor 17 is stopped and the fork device 14
Stops in a state where the movable parts 20 to 23 are arranged at the reference positions. Next, the crane controller 18 confirms that the load W is placed on the back shelf 5 based on the detection signals of the load confirmation sensors 86 and 87, and a series of loading operations ends. Then, the following work is performed. When the load W is not placed on the back shelf 5, the crane controller 18 outputs an abnormal signal and notifies an abnormal state.

When unloading the load W from the back shelf 5, the fork device 14 is driven in the same manner as described above by driving the fork device 14 from the state in which the carriage 13 has stopped at a predetermined position lower than the storage operation by a predetermined amount. Is moved below the back shelf 5. Then, the lift motor 16 is raised by a predetermined amount from that state, and the load W is transferred onto the support plate 39. Thereafter, by moving each movable part to the reference position, the unloading of the load W from the back shelf 5 is completed. Of course, before the extension operation of each movable part and after the contraction operation, the load confirmation sensor 86,
The work of confirming the load by 87 is performed.

At the time of loading the cargo W into the right front shelf 4, the carriage 13 is moved to a position corresponding to a predetermined front shelf 4.
Is stopped, the crane controller 18 checks the presence or absence of the load W on the front shelf 4 by the load confirmation sensor 86, and starts the warehousing operation without the load W. Then, the crane controller 18 outputs a drive command to the fork motor 17 in the same manner as described above, and then stops the fork motor 17 when a detection signal of the detected member 85 is input from the sensor S6. As a result, the uppermost movable portion 23 is placed at a predetermined position suitable for transferring the load W to the front shelf 4.

When carrying out the warehousing or unloading work on the left rear shelf 5 or the left front shelf 4, the crane controller 18 checks the point at which the fork motor 17 is rotationally driven in the opposite direction to the above, and the stop position. The sensors are different, and the other control is the same. The stop position for the left back shelf 5 is confirmed based on the detection signal of the detected member 82 of the sensor S2, and the stop position for the left front shelf 4 is confirmed based on the detection signal of the detected member 83 of the sensor S3. .

This embodiment has the following effects. (A) The upper surfaces of the guide rails 27, 31, and 35 are arranged at substantially the same height, and the lowermost intermediate stage movable section 2
Reference numeral 0 denotes a state in which the guide rail 27 is disposed adjacent to the inside of the pair of support rails 24 provided on the base portion 19, and the intermediate stage movable portions 21 and 22 higher than the lowermost intermediate stage movable portion 20 respectively The guide rails 31 and 35 are guide rails 2 of lower intermediate stage movable portions 20 and 21.
7 and 31 are arranged adjacent to each other. Accordingly, the whole of the intermediate stage movable portions 20 to 22 is reduced in size and weight in both the width direction and the height direction.

(B) The connecting members 28, 32, and 36 of the three intermediate movable portions 20 to 22 are formed in a bent state such that the intermediate portions are located above both ends.
Therefore, it is easy to make the entire intermediate stage movable parts 20 to 22 more compact in the height direction.

(C) The connecting member 32 of the middle intermediate stage movable portion 21 is divided into three at an intermediate portion located above both ends, and the three members are joined by welding with the center being one step lower. It is formed. Therefore, the distance between the upper horizontal portion of the upper middle stage movable portion 22 and the center portion of the uppermost stage movable portion 23 is equal to the upper horizontal portion of the upper middle stage movable portion 22 and the upper horizontal portion of the middle middle stage movable portion 21. Even if it is smaller than the distance to the parts, a space for accommodating the sprockets 60 and 61 and the chains 62 and 63 provided in the upper intermediate stage movable part 22 can be secured without increasing the height of the entire movable part.

(D) The connecting member 32 of the middle intermediate stage movable portion 21 is divided into three parts at the upper part, and is formed by welding three members with the center being one step lower. Have been. Therefore, the connecting member 32 can be formed with higher precision than when one member is formed by bending.

(E) Each of the intermediate stage movable portions 20 to 22 is formed to be lighter as the intermediate stage movable portion disposed on the upper side, and the thickness of the connecting members 28, 32, and 36 is changed to the intermediate stage movable portion disposed on the upper side. The thinner part is formed. Therefore, even if the connecting member is thinned, it is possible to further reduce the height of the entire movable portion in a state where the necessary strength is secured.

(F) Bearings having a large diameter and a small width are used as the supporting rollers 26 and 30 which bear a relatively large load. Accordingly, the width of the entire fork device 14 can be reduced, and unlike the conventional device, there is no need for a support roller for supporting the lowermost intermediate stage movable portion 20 by abutting against the lower surface of the guide rail 27. And contributes to weight saving.

