KR0162970B1 - Fork system for stacker crane and method and apparatus for controlling the same - Google Patents

Abstract

With the fork device of the stagger crane, the vehicle moves in the front-rear direction by the traveling device, and the carriage equipped with the fork device is lifted by the lifting device, and the load is carried in the desired rack in the three-dimensional automatic warehouse by the fork device or the rack. In the stagger crane which can be carried out in the inside, The moving means is provided in the lower part of the said carriage, The turning frame which turns by this turning means is set on the turning means, and the traveling means is movable so that it can move in this turning frame. It is characterized in that the installed ram fork.

Description

[Name of invention]

Fork device of stagger crane, its control method and control device

Detailed description of the invention

[Technical Field]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fork device of a stacker crane which is installed in a three-dimensional automatic warehouse, and loads and unloads a stacker crane load, and the holes for inserting a moving fork are respectively positioned at arbitrary positions. A variety of articles having a shape formed at the center of the various articles formed, or a hole for inserting a circumferential moving fork wound around a long and long-tight form in the shape of a roll. It relates to a method of controlling a fork device of a stagger crane and a control device thereof.

In general, racks for storing various loads are arranged in multiple stages in both sides of a traveling crane of a stagger crane in a three-dimensional automatic warehouse. Each rack holds the goods placed on the pallet. For example, when unloading loads of these racks, the stacker-crane installed in the traveling lane is driven, the carriage is lifted, the carriage is stopped at a desired rack position, and the fork device mounted on the carriage is operated. Stretch the fork to the bottom of the pallet. The carriage is slightly raised to lift the cargo in the rack with the pallet by the fork that is extended, and the fork device is operated to deflate the fork, and the cargo in the rack is stored in the carriage with the pallet. The carriage is lowered by the elevating device and the stagger crane is driven to carry out the load.

By the way, in the case where the goods entering and exiting the three-dimensional automatic warehouse become a roll shape, the goods on the roll cannot be smoothly loaded and unloaded with a conventional fork device due to the size of the hole diameter and the hole positions of the roll goods of various sizes. Forks with new constructions, whether new or not, have been desired. In addition, in the conventional stagger crane equipped with the fork device, the width of the carriage is increased, and the lane width must be increased by itself in the three-dimensional automatic warehouse.

In addition, even if the load on the roll as described above is placed on a pallet and secured with a stopper or the like to be stored (or taken out) in a three-dimensional automatic warehouse, the rack end pitch may be determined in relation to the thickness of the pallet and the fork insertion interval. There is a problem that the utilization rate of the predetermined space in the three-dimensional automatic warehouse is lowered because it must be configured to be wide. In addition, when handling, it is necessary to change the load on the pallet, so the handling time becomes longer, which is a factor in the rise of the work cost.

In addition, if any article is the same size as the article on the roll, the position of the hole for inserting the moving fork is the same position, so that the tip of the fork can be easily moved into the hole.

However, when holes are formed at arbitrary positions according to the loads, the positions of the holes are obvious when the designated loads are shipped from the equipment in which these various loads are randomly stored. Watched with eyes, the position of the fork had to be aligned with the hole.

In addition, even in the case of a load having a circumferential shape and a shape having a center hole for inserting a fork in the center, a plurality of loads having different sizes such as outer diameter and inner diameter may be designated from a facility in which the load is randomly stored. Since the position of the center hole is unclear at the time of shipment of the cargo, the insertion of the fork in accordance with the center hole has been performed while the operator monitors the eye while inserting the fork.

In this way, the different specifications and sizes mean that the operator has to control the position of the fork by visually seeing the tip of the fork even when the tip of the fork is correctly inserted into the hole of the load. Because of this difficulty, there was a problem that the efficiency was lowered.

In particular, although the position of the hole is obtained once in order to insert the fork at the time of receipt operation, it is annoying that the position of the hole must be found again at the time of the delivery operation.

In addition, when controlling with the eyes, illusions tend to occur due to the distance and the like due to brightness and the condition of the operator. If the control is incorrect, the fork collides with the load and damages the load.

SUMMARY OF THE INVENTION The present invention was developed in view of the above-mentioned point, and an object of the present invention is to facilitate the loading and unloading of the rolled goods of a rack in a three-dimensional automatic warehouse without using a pallet. It is an object of the present invention to provide a fork device for a stagger crane, which can narrow the width of the installation crane of the takka crane and can compact the installation space of the three-dimensional automatic warehouse without enjoying storage capacity.

Furthermore, it provides a fork device of a stagger crane which aims to stabilize the ram for the fall moment by dispersing the reaction force.

In addition, the present invention focuses on the fact that, when the positional information of the hole obtained at the time of receiving operation is stored, when the fork is inserted into the hole of the load, the stored positional information may be read instead of the position of the hole. An object of the present invention is to provide a fork device of a stagger crane capable of quickly and accurately inserting the tip of a fork into a hole of a load, a control method of the fork device, and a control device thereof.

In order to achieve the above object effectively, this invention has the following structures. That is, while traveling in the front-rear direction by the crane traveling device, the carriage equipped with the fork device is lifted by the lifting device, and the load is put on the desired rack plate in the three-dimensional automatic warehouse by the fork device or from within the rack. In the stacker crane which can be shipped, the fork device is provided with a horizontal rotating device at the lower part of the carriage, and on both sides of the horizontal rotating device with respect to the traveling direction of the stacker crane. The swing frame body is formed by surrounding the upper and lower members and the front and rear members so as to have the inner space to accommodate the load and the rack, and the rack is installed in the left and right directions of the upper and lower members opposing the swing frame. In addition, it is composed of a main body having a length across the upper and lower members and a fork portion protruding from one side of the central portion thereof, The ramp has a plurality of pinion gears which are engaged on both sides of the racks installed on the upper and lower members, and synchronously rotated by a driving device installed on the main body, and a ramp fork is provided in the right and left sides of the swing frame. It is installed in the swing frame and allows the ram fork to move in the swing frame by synchronous rotation of the pinion gear that is engaged with the rack by the drive device. It is configured to be turned in the carriage.

