Storage equipment for storing and taking articles through article taking device with telescopic fork

Abstract

According to the storage equipment for storing and taking the articles through the article taking device with the telescopic forks, a transporter moving along a roadway is provided with the article taking device 1 capable of ascending and descending along a guide column, the article taking device 1 comprises two transverse fork transverse moving frames capable of oppositely translating in a reciprocating mode along a base frame guide rail, and the two transverse fork transverse moving frames are each provided with a transverse fork 121 which is used for bearing and transferring the articles and overhangs oppositely. And each group of transverse forks 121 are mutually staggered and inserted, and can independently and slightly ascend and descend to alternately bear articles. Any group of extending transverse forks 121 can be inserted into a shelf comb table 4 of a goods shelf to take and place goods. The transporter can also be provided with two groups of oppositely arranged longitudinal forks 311 to be inserted into the notches on the transverse forks 121 and to transfer and temporarily store the articles. Compared with the prior art, the transmission mechanism is simpler, the storage space utilization rate is higher, and the storing and taking speed is higher.

Description

Technical Field

[0001] The invention relates to an article storage device, and in particular to a mechanical storage device for storing and retrieving articles using an object retriever with a telescopic fork. Background Art

[0002] Currently, single-deep, bidirectional telescopic forks, consisting of three sections, are widely used in automated warehouses and intelligent storage systems. Stackers equipped with bidirectional telescopic forks can precisely store and retrieve goods from designated locations, effectively utilizing warehouse space and improving the automation and efficiency of warehouse logistics.

[0003] The above-mentioned two-way telescopic fork has the following defects:

[0004] 1. Each composite fork contains an upper fork, a middle fork and a lower fork, and is equipped with a complex gear rack or sprocket chain transmission mechanism, which is difficult to manufacture and install and has a high cost;

[0005] 2. In order to ensure the fork's carrying capacity, the fork arm height of the composite fork with complex transmission mechanism is relatively high, which occupies a large space at the bottom of the warehouse;

[0006] 3. Since there are usually only two compound forks and a single fork occupies a large width, the goods in the warehouse generally need to be placed on special pallets with limited structural dimensions and shapes. It is not suitable for direct storage and retrieval of cartons, cargo boxes, and bagged items of varying sizes.

[0007] In current automatic bin storage systems, bin robots with multi-layer temporary storage racks are commonly used to facilitate the storage and retrieval of multiple bins at a time.

[0008] This type of bin storage method has the following drawbacks:

[0009] 1. In order to ensure smooth passage of the material box robot and provide 90-degree rotation space for the material box grabbing device, the reserved aisle width is much larger than the reasonable size, resulting in low storage space utilization;

[0010] 2. The clamping or hook-pull type material box extraction and return device it adopts can generally only be used for special material boxes of specific sizes and shapes, and it is difficult to reliably handle material boxes, cartons, and bagged goods of different sizes. Summary of the Invention

[0011] Referring to the accompanying drawings, in order to solve the above-mentioned defects of the prior art, the present invention proposes a storage device for storing and retrieving items using a retriever with a telescopic fork, which is characterized by:

[0012] It includes a transporter that moves longitudinally in a longitudinal lane with shelf combing tables 4 for storing items arranged on the left and right sides,

[0013] The object retriever 1 of the transporter can be raised and lowered in the object retriever lifting channel of the transporter provided with the object retriever lifting guide pillar 21;

[0014] The object-retrieval device base frame 1 is provided with two left and right transverse fork transverse frames 13-1 and 13-2 which can be moved transversely left and right;

[0015] Each transverse fork traverse frame 13 is equipped with a transverse fork group 12 that can be raised and lowered between upper and lower limits;

[0016] The transverse fork group 12 on each transverse fork transverse moving frame 13 includes a plurality of transverse forks 121 arranged side by side in a transverse direction and cantilevered in parallel;

[0017] The transverse fork 121-1 of the transverse fork assembly 12-1 on the left transverse fork transverse frame 13-1 is cantilevered to the right;

[0018] The transverse fork 121-2 of the transverse fork group 12-2 on the right transverse fork transverse frame 13-2 is cantilevered to the left;

[0019] The cross forks 121 - 1 of the cross fork group 12 - 1 that overhangs to the right and the cross forks 121 - 2 of the cross fork group 12 - 2 that overhangs to the left are arranged alternately;

[0020] The gap between the adjacent transverse forks 121-1 that overhang rightward allows the transverse forks 121-2 that overhang leftward at the corresponding position to pass leftward; the gap between the adjacent transverse forks 121-2 that overhang leftward allows the transverse forks 121-1 that overhang rightward at the corresponding position to pass rightward;

