JPH11208817A - Load transferring device and stacker crane - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a load transferring device capable of preventing the load style and loading position relative to a rack from being varied even if the sizes of load are varied. SOLUTION: A pair of lower forks 24 and 25 are installed extendedly along the load transferring direction. Middle forks 49 and 50 and upper forks 51 and 52 are supported inside the lower forks 24 and 25 and the middle forks 49 and 50 rotatably relative to each other in the load transferring direction, respectively. Rotating actuators 76 and 77 are installed on the upper part of the upper forks 51 and 52, and a lever 81 is supported on the tip ends of these actuators. Lower forks 24 and 25 are disposed movably in the direction perpendicular to the load transferring direction. Supporting plates 31 and 32 fixed to the inside of the lower forks 24 and 25 are connected to a chain 42 arranged so that they can travel within a plane perpendicular to the load transferring direction located under a load transferring part 21 at connection parts 31a and 32a. Thus an interval between the lower forks 24 and 25 can be changed according to the traveling of the chain 42.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a load transfer device mounted on a stacker crane or an automatic guided vehicle and the like, and a stacker crane.

[0002]

2. Description of the Related Art Heretofore, as this type of load transfer device, a load transfer device of a type in which a load is supported on a top surface of a fork (running fork type) has been generally used. However, in the case of the running fork type, the shelf for supporting the load has a configuration including a pair of left and right load receiving members for supporting the bottom left and right sides of the load in order to secure a space for the fork to retreat under the load. ing. Therefore, columns for supporting the load receiving members are required on both the left and right sides of each storage section, and the number of columns is increased. In addition, there is a problem that the space corresponding to the column is a dead space, and the storage efficiency of the load is reduced.
In addition, in the state where it is stored in the storage unit, the load is supported only on the left and right sides of the bottom and the center is not supported, so a load storage box made of relatively strong material is necessary. And increase costs. Further, it is necessary to change the width of the load storage portion (the interval between the pair of load receiving members) according to the width of the load, which is inconvenient in the case of a distribution system in which loads of different widths are mixed. There is.

[0003] To solve this drawback, Japanese Patent Laid-Open No. 6-34 is disclosed.
No. 5,214, JP-A-7-101508 and the like disclose a load support in which a load is horizontally transferred between a load support portion such as a shelf configured to load the load on a support plate (shelf plate). A platform, a retractable moving member located on a side of a load transfer path between the load supporting table and the load supporting portion, and a pair of front and rear load pulling-out pushers supported at both front and rear ends of the retractable moving member. A load transfer device having an arm has been proposed. In this load transfer device, the load pulling-out arm is engaged with the rear end in the load transfer direction, and the load is slid on the load support base and the load support section to transfer the load.

Japanese Patent Application Laid-Open No. Hei 8-290805 proposes a load transfer device as shown in FIG.
In this load transfer device, a pair of left and right base forks 202, a second fork 203, and a top fork 204 are provided on both sides of a mounting table 201, and the second fork 203 and the top fork 204 are moved forward and backward by driving means (not shown). The mounting table 201 is divided into right and left, and the base fork 202 is formed integrally with the mounting table 201. The space between the mounting tables 201, that is, the space between the base forks 202, can be adjusted by rotating the ball screw 205. At both ends of the top fork 204, extendable push rods 206, 207 are provided in a state perpendicular to the longitudinal direction of the top fork 204.

[0005] With this load transfer device, the load W on the shelf is
16, the space between the upper surface of the load W and the shelf board 209 of the storage unit 208 and the top fork 20 at the position corresponding to the storage unit 208 as shown in FIG.
The carriage 210 stops at the position where the carriage 4 faces. In this state, the second fork 203 and the top fork 2
04 is moved to the advanced position, and the load W is positioned between the load pushing bars 206 and 207 as shown in FIG. Next, the carriage 210 is lowered and the mounting table 201
17B is slightly lower than the upper surface of the shelf 209 on which the load W is placed, as shown in FIG. 17B. When the forks 203 and 204 are moved to the standby position in this state, the load W is pushed by the load push rod 207 and is transferred from the shelf 209 to the mounting table 201.

[0006]

Unlike a running fork type load transfer device, a load transfer device of a type in which a load is slid and moved on a shelf plate or a mounting table (load support table) (hereinafter referred to as a side transfer device). The picking-type load transfer device) does not require a space for the fork to exit and retreat under the load, and the bottom of the load is always supported by the shelf board or the mounting table. There is no problem even if a member made of a small material such as a cardboard box is used.

[0007] However, the conventional side picking type load transfer device disposes the load between the retreating members or the forks arranged at intervals wider than the width of the load.
The load is moved by pushing the rear end of the load in the transfer direction with the load pull-in arm or the load push rod. Therefore, when the load moves, the load may shift in the width direction. In an automatic warehouse, loading and unloading between the storage sections is also performed, and therefore, the displacement of the load increases due to repeated loading and unloading between the storage sections. If the displacement of the load increases, inconveniences such as falling of the load may occur during the transfer operation. The above problem becomes remarkable when loads of different widths are mixed.

Further, as shown in FIG. 18, in the case of using a conveyor 211 as a storage section of an automatic warehouse, if loads W having different widths coexist, the loads W having a small width are initially positioned with respect to the center of the mounting table. The transfer is performed in a state of being biased. Therefore, even if the load does not shift in the width direction during the transfer operation of the load W, the placement position of the storage unit 208 on the shelf plate 209 varies.

In the load transfer device disclosed in Japanese Patent Application Laid-Open No. Hei 8-290805, the spacing between the forks is changed in accordance with the width of the load. Also, JP-A-6-3452
No. 14 discloses a configuration in which the interval between the moving members is changed according to the width of the load. In either case, the transfer operation is performed with the distance between the moving member and the fork set in advance in accordance with the width of the load so as to be larger than the width of the load, and the position is set when the width of the load is too small. The deviation can be prevented from becoming extremely large. However, this does not fundamentally prevent the displacement of the load during the transfer operation. Further, in the apparatus having the storage unit having the configuration shown in FIG. 18, when the interval between the retractable members or the forks is changed, the stop position of the stacker crane 212 needs to be changed, and the stop position control becomes complicated. . Therefore, in the case of a logistics system where loads of different widths are mixed,
There is a problem that it is difficult to respond.

The present invention has been made in view of the above-mentioned problems, and a first object of the present invention is to prevent the posture of a load and the placement position on a shelf from being different even if the size of the load is different. It is an object of the present invention to provide a load transfer device capable of performing the above-mentioned operations.
A second object is to provide a stacker crane equipped with the load transfer device.

[0011]

In order to achieve the first object, according to the first aspect of the present invention, a loading portion on which a load is placed, and the loading portions on both sides of the loading portion. A pair of guide rails extending along the load transfer direction with respect to the portion and arranged to be able to reciprocate in a direction orthogonal to the load transfer direction;
A driving means, and a retractable moving member supported by each of the guide rails and movable along each of the guide rails,
Second driving means for reciprocating the moving member between a standby position and a moving position, and a second driving means provided on the moving member, wherein the loading is performed when the moving member moves in the moving direction. An engaging member that can be engaged with the load on the placing portion at the rear end in the transfer direction; And detecting that the center of the load in the width direction substantially coincides with the center of the both retractable members in a state where the load is engaged with the both engaging portions. In a state in which the detection means and the first driving means are drivingly controlled in a direction in which the distance between the pair of guide rails becomes narrower, the driving of the first driving means is performed based on the detection signals output from the two detection means. And control means for controlling to stop.