In addition, while traveling in the front-rear direction by the crane driving device, the carriage equipped with the fork device is lifted by the lifting device, and the load is put into the desired rack in the three-dimensional automatic warehouse by the fork device or released from the rack. In the stack crane which can be used, the horizontal rotation apparatus is provided in the lower part of the said carriage, and the upper and lower members are opened on the horizontal rotation apparatus so as to open the left and right sides with respect to the traveling direction of the stack crane, and to have an internal space. Swivel frame body formed by enclosing with front and rear member is installed, rack body in left and right direction is installed on upper surface of lower member of this revolving frame body, and fork member protrudes on one side of the central part with the length that spans between upper and lower members. And a ramp fork having a length that can be accommodated in the left and right sides of the swing frame body in the right and left directions in the swing frame body. In addition, the rotating body is supported by the rotating body freely supporting the lower part of the fork shaft of the ram fork and the upper part of the anti-fork part of the ram fork by the front and rear ends of the lower member of the swing frame and the rear end of the upper member. Connected by a long shade, and the main body to be engaged with the rack and rack of the lower member so that the ram fork to move the left and right in the swing frame body with the pinion gear and the drive device, In addition, the horizontal rotation device is configured to swing the ramp fork into the carriage like a swing frame.

In addition, it is a structure that is circumferential in shape and can move by inserting a fork into the center hole installed in the axial direction, and a storage rack for storing a plurality of cargoes of different sizes and a storage rack for storing the stored cargoes. The equipment is equipped with a fork mechanism for moving goods between the warehouse, the storage rack, the storage rack, and the storage rack, and the center detecting means for detecting the position information of the cargo center hole in the storage rack, and the cargo center hole. Storage means for storing the position information of the fork, reading and writing means for reading and writing to the storage means, and fork control means for controlling the position of the fork and inserting the fork into the center hole of the load based on the read position information. good.

In addition, the center detecting means is provided with a pair of distance sensors on the outer portion of the load for detecting the distance to the outer surface of the load, and moving means for moving these distance sensors along the cross section of the load, and the distance A conversion means for outputting the position information of the load center hole based on the signal of the sensor and the transfer distance may be provided.

The center detecting means may include: a photoelectric switch installed in the fork and detecting the presence of reflected light from the front; a moving means for moving the fork in a direction parallel to the diameter of the article; and the photoelectric switch. A conversion means for outputting the position information of the load center hole based on the signal and the moving distance may be provided.

According to the above configuration, when the stagger crane is installed and used in a predetermined lane in a three-dimensional automatic warehouse, first, the stagger crane is driven by a crane driving device, and the carriage is lifted (or lowered) by the lifting device, and the desired rack is mounted. The carriage is stopped at the position to stop driving and lifting. Then, when the plurality of pinion gears installed in the ramp are rotated by the driving means of the ramp fork, the ramp is rotated while matching the racks installed above and below the swing frame. We move (advanced) to rack side which stored article to carry in the swing frame. The fork portion of the ram fork is inserted into the center hole of the object on the roll placed on the rack and stops the movement of the ram fork when the predetermined position is reached. The lifter is then operated to raise the carriage slightly to stop, lifting the load on the rack's roll onto the ramp fork. Then, the ram fork is moved (reversed) into the turning frame by the drive of the ram fork, and the load on the roll is stored in the turning frame together with the ram fork.

When transporting the load on the rolls stored in the carriage as described above from the three-dimensional automatic warehouse, the crane driving device and the lifting device of the stack crane are operated, the stack crane is driven to the home position and the roll fork together with the ramp fork. The carriage on which the cargo of the upper box is mounted is lowered to the lower end of the stack crane. In the home position, the ramp fork is moved (advanced) to the entrance or exit platform, which is arranged to be adjacent to the home position as described above, and the carriage is lowered at a predetermined position to lower the carriage. (Or get ancient) After that, the empty ram fork is moved (reversed), stored in the turning frame in the carriage, and the stagger crane is waited at the home position until the next loading / unloading instruction.

In addition, when loading and unloading loads of the ramp fork of the ramp toward the one rack with the stagger crane running lane, the pivot frame is rotated 180 ° by the turning means, and the ramp fork The tip of the fork is directed to the other rack. After doing so, the ram fork is moved (advanced) toward the rack by the drive device as described above. Then, when the fork portion of the ram fork reaches the predetermined position of the rack, the movement of the ram fork is stopped. The lifter is then operated to raise the carriage and stop, pulling the rack's lower load onto the fork. The ram fork is moved (retracted) again and stored within the swing frame. In this way, the turning frame is rotated by the horizontal rotating device, so that the direction of the ramp fork can be changed in the carriage.

As described above, the lower portion of the fork portion of the ram fork and the upper portion of the opposite fork portion of the ram fork are installed through a rotating body that is pivotally attached to a predetermined position in the swing frame. By connecting according to the color, the reaction force spread over the ram fork can be disperse | distributed when the load on the goods rolled in and out is caught with a ram fork.

Further, in the control method of the present invention, when moving a load with a fork, the fork is correctly inserted into the hole of the load by reading the position information of the hole provided in the load and controlling the position of the different forks based on the position information. .

In the control apparatus of the present invention, since the position information of the article hole stored and stored in the storage means is read by the reading means, the fork control means makes the fork based on the read position information. By controlling the position of the fork, the fork is correctly inserted into the hole.

Moreover, it is a structure which can insert a fork into the center hole provided in the axial direction of an outer shape, and can carry it, and the storage stand which stores several goods of different sizes, and the storage bag which stores the received goods ) Is a facility equipped with a fork mechanism to move the load between the storage rack, the storage rack, the storage rack, and the storage rack, and when storing the cargo stored in the storage rack, When storing the load, the center detecting means detects the position information of the center hole of the load, controls the fork control means based on the position information, and inserts the fork into the center hole of the load. Thereafter, the container is returned and stored.

When transporting from the storage stand to the warehouse, the fork is loaded by reading the position information of the center hole of the load stored in the storage means by reading and writing means and controlling the fork position based on the read position information. It is inserted into the center hole of the Then go to the factory.

Further, if a pair of distance sensors for detecting the distance to the outer surface of the article are provided on the outer side of the article, and the distance sensors are moved, the conversion means, based on the signal of the distance sensor and the moving distance, position information of the center of the article center hole. Can be obtained.

Further, when the fork provided with the photoelectric switch for detecting the presence of reflected light from the front side is moved in a direction parallel to the diameter of the load, the conversion means obtains the position information of the center hole of the load based on the signal and the moving distance of the photoelectric switch. You can get it.

In this way, by storing and storing the positional information of the cargo hole obtained at the point of arrival (for example, the difference between the height and the hole) as correction data, When using the rack, read the position information stored and stored, and do not measure the hole position (for example, the difference between the height and the height). This can be immediately known by correcting the position information as.

Therefore, when the shipping operation is performed based on the read position information, the fork does not collide with the article even if the measurement black is not controlled by the eye.