[0021] The top bearing surface of the rightwardly cantilevered transverse fork 121 - 1 raised to the upper limit position is higher than the top bearing surface of the leftwardly cantilevered transverse fork 121 - 2 lowered to the lower limit position;

[0022] The top bearing surface of the left-overhanging transverse fork 121 - 2 raised to the upper limit position is higher than the top bearing surface of the right-overhanging transverse fork 121 - 1 lowered to the lower limit position;

[0023] When the left transverse fork traverse frame 13-1 moves to the left limit, and the right transverse fork traverse frame 13-2 moves to the right limit, the top bearing surface of the right-hanging transverse fork 121-1 and the top bearing surface of the left-hanging transverse fork 121-2 can alternately carry items through a lifting action;

[0024] The structure of the layer combing table 4 includes a plurality of combing table teeth arms 41 arranged horizontally;

[0025] When the transporter in the lane stops at a position aligned with a combing table 4-1 on the left side of the lane, the left-extending horizontal fork 121-2 of the transporter can move leftward into the combing table tooth gap between the corresponding combing table tooth arms 41-1 of the combing table 4-1;

[0026] When the transporter in the lane stops at a position aligned with a combing table 4-2 on the right side of the lane, the rightwardly extended horizontal fork 121-1 of the transporter can enter the combing table tooth gap between the corresponding combing table tooth arms 41-2 of the combing table 4-2 to the right;

[0027] When the transporter in the alley stops at the alignment position on the side of a rack combing table 4 on one side of the alley, if the horizontal fork 121 of the transporter is raised to the upper limit position, the top bearing surface of the horizontal fork 121 will be higher than the top bearing surface of the combing table tooth arm 41 of the rack combing table 4; if the horizontal fork 121 of the transporter is lowered to the lower limit position, the top bearing surface of the horizontal fork 121 will be lower than the top bearing surface of the combing table tooth arm 41 of the rack combing table 4.

[0028] Compared to the telescopic forks of the prior art, the fork structure of the forks 121 that can intersect in opposite directions proposed by the present invention does not contain a transmission mechanism. All the forks 121 only need to rely on two small-amplitude lifting mechanisms and two transverse movement mechanisms to store and retrieve items in the warehouse. The transmission mechanism is simple and the reliability is enhanced. The cross-fork group 12 cooperates with the shelf combing table 4 at the bottom of the warehouse to reliably store and retrieve boxes and bagged items of various specifications, and even items that meet the required size and shape and do not require packaging. Because the height of the cross-forks and the corresponding shelf combing table can be made relatively low, the height space utilization of the warehouse is improved compared to the existing three-stage fork device.

[0029] In order to improve access efficiency, the present invention proposes the following further technical features:

[0030] The upper side of each cross fork 121 of the two cross fork groups 12 of the picker 1 of the transport machine is provided with a plurality of cross fork notches 1215;

[0031] When the left transverse fork traversing frame 13-1 is transversely moved to the left limit position, and the right transverse fork traversing frame 13-2 is transversely moved to the right limit position, and the transverse forks 121 are at the same height, the transverse fork notches 1215 at corresponding positions of the transverse forks 121 are aligned and connected in the front-to-back direction;

[0032] A longitudinal fork group base frame is provided on the longitudinal side of the lifting channel of the retriever in the transporter, and multiple layers of longitudinal fork groups 31 that can move longitudinally independently are provided inside the longitudinal fork group base frame;

[0033] The longitudinal fork group 31-1 includes a plurality of longitudinal forks 311 arranged side by side longitudinally and cantilevered toward the lifting channel of the retriever;

[0034] The depth of the transverse fork notch 1215 is greater than the structural height of the overhanging section of the longitudinal fork 311;

[0035] When the left transverse fork transverse moving frame 13-1 moves transversely to the left to the left limit, and the right transverse fork transverse moving frame 13-2 moves transversely to the right to the right limit, and each transverse fork 121 is located at a set height position, each longitudinal fork 311 of the longitudinal fork group 31-1 can move longitudinally to penetrate into the transverse fork recess 1215 at the corresponding position of each transverse fork 121 of the transverse fork group 12 that is aligned with it and level with it.

[0036] By incorporating the technical features of the aforementioned longitudinal fork assembly 31, compared to existing bin robots with multi-layer temporary storage racks carried on one side, the retriever 1 of the transporter of the present invention allows items to be retrieved from the temporary storage rack formed by the longitudinal fork assembly 31 without rotating, thereby significantly narrowing the width of the warehouse aisle, improving access efficiency while ensuring high storage space utilization. Furthermore, by providing multi-layer longitudinal fork assemblies 31 on both sides, the transporter can simultaneously carry more bins in a single round trip, further improving access efficiency.

