Patent Grant
11554944
This application is based upon and claims the benefit of priority from Japanese patent application No. 2019-087462, filed on May 7, 2019, the disclosure of which is incorporated herein in its entirety by reference.
The present disclosure relates to a fork lift device, for example, a fork lift device including first and second forks that are moveable laterally and vertically with respect to the traveling direction of the fork lift.
A general fork lift device is configured so that when objects to be conveyed are stacked in a multi-tier state and one of them is to be pulled out from a lower tier, it can pull out that object to be conveyed by using a plurality of forks. For example, a two-tier type fork lift device disclosed in Japanese Unexamined Patent Application Publication No. H7-237900 has a configuration in which an upper fork and a lower fork are provided integrally with a mast that is expandable/contractible in a vertical direction such that the upper fork and the lower fork are moveable laterally and rotatable about a rotary shaft extending vertically. In this fork lift device, only the upper fork is provided on the mast in a vertically moveable manner.
In this kind of two-tier type fork lift device, when an object to be conveyed (hereinafter also referred to as a conveyance object) is pulled out from a lower tier in a multi-tier state, the upper fork and the lower fork are rotated about the rotary shaft so as to extend laterally. Then, first, the upper fork is moved laterally in either the rightward or the leftward direction so as to support a conveyance object in an upper tier with respect to the conveyance object in the lower tier, and then, the lower fork is moved laterally in the same direction (i.e., either the rightward or the leftward direction) so as to support the conveyance object in the lower tier. Then, by moving the lower fork laterally in the opposite direction (i.e. either in the rightward or the leftward direction) while supporting the conveyance object in the lower tier, the conveyance object in the lower tier is pulled out.
The applicant of the present disclosure has found the following problem. In the two-tier type fork lift device disclosed in Japanese Unexamined Patent Application Publication No. H7-237900, when the upper fork is lowered so as to place the conveyance object supported by the upper fork on the floor after the conveyance object in the lower tier is pulled out, the lower fork is positioned on the side laterally opposite to the side on which the upper fork is positioned.
Since only the upper fork is disposed integrally with the mast in the vertically moveable manner in the two-tier type fork lift device disclosed in Japanese Unexamined Patent Application Publication No. H7-237900, when the upper fork is withdrawn from a pallet on which the conveyance object is placed in the above-described state, the lower fork cannot be receded therefrom, and thus the two-tier type fork lift device itself needs to be moved to the side laterally opposite to the side on which the upper fork is positioned. Consequently, it becomes necessary to secure, in an aisle in a warehouse where conveyance objects are stored, a space where the two-tier type fork lift device can be moved to the side laterally opposite to the side on which the upper fork is positioned when pulling out a conveyance object from a lower tier in a multi-tier state.
The present disclosure has been made in view of the aforementioned problem and provides a fork lift device that contributes to space-saving in regard to the width of an aisle in a warehouse.
An exemplary aspect according to the present disclosure is a fork lift device including:
a first fork and a second fork moveable in a lateral direction and a vertical direction with respect to a traveling direction; and
an interchanging mechanism configured to interchange vertical positions of the first fork and the second fork.
By this configuration, there is no need to laterally move the fork lift device when the first fork and the second fork are withdrawn from the conveyance object and thus, it is possible to contribute to space-saving in regard to the width of an aisle in a warehouse where the conveyance object is stored.
In the aforementioned fork lift device, the interchanging mechanism may include:
a first mast;
a second mast disposed at an interval from the first mast in the traveling direction;
a first moving mechanism provided on the second mast side of the first mast in a moveable manner in the vertical direction and configured to move the first fork in the lateral direction; and
a second moving mechanism provided on the first mast side of the second mast in a moveable manner in the vertical direction and configured to move the second fork in the lateral direction, in which
positions of the first fork and the second fork in the vertical direction are interchanged by moving the first fork or the second fork in the lateral direction.
By this configuration, it is possible to restrain the fork lift device from becoming large lengthwise in a longitudinal direction thereof.
