EP0499250A2 - Layer supporting device for a lift-truck, mounted on a vertically movable load-carrier - Google Patents

Abstract

A layer supporting device for a lift truck, mounted on a vertically movable load carrier, is equipped with a goods-layer centring gripper device (20) having four centring grippers (33) arranged at right angles to one another. At least one centring gripper (33) can be pivoted about a top horizontal axis of rotation, while two centring grippers (33) located opposite one another and/or adjoining one another at right angles are controlled in parallel. Located inside the goods-layer centring gripper device (20) is a vertically movable goods-layer holding-down means (21) operatively coupled to the goods-layer centring gripper device (20) and having a holding-down plate (32). The latter is equipped at least partly with friction-increasing and/or position-fixing elements (37) which are loosely and vertically displaceably arranged in a double-webbed perforated plate (59) in geometrically regular and/or irregular formation. Arranged below the covering area of the goods-layer centring gripper device (20) is a goods-layer transfer bracket (19) which is operatively coupled to the goods-layer centring gripper device (20) and is provided with friction-reducing elements (38). Goods-layer centring gripper device (20), goods-layer holding-down means (21) and goods-layer transfer bracket (19) are fastened to a common load carrier (13) and have separate drives. To relieve the strain on the warehouse personnel, the sequences of movement of the layer supporting device (18) can be controlled manually and/or automatically by means of an MC (55), for which reason the goods-layer transfer bracket (19) is equipped with at least one optical and/or optoelectronic vertical-alignment device (39 or 57). <IMAGE>

Description

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. In addition, 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 .

From DE 34 04 882 C2 load gripping devices are known which 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. Although the compact design of 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. As a result, there is again the risk that 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. In addition, 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.

Proceeding from this, 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.

In a further development of the inventive idea, it is proposed that at least two centering grippers lying opposite one another or instead at least two centering grippers adjoining one another at right angles are controlled in parallel, which facilitates position detection and recording as well as an automated operating mode.

According to another variant of the invention, 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.

In order to ensure not only the absolute position but also the inhomogeneous build-up of a goods position during the picking process, 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.

It has proven to be advantageous that 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.

An extremely useful development of the concept of the invention consists in that 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. As a result, 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.

To further relieve the operator, 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.

In order to optimize the functionality, 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.

For certain areas of use, it is sufficient that 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.

In order to increase the ground clearance of the forklift vehicle and an unlimited height travel of both load carriers, 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. As a result, 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.

Further advantageous embodiments of the invention are laid down in the remaining claims and in the description below.

Fig. 1

eine schematische Prinzipskizze eines Lagenkommissionierstaplers nach der Erfindung in Seitenansicht,

Fig. 2

eine schematische Draufsicht auf den Lagenkommissionierstapler gemäß Fig. 1 mit ausgefahrener Lagenaufnahmevorrichtung in Lagenaufnahmeposition,

Fig. 3

die gleiche Ansicht wie in Fig. 1 in detaillierter Darstellung mit strichpunktiert angedeutetem Bewegungsablauf einer Lagenaufnahmevorrichtung der Erfindung in Fahrzeuglängsrichtung,

Fig. 4

eine Vorderansicht des Lagenkommissionierstaplers ohne frontseitiges Hubgerüst mit teilgeschnittener Lagenaufnahmevorrichtung im Querportal,

Fig. 5

eine Draufsicht von Fig. 3,

Fig. 6

eine Vorderansicht eines Hubgerüstes mit der Lagenaufnahmevorrichtung,

Fig. 7

eine Seitenansicht von Fig. 6 mit teilgeschnittener Lagenaufnahmevorrichtung gemäß der Schnittlinie AB von Fig. 6,

Fig. 8

einen auszugsweisen Querschnitt durch eine erfindungsgemäße Niederhalterplatte der Lagenaufnahmevorrichtung mit linksseitig verfedert und rechtsseitig unverfedert dargestellten Fixierstiften nach der Erfindung,

Fig. 9

eine Teiluntersicht von Fig. 8,

Fig. 10

eine stark vereinfachte Schemazeichnung der Bewegungsabläufe des Lagenkommissionierstaplers

The invention allows several embodiments. One of them is shown as an example in the drawing using several figures. It shows:

Fig. 1

2 shows a schematic basic sketch of a position picking stacker according to the invention in side view,

Fig. 2

2 shows a schematic top view of the layer picking stacker according to FIG. 1 with the layer pick-up device extended in the layer pick-up position,

Fig. 3

FIG. 1 shows the same view as in FIG. 1 in a detailed illustration with the movement sequence of a layer pick-up device of the invention indicated in dash-dot lines in the longitudinal direction of the vehicle,

Fig. 4

a front view of the layer picking forklift truck without a front mast with a partially cut layer pick-up device in the cross portal,

Fig. 5

3 shows a top view of FIG.