[0037] In order to allow the transporter to transfer items on both sets of longitudinal fork groups 31 to other transfer equipment at the entrance of the shelf aisle, the present invention proposes the following further technical features:

[0038] The longitudinal fork group base frame includes a first longitudinal fork group base frame 22 and a second longitudinal fork group base frame 23;

[0039] The longitudinal forks 311-1 of the longitudinal fork group 31-1 at any layer in the first longitudinal fork group base 22 and the longitudinal forks 311-2 at corresponding positions of the longitudinal fork group 31-2 at the same layer height in the second longitudinal fork group base 23 are staggered in the left-right direction.

[0040] The second longitudinal fork group base frame 23 can be raised and lowered as a whole between upper and lower limit positions;

[0041] When the second longitudinal fork group base frame 23 is raised to the upper limit position, the longitudinal fork 311-1 of the longitudinal fork group 31-1 at any layer in the first longitudinal fork group base frame 22 is lower than the longitudinal fork 311-2 at the corresponding position of the longitudinal fork group 31-2 at the same layer height in the second longitudinal fork group base frame 23;

[0042] When the second longitudinal fork group base 23 is lowered to the lower limit position, the longitudinal fork 311-1 of any layer of the longitudinal fork group 31-1 in the first longitudinal fork group base 22 is higher than the longitudinal fork 311-2 at the corresponding position of the longitudinal fork group 31-2 of the same layer height of the second longitudinal fork group base 23.

[0043] In this way, when the transporter moves along the track to the front end of the lane, other equipment can first take out the entire group of items from the second longitudinal fork group base 23 using the fork gaps of the longitudinal forks, and then the first longitudinal fork group base can quickly transfer the items to the second longitudinal fork group base. Conversely, other equipment can quickly fill the two longitudinal fork groups of the empty transporter with items.

[0044] In this article, the term "left and right" is used Figure 30 The left side of the carrier shown in the figure is referred to as "left", and the right side of the carrier shown in the figure is referred to as "right".

[0045] The direction of the transporter shown in the figure towards the observer is called "front", and the opposite direction is called "rear".

[0046] The upper and lower parts of the carrier shown in the figure are referred to as "upper" and "lower".

[0047] The terms "longitudinal" and "longitudinal direction" refer to the aforementioned "front-back" extending direction, and "transverse" and "lateral" refer to the aforementioned "left-right" extending direction.

[0048] The above terms are only used to facilitate accurate description of the relative positional relationships of the various parts of the present invention, and are not intended to indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, they should not be understood as limiting the present invention.

[0049] More specific technical features and beneficial effects of the present invention will be further described in detail in the following embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a three-dimensional schematic diagram of the operation status of a transporter and multi-layer combing tables on both sides of the embodiment;

[0051] Figure 2 is a perspective view of a retriever of a transport machine according to an embodiment;

[0052] Figure 3 is a perspective view of a cross-fork group of the embodiment;

[0053] Figure 4 yes Figure 3 a front view of the crossbar group shown;

[0054] Figure 5 yes Figure 3 a right side view of the crossbar group shown;

[0055] Figure 6 yes Figure 5 A top view of the crossbar group shown;

[0056] Figure 7 is a perspective view of a transverse fork transverse moving frame of an embodiment;

[0057] Figure 8 This is a three-dimensional diagram of the combined state of a transverse fork transverse moving frame and a transverse fork group raised to the upper limit position in the embodiment;

[0058] Figure 9This is a three-dimensional diagram of the combined state of a transverse fork transverse moving frame and a transverse fork group lowered to the lower limit position in the embodiment;

[0059] Figure 10 is a perspective view of a base frame of a retriever according to an embodiment;

[0060] Figure 11 is a perspective view of a base frame of a retriever equipped with a horizontal fork group according to an embodiment;

[0061] Figures 12 to 15 is a perspective view of a retriever of a transport machine according to an embodiment in different operating states;

[0062] Figure 16 、 Figure 17 3D diagrams of the object retriever of the transporter according to the embodiment in different operating states within the elevator shaft;

[0063] Figure 18 、 Figure 19 This is a three-dimensional schematic diagram of the operating state of the embodiment when the transporter in the elevator shaft is aligned with the shelf combing tables on both sides;

[0064] Figure 20 is a perspective view of a longitudinal fork group of the embodiment;

[0065] Figure 21 This is a three-dimensional schematic diagram of a longitudinal fork assembly after being installed into a longitudinal fork assembly guide rail beam of an embodiment;

[0066] Figures 22 to 24 3D schematic diagrams of different operating states of the object retriever of the transport machine of the embodiment between the longitudinal fork groups on the same level;

[0067] Figure 25 、 Figure 26 3D schematic diagrams of different operating states of longitudinal fork groups on the same layer of an embodiment;

[0068] Figure 27 is a perspective view of a carrier base frame including only a first longitudinal fork group base frame of an embodiment;

[0069] Figure 28 is a perspective view of a second longitudinal fork group base frame of the embodiment;

[0070] Figure 29 、 Figure 30 3D views of the complete carrier in different operating states with the second longitudinal fork group base mounted therein according to the embodiment;

[0071] Figure 31 It is a partially cutaway perspective diagram of the object picker of the transport machine of the embodiment and the longitudinal fork group and the shelf combing table on the same layer.

