Fork assembly for storage/retrieval machine and storage/retrieval machine, method for conveying cartridges

Patent metadata

Field	Value
Publication number	US-9926137-B2
Application number	US-201314373922-A
Country	US
Kind code	B2
Filing date	Oct 22, 2013
Priority date	Jul 9, 2013
Publication date	Mar 27, 2018
Grant date	Mar 27, 2018

Abstract

A fork assembly ( 4 ) for storage/retrieval machine of high convey efficiency comprises: a rotating table ( 41 ); an extension arm ( 43 ) provided on the rotating table ( 41 ) and capable of conducting stretching motion; a driver unit ( 42 ) configured for driving the extension arm ( 43 ) to conduct the stretching motion; a control system ( 100 ) configured for controlling an operation of the driver unit ( 42 ); a position sensor ( 46 ) for the breakpoint which is connected to the control system ( 100 ) and configured for determining whether the extension arm ( 43 ) performs the stretching motion up to the breakpoint ( 9 ), and the breakpoint ( 9 ) is located between a maximum distance point ( 10 ) and a minimum distance point ( 8 ) to which the extension arm ( 43 ) extends.

First claim

The invention claimed is:

1. A fork assembly for storage/retrieval machine, comprising:
a rotating table;
an extension arm provided on the rotating table and capable of conducting a stretching motion;
a driver unit configured for driving the extension arm to conduct the stretching motion;
a control system configured for controlling an operation of the driver unit;
a position sensor for a breakpoint which is connected to the control system and configured to determine whether the extension arm performs the stretching motion up to the breakpoint,
wherein the extension arm comprises a first arm, a second arm and a third arm, an outer end of the first arm is hinged with the second arm, and an outer end of the second arm is hinged with the third arm,
the driver unit is directly connected with the first arm and configured for bringing the first arm to rotate horizontally to drive the extension arm to conduct the stretching motion, the position sensor is disposed at the breakpoint, the breakpoint is located on a motion trail of the first arm, and between a position where the first arm is located upon the extension arm extending to a maximum distance and a position where the first arm is located upon the extension arm extending a minimum distance.

2. The fork assembly for storage/retrieval machine according to claim 1 , wherein a distance between the breakpoint and the maximum distance point is greater than a depth of a storage rack.

3. The fork assembly for storage/retrieval machine according to claim 2 , wherein the position sensor for the breakpoint is configured to send signals to the control system when the extension arm extends to the breakpoint.

4. The fork assembly for storage/retrieval machine according to claim 3 , wherein the extension arm is provided with a sensing piece thereon, the position sensor for the breakpoint is provided on the rotating table, and when the extension arm extends to the breakpoint, the position sensor for the breakpoint is triggered by the sensing piece and then sends signals to the control system.

5. The fork assembly for storage/retrieval machine according to claim 3 , wherein the control system is configured to stop the drive unit upon the position sensor sending signals to the control system.

6. The fork assembly for storage/retrieval machine according to claim 1 , wherein the position sensor for the breakpoint is configured to send signals to the control system when the extension arm extends to the breakpoint.

7. The fork assembly for storage/retrieval machine according to claim 6 , wherein the extension arm is provided with a sensing piece thereon, the position sensor for the breakpoint is provided on the rotating table, and when the extension arm extends to the breakpoint, the position sensor for the breakpoint is triggered by the sensing piece and then sends signals to the control system.

8. The fork assembly for storage/retrieval machine according to claim 1 , wherein the driving unit comprises a rotary motor, the rotary motor is directly connected with the first arm.

9. A storage/retrieval machine comprising a walking unit, wherein the walking unit is provided with a main frame thereon and the main frame is provided with a lifting unit therein,
the lifting unit is connected with a transfer table and capable of driving the transfer table to move up and down,
the transfer table is equipped with a fork assembly thereon,
the fork assembly comprises:
a rotating table;
an extension arm provided on the rotating table and capable of conducting stretching motion;
a driver unit configured for driving the extension arm to conduct the stretching motion;
a control system configured for controlling an operation of the driver unit;
a position sensor for a breakpoint which is connected to the control system and configured for determining whether the extension arm performs the stretching motion up to the breakpoint,

wherein the extension arm comprises a first arm, a second arm and a third arm, an outer end of the first arm is hinged with the second arm, and an outer end of the second arm is hinged with the third arm, the driver unit is directly connected with the first arm and configured for bringing the first arm to rotate horizontally to drive the extension arm to conduct the stretching motion, the position sensor is disposed at the breakpoint, the breakpoint is located on a motion trail of the first arm, and between a position where the first arm is located upon the extension arm extending to a maximum distance and a position where the first arm is located upon the extension arm extending a minimum distance.

10. A method for conveying cartridges using the storage/retrieval machine according to claim 9 , comprising:
the control system of the storage/retrieval machine receives conveying instruction, controls the storage/retrieval machine to start to move toward the cartridge picking-up storage rack position, and at the same time, makes the extension arm protrude from the minimum distance point position to the breakpoint position, at this time the position sensor for the breakpoint sends signals to the control system and after receiving the signals the control system controls the extension arm to stop action;
after the storage/retrieval machine walks to the cartridge picking-up storage rack position, the storage/retrieval machine stops its movement, and the extension arm continues to protrude from the breakpoint position to the maximum distance point position so as to pick up the cartridges;
the extension arm picks up the cartridge and recedes from the maximum distance point position back to the breakpoint position, and at this time, the position sensor for the breakpoint sends signals to the control system, and after receiving the signals the control system controls the extension arm to stop action;
the storage/retrieval machine moves to the cartridge placing storage rack position, the storage/retrieval machine stops its movement, and the extension arm continues to protrude from the breakpoint position to the maximum distance point position;
the extension arm puts down the cartridge and recedes from the maximum distance point position back to the breakpoint position, and at this time, the position sensor for the breakpoint send signals to the control system, and after receiving the signals the control system controls the extension arm to stop action.

11. The method for conveying cartridges according to claim 10 , further comprising:
when the storage/retrieval machine moves toward the cartridge placing storage rack position,
whereas if the cartridge placing storage rack position and the cartridge picking-up storage rack position are at a same row, the storage/retrieval machine merely performs walking movement, and the extension arm is kept at the breakpoint position; or
whereas if the cartridge placing storage rack position and the cartridge picking-up storage rack position are not at a same row, the storage/retrieval machine moves while the extension arm recedes from the breakpoint position back to the minimum distance point position, then the extension arm rotates to a direction of the cartridge placing storage rack, the extension arm protrudes from the minimum distance point position to the breakpoint position, and at this time, the position sensor for the breakpoint sends signals to the control system and after receiving the signals the control system controls the extension arm to stop action.

Assignees

• Boe Technology Group Co Ltd
• Beijing Boe Display Tech Co

Inventors

• Hu Xiaohui
• Chen Jianyong
• Zhang Haitao
• Yoon Sung Hwan
• Wang Hong

Classifications

• B65G49/067

  Sheet handling, means, e.g. manipulators, devices for turning or tilting sheet glass (suction cups B65G49/061; combined with vertical conveyors C03B33/00 - C03B33/10; stacking and destacking B65G49/068) · CPC title

• B66F9/07 Primary

  Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers" · CPC title

• B65G1/137 Primary

  with arrangements or automatic control means for selecting which articles are to be removed · CPC title

• B66F9/24

  Electrical devices or systems · CPC title

• B65G1/04

  mechanical · CPC title