If the shape of the article is a circumferential outline and the hole position is provided at the center thereof, the center hole can be easily obtained by observing the outline of the article by the distance sensor and the photoelectric switch.

[Brief Description of Drawings]

1 is a perspective view of a stacker crane as an embodiment according to the present invention.

2 is a simplified plan view seen from the driving lane of the stacker crane of the three-dimensional automatic warehouse.

3 is a cross-sectional explanatory view of a main portion of a fork device according to the present invention.

4 is a longitudinal sectional explanatory view of a main part of the fork device according to the present invention.

5 is a side view of FIG.

6 is a side view of FIG.

7 is an explanatory cross-sectional view of main parts of the fork device of the second embodiment.

8 is an explanatory view of the principal longitudinal section of the fork device of the second embodiment;

9 is an arrow V side view of FIG.

FIG. 10 is an arrow VI side view of FIG. 8. FIG.

Fig. 11 is a side view of an exit facility with a control device for use in the control method of the present invention.

12 is a cross-sectional view of the access facility.

13 is a block diagram showing a control system of the entrance and exit facility.

14 is an essential part explanatory drawing which shows the crane mechanism of the said access facility.

Fig. 15 is an explanatory diagram for explaining the main part of the center detecting means in the storage rack of the access facility.

Fig. 16 is a timing chart for explaining the operation of the center detecting means of the other embodiment.

17 is a flow chart of a goods receipt process in the control method of the said warehouse facility.

18 is a flow chart of the leaving process in the control method of the above-mentioned entrance facility.

* Explanation of symbols for the main parts of the drawings

1: Staka crane 2: Traveling device

6: fork device 7: carriage

8: lifting device 20: swing bearing

26: turning frame 27a: rack

27b: Rack 28: Ramfork

30: pinion gear 38a, 38b: color tone (索 條, roller chain)

39a, 39b, 39c, 39d, 39e, 39f: rotating body (sprocket)

C1: coil C3: center hole

1A: Goods Receipt 11: Center Search

111, 112: distance sensor 118: photoelectric switch

113: moving means 114: conversion means

2A: Shipping Table 4A: Hanging Table

41, 42: hanger 3A: rail

43: lead 5A: I D tag (memory means)

6A: Fork mechanism 61: fork

62: fork departure means 63: carriage

64: crane 65: fork up and down means

66: driving means 67: I D controller

68: fork control device 69: vertical movement detection means

691: Detection Piece 692: Reference Level Detection Circuit

693: singular detection means 694: magnetic stripe pattern

695: magnetic sensor 696: conversion circuit

697: correction shift detection means 9A: control device

91: input means 92: storage means

93: reading and writing means 94: data transportation means

[First Embodiment]

The first embodiment of the present invention will be described below with reference to FIGS.

1 is a stack crane equipped with the fork device 6 of the first embodiment according to the present invention, which stack crane is installed in the lower saddle 3 provided with the crane traveling device 2 and in front and rear of the lower saddle 3; (I) one post 4a, 4b, an upper saddle 5 mounted on the upper part of the posts 4a, 4b, a carriage 7 mounted with a fork device 6, an elevator 8 for raising and lowering the carriage, And control and power board 9 and other accessories. This stagger crane 1 is installed between rack B and rack B which were arrange | positioned in the multi-stage storage in the three-dimensional automatic warehouse A.

The upper rail 10a and the lower rail 10b are provided in the stagger crane traveling lane C between the said rack group B and the rack group B so that it may oppose to the up-down position of a vertical direction. In this lower rail 10b, the wheels 11a, 11b and 4 lower guide rollers 12 which are extracted by the rotational material to the lower saddle 3 of the upper stacker crane 1 are engaged with the rotational material. Said one wheel 11b is connected to the traveling apparatus 2 which consists of a traveling motor 13, the reduction gear 14, etc., and it is made to drive | work on the lower rail 10b via the wheel 11a, 11b by the drive of this traveling apparatus 2.

In addition, the upper saddle 5 is fitted with the upper rail 10a so that the four upper guide rollers 15 are pulled out by the rotational material, and the four upper guide rollers 15 allow the upper part of the stagger crane 1 to have an upper rail 10a. It is supported by.

In this way, the said carriage 7 is arrange | positioned between the post 4a and the post 4b, and is built in the lifting device 8 by the wire rope 16. As shown in FIG. The elevating device 8 is constituted by an elevating motor 17, an elevating drum 18, and a reduction gear 19 provided on one side of a post 4a. The wire rope 16 is wound around the lifting drum 18, and when rewound, the carriage 7 is lifted.

The lifting carriage 7 is provided with a fork device 6, which is a main part of the first embodiment of the present invention. This fork device 6 has the following configuration and actions. That is, in the lower part of the lifting carriage 7, the turning bearing 20 which comprises a horizontal turning device, the inner bearing 22 which screwed in the inner ring part 21 which becomes the free rotation path, and the turning motor A small gear 25 mounted on a rotary shaft 24 of 23 is mounted, and the inner ring portion 21 is rotated through the small gear 25 by the drive of the turning drive motor 23.

Thus, the pivot frame 26 is provided on the pivot bearing 20 so as to rotate integrally with the inner ring portion 21. The swing frame 26 has a shape formed by enclosing the upper and lower sides and the front and rear so as to open the left and right sides with respect to the traveling direction of the stack crane and have an internal space. Racks 27a and 27b are provided at opposing top and bottom positions of the central portion. The upper and lower racks 27a and 27b are provided with a horizontal T-shaped ramp fork 28 so as to be movable horizontally.

That is, the ramp fork 28 is provided in the lower part of the main-body part 28b which protruded the fork part 28a horizontally, and four small wheels 31 drive | move the lower inner surface of the turning frame 26, have. In addition, two pivoting shafts 29a and 29b are held in the vertical direction at intervals slightly wider than the widths of the racks 27a and 27b in the rear portion 28c of the ramp fork 28. In the vicinity of the upper and lower end portions of both of the rotational shafts 29a and 29b, pinion gears 30 meshed with the racks 27a and 27b are mounted.

Moreover, the side rollers 32a and 32b are rotatably attached to the upper and lower end portions of both the rotational shafts 29a and 29b, and together with the other side rollers 33 provided above and below the ramp fork 28, the ramp fork 28 At the time of movement, both sides of rack 27a and 27b are rotated, respectively. The ramp fork 28 is supported by the four pinion gear 30, the small wheels 31 and the eight side rollers 32a, 32b, 33 so as to be able to move horizontally in the pivot frame 26. In addition, the ramp fork 28 has the length which can be accommodated in the right and left sides of the turning frame 26.