In the aforementioned fork lift device, the length of one of the first moving mechanism and the second moving mechanism in the lateral direction may be shorter than the length of the other moving mechanism in the lateral direction.
By this configuration, it is possible to reduce the weight of the fork lift device as well as the cost of the components thereof.
In the aforementioned fork lift device, the interchanging mechanism may include a third moving mechanism configured to move one of the first fork and the second fork in the traveling direction or in the direction opposite to the traveling direction.
By this configuration, the first fork and the second fork can be readily disposed at positions that are shifted from each other in the longitudinal direction.
In the aforementioned fork lift device, the interchanging mechanism may include an interval changing mechanism configured to change an interval between claw parts of the first fork or the second fork.
By this configuration, even when the sizes differ among the conveyance objects, it is possible to convey the conveyance objects satisfactorily, and the versatility of the fork lift device can be enhanced.
In the aforementioned fork lift device, the interchanging mechanism may include a rotating mechanism configured to rotate the first fork or the second fork about the rotary shaft extending vertically.
By this configuration, the conveyance object can be pulled out satisfactorily even when the conveyance object to be pulled out is disposed in a rotated state relative to a conveyance object in another tier.
The aforementioned fork lift device includes:
a first fork lift in which the first mast is supported by a first carriage; and
a second fork lift in which the second mast is supported by a second carriage,
and the first and second fork lifts may be synchronously controlled to make them perform identical tasks.
By this configuration, the first fork lift and the second fork lift can be moved independently of each other besides the case where a conveyance object is pulled out from a lower tier in a multi-tier state.
According to the present disclosure, it is possible to realize a fork lift device that can contribute to space-saving in regard to the width of an aisle in a warehouse.
The above and other objects, features and advantages of the present disclosure will become more fully understood from the detailed description given hereinbelow and the accompanying drawings which are given by way of illustration only, and thus are not to be considered as limiting the present disclosure.
Specific embodiments to which the present disclosure is applied will be described hereinafter in detail with reference to the drawings. However, the present disclosure is not limited to the embodiments shown below. Further, the following descriptions and drawings are simplified as appropriate for clarifying the explanation.
First, a fork lift device according to this embodiment is explained.
In order to clarify the explanation given below, a three-dimensional (XYZ) coordinate system is used. The Y-axis positive side is the traveling direction side of the fork lift device, the X-axis positive side is the right-hand side of the fork lift device, the X-axis negative side is the left-hand side of the fork lift device, the Z-axis positive side is the upper side of the fork lift device, and the Z-axis negative side is the lower side of the fork lift device.
The fork lift device 1 according to this embodiment includes, as shown in
The carriage 2 includes a frame part 2a and a driving part 2b. The frame part 2a has, for example, a U-shape when viewed in the Z-axis direction and includes a first part 2c extending in the Y-axis direction, a second part 2d protruding from an end of the first part 2c on the Y-axis negative side to the X-axis positive side, and a third part 2e protruding from an end of the first part 2c on the Y-axis positive side to the X-axis positive side.
Further, a space 2f formed by the first part 2c, the second part 2d, and the third part 2e when viewed in the Z-axis direction has enough room to place the conveyance object therein. A plurality of adjustable casters 2g are provided to a surface of the frame part 2a on the Z-axis negative side.
The driving part 2b includes, for example, a wheel 2h provided in a rotatable manner to a bottom part that protrudes from the frame part 2a to the Y-axis negative side. The wheel 2h is rotated by rotational driving power transmitted from a motor 2i. The traveling and the rotating of the fork lift device 1 in the Y-axis direction is realized when the wheel 2h is rotated by the driving power transmitted from the motor 2i. The wheel 2h and the motor 2i are covered with a cover 2j. However, the driving part 2b may be structured in any way as long as it is capable of letting the fork lift device 1 travel.
