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EP0499251B1 - Gerbeur pour magasin avec deux porteurs de charge déplaçables en hauteur et commandés séparément - Google Patents

Gerbeur pour magasin avec deux porteurs de charge déplaçables en hauteur et commandés séparément Download PDF

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Publication number
EP0499251B1
EP0499251B1 EP92102413A EP92102413A EP0499251B1 EP 0499251 B1 EP0499251 B1 EP 0499251B1 EP 92102413 A EP92102413 A EP 92102413A EP 92102413 A EP92102413 A EP 92102413A EP 0499251 B1 EP0499251 B1 EP 0499251B1
Authority
EP
European Patent Office
Prior art keywords
layer
goods
truck according
layer picking
picking truck
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.)
Expired - Lifetime
Application number
EP92102413A
Other languages
German (de)
English (en)
Other versions
EP0499251A3 (en
EP0499251A2 (fr
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 EP0499251A2 publication Critical patent/EP0499251A2/fr
Publication of EP0499251A3 publication Critical patent/EP0499251A3/de
Application granted granted Critical
Publication of EP0499251B1 publication Critical patent/EP0499251B1/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
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/18—Load gripping or retaining means
    • 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
    • B66F9/08—Masts; Guides; Chains
    • B66F9/10—Masts; Guides; Chains movable in a horizontal direction relative to truck