[0072] Reference numerals:

[0073] 1-the picker of the transporter, 11-the picker chassis, 111-the side rack, 112-the bottom rack,

[0074] 12-cross fork group, 121-cross fork, 1211-cross fork front end, 1212-cross fork rear end,

[0075] 1213- horizontal fork vertical tail, 1214- horizontal fork top convex, 1215- horizontal fork concave, 122- horizontal fork tail beam,

[0076] 1221- transverse fork tail plate notch, 1222- transverse fork lifting guide column, 1223- linkage shaft,

[0077] 13-transverse fork transverse frame, 131-transverse fork lifting swing arm, 132-transverse fork lifting connecting rod,

[0078] 133- horizontal fork lifting drive shaft, 134- horizontal fork lateral movement drive shaft, 135- guide column guide hole,

[0079] 136-side gear, 137-bottom gear, 1381-cross fork lifting motor, 1382-cross moving frame translation motor,

[0080] 2-transporter base frame, 21-accessor lifting guide column, 22-first longitudinal fork group base frame,

[0081] 221-side column of the first longitudinal fork group base frame, 23-second longitudinal fork group base frame, 231-side column of the second longitudinal fork group base frame,

[0082] 241-Transporter overhead rail, 242-Transporter floor rail, 25-Vertical fork group frame guardrail, 31-Vertical fork group,

[0083] 311-longitudinal fork, 312-longitudinal fork tail beam, 313-longitudinal fork guide wheel, 314-longitudinal fork drive shaft,

[0084] 315-longitudinal fork group drive gear, 32-longitudinal fork group guide beam, 321-longitudinal fork group guide rail, 322-longitudinal fork group rack,

[0085] 33-longitudinal fork group driving motor, 4-layer combing table, 41-combing table tooth arm. DETAILED DESCRIPTION

[0086] The embodiment of the present invention is shown in the accompanying drawings. This is a storage device designed according to the principle of the present invention for storing and retrieving articles using a retriever with a telescopic fork.

[0087] Figure 1The diagram shows a transporter with eight longitudinal fork groups 31-1 and 31-2 in this embodiment, operating between overhead rails 241 and floor rails 242 in a laneway between four-tiered combing platforms 4 for storing items on either side. The four-tiered combing platforms 4 are mounted within a storage frame structure, which has been omitted from the accompanying drawings. The combing platforms 4 utilize inexpensive corrugated sheet metal. Obviously, to reduce the floor space occupied by the storage floor structure, other methods for forming comb teeth for loading could be employed, such as using evenly spaced rectangular tubes or thick sheet metal comb arrays cantilevered toward the laneway.

[0088] See also Figure 2 、 Figure 16 , Figure 2 The present invention shows a device 1 for taking out objects from a transporter. Figure 16 The transporter performs lifting operations in a retriever lifting channel surrounded by four retriever lifting guide pillars 21 of the transporter shown in FIG.

[0089] The object-retrieval device chassis 1 is provided with two left and right transverse fork transverse frames 13-1 and 13-2 which can be transversely moved left and right.

[0090] The left and right transverse fork traverse frames 13-1 and 13-2 are respectively provided with a left transverse fork group 12-1 and a right transverse fork group 12-2 which can be raised and lowered within a limited range of 2.4 cm.

[0091] The left transverse fork group 12-1 and the right transverse fork group 12-2 on the left and right transverse fork transverse frames 13-1 and 13-2 each include four parallel cantilevered transverse forks 121-1 and 121-2 that are arranged side by side laterally.

[0092] The transverse fork 121-1 of the transverse fork group 12-1 on the left transverse fork transverse frame 13-1 is cantilevered to the right, and the transverse fork 121-2 of the transverse fork group 12-2 on the right transverse fork transverse frame 13-2 is cantilevered to the left.

[0093] The transverse forks 121 - 1 of the transverse fork group 12 - 1 cantilevered to the right and the transverse forks 121 - 2 of the transverse fork group 12 - 2 cantilevered to the left are arranged alternately.