Furthermore, the gears 34a and 34b which engage with each of the rotational shafts 29a and 29b are fitted, and the gear 34a which is fitted to one of the rotation shafts 29a is the rear portion of the ramp for 28. Engage with the gear 37 attached to the pivot shaft 36 of the fork motor 35 attached to 28c. As the fork-motor 35 is driven, both of the rotational shafts 29a and 29b are synchronized with the gear 34a and the gear 34b by the gear 37.

Next, when the stacker crane 1 which has the ramp-up device 6 is installed in a three-dimensional automatic warehouse by the structure as mentioned above, and this article stacker crane 1 carries out the goods on the roll accommodated in the desired rack b, Explain.

First, at any position in the home position or lane where the stagger crane 1 is stopped, the stagger crane 1 is operated by the control signal to drive the traveling device 2 in the desired direction, and the carriage 7 is raised by the lifting device 8. (Or lowering), and the rack group B arranged in multiple stages stops the carriage 7 at a predetermined position of the desired rack b.

Next, the fork motor 35 of the lamp fork 28 is driven to drive gear 37 and gear 34a. Both gear shafts 29a and 29b are synchronized by gear 34b. In response to the rotation of both of the rotational shafts 29a and 29b, each pinion gear 30 that is attached to the upper and lower end portions of both of the rotational shafts 29a and 29b is placed in order to the racks 27a and 27b provided above and below the pivot 26. Let's put together. In this way, the ramp fork 28 moves in the turning frame 26 and moves (forwards) the fork portion 28a to the desired rack b side. Then, the fork portion 28a is inserted into the center hole of the rolled article stored in the rack b, and the movement (forwarding) of the ramp fork 28 is stopped when the fork portion 28a comes to a predetermined position.

Next, the elevator 8 is moved to the left, the carriage 7 is slightly raised to stop the lift, and the rack up load of the rack b is extended by the fork portion 28a. Therefore, the fork-motor 35 of the ramp-tork 28 is driven again to synchronously drive the two pivoting shafts 29a and 29b, and the ramp-tork 28 is moved while the fork-tork unit 28a is equipped with a rolled article. The rolled goods are stored into the turn frame 26 together with the ramp fork 28.

In this way, the baggage-shaped goods accommodated in the turning frame 26 of the carriage 7 are taken out from a warehouse. That is, the traveling device 2 and the elevating device 8 of the stacker crane 1 are operated to drive the stacker crane 1 to the home position, and the carriage 7 loaded with loads on the roll is lowered to the lower end of the stacker crane 1. In the home position, the lamp fork 28 is moved to the carry-on cart (not shown) or to the carry-out side as described above (advanced) again. The carriage 7 is lowered at a predetermined position, and a load on the roll is placed on the loading / unloading cart or loading / unloading stand. Thereafter, the empty ramp fork 28 is moved (advanced) to be stored in the turning frame 26 in the carriage 7, and the stagger crane 1 is waited at the home position until the next loading / unloading instruction.

In addition, when storing the roll-shaped article accommodated in one rack b through the lane which provided the said stagger crane 1, in the rack b of the other direction which substitutes for example through the stagger crane 1, First, the rolled article stored in the rack b in one direction as described above is stored in the turning tool 26 of the carriage 7 in the ramp fork 28.

Next, the turning drive motor 23 is driven, and the inner ring part 21 of the turning bearing 20 is rotated through the small gear 25, and the turning frame 26 which rotates integrally with the inner ring part 21 is turned 180 °. Thus, the carriage 7 also turns 180 ° with the pivot frame 26 in the carriage 7, and the fork 28a tip of the ramp fork 28 faces in the direction of the other rack b.

After doing this, the two pivot shafts 29a and 29b are synchronously rotated by the different driving means of the ramp fork 28 and engaged with the ramp forks 27a and 27b caused by the rotation of each pinion gear 30. By the movement, the ramp fork 28 moves (advances) to the rack b side with the load on the loaded roll. When the fork portion 28a of the ram fork 28 reaches the predetermined position of the rack b, the movement (forward) of the ramp fork 28 is stopped.

Next, the lift window value 8 is operated to lower the carriage 7 slightly to stop. The roll-shaped cargo is placed in the rack b, and the ramp fork 28 is moved (retracted) again to be stored in the carriage frame 26 of the carriage 7. Thereafter, the stagger crane 1 waits at that position until the next incoming and outgoing instruction.

The control of traveling and lifting of the stagger crane 1, forward and backward of the ramp fork 28, turning of the swing frame, and the like can be freely changed in various ways without being limited to the above-described embodiment.

Second Embodiment

Hereinafter, a second embodiment of the present invention will be described with reference to FIGS. 7 to 10. In addition, the part which is common in 1st Embodiment attaches | subjects the same code | symbol to a figure.

As shown in the drawing, the carriage 7 is provided with a fork device 6 according to the second embodiment.

This fork device 6 has the following constitutions and actions, that is, the lower portion of the carriage 7 is screwed on the outer circumference of the turning bearing 20 constituting the horizontal turning device and the inner ring 21 where the turning bearing 20 is a rotating material. A small gear 25 mounted on the rotary shaft 24 of the swing drive motor 23 is mounted, and the inner ring portion 21 rotates through the small gear 25 by driving the swing drive motor 23.

Thus, the pivot frame 26 is installed on the pivot bearing 20 so as to rotate integrally with the inner ring portion 21. The swing frame 26 is a structure formed by opening the left and right sides in the traveling direction of the stack crane and surrounding the top and bottom and front and rear so as to have an internal space. In order to move horizontally in the direction, the following drive wheels 31, side rollers 33, pinion gears 37a and gears 37b fork motors 35 are provided with driving devices and guide rails 27a, 27b and rack 37a for assisting driving.

That is, guide rails 27 a and 27 b are provided at opposite centers of the pivot frame 26 along the left and right directions, and horizontal t-shaped ramp forks 28 are horizontally movable on the upper and lower guide rails 27 a and 27 b. have.

The said ramp fork 28 is provided in the lower part of the main-body part 28b which protruded the fork part 28a in one horizontal direction so that four small wheels 31 may rotate the lower inner surface of the revolving frame 26. As shown in FIG. Further, side rollers 9 are provided on the upper and lower portions of the ramp fork 28 so as to be in contact with both of the guide rails 27a and 27b, respectively, and both sides of the guide rails 27a and 27b are rotated when the ramp fork 28 moves. The ramp fork 28 is supported by the small wheel 31 and the side roller 33 so as to be able to move horizontally in the turning frame 26.

