WO1994020393A1 - Systeme de fourche pour engins de gerbage, methode et dispositif de commande de ce systeme - Google Patents

Systeme de fourche pour engins de gerbage, methode et dispositif de commande de ce systeme Download PDF

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Publication number
WO1994020393A1
WO1994020393A1 PCT/JP1993/000270 JP9300270W WO9420393A1 WO 1994020393 A1 WO1994020393 A1 WO 1994020393A1 JP 9300270 W JP9300270 W JP 9300270W WO 9420393 A1 WO9420393 A1 WO 9420393A1
Authority
WO
WIPO (PCT)
Prior art keywords
fork
luggage
ram
carriage
hole
Prior art date
Application number
PCT/JP1993/000270
Other languages
English (en)
Japanese (ja)
Inventor
Sakihiko Yasuhara
Gennosuke Inoue
Shunji Kishimoto
Akiya Maeda
Katsuaki Murakami
Katsuhisa Haruta
Original Assignee
Kawasaki Steel Corporation
Okumura Machinery Corporation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to DE4397243T priority Critical patent/DE4397243T1/de
Priority to US08/505,362 priority patent/US5655870A/en
Priority to GB9615564A priority patent/GB2302088B/en
Priority to PCT/JP1993/000270 priority patent/WO1994020393A1/fr
Priority to SG1996000620A priority patent/SG42909A1/en
Priority to KR1019950703249A priority patent/KR0162970B1/ko
Application filed by Kawasaki Steel Corporation, Okumura Machinery Corporation filed Critical Kawasaki Steel Corporation
Priority to DE4397243A priority patent/DE4397243C2/de
Priority to GB9517525A priority patent/GB2293590B/en
Priority claimed from SG1996000620A external-priority patent/SG42909A1/en
Publication of WO1994020393A1 publication Critical patent/WO1994020393A1/fr
Priority to HK98102888A priority patent/HK1003784A1/xx
Priority to HK98102887A priority patent/HK1003783A1/xx