Definitions

  • the invention relates to a layer picking stacker with two separately controllable, vertically movable load carriers, of which a first load carrier with a layer pick-up device that can be moved at least on one side beyond the length of the stacker for detecting at least one product position in a layer pick-up position located outside the stacker, and a second load carrier with one located in the action area of the layer pick-up device Load carrying device for receiving and / or stacking goods layers transferred from the load receiving device is provided.
  • Three-sided or three-way forklifts are generally known which can take up loads by means of swivel or rotary push forks or similar load carriers on one side outside the forklift contour and can set them down again on the opposite side.
  • Such forklifts are mainly used to transfer loads. Since they can neither pick up layers of goods nor stack them on the vehicle, they are therefore unsuitable for picking.
  • a freely movable high-rack stacker in which a rotatable load suspension device arranged on a front portal lifting frame absorbs loads on the front and on both sides of the vehicle and, after their rotation by the portal lifting frame, to a storage space behind or within the chassis a, on a second mast arranged vertically movable and telescopic second load handling device can transfer.
  • This high-bay stacker is used exclusively for the simultaneous handling of two palletized loads to increase the handling speed, in particular increasing the Chassis should be kept within the limits given by the load dimensions, but the width of the pallets to be handled is limited by the clear width of the mast portal.
  • the load pallets parked within the chassis can only be removed from the side in their entirety using the rear load carrier, but cannot be set down at floor level. This requires the repeated use of the front load carrier, which can individually pick up the pallets with their load, return them through the front portal and set them down on the side of the floor, which, however, requires extensive longitudinal positioning of the high-bay stacker. However, picking cannot be carried out with this device.
  • the object of the invention is to create a particularly reliable, easy-to-use and economical layer picking stacker, largely avoiding the disadvantages of known devices, which is particularly suitable for removing goods in tight spaces - for example directly in the rack aisle - and in a clear manner enables a quick and time-saving transfer, handling and stacking of goods layers in all directions, with the number of goods layers increasing building commission should not be restricted by structural conditions, ie kept relatively large, and the physical strain on the picking worker should be kept to a minimum.
  • each load carrier is assigned its own mast and both load carriers can be moved independently of one another in height and lowered to the pallet level, the mast of the first load carrier being arranged in a transverse portal of the vehicle frame and the mast of the further load carrier located in front of the side portal is and wherein the layer receiving device is substantially congruent within the forklift longitudinal contour in the direction of travel over the load carrying device and the load carrying device at least over the side of the forklift longitudinal contour opposite the layer receiving position.
  • This compact design enables fast load or layer turnover and brief assembly of even large commissions, even in tight spaces, so that the operator remains physically unencumbered and maintains the best possible clarity during the order-picking process, a particular advantage of which is that of his own unlimited height movability of the additional load carrier, picked pallets can be stacked directly on shelves or on top of each other.
  • the two masts are designed as side masts arranged one behind the other parallel to the longitudinal axis of the vehicle, which simplifies the construction and thereby ensures good visual contact with the two load carriers, in particular in their position outside the vehicle contours, at all times.
  • An expedient embodiment of the invention provides that the rear frame leg of the transverse portal, viewed in the direction of travel, is designed as a vehicle control center and is provided for receiving vehicle function groups, the vehicle function groups at least including drive, steering, hydraulics, battery and vehicle electronics, which not only serves to improve the functionality of the vehicle body, but also benefits from easier and shorter maintenance intervals.
  • the front frame leg of the cross portal seen in the direction of travel, is constructed in a flat construction with a low height, in such a way that the layer receiving device essentially can be moved within the vehicle's longitudinal contour via this frame leg, in addition to achieving independence from the length of the product layers to be picked up, functional paths within the vehicle are also shortened, the narrow construction of the layer order picking truck being an additional advantage.
  • the layer pick-up device is equipped with a goods position transfer console, a goods position centering gripping device and a goods position hold-down device, thereby ensuring reliable recording and transfer of goods positions without running the risk that the goods positions or . change the spacing between individual parcels of goods or the packaging is damaged.
  • a particularly sensible arrangement provides that at least the upper side of the goods layer transfer console carrying the goods layer at least partially has a friction-reducing surface and / or is at least partially equipped with friction-reducing elements in such a way that it can be easily extended between two goods layers. This measure allows the frictional resistance to be minimized and individual packets of goods to not slip when the goods layer transfer console is pulled out.
  • the goods position hold-down device which is arranged within the goods position centering gripping device and is designed to be height-adjustable, also serves this purpose, so that it presses the goods position to be picked against the goods position transfer console when it is picked up and when it is placed on the picking pallet against the underlying goods position.
  • the special further development of the inventive concept also serves, according to which the side of the layer holding down device facing the position of the goods at least partially has a friction-increasing and / or layer-fixing surface and / or is at least partially equipped with friction-increasing and / or layer-fixing elements.
  • a special feature of the invention is that the movement sequences of the goods position transfer console, the goods position centering gripping device and the goods position hold-down device can each be controlled separately and / or at least partially in a coordinated manner.
  • the movement sequences of the goods position transfer console, the goods position centering gripping device and the goods position hold-down device can be controlled manually and / or at least partially, whereby a special variant of the invention provides for the control of the goods position transfer panel, at least in some areas, of its motion sequence to be designed as a follow-up control and / or lead control for the goods position centering gripping device.
  • the operator is free to choose the control of the layer order stacker.
  • the lifting frame of the additional load carrier is freely suspended and can be pivoted at least 90 ° beyond the side of the vehicle's longitudinal contour opposite the position of the pickup position.
  • the goods position transfer console is provided with at least one optical and / or optoelectronic height adjustment device for manual and / or automatic height adjustment on a pallet and / or goods layer top edge.
  • 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 connected to each other, wherein 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 viewed 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, among other things, 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.