In addition, rack 34 is provided in the center of the upper surface of the lower guide rail 27b in the longitudinal direction. The pinion gear 37a is provided in the lower center of the said lamp fork | ramp so that it may engage with this rack 34, Moreover, the gear 37b which meshes with this pinion gear 37a is provided in the upward direction of the pinion gear 37a. The fork driving motor 35 mounted in the ramp fork 28 is connected to this gear 37b.

In addition, the ramp fork 28 is movably supported to the turning frame 26 by a plurality of roller bodies 38a and 38b which are an example of color tone. That is, as shown in Figs. 7 to 9, in the pivot frame 26, the sprockets 39a, 39b, 39c, 39d, 39e, and 39f, which are rotating bodies, are positioned at opposite positions on both sides of the ramp fork 28 as shown. It is attached by rotating material. For convenience, the installation state of one roller chain 38a, 38b is demonstrated. Of course, the installation state of the roller chains 38a and 38b for both sides is the same.

That is, one end of the roller chain 38a is fixed to the front upper part of the main body portion 28b of the ram fork 28, and the roller chain 38a is sprockets 39a, 39b, And a sprocket 39c attached to the lower rear end of the swing frame 26, and the other end thereof is fixed to the lower rear surface of the main body 28b of the ram fork 28.

In addition, one end of the other roller chain 38b is fixed to the upper rear surface of the main body portion 28b of the ramp fork 28, and the roller chain 38b is attached to the sprocket 39d and the lower front and rear ends which are held at the upper rear end of the pivot frame 26. The mounted sprockets 39e and 39f are mounted sequentially, and the other end is fixed to the lower front face of the main body 28b of the ram fork 28.

The case where the stacker crane 1 provided with the fork device 6 which has the structure mentioned above is arrange | positioned in a three-dimensional automatic warehouse, and the rolled goods received from the desired rack b by this stacker crane 1 are demonstrated.

First, the crane driving device 2 is driven in the desired direction by operating the crane driving device 2 according to the control signal from the home position or the lane where the staggering crane 1 is stopped, and the carriage 7 is moved by the lifting device 8. The carriage 7 is stopped (or lowered) to stop the carriage 7 at a predetermined position of the desired rack b of the rack group B arranged in the columnar stage.

The fork motor 35 of the ramp fork 28 is then driven, causing the pinion gear 37a to rotate through the gear 37b. Accordingly, the teeth of the pinion gear 37a are sequentially engaged with the rack 34 installed on the lower guide rail 27b of the turning frame 26, and the ramp fork 28 moves inside the turning frame 26, Move (forward) the fork 28a to the rack b. Then, the fork portion 38a is inserted into the center hole r of the rolled article R contained in the rack b, and stops the movement (forwarding) of the ramp fork 28 when the fork portion 28a comes to a predetermined position.

Next, the elevator 8 is operated to raise the carriage 7 slightly to stop, and lifts the rack-shaped load of rack b so that the fork part 28a is applied. Then again, the fork motor 35 of the ramp fork 28 is driven back, the gear 37b and the pinion gear 37a are reversed, and the ramp fork 28 is moved (reversed) while the fork part 28a is equipped with a rolled article R. And the roller-shaped article R is stored in the turning frame 26.

In the series of handing operations by the ramp fork 28 as described above, the ramp fork 28 is always supported by a plurality of roller chains 38a and 38b, and even when the roller fork R is mounted on the ramp fork 28, The rollers 38a and 38b act so as not to tilt to the fork part 28a side.

In this way, the rolled goods R received in the carriage frame 26 of the carriage 7 are released from the warehouse, that is, the traveling device 2 and the lifting device 8 of the stacker crane 1 are operated to drive the stacker crane 1 to the home position, The carriage 7 on which the load on the roll is loaded is lowered to the lower end of the stacker crane 1. In the home position, the ramp fork 28 is moved to the loading cart (outside the city) or the shipping rack side (advanced) as described above, and the carriage 7 is lowered at a predetermined position so that the carriage forklift or the loading rack is located on the lower roller. Release article R. After that, the empty ramp fork 28 is moved (reversed), stored in the turning frame 26 in the carriage 7, and the stagger crane 1 is waited at the home position until the next entry and exit instruction.

Moreover, when storing the roll-shaped thing accommodated in one rack b via the rail which installed the said stagger crane 1 in the other rack b which replaces, for example via the stagger crane 1, first, the said The roller-shaped article stored in one rack b as described above is stored in the swing frame 26 of the carriage 7 by the ramp fork 28.

Next, the turning drive motor 23 is driven, the inner ring 21 of the turning bearing 20 is rotated through the small gear 25, and the turning frame 26 which rotates integrally with the inner ring 21 is rotated 180 degrees. Accordingly, in the carriage 7, the direction of the ramp fork 28 also turns 180 ° with the pivot frame 26 and the tip of the fork part 28a of the ramp fork 28 faces in the direction of the other rack b.

After this, the fork motor 35 fmf of Ramfork 28 is driven again, and as the engagement of Rackfork 34 by rotation of the pinion gear 35a which rotates through gear 37b, Ramfork 28 is loaded with the load R on the loaded roller. We move (advanced) to rack b side.

When the fork portion 28a of the ramp fork 28 reaches the predetermined position of the rack b, the movement (forward) of the ramp fork 28 is stopped. Next, the lift device 8 is operated to lower the carriage 7 slightly to stop. The roll-shaped cargo is placed in the rack b, and the ramfork 28 is moved (retracted) again to be stored in the carriage frame 26 of the carriage 7. After that, the stagger crane 1 waits at that position until the next incoming and outgoing order.

Third Embodiment

Next, the present invention will be described in detail based on the third embodiment of the fork control method and the fork control device of the entrance facility.

In FIG. 11, 12, 13, 14, and 15, 1A is a loading stand, 2A is a shipping stand, and 3A is a rail attached to the upper surface. C1 is a coil wound circumferentially around the wire rod as a load stored in this facility, and center hole C2 is provided. The coil C1 has a cylindrical outer shape of various diameters depending on the length and thickness of the wire rod.

41 and 42 are respectively provided on both sides of the said rail 3A, and it is a storage part provided with the multistage storage stand 4A in an up-down direction, and one edge is carried out by the pair of containment parts 41 and 42 between both sides of the said rail 3A. It consists. Further, a center detecting means 11 for outputting the difference between the reference level L1, which is the height of the storage zone 1, and the level of the center hole C2 of the coil C1, as the correction data L2 as the position information of the hole is provided.