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors

Definitions

  • the present invention relates to a stacker crane installed in a three-dimensional automatic warehouse, and more particularly to a stacker crane fork device for loading and unloading roll-shaped luggage.
  • various types of luggage linear or long sheets with holes for inserting forks for transportation are formed at arbitrary positions.
  • the present invention relates to a method of controlling a lane fork device and a control device thereof.
  • shelves for storing various kinds of luggage are arranged in tandem on both sides of the running lane of the stacker lane.
  • Each shelf stores luggage placed on a pallet.
  • the sta- tion crane installed on the traveling lane and raise and lower the carriage to the desired shelf position.
  • the carriage is stopped, and the fork device mounted on the carriage is operated to extend the fork below the pallet.
  • the cargo in the shelf is scooped together with the pallet by the fork extended by slightly raising the carriage, and the fork unit is again operated by operating the fork unit. Shrink the fork and carry the luggage in the shelves along with the pallet to the carriage.
  • the carriage is lowered by the lifting device, and the stacker is run to carry out the luggage.
  • the luggage to be moved into and out of the three-dimensional automated warehouse is roll-shaped, the size of the rolled luggage and the hole positions of the rolled luggage of various sizes.
  • conventional fork devices cannot smoothly enter and exit the warehouse, and a fork device having a new configuration has been desired.
  • the width of the carriage becomes wider, and the lane width in the three-dimensional automatic warehouse is naturally increased. I had to make it wider.
  • the position of the hole for inserting the transportation fork is the same for all luggage.
  • the fork can be easily moved by inserting the tip of the fork into the hole.
  • the present invention has been developed in view of the above points.
  • the purpose is to load and unload rolled luggage to shelves in a 3D automated warehouse without using pallets.
  • the width of the installation lane can be made narrower, and the space for installing the 3D automatic warehouse can be made more compact without reducing the storage capacity. It is an object of the present invention to provide a statutory clean fork device which can be cut.
  • the fork of the stalker crane is designed to stabilize the ram fork against the overturning moment by dispersing the reaction force.
  • Equipment is provided.
  • An object of the present invention is to provide a fork device of a stacker crane, a control method of the fork device, and a control device therefor.
  • the present invention has the following configuration in order to effectively achieve the above object. That is, while traveling in the front-rear direction by the traveling device, the carriage equipped with the fork device is moved up and down by the elevating device, and the luggage is stored in a desired shelf in the three-dimensional automatic warehouse.
  • a swivel means is provided at the lower part of the carriage.
  • a ram fork on which the revolving frame that is revolved by the revolving means is mounted on the revolving means, and on which the traveling means is provided so as to be movable in the revolving frame.
  • the carriage equipped with the fork device is moved up and down by the lifting device, and the In a starter crane that allows cargo to be loaded into or out of the shelves by the fork device, the carriage
  • a turning means is provided at a lower part of the turning means, a turning frame is provided on the turning means, and racks are provided at upper and lower positions opposed to each other in the turning frame, and further, upper and lower racks are provided.
  • a ram fork having a gear gear is provided in the revolving frame body, and the driving means causes the ram fork to rotate by synchronous rotation of the pinion gear meshing with the rack.
  • the ram can be moved in the revolving frame, and the fork can be revolved together with the revolving frame in the carriage by the revolving means. There is also.
  • the carriage equipped with the fork device is moved up and down by the elevating device, and the luggage is loaded on a desired shelf in the three-dimensional automatic warehouse.
  • a turning means is provided at a lower portion of the turning means, and a turning frame is provided on the turning means.
  • the lower part of the ram fork on the side of the fork and the anti-fork of the ram fork The upper part on the side is connected to a predetermined location in the revolving frame via a rotatable body rotatably supported by a cable-like extension.
  • control method of the present invention is configured to enter, store, and exit various kinds of luggage in which holes for inserting forks for movement are formed at arbitrary positions.
  • This is a method of controlling the equipment, and stores the position information of the aforementioned hole of the package when storing the package, and stores the information when moving the package by fork.
  • the position information of the hole is read out, the position of the fork is controlled based on the position information, and the fork is inserted into the hole of the baggage and moved. .
  • control device of the present invention is configured to enter, store, and exit various kinds of luggage in which holes for inserting forks for movement are formed at arbitrary positions.
  • the outer shape is cylindrical and the fork can be moved by inserting a fork into the center hole provided in the axial direction, and it is a receiving table that receives a plurality of packages of different sizes.
  • Storage shelves for storing stored luggage and retrieval shelves for releasing stored luggage
  • a center detecting means for detecting the position information of the center hole of the cargo at the storage table, wherein the facility includes a fork mechanism for moving the luggage between the storage table, the storage table, and the discharge table.
  • a storage means for storing the position information of the center hole of the load; a read / write means for reading and writing the storage means; and a position of the fork based on the read position information to control the position of the fork in the center hole of the load.
  • Fork control means for inserting an oak may be provided.
  • the center detecting means includes a pair of distance sensors on an outer portion of the baggage for detecting a distance to the outer surface of the baggage, and these distance sensors are provided along a cross section of the baggage. And moving means for outputting the position information of the center hole of the baggage based on the signal of the distance sensor and the moving distance.
  • the center detecting means is provided on the fork and detects the presence or absence of reflected light in the front, and moves the fork in a direction parallel to the diameter of the load.
  • the apparatus may further include a moving unit, and a conversion unit that outputs position information of a center hole of the load based on the signal of the photoelectric switch and the moving distance.
  • the stacker crane when this stacker crane is installed on a predetermined lane in a three-dimensional automatic warehouse and used, the stacker crane is first used by the traveling device. While moving the vehicle, the lifting / lowering device raises (or lowers) the force lid, and stops the traveling-elevation so that the carriage is positioned at the desired shelf position. Then, a plurality of pinion gears provided on the ram fork are connected by the ram fork driving means. The rack is rotated while engaging with the racks provided above and below the revolving frame, and the ram fork is carried out of the revolving frame. Move (advance) to the shelf where the luggage is stored.
  • the fork of this ram fork is inserted into the center hole of the rolled luggage placed on the shelf, and when the fork of the ram fork reaches a predetermined position, the fork of the ram fork is released. Stop moving. Next, the elevator is operated to raise the carriage slightly to stop, and the rolled load on the shelf is hooked by the fork of the drum fork. And lift it up. The ram fork is moved (reversed) into the turning frame again by the ram fork driving means, and the roll-shaped luggage is turned with the ram fork. Frame Store in the body.
  • the stacker crane's traveling device and lifting device are activated.
  • the ram fork is moved (advanced) to the entrance / exit garage or the entrance / exit pedestal arranged adjacent to the home position, as described above.
  • the carriage is lowered and the rolled luggage is placed on the loading / unloading trolley (or acquisition trolley).
  • the empty ram fork is moved (reversed) and stored in the revolving frame inside the carriage, and the stacker is cleared until the next loading / unloading command is issued.
  • the fork of the ram fork which faces one shelf across the skier crane travel lane, faces the other shelf facing the other.
  • the swiveling means is used to turn the swivel frame 180 ° so that the tip of the fork of the ram fork faces the other shelf side. After doing so, the ram fork is moved (forward) to the shelf side by the driving means as described above.
  • the lower part of the fork of the Ram Fork and the upper part of the anti-fork of the Ram Fork are placed at predetermined locations inside the turning frame.
  • Roll-type luggage that enters and leaves the warehouse is picked up by a ram fork by being connected by a cord that is stretched via a rotating body that is pivotally supported. At this time, the reaction force over the fork can be dispersed.
  • control method of the present invention when moving the luggage by fork, position information of a hole provided in the luggage is read out, and the fork is moved based on the position information. By controlling the position of the fork, the fork is accurately inserted into the hole in the load. Then, in the control device of the present invention, the position information of the hole of the baggage stored in the storage means is read out by the reading means, so that the fork control means When the position of the fork is controlled based on the read position information, the fork is accurately inserted into the hole of the baggage.
  • the outer shape is cylindrical and the fork is inserted into the central hole provided in the axial direction and transported by inserting the fork.
  • the receiving table detects the position information of the center hole of the goods by the center detecting means when receiving the goods, and based on the position information. Control the fork control and insert the fork into the center hole of the load. After that, it is transported to the storage and stored.
  • the position information of the center hole of the luggage stored in the storage means is read out by the read / write means, and based on the read position information.
  • the fork is accurately inserted into the center hole of the load. Then move to the delivery table.
  • a pair of distance sensors for detecting the distance to the outer surface of the load are provided on the outer portion of the load, and when these distance sensors are moved, the distance sensor is converted by the conversion means. Information of the center hole of the luggage can be obtained based on the traffic signal and the travel distance.
  • the conversion means causes the photoelectric switch to be turned off.
  • the position information of the center hole of the baggage is obtained based on the signal and the travel distance.
  • the position information of the hole in the baggage (for example, the height difference between the table and the hole) obtained at the time of entry is stored as correction data and stored.