(G) Each of the intermediate stage movable portions 20 to 22 is a support roller 2 provided on the support rail 24 of the base portion 19 or the corresponding lower guide rails 27 and 31.
Guide rails 27, 31, 3 for 6, 30, 34
The fifth guide groove 27a, 31a, 35a moves in a state of engagement. Therefore, the support rollers 26, 30, 34 are always located inside the corresponding support rails or guide rails. As a result, the support roller 2 supporting the guide rail
Unlike the case where the self-equipped devices 6, 30, and 34 are provided, the support rollers 26, 30, and 34 are always protected by the support rails 24 or the guide rails 27 and 31, and the support rollers 26, 30, and 34 are erroneously obstructed. There is no danger of contact with objects.

(H) Since the diffuse reflection type optical sensors are used for the load confirmation sensors 86 and 87, even if the stop position of the carriage 13 differs between the loading operation and the load scooping operation in the vertical direction, the front shelf 4 And the presence or absence of the load W on the back shelf 5 can be reliably detected by the same sensor.

(I) The load confirmation sensors 86 and 87 are provided at positions corresponding to the notches 88 formed in the connecting member 25b of the base 19, that is, at positions retracted from the end face of the base 19. When the stacker crane 10 travels or the carriage 13 moves up and down, it is unlikely to collide with an obstacle.

(G) Each of the movable parts 20 to 23 is at the reference position,
It is easy to determine where the object moves to the left or right from the reference position by the detected member 81 and the two sensors S1 and S4 provided along the moving direction of the lower intermediate stage movable portion 20. In addition, detection can be performed reliably.

(G) Since the weight of the fork device 14 can be reduced as compared with the related art, the power consumption of the traveling motor 15 for traveling the stacker crane 10 and the lifting motor 16 for lifting and lowering the carriage 13 is reduced.

The embodiment is not limited to the above, and may be embodied as follows, for example. A configuration in which each intermediate stage movable portion 20 to 22 is supported on the support rail 24 of the base portion 19 or the guide rails 27 and 31 of the lower intermediate stage movable portions 20 and 21 via the support rollers 26, 30 and 34. As shown in FIG. 13, a configuration is adopted in which the support rollers 26, 30, and 34 are provided on the device itself. That is, the support rail 24 of the base 19, the guide rail 27 of the lower intermediate stage movable unit 20, and the middle intermediate stage movable unit 21
Guide rail 31 is formed in a state where the guide groove exists inside. Then, the support roller 26 is connected to the guide rail 27.
, The support roller 30 is supported outside the guide rail 31, and the support roller 34 is supported outside the guide rail 35. Although not shown, a roller 2 for preventing lateral runout
Similarly, the supporting members 9 and 33 and the guide member 38 are supported outside the corresponding guide rails 27, 31 and 35, respectively. Even in this configuration, except for (g), (a) to (d) of the above-described embodiment.
The effect of (l) is obtained.

In order to support the uppermost movable portion 23 on the guide rail 35 of the upper intermediate movable portion 22, a guide groove is provided on the support rail 40 side, and the support roller 41 engaged with the guide groove is connected to the guide rail 35. May be supported.

The short detected member is moved to the lower intermediate stage movable portion 2
0, and a sensor for detecting the detected member is provided when the lower intermediate stage movable unit 20 is located at the reference position, and it is detected that the lower intermediate stage movable unit 20 is located at the reference position. Whether the intermediate stage movable portion 20 is moving leftward or rightward from the reference position may be determined from the rotation direction of the fork motor 17. In this case, the number of sensors is reduced, the degree of freedom of the arrangement positions of the sensors and the detected members is increased, and the arrangement space is easily secured.

A reflection type optical sensor may be used as the sensors S1 to S6, or a proximity switch or a limit switch may be provided. In place of the diffuse reflection type optical sensors, ordinary reflection type sensors or ultrasonic sensors are provided as the load confirmation sensors 86 and 87. In this case, it is necessary to output light or ultrasonic waves in the horizontal direction, and at the time of confirmation after loading or before scooping, it is necessary to move the carriage 13 to a position where the sensor faces the end face of the load. There is.

A driving mechanism for driving each of the movable parts 20 to 22 is disclosed in Japanese Patent Application Laid-Open No. Hei 8-58921 instead of a mechanism for transmitting the movement of the lower intermediate movable part to the uppermost movable part by a sprocket and a chain. Alternatively, a mechanism combining a rack and a pinion may be employed as in the case of the above-described apparatus.

The number of intermediate movable parts is not limited to three, but may be one or two. In the case of one, the length in the movement direction of the base portion and each movable portion is formed to be equal to or greater than the sum of the lengths of the front shelf 4 and the back shelf 5 in the depth direction. In the case of two, when the fork device is extended to the longest state, the length of the uppermost movable portion can be arranged at a position corresponding to the lower part of the back shelf 5 in the moving direction of the base portion and each movable portion. Set. And
The position of the load placed on the uppermost movable part is not at the center of the uppermost movable part but at a position biased to one side. For example, in the case of loading and unloading to and from the right frame shelf 2b,
In the case of loading and unloading to and from the left frame shelf 2a, they are arranged at positions deviated to the left.

