EP0499250A2 - Dispositif de chargement de couches de produits pour un chariot-élévateur, monté sur un porte-charges déplaçable verticalement - Google Patents

Dispositif de chargement de couches de produits pour un chariot-élévateur, monté sur un porte-charges déplaçable verticalement Download PDF

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Publication number
EP0499250A2
EP0499250A2 EP92102412A EP92102412A EP0499250A2 EP 0499250 A2 EP0499250 A2 EP 0499250A2 EP 92102412 A EP92102412 A EP 92102412A EP 92102412 A EP92102412 A EP 92102412A EP 0499250 A2 EP0499250 A2 EP 0499250A2
Authority
EP
European Patent Office
Prior art keywords
layer
receiving device
goods
layer receiving
centering
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP92102412A
Other languages
German (de)
English (en)
Other versions
EP0499250B1 (fr
EP0499250A3 (en
Inventor
Karl Dipl.-Ing. Schumacher (Fh)
Manfred Dipl.-Ing. Baumann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wagner Foerdertechnik GmbH and Co KG
Original Assignee
Wagner Foerdertechnik GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wagner Foerdertechnik GmbH and Co KG filed Critical Wagner Foerdertechnik GmbH and Co KG
Publication of EP0499250A2 publication Critical patent/EP0499250A2/fr
Publication of EP0499250A3 publication Critical patent/EP0499250A3/de
Application granted granted Critical
Publication of EP0499250B1 publication Critical patent/EP0499250B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/08—Masts; Guides; Chains
    • B66F9/10—Masts; Guides; Chains movable in a horizontal direction relative to truck
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/18—Load gripping or retaining means