  • the position of a hole (for example, a height difference between a hole and a hole) can be measured by reading out the position information stored and retained. It is possible to know immediately by correcting with height and position information as the correction data.
  • the fork will not collide with the load even if measurement or visual control is not performed.
  • the shape of the package is cylindrical and the hole is located in the center, observe the package using a distance sensor or a photoelectric switch. Thus, the central hole is easily obtained.
  • FIG. 1 is a perspective view of a stacker crane according to an embodiment of the present invention
  • FIG. 2 is a simplified view of a stacker crane running lane of a three-dimensional automatic warehouse.
  • FIG. 3 is a cross-sectional view of a main part of a fork device according to the present invention
  • FIG. 4 is a fork according to the present invention.
  • FIG. 5 is a side view of FIG. 4
  • FIG. 6 is a side view of FIG. 5
  • FIG. 7 is a cross-sectional view of a main part of the fork device of the second embodiment.
  • FIG. 9 is a longitudinal sectional view of a main part of the fork device of the second embodiment
  • FIG. 9 is a V side view of FIG. 8, and FIG.
  • FIG. 10 is a VI side view of FIG. 8, and FIG. Side view of the entry / exit facility equipped with a control device used for the control method of Fig. 12, Fig. 12 is a cross-sectional view of the entry / exit facility, Fig. 13 is a block diagram showing a control system of the entry / exit facility, Fig. 14 Is an explanatory view of a main part of a cleaning mechanism of the entrance / exit facility, FIG. 15 is an explanatory view for explaining an essential part of a center detecting means in a entrance table of the entrance / exit facility, and FIG. 16 is another embodiment. FIG. 17 is a timing chart for explaining the operation of the center detecting means of FIG. Fig. 18 is a flow chart of the unloading process in the control method of the unloading equipment.
  • Reference numeral 1 denotes a stacker crank of the first embodiment according to the present invention, and a lower saddle 3 provided with a traveling device 2 and standing near the front and rear of the lower saddle 3.
  • Posts 4a and 4b, an upper saddle 5 provided at the top of the posts 4a and 4b, a carriage 7 equipped with a fork unit 6, and a It comprises a lifting device 8 for raising and lowering the jar 7, a control and power panel 9, and other accessory parts.
  • This stacker Crane 1 will be installed between shelf group B and shelf group B, which are arranged in cascaded multi-tiered warehouse A.
  • the skier crane running lane C between the above shelves county B and the shelves county B has the upper lane 10a so as to face the vertical position in the column direction.
  • a lower rail 10b is provided.
  • This lower rail 1Ob has wheels 11a, 1lb, which are pivotally connected to the lower saddle 3 of the stacker crank 1, and four lower guides.
  • the drawer 12 is rotatably engaged.
  • the above-mentioned one wheel 11b is connected to a traveling device 2 composed of a traveling motor 13 and a speed reducer 14 and the like, and the wheels 11a and lib are driven by the driving of the traveling device 2. Via the lower rail 1 Ob.
  • the upper saddle 5 has four upper guide rollers 15 rotatably pivotally sandwiching the upper rail 10a.
  • the upper part of the stacker screen 1 is supported by the upper rail 10a by the upper guide roller 15 of the upper part.
  • the above-mentioned carriage 7 is provided between the post 4 a and the post 4 b, and is suspended from the lifting device 8 via the wire rope 16. It is set up.
  • the lifting device 8 is composed of a lifting motor 17, a lifting drum 18 and a reduction gear 19 provided on one post 4 a side, and the wire rope 16 is It is taken up by the lifting drum 18 and rewound to raise and lower the carriage 7.
  • the lifting carriage 7 is provided with a fork device 6 which is a main part of the present invention. That is, the lifting carriage 7 A swivel bearing 20 is mounted on the lower part of the inside, and is swiveled by teeth 22 threaded on the rotatable inner ring 21 of the swivel bearing 20.
  • the small gear 25 provided on the rotating shaft 24 of the motor 23 meshes with the small gear wheel 25 driven by the turning drive motor 23, and the inner ring 21 rotates. I do.
  • the revolving frame 26 is mounted on the revolving bearing 20 so as to rotate integrally with the inner ring portion 21.
  • the revolving frame 26 has a shape as shown in FIG. 4, and racks 27a and 27b are provided at upper and lower positions facing each other at the center.
  • the upper and lower racks 27a and 27b are provided with a horizontal T-shaped ram fork 28 so as to be horizontally movable.
  • the Ram Fork 28 has four small wheels 31 on the lower part of the main body 28 b having the fork part 28 a protruding in one horizontal direction, and the turning frame 2. It is provided so that the lower inner surface of 6 rolls.
  • the two rotating shafts 29a with a space slightly wider than the widths of the racks 27a and 27b, are provided on the rear surface 28c of the RAM fork 28. 29b is pivoted vertically. Pinion gears 30 meshing with the racks 27a and 27b, respectively, are fitted near the upper and lower ends of the two rotating shafts 29a and 29b, respectively.
  • gears 34a and 34b meshing with the two rotating shafts 29a and 29b, respectively, are fitted, and the gear 3 fitted with one of the rotating shafts 29a is fitted.
  • 4a meshes with a gear 37 fitted to a rotating shaft 36 of a fork motor 35 attached to a back surface 28c of the ram fork 28.
  • the rotating shafts 29a and 29b are connected to the gear 34a and the gear 34 via the gear 37. It is made to rotate synchronously with b.
  • the stacker crane 1 having the fork device 6 having the above-described configuration is installed in a three-dimensional automatic warehouse, and the stacker crane 1 is connected to the stacker crane 1.
  • the following describes a case where a roll-shaped package stored in a desired shelf b is carried out.
  • the carriage 7 is raised (or lowered) by the elevating device 8, and the desired number of shelves B arranged in tandem in multiple stages
  • the carriage 7 is stopped at a predetermined position on the shelf b.
  • the fork motor 35 of the RAM FORK 28 is driven, and the gear 37, the gear 34a, and the gear 3 are driven.
  • the two rotating shafts 29a and 29b are synchronously rotated via 4b. The rotation of the two rotating shafts 29a and 29b causes the two rotating shafts 29a and 29b to rotate.
  • Each of the pinion gears 30 fitted near the upper and lower ends sequentially meshes with racks 27 a and 27 b provided on the upper and lower sides in the revolving frame 26.
  • the ram fork 28 moves in the turning frame 26 and moves (forwards) the fork portion 28a to the desired shelf b side.
  • the fork part 28a is inserted into the center hole of the roll-shaped luggage stored in the shelf b, and the fork part 28a is Stop moving (forward) of Ramfork 28 when it comes to the position.
  • the elevator 8 is actuated to raise the carriage 7 slightly to stop the carriage 7 so that the rolled load on the shelf b is hooked on the fork section 28a. And lift.
  • the fork motor 35 of the RAM fork 28 is again driven in the reverse direction, and the two rotating shafts 29a and 29b are synchronously rotated in the reverse direction.
  • the roll fork 28 is moved (reversed) while the rolled luggage is mounted on the lock section 28a, and the rolled luggage is moved together with the lamb fork 28 into the revolving frame.
  • the roll-shaped luggage stored in the revolving frame 26 of the carriage 7 is unloaded from the warehouse. That is, the traveling device 2 and the lifting / lowering device 8 of the stacker crane 1 are actuated to drive the stacker crane 1 to the home position, Lower the carriage 7 carrying the luggage to the bottom of the stacker screen 1.
  • the fork 28 is moved (forward) to the unloading carriage (not shown) or the unloading carriage, and the carriage is fixed at a predetermined position. 7 is lowered, and the rolled luggage is placed on the above-mentioned loading / unloading vehicle or loading / unloading platform. afterwards Moves (reverses) the empty ram fork 28 and stores it in the revolving frame 26 in the carriage 7, until the next loading / unloading finger is reached. Make the docker crane 1 wait in the home position.
  • the roll-shaped luggage stored in the shelf b on one side is moved to the stacker.
  • the ram fork 2 According to 8 it is stored in the revolving frame 26 of the carriage 7.
  • the turning drive motor 23 is driven, and the inner ring 21 of the turning bearing 20 is turned via the small gear 25 to be integrated with the inner ring 21.
  • the rotating revolving frame 26 is 180. Turn.
  • the orientation of the ram fork 28 in the carriage 7 also rotates 180 ° together with the revolving frame 26, and the ram fork 28
  • the tip of the fork part 28 a faces the other shelf b.
  • the two rotating shafts 29a and 29b are again synchronously rotated by the above-mentioned driving means of the Ram Fork 28, and each pinion gear 13 Due to the meshing movement with the racks 27a and 27b by the rotation of 0, the ram fork 28 is placed on the shelf b side together with the loaded roll-shaped luggage.
  • Move (forward) and go When the fork portion 28a of the ram fork 28 reaches a predetermined position on the shelf b, the movement (forward) of the ram fork 28 is stopped.
  • the lifting device 8 is actuated to lower the carriage 7 slightly, and the carriage 7 is stopped.
  • the luggage of the carriage 7 is stored in the revolving frame 26 of the carriage 7 by moving (retreating) the ram fork 28 again. After that, Stacker Crane 1 waits at that position until the next entry / exit command is issued.
  • control of the stacker crane 1 running up and down, the forward and backward movements of the ramp fork 28, the turning of the revolving frame, etc. are not limited to those in the above-described embodiment, but are designed in various ways. Free to change.
  • Reference numeral 1 denotes a stacker crane of one embodiment according to the present invention, which includes a lower saddle 3 provided with a traveling device 2 and a post standing upright in the vicinity of the lower saddle 3. 4a, 4a, an upper saddle 5 provided on top of the posts 4a, 4a, a carriage 7 equipped with a fork device 6, and a carrier It is composed of a lifting device 8 for raising and lowering the carriage 7, a control and power board 9, and other accessory parts.
  • the statka crane 1 will be installed in the automatic warehouse A between the shelf group B and the multi-tiered shelves.
  • the above-mentioned skier crane running lane C between Tanabata County B and Tanabana County B has an upper rail 10a so as to face the vertical position in the column direction.
  • Lower rail 1 Ob is provided.
  • the upper rail 10a has wheels 11a and lib pivotally connected to the lower saddle 3 of the stacker train 1 and four lower guides.
  • -Roller 1 and 2 can rotate freely Engaged.
  • the one wheel 11 b is connected to a traveling device 2 including a traveling motor 13, a speed reducer 14, etc., and driven by the traveling device 2, the wheels 11 a and 1 1 b are driven. Via the lower rail 1 O b via the.
  • the upper saddle 5 has four upper guide rollers 15 rotatably pivotally sandwiching the upper rail 10a.
  • the upper part of the stacker cleaner 1 is supported by the upper rail 10a by the upper guide roller 15 of the upper part.
  • the above-mentioned carriage 7 is disposed between the post 4 a and the post 4 b, and is connected to the lifting device 8 via the wire loop 16. It is suspended.
  • the lifting device 8 is constituted by a lifting motor 17, a lifting drum 18 and a speed reducer 19 provided on the side of the boss 4 a, and the wire rope 16 is It is taken up by the lifting drum 18 and rewound to raise and lower the carriage 7.