According to a second aspect of the present invention, the engaging portion includes a bumper provided so as to extend along the inside of each of the retreating members so as to face each other, and the detecting means determines that the bumper is at a predetermined position. It is a sensor that outputs a detection signal when pressed with a force greater than the value.

According to a third aspect of the present invention, in the first or second aspect of the present invention, the engaging member moves the load on the loading portion when the moving member moves. The lever is rotatably arranged at an operable position where it can be engaged at a rear end portion in the loading direction and at a retracted position where it cannot be engaged.

According to a fourth aspect of the present invention, in the first aspect of the present invention, in the first aspect, the first
The driving means comprises a winding transmission mechanism provided with an endless cable arranged so as to move in a vertical plane orthogonal to both guide rails, and a motor for driving the winding transmission mechanism, The two guide rails are movably supported along a support rail arranged to extend in a direction orthogonal to the load section, and a part of the guide rail is connected to the rope.

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

According to the first aspect of the present invention, the pair of guide rails are reciprocated by the first driving means together with the reciprocating member in the direction orthogonal to the load transfer direction. The reciprocating member is reciprocated in the load transfer direction between the standby position and the advanced position by the second driving means. When a load on another mounting portion is transferred onto the loading portion, the moving member is moved to the advanced position in a state where the distance between the guide rails is maximum. At this time, the engaging member is at a position where it cannot engage with the load. After the reciprocating member is located at the advanced position, the first driving means is driven to move the two guide rails in a direction in which the distance between them is reduced. During the movement of both guide rails, the engaging portion engages with the widthwise end surface of the load. When the load is shifted in the width direction, the engagement portion near the shifted side is engaged with the load first, and both guide rails are further moved in this state. When the center in the width direction of the load coincides with the center of both moving members,
The detection signal is output from the detecting means, and the driving of the first driving means is stopped based on the signal.

Next, after the engaging member is disposed at a position where it can be engaged with the rear end face in the load transfer direction, the retractable moving member is moved toward the standby position, and during the movement, the engaging member is moved. Engage with. Then, the load is moved while being pressed by the engagement member, and is transferred onto the load receiver. Both ends in the width direction of the load are engaged with the engagement portions, and the load is transferred in a state where the center in the width direction of the load substantially coincides with the center of the load placement portion, thereby preventing the load from shifting in the width direction. You.

According to a second aspect of the present invention, in the first aspect of the present invention, the load engages with a bumper disposed along the inside of each of the reciprocating members, so that the load is centered in the width direction of the load. Are positioned substantially in line with the center of the loading section. The detection means outputs a detection signal when the bumper is pressed with a force equal to or greater than a predetermined value.

According to a third aspect of the present invention, in the first or second aspect of the present invention, the lever as the engaging member is rotatably disposed on the retractable moving member between the operating position and the retracted position. You. In the operating position, the load on the loading portion can be engaged with the load on the loading portion at the rear end in the loading direction when the moving member moves. At the retreat position, it is in a state where it cannot be engaged with the load on the load placement unit.

According to a fourth aspect of the present invention, in the first aspect of the present invention, when the motor constituting the first drive means is driven, the winding transmission mechanism is activated. The guide rail is moved along the support rail in a direction perpendicular to the load transfer direction via the cable that is configured, and the interval between the guide rails is adjusted.

According to the fifth aspect of the present invention, the load is placed at a predetermined position in the storage section of the automatic warehouse regardless of the width of the load.

[0022]

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

As shown in FIG. 4A, the automatic warehouse 1 includes a pair of left and right frame shelves 2a and 2b arranged to face each other. As shown in FIG. 4B, the frame shelves 2a, 2a
In b, a large number of storage portions are provided at predetermined intervals in a continuous direction (left-right direction in FIG. 4B) and a step direction (up-down direction in FIG. 4B). Each storage unit 3 is a column 4
And a shelf plate 5 disposed therebetween. The shelf plate 5 is formed to have a length that allows a plurality of loads W to be placed thereon. Further, the front ends of the frame shelves 2a and 2b (the left ends in FIG. 4A).
Is provided with an entrance 6 and an exit 7. The entrance is constituted by a belt conveyor, and a positioning portion protruding from the belt conveyor extends in a direction perpendicular to the traveling direction.
Then, the load W is subjected to a transfer operation at a predetermined storage position with one end in the width direction (a direction orthogonal to the load transfer direction) abutting on the positioning portion.

The passage 8 between the frame shelves 2a and 2b of the automatic warehouse 1
, A rail 9 is laid, and a stacker crane 10 is provided on the rail 9 so as to be able to run. The stacker crane 10 includes a pair of masts 1 erected on a traveling platform 11.
A fork device 14 is provided as a load transfer device that suspends the carriage 13 between the two so as to be able to move up and down, and that can move back and forth on the carriage 13 in the left-right direction (vertical direction in FIG. 4A). A traveling motor 15 for traveling the stacker crane 10 and an elevating motor 16 for elevating the carriage 13 are arranged on the traveling platform 11. A crane controller 17 for controlling the driving of both motors 15 and 16 is provided on the lower front surface of the front mast 12.

Next, the fork device 14 will be described. 1 is a partially cutaway schematic view of the fork device 14 viewed from the frame shelf 2b side, FIG. 2 is a side view of the fork device 14 viewed from the left side of FIG. 1, and FIG. 3 is a schematic sectional view taken along line III-III of FIG. is there. As shown in FIGS. 2 and 3, the fork device 14 is fixed on the carriage 13 at the base 19. Base part 1
Reference numeral 9 denotes a pair of support members 20 arranged in a state perpendicular to the load transfer direction (the vertical direction in FIG. 3), and a loading section 21 supported by both support members 20. Loading section 2
Numeral 1 is provided so as to connect both support members 20, and a pair of rollers 22 are provided at both ends in the load transfer direction. The roller 22 is disposed so that the highest part of the peripheral surface is slightly higher (for example, about 2 to 5 mm) than the upper surface of the loading section 21. Further, in a state where the loading section 21 is disposed at a position corresponding to the storage section 3, the entrance 6 or the exit 7 at both ends of the loading section 21, the storage section 3, the entrance 6.
Alternatively, sensors S1 and S2 for detecting a load on the outlet 7 are mounted so as to be located between the rollers 22.
For example, a reflection type optical sensor is used as the sensors S1 and S2.

The support rails 23 are provided outside the support members 20.
Are fixed so as to extend along the support member 20.
The support rail 23 is formed to have a substantially U-shaped cross section, and is fixed to the support member 20 on a side surface thereof with the groove positioned outside. Lower forks 24 and 25 as a pair of left and right guide rails are arranged between the two support rails 23 in a state orthogonal to the support rails 23, that is, in a state extending along the load transfer direction. Both lower forks 24 and 25 are formed of a plate material. At both ends of the lower forks 24, 25, rollers 27 that engage with the grooves of the support rail 23 are supported via brackets 26.
5 can reciprocate along the longitudinal direction of the support rail 23 via rollers 27, that is, in a direction orthogonal to the load transfer direction.