Definitions

  • the invention relates to a position pick-up device for a forklift vehicle, arranged on a height-adjustable load carrier, with a goods position centering gripping device, which is equipped with four centering grippers arranged at right angles to one another and detecting a goods position, of which at least one centering gripper can be controlled and pivoted about an upper horizontal axis of rotation.
  • DE 40 10 486 A1 describes a device for separating plate stacks in high-bay warehouses with a vertically displaceable horizontal support, which is connected to a boom that is vertically displaceable and telescopic, the free end of which is equipped with a suction pad, the boom having one of its own relative altitude with respect to a detector to be separated signaling plate stack is equipped.
  • This known device is designed exclusively for the removal of flat single piece goods with a homogeneous surface and not for packaged or boxed goods, the possibility of only a slight relative movement of the boom with respect to the horizontal support preventing the formation of larger stacks of goods, so that neither complete layers of goods can be removed Corresponding commissions can be formed for several product layers.
  • both the take-up of the flat piece goods, for example plates, by means of the boom and the depositing of a plate stack by means of a carrying fork of the horizontal support is only possible on one side of the forklift, so that a stack delivery to the other side requires a cumbersome and time-consuming maneuvering of the forklift .
  • load gripping devices consist of spaced downward telescope rods essentially parallel to the mast, which are provided at their lower ends with hook-like approaches as holding approaches for support rails. Meanwhile, the voluminous design of this load gripping device prevents use in tight spaces, e.g. directly in shelves, damage to packaging and goods cannot be ruled out due to the hook-like approaches, which is why the use of this load gripping device is restricted to certain areas of application and goods apart from the structurally complex construction.
  • DE 30 46 027 A1 discloses a separately controllable additional load carrier for receiving goods layers, which is provided with a four-fold clamp device with four clamp jaws, in particular each arranged at right angles to one another and preferably designed as a suction gripping device, at least one of which is pivotally mounted.
  • this additional load carrier already allows loading or unloading of shelves close to an intermediate floor, the clamp jaws have to be subjected to relatively great pressure in order to pick up and carry a product position.
  • the outer packages of a product layer are pressed in or the entire product layer is shifted in itself, which is why the latter gets out of control or cannot be resumed easily.
  • the use of suction pads requires extremely homogeneous surfaces, such as are seldom found in goods to be picked - for example, packaged foods - which is why there are limits to the area of use of this facility.
  • the object of the invention is to create a layer pick-up device which is simple in terms of construction and in the choice of means, which works in a manageable and reliable manner and precludes any risk of damage to goods and packaging, with a rapid implementation and order picking of goods positions in either manual or automatic operation should be guaranteed even in confined spaces.
  • the solution to this problem provides, according to the invention, that within the goods position centering device there is an effect-coupled goods position hold-down device and below the coverage area of the goods position centering device there is an action-coupled goods position transfer console for receiving the goods position (s).
  • This extremely compact design allows for absolutely safe order picking even in narrow rack stores with the possibility of removing goods directly in the shelf compartment up to the intermediate floor, whereby goods can be picked quickly and quickly and the pressures of the centering gripping device required for picking up the layers are kept relatively minimal can.
  • the technical measure according to which the centering grippers are designed as at least one layer of goods in the length, width and height of all-encompassing clamp plates guarantees that the pressure of the centering grippers for picking up the layers is uniformly above the entire outer surface of a product layer is distributed and thus prevents packaging damage.
  • the centering grippers are designed as interchangeable grippers that are dependent on the packaging, so that the type and shape as well as the material of different goods packaging can be taken into account.
  • the goods position hold-down device is arranged within the coverage area of the centering grippers.
  • the special embodiment of the invention also serves this purpose, according to which the side of the hold-down plate facing the product position is at least partially equipped with elements that increase friction and / or position fixing and / or surface areas.
  • the hold-down plate is designed as a double-wall perforated plate in which the friction-increasing and / or position-fixing elements are arranged in geometrically regular and / or irregular formation as loose and height-displaceable fixing pins, which are excellent from the lower perforated plate, as a result of which a goods situation with assurance that the spaces between the individual goods layer packages can be recorded absolutely without displacement.
  • a simpler and less expensive way of fixing the layers is to provide the hold-down plate with an exchangeable, rough coating, preferably emery paper.
  • a preferred variant of the invention provides that at least the upper side of the goods position transfer console carrying the goods position is at least partially equipped with a friction-reducing surface and / or with friction-reducing elements which are provided as spring-loaded balls in continuation of the inventive concept.
  • This useful design serves the purpose of easily pushing a goods position onto the goods position transfer console and the Goods position transfer console with relatively low frictional resistance after placing the goods position on the commission stack from two superposed goods layers without running the risk of moving the overall goods position or its individual packages.