  • the carriage 7 is provided with a fork device 6 which is a main part of the present invention. That is, a swivel bearing 20 is mounted on the lower part of the carriage 7 and is screwed around the outer periphery of the rotatable turntable 21 of the swivel bearing 20.
  • the small gear 25 provided on the rotary shaft 24 of the turning drive motor 23 meshes with the cut tooth 22 and rotates through the small gear 25 by the driving of the turning drive motor 23.
  • the board 21 rotates.
  • the revolving frame 26 is mounted on the revolving bearing 20 so as to rotate integrally with the turntable 21. I have.
  • the revolving frame 26 has a shape as shown in the figure, and guide rails 27a and 27b are provided at upper and lower positions facing each other at the center.
  • a horizontal T-shaped ram fork 28 is provided so as to be horizontally movable.
  • the ram fork 28 has four small wheels 31 on the lower part of a main body 28 b having a fork part 28 a protruding in one horizontal direction, and a rotating frame body 26. It is provided so that the inner surface of the lower part of the wheel rolls. Scroll rollers 33 are provided on the upper and lower portions of the ram fork 28 so as to abut the guide rails 27 a 27 b on both sides. When the fork 28 moves, both sides of the guide rails 27a and 27b roll. The ram fork 28 is supported by the small wheels 31 and the side rollers 33 so as to be able to move horizontally in the revolving frame 26.
  • a rack 34 is provided in the longitudinal direction at the center of the upper surface of the lower guide rail 27b.
  • a pinion gear 35 is provided at the center of the lower part of the above-mentioned ram fork 28 so as to mesh with the rack 34, and is further provided on the pinion gear 35.
  • a meshing gear 36 is provided above the pinion gear 35.
  • the fork running motor 37 mounted on the ram fork 28 is connected to the gear 36.
  • the roller chains 38 a and 38 b are movably supported by the revolving frame 26. That is, as shown in FIGS. 7 to 9, the rotating frame 26 is provided with a sprocket, which is a rotating body.
  • the cuts 39a, 39b, 39c, 39d, 39e, and 39f are rotatable to opposite positions on both sides of the Ram Fork 28 as shown. It is pivoted to Note that, for convenience, the state of extension of the roller latches 38a and 38b on one side will be described. Of course, on both sides, the rolled pins 38a and 38b are the same.
  • roller chain 38a is fixed to the upper part of the main body 28b of the ram fork 28, and the mouth of the roller chain 38a is fixed.
  • a is sequentially stretched to 39a and 39b pivotally supported at the upper part of the revolving frame 26 and 39c pivotally supported at the lower part of the revolving frame 26, and the other end is connected to the ramp. It is fixed to the bottom of the body 28b of the work 28.
  • roller chain 38b is fixed to the upper part of the main body 28b of the ram fork 28, and this mouth is connected to the latch.
  • the fin 38b is extended in turn to 39e and 39f pivotally supported at the lower part of the revolving frame 26, and the other end is provided at the lower part of the main body 28b of the ram fork 28. It is fixed.
  • a static crane 1 having a fork device 6 having the above-described configuration is installed in a three-dimensional automatic warehouse, and a stacker crane 1 is provided with a desired one. A case in which rolled luggage stored in shelf b is unloaded will be described.
  • the device 2 is operated to travel in the desired direction, and the carriage 7 is raised (or lowered) by the lifting device 8, so that shelves arranged in tandem and multiple stages The carriage 7 is stopped at a predetermined position on the desired shelf b in the county B.
  • the fork motor 37 of the ram fork 28 is driven, and the pinion gear 35 is rotated via the gear 36.
  • the teeth of the pinion gears 135 are successively meshed with the racks 34 provided on the guide rails 27 b at the lower part of the revolving frame 26, and the The fork 28 moves inside the revolving frame 26, and moves (forwards) the fork section 28a to the desired shelf b side.
  • the fork part 28a is inserted into the mosquito Lr at the center of the roll-shaped luggage R stored in the shelf b, and the fork part 2 is inserted. 8
  • stop the movement (forward) of Ramfork 2 8.
  • the elevator 7 is actuated to raise the carriage 7 a little and stop, so that the rolled load on the shelf b is hooked on the fork section 28a. lift.
  • the fork motor 35 of the drum fork 28 is again driven in the reverse direction, and the gear 36 and the pinion gear 35 are rotated in the reverse direction.
  • the ram fork 28 is moved (reversed), and the roll-shaped luggage R is moved into the revolving frame 26 together with the ram fork 28. To store.
  • the RAM fork 28 always has a plurality of roller chains 38a, It is supported by 38b, and when the rolled baggage R is mounted on the ram fork 28, the ram fork 28 is also on the fork section 28a side.
  • the roller chains 38a and 38b act as if tilted. In this way, the roll-shaped package R stored in the revolving frame 26 of the carriage 7 is unloaded from the warehouse. That is, the traveling device 2 and the lifting / lowering device 8 of the stocker crane 1 are operated to move the stocker crane 1 to the home position, and the roll-shaped Lower the carriage 7 carrying the luggage to the bottom of the stacker screen 1.
  • the RAM FORK 28 is moved (forward) to the delivery trolley (not shown) or the delivery trolley side, and the carriage is fixed at a predetermined position. 7 is lowered and the rolled luggage R is placed on the loading / unloading vehicle or the loading / unloading platform. After that, the empty Ram Fork 28 is moved (reversed) and stored in the revolving frame 26 in the Carrier 7 until the next entry / exit command is issued. Have docker crane 1 wait in the home position.
  • the roll-shaped luggage stored in the shelf b on one side is transferred to the stacker lane.
  • the roll-like luggage stored in the one shelf b is stored in the same manner as described above. According to 28, it is stored in the revolving frame 26 of the carriage 7.
  • the turning drive motor 23 is driven, the inner ring 21 of the turning bearing 20 is turned via the small gear 25, and the turning is turned integrally with the inner ring 21.
  • the frame 26 is turned 180 °.
  • the orientation of the ram fork 28 in the carriage 7 also rotates 180 ° together with the revolving frame 26, and the ram fork 28
  • the tip of walk part 28a is the other shelf Turn in the b direction.
  • the fork motor 37 of the ram fork 28 is driven again, and the rotation of the pinion gear 35 rotating through the gear 36 is performed.
  • the ram fork 28 moves (forwards) to the shelf b side together with the loaded roll-shaped luggage R due to the meshing movement with the rack 34 by the above.
  • the fork portion 28 a of the RAM fork 28 reaches a predetermined position on the shelf b, the movement (forward) of the RAM fork 28 is stopped. .
  • the elevator 8 is actuated to lower the carriage 7 slightly to stop the carriage 7 and roll-type luggage is placed on the shelf b, and the ram fork 2 8 is again provided. Is moved (retracted) and stored in the revolving frame 26 of the carriage 7. After that, the sinker crane 1 waits at that position until the next entry / exit order is received.
  • C1 is a coil formed by winding a wire as luggage to be stored in this facility in a cylindrical shape, and has a center hole C2. This coil C1 has a cylindrical outer shape with various diameters according to the length and thickness of the wire.
  • Numerals 41 and 42 are provided on both sides of the rail 3A, respectively, and are storage units provided with a multi-stage storage base 4A in the vertical direction, and a pair of storage units on both sides of the rail 3A.
  • Part 4 1, 4 2 It consists of four reams 43.
  • the difference between the reference level L1 which is the height of the storage table 1 and the level of the center hole C1 of the coil C is used as correction data L2 as hole position information. It is provided with a center detecting means 11 for outputting.
  • a rewritable data storage means 51 and a data input from a fork mechanism to be described later are written in the data storage means at the lower part of the series 43, and the data storage means
  • An ID tag 5A is provided, which is composed of a data input / output means 52 for reading data from the data and outputting the data to a fork mechanism described later.
  • Each ID tag 5A can store and hold data of a total of 10 stages of storage units of the left and right storage units 41 and 42.
  • 6A is a fork mechanism for taking in / out and transporting the load.Fork 61 is inserted into a hole provided in the center of coil C on the left and right, and the fork is provided.
  • 6 Fork elevating means 6 2 for controlling egress and egress, carriage 6 3 that moves up and down, and this carriage 6 3 ascending and descending along the crane 6 4
  • a vertical movement means 65 for moving the carriage 63, a vertical movement detection means 69 for outputting a vertical movement amount of the carriage 63, and a traveling means 66 for traveling along the rail;
  • an ID controller 67 for transmitting and receiving data to and from the ID tag 5A and the traveling means 66 are controlled based on continuous data from a control device described later.
  • the vertical movement amount data is obtained.
  • Monitoring the data while monitoring the It has a fork control device 68 for controlling the projecting / retracting means 62 and the vertical moving means 65, and a power receiving means for receiving electric power for power.
  • the traveling means 66 moves to a designated ream location, and counts the number of reams passed or the number of ID evenings passed by counting the number of eyes. It is configured to reach the target ream.
  • the vertical movement detecting means 69 is provided on a detecting piece 691 and a carriage 63 provided at each stage in the vertical direction of each train to detect the detecting piece 691.
  • a reference level detecting device 692 comprising a reference level detecting device 692 for setting the position when the number of times of detection coincides with the step data as the reference level of the storage base 4A of the step.
  • the detecting piece 691 may be provided on the side of the crane 64, and the number-of-steps detecting means 693 may also be used as the correction moving amount detecting means 697. You.
  • the 9A is a control device for systematically controlling each of the above-mentioned devices.
  • the input device 91 for inputting entry / exit data and the stored coil C1 for each stored coil C1.
  • Storage means 92 for storing and holding continuous data and step data as dress information; and data of the storage means 92 based on the entry / exit data.
  • a read / write means 93 for performing overnight read / write control, and a data transmission means 94 for transmitting the continuous data and step data to the fork mechanism 6A are provided.
  • the storage means 92 When a warehousing command is input to the input means 91, the storage means 92 is accessed to search for an empty storage unit, and the continuous data and step data are obtained, and the data is transmitted from the data transmission means 94. Output.
  • the data received from the data transmission means 94 is received at 68 and stored and retained, and the traveling means 66 is controlled to travel to the position of the entrance table 1A.
  • the traveling means 66 is controlled to travel to the position of the entrance table 1A.
  • the difference between the level of the center hole C2 of the coil C1 and the reference level L1 is corrected by the center detecting means 11.
  • the data is obtained and stored as data L2.
  • the fork 61 is further raised from the reference level L1 by the height of the correction data L2 so that the fork 61 matches the level of the hole at the center of the coil C1. After that, the fork retreating means 62 is controlled to draw out the fork 61, and is inserted into the center hole C2.