As shown in FIGS. 1 and 3, a support bar 28 is disposed outside the lower forks 24, 25 in a state where both ends thereof are fixed to the support member 20 and is orthogonal to the support member 20. Have been. A spline shaft 29 is rotatably supported between the support bars 28 via a bearing 30 fixed to the support bar 28. Support plates 31 and 32 are provided on the outer sides of the lower forks 24 and 25 with spacers 33.
And is fixed at a predetermined interval via. A hole through which a spline shaft 29 penetrates is formed in both support plates 31 and 32, and both support plates 31 and 32 are connected to the spline shaft 29.
And does not interfere.

As shown in FIGS. 1 and 2, both support members 2
In a state where the support shafts 34 and 35 extend below the support bar 28 and extend in parallel with the support bar 28, the support members 2
It is rotatably supported via a bracket 36 fixed to zero. Sprockets 37a, 37b, 38a, 38b are fixed to both ends of both support shafts 34, 35 so as to be integrally rotatable. A motor 39 is mounted on the lower surface of the loading section 21. A motor with a speed reducer is used as the motor 39, and its output shaft 39a extends parallel to the load transfer direction, and a driving sprocket 40 fixed to the output shaft 39a so as to be integrally rotatable is coplanar with the sprockets 37a and 38a. And the output shaft 39a is connected to the support shaft 34,
It is fixed to a position higher than 35. Guide sprockets 41 are supported on both sides of the drive sprocket 40 via brackets (not shown). Then, as shown in FIG. 1 and FIG.
A chain 38 as an endless cable is wound between the guide sprockets a and 38a, the two guide sprockets 41 and the drive sprocket 40. Also, both sprockets 37b, 38
A chain 43 as an endless cable is wound around between b.

The sprockets 37a, 37b, 38
a, 38b, the drive sprocket 40, the guide sprocket 41, and the chains 42, 43 constitute a winding transmission mechanism. Then, the above-mentioned wrapping transmission mechanism, chains 42 and 4
The first driving means for reciprocating the guide rails 24 and 25 is constituted by the motor 3 and the motor 39.

The lower connecting portions 31a on the front and rear sides of the support plate 31 are connected to a traveling portion above a portion where the chains 42 and 43 travel horizontally. Support plate 3
2 has a lower connecting portion 32a on both front and rear sides thereof,
2, 43 are connected to the lower traveling portion of the portion traveling horizontally. When both chains 42 and 43 run in the same direction by the drive of the motor 39, both support plates 3
1 and 32 are configured to move together with the lower forks 24 and 25 in opposite directions.

As shown in FIG. 3, the lower fork 2
Sensors S3 and S4 for detecting the load W placed on the loading section 21 are provided at 4, 4 respectively. A beam sensor is used as each of the sensors S3 and S4, and the irradiation beam is attached to the lower forks 24 and 25 via a bracket so that the irradiation beam crosses obliquely above the loading portion 21. At the standby position where the distance between the lower forks 24 and 25 is widest, the sensors S3 and S4 are both set.
4 are arranged so that the beam irradiation unit and the light receiving unit face each other.

A motor M for fork retraction is fixed inside the support plate 31 so that its output shaft extends in a direction orthogonal to the load transfer direction, and a drive gear 44 is fixed to the output shaft so as to be integrally rotatable. Have been. An intermediate gear 45 meshing with the drive gear 44 is rotatably supported above the drive gear 44 between the lower fork 24 and the support plate 31 via a support shaft. Above the intermediate gear 45, a pair of pinions 46a, 46b is disposed in a state of meshing with the intermediate gear 45. One pinion 46a is a spline shaft 2
9 and is supported slidably in the axial direction of the spline shaft 29 together with the lower fork 24. The other pinion 46b is rotatably supported via a support shaft.

Between the lower fork 25 and the support plate 32, an intermediate gear 47 is rotatably supported via a support shaft at a position symmetrical to the intermediate gear 45. Above the intermediate gear 47, the intermediate gear 4 is positioned symmetrically with the pinions 46a and 46b.
A pair of pinions 48a and 48b are arranged in a state of meshing with the pinion. One pinion 48a is a spline shaft 2
9 and is supported slidably in the axial direction of the spline shaft 29 together with the lower fork 25. The other pinion 48b is rotatably supported via a support shaft. Therefore, each pinion 46 is driven by the drive of the motor M.
a, 46b, 48a, 48b are rotated in the same direction.

As shown in FIGS. 1 and 6, inside the lower forks 24, 25, middle forks 49, 50 as first support members constituting the reciprocating members are provided with respect to the lower forks 24, 25. Supported in a reciprocating manner in the load transfer direction. Inside the middle forks 49, 50, upper forks 51, 52 as second support members constituting the retreating member are supported so as to be able to reciprocate in the load transfer direction with respect to the middle forks 49, 50. I have. The lower forks 24, 25, the middle forks 49, 50, and the upper forks 51, 52 are formed symmetrically with respect to a vertical plane passing through the center of the loading section 21 and parallel to the load transfer direction.

As shown in FIGS. 6 (a) and 6 (b), the middle forks 49, 50 have horizontal portions 49a, 50a and an upper support portion extending substantially perpendicularly upward at the first ends of the horizontal portions 49a, 50a. 49b, 50b and horizontal parts 49a, 50a
A lower support 4 extending substantially perpendicularly downward at a second end of the lower support 4
9c and 50c. The middle forks 49, 50 are arranged on the upper rails 49b, 5 with respect to the guide rails 24, 25.
At 0b, it is supported so as to be relatively movable via a linear motion joint 53 located above the horizontal portions 49a and 50a. The upper forks 51, 52 are connected to the lower support portions 49c, 50.
c is supported by a linear motion joint 54 located below the horizontal portions 49a and 50a so as to be relatively movable. Rolling guides (ball sliders) are used as the linear motion joints 53 and 54. In this embodiment,
A slide rail unit in which a support rail and a rail-shaped ball slider as a linear joint are unitized is used, and the support rails are middle forks 49, 50.
Has been used as

As shown in FIGS. 1 and 6, the lower forks 24, 25 are connected to a linear joint 53 via a block 55 fixed to the upper end thereof. The upper forks 51 and 52 are formed in a substantially inverted L-shaped section, and
1a and 52a are connected to a linear joint 54 via a block 56 in a state where they are located above the support plates 31 and 32. Below the middle forks 49, 50, pinions 46a, 46b and a rack 57 that meshes with the pinions 48a, 48b extend along the middle forks 49, 50 via a bracket 58. The rack 57 always meshes with at least one of the pinions 46a and 46b and the pinions 48a and 48b, and is moved in the rotation direction of the pinion 46a and the like by driving the motor M.

As shown in FIG. 1, middle forks 49,
Sprockets 59 and 60 are rotatably supported at both ends of the upper support portions 49b and 50b, respectively. The sprockets 59 and 60 are disposed inside the upper support portions 49b and 50b so as to be located in a vertical plane parallel to the middle forks 49 and 50. As shown in FIG. 10, the sprockets 59 and 60 (only the sprocket 60 is shown) are mounted on a support shaft 61 screwed to a translation joint 53.
It is rotatably supported via the second and spacers 63.