The length of the base in the moving direction is set to
And the length of the back shelf 5 in the depth direction, and the number of intermediate stage movable portions may be four or more. In this case, even if the frame shelves 2a and 2b are provided at positions where the distance between the front shelf 4 and the back shelf 5 is slightly away from the traveling position of the stacker crane 10, loading and unloading of cargo can be performed smoothly.

Instead of mounting the fork device 14 on the stacker crane 10, the fork device 14 may be mounted on a self-propelled bogie that runs on a passage other than the passage of the automatic warehouse. For example, a self-propelled trolley that carries the load W into the entrance 6 or a load W from the exit 7
Is mounted on a self-propelled carriage that carries out, the number that can be simultaneously placed in the entrance 6 and the exit 7 increases.

The fork device 14 may be used as a stationary transfer device. The present invention may be applied to a type of stacker crane in which a plurality of (for example, two) fork devices 14 are provided on the carriage 13.

[0086] Of the two frame shelves, only one side may have a front shelf and a back shelf, and may be implemented in an automatic warehouse of a type capable of storing two loads in the depth direction. A framed shelf may be provided only on one side of the aisle, and the framed shelf may include a front shelf and a rear shelf, and may be implemented in an automatic warehouse of a type capable of storing two loads in the depth direction. In this case, as compared with an automatic warehouse provided with frame shelves of a type capable of storing one load in the depth direction on both sides, the number of parts constituting the frame shelves is reduced even at the same storage efficiency, and the manufacturing cost is reduced. .

The technical ideas (inventions) that have been grasped from the above embodiments and are not described in the claims are described below together with their effects. (1) In the invention according to claim 6, a cutout portion is provided at an end of the movable portion in the extension movement direction side of the base portion of the multistage load transfer device, and the cutout portion is provided at a position corresponding to the cutout portion. A load confirmation sensor is provided. In this case, the load confirmation sensor hardly collides with an obstacle when the stacker crane runs or when the carriage moves up and down.

(2) In the invention according to claim 6,
A diffuse-reflection sensor is separately provided on the base portion at the end of the movable portion in the direction of extension in the direction of extension in a state where the front shelf and the back shelf are respectively oriented. In this case, even if the stop position of the carriage differs between the loading operation and the load scooping operation in the vertical direction, the presence or absence of the load on the front shelf and the rear shelf can be reliably detected by the same sensor.

(3) In the invention according to any one of claims 1 to 4, the lowermost intermediate stage movable portion is provided with a detected member having a length substantially equal to the length of its movement range. In the state extending along the moving direction of the portion, and in the state where the intermediate stage movable portion is disposed at the reference position, both ends thereof are simultaneously detected by different sensors, and the intermediate stage movable portion is located on the left side of the reference position or When it is moved to the right, it is provided at a position that can be detected by the corresponding one of the sensors.
In this case, it is possible to easily and surely detect where each movable portion exists in the reference position, in a state moved to the left side from the reference position, or in a state moved to the right side by one detected member and two sensors. it can.

The term “base portion side” in this specification is not limited to the base portion of the multi-stage load transfer device, but may be a portion to which the base portion is fixed, for example, a carriage of a stacker crane or a self-propelled bogie. It also includes a support for the base.

[0091]

As described in detail above, claims 1 to 4 are provided.
According to the invention described in (1), the height of the movable portion of the multi-stage load transfer device can be reduced as compared with the conventional device, and the weight can be further reduced.

According to the second aspect of the present invention, it is easy to make the entire intermediate stage movable portion more compact in the height direction, and the connecting member of the central intermediate stage movable portion is formed by bending one member. It can be formed with higher precision than the case.

According to the third aspect of the present invention, it is possible to further reduce the height of the entire movable portion while maintaining the required strength even when the connecting member is thinned. According to the fourth aspect of the present invention, unlike the case where the supporting roller for supporting the guide rail is provided in the apparatus itself, the supporting roller is always protected by the supporting rail or the guide rail, and the supporting roller is erroneously obstructed. There is no risk of contact with

According to the fifth aspect of the present invention, since the multi-stage load transfer device can be made more compact and lighter than before, the power consumption of the driving means for driving the stacker crane and the carriage is reduced.

According to the sixth aspect of the present invention, since the multi-stage load transfer device can be made more compact and lighter than the conventional one, the power consumption of the driving means for driving the stacker crane and the carriage is reduced. Further, since the height of the movable part is low, the space for the movable part to enter and exit the shelf of the automatic warehouse can be reduced.

[Brief description of the drawings]

FIG. 1 is a partially cutaway schematic front view of a multistage load transfer device according to an embodiment.