[0094] The gaps between adjacent right-hanging transverse forks 121-1 allow the corresponding left-hanging transverse forks 121-2 to pass leftward; the gaps between adjacent left-hanging transverse forks 121-2 allow the corresponding right-hanging transverse forks 121-1 to pass rightward.

[0095] The structure of the cross fork group 12 is as follows Figures 3 to 6 As shown, the top edge of each cross fork 121 made of thick sheet metal is provided with five cross fork recesses 1215 of equal width and equal distance, and the top of the cross fork top protrusion 1214 next to each cross fork recess 1215 is a bearing surface for supporting objects.

[0096] See also Figure 2 When the left transverse fork transverse moving frame 13-1 moves to the left to the left limit, and the right transverse fork transverse moving frame 13-2 moves to the right to the right limit, and the transverse forks 121 are at the same height, the transverse fork notches 1215 at the corresponding positions of the transverse forks 121 are aligned and connected along the front-to-back direction.

[0097] In order to allow the two ends of the cross fork 121 to limit the bottom edge of the box-shaped article, the upper parts of the front end 1211 and the rear end 1212 of the cross fork are both provided with upward convex hooks that are higher than the top convex 1214 of the cross fork.

[0098] The rear end roots of the four cross forks 121 are fixedly connected to the top of the same cross fork tail beam 122 made of double-layer special-shaped sheet metal. Between the roots of adjacent cross forks 121, there is a cross fork tail plate notch 1221 for the cross fork body of another cross fork group 12 to pass through.

[0099] Two downwardly extending transverse fork lifting guide columns 1222 are installed below the transverse fork tail beam 122, and a linkage shaft 1223 for receiving the lifting drive force is provided on the inner side of the bottom end of the transverse fork lifting guide column 1222.

[0100] See also Figure 7 The main body of the transverse fork transverse moving frame 13 is a hollow special-shaped frame structure, and two guide post guide holes 135 for inserting and guiding the transverse fork lifting guide post guide holes 1222 are provided on the top of the frame structure.

[0101] Two sets of side gears 136 are mounted on the outer sides of both sides of the frame structure, and each set of side gears 136 is rigidly connected to the upper and lower ends of the rotatable vertical shaft.

[0102] The bottom ends of the frame structure are provided with bottom gears 137, which are rigidly connected to the ends of the fork traverse drive shaft 134. The fork traverse drive shaft 134 is driven by a traverse frame translation motor 1382 installed in the hollow space of the frame structure.

[0103] The hollow space of the frame structure is also equipped with a horizontal fork lifting drive shaft 133 driven by a horizontal fork lifting motor 1381. The horizontal fork lifting drive shaft 133 is driven by two sets of horizontal fork lifting rocker rods 131 and horizontal fork lifting connecting rods 132 with a hole spacing of 1.2 cm installed at both ends. Figure 8 、 Figure 9 As shown, the linkage shaft 1223 at the bottom of the cross fork lifting guide column 1222 in the guide column guide hole 135 drives the cross fork group 12 to perform a lifting action of 2.4 cm.

[0104] See also Figure 10 The base frame 11 of the object retriever is equipped with two sets of front and rear side racks 111 and one set of bottom racks 112.

[0105] See also Figures 11 to 15The side gears 136-1, 136-2 and bottom gears 137-1, 137-2 of the left and right fork traversing frames 13-1, 13-2, together with the side racks 111, 112 of the retriever chassis 11, maintain a stable reciprocating parallel movement of the left and right fork traversing frames 13-1, 13-2 on the retriever chassis 11. The side surfaces of some of the racks serve as limiting rails for the fork traversing frames 13.

[0106] See also Figure 12 The bottom gears 137-1 and 137-2 driven to rotate by the motor are the source of the lateral movement force of the left and right transverse fork transverse frames 13-1 and 13-2.

[0107] See also Figure 13 When the left transverse fork transverse moving frame 13-1 moves to the left to the left limit and the right transverse fork transverse moving frame 13-2 moves to the right to the right limit, the top bearing surface of the transverse fork 121-1 cantilevered to the right and the top bearing surface of the transverse fork 121-2 can alternately carry items through lifting and lowering actions.

[0108] The top bearing surface of the rightwardly overhanging transverse fork 121-1 raised to the upper limit position is higher than the top bearing surface of the leftwardly overhanging transverse fork 121-2 lowered to the lower limit position; the top bearing surface of the leftwardly overhanging transverse fork 121-2 raised to the upper limit position is higher than the top bearing surface of the rightwardly overhanging transverse fork 121-1 lowered to the lower limit position.

[0109] See also Figure 14 、 Figure 15 、 Figure 17 When the right transverse fork traversing frame 13-2 moves to the left to the bottom, about 80% of the overhanging section of the fork body of the transverse fork 121-2 of the transverse fork group 12-2 of the right transverse fork traversing frame 13-2 extends to the left outside the left side of the object retriever lifting guide column 21.