In the lower part of the lead 43, data that is rewritable and data input from the fork mechanism to be written are written into the data storage means, and data is read from the data storage means to be described later. An ID tag 5A made up of the data input means 52 output to the fork mechanism is provided.

Each ID tag 5A is capable of storing and storing storage data for 10 stages in total in the left and right storage units 41 and 42.

6A is a fork machine for moving in and out of a load, and has a fork 61 (corresponding to Ramfork 28 in the above embodiment, which is the same below) inserted into a hole C 2 provided at the center of the coil C1 from side to side, and the fork 61 is in and out. Fork outgoing means 62 for controlling, the carriage 63 moving up and down (corresponding to the carriage 7 in the above embodiment, the same as below), and the up and down moving means 65 for raising and lowering the carriage 63 along the crane 64 (the above embodiment) Corresponds to the expected elevating device 8, which is equal to the following), a vertical moving detection means 69 for outputting a moving amount of vertical movement in the carriage 63, and a crane traveling means 66 for traveling along the rail (corresponding to the crane traveling device 2 in the above embodiment). And a crane running means 66 based on the year data from an ID controller 67 for transmitting and receiving data between the ID tag 5A and the controller described below. A fork controller 68 for controlling the fork exit means 62 and the up / down means 65 while monitoring the shank volume data based on the stage data and the correction data obtained from the ID controller 67; A power receiving means is provided.

The traveling means 66 moves to a designated kite location, and is configured to reach the target kite by counting the number of kites that passed or the number of ID tags that passed.

The vertical motion detecting means 69 is provided in the detection piece 691 and the carriage 63 provided at each stage in the vertical direction of each lead, and detects the detection piece 691 and positions the position when the detection frequency coincides with the stage data. Single stage detecting means 693 composed of a reference level detector 692 serving as a reference level of the storage base 4A of the stage, and a magnetic stripe pattern formed in the vertical direction on the side of the crane 64; 694 and the carriage 63, and the magnetic stripe pattern 694 comprises correction movement amount detection means 697 comprising counting means 696 for counting pulse train signals obtained by the magnetic sensor 695 to calculate the movement amount ratio.

The detection piece 691 may be provided on the crane 64 side, and the singular detection means 693 can also serve as the correction movement amount detection means 697.

9A is a control device for systematically controlling the above devices, and input means 91 for inputting input and output data, and for each stored coil C1. Address storage means 92 for storing and storing soft data and short data as the stored address information, and data input / output means 93 for performing read / write control of the address storage means 92 data based on the input / output data; And data transmission means 94 for transmitting the soft data and the short data to the fork mechanism 6A.

On the other hand, the storage means, read / write means, and fork control means described in Claims 7 and 8 correspond to the address storage means 92, the data input / output means 93, and the fork control device 68, respectively.

In the above configuration, the receiving process and the shipping process will be described based on FIG. 17 and FIG. First, the process of receiving goods in the goods receipt process is demonstrated.

When the receipt instruction is inputted to the input means 91, the address storage means 92 is accessed to find an empty storage stand, the open data and the short data are obtained and output from the data transfer means 94. The data received from the data transmission means 94 is received as 68, is stored and preserved, and the traveling means 66 is controlled to travel to the storage rack 1A position. Next, after detecting the reference level L1 of the storage stand, the center detecting means 11 obtains the difference between the level of the center hole C2 of the coil C1 and the reference level L1 as the correction data L2 and stores it.

The fork 61 is raised again from the reference level L1 by the height of the correction data L2, and the fork 61 is matched to the level of the center hole of the coil C1. Then, the fork penetrating means 62 is controlled to release the fork 61 and the center hole. Insert into C2.

Next, the up / down moving means 65 is raised to slightly raise the carriage, the coil C1 is raised from the stand 1A, and the fork exiting means 62 is controlled to retract the fork 61, and the up and down moving means 65 is controlled to increase the carriage height. Lower to initial height

Next, the storing step in the receiving step will be described.

First, the crane traveling apparatus 66 is controlled based on the said kite data, and it runs to the place of the kite which should be stored specified by the said kite data.

Upon arrival at the target kite location, the correction data is transmitted to the ID tag 5A on the kite side via the ID controller 67. In the ID tag 5A, the correction data received from the data input / output means 51 is stored and stored in the corresponding address of the data storage means 52. By this write operation, data already written to the corresponding address is erased.

Next, the vertical movement means 65 is controlled based on the stage number detection means 693 provided in the vertical movement detection means 69, and the level is raised to the reference level L3 of the single storage stand 4A corresponding to the stage data.

Further, the vertical movement means 65 is raised by the predetermined level L4 (L2) on the basis of the corrected movement amount detection means 697 to raise the lower portion of the coil C1 higher than the housing 4A. Then, the fork evacuation means 62 is controlled to release the fork 61. The level is lowered by the level difference of (L4-L2) so that the 61 level is lowered to the position higher by the correction data L2 than the reference level L3. That way, coil C1 unloads on hanger 4A and fork 61 falls off coil C1.

Then, the fork penetrating means 62 is controlled to retreat the fork 61, and the vertical moving means 65 is lowered to lower the initial height. As described above, the movement in the vertical direction, that is, the movement for each stage controls the vertical movement means 65 by the signal of the stage detection means 693, and the small movement in each stage, that is, the movement with respect to the predetermined level L4 and the correction level L2, is a correction movement amount. The vertical movement means 65 is controlled by the signal of the detection means 697. In the above, the receiving process is completed.

The shipping process will be described below. First, the process of taking out goods from a shipping process is demonstrated.

When the shipping command is inputted to the input means 91, the address storage means 92 is accessed to find the storage 4A in which the corresponding coil C1 is stored, and the data and the short data are obtained to control the fork mechanism 6A in the fork mechanism 6A. Output to device 68

Next, the crane traveling means 66 is controlled based on the kite data, and the ship is directed to the place of the kite where the coil C 1 to be shipped is stored.

When we reach to place of aim kite. The correction data L2 of the coil C1 to be stored and stored at the corresponding address of the data storage means 51 of the corresponding ID tag 5A is read by the ID controller 67 through the data input / output means 52.

Next, the up-down moving means 65 is controlled to ascend to the reference level L3 of the storage cabinet 4A to be interpreted based on the short data. From this level again, the correction data L2 is raised to match the level of the fork 61 with the center hole C2 level of the coil C1. Then, the fork penetrating means 62 is controlled to release the fork 61 and the fork into the center hole C2 of the coil C1. Insert 61.