Fig. 6

a front view of a mast with the layer receiving device,

Fig. 7

6 is a side view of FIG. 6 with a partially cut layer receiving device according to section line AB of FIG. 6,

Fig. 8

an excerpt cross-section through a hold-down plate according to the invention of the layer receiving device with spring pins on the left-hand side and unsprung on the right-hand side according to the invention,

Fig. 9

8 is a partial bottom view of FIG.

Fig. 10

a highly simplified schematic drawing of the Sequence of movements of the picking stacker

1 and 2, a stacker vehicle designed as a layer picking device is shown schematically in a side portal construction. 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. In the exemplary embodiment, 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. Although not shown, 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.

On the end of the front frame leg 3 facing away from the portal opening, 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.

As shown in FIGS. 3 and 4 in more detail, 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. For this purpose, on both sides of 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. On the underside of the transport carriage 26 and transversely to its direction of movement, 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. On the side facing the vehicle control center 6, 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. In front of the frame 28, driving brackets 53 are arranged on the underside of the telescopic cables 27 and extend in their telescopic direction. As a result, the goods position transfer console 19 can be moved across the front frame leg 2 in the direction of travel by means of the transport carriage 26 transversely to the longitudinal axis 25 of the vehicle and by means of the telescopic cables 27.

Without impairing the movability of the transport carriage 26 in the transverse portal 5, 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. For this purpose, 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. Of course, 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. In the exemplary embodiment in FIGS. 3-5, 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.

At the same time, it is advisable to design the centering grippers 33 as 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.

Within the cover area formed by the centering gripper 33, 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.

In order to be able to pick goods layers 34 with piece goods of any height dimension - and thus also relatively thin - 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. For this purpose, 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. In order to be able to achieve a defined contact pressure of the hold-down plate 32 depending on the particular nature of the surface of the goods layer, it has proven to be advantageous to make the lifting and / or damping element 36 controllable in such a way that the stroke and / or damping can be regulated .

In addition, 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.

According to FIGS. 3, 4 and 8, 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. To fix the Hold-down plate 32 on the scissor lift table 35 are known mechanical connection means, such as screws, etc., are provided.

As can be seen from the detailed sectional view in FIG. 8, in a preferred embodiment 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. According to the result of extensive test series, 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. Depending on the size of these inter-layer spaces, there is the possibility of designing 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.

Above the double-wall perforated plate 59, 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. As a result, 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. When picking up a layer of goods 34, 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.

gegenüber der Distanzplatte 62 zu verfedern, beispielsweise durch Einlage eines komprimierbaren, elastischen Materials zwischen dem oberen Lochblech 63 und der Distanzplatte 62 oder mittels Druckfedern 64. Der Einsatz letzterer erfordert, das Maß 61 der Länge des aus dem unteren Lochblech 60 hervorragenden Ende der Fixierstifte 37

um das Maß der Federblocklänge 65 zu verringern bzw. den Abstand 77 zwischen dem oberen Lochblech 63 und der Distanzplatte 62 entsprechend zu vergrößern.In the case of piece goods with strong packaging material - for example canned goods, glasses or solid boxes - 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.

Instead of the friction-increasing or layer-fixing elements 37 or in addition to their support, 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.

Likewise, 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.

As an alternative or in addition, 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.

For manual and / or (semi) automatic height adjustment, 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. In the embodiment shown in FIGS. 3 and 4, in which the forklift vehicle is shown as a layer picking stacker in a portal construction, 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. 3 and 4, in which the forklift vehicle is shown as a position picking stacker in portal construction, 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. In this case, 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.

Other commercially available optical and / or optoelectronic elements of known construction can also be used as height alignment devices 39 and 57. To minimize the complexity of the control technology and the production costs, there is also the possibility of providing 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, not shown and described in more detail, 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. 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.

The mode of operation of the layer order stacker according to the invention is described in more detail below.