As shown in FIG. 2, a support piece 64 is fixed to one block 55 fixed to the center of the lower fork 24 and to the left of the center in FIG. As shown in FIG. 8, the support piece 64 is bent in an L-shape, and the support piece 64 is connected to one end of a chain 67 wound around a sprocket 60 (not shown in FIG. 8). A support piece 66 is fixed to the other block 55 fixed to the center right of the lower fork 24. As shown in FIG. 7, the support piece 66 is bent in an L-shape, and the support piece 66 is connected to one end of a chain 65 wound around a sprocket 59 (not shown in FIG. 7). Similarly, the lower fork 25 is provided with support pieces 64 and 66 to which one ends of the chains 67 and 65 are connected.

As shown in FIG. 8, a bracket 68 is fixed to one block 56 fixed to the left end of the upper fork 51 in FIG. 2, and the other end of the chain 67 wound around the sprocket 60 is mounted on the bracket 68. Are connected. 7, a bracket 69 is fixed to the other block 56 fixed to the right end in FIG. 2 of the upper fork 51, and the other end of the chain 65 wound around the sprocket 59 is connected to the bracket 69. ing. Brackets 68 and 69 are similarly arranged on the upper fork 52, and the other ends of the chains 67 and 65 are connected to the brackets 68 and 69.

The chains 67 and 65 are fixed to the support pieces 64 and 66 so that the positions thereof cannot be adjusted.
9 is fixed via an adjustment bolt 70. As shown in FIG. 9, the brackets 68 and 69 include fixing portions 68 a and 69 a for the block 56 and support portions 68 b and 69 b through which the adjustment bolt 70 penetrates. 65, 67 tension adjustment is possible.

The motor M, drive gear 44, intermediate gear 45,
47, pinions 46a, 46b, 48a, 48b, rack 57, sprockets 59, 60 and chains 65, 6
7 constitutes a second driving means for reciprocating the moving member between the standby position and the advanced position. The sprocket 59 moves the upper forks 51, 52 to the left in FIG. 2 via the chain 65 when the middle forks 49, 50 move to the left in FIG. When the middle forks 49, 50 move rightward in FIG. 2, the sprocket 60 moves through the upper forks 51, 5 via the chain 67.
2 is moved rightward in FIG.

As shown in FIG. 2, four windows 72 are formed in the lower fork 24, and the middle fork 49 is located at a position corresponding to each of the windows 72 to detect that the middle fork 49 is in the standby position and the advanced position. The sensors S5 to S8 are fixed via the bracket 73. Proximity switches are used for the sensors S5 to S8. Also, middle fork 4
Two detected parts 74 and 75 are fixed near the end of 9. As shown in FIG. 2, the sensor S5 detects the detected portion 74 when the middle fork 49 is located at the standby position, and the sensor S8 is disposed at a position that detects the detected portion 75 in that state. . The sensor S6 is provided at a position where the sensor 75 detects the detected portion 75 when the middle fork 49 moves to the left advance position in FIG. The sensor S7 is provided at a position where the sensor 74 detects the detected portion 74 when the middle fork 49 moves to the rightward advance position in FIG. Then, while the middle fork 49 is moving from the standby position, the sensors S6, S
When the detection signal is output from the motor 7, the driving of the motor M is stopped.

Similarly, the lower fork 25 has a window 72.
Are formed, and sensors S5 to S8 are provided. Two detected parts 74 and 75 are fixed to the middle fork 50 at positions symmetric to the detected parts 74 and 75 of the middle fork 49. And the sensor S5
The position of the middle fork 50 is detected by the detection signals S8 to S8.

As shown in FIGS. 1 and 2, the rotary actuators 76 and 77 are provided above the upper forks 51 and 52, respectively.
Are arranged in pairs so as to extend along the longitudinal direction of the upper forks 51 and 52. Rotation actuator 7
6 and 77 are supported on upper forks 51 and 52 via support brackets 78 with their base ends facing each other. Motors are used for the rotation actuators 76 and 77. Lever 80, 81 is integrally rotatably supported at the tip of the rotation part 79 as the drive shaft of the rotation actuators 76, 77. The levers 80 and 81 move the load W on the loading portion 21 when the upper forks 51 and 52 move.
, At the rear end portion in the transfer direction thereof, it is pivotally disposed between an operable position where it can be engaged and a retracted position where it cannot be engaged. In this embodiment, as shown in FIG. 1, the position where the levers 80 and 81 extend vertically upward is the retreat position, and the loading portion 2
The position extending obliquely downward toward one side is the operation position. The levers 80 and 81 can be engaged with the load W on the load portion 21 at the rear end in the transfer direction when the moving members (middle and upper forks 49 to 52) move in the load transfer direction. It functions as an engagement member. Also, lever 8
Numerals 0 and 81 can reciprocate between a standby position indicated by a solid line in FIG. 1 and a position indicated by a chain line.

As shown in FIGS. 13 and 14 (a) and 14 (b), the rotating portion 79 is formed in a cylindrical shape, and the first and second arc-shaped slits 79a and 79b are formed on the base end side thereof. Are formed in parallel so as to extend along the circumferential direction. As shown in FIGS. 2 and 11, the rotating parts 7 are provided on upper forks 51 and 52 (only the upper fork 51 is shown).
9 at positions corresponding to the slit forming positions of the sensors S9 to S9.
12 is attached via brackets 82 and 83. Proximity sensors are used for the sensors S9 to S12. First slit 7 formed on the base end side of rotating portion 79
9a corresponds to the sensors S9 and S11, respectively, and the second slit 79b corresponds to the sensors S10 and S12, respectively. Then, with the levers 80 and 81 arranged at the retracted position, portions other than the slit 79a are detected by the sensors S9 and S1.
1, the sensors S9 and S11 are turned on. In the state where the levers 80 and 81 are arranged in the operation position, the slit 7
9a is opposed to the sensors S9 and S11 and the sensors S9 and S1
1 turns off. In a state where the levers 80 and 81 are disposed at the retracted positions, the slit 79b is connected to the sensors S10 and S10.
12, the sensors S10 and S12 are turned off. In a state where the levers 80 and 81 are arranged at the operation positions, the portions other than the slit 79b face the sensors S10 and S12, and the sensors S10 and S12 are turned on.

As shown in FIG. 11 and FIG.
Inside the upper forks 51 and 52 (only the upper fork 51 is shown), a bumper 84 is provided as an engaging portion capable of engaging with the widthwise end surface of the load W. The bumper 84 is provided so as to extend along the upper forks 51 and 52. The bumper 84 is formed of a plate material, and has both ends (only one side is shown) bent inward as shown in FIG. 12B. The bent portion of the bumper 84 protrudes outside the upper forks 51, 52 from a window 85 formed in the upper forks 51, 52, and the leaf spring 87 is attached to a block 86 fixed outside the upper forks 51, 52. Has been fixed through.

As shown in FIG. 11, the upper fork 5
Two windows 88 are formed near the center of the upper and lower forks 51 and 52 (only the upper fork 51 is shown).
Has been fixed through. Micro switches 89, 90
Is fixed to a position where it is turned on when the bumper 84 moves to the upper forks 51, 52 side by a predetermined amount. When the load W is engaged with both bumpers 84, the center of the load W in the width direction is set to the two upper forks 5.
A detecting means for detecting that the positions substantially coincide with the center of the first and the second 52 is constituted. The detection signals of the two micro switches 89 and 90 are input to the crane controller 17. Then, the crane controller 17 drives the motor 39 to drive and control the lower forks 24, 25 in a direction in which the distance between them is reduced.
The motor 39 is stopped based on the detection signal. That is,
The crane controller 17 also functions as control means for controlling the motor 39.