[0110] See also Figure 18 The figure shows that after the picker 1 of the transporter is aligned with the layer of shelf combing tables 4-1 and 4-2, the left cross fork transverse moving frame 13-1 moves to the right, so that the cross fork 121-1 that has been lowered to the lower limit and is cantilevered to the right is inserted into the tooth gap between the combing table teeth arms 41-2 at the corresponding position of the right layer of shelf combing table 4-2. Because the height of the cross fork 121 is smaller than the combing table teeth arms 41, when the cross fork 121 in the low position is inserted into the tooth gap of the combing table teeth arms 41, the cross fork 121 will not touch the box-shaped items supported by the combing table teeth arms 41. For items with a certain degree of flexibility, such as bagged items, since the tip of the head end of the cross fork 121 is made into a smooth bevel shape, the insertion action of the cross fork 121 generally does not cause damage to the items.

[0111] See also Figure 19After the extended fork 121-1 is inserted to the right and bottom, it rises another 2.5 cm, so that the load surface of the fork 121-1 is higher than the load surface of the combing table arm 41-2, and the items on the combing table arm 41-2 are lifted. After that, as the left fork transverse moving frame 13-1 returns to the left, the lifted items are brought to the top of the retriever 1 by the fork 121-1 at the upper limit. The reverse operation of this process will move the items from the retriever 1 into the storage space formed by the shelf combing table.

[0112] Since both sets of cross forks 121-1 and 121-2 can independently perform lifting and lowering movements at any time, under system program control, items carried by the cross forks can be alternately transferred by different cross fork sets 12 using lifting and lateral movement, and their positions can be adjusted laterally over short distances. In this way, when a large item on a shelf combing table 4-2 is lifted and removed by one cross fork set 12-1, it may still require another alternating lifting and lateral movement by both cross fork sets 12-1 and 12-2 to adjust it to a more appropriate position.

[0113] See also Figure 20 The structure of the longitudinal fork group 31 is shown in the figure, and the spacing of the five parallel longitudinal forks 311 matches the spacing of the cross fork recesses 1215. The rear end root of each longitudinal fork 311 is rigidly connected to the longitudinal fork group tail beam 312.

[0114] Two longitudinal fork group guide wheels 313 and a longitudinal fork group driving gear 315 are respectively installed on the end seats at both ends of the longitudinal fork group tail beam 312.

[0115] Two longitudinal fork group drive gears 315 are rigidly connected to the two ends of the longitudinal fork group drive shaft 314. The longitudinal fork group drive shaft 314 is driven by the longitudinal fork group drive motor 33 installed in the middle part of the longitudinal fork group tail beam 312.

[0116] The overall height of the overhanging section of the longitudinal fork 311 is smaller than the recess depth of the transverse fork recess 1215 of the transverse fork assembly 12 .

[0117] See also Figure 21 The longitudinal fork group guide wheel 313 and the longitudinal fork group driving gear 315 of the longitudinal fork group 31 installed between the two longitudinal fork group guide rail beams 32 are guided by the longitudinal fork group guide rail 321 and the longitudinal fork group rack 322 respectively.

[0118] See also Figure 1 、 Figures 22 to 24The width of the predetermined transverse fork recess 1215 is greater than twice the width of the longitudinal fork 311. Furthermore, the longitudinal forks 311-1 of the longitudinal fork group 31-1 at any level within the first longitudinal fork group base 22 and the longitudinal forks 311-2 at corresponding positions of the longitudinal fork group 31-2 at the same level within the second longitudinal fork group base 23 are arranged alternately in the left-right direction. Specifically, the longitudinal forks 311-1 of the longitudinal fork group 31-1 within the first longitudinal fork group base 22 are arranged to the right, while the longitudinal forks 311-2 of the longitudinal fork group 31-2 within the second longitudinal fork group base 23 are arranged to the left.

[0119] See also Figure 23 The longitudinal fork group 31 - 1 in the first longitudinal fork group base 22 can move forward to the bottom, so that its longitudinal fork 311 - 1 passes through the right position of the corresponding transverse fork recess 1215 .

[0120] See also Figure 24 The longitudinal fork group 31 - 2 in the second longitudinal fork group base 23 can move backward to the bottom, so that the longitudinal fork 311 - 2 passes through the left position of the corresponding transverse fork recess 1215 .

[0121] See also Figure 25 The longitudinal forks 311-1 and 311-2 in the two opposite longitudinal fork groups 31-1 and 31-2 can be interlaced and inserted into each other and lean against each other at the same time.