The first fork 3 has a shape which enables the conveyance object to be supported. The first fork 3 includes, for example, a base part 3a and claw parts 3b. The base part 3a has a plate-like shape the length of which in the Y-axis direction is longer than the height thereof in the Z-axis direction. The claw parts 3b are provided in the base part 3a with an interval therebetween in the Y-axis direction, and protrude from the base part 3a to the X-axis positive side.
To be more specific, each of the claw parts 3b has a substantially L-shape when viewed in the Y-axis direction and includes a first part 3c extending in the Z-axis direction and a second part 3d protruding from an end of the first part 3c on the Z-axis negative side to the X-axis positive side. Further, an end of the first part 3c on the Z-axis positive side is fixed to the base part 3a. By this configuration, the claw parts 3b are provided so as to hang down from the base part 3a. The second parts 3d of this kind of claw parts 3b are inserted into, for example, a fork insertion hole of the pallet for a conveyance object when the fork lift device pulls out the conveyance object.
The second fork 4 includes a base part 4a and claw parts 4b, and since the configuration of the second fork 4 is the same as that of the first fork 3, duplicate explanation thereof is omitted. Further, each of the claw parts 4b includes a first part 4c extending in the Z-axis direction and a second part 4d protruding from an end of the first part 4c on the Z-axis negative side to the X-axis positive side, and an end of the second part 4d on the Z-axis positive side is fixed to the base part 4a.
The interchanging mechanism 5 interchanges the positions of the first fork 3 and the second fork 4 in the Z-axis direction. Here, the interchanging mechanism 5 of this embodiment is configured such that the positions of the first fork 3 and the second fork 4 in the Z-axis direction can be interchanged by moving the forks in the X-axis direction, the detailed movement of which will be described later. The interchanging mechanism 5 includes, for example, a first mast 11, a second mast 12, a first moving mechanism 13, and a second moving mechanism 14.
The first mast 11 protrudes from the second part 2d of the frame part 2a to the Z-axis positive side and includes an ascending/descending mechanism 11a that moves the first moving mechanism 13 in the Z-axis direction. As the ascending/descending mechanism 11a, an ascending/descending mechanism used in a general fork lift device can be used. For example, a slider provided in a moveable manner in the Z-axis direction with respect to the first mast 11 is ascended/descended by driving a motor 11b, and the first moving mechanism 13 is fixed to the Y-axis positive side of the slider.
The second mast 12 protrudes from the third part 2e of the frame part 2a to the Z-axis positive side and includes an ascending/descending mechanism 12a that moves the second moving mechanism 14 in the Z-axis direction. The ascending/descending mechanism 12a has substantially the same configuration as that of the ascending/descending mechanism 11a. That is, the ascending/descending mechanism 12a is configured such that a slider provided on the second mast 12 in a moveable manner in the Z-axis direction is ascended/descended by driving a motor 12b, and the second moving mechanism 14 is fixed to the Y-axis negative side of the slider. The interval between the first mast 11 and the second mast 12 described above in the Y-axis direction is wider than at least the width of the conveyance object.
The first moving mechanism 13 is configured such that the first fork 3 can be moved in the X-axis direction. To be more specific, as the first moving mechanism 13, a horizontal moving mechanism used in a general fork lift device can be used. For example, a slider moves on a rail that is fixed to the ascending/descending mechanism 11a of the first mast 11 and that extends in the X-axis direction by driving a motor 13a.
This kind of slider includes an arm part 13b that protrudes from the slider to the Y-axis positive side. Further, an end of the arm part 13b on the Y-axis positive side is fixed to the base part 3a of the first fork 3. Accordingly, a configuration in which the first fork 3 is moveable in the X-axis direction and the Z-axis direction is realized.
The second moving mechanism 14 is configured such that the second fork 4 can be moved in the X-axis direction. To be more specific, the second moving mechanism 14 has substantially the same configuration as that of the first moving mechanism 13. For example, a slider moves on a rail that is fixed to the ascending/descending mechanism 12a of the second mast 12 and that extends in the X-axis direction by driving a motor 14a.