Sensors S13 and S14 are provided at the lower portions of both ends of the upper forks 51 and 52 for confirming that the upper forks 51 and 52 do not interfere with obstacles when the upper forks 51 and 52 move to the advanced position. Has been fixed. A beam sensor is used as the sensors S13 and S14, and outputs a detection signal when there is an obstacle closer than a predetermined distance. When the detection signal is output, the driving of the motor M is stopped. .

The upper forks 51 and 52 include rotary actuators 76 and 77 as electric devices mounted on the upper forks 51 and 52, micro switches 89 and 90,
A connector 92 to which a connector (each not shown) of each lead wire of the sensors S9 to S14 is connected is attached. Power is supplied to the rotation actuators 76 and 77, the micro switches 89 and 90, and the sensors S9 to S14 via lead wires connected to the connector 92.

As shown in FIGS. 2, 11 and 12A, the upper forks 51 and 52 have one end connected to the connector 92 and the other end mounted on the carriage 13 as a fixed side. A guide member 94 for guiding the wiring 93 connected to a power supply (not shown) is provided. The guide member 94 is formed of a plate material that is bent so as to form a groove whose upper side and both ends are open,
The bottom surface is fixed to the upper surfaces of the upper forks 51, 52. A support plate 95 extending vertically above the upper end of the guide member 94 is vertically fixed above the lower forks 24, 25, and a part of the wiring 93 is attached to a support piece (clamp) 96 fixed above the support plate 95. Is supported. FIG.
As shown in FIG. 1, the support plate 95 includes upper forks 51 and 5.
2 in the standby position, the connector 92
The guide member 94 is located near the end of the guide member 94 on the side closer to. The wiring 93 is moved from the position supported by the support piece (clamp) 96 to the guide member 9 when the upper forks 51 and 52 are arranged at the standby position.
4 is extended to the end opposite to the connector 92, folded back into a U-shape, and guided to the connector 92 through the bottom of the guide member 94.

Next, the operation of the apparatus constructed as described above will be described by taking as an example a case where the load W is stored in the storage section 3 of the right frame shelf 2b from the storage opening 6. Stacker crane 1
In the case of 0, the traveling motor 15 is driven by a command from the crane controller 17, travels along the rail 9, and then stops at a position corresponding to the entrance 6. The lifting motor 16 is driven by a command from the crane controller 17, and the carriage 13 stops at a position corresponding to the entrance 6. The carriage 13 stops at a position where the upper surface of the loading section 21 is at the same height as the upper surface of the shelf 5.

When there is no load W on the loading portion 21, the lower forks 24 and 25 are arranged at the standby position where the interval is the largest. The crane controller 17 has a sensor S
3, the load W is placed on the loading section 21 by the output signal from S4.
The motor M is driven after confirming that there is no load and that the load W exists at the entrance 6 based on the output signal from S2. When the motor M is driven, the drive gear 44 is rotated clockwise in FIG. 2, and the pinions 46 a and 46 b disposed on the lower fork 24 side are rotated via the intermediate gear 45 with the rotation of the drive gear 44 in FIG. Is rotated clockwise. With the rotation of the pinion 46a, the spline shaft 29 rotates integrally with the pinion 46a, and the pinion 48a disposed on the lower fork 25 side rotates integrally with the spline shaft 29. Then, the pinion 48b also rotates in the same direction as the pinion 48a via the intermediate gear 47. As a result, both middle forks 49 and 50 move rightward in FIG.

When the sprocket 60 moves together with the middle forks 49, 50, one end of the chain 67 wound around the sprocket 60 is connected to the lower forks 24, 2.
5, the sprocket 60 moves while rotating counterclockwise in FIG. As a result, the upper forks 51, 52 supported by the middle forks 49, 50 via the linear motion joint 54 and connected to the other end of the chain 67 move the moving distances of the middle forks 49, 50 in the moving direction of the sprocket 60. Move twice as much as

When the upper forks 51, 52 reach the advanced position and the detection signal of the detected member 74 is output from the sensor S7, the driving of the motor M is stopped, and the upper forks 51, 52 are moved to the predetermined advanced position. Stop at In addition,
If there is an obstacle at a position where it interferes with the upper forks 51, 52, the upper forks 51, 52 and the middle fork 4
The detection signal is output from the sensor S14 during the movement of the upper and lower forks 51 and 50.
52 is stopped during the movement.

After the upper forks 51 and 52 have stopped at the predetermined advanced positions, the motor 39 is driven to rotate the driving sprocket 40 in the counterclockwise direction in FIG. Then, the chains 42 and 43 are driven in the same direction, and the lower forks 24 and 25 are moved in a direction approaching each other. Then, after the bumper 84 comes into contact with the load W, it is pressed against the upper forks 51 and 52 against the urging force of the leaf spring 87 and moves to a predetermined position.
0 turns on. When the micro switches 89 and 90 are turned on, the driving of the motor 39 is stopped, and the load W is in a state where the center in the width direction coincides with the center in the width direction of the load portion 21 (the direction orthogonal to the load transfer direction). The state is sandwiched between the bumpers 84 with a predetermined pressing force. That is, the centering of the load W is performed. Note that the pressing force of the bumper 84 does not move the load W when the upper forks 51 and 52 move in the load transfer direction, but plays a role in restricting the movement of the load W in the width direction. Next, both rotating actuators 7
6 and 77 are driven, and the levers 80 and 81 are arranged in the operation position. The rotation actuators 76 and 77 are sensors S
10, when the ON signal is output from S12, the driving is stopped. Next, the motor M is driven to rotate in the opposite direction, and the pinions 46a, 46b, 48a, 48b are rotated in the counterclockwise direction in FIG. When the middle forks 49, 50 are moved to the left in FIG. 2 together with the rack 57, one end of the chain 65 wound around the sprocket 59 is fixed to the lower forks 24, 25. It moves while rotating clockwise in FIG. As a result, middle forks 49,5
0 via a linear motion joint 53 and the chain 6
5 are connected to the other ends of the upper forks 51, 52 in the direction of movement of the sprocket 59.
It moves twice as long as 0.

Since the levers 80 and 81 are located at the operation positions, the lever 80 engages with the rear end in the transfer direction of the load W during the movement of the upper forks 51 and 52, and Accordingly, the load W is moved toward the loading section 21. Further, the load W is moved by the action of the two bumpers 84 in a state where the positional deviation in the width direction is regulated, and is placed on the load receiving portion 21 in a state where the center of the load in the width direction coincides with the center of the load receiving portion 21. Will be transferred.

When the upper forks 51, 52 and the middle forks 49, 50 reach the standby position, the sensors S5, S8
When the detection signals of the detection target members 74 and 75 are output from the, the driving of the motor M is stopped, and the upper forks 51 and 52 and the middle forks 49 and 50 are stopped at the standby positions. Thus, the operation of transferring the load W from the entrance 6 to the loader 21 is completed.