Then, the lifter slightly lifts up and lifts the coil C1 from the hanger 4A. Then, the fork penetrating means 62 is controlled to retreat the fork 61, and the up / down means 65 are lowered to the initial height.

Next, the process of unloading a cargo in a delivery process is demonstrated.

First, the crane traveling means 66 is controlled to run to the shipping table 2A, the up and down moving means 65 is controlled, and the reference level L5 of the shipping table 2A is raised. Further, after raising the predetermined level L4 (L2) to raise the lower portion of the coil C 1 higher than the containment material 4A, the fork penetrating means 62 is controlled to release the fork 61, and the fork 61 level is higher than the reference level L5. It is lowered by the level difference of (L4-L2) so as to descend to a position as high as. Coil C 1 is then placed on the pallet 2 A and fork 61 is removed from coil C1. At this time, the fork exiting means 62 is controlled to retreat the fork 61, and the vertical moving means 65 is controlled and lowered to lower the initial height.

In this way, the delivery process is completed.

Adjust each stage structure so that the correction data L2, which is the difference between the reference level L1 of the storage rack 2A, the reference level L3 of the storage rack 4A, the reference level L5 of the warehouse 3A, and the level of the center hole C2, coincide with each other. Although it is preferable, even if it does not match, it can match by performing a fixed correction | amendment.

As the center detecting means 11, the following configuration using a distance sensor is possible.

An upper distance sensor 111 installed at a position higher than the reference level and detecting the distance from the upper surface of the coil C1, and a lower distance sensor 112 mounted at a position lower than the reference level and detecting a distance from the lower surface of the coil C1; And a scanning means 113 for scanning the distance sensors 111 and 112, and a conversion circuit 114 for calculating and outputting correction data, and scanning the upper surface of the coil C1 on the storage rack 1A with the highest portion. The distance H3 from the upper distance sensor 111 is obtained, and the bottom surface of the coil C is scanned to obtain the distance H4 between the lowest part and the lower distance sensor 112.

From the above four data H1, H2, H3, H4, the correction data L2 which is the center level of the center hole C2 is calculated by following formula (1).

In the above configuration example, the distance sensor is provided in the vertical direction of the coil C1, but may be provided on both the left and right sides of the coil C1 and scanned in the vertical direction to obtain the center level of the center hole C2. .

As shown in FIG. 14, the photoelectric switch 118 may be installed in the fork 61 while using the correction movement amount detecting means 697 and the fork up and down means 65 without providing the distance sensor.

In this case, the reference level detection means detects the reference level and raises the carriage again.

Then, the photoelectric switch 118 is operated, and a pulse example from the magnetic sensor is counted while detecting whether there is a reflector in front of the fork 61.

As shown in FIG. 16, the N2 pulse passes through the uppermost part of the coil C1 until the fork 61 reaches the center hole C2 of the coil C1 and scans the N1 pulse and the center hole C2 to obtain the reflected light. When N3 pulses are counted until the reflected light cannot be obtained, the correction data L2 which is the center level of the center hole C2 is based on the number of pulses N1, N2, N3 and the resolution (K mm / pulse) of the magnetic sensor. Is submitted as Equation 2.

As mentioned above, although the example of two types of center detection means was shown, this invention is not limited to these structures.

It is preferable to provide a plurality of configurations of these center detecting means so that when one of the central detecting means becomes unusable due to a failure or the like, the other center detecting means is operated to cope with it.

The conditions for operating the fork mechanism 6A are that the carriage height should be at an initial level, that the fork 61 is retracted, that the fork mechanism 6A does not hold the coil C1, and that it is on the storage rack and the shipping table. Check the presence or absence of the coil C1.

In this way, according to this apparatus, by storing and storing the data of the level difference between the center hole C 2 of the coil C1 and the measurement obtained at the time of receipt, the stored data is read out at the time of shipment. Since it is possible to know immediately without the need to remeasure the level of the center hole C2, the fork can prevent the fork from colliding with the coil C1, and the effect of quick shipping operation can be obtained.

To this end, a means for measuring the position of the center hole C2 of the coil C1 upon receipt and a means for storing and storing the data may be provided.

In addition, in the above embodiment, since the center hole position of the load is not given, a configuration for detection at the point of receipt is required, but with a number for the management of the load at the time of receipt, a radius or the like can be used as correction data. In the case where data is likely to be given, the central detection means 11 is not necessary.

The correction data L2 can be stored in the control apparatus 9A even without an ID tag.

As described above, according to the present invention as described above, by moving the stagger crane up and down, and operating the ramp fork mounted on the carriage, the desired rack of the three-dimensional automatic warehouse, the black easily the load on the roll in the desired rack. It can also import and export smoothly.

In addition, since the ramp fork allows the inside of the swing frame installed in the carriage to move forward and backward by racks and pinion gears, the rack does not require a long fork and stores the load on the rack in the carriage swing frame. You can do it. In addition, the carriage is provided with a turning means, and by operating the turning means, the ramp can be rotated 180 ° together with the turning frame. Therefore, it is opposite from the rack of one rack group by inserting a stagger crane running lane. The article on the roll can be easily carried in and out of the rack of the rack group on the side. In addition, articles can be loaded into and out of a left rack or a right rack by the same stagger crane. And a load can be carried in and out of a left rack or a right rack with the same stack crane.

In addition, since there is no need to use a pallet, the thickness of the pallet and the fork tray are unnecessary, and the storage capacity of the load increases, thereby increasing the space efficiency in the warehouse. In addition, when handling, no troublesome procedure of changing the load on the pallet is required, and the cost can be reduced by reducing the handling time.

Further, in the present invention, since the pivot center is located at the center of the carriage, the pivot center can be turned at approximately the center position of the pivot frame, and the influence of the inertia force can be extremely suppressed.

This raises the revolution speed and can reduce the loading and unloading cycle time of the load.

As described above, in the present invention, the stacker crane is driven up and down, and the ramp fork mounted on the carriage is operated to easily and smoothly load cargo on the roll at the desired rack or at the desired rack. I can go in and out.

In addition, the ramp fork can be moved back and forth by the rack and pinion gear, etc. in the carriage frame installed in the carriage, so that the load on the roll can be stored in the carriage frame without the need for a long fork. . In addition, the carriage is provided with a turning means, and by operating the turning means, the ramp fork can be rotated by 180 ° together with the turning frame. The load on the roll can be easily loaded into and out of the rack of the rack group.