This kind of slider has an arm part 14b that protrudes from the slider to the Y-axis negative side. Further, an end of the arm part 14b on the Y-axis negative side is fixed to the base part 4a of the second fork 4. Accordingly, a configuration in which the second fork 4 is moveable in the X-axis direction and the Z-axis direction is realized.
At this time, the second parts 3d of the claw parts 3b of the first fork 3 protrude from the end of the fork lift device 1 on the X-axis positive side in a state in which the first fork 3 is disposed on the farthest side of the X-axis positive side, and further, the second parts 4d of the claw parts 4b of the second fork 4 protrude from the end of the fork lift device 1 on the X-axis positive side in a state in which the second fork 4 is disposed on the farthest side of the X-axis positive side.
Further, the first moving mechanism 13 and the second moving mechanism 14 have a moveable range in the X-axis direction within which the first fork 3 and the second fork 4 can be aligned in the X-axis direction in a state in which the first fork 3 or the second fork 4 is disposed on the farthest side of the X-axis positive side.
Here, the first fork 3 and the second fork 4 may be disposed at positions that are shifted from each other in the Y-axis direction so as to be disposed at the same height in the Z-axis direction without having them interfering with each other, the detailed function of which will be described later. At this time, the length of the second parts 3d and 4d in the Y-axis direction may be shorter than the width of the fork insertion holes of the respective pallets so that the second parts 3d of the claw parts 3b of the first fork 3 and the second parts 4d of the claw parts 4b of the second fork 4 that are shifted from each other in the Y-axis direction can be inserted into the fork insertion holes of the respective pallets on which the conveyance objects are placed in a multi-tier state.
The control unit 6 controls the motor 2i of the driving part 2b, the motor 11b of the ascending/descending mechanism 11a, the motor 12b of the ascending/descending mechanism 12a, the motor 13a of the first moving mechanism 13, and the motor 14a of the second moving mechanism 14, the details of which will be described later.
Next, a flow of how a desired conveyance object is pulled out is explained with reference to the fork lift device 1 according to this embodiment.
Note that in
Here, the conveyance object 7 is constituted of a pallet loaded with components etc., although the details of which are not shown in the figures. In the explanation given below, of the conveyance object 7 which is in a multi-tier state of 4 tiers, the conveyance object 7a which is in the lowest tier is pulled out. The pallet is a general pallet and its width dimension in the X-axis direction is 1000 mm and its width dimension in the Y-axis direction is 1400 mm. The size of the pallet is not limited.
Here, it is assumed that as an operator inputs a task command for pulling out the conveyance object 7a through an input unit (not shown), the fork lift device 1 autonomously performs a task of pulling out the conveyance object 7a. However, the task of pulling out the conveyance object 7a may also be realized by having the operator operate the fork lift device through an operation unit.
First, when the operator inputs positional information etc. of the conveyance object 7a through the input unit, the control unit 6 controls the motor 2i of the driving part 2b and lets the fork lift device 1 travel so that the fork lift device 1 is disposed on the X-axis negative side with respect to the conveyance object 7a as shown in
Next, the control unit 6 controls the motor 11b of the ascending/descending mechanism 11a, the motor 12b of the ascending/descending mechanism 12a, the motor 13a of the first moving mechanism 13, and the motor 14a of the second moving mechanism 14, and as shown in
At this time, when the length of the respective second parts 3d and 4d in the Y-axis direction is shorter than the width of the fork insertion holes of the respective pallets in the Y-axis direction so that the second parts 3d of the claw parts 3b of the first fork 3 and the second parts 4d of the claw parts 4b of the second fork 4 that are shifted from each other in the Y-axis direction can be inserted into the fork insertion holes of the respective pallets on which the conveyance objects 7a and 7 are placed in a stacked state, the second parts 3d and 4d can be inserted satisfactorily in the fork insertion holes of the respective pallets of the conveyance objects 7a and 7.