  • the goods position transfer console is provided with at least one optical and / or optoelectronic height alignment device, whereby according to an additional embodiment variant the second height alignment device for automatic height control of the goods position transfer console has at least one vertical reflector strip arranged on the stacker vehicle in optical active connection.
  • the entire layer pick-up device can be adjusted in height and height both manually and / or automatically, both to the goods position to be picked and to a picking pallet or a stack of goods layers located thereon, which considerably simplifies the operation of the forklift vehicle.
  • a preferred embodiment of the invention is characterized in that the position-centering gripping device and / or the position-hold-down device and / or the position-transfer handler can be controlled manually and / or at least partially, whereby a construction has proven to be advantageous according to which Movement sequence of the goods position transfer console is at least partially designed as a follow-up control and / or feed control for the goods position centering gripping device.
  • An at least partially automated movement sequence provides a psychological relief for the forklift driver, in particular with increasing picking time, which can thereby turn his attention to the actual picking up and dispensing of the layers.
  • At least one programmable circuit and / or a microcomputer can be provided for the purpose of semi and / or fully automating the movement sequences for controlling the goods position transfer console and / or the goods position hold-down device and / or the goods position centering gripping device, thereby reducing the degree there are no limits to automation.
  • All of the special developments of the invention with regard to (partial) automation are inherent in the fact that this places significantly lower demands on the operator with regard to the concentration on movement sequences of individual components or their interaction, and thus Avoid exhaustion, which ultimately benefits the safe operation of the forklift vehicle even after several hours of uninterrupted operation.
  • the goods position centering gripping device, the goods position hold-down device and the goods position transfer bracket are arranged together on the height-adjustable load carrier, which not only simplifies the construction, but also facilitates the clarity of the movement sequences.
  • the load carrier of the layer receiving device is arranged as an additional load carrier above a further load carrier on a common mast.
  • This structure presupposes that the load carrier of the layer pick-up device on the common mast can be moved correspondingly upwards if a load or a pallet is to be deposited above the floor level with the further load carrier.
  • a separate lifting frame is assigned to the load carrier of the position pick-up device.
  • a construction has proven to be expedient in which the separate lifting frame of the load carrier of the layer receiving device is arranged in front of or behind a lifting frame of the further load carrier in the direction of travel of the forklift vehicle, thereby ensuring a high functionality of the forklift vehicle.
  • a particularly compact design is characterized in that the two masts are designed as side masts, a structural variant providing that the mast of the load carrier is arranged in a cross portal of the forklift vehicle and the layer pick-up device picks up the goods position outside the cross portal.
  • the vehicle dimensions can be kept relatively small and narrow aisle aisles between two rows of racks can also be driven, which a comparable forklift truck can also drive without a further load carrier with a position receiving device.
  • the technical configuration according to which the additional load carrier is arranged on the front of the forklift vehicle and the position pick-up device can essentially be moved into the area of action of the further load carrier within the lateral vehicle contours also serves this purpose, thereby ensuring short movements and on the rack structures for conventional ones Forklift-accessible warehouses do not have to be modified, nor is storage space lost due to the forklift.
  • the vehicle frame 1 consists of a rear frame leg 2 as seen in the direction of travel, a front frame leg 3 as seen in the direction of travel and a frame leg 4 connecting the two frame legs 2 and 3 on the front side.
  • the frame legs 2-4 can be used for stiffening the frame for reasons of stability via a stiffening plate (not shown) or a Plate be connected to each other, the stiffening plate is preferably welded.
  • the frame legs 2-4 together form a transverse portal 5 which is open towards a vehicle side.
  • a vehicle control center 6 is arranged on the rear frame leg 2 as seen in the direction of travel, which can be equipped with a driver's station 7 or instead with a driver's seat and is the carrier of various vehicle function groups .
  • the latter can include include a traction drive, a steering system, working hydraulics, vehicle electronics or electronics and a dash-dot battery 8, which at the same time fulfills a counterweight function.
  • Other structural arrangements and divisions of these vehicle function groups are conceivable.
  • At least one drive wheel 9 is located centrally below the vehicle control center 6 and can be steered and controlled manually by an operator and / or automatically.
  • the automatic steering can take place by mechanical, optical or inductive guidance of the drive wheel 9, by means of a steering program or by means of distance sensors operating on the basis of ultrasound or a laser.
  • the picking stacker travels on a continuous inductive guideline 10; instead, the vehicle can also align itself with individual, spaced active and / or passive data carriers.
  • pivotable support wheels 9 can be arranged on both sides of the drive wheel.
  • the front frame leg 3 seen in the direction of travel is of flat construction with a low height and is provided at both ends with at least one impeller 11 which, depending on the payload weight to be accommodated, may also be designed as a twin wheel (FIG. 2).