In addition, the ramp fork in the swing frame is installed through a rotating body which is mounted on the fork side of the ramp fork and the upper part on the opposite fork side of the ramp fork at a predetermined position in the swing frame. Since the hue is movably supported, even if a load is mounted on the ram fork, the reaction force applied to the ram fork can be dissipated, and the ramp fork always operates in a stable state. There is a number.

In addition, in the control method of the present invention, when moving a load with a fork, the position information of the hole installed in the load is read and the position of the fork is controlled based on the position information. The fork can be loaded and unloaded, without impacting the load and damaging the load, resulting in improved reliability and improved work efficiency.

According to the control device of the present invention, there is provided a control device capable of achieving the above-mentioned effect, including storage means for storing position information of the article hole, reading means, and fork control means for controlling the read position information. It can be easily realized by doing.

In addition, in the case of the article which can be conveyed by inserting a fork in a center hole with an external appearance, when storing at the storage stand, the position information of the detected center hole is stored, and the said position information is read at the time of shipment. By controlling the fork control means, it is possible to obtain improved reliability and improved work efficiency as described above.

Further, by scanning the distance sensor for detecting the distance to the outer surface of the article from the outer side of the article, the positional information of the center of gravity of the article can be easily obtained, so that a control device capable of achieving the above effects can be provided. have.

In addition, by moving the photoelectric switch for detecting the presence or absence of reflected light from the front, it is possible to provide a control device that can achieve the above effects.

By organizing these configurations, a more reliable control device can be provided.

In this way, according to the present invention, it is possible to provide a control method and a device for an entry / exit facility which can quickly and accurately insert the tip of a fork into a cargo hole.

Claims (4)

In addition to traveling in the front-rear direction by the crane traveling device 2, the carriage 7 on which the fork device 6 is mounted is lifted and lifted by the lifting device 8, and the desired rack in the three-dimensional automatic warehouse. In the stack crane (1) which loads goods into the fork device (6) or leaves the rack from the rack, the fork device (6) installs a horizontal rotating device on the lower part of the carriage (7). Swivel frame 26 formed by enclosing the upper and lower members and the front and rear members so as to open the left and right both sides with respect to the traveling direction of the stack crane 1 above the horizontal rotating device and have an internal space for accommodating the cargo. And the racks 27a and 27b in the lateral direction of the opposing upper and lower members of the pivot frame 26, and also protrude in one side of the main body 28b and its central portion having a length that extends between the upper and lower members. It is composed by the fork portion 28a and At the upper and lower ends of the main body 28b, a plurality of pinion gears 30 and 30 are engaged with each other on both sides of the racks 27a and 27b provided on the upper and lower members, and synchronously rotated by a driving device installed on the main body 28b. And a pinion gear having a ram fork 28 having a length that can be accommodated in the left and right sides of the revolving frame 26 in the revolving frame 26 and engaged with the racks 27a and 27b by the driving device. The synchronous rotation of the ramp allows the ramp fork 28 to move within the pivot frame 26 and the horizontal pivot to pivot the ramp fork 28 in the carriage 7 together with the pivot frame 26. Stakka crane fork device characterized in that one configuration. While traveling in the front-rear direction by the crane traveling device 2, the carriage 7 on which the fork device 6 is mounted is lifted by the lifting device 8 to load the cargo in a desired rack in a three-dimensional automatic warehouse. In the stacker crane (1), which is worn with the fork device (6) or released from the rack, a horizontal rotating device is provided on the lower portion of the carriage (7), and a stack crane (on the horizontal rotating device) The swing frame 26 is formed by surrounding the upper and lower members and the front and rear members so as to open the left and right sides with respect to the traveling direction of 1) and have an inner space, and the upper surface of the lower member of the swing frame 26 is provided. The rack 34 in the left and right directions is formed, and the main frame 25b having a length that spans the upper and lower members and a fork portion 28a protruding from one side of the central portion thereof are also provided. Recalling a ram fork 28 having a length that is receivable in both sides The lower part of the fork part side of this ram fork body 28b and the upper part of the half fork part side of this ram fork are front and rear of the lower member of the turning frame 26, while being installed so that the movement to the left-right direction in the rotation frame 26 is possible. Connected to the rear end of the upper and upper members by the color tone (38b) installed through the rotating bodies 39d, 39e, and 39f, which are freely rotated, and are attached to the rack 34 and the rack 34 of the lower member. The fork gear 37a and the driving device are moved to the body 28b to be joined so that the ram fork 28 moves in the turning frame 26 in the left and right direction, and the ramp fork is rotated with the horizontal turning device. Stakka crane fork device, characterized in that to be turned into the carriage (7), such as the frame (26). It is structured so that the fork can be inserted and moved in the central blood, which is cylindrical in shape and axially oriented, and a storage stand for storing a plurality of loads (1A) for receiving a plurality of loads of different sizes. In a facility equipped with a 4A and a storage rack 2A for releasing the stored goods, and a fork mechanism for moving the load between the storage rack 1A, the storage rack 4A, and the storage rack 2A. And a storage means for storing the position information of the central blood C ₂ of the load and the central detecting means 11 for detecting the position information of the central blood C ₂ of the load in the storage zone 1A. And a fork control means for inserting the fork into the central blood C ₂ of the load by controlling the position of the fork based on the read-write means for reading and writing, and the read position information. The center detecting means 11 includes: The distance sensors 111 and 112 for detecting the distance to the outer surface of the article are attached to the outside of the article. In addition to the preparation of one pair, the moving means for moving these distance sensors 111 and 112 along the cross section of the load, and the central blood C ₂ based on the signal and the moving distance of the distance sensors 111 and 112. And a converting means for outputting position information of the fork control device. It has a structure that can be moved by inserting a fork into the central blood with a cylindrical shape and axial direction, and a storage rack (1A) for receiving a plurality of cargoes of different sizes and a storage rack (4A) for storing the received cargoes; In the equipment provided with the storage rack 2A which ships the stored goods, and the fork mechanism which moves goods between these storage racks 1A, the storage rack 4A, and the storage rack 2A, the said storage rack ( The central detecting means 11 for detecting the positional information of the central blood C ₂ of the article in 1A), the memory means for storing the positional information of the central blood C _{2 of the} article, and the reading by the memory means. And a fork control means for controlling the position of the fork based on the read-write means for writing and the read position information, and inserting the fork into the central blood C ₂ of the load. The center detecting means 11 is provided in the fork. Installed in the photoelectric switch 118 to detect the presence of reflected light from the front And fork control device comprising the conversion means and that gihayeo output the position information of the center of the cargoes blood (C ₂₎ to the moving distance.