Next, the control unit 6 controls the motor 11b of the ascending/descending mechanism 11a and moves the first fork 3 to the Z-axis positive side so as to support the conveyance object 7 disposed on the Z-axis positive side with respect to the conveyance object 7a as shown in
Next, the control unit 6 controls the motor 11b of the ascending/descending mechanism 11a so as to move the first fork 3 to the Z-axis negative side and place the conveyance object 7 supported by the first fork 3 on the floor as shown in
Next, the control unit 6 controls the motor 12b of the ascending/descending mechanism 12a so as to move the second fork 4 that supports the conveyance object 7a to the Z-axis positive side and secure a space for the first fork 3 to enter on the Z-axis negative side of the second fork 4 as shown in
At this time, the second fork 4 is not disposed on the X-axis negative side with respect to the first fork 3 and a space for the first fork 3 to enter is secured. Therefore, the first fork 3 can be moved to the X-axis negative side, and there is no need to move the fork lift device 1 itself to the X-axis negative side when the second parts 3d of the claw parts 3b of the first fork 3 are withdrawn from the pallet on which the conveyance object 7 is placed.
Lastly, the control unit 6 controls the motor 12b of the ascending/descending mechanism 12a so as to move the second fork 4 to the Z-axis negative side and place the conveyance object 7a on the floor within the space 2f of the frame part 2a as shown in
At this time, since the second parts 3d of the claw parts 3b of the first fork 3 and the second parts 4d of the claw parts 4b of the second fork 4 can be disposed so as to be shifted from each other in the X-axis direction and the Y-axis direction, the second fork 4 can place the conveyance object 7a on the floor without interfering with the first fork 3.
As described above, the fork lift device 1 according to this embodiment is configured such that the positions of the first fork 3 and the second fork 4 in the Z-axis direction can be interchanged. Accordingly, it is possible to secure a space for the first fork 3 to enter on the X-axis negative side when withdrawing the second parts 3d of the claw parts 3b of first fork 3 from the pallet on which the conveyance object 7 is placed.
Therefore, when the first fork 3 is moved to the X-axis negative side, the second parts 3d of the claw parts 3b of the first fork 3 can be withdrawn from the pallet on which the conveyance object 7 is placed. Thus, since there is no need to move the fork lift device 1 itself to the X-axis negative side when withdrawing the second parts 3d of the claw parts 3b of the first fork lift 3 from the pallet on which the conveyance object 7 is placed, it is possible to contribute to space-saving for an aisle width at a warehouse where the conveyance object 7 is stored. As a result, it is possible to enhance the storage efficiency of the conveyance object 7 at a warehouse.
Moreover, there is no need to structure the fork lift device 1 in such a peculiar manner that the fork lift device 1 does a translational motion in the Y-axis direction. That is, for example, the fork lift device 1 according to this embodiment can be formed by employing the first mast 11 including the first moving mechanism 13 and the first fork 3 and the second mast 12 including the second moving mechanism 14 and the second fork 4 in place of the masts of a general fork lift device.
Further, the fork lift device 1 according to this embodiment has a structure in which the positions of the first fork 3 and the second fork 4 in the Z-axis direction can be interchanged by moving the forks in the X-axis direction by utilizing the storage space for the conveyance object 7 and thus, it is possible to restrain the fork lift device 1 from becoming large lengthwise in the Y-axis direction.
Here, the first moving mechanism 13 may be short lengthwise in the X-axis direction with respect to the second moving mechanism 14 as shown in
Note that when the length of each of the second parts 3d of the claw parts 3b of the first fork 3 and the second parts 4d of the claw parts 4b of the second fork 4 is substantially the same as the size of the fork insertion hole of the respective pallets in the Y-axis direction, first, the second parts 3d of the claw parts 3b of the first fork 3 are inserted into the fork insertion hole of the pallet on which the conveyance object 7 is placed, and the conveyance object 7 is moved to the Z-axis positive side and supported by the first fork 3, then, the fork lift device 1 is moved in the Y-axis direction so as to insert the second parts 4d of the claw parts 4b of the second fork 4 into the fork insertion hole of the pallet on which the conveyance object 7a is placed.