  • 9 pivotable support wheels 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 is attached, which can be designed as a single or multiple lifting frame 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 pivot point 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 is located, which in the exemplary embodiment is designed as a possibly long-telescopic load fork.
  • the lifting frame 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 console 19, a goods layer centering gripping 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 cross 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 push cylinder, not shown, is limited.
  • Telescopic cables 27 are attached at both ends to the underside of the transport carriage 26 and transversely to its direction of movement, and 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 mast 29 is attached, the stroke of which is in the direction of travel.
  • 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 position centering gripping device 20 is fixed to this horizontal mast 30. The goods position centering gripping device 20 can thus be separately brought 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-embracing 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.
  • an additional or possibly even all centering grippers can also be used 33 can be arranged movably in the manner described above. 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 and 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 properties 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 design, 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 lift 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.
  • a 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 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.
  • known mechanical-type connecting means such as screws, etc., are provided.
  • 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 bulk 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.
  • 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 to a maximum 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' more or less come to lie 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 to the desired extent.
  • the fixing pins 37 In the case of piece goods with strong packaging material - for example canned goods, glasses or solid boxes - it is advisable to use the fixing pins 37 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 end of the fixing pins 37 protruding from the lower perforated plate 60 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 partial area 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 push on a goods layer 34 to facilitate their adoption. 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 facilitating the movement of 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 alignment device 39 is arranged on the front edge of the goods position 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 position transfer console 19 and by means of a light button generated light beam can visually align 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 optically operatively connected to 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 to a goods position already stacked thereon 34 align. It goes without saying that this alignment process can be stored 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 at that The front of the forklift truck and the further load carrier 16 located there with its load carrying device 17 facing the front edge of the goods layer transfer console 19 are preferably arranged 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 height alignment devices 39 and 57, which 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 pick-up 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 at any time in a simple and quick manner 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 the left-hand pick-up of a layer of goods 34 outside the side vehicle contour directly from the shelf of a schematically indicated shelf 58 or of stacked goods 50 free-standing pallets 51.
  • the opposite Direction of movement after picking up a layer of goods 34 back into the cross portal 5 is indicated by the arrow 43.
  • 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 position 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 of the load-bearing device 17 within the vehicle contour in front of the front frame leg 3.
  • a layer picking device which is shown in mirror image, on the right side and moves in the opposite direction of travel on the rack aisle 52.
  • the layer picking stacker Before the actual picking process begins, the layer picking stacker must be placed in a suitable picking position in rack aisle 52. By moving the layer picking stacker longitudinally, its cross portal 5 with the layer pick-up 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 slide 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 mast 30 is pushed transversely to the vehicle longitudinal axis 25 from the cross portal 5 until the attached goods layer centering device 20 is located over the goods layer 34 to be picked. Thereafter, the centering grippers 33 of the goods-centering gripping device 20 are swung outward about their upper horizontal axis of rotation.
  • the goods position transfer console 19 is now lowered together 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 height 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 layer transfer console 19 is now at the same height level as the upper edge of the second layer 34 of the stack 50 viewed from above.
  • the telescopic rails 23 allow the transport carriage 26 by means of the roller trains 24 to have a limited horizontal travel of approximately 200 mm. This is now used to move the goods layer transfer console 19 suspended on the transport carriage 26 directly to the outside of the second goods layer 34 seen from above, which lies 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 position 34 with respect to the fixed centering gripper 33 and move the goods position 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 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 over the last 200 mm.
  • a ramp switch of known type located on the second horizontal 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 on 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 movement sequences described above 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 cross portal 5 over the load carrying device 17 on which the empty picking pallet 41 is located.
  • the goods position centering gripping device 20 is automatically carried over the driving brackets 53 by the goods position transfer bracket 19 when the telescopic cables 27 are extended, so that the lifting cylinders of the goods position 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 on the basis of the vertical reflector bar 40, which is automatically adjusted on the front of the truck with the height aligning device 57, which is designed, for example, as a reflective light barrier facing front edge of the layer transfer console 19 is diagonally operatively connected.
  • the goods position transfer console 19 lies on the 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 layer of goods 34 finally settles on the underlying one.
  • 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 the hold-down plate 32 with its fixing pins 37 presses against the goods position so that the goods position 34 does not move when the goods position transfer console 19 is withdrawn.
  • 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, in order to save time, to superimpose the horizontal upward and the vertical backward movement of the goods position centering gripping device 20 into a resulting diagonal movement and to store 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. After the finished commission on the picking pallet 41 is completed, the Layer picking stacker again to a manual control in order to put the fully equipped 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 clear of 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 41 can be picked up in various 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 further load carrier 16 can be added. Then the mast 15 is pivoted back by 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 longitudinally telescopic load fork, a picking pallet 41 on the side of the cross portal 5 is suitable, whereby 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 start again.