  • the vertical movement means 65 is controlled to slightly raise the carriage, so that the coil C1 is lifted from the loading stand 1A, and then the fork evacuation means 62 is controlled. Then, the fork 61 is retracted, and the vertical movement means 65 is controlled to lower the height of the carriage to the initial height.
  • the traveling means 66 is controlled based on the continuous data, and travels to the location of the continuous train specified by the continuous data to be stored.
  • the correction data is transmitted to the ID tag 5A on the run side via the ID controller 67.
  • the correction data received by the data input / output means 51 is written and stored in the address of the corresponding stage of the data storage means 52. This write operation erases the data already written to the address.
  • the vertical movement means 65 is controlled based on the step number detection means 693 provided in the vertical movement detection means 69, and the reference level L3 of the storage table 4A of the stage corresponding to the step data is obtained. To rise. Further, the vertical movement means 65 is raised by a predetermined level L 4 (> L 2) based on the correction movement amount detection means 699 to raise the lower part of the coil C 1 higher than the storage base 4 A. After that, the fork retreating means 62 is controlled to fork out the fork 61, and the level of the fork 61 is higher than the reference level L3 in the correction data. Lower by a level difference of (L 4 — L 2) so as to lower to a position higher by L 2. Then, coil C1 is unloaded on storage platform 4A, and fork 61 leaves coil C1.
  • the fork retreating means 62 is controlled to retreat the fork 61, and the up-and-down moving means 65 is controlled to lower to the initial height.
  • the rough movement in the vertical direction that is, the movement of each step
  • the fine movement in each stage that is, the movement relating to the predetermined level L 4 and the correction level L 2 is determined by the signal of the correction movement amount detecting means 697.
  • the vertical movement means 65 is controlled. This completes the warehousing process o
  • the storage means 92 When a delivery command is input to the input means 91, the storage means 92 is accessed to search for the storage base 4A in which the corresponding coil C1 is stored. The stage data is obtained and output from the data transmission means 94 to the fork control device 68 of the fork mechanism 6A.
  • the traveling means 66 is controlled based on the continuous data, and travels to the location where the coil C1 to be taken out of the car is stored.
  • amendment of the coil C1 to be dispatched which is stored and held in the corresponding address of the data storage means 51 of the ID tag 5A of the ream.
  • the data L 2 is read by the ID controller 67 via the data input / output means 52.
  • the vertical movement means 65 is controlled to ascend to the reference level L3 of the corresponding storage base 4A based on the step data. After that level, the level of the fork 61 is further raised by the amount of the correction data L2 to match the level of the center hole C2 of the coil C1.
  • the fork 61 is extended by controlling the projecting and retracting means 6 2, and is fed into the center hole C 2 of the coil C 1. Fork 6 1 is inserted.
  • the coil C1 is lifted up slightly further from the storage base 4A to float the coil C1, and then the fork retreating means 62 is controlled to retreat the fork 61 and move up and down.
  • Control means 65 to lower and lower to initial height.
  • the traveling means 66 is controlled to travel to the unloading stand 2A, and the vertical movement means 65 is controlled to control the unloading stand 2A. It rises to level L5. Further, after raising the predetermined level L 4 (> L 2) to make the lower part of the coil C 1 higher than the storage base 4 A, the fork retreating means 62 is controlled to fork. Is fed out, and so that the level of the fork 61 falls below the reference level L5 to a position higher by the correction data L2, the (L4-L2) Lower by the level difference. Then, coil C 1 is unloaded on the loading stand 2A, and fork 61 leaves coil C. Then, the fork retreating means 62 is controlled to retreat the fork 61, and the up-and-down moving means 65 is controlled to lower to the initial height.
  • Correction data L2 which is the difference between the reference level L1 of the storage unit 2A, the reference level L3 of the storage unit 4A, and the reference level L5 of the storage unit 3A and the level of the center hole C2. It is preferable to adjust the structure of each unit so that they match, but even if they do not match, it is possible to make them match by performing a certain correction. You.
  • the following configuration using a distance sensor can be used as the center detecting means 11.
  • An upper distance sensor 11 1 is provided at a position HI higher than the reference level and detects a distance from the upper surface of the coil C 1, and is provided at a position H 2 lower than the reference level and has a coil C 1 Lower distance sensor 1 1 2 for detecting the distance to the lower surface of the sensor, scanning means 1 1 3 for scanning the distance sensor 1 1 1, 1 1 2, and calculating and outputting correction data 1 1 4 and scans the upper surface of coil C 1 on the loading stand 1 A to obtain the distance H 3 between the highest part and the upper distance sensor 1 1 1. Scan to obtain the distance H 4 between the lowest part and the lower distance sensor 112.
  • the distance sensors are provided on the upper and lower sides of the coil C1. It can also be configured to find a central level.
  • a distance sensor was not provided, and the correction movement amount detecting means 697 and the fork vertical moving means 65 were used.
  • a photoelectric switch 118 may be provided in the fork 61.
  • the reference level is detected by the reference level detection means, and then the carriage is further raised.
  • the photoelectric switch 118 is actuated to detect the presence or absence of a reflection object in front of the fork 61, and capture the pulse train from the magnetic sensor. Mount.
  • the pulse N 1 scans the center hole C 2 until the fork 61 reaches the center hole C 2 of the column C 1, and the reflected light is emitted.
  • the N 3 pulse is counted before N 2 pulses and the reflected light cannot be obtained after passing through the highest part of coil C 1 until Based on these pulse numbers N l, 2, N 3 and the resolution of the magnetic sensor (K mm / no., Lus), the correction data is the center level of the center hole C 2.
  • the parameter L2 is calculated by the following equation (2).
  • the other center detecting means can be operated to respond. It is preferred that you do so.
  • the conditions for operating the fork mechanism 6A are that the height of the carriage is at the initial level and that the fork 61 is retracted. It is advisable to check that the fork mechanism 6A does not hold the coil C1 and that the coil C1 is present on the entrance and exit tables.
  • the data of the level difference between the center hole C2 of the coil C1 and the table obtained at the time of storage is stored and stored. Therefore, when leaving the warehouse, the stored data can be read out to immediately know the level of the center hole C2 without re-measuring the level. It is possible to prevent the fork from colliding with the coil C1 and to obtain the effect that the retrieval operation can be promptly performed.
  • means for measuring the position of the center hole C2 of the coil C1 at the time of storage and means for storing and storing the data may be provided.
  • correction data L2 can be stored in the control device 9A without being an ID tag.
  • the static power By moving the vehicle up and down and activating the ram fork mounted on the carriage, it can be moved to or from the desired shelf in the multi-story automated warehouse. Can be easily and smoothly loaded and unloaded.
  • the ram fork can be moved forward and backward by means of a rack and pinion gear etc. in the revolving frame provided in the carriage.
  • roll-type luggage can be stored from the shelves in the swing frame of the carriage without requiring a long fork.
  • the carriage is provided with a turning means, and by operating the turning means, the ram fork is rotated by 180 ° together with the turning frame. So that the rolled luggage can be easily loaded and unloaded from one shelf group shelf to the other shelf group shelf across the stacker lane. Can be done.
  • the thickness of the pallet and the amount of fork insertion are not required, increasing the storage capacity of luggage and increasing the space efficiency in the warehouse. be able to. Also, at the time of handling, there is no need to reload luggage on the pallet, and cost down is measured by shortening the handling time. Can be done.
  • the turning center is located at the center of the carriage, the turning can be performed almost at the center of gravity of the turning frame, and the influence of the inertia force is suppressed as much as possible. be able to . This can increase the turning speed and reduce the cycle time for loading and unloading luggage.
  • the vehicle travels on a static screen.
  • the rolled luggage can be moved to or from the desired shelves in the three-dimensional automatic warehouse. Easy and smooth entry and exit.
  • the ram fork can be moved forward and backward by means of a rack, pinion gear, etc. in the revolving frame provided in the carriage.
  • Roll-type luggage can be stored in the carriage's swivel frame from the shelf without the need for a long fork.
  • the carriage is provided with a turning means, and by operating the turning means, the ram fork can be rotated by 180 ° together with the turning frame. It is possible to easily load and unload rolled luggage from the shelves on one side of the shelves to the shelves on the other side of the shelves across the skier lane. Can be done.
  • the ram fork in the turning frame is connected to a lower portion of the ram fork on the side of the fork and an upper portion of the ram fork on the side opposite to the fork. Since it is movably supported by a rope that is stretched via a rotating body that is pivotally supported at a predetermined location in the revolving frame, luggage is loaded on the ram fork. Even in this case, the reaction force applied to the ram fork can be dispersed, and the ram fork can always be operated in a stable state.
  • control method of the present invention when moving the luggage by fork, position information of a hole provided in the luggage is read out, and the fork is moved based on the position information.
  • the operator controls the position of the mark, so that the operator can Even without control, the fork does not collide with the luggage and damages the luggage, and can perform luggage loading and unloading operations, improving reliability and improving work efficiency. The effect cannot be obtained.
  • control device that achieves the above effects is controlled based on the storage means for storing the position information of the hole in the baggage, the reading means, and the read position information. This can be easily achieved by providing a fork control unit that performs the above.
  • the location information of the detected center hole of the detected baggage is accepted when the baggage is accepted at the loading stand.
  • the position information of the center hole of the baggage can be easily obtained.
  • the obtained control device can be provided.
  • the fork can be quickly and accurately inserted into the hole of the load. It is possible to provide a method and a device for controlling the outgoing equipment.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