As shown in
The third moving mechanism 22 includes, for example, a hydraulic cylinder provided to the second part 2d of the frame part 2a, and is configured so as to move the first mast 11 in the Y-axis direction by expanding/contracting a rod of the third moving mechanism 22. The fourth moving mechanism 23 includes, for example, a hydraulic cylinder provided to the third part 2e of the frame part 2a, and is configured so as to move the second mast 12 in the Y-axis direction by expanding/contracting a rod of the fourth moving mechanism 23.
As described above, by employing a configuration in which the first mast 11 and the second mast 12 are movable in the Y-axis direction, it is possible to dispose the first fork 3 and the second fork 4 at positions that are shifted from each other in the Y-axis direction so as not to interfere with each other when, for example, the first fork 3 and the second fork 4 are disposed at substantially the same height in the Z-axis direction in order to place the conveyance object 7a on the floor.
However, the third moving mechanism 22 and the fourth moving mechanism 23 may be configured in any way as long as they can move the first mast 11 and the second mast 12 in the Y-axis direction. A linear actuator, for example, may be employed and the driving method thereof is not limited.
Further, in this embodiment, the moving mechanism is configured such that both of the first mast 11 and the second mast 12 are moveable in the Y-axis direction. However, it may be configured such that either the first mast 11 or the second mast 12 is moveable in the Y-axis direction.
Further, in this embodiment, the fork is moved in the Y-axis direction via the mast, however, the fork may be moved in the Y-axis direction without employing the mast. In this case, the moving mechanism in the Y-axis direction may be disposed between the arm part 13b of the first moving mechanism 13 and the base part 3a of the first fork 3 or between the arm part 14b of the second moving mechanism 14 and the base part 4a of the second fork 4. That is, the moving mechanism may have any configuration as long as it can move either the first fork 3 or the second fork 4 in the Y-axis direction.
As shown in
The first interval changing mechanism 32 includes, for example, a hydraulic cylinder in place of the base part 3a of the first fork 3, and is fixed to the arm part 13b of the first moving mechanism 13. Further, one of the claw parts 3b is fixed to the cylinder of the first interval changing mechanism 32 and the other claw part 3b is fixed to the rod of the first interval changing mechanism 32. By this configuration, the interval between the first claw parts 3b in the Y-axis direction is changed in accordance with the expansion/contraction of the first interval changing mechanism 32.
The second interval changing mechanism 33, for example, also includes a hydraulic cylinder disposed in place of the base part 4a of the second fork 4, and is fixed to the arm part 14b of the second moving mechanism 14. Then, one of the claw parts 4b is fixed to the cylinder of the second interval changing mechanism 33 and the other claw part 4b is fixed to the rod of the second interval changing mechanism 33. By this configuration, the interval between the second claw parts 4b in the Y-axis direction is altered owing to the expansion/contraction of the second interval changing mechanism 33.
By making the intervals between the claw parts 3b and between the claw parts 4b alterable in the Y-axis direction, for example, even when there are variations in the size of the pallets for the conveyance objects 7, it is possible to convey the conveyance objects 7 satisfactorily, and the versatility of the fork lift device can be enhanced.
However, the first interval changing mechanism 32 and the second interval changing mechanism 33 may be configured in any way as long as they can alter the interval in the Y-axis direction between the claw parts 3b or the claw parts 4b. For example, a linear actuator may be employed and the driving method thereof is not limited.
Further, in this embodiment, the interval changing mechanism is configured such that both the interval between the claw parts 3b and the interval between the claw parts 4b in the Y-axis direction are alterable. However, it may be configured such that the interval between the claw parts 3b or between the claw parts 4b in the Y-axis direction is alterable.
As shown in
The first rotating mechanism 42 includes, for example, a rotary shaft that extends in the Z-axis direction and connects the arm part 13b of the first moving mechanism 13 and the first fork 3 with each other, and a motor that rotates the rotary shaft, details of which are omitted in the figure. The first fork 3 rotates about the rotary shaft by driving the motor.