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  • 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)
  • Warehouses Or Storage Devices (AREA)
  • Recrystallisation Techniques (AREA)

Claims (44)

  1. Chariot élévateur de préparation de couches, comportant deux supports de charge (13, 16), déplaçables en hauteur et pouvant être commandés séparément, dont un premier support de charge (13) est pourvu d'un dispositif de réception de couches (18) déplaçable au moins d'un côté sur le contour longitudinal du chariot élévateur, pour saisir au moins une couche de marchandises (34), dans une position de réception de couches se trouvant à l'extérieur du chariot élévateur et un autre support de charge (16) étant pourvu d'un dispositif porteur de charge (17) situé dans la zone d'action du dispositif de réception de couches (18), pour recevoir et/ou empiler des couches de marchandises (34) transférées par le dispositif de réception de couches (18), caractérisé en ce qu'à chaque support de charge (13, 16) est associé un bâti de levage (12, 15) propre, les deux supports de charge (13, 16) étant déplaçables en hauteur indépendamment l'un de l'autre, et également susceptibles d'être abaissés au niveau d'une palette, le bâti de levage (12) du premier support de charge (13) étant disposé dans un portique transversal (5) du cadre de véhicule (1) et le bâti de levage (15) de l'autre support de charge (16) étant disposé frontalement devant le portique transversal (5) et en ce que le dispositif de réception de couches (18) est logé sensiblement à l'intérieur du contour longitudinal du chariot élévateur, dans la direction de roulage, en coïncidence sur le dispositif support de charge (17) et le dispositif support de charge (17) est susceptible d'être déplacé au moins sur le côté opposé à la position de réception de charge du contour longitudinal du chariot élévateur.
  2. Chariot élévateur de préparation de couches selon la revendication 1, caractérisé en ce que les deux bâtis de levage (12, 15) sont réalisés sous la forme de bâtis de levage latéral disposés l'un derrière l'autre parallèlement à l'axe longitudinal du véhicule (25).
  3. Chariot élévateur de préparation de couches selon la revendication 1 et/ou 2, caractérisé en ce que les deux bâtis de levage (12, 15) sont orientés transversalement par rapport à l'axe longitudinal du véhicule (25).
  4. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que l'un des bâtis de levage (12 ou 15) est réalisé sous la forme de bâti de levage latéral et l'autre bâti de levage (15 ou 12) est orienté transversalement par rapport à l'axe longitudinal du véhicule (25).
  5. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que le premier support de charge (13) et/ou l'autre support de charge (16) sont disposés, dans la direction de roulage, sur le bâti de levage (12, 15).
  6. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que le premier support de charge (13) et/ou l'autre support de charge (16) sont disposés sur le bâti de levage (12, 15), dans le sens opposé à la direction de roulage.
  7. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que le premier support de charge (13) et/ou l'autre support de charge (16) sont disposés sur le bâti de levage (12, 15) transversalement par rapport à la direction de roulage.
  8. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que le bâti de levage (12) du premier support de charge (13) est disposé, par rapport à l'ouverture de portique, au-dessus ou sur la branche du cadre (4) du portique transversal (5) du côté frontal.
  9. Appareil de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que le bâti de levage (12) du premier support de charge (13) est disposé sur la branche de cadre (3) du portique transversal (5), se trouvant à l'avant en observant dans la direction de roulage.
  10. Appareil de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que le bâti de levage (12) du premier support de charge (13) est disposé sur la branche de cadre (2) du portique transversal (5), se trouvant à l'arrière en observant dans la direction de roulage.
  11. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que la branche de cadre (2) du portique transversal (5), se trouvant à l'arrière en observant dans la direction de roulage, est réalisée sous forme de poste centrôl de conduite du véhicule (6) et est prévue pour recevoir des groupes fonctionnels du véhicule.
  12. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que les groupes fonctionnels du véhicule comprennent au moins l'entraînement, la direction, la partie hydraulique, la batterie et le matériel électrique du véhicule.
  13. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce qu'au-dessous du poste contrôl de conduite du véhicule (6) est disposée au moins une roue motrice ou d'entraînement (9) dont l'orientation directionnelle peut être réglée manuellement et/ou automatiquement et en ce qu'au moins une roue non orientable (11) est disposée des deux côtés de la branche de cadre (3) du portique transversal (5), se trouvant à l'avant en observant dans la direction de roulage.
  14. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que la branche de cadre (3) du portique transversal (5), se trouvant à l'avant en observant dans la direction de roulage, est réalisée en structure plate de faible hauteur, de telle manière que le dispositif de réception de couche (18) puisse être logé sensiblement à l'intérieur du contour longitudinal du véhicule, au-dessus de cette branche de cadre (3).
  15. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que les deux supports de charge (13, 16) sont munis d'au moins trois degrés de liberté, de telle manière que le premier support de charge (13) soit mobile dans la direction de la hauteur, longitudinale et transversale et que l'autre support de charge (16) soit mobile dans la direction de la hauteur et longitudinale, ainsi qu'à pivotement.
  16. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que le chariot de levage du premier et/ou d'un autre support de charge (13, 16) est déplaçable en direction longitudinale et/ou transversale, de préférence par action télescopique.
  17. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que le dispositif de réception de couches (18) est monté à rotation sur le premier support de charge (13).
  18. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que le dispositif de réception de couches (18) est équipé d'une console de transfert de couches de marchandises (19), d'un dispositif de saisie et de centrage de couches de marchandises (20) et d'un serre-flanc de couches de marchandises (21).
  19. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que le dispositif de saisie et de centrage de couches de marchandises (20) est pourvu de quatre organe de saisie et de centrage (33) saisissant la ou les couches de marchandises (34) sur leur pourtour, en étant disposés à angle droit les uns par rapport aux autres, et en ce qu'au moins de ces organes de saisie et de centrage adjacents (33) sont réalisés mobiles et susceptibles d'être commandés.
  20. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que les préhenseurs centreurs (33) susceptibles d'être commandés sont montés à pivotement autour d'un axe de rotation supérieur, l'angle de pivotement étant d'au moins 10°.
  21. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que la console de transfert de couches de marchandises (19) est réalisée pour recevoir la ou les couches de marchandises (34) et est susceptible d'être commandée en direction transversale et longitudinale, de telle manière qu'elle puisse être déplacée, au moins temporairement et/ou partiellement, hors de la plage de mise en coïncidence constituée par le dispositif de saisie et de centrage de couches de marchandises (20) et le serre-flanc de couches de marchandises (21).