Engin de gerbage (1) se déplaçant par l'effet d'un système d'entraînement (2) le long de rangées de rayons dans un entrepôt automatisé à plusieurs niveaux, pour transférer une bobine d'un rayon à un autre à l'aide d'un élévateur (8) qui déplace un chariot (7) pourvu d'un mandrin (6). Un dispositif de pivotement horizontal (20) est installé sur la partie inférieure du chariot (7), et un châssis pivotant (26) est installé sur le dispositif de pivotement (20). Un mandrin (28) conçu de manière à pouvoir pénétrer à l'intérieur du rayon grâce à un système de déplacement est installé dans ce châssis pivotant (26), ce qui permet de retirer une bobine d'un rayon d'une rangée à l'aide du mandrin, de la maintenir dans le châssis pivotant (26), de la faire pivoter à l'horizontale de 180° grâce au dispositif de pivotement (20) et de la placer aisément sur le rayon désiré de la rangée opposée. Les informations relatives à la position de l'orifice central de la bobine obtenues lorsque cette bobine a été placée sur le rayon sont mises en mémoire et lues lorsque cette bobine est retirée de la rangée, la position du mandrin étant commandée grâce à ces informations de position, ce qui permet d'introduire l'extrémité libre du mandrin dans l'orifice central de la bobine de manière rapide et précise.
PCT/JP1993/000270 1993-03-01 1993-03-01 Systeme de fourche pour engins de gerbage, methode et dispositif de commande de ce systeme WO1994020393A1 (fr)