The second rotating mechanism 43 also includes, for example, a rotary shaft that extends in the Z-axis direction and connects the arm part 14b of the second moving mechanism 14 and the second fork 4 with each other, and a motor that rotates the rotary shaft, details of which are omitted in the figure. The second fork 4 rotates about the rotary shaft by driving the motor.
As described above, by making the first fork 3 and the second fork 4 rotatable, the conveyance object 7a can be pulled out in a satisfactory manner even when, for example, the conveyance object 7a to be pulled out is disposed in a rotated state relative to a conveyance object 7 in another tier.
However, the first rotating mechanism 42 and the second rotating mechanism 43 may be configured in any way as long as they can rotate the first fork 3 or the second fork 4, and the driving method thereof is not limited. Further, in this embodiment, both of the first fork 3 and the second fork 4 are structured to be rotatable. However, they may be structured such that either one of the first fork 3 or the second fork 4 is rotatable.
A fork lift device 51 according to this embodiment has substantially the same configuration as that of the fork lift device 1 according to the first embodiment except that a driving part 52 is disposed on the Z-axis negative side with respect to the frame part 2a. The driving part 52 includes, for example, a wheel 52a provided to a surface of the frame part 2a on the Z-axis negative side, and is configured to let the fork lift device 51 travel by rotating the wheel 52a using the motor.
As described above, by disposing the driving part 52 on the Z-axis negative side with respect to the frame part 2a, the length of the fork lift device 51 in the Y-axis direction can be shortened and the size of the fork lift device 51 can be reduced.
The fork lift device 61 according to this embodiment includes, as shown in
To be more specific, the first fork lift 62 includes, as shown in
The second fork lift 63 includes, as shown in
The communication unit 65 of the first fork lift 62 and the communication unit 68 of the second fork lift 63 described above can communicate with each other by cable or wireless communication, and, for instance, the positional information of the fork lift and the positional information of the fork etc. are transmitted/received. Accordingly, one of the fork lifts can acquire the positional information of the other fork lift and the positional information of the fork thereof.
The control unit 66 of the first fork lift 62 and the control unit 69 of the second fork lift 63 control their own fork lifts so as to achieve the task of pulling out the desired conveyance object 7a by synchronously controlling the first fork lift 62 and the second fork lift 63 based on the positional information of their own fork lifts, the positional information of the forks of their own fork lifts, the positional information of the other fork lifts, and the positional information of the forks of the other fork lifts. For example, in order to achieve the task of pulling out the conveyance object 7a shown in
As described above, by constructing the fork lift device 61 by using the first fork lift 62 and the second fork lift 63 that are separate from each other, the first fork lift 62 and the second fork lift 63 can be moved independently of each other apart from the case where the conveyance object 7 in the multi-tier state is pulled out from the lower tier.
Note that in this embodiment, the first fork lift 62 and the second fork lift 63 each includes a control unit, however, the first fork lift 62 and the second fork lift 63 may be controlled, for instance, by a control unit provided to a server.
The present disclosure is not limited to the embodiments mentioned above, and can be modified as appropriate without departing from the gist of the present disclosure.
For example, the fork lift device described above includes the first fork 3 and the second fork 4, however it may be of any configuration as long as it includes a plurality of forks.
For example, it is also possible to implement the fork lift device by combining the configuration of the fork lift device described in each embodiment.
From the disclosure thus described, it will be obvious that the embodiments of the disclosure may be varied in many ways. Such variations are not to be regarded as a departure from the spirit and scope of the disclosure, and all such modifications as would be obvious to one skilled in the art are intended for inclusion within the scope of the following claims.
| Number | Date | Country | Kind |
|---|---|---|---|
| JP2019-087462 | May 2019 | JP | national |
| Number | Name | Date | Kind |
|---|---|---|---|
| 20210309457 | Tsuji | Oct 2021 | A1 |
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| 108773798 | Nov 2018 | CN |
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| Number | Date | Country | |
|---|---|---|---|
| 20200354206 A1 | Nov 2020 | US |