Next, the traveling motor 15 and the elevating motor 16 are driven, the stacker crane 10 travels to a position corresponding to the storage unit 3 in which the load W is to be stored, and the carriage 13 stops at the position corresponding to the storage unit 3. . Then, the crane controller 17 confirms that there is no load W in the storage section 3 based on the output signal of the sensor S2, and then loads the load W to the storage section 3.
Start transfer work. First, the motor M is driven to move the upper forks 51 and 52 and the middle forks 49 and 50 to the predetermined advance positions in the same manner as described above. Since the levers 80 and 81 remain in the operation position, the lever 81 engages with the rear end in the transfer direction of the load W during the movement of the upper forks 51 and 52, and the load is moved with the movement of the upper forks 51 and 52. W is moved toward the storage unit 3. Then, after the upper forks 51, 52 have moved to the advanced position, the motor 39 is driven to move the lower forks 24, 25 to the standby position, and the engagement between the bumper 84 and the load W is released. As a result, even when the width of the load W is small and the center of the load W placed on the conveyor at the entrance 6 in the width direction does not coincide with the center of the load receiving portion 21, FIG. As shown in (b), the load W is stored in the storage unit 3 with the center in the width direction being the predetermined position of the storage unit 3.

Next, the rotation actuators 76 and 77 are driven, and stopped when the sensors S9 and S11 output an ON signal, and the levers 80 and 81 are arranged at the retracted positions. Next, the motor M is driven to return the middle forks 49 and 50 and the upper forks 51 and 52 to the standby position. Then, one cycle of the operation of transferring the load W from the load storage unit 21 to the shelf 5 of the storage unit 3 is completed.

When the load W is taken out from the storage section 3 of the right frame shelf 2b and stored in the other storage section 3 on the right side,
Fork device 14 is similarly operated. On the other hand, when the load W is stored in the left frame shelf 2a and when the load W is discharged from the outlet 7, when the middle forks 49, 50 and the upper forks 51, 52 move to the advanced position, as shown in FIG.
Is moved toward the left side of Therefore, the point that the crane controller 17 drives the motor M to rotate in the opposite direction to that described above is different from the point that the stop position at the advanced position is performed based on the detection signal of the sensor S6, and the other control is the same.

This embodiment has the following effects. (A) The load W to be transferred prior to the movement of the load W in the transfer direction has a center in the width direction of the upper forks 51, 52.
Is placed in a state that coincides with the center of the load W, that is, after the load W is centered, the load W is transferred while the movement in the width direction is restricted. Therefore, even if the size of the load W is different, the posture of the load W and the placement position of the storage unit 3 with respect to the shelf 5 do not vary, and are arranged at predetermined positions. Also,
When loading the load W from the storage opening 6 using the belt conveyor, it is not necessary to change the stop position of the stacker crane 10 according to the difference in the width direction of the load W, and the control of the stacker crane 10 is not complicated.

(B) When the carriage 13 is moved up and down and the stacker crane 1
When the vehicle travels at zero, the load W is held in a state of being engaged with both bumpers 84 (engaging portions). Therefore, the stacker crane 10
When the vehicle is traveling or when the carriage 13 is moved up and down, the displacement of the load W is less likely to occur.

(C) The upper forks 51, 52 are held while the load W is held by the bumper 84 with a predetermined pressing force.
Of the upper forks 51, 5
The load W is less likely to be damaged as compared with the case where the pinch 2 is pinched.

(D) The levers 80 and 81 as the engagement members for engaging the rear end of the load W in the transfer direction with respect to the load W with respect to the load W on the load portion 21 in the transfer direction. It is pivotally disposed at an end in an operable position where it can be engaged and a retracted position where it cannot be engaged. Therefore, the stop position of the carriage 13 in the vertical direction is determined when the load W is stored in the storage unit 3 and when the load W is stored in the storage unit 3.
The transfer operation can be performed at the same position as when unloading the load W from the warehouse, and the stop position control is simplified. Further, there is no need to secure a space for the upper forks 51 and 52 to move above the load W.

(E) As a first drive means for changing the distance between the lower forks 24, 25, a wrapping transmission mechanism having endless ropes (chains 42, 43) is used, so that a ball screw is used. The moving speed can be increased as compared with the mechanism used. In addition, the chains 42 and 43 are used as ropes, and the chains 42 and 43 are driven via sprockets. Therefore, the chain 42,
43 surely runs without slipping.

(F) Since the levers 80 and 81 are directly rotated by the rotary actuators 76 and 77 provided on the upper forks 51 and 52 so as to extend along the longitudinal direction thereof, the levers 80 and 81 are rotated. The mechanism for rotating and disposing 81 in the retracted position and the operating position is simplified. As a result, the number of parts of the rotating mechanism of the levers 80 and 81 is reduced, so that the number of assembling steps is reduced, the space required for disposing the rotating mechanism can be reduced, and the dead space in the storage section 3 can be reduced. it can. Further, the weight is reduced, and the power consumption of the motor M, the motor 39 and the like can be reduced.

(G) Middle forks 49, 50 have horizontal portions 49a, 50a and upper support portions 49b, 50 extending upward at substantially first angles at the first ends of horizontal portions 49a, 50a.
b and lower support portions 49c, 50c extending substantially perpendicularly downward at the second ends of the horizontal portions 49a, 50a.
Then, lower forks 24 and 25 and middle fork 4
A linear motion joint 53 that supports 9, 50 so as to be relatively movable.
And middle forks 49, 50 and upper fork 5
Linear joint 54 for supporting the first and the second movably relative to each other
Are arranged vertically above and below the horizontal portions 49a and 50a. Therefore, the middle forks 49 and 50 and the upper forks 51 and 5 that enter the storage section 3 during the transfer operation of the load W.
2, the width of the fork device 14 can be reduced while securing the necessary strength, and the fork device 14 can be reduced in size. Further, the dead space in the storage unit 3 can be reduced, and the storage efficiency of the automatic warehouse 1 can be increased.

(H) The middle forks 49, 50 are supported by the lower forks 24, 25 via the linear joints 53 located above the horizontal portions 49a, 50a in the upper support portions 49b, 50b, and the lower support portions 49c, 50b At 50c, the upper forks 51, 52 are supported via the linear motion joint 54 located below the horizontal portions 49a, 50a.
Sprockets 59, 60 for moving the upper forks 51, 52 are disposed inside the upper support portions 49b, 50b so as to be located in a vertical plane parallel to the middle forks 49, 50. Therefore, a space for disposing the sprockets 59, 60 and the chains 65, 67 can be secured without increasing the width or height of the middle forks 49, 50 and the upper forks 51, 52.

(I) The rotary actuators 76 and 77, the microswitches 89 and 90, and the sensors S9 to S14 mounted on the upper forks 51 and 52 are connected to the connectors 92 attached to the upper forks 51 and 52 by lead wires (wiring). ). Therefore, those lead wires are not affected by the movement of the upper forks 51, 52,
Unlike the case where the wiring is directly connected to the power supply on the carriage 13 side, the wiring work is facilitated and the space for the wiring can be reduced.

(G) Rollers 22 are provided at both ends of the loading portion 21 in the load transfer direction such that the highest part of the peripheral surface thereof is slightly higher than the upper surface of the loading portion 21. Therefore,
Even when the stop position of the carriage 13 is slightly shifted in the vertical direction, and the height of the upper surface of the loading portion 21 and the upper surface of the shelf plate 5 of the storage portion 3 are slightly shifted, the transfer of the load W is performed smoothly. When the loading section 21 is configured by arranging a large number of rollers so as to extend in a direction orthogonal to the load transfer direction, the transfer of the load W is performed smoothly even if the stop position of the carriage is slightly shifted. ,
The structure becomes complicated, and the load W may shift in the transfer direction while the stacker crane 10 is running or the carriage 13 is moved up and down.