  • a lifting frame 12, which is designed as a single or multiple lifting frame, is fastened on or on the front frame leg 4 of the transverse portal 5 can and on which a first load carrier 13 is vertically movable and controllable.
  • a free-hanging lifting frame 15 designed as a pivoting frame is articulated in a fulcrum 14, which can also be designed as a single or multiple lifting frame and on which the further load carrier 16 is also movable and controllable a load carrying device 17, which in the exemplary embodiment is designed as a possibly long-telescopic load fork.
  • the mast 15 can be pivoted about its pivot point 14 by an angle of at least 90 ° beyond the side of the vehicle contour facing away from the portal opening.
  • the first load carrier 13 is designed as a lifting slide.
  • a layer pickup device 18 is attached to the load carrier 12 and is equipped with a goods layer transfer bracket 19, a goods layer centering device 20 and a goods layer hold-down device 21.
  • a lifting bracket 22 of the first load carrier (lifting carriage) 13 telescopic rails 23 projecting into the transverse portal 5 are fastened, in which a transport carriage 26 is guided on roller trains 24 transversely to the longitudinal axis 25 of the vehicle, the movement of which towards the portal opening by mechanical stops (not shown) or a Thrust limitation of one or more known, and therefore not shown thrust cylinder is limited.
  • telescopic cables 27 are attached at both ends, which can be extended along or parallel to the longitudinal axis 25 of the vehicle in the direction of travel of the layer order picking truck.
  • these telescopic cables 27 carry a frame 28 which runs downwards parallel to the rear frame leg 2 and to the lower end of which the goods position transfer console 19 is fastened.
  • driving brackets 53 are arranged on the underside of the telescopic cables 27 and extend in their telescopic direction.
  • a first horizontal lifting mast 29 is fastened between its side cheeks in the middle of the underside of the telescopic rails 23 and transversely to their direction of travel, ie parallel to the longitudinal axis 25 of the vehicle Direction of travel is.
  • the horizontal lifting mast 29 is the carrier of a further, second horizontal lifting mast 30, which runs transversely to the direction of movement of the horizontal lifting mast 29 in the center of its underside.
  • the goods layer centering gripping device 20 is fixed to this horizontal lifting mast 30.
  • the material position centering gripping device 20 can thus be separately moved across the front frame leg 2 via the second horizontal lifting mast 30 transversely to the longitudinal axis 25 of the vehicle and via the first horizontal lifting mast 29.
  • the product layer centering gripping device 20 consists of four centering grippers 33 arranged at right angles to one another, which are designed as a product layer 34 in length and width and at least one product layer 34 or possibly also several product layers 34 in the height of all-encompassing clamp plates. To facilitate the detection of layers of goods 34, the lower horizontal edges of the centering grippers 33 are angled slightly outward, which simplifies the lowering of the centering grippers 33 from above onto the layer of goods 34. At least one of the centering grippers 33 is designed to be movable and controllable.
  • this centering gripper 33 is movably supported at its upper end about a horizontal axis of rotation and at its lower end can be pivoted outward by an arbitrary angle, at least 10 °, so that the picking up and detection of product layers 34 is facilitated.
  • a further or possibly even all centering gripper 33 can of course also be arranged so as to be movable. It is advantageous to control two centering grippers 33, which adjoin one another at right angles, or two opposing centering grippers 33 in parallel.
  • the centering gripper 33 facing the first lifting frame 12, which is located in the transverse portal 5 is fixedly arranged, meanwhile the remaining centering grippers 33 are designed to be movable and the two side centering grippers 33 are controlled in parallel.
  • centering grippers 33 are interchangeable grippers, so that they can be exchanged in a simple manner depending on the surface condition of the goods to be picked up or their packaging, or, if necessary, also by individual grippers, for example suction grippers, for receiving individual goods or goods packages with a homogeneous one Surface can be replaced.
  • Mechanical, electromechanical, hydraulic or pneumatic latching means of known design can be used for locking when changing the gripper, which at the same time also serve as an energy coupling, for example for the transmission of the suction air etc.
  • the height-adjustable fabric hold-down device 21 is suspended on the support frame 31.
  • This consists of a commercially available scissor lift table 35 of known type, one end of the scissors is articulated at the top and bottom in fixed bearing points and the other ends of the scissors are movably guided in guide rails via rollers.
  • a hold-down plate 32 is attached to the underside of the scissor lift table 35.
  • the hold-down plate 32 can be lowered directly to the goods layer transfer console 19 by means of the scissor lift table 35, so that every height range can be covered.
  • the lowering movement of the scissor-type lifting table 35 required for this can be done in a simple manner by its gravity generated by its own weight, or it can also be hydraulically supported or hydraulically damped for the purpose of gentle contact with the surface of the material layer.
  • At least one hydraulic lifting and / or damping element 36 is provided, which is preferably designed as a known lifting cylinder and / or gas pressure spring and is arranged between one or both scissor levers and the upper support frame 31 or the hold-down plate 32.
  • the lifting and / or damping element 36 controllable in such a way that the stroke and / or damping can be regulated .
  • the scissor lifting table 35 can be raised by means of a separate chain drive 70, the chain of which is articulated via a deflection roller 71 to a lifting cylinder 72 which is fixed horizontally on the support frame 31.