[0122] See also Figure 27 The structure of the transporter frame 2 is shown in the figure. Four retriever lifting guide columns 21 are arranged in the middle. Behind them is a first longitudinal fork group frame 22 with four first longitudinal fork group frame side columns 221. Four layers of longitudinal fork group guide rail beams 32 are installed within the first longitudinal fork group frame 22. The transporter frame 2 moves forward and backward along the transporter ceiling rail 241 and transporter floor rail 242 using running wheels and guide wheels.

[0123] See also Figure 28 , this is as Figure 29 The second longitudinal fork assembly base frame 23 is mounted on the front of the transporter base frame 2 as shown. It is also equipped with four layers of longitudinal fork assembly guide beams 32. The spacing between the longitudinal fork assembly guide beams 32 on each layer of the first and second longitudinal fork assembly base frames 22, 23 is the same, and also the same as the spacing between the layer combing tables 4.

[0124] A longitudinal fork group frame guardrail 25 is provided above each layer of the longitudinal fork group guide rail beams 32 of the first longitudinal fork group frame 22 and the second longitudinal fork group frame 23 to limit the left and right sides of the article.

[0125] See also Figure 29Driven by a power mechanism hidden in the bottom base, the second longitudinal fork assembly base 23 can be raised and lowered within a range of 2.5 cm. When the longitudinal fork assembly 31-2 in the second longitudinal fork assembly base 23 is raised to the upper limit, its longitudinal fork 311-2 is higher than the longitudinal fork 311-1 in the first longitudinal fork assembly base 22. Conversely, when the longitudinal fork assembly 31-2 in the second longitudinal fork assembly base 23 is lowered to the lower limit, its longitudinal fork 311-2 is lower than the longitudinal fork 311-1 in the first longitudinal fork assembly base 22.

[0126] See also Figure 26 When the longitudinal forks 311-1 and 311-2 on the same layer are inserted into each other, with the help of the lifting action of the second longitudinal fork group base 23, the longitudinal fork group 31-2 in the second longitudinal fork group base 23 can take and place items from the longitudinal fork 311-1 in the first longitudinal fork group base 22.

[0127] Similarly, see Figure 30 When the longitudinal fork groups 31-1 and 31-2 of each layer in the first longitudinal fork group base 22 and the second longitudinal fork group base 23 are all inserted into each other, with the help of the lifting action of the second longitudinal fork group base 23, the longitudinal fork groups 31-2 of each layer in the second longitudinal fork group base 23 can simultaneously hand over all items on each layer from the longitudinal forks 311-1 of each layer in the first longitudinal fork group base 22.

[0128] See also Figure 31 By leveraging the lifting and lateral movement of the transverse forks 121-1, 121-2 and the longitudinal forks 311-1, 311-2, items can be freely transferred between the transverse forks 121-1, 121-2, the longitudinal forks 311-1, 311-2, and the combing table arms 41-1, 41-2, without the need for rotating the items. As can be seen from the figure, only a narrow gap of one or two centimeters is reserved between the retriever 1 in the lane and the left and right combing tables 4-1, 4-2. Compared to existing technologies, this significantly improves the space utilization of storage facilities.