(L) A slide rail unit in which a support rail and a rail-shaped ball slider as a linear motion joint are unitized is used, and the support rails are used as middle forks 49 and 50. Therefore, the middle forks 49,5 with respect to the lower forks 24,25
0 and the upper forks 51, 52 with respect to the middle forks 49, 50 can be easily assembled.

(ヲ) A motor having a cylindrical rotating portion (drive shaft) 79 is used as the rotating actuators 76, 77, and slits 79a, 79b are formed in the rotating portion 79 to provide sensors S9 to S12. Are formed. Therefore, compared with the case where a dog is newly provided as the detected part, the number of parts is small, and the size can be reduced.

(F) Since not only the lever located on the rear side in the transfer direction of the load W but also the lever located on the front side is simultaneously rotated, only the lever located on the rear side in the transfer direction of the load W is used. The lever 80,
The rotation control of 81 is simplified.

(Y) Storage section 3, entrance 6 and exit 7
The sensors S1 and S2 for detecting the load W are disposed at the center in the width direction of the load portion 21 in a state of being sandwiched between the rollers 27. Therefore, it is easy to confirm the presence or absence of the load W in the storage section 3 and the entrance 6, and furthermore, both the rollers 22 serve as protective members, and the sensors S 1 and S 2 are less likely to collide with obstacles.

(T) Fork device (load transfer device) 14
Can be made lighter than before, so that the power consumption of the traveling motor 15 for traveling the stacker crane 10 and the lifting motor 16 for lifting and lowering the carriage 13 is reduced.

The embodiment is not limited to the above, but may be embodied as follows, for example. The chains 42, 43 and the sprockets 37a, as a wrapping transmission mechanism constituting first driving means for moving the lower forks 24, 25 in a direction perpendicular to the load transfer direction.
Instead of the configuration using 37b, 38a, 38b, etc.,
A configuration using a toothed belt and a toothed pulley as ropes is used. In this case, the same effect is exhibited. Further, a belt or a wire may be used as a rope instead of the chains 42 and 43, and a pulley may be used instead of the sprocket.

The guide sprocket 41 may be omitted. A winding transmission mechanism may be provided at a position corresponding to the center of the lower forks 24, 25, and the lower forks 24, 25 may be moved by a single chain. In this case, the configuration is simplified.

The first drive means for moving the lower forks 24, 25 in a direction perpendicular to the load transfer direction may employ a configuration using a ball screw. For example, a pair of support members are provided between the support members 20 outside the lower forks 24 and 25 in parallel with the lower forks 24 and 25. Then, a ball screw shaft extending in a direction orthogonal to the load transfer direction is provided between the two support members. The ball screw shaft has a right-hand thread on one side of the shaft and a left-hand thread on the other side.
Ball nuts screwed to the screw shafts are fixed to the lower forks 24 and 25, respectively. The ball screw shaft is driven forward and reverse by a motor. In this case, the configuration is simpler than that having the wrapping transmission mechanism.

A motor having a general rod-shaped drive shaft or a rotary solenoid is used as the rotary actuators 76 and 77. Also in these cases, the structure is simplified because the levers 80 and 81 are directly rotated by the rotation actuator.

The side picking type load transfer device may be applied to a load transfer device having a structure disclosed in Japanese Patent Application Laid-Open No. 8-290805. For example, as the engaging members that can be engaged with the load W at the rear end in the transfer direction when the reciprocating members (upper forks 51, 52) move in the load transfer direction, the retreat position and the operation position are set. The upper fork 5 instead of the levers 80 and 81 that are pivotally arranged between
A load pressing member protruding in a direction perpendicular to the load transfer direction is disposed inside the first and second members. Also in this case, the effects (a) and (b) can be obtained by centering the load W.

In place of the bumper 84, an engagement portion having no buffering action may be provided inside the upper forks 51, 52. Further, the bumper 84 and the engaging portion are provided on the upper fork 5.
The configuration is not limited to the configuration extending over substantially the entire length of the first and the second 52, and a plurality of short bumpers 84 and engagement portions may be provided. Further, the inner surfaces of the upper forks 51, 52, for example, the hanging pieces 51a, 52a of the above embodiment may be used as the engaging portions. In this case, the configuration is simplified.

Instead of a structure in which the lever located on the rear side in the transfer direction of the load W and the lever located on the front side are simultaneously rotated, only the lever located on the rear side in the transfer direction of the load W is replaced with a lever. It is configured to rotate to the operating position. In this case, compared to a configuration in which all levers are driven simultaneously, the levers 80,
The power consumption for driving 81 is reduced.

The loading port 6 may be a loading table for loading a load of a self-propelled truck equipped with a forklift or a load transfer device instead of a belt conveyor. The operation position of the levers 80 and 81 is not limited to the position extending obliquely downward toward the loading portion 21, but may be a horizontal position or a position extending obliquely upward.

Move the lever to the retracted position until the lever and the load W are disengaged from the upper fork 5
1, 52 are moved, and then the upper forks 51, 52 are returned to their original positions. In this case, when the levers 80 and 81 rotate, they do not friction with the load W, and the durability is improved.

The roller 22 may be omitted. A block-shaped slider is used as the linear motion joints 53 and 54 instead of the rail-shaped slider.

Instead of the rolling guides as the linear motion joints 53 and 54, a sliding guide in which the moving member slides along the grooves, or a minute guide between the guide grooves by utilizing the repulsive action of a magnet. A magnetic levitation guide that moves in the presence of a gap is used.

A reflection type optical sensor or a limit switch (micro switch) may be used as the sensors S5 to S8. The sensors S5 to S8 may be provided only on one of the lower forks 24 and 25.

A plurality (for example, 2
) May be applied to a type of stacker crane equipped with the fork device 14. The present invention may be applied to a multistage load transfer device used for a frame shelf in which a front shelf and a rear shelf are arranged so that two loads can be stored in the depth direction.

Instead of mounting the fork device 14 on the stacker crane 10, the fork device 14 may be mounted on a self-propelled trolley (unmanned transport vehicle) traveling on a passage other than the passage of the automatic warehouse. For example, a self-propelled trolley that carries the load W into the entrance 6,
It is equipped on a self-propelled trolley that carries out the load W from the exit 7.

The technical ideas (inventions) other than those described in the claims, which have been grasped from the above embodiments, will be described below together with their effects. (1) In a load transfer method for transferring a load between a loading section of a load transfer device mounted on a stacker crane according to claim 5 and a storage section for loading a load on a shelf board. Before moving the load in the load transfer direction in a state in which the load is engaged with the engaging member, the load moving device of the load transfer device is moved in a direction orthogonal to the load transfer direction so as to reduce the distance therebetween. The center of the load in the width direction is aligned with the center of the load in the width direction, and thereafter, the loading / unloading member is moved in the load transfer direction to transfer the load to a predetermined position. Method. In this case, even if the size of the load is different, the position of the load and the placement position of the storage unit with respect to the shelf plate do not vary, and are arranged at predetermined positions. In addition, when loading the load W from the storage opening using the belt conveyor, it is not necessary to change the stop position of the stacker crane according to the difference in the width direction of the load, and the control of the stacker crane does not become complicated.