  22. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce qu'au moins la face supérieure, portant la ou les couches de marchandises (34), de la console de transfert de couches de marchandises (19) présente, au moins partiellement, une surface diminuant le frottement et/ou est équipée, au moins partiellement, d'éléments diminuant le frottement (38), de manière à pouvoir être sortie facilement d'entre deux couches de marchandises (34).
  23. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que le serre-flanc de couches de marchandises (21) est disposé à l'intérieur du dispositif de saisie et de centrage de couches de marchandises (20) et est réalisé mobile en hauteur.
  24. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que la face, tournée vers les couches de marchandises (34) du serre-flanc de couches de marchandises (21), présente, au moins partiellement, une surface augmentant le frottement et/ou fixant une position et/ou est équipée au moins partiellement d'éléments (37) augmentant le frottement et/ou fixant une position.
  25. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que le déplacement en hauteur du serre-flanc de couches de marchandises (21) peut être commandé au moins dans une direction.
  26. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que le mouvement d'abaissement du serre-flanc de couches de marchandises (21) et/ou des éléments (37) augmentant le frottement et/ou fixant une position s'effectue sous l'effet de la force de gravité due au poids propre.
  27. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que les séquences de déplacement de la console de transfert de couches de marchandises (19), du dispositif de saisie et de centrage de couches de marchandises (20) et du serre-flanc de couches de marchandises (21) sont chacun susceptible d'être commandés séparément et/ou au moins de façon partiellement coordonnée.
  28. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que les séquences de déplacement de la console de transfert de couches de marchandises (19), du dispositif de saisie et de centrage de couches de marchandises (20) et du serre-flanc de couches de marchandises (21) sont susceptibles d'être commandés manuellement et/ou au moins de façon partiellement programmée.
  29. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que la commande de la console de transfert de couches de marchandises (19) est réalisée, au moins dans des zones partielles de sa séquence de déplacement, sous la forme de commande de suivi et/ou de commande d'avance par rapport au dispositif de saisie et de centrage de couches de marchandises (20).
  30. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que la console de transfert de couches de marchandises (19) est susceptible de se déplacer de façon télescopique transversalement et/ou longitudinalement.
  31. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que les deux supports de charge (13, 16) peuvent être commandés séparément et/ou de façon au moins partiellement coordonnée cinématiquement.
  32. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que les deux supports de charge (13, 16) peuvent être commandés manuellement et/ou au moins de façon partiellement programmée.
  33. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que le bâti de levage de l'autre support de charge (16) est susceptible de pivoter, en étant accroché librement et au moins de 90°, du côté opposé à la position de réception de charge du contour longitudinal du véhicule.
  34. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que le bâti de levage de l'autre support de charge (16) est réalisé sous forme de cadre pivotant dont le centre de rotation (14) est situé sur la liaison entre la branche de cadre (4) du côté frontal et la branche de cadre (3) du portique transversal (5), se trouvant en avant lorsqu'on observe dans la direction de roulage.
  35. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que le dispositif support de charge (17) est réalisé sous la forme de fourche de levage, susceptible de se déplacer de façon télescopique longitudinalement et/ou transversalement.
  36. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que le dispositif de réception de charge (18) et/ou le dispositif support de charge (17) sont réalisés sous la forme d'appareil à coulissement latéral.
  37. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que le dispositif de réception de charge (18) et/ou le dispositif support de charge (17) sont réalisés sous la forme d'appareil à coulissement latéral, avec possibilité de pivotement.
  38. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que le dispositif de réception de charge (18) et/ou le dispositif support de charge (17) sont réalisés sous la forme de fourche de levage, susceptible de se déployer de façon télescopique, latéralement.
  39. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que le dispositif de réception de charge (18) et/ou le dispositif support de charge (17) est/sont réalisé(s) sous forme de fourche(s) à coulissement et à pivotement.
  40. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que la console de transfert de couches de marchandises (19) est pourvue d'au moins un dispositif d'orientation en hauteur (39, 57) optique et/ou opto-électronique, en vue d'effectuer l'orientation en hauteur manuellement et/ou automatiquement sur une arête supérieure de palette et/ou de couche de marchandises.
  41. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce qu'un premier dispositif d'orientation en hauteur (39) est disposé sur l'arête avant, tournée vers l'ouverture de portique, et un deuxième dispositif d'orientation en hauteur (57) sont disposés sur l'arête avant, tournée vers la face avant du chariot élévateur, de la console de transfert de couches de marchandises (19).
  42. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que le dispositif d'orientation en hauteur (39) est réalisé sous la forme de dispositif de visée optique, de préférence de capteurs lumineux, pour assurer l'orientation manuelle en hauteur de la console de transfert de couches de marchandises (19) sur l'arête supérieure de la couche de marchandises (34) située sous la couche de marchandises (34) devant être préparée.
  43. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que le dispositif d'orientation en hauteur (57) est réalisé sous forme de barrière lumineuse à réflexion, utilisant de préférence une base infrarouge, pour commander automatiquement la hauteur de la console de transfert de couches de marchandises (19), sur l'arête supérieure de la palette à préparer (41) ou bien d'une couche de marchandises (34) se trouvant sur celle-ci.
  44. Chariot élévateur de préparation de couches selon l'une ou plusieurs des revendications précédentes, caractérisé en ce que, sur le bâti de levage (15) de l'autre support de charge (16) est disposée une bande réfléchissante verticale (40), placée en liaison fonctionnelle diagonale avec le dispositif d'orientation en hauteur (57), pour effectuer la commande automatique de hauteur.
EP92102413A 1991-02-13 1992-02-13 Gerbeur pour magasin avec deux porteurs de charge déplaçables en hauteur et commandés séparément Expired - Lifetime EP0499251B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4104347 1991-02-13
DE4104347A DE4104347A1 (de) 1991-02-13 1991-02-13 Lagenkommissionierstapler mit zwei separat steuerbaren, hoehenbeweglichen lasttraegern