  • the underside of the hold-down plate 32 is at least partially equipped with friction-increasing and / or position-fixing elements 37 in order to prevent individual packets of goods or the entire pack of goods 34 from being displaced when picking them up and setting them down.
  • Fixing pins 37 ′ or rubber and foam knobs or similar fixing means can preferably be used here, which are arranged in geometrically regular and / or irregular formation on or in the surface of the hold-down plate 32.
  • the entire hold-down plate 32 and / or its elements 37 are interchangeable depending on the material and type of packaging.
  • mechanical connection means such as screws, etc.
  • the hold-down plate 32 is designed as a double-wall perforated plate 59.
  • Both perforated plates 60 and 63 of the double-wall perforated plate 59 are provided with aligned fixing bores 73, in which the fixing pins 37 'are arranged loosely and can be moved in height.
  • semicircular tubular rivets are particularly suitable for use as locating pins 37 ', since they are not only inexpensive as a commercially available mass article, but also have particularly good properties for locating layers of goods 34 consisting of canned goods and cardboard boxes, and because they easily intervene in the layer interspaces between the individual packages of the goods layer 34 and thus prevent their displacement.
  • the distance 74 of the aligned fixing bores 73 to be larger or smaller with respect to one another and thus to arrange the fixing pins 37 ′ in a narrow or wide geometric formation.
  • a spacer plate 62 is arranged by means of spacer sleeves 75 and fixing screws 76, the distance 77 of which from the upper perforated plate 63 corresponds at most to a dimension 61 by which the fixing pins 37 ′ protrude from the lower perforated plate 60.
  • the height displaceability of the fixing pins 37 ' is limited in such a way that they are generally in the raised state. protrude slightly from the lower perforated plate 60.
  • the fixing pins 37 'lying congruently opposite one another fall between the individual packages of goods and thus secure their position, meanwhile the remaining fixing pins 37' come to lie more or less directly on the packages of goods depending on the length dimension outstanding from the lower perforated plate and generate a relatively gentle contact pressure there as required.
  • the fixing pins 37 are the ideal solution to spring against the spacer plate 62, for example by inserting a compressible, elastic material between the upper perforated plate 63 and the spacer plate 62 or by means of compression springs 64.
  • the use of the latter requires the measure 61 of the length of the lower Perforated plate 60 protruding end of the locating pins 37 to reduce the size of the spring block length 65 or to increase the distance 77 between the upper perforated plate 63 and the spacer plate 62 accordingly.
  • At least a portion of the hold-down plate 32 is provided with a friction-increasing surface design of a selectable degree of roughness and a selectable roughness depth.
  • the desired roughness can be produced by mechanical processing of the surface of the hold-down plate 32, for example by means of knurling, beading or graining.
  • An alternative to this is to provide the hold-down plate 32 with a rough, interchangeable coating, preferably with emery paper, such as is done in a known manner with hand-held orbital sanders.
  • a rubber-like, anti-friction surface coating or a corresponding plastic coating serves the same purpose.
  • the surface of the goods layer transfer console 19 facing the goods layer 34 to be picked up is at least partially provided with friction-reducing elements 38, for example spring-loaded balls 38 ', driven belts or the like, in order to facilitate the pushing on of a goods layer 34 when they are taken over. It has proven to be expedient to arrange the friction-reducing elements 38 at the same time on the underside of the goods position transfer console 38 or to have them act on them, thereby making it easier to extend the goods position transfer console 19 from two superimposed goods layers 34.
  • friction-reducing elements 38 for example spring-loaded balls 38 ', driven belts or the like
  • the surface of the layer transfer console 19 can be designed to reduce friction, at least in some areas, for example by means of fine polishing, Teflon coating and similar technical measures.
  • the goods position transfer console 19 is equipped with at least one, preferably with two optical and / or optoelectronic height adjustment devices 39 and 57.
  • a first height aligning device 39 is arranged on the front edge of the goods layer transfer console 19 facing the goods stack 50 to be picked and is preferably designed as an optical sighting device, for example in the form of a known light button, by means of which the operator manually positions the goods layer transfer console 19 and by means of it of a light beam generated by the light scanner can visually align with the upper edge of the goods layer 34 lying under the goods layer 34 to be picked.
  • the front edge of the goods-level transfer console 19, which carries the height alignment device 39 faces the portal opening.
  • the second height alignment device 57 is arranged on the front edge of the goods layer transfer console 19 facing a picking pallet 41. It is designed as an infrared reflex light barrier and is in optical operative connection with a vertical reflector bar 40 in order to automatically adjust the height of the goods position transfer console 19 to the upper edge of the order-picking pallet 41 located on the further load carrier of the forklift vehicle or on a goods position already stacked on it 34 to align. It goes without saying that this alignment process can be filed as a program step and can run automatically, at least partially, without the operator having to intervene. In the embodiment shown in FIGS.
  • the height alignment device 57 is arranged on the front edge of the goods position transfer console 19 with its load carrying device 17 facing the forklift front and the further load carrier located there , preferably in the corner area facing the portal opening.