Priority Applications (10)

Application Number Priority Date Filing Date Title
US08/505,362 US5655870A (en) 1993-03-01 1993-03-01 Stacker crane in a warehouse
GB9615564A GB2302088B (en) 1993-03-01 1993-03-01 Fork-lift Controlling Apparatus
PCT/JP1993/000270 WO1994020393A1 (fr) 1993-03-01 1993-03-01 Systeme de fourche pour engins de gerbage, methode et dispositif de commande de ce systeme
SG1996000620A SG42909A1 (en) 1993-03-01 1993-03-01 Fork system for stacker crane and method and apparatus for controlling the same
KR1019950703249A KR0162970B1 (ko) 1993-03-01 1993-03-01 스태카 크레인의 포크장치와 그 제어방법 및 제어장치
DE4397243T DE4397243T1 (de) 1993-03-01 1993-03-01 Gabelstapelvorrichtung bei einem Stapelkran und Verfahren zum Ansteuern derselben, sowie Steuerung zur Durchführung dieses Verfahrens
DE4397243A DE4397243C2 (de) 1993-03-01 1993-03-01 Gabelstapelvorrichtung bei einem Stapelkran und Vorrichtung zum Ansteuern derselben
GB9517525A GB2293590B (en) 1993-03-01 1993-03-01 A Stacker Crane having a Fork-lift Apparatus
HK98102888A HK1003784A1 (en) 1993-03-01 1998-04-07 A stacker crane having a fork-lift apparatus
HK98102887A HK1003783A1 (en) 1993-03-01 1998-04-07 Fork-lift controlling apparatus