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EP0499251A2 EP0499251A2 (fr) 1992-08-19
EP0499251A3 EP0499251A3 (en) 1993-03-17
EP0499251B1 true EP0499251B1 (fr) 1995-05-03

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DE10127949C2 (de) * 2001-06-08 2003-06-18 Ford Global Tech Inc Staplervorrichtung
DE10163766A1 (de) * 2001-12-27 2003-07-17 Iws Ingenieurgesellschaft Wein Vorrichtung und Verfahren zum Wenden von Ladeeinheiten oder dergleichen, insbesondere Paletten
DE20202995U1 (de) * 2002-02-26 2003-01-09 Filterwerk Mann + Hummel GmbH, 71638 Ludwigsburg Einrichtung zur Lagerung und Zuführung flacher Gegenstände
GB201021484D0 (en) * 2010-12-18 2011-02-02 Frost Hugh Improvements in or relating to load handling apparatus
EP2746193B1 (fr) * 2012-12-20 2016-09-14 WITRON Logistik + Informatik GmbH Véhicule pour entrepôt, transstockeur, entrepôt et procédé correspondant
EP3914551A4 (fr) 2019-01-22 2022-09-14 Bendpak, Inc. Pont élévateur pour véhicules à trois niveaux
DE102019109594A1 (de) * 2019-04-11 2020-10-15 Hubtex Maschinenbau Gmbh & Co. Kg Flurförderzeug
CN118083858B (zh) * 2024-04-28 2024-06-21 云科智能制造（沈阳）有限公司 一种重载堆垛机立体库搬运设备

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Also Published As

Publication number Publication date
EP0499251A3 (en) 1993-03-17
EP0499251A2 (fr) 1992-08-19
ATE122022T1 (de) 1995-05-15
DE4104347A1 (de) 1992-08-20
DE59202053D1 (de) 1995-06-08

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