(2) In the invention according to claim 3,
The lever is integrally and rotatably connected to a drive shaft of a rotation actuator disposed on the upper and lower of the moving member so as to extend in the longitudinal direction thereof. In this case, the mechanism for pivotally disposing the lever between the retracted position and the operating position is simplified. As a result, the number of parts of the lever rotation mechanism is reduced, so that the number of assembly steps is reduced, and the space required for disposing the rotation mechanism can be reduced.

(3) In the invention according to claim 5,
At the end of the loading section in the load transfer direction, a roller is provided such that the highest part of the peripheral surface thereof is slightly higher than the upper surface of the loading section. In this case, even when the stop position of the carriage is slightly shifted in the vertical direction, and the height of the upper surface of the loading portion and the upper surface of the shelf plate of the storage portion of the automatic warehouse are slightly shifted, the transfer of the load is performed smoothly. .

(4) An automatic warehouse provided with the stacker crane according to claim 5 or (3). In this case, even if the posture of the load is correct, it is corrected by centering performed before the transfer, and the load is less likely to fall during the transfer. In addition, when the load is received from the storage opening using the belt conveyor, the stop position of the stacker crane does not need to be changed according to the difference in the width direction of the load, and the control of the stacker crane does not become complicated.

The phrase “the center in the width direction of the load substantially coincides with the center of the two reciprocating members” as used in the present specification means not only the case where the center completely coincides with the physical movement of the both members, but also the case where the load is transferred. It also includes a state in which a deviation within a range that does not interfere with the mounting is allowed. The “endless rope” means a chain, a belt, a wire, or the like that runs around a rotating body such as a sprocket or a pulley in a winding transmission mechanism. "Centering" means that the center position of the load in the width direction is substantially coincident with the center of both the reciprocating members. "Linear joint"
Is to the support base (support rail) extending linearly,
Means a moving body (slider) movably supported along the support table, a rolling guide configured to be guided via rolling elements (balls, rollers), a sliding guide sliding on the support table, and a magnet Magnetic levitation guides utilizing the repulsive force of the robot.

[0095]

As described in detail above, claims 1 to 5 are provided.
According to the invention described in (1), the centering operation is performed prior to the transfer of the load, so that even if the size of the load is different, the position of the load and the mounting position on the shelf can be prevented from being varied.

According to the second aspect of the present invention, the load is held at the center of the moving member while being held by the bumper with a predetermined pressing force. The load is less likely to be damaged as compared to.

According to the third aspect of the invention, unlike the running fork type load transfer device, the load transfer operation can be performed in a state where the load receiving portion is arranged at a predetermined height position.

According to the fourth aspect of the present invention, the distance between the guide rails is changed by using the wrapping transmission mechanism having the endless cable, so that the distance between the guide rails is greater than that of the mechanism using the ball screw. Speed can be increased.

According to the fifth aspect of the present invention, it is not necessary to change the stop position of the stacker crane according to the difference in the width direction of the load when loading the load from the storage opening using the belt conveyor. Control is not complicated.

[Brief description of the drawings]

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

FIG. 2 is a schematic side view.

FIG. 3 is a partially omitted sectional view taken along the line III-III in FIG. 1;

4A is a schematic plan view of an automatic warehouse, and FIG. 4B is a schematic side view.

FIG. 5 is a schematic perspective view of a drive mechanism for changing the width of the lower fork.

FIG. 6 is a partially enlarged view of FIG. 1;

FIG. 7 is a partially omitted cross-sectional view taken along the line VII-VII of FIG. 2;

FIG. 8 is a partially omitted cross-sectional view corresponding to FIG. 7 and showing a support state of the chain.

FIG. 9 is a schematic perspective view of a block supporting a chain.

FIG. 10 is a sectional view showing a support state of the sprocket.

FIG. 11 is a side view of the upper fork.

FIG. 12A is a plan view showing a support state of a rotary actuator, and FIG. 12B is a partial plan view showing a support state of a bumper.

FIG. 13 is a side view of a rotating unit.

14A is a cross-sectional view taken along the line AA of FIG. 13, FIG.
13 is a sectional view taken along line BB of FIG.

FIG. 15 is a schematic perspective view of a conventional device.

FIG. 16 is a schematic side sectional view showing the load transfer operation of the same.

FIG. 17 is a schematic side sectional view showing the load transfer operation in the same manner.

FIG. 18 is a schematic plan view of a conventional device.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 10 ... Stacker crane, 13 ... Carriage, 14 ... Fork apparatus as a load transfer apparatus, 21 ... Loading section, 23
... Support rails, 24, 25 ... Lower fork as guide rails, 39 ... Motor constituting first drive means, 3
7a, 37b, 38a, 38b: a sprocket constituting a wrapping transmission mechanism as a first driving means; 40, a driving sprocket; , 4
8a, 48b... Pinions constituting the second driving means, 4
9,50: Middle fork as a moving member
1, 52: Upper fork, 57: Rack constituting second drive means, 59, 60: Sprocket, 65, 67: Chain, 76, 77: Rotating actuator, 80, 81: Engaging member Lever,
Reference numeral 84 denotes a bumper as an engagement portion, 89 and 90... A microswitch as detection means, M. A motor constituting second driving means, and W.

Claims (5)

[Claims] 1. A loading section on which a load is placed, and a direction extending on both sides of the loading section along a loading direction with respect to the loading section and orthogonal to the loading direction. A pair of guide rails disposed so as to be able to reciprocate, a first drive means for reciprocating the guide rails, and a retractable movement supported by the guide rails and movable along the guide rails. A second driving unit that reciprocates the member between a standby position and an advanced position; and a member that is provided on the member and moves the member in the load transfer direction. An engagement member that can be engaged with the load on the load placement portion at the rear end in the transfer direction; and an engagement member that is provided on each of the outgoing / retreating members and can engage with the end surface in the width direction of the load. An engaging portion, provided on each of the two reciprocating members, Detecting means for detecting that the center in the width direction of the load substantially coincides with the center of the two reciprocating members in a state in which the first driving means is engaged with the two engaging portions; And control means for controlling to stop driving of the first drive means based on the detection signals output from the two detection means in a state where the drive control is performed in a direction in which the distance between the first and second detection means is reduced. Loading device. 2. The method according to claim 1, wherein the engaging portion includes a bumper provided so as to extend along the inside of each of the moving members so as to be opposed to each other, and the detecting means presses the bumper with a force equal to or more than a predetermined value. The load transfer device according to claim 1, wherein the load transfer device is a sensor that outputs a detection signal when the load is detected. 3. An operating position in which the engaging member can be engaged with a load on the loading portion at a rear end in the transfer direction when the moving member is moved, and a retractable position in which the engaging member cannot be engaged. 3. The load transfer device according to claim 1, wherein the load transfer device is a lever that is rotatably arranged with the load transfer device. 4. A winding transmission mechanism having an endless cable arranged to move in a vertical plane orthogonal to both guide rails, and the first driving means includes: A driving motor, and the guide rails are movably supported along a support rail arranged to extend in a direction orthogonal to the loading section, and a part of the guide rail is connected to the cable. The load transfer device according to claim 1, wherein: 5. A stacker crane comprising a load transfer device according to claim 1 on a vertically movable carriage.