Claims

1. Storage equipment that uses a retriever with a telescopic fork to store and retrieve items, characterized by: The invention comprises a transporter that moves longitudinally in a longitudinal lane with shelf combing tables (4) for storing articles arranged on both sides, and a picker (1) of the transporter that can be raised and lowered in a picker lifting channel of the transporter provided with a picker lifting guide column (21); The object-retrieval device base frame (1) is provided with two left and right transverse fork transverse frames (13-1, 13-2) capable of transversely moving left and right. Each transverse fork transverse moving frame (13) is provided with a transverse fork group (12) of a retriever capable of rising and falling between upper and lower limits; The object-retrieval device transverse fork group (12) on each transverse fork transverse moving frame (13) includes a plurality of transverse forks (121) arranged side by side in a transverse direction and extending in parallel in the same direction; The cross fork (121-1) of the object-retrieving cross fork assembly (12-1) on the left cross fork transverse moving frame (13-1) is cantilevered to the right; The cross fork (121-2) of the object-retrieving cross fork assembly (12-2) on the right cross fork transverse moving frame (13-2) is cantilevered to the left; The cross forks (121-1) of the object retriever cross fork group (12-1) cantilevered to the right and the cross forks (121-2) of the object retriever cross fork group (12-2) cantilevered to the left are arranged in an interlaced manner; The gap between the adjacent transverse forks (121-1) cantilevered to the right allows the transverse forks (121-2) cantilevered to the left at the corresponding position to pass through to the left; the gap between the adjacent transverse forks (121-2) cantilevered to the left allows the transverse forks (121-1) cantilevered to the right at the corresponding position to pass through to the right; The top bearing surface of the rightwardly cantilevered transverse fork (121-1) raised to the upper limit position is higher than the top bearing surface of the leftwardly cantilevered transverse fork (121-2) lowered to the lower limit position; The top bearing surface of the left-overhanging transverse fork (121-2) raised to the upper limit position is higher than the top bearing surface of the right-overhanging transverse fork (121-1) lowered to the lower limit position; When the left transverse fork transverse moving frame (13-1) moves to the left to the left limit position and the right transverse fork transverse moving frame (13-2) moves to the right to the right limit position, the top bearing surface of the transverse fork (121-1) cantilevered to the right and the top bearing surface of the transverse fork (121-2) can alternately carry items through a lifting action; The structure of the layer combing table (4) includes a plurality of combing table tooth arms (41) arranged transversely; When the transporter in the lane stops at a position aligned with a combing table (4-1) on the left side of the lane, the leftward-extending transverse fork (121-2) of the transporter can move leftward into the combing table tooth gap between the corresponding combing table tooth arms (41-1) of the combing table (4-1); When the transporter in the lane stops at a position aligned with a layer combing table (4-2) on the right side of the lane, the rightwardly cantilevered transverse fork (121-1) of the transporter can enter rightward into the combing table tooth gap between the corresponding combing table tooth arms (41-2) of the layer combing table (4-2); When the transporter in the lane stops at an alignment position on the side of a layer combing table (4) on one side of the lane, if the cross fork (121) of the transporter is raised to the upper limit position, the top bearing surface of the cross fork (121) will be higher than the top bearing surface of the combing table tooth arm (41) of the layer combing table (4); if the cross fork (121) of the transporter is lowered to the lower limit position, the top bearing surface of the cross fork (121) will be lower than the top bearing surface of the combing table tooth arm (41) of the layer combing table (4).

2. The storage device for storing and retrieving items using a retriever with a telescopic fork according to claim 1, characterized in that: The upper side of each cross fork (121) of the two groups of cross fork assemblies (12) of the object retriever (1) of the transport machine is provided with a plurality of cross fork notches (1215); When the left transverse fork transverse moving frame (13-1) is transversely moved to the left to the left limit position, and the right transverse fork transverse moving frame (13-2) is transversely moved to the right to the right limit position, and the transverse forks (121) are located at the same height position, the transverse fork notches (1215) at corresponding positions of the transverse forks (121) are aligned and connected in the front-to-back direction; A longitudinal fork group base frame is provided on the longitudinal side of the lifting channel of the retriever in the transport machine, and multiple layers of longitudinal fork groups (31) that can move longitudinally independently are provided in the longitudinal fork group base frame; The longitudinal fork group (31-1) includes a plurality of longitudinal forks (311) arranged side by side longitudinally and cantilevered toward the lifting channel of the retriever; The depth of the transverse fork notch (1215) is greater than the structural height of the overhanging section of the longitudinal fork (311); When the left transverse fork transverse moving frame (13-1) is transversely moved to the left to the left limit position, and the right transverse fork transverse moving frame (13-2) is transversely moved to the right to the right limit position, and each transverse fork (121) is located at a set height position, each longitudinal fork (311) of the longitudinal fork group (31-1) can be longitudinally moved to penetrate into the transverse fork notches (1215) at corresponding positions of each transverse fork (121) of the retriever transverse fork group (12) aligned with it.

3. The storage device for storing and retrieving items using a retriever with a telescopic fork according to claim 2, characterized in that: The longitudinal fork group base frame includes a first longitudinal fork group base frame (22) and a second longitudinal fork group base frame (23); The longitudinal forks (311-1) of any layer of the longitudinal fork group (31-1) located in the first longitudinal fork group base frame (22) and the longitudinal forks (311-2) at corresponding positions of the longitudinal fork group (31-2) at the same layer height of the second longitudinal fork group base frame (23) are arranged alternately in the left-right direction; The second longitudinal fork group base frame (23) can be raised and lowered as a whole between upper and lower limit positions; When the second longitudinal fork group base frame (23) is raised to the upper limit, the longitudinal fork (311-1) of any layer of the longitudinal fork group (31-1) in the first longitudinal fork group base frame (22) is lower than the longitudinal fork (311-2) at the corresponding position of the longitudinal fork group (31-2) at the same layer height of the second longitudinal fork group base frame (23); When the second longitudinal fork group base (23) is lowered to the lower limit position, the longitudinal forks (311-1) of any layer of longitudinal fork groups (31-1) in the first longitudinal fork group base (22) are higher than the longitudinal forks (311-2) at the corresponding position of the longitudinal fork groups (31-2) at the same layer height of the second longitudinal fork group base (23).

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