  • the reflector bar 40 corresponding to the height alignment device 57 is fastened to the lifting frame 15 of the further load carrier 16 in the middle over its entire height.
  • height alignment devices 39 and 57 Other commercially available optical and / or optoelectronic elements of known construction can also be used as height alignment devices 39 and 57.
  • a common light source for both alignment devices 39 and 57, which light source can perform both alignment functions.
  • Such a light source would then be arranged in the mutually facing corner area of the front edge facing the portal opening and the front edge facing the stacker front of the goods position transfer console 19 in the middle of an imaginary diagonal connection line between the two-sided light exit openings for height detection.
  • the most important component of the vehicle electronics is at least one per se programmable logic controller 55, abbreviated to PLC, or alternatively, alternatively, a microcomputer, which is only schematically indicated in FIGS. 1 and 2.
  • PLC programmable logic controller
  • the control programs for the steering behavior of the layer order picking truck and the movement sequences of the first and further load carriers 13 and 16 and the layer receiving device 18 with their individual components 19-21, 32 and 33 are at least partially stored in the PLC or MC 55. These can be changed easily and quickly at any time by exchanging, supplementing, etc.
  • Movement arrow 42 illustrates the extension of the first load carrier 13 with the layer pick-up device 18 from the transverse portal 5 into its layer pick-up position for picking up a layer of goods 34 on the left-hand side outside the side vehicle contour directly from the shelf of a schematically indicated shelf 58 or pallets 51 of freestanding goods 50.
  • Arrow 46 indicates the pivoting of the mast 15 with the load carrier 16 and the load carrier device 17 located thereon with a stack stacked thereon by 90 ° beyond the side of the vehicle contour opposite the position receiving position.
  • the longitudinal movement for depositing the fully equipped picking pallet 41 on the right-hand side of the vehicle which can take place by means of the telescopic load fork of the load carrying device 17 or by means of the longitudinal movement of the layer order picking stacker, is indicated by the movement arrows 47.
  • the movement arrow 48 signals the pivoting back of the mast 15 into the starting position the load-carrying device 17 within the vehicle contour in front of the front frame leg 3.
  • FIG. 10 there is a layer picking device depicted in a mirror image on the right-hand side, which moves in the opposite direction in the rack aisle 52.
  • the layer picking stacker Before the actual picking process begins, the layer picking stacker must be brought into a suitable picking position in rack aisle 52. By moving the layer picking stacker longitudinally, its cross portal 5 with the layer receiving device 18 located therein is positioned congruently with respect to the pallet 51. The goods stack 50 from which a goods layer 34 is to be picked is seated on this pallet 51.
  • the layer pick-up device 18 is raised with the first load carrier 13 designed as a lifting carriage on the lifting frame 12 until the lower edge of the layer transfer console 19 comes to lie above the uppermost layer 34.
  • the second horizontal lifting mast 30 is pushed out of the transverse portal 5 transversely to the longitudinal axis 25 of the vehicle until the goods layer centering gripping device 20 attached to it is above the goods layer 34 to be picked. Thereafter, the centering grippers 33 of the goods-centering gripping device 20 are pivoted outward about their upper horizontal axis of rotation.
  • the goods position transfer console 19 is now viewed along with the goods position centering gripping device 20 by moving the first load carrier 13 vertically on the lifting frame 12 until there is visual visual contact between the alignment device 39, which is designed, for example, as a light sensor, on the front edge of the goods position transfer console 19 and the Lets produce the upper edge of the goods layer 34, which lies below the goods layer 34 to be picked.
  • the upper edge of the goods layer transfer console 19 is now at the same height level as the upper edge of the second goods layer 34 of the goods stack 50, seen from above.
  • the telescopic rails 23 allow the transport slide 26 to have a limited horizontal travel of approximately 200 mm by means of the roller trains 24. This is now used to direct the goods layer transfer bracket 19 suspended from the transport carriage 26 directly to the outside of the seen from above to move up to the second goods layer 34, which is below the goods layer 34 to be picked.
  • the centering grippers 33 then come into operation. Since the centering gripper 33 facing the mast 12 is preferably fixed and therefore acts as a mechanical stop, the remaining three centering grippers 33 exert a centering function on the goods layer 34 with respect to the fixed centering gripper 33 and move the goods layer 34 into the intended position. During the closing process, the two lateral centering grippers 33 lying transversely to the longitudinal axis 25 of the vehicle are controlled in parallel, meanwhile the centering gripper 33 opposite the fixed centering gripper 33 is controlled separately.
  • the second horizontal lifting mast 30 For actually pulling the goods layer 34 to be picked off the goods stack 50 and pushing them onto the goods position transfer console 19 in front of them, the second horizontal lifting mast 30 is pushed back into the transverse portal 5 transversely to the longitudinal axis 25 of the vehicle. So that the initial additional thrust of the goods position transfer console 19 of 200 mm is compensated again, the goods position transfer console 19 with the goods position 34 lying on top and the goods position centering gripping device 20 are retracted together when the second horizontal lifting mast 30 is pushed back in on the last 200 mm.
  • a ramp switch of known type located on the second horizontal lifting mast 30, but not shown in more detail is contacted with a remaining stroke of 200 mm and the simultaneous entrainment of the transport carriage 26 up to the stop 54 is effected via a synchronous control.