FIG. 2 is an enlarged view of a left portion of FIG.

FIG. 3 is an enlarged view of a right portion of FIG.

FIG. 4 is a schematic plan view showing a state where the multi-stage load transfer device is extended.

FIG. 5 is a partially enlarged view of FIG. 4;

FIG. 6 is a partially enlarged view of FIG. 4;

FIG. 7 is a partially enlarged view of FIG. 4;

FIG. 8 is a schematic side view of a state where the multi-stage load transfer device is extended.

9A is a schematic side view of the multi-stage load transfer device in a standby state, and FIG. 9B is a partial schematic side view of the multi-stage load transfer device in an extended state.

FIG. 10 is a partial schematic side view in a state where the multi-stage load transfer device is extended.

FIG. 11 is a schematic perspective view of a block supporting a chain.

FIG. 12 is a schematic plan view of an automatic warehouse.

FIG. 13 is a partial front view of a multistage load transfer device according to another embodiment.

FIG. 14 is a front view of a conventional device.

[Description of Signs] 1 ... Automated warehouse, 2a, 2b ... Frame shelf, 4 ... Shelf shelf, 5 ...
Inner shelf, 10: stacker crane, 14: fork device as a multi-stage load transfer device, 17: fork motor as a drive source, 19: base portion, 20: lower intermediate stage movable portion,
21: middle middle stage movable section, 22: upper middle stage movable section, 2
3 top movable section, 24, 40 support rail, 25a,
25b, 28, 32, 36 ... connecting member, 26, 30, 3
4, 41: support rollers, 27, 31, 35: guide rails, 27a, 31a, 35a, 35b: guide grooves, 43
a, 43b: a pinion constituting a drive mechanism, 46: a drive gear, 47: a rack, 48, 49, 55,
56,60,61 ... also sprockets, 50,51,
57, 58, 62, 63 ... also chains, W ... loads.

Claims (6)

[Claims] 1. A base unit, a plurality of intermediate stage movable units, and an uppermost stage movable unit, wherein each of the movable units is interlocked via a drive mechanism driven by a drive source provided on the base unit side. A multi-stage type loading / unloading device which expands and contracts, wherein each of said intermediate stage movable portions has a guide groove for guiding a support roller, and a pair of guide rails arranged on both sides of said intermediate stage movable portion and said guide A connection member for connecting rails, wherein the guide rails of the intermediate stage movable parts are arranged such that the upper surfaces thereof are substantially at the same height, and the lowermost intermediate stage movable part is a pair of support rails provided on the base part. The guide rails of the intermediate stage movable portions located below the lowermost intermediate stage movable portion are arranged so that each guide rail is located adjacent to the inside of the support rail. Adjacent to the inside of Are arranged in a state, while the support rollers that engage the guide grooves are provided with support rollers for supporting the guide rails on one of the support rail and adjacent guide rail is disposed,
A support roller for supporting the upper guide rail is provided on one of the guide rails of the adjacent intermediate stage movable portion, and a guide groove for engaging with the support roller is provided on the other, and the uppermost movable portion is provided with A support rail extending along a pair of guide rails of the lower intermediate stage movable portion is disposed adjacent to the inside of the guide rail and supports the uppermost movable portion on one of the support rail and the guide rail. A multi-stage load transfer device in which a support roller is provided and a guide groove for engaging with the support roller is provided on the other side. 2. The intermediate stage movable portion includes three intermediate stage movable portions, and a connecting member of each intermediate stage movable portion is formed in a bent state such that the intermediate portion is located above both ends, and is disposed at least at the center. The connecting member of the step movable portion is divided into three at a portion located above the both ends,
The multi-stage load transfer device according to claim 1, wherein the three members are joined by welding in a state where the center is lowered by one step. 3. The intermediate stage movable portion is formed so as to be lighter as the intermediate stage movable portion disposed on the upper side, and the connecting member is formed so as to be thinner as the intermediate stage movable portion disposed on the upper side. The multi-stage load transfer device according to claim 1 or claim 2. 4. The multi-stage according to claim 1, wherein the support roller for supporting the intermediate stage movable portion is provided on a support rail of the base portion and a corresponding lower guide rail. Type load transfer device. 5. A stacker crane comprising a multi-stage load transfer device according to claim 1 on a vertically movable carriage. 6. A front shelf and a rear shelf are arranged, and are arranged in a depth direction.
A multi-stage transfer system movably disposed along a frame shelf capable of storing individual loads, mounted on a vertically movable carriage, and operated with two-stage retraction strokes for the front shelf and the rear shelf. 5. An automatic warehouse comprising a stacker crane that includes a loading device and performs a loading / unloading operation with respect to the framework shelf, wherein the stacker crane is a multi-stage type loading / unloading device. An automatic warehouse provided with the multi-stage type loading / unloading device according to (1).