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
PCT/JP1993/000270 WO1994020393A1 (fr) 1993-03-01 1993-03-01 Systeme de fourche pour engins de gerbage, methode et dispositif de commande de ce systeme
SG1996000620A SG42909A1 (en) 1993-03-01 1993-03-01 Fork system for stacker crane and method and apparatus for controlling the same

Publications (1)

Publication Number Publication Date
WO1994020393A1 true WO1994020393A1 (fr) 1994-09-15

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1993/000270 WO1994020393A1 (fr) 1993-03-01 1993-03-01 Systeme de fourche pour engins de gerbage, methode et dispositif de commande de ce systeme

Country Status (1)

Country Link
WO (1) WO1994020393A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110653909A (zh) * 2019-10-08 2020-01-07 麒盛科技股份有限公司 一种自动定位打爪钉系统及自动打爪钉生产线
CN111189279A (zh) * 2019-12-27 2020-05-22 钱勇 一种冷库库房存储架构
CN111675141A (zh) * 2020-06-30 2020-09-18 太原福莱瑞达物流设备科技有限公司 货物搬运提升机

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JPS48100871A (fr) * 1972-04-10 1973-12-19
JPS54115856A (en) * 1978-03-01 1979-09-08 Hitachi Ltd Loading position fixing device
JPS617140A (ja) * 1984-06-20 1986-01-13 Nippon Kokan Kk <Nkk> 立体倉庫用重量物搬入・搬出装置
JPS6141111U (ja) * 1984-08-20 1986-03-15 石川島播磨重工業株式会社 スタツカ−クレ−ン
JPS63185708A (ja) * 1987-01-23 1988-08-01 Kawasaki Heavy Ind Ltd スタツカ−クレン
JPH01110405A (ja) * 1987-10-19 1989-04-27 Daifuku Co Ltd ロール状物の格納設備
JPH01110402A (ja) * 1987-10-22 1989-04-27 Sumitomo Metal Ind Ltd 立体倉庫の置場記憶・読出方法
JPH01122897A (ja) * 1987-11-06 1989-05-16 Toyota Motor Corp 自動クレーンの製御装置
JPH0335816A (ja) * 1989-07-03 1991-02-15 Nippon Steel Corp コイル状鋼材搬送用天井クレーンの制御装置

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS48100871A (fr) * 1972-04-10 1973-12-19
JPS54115856A (en) * 1978-03-01 1979-09-08 Hitachi Ltd Loading position fixing device
JPS617140A (ja) * 1984-06-20 1986-01-13 Nippon Kokan Kk <Nkk> 立体倉庫用重量物搬入・搬出装置
JPS6141111U (ja) * 1984-08-20 1986-03-15 石川島播磨重工業株式会社 スタツカ−クレ−ン
JPS63185708A (ja) * 1987-01-23 1988-08-01 Kawasaki Heavy Ind Ltd スタツカ−クレン
JPH01110405A (ja) * 1987-10-19 1989-04-27 Daifuku Co Ltd ロール状物の格納設備
JPH01110402A (ja) * 1987-10-22 1989-04-27 Sumitomo Metal Ind Ltd 立体倉庫の置場記憶・読出方法
JPH01122897A (ja) * 1987-11-06 1989-05-16 Toyota Motor Corp 自動クレーンの製御装置
JPH0335816A (ja) * 1989-07-03 1991-02-15 Nippon Steel Corp コイル状鋼材搬送用天井クレーンの制御装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110653909A (zh) * 2019-10-08 2020-01-07 麒盛科技股份有限公司 一种自动定位打爪钉系统及自动打爪钉生产线
CN111189279A (zh) * 2019-12-27 2020-05-22 钱勇 一种冷库库房存储架构
CN111675141A (zh) * 2020-06-30 2020-09-18 太原福莱瑞达物流设备科技有限公司 货物搬运提升机

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