  • the transport carriage 26 can be carried along the remaining 200 mm by means of mechanical stops.
  • the layer pick-up device 18 is now seen from the control sequence at the interface between manual and automatic control. While the previously described movement sequences are preferably controlled manually, the subsequent movement steps are stored in the programmable circuit 55 or alternatively in the MC and are therefore subject to automatic control, which can be triggered by the operator by means of a control command.
  • the layer pick-up device 18 with the goods layer transfer console 19 and the goods layer centering gripping device 20 and the goods layer hold-down device 21 moves in the direction of travel along the longitudinal axis 25 of the vehicle over the front frame leg 2 of the transverse portal 5 over the load carrying device 17 on which the empty picking pallet 41 is located.
  • the goods centering gripping device 20 is automatically carried along by the driving brackets 53 from the goods handling transfer console 19 when the telescopic cables 27 are extended, so that the lifting cylinders of the goods handling centering gripping device 20, not shown and described in more detail, can remain depressurized.
  • the goods position transfer console 19 with the goods position 34 located thereon is lowered onto the picking pallet 41 together with the goods position centering gripping device 20.
  • the lowering depth is controlled by means of the vertical reflector bar 40, which is diagonally and optically operatively connected to the height aligning device 57, which is designed, for example, as a reflective light barrier, on the front edge of the goods position transfer console 19 facing the stacker front.
  • the goods position transfer console 19 rests on the order-picking pallet 41 together with the goods position 34 located thereon, the goods position transfer console 19 is retracted back into its initial position in the transverse portal 5 by retracting the telescopic trains 27 in the opposite direction to the direction of travel between the stacked goods layers 34, as a result of which the top goods layer 34 finally settles on the one below.
  • the lifting cylinder or cylinders (not shown and described in more detail) for triggering the pivoting movement of the centering grippers 33 must be pressurized so that they remain closed and the goods layer 34 with the centering grippers 33 comprising them remains above the picking pallet 41.
  • the lifting element 36 must also remain pressurized so that the scissor lifting table 35 holds down the holding-down plate 32 with its fixing pins 37 against the Goods position presses so that when the goods position transfer console 19 is withdrawn, the goods position 34 does not shift within itself.
  • the centering grippers 33 are pivoted outwards and the goods layer centering gripping device 20 with the goods layer hold-down device 21 is raised by an upward vertical movement of the first load carrier 13. Thereafter, the goods position centering gripping device 20 is also moved into its starting position in the transverse portal 5 by means of the first horizontal lifting mast 29 over the front frame leg 2. Since this sequence of movements can also be automated, it is advisable to save time by superimposing the horizontal upward and the vertical backward movement of the goods position centering gripping device 20 into a resulting diagonal movement and storing the necessary steps in the program sequence.
  • the layer picking stacker is now free to pick other layers of goods from the same or one or more other pallets 51.
  • the layer order picking stacker again goes over to a manual control in order to put the fully equipped order picking pallet 41 on the floor and to pick up an empty one.
  • the freely suspended lifting frame 15 which is designed as a swivel frame, is pivoted outward about its pivot point 14 by 90 ° to the side of the vehicle contour opposite the position-receiving position. Then the picking pallet 41 is lowered to the floor level by means of the initial stroke that is sufficiently known from forklift vehicles. The layer picking stacker is now moved back by approx. 2 m so that the load carrying device 17 is released from the picking pallet 41.
  • a long-telescopic load fork as the load carrying device 17 it is also possible to leave the order picking stacker in place and to place the order picking pallet 41 on the floor by pushing out the telescopic forks.
  • a new picking pallet can be added 41 done in different ways.
  • a first possibility in this regard is to raise the already swung out further load carrier by approx. 200 mm again by means of the initial stroke and to move the position picking stacker backwards in the longitudinal direction via a free picking pallet 41, which after lowering the load carrier 16 either by means of a vehicle movement or a longitudinal telescoping the forks of the other load carrier 16 can be added. Then the mast 15 is pivoted back through 90 °, so that the load-bearing device 17 comes to rest in front of the front frame leg 3 in its starting position.
  • the load carrying device 17 of the further load carrier 16 is designed as a long-telescopic load fork, a pick-up pallet 41 on the side of the cross portal 5 can be accommodated, as a result of which the pivoting of the mast 15 can be omitted.
  • Another alternative is to use the layer pick-up device to grasp a new order-picking pallet 41 and then place it on the front load-bearing device 17 of the further load carrier 16. As soon as the layer picking stacker has picked up a new picking pallet 41, the picking process can begin again.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Handcart (AREA)
  • Loading Or Unloading Of Vehicles (AREA)
EP92102412A 1991-02-13 1992-02-13 Dispositif de chargement de couches de produits pour un chariot-élévateur, monté sur un porte-charges déplaçable verticalement Expired - Lifetime EP0499250B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4104346 1991-02-13
DE4104346A DE4104346C2 (de) 1991-02-13 1991-02-13 An einem höhenbeweglichen Lastträger angeordnete Lagenaufnahmevorrichtung für ein Kommissionierfahrzeug

Publications (3)

Publication Number Publication Date
EP0499250A2 true EP0499250A2 (fr) 1992-08-19
EP0499250A3 EP0499250A3 (en) 1993-03-17
EP0499250B1 EP0499250B1 (fr) 1995-06-14

Family

ID=6424950

Family Applications (1)

Application Number Title Priority Date Filing Date
EP92102412A Expired - Lifetime EP0499250B1 (fr) 1991-02-13 1992-02-13 Dispositif de chargement de couches de produits pour un chariot-élévateur, monté sur un porte-charges déplaçable verticalement

Country Status (3)

Country Link
EP (1) EP0499250B1 (fr)
AT (1) ATE123744T1 (fr)
DE (2) DE4104346C2 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT404584B (de) * 1993-11-25 1998-12-28 Fritschi Ag Hugo Verfahren und handhabungsvorrichtung für das ein- und auslagern von stückgutförmigen gebinden in hochregallagern
EP0915053A3 (fr) * 1997-11-04 2001-12-12 Cascade Corporation Pince de prélèvement d'une couche montée sur un chariot élévateur à fourche
EP2653434A1 (fr) 2012-04-19 2013-10-23 Stef Système de préhension, appareil de manutention le comportant et son utilisation.
CN108217026A (zh) * 2018-02-07 2018-06-29 黄淮学院 一种垃圾自动收集装置

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2468055A (en) * 1945-11-28 1949-04-26 John W Gibler Load-dumping pallet
US2566863A (en) * 1948-07-06 1951-09-04 Geuder Paeschke & Frey Co Load retaining means for industrial vehicles
DE1726277U (de) * 1956-04-27 1956-07-12 Ruhr Intrans Hubstapler G M B Blockaufnehmer.
US3187917A (en) * 1962-01-15 1965-06-08 Wendell S Miller Industrial truck with load supporting members for handling a plurality of stacked articles
GB1059096A (en) * 1964-05-26 1967-02-15 Asea Ab Improvements in lifting trucks and other similar load transport vehicles
DE1223306B (de) * 1964-09-16 1966-08-18 Baehre Metallwerk K G Hublader mit Lastschieber
US3380606A (en) * 1966-01-04 1968-04-30 Lawrence R. Trumpore Lift truck
US3712492A (en) * 1971-07-01 1973-01-23 Allis Chalmers Sideloader with powered rollers for endwise unloading
US4252496A (en) * 1976-10-29 1981-02-24 Williams John A Hydraulic clamp for trays of canned beverages
FR2413318A1 (fr) * 1978-01-03 1979-07-27 Elevateurs Lateraux Sa Chariot elevateur pour la manutention laterale de charges courtes ou longues
JPS6019118Y2 (ja) * 1979-04-14 1985-06-08 ライオン株式会社 四面クランプリフト
US4326830A (en) * 1979-05-15 1982-04-27 Cusack Lawrence B Side loading vehicle
DE3046027A1 (de) * 1980-12-06 1982-07-15 Ernst Wagner Kg, 7410 Reutlingen Hubstapler
DE3117803C2 (de) * 1981-05-06 1986-10-02 Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg Hochregalstapler
DE3404882C2 (de) * 1984-02-11 1987-04-16 Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg Stapelfahrzeug mit einem Hubmast
DE3512172A1 (de) * 1985-04-03 1986-10-09 Hans-Dieter 2080 Pinneberg Denker Zug-schubeinrichtung zum be- und entladen von lastkraftwagen und bahnwaggons
CH678319A5 (fr) * 1989-05-29 1991-08-30 Manitec Ag

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT404584B (de) * 1993-11-25 1998-12-28 Fritschi Ag Hugo Verfahren und handhabungsvorrichtung für das ein- und auslagern von stückgutförmigen gebinden in hochregallagern
EP0915053A3 (fr) * 1997-11-04 2001-12-12 Cascade Corporation Pince de prélèvement d'une couche montée sur un chariot élévateur à fourche
EP2653434A1 (fr) 2012-04-19 2013-10-23 Stef Système de préhension, appareil de manutention le comportant et son utilisation.
CN108217026A (zh) * 2018-02-07 2018-06-29 黄淮学院 一种垃圾自动收集装置
CN108217026B (zh) * 2018-02-07 2023-10-03 黄淮学院 一种垃圾自动收集装置

Also Published As

Publication number Publication date
EP0499250B1 (fr) 1995-06-14
DE4104346A1 (de) 1992-08-20
DE4104346C2 (de) 1994-09-08
DE59202476D1 (de) 1995-07-20
ATE123744T1 (de) 1995-06-15
EP0499250A3 (en) 1993-03-17

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