10, the movement sequences and directions of the position picking stacker are indicated schematically by means of the movement arrows 42-48. 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. The opposite direction of movement after receiving a product layer 34 back in the cross portal 5, the movement arrow 43 indicates. The movement of the layer pickup device 18 within the lateral vehicle contours over the front frame leg 3, as seen in the direction of travel, for the purpose of transferring and stacking the goods layer 34 on the front picking pallet 41 of the load carrying device 17 of the further load carrier 16, is signaled by the movement arrow 44, meanwhile the movement arrow 45 the opposite direction of movement illustrated back to cross portal 5.

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. In the same 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 exact movement play of the load carrying device 17 and the layer receiving device 18 and the interaction of their individual components 19-21 can be easily understood on the basis of the individual movement sequences.

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. In a first step, 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. Now 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.

, nicht nur die Lagenposition insgesamt sondern auch die Position deren einzelnen Lagenpakete untereinander während des nachfolgenden Verschiebens der gesamten Warenlage 34 auf die Warenlagen-Übernahmekonsole 19 sichert (Fig. 4).Depending on the type of general cargo of the goods layer 34 to be picked up and the type and material of their packaging, there is now the possibility of lowering the goods hold-down 21 so that the hold-down plate 32 comes to lie on the goods 34 and - as already described above - with its friction-increasing and / or position-fixing elements 37, preferably the fixing pins 37

, not only the position of the layer as a whole but also the position of its individual layer packs among one another during the subsequent shifting of the entire position of goods 34 onto the position takeover console 19 (FIG. 4).

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. For this purpose, 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. Alternatively, 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.

After this command has been triggered, 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.

In accordance with the stored program sequence, 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. Now that 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.

gegen die Warenlage drückt, damit sich beim Zurückziehen der Warenlagen-Übergabekonsole 19 die Warenlage 34 nicht in sich verschiebt.On the one hand, 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. On the other hand, in particular 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.

Following this, 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 use of such a program control then presupposes that when the resulting diagonal movement of the centering gripping device 20 results, the centering grippers 33 on the front side viewed in the direction of travel are automatically opened, opening of further centering grippers 33 being superfluous in principle.

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 completed commission on the order picking pallet 41 has been completed, 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.

For this purpose, 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. When using 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.

Due to the design, 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.

If 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.

The invention is of course in no way limited to the exemplary embodiment shown in the figures and laid down in the description. It goes without saying that both numerous structural and functional modifications in the mode of operation of the layer order picking stacker as well as constructive configurations are within the defined scope of the invention. So it is z. B. conceivable to arrange one or both of the masts 12 and 15 transversely to the longitudinal axis 25 of the vehicle, in which case one or both of the load carriers 13 and 16 can be arranged in or opposite to the direction of travel. Other structural designs and structural arrangements of the two masts 12, 15 and their load carriers 13 and 16 are self-evident, provided that they are useful for the desired position picking function.

It is also possible within the scope of the expert to arrange a further frame leg in the direction of travel in front of the front frame leg 3 and parallel to it at a distance from it, which would form together with the front frame leg 3 a further portal which accommodates the further load carrier 16, the left- or right-hand orientation of this portal subject to the respective conditions of use. Instead, there is also the possibility of installing the first load carrier 13 with the position receiving device 18 on a push mast that can be extended from the transverse portal 5. The design changes naturally also include the use of numerous alternative embodiments of the two load carriers 13 and 16, for example their design as a side thruster, pivotable side thruster, side shifters, transversely and longitudinally telescopic load forks and the like. Finally, the use of an automatic, fully programmed control of the entire position picking stacker is in the range of possible, as is its entire manual control by hand, which understandably also includes the steering behavior.

Parts list

1.

Vehicle frame

2nd

Rear frame leg

3rd

Front frame leg

4th

Face frame leg

5.

Cross portal

6.

Vehicle control center

7.

Driver's cab

8th.

battery

9.

drive wheel

10th

Inductive guideline

11.

Wheel

12.

Mast

13.

First load carrier

14.

pivot point

15.

Mast

16.

Another load carrier

17th

Load carrying device

18th

Layer pick-up device

19th

Goods transfer console

20th

Positioning centering device

21st

Goods hold-down

22.

Lifting console

23.

Telescopic rail

24th

Roller train

25th

Vehicle longitudinal axis

26.

Transport sledge

27th

Telescopic train

28

frame

29.

First horizontal mast

30th

Second horizontal mast

31

Support frame

32.

Hold-down plate

33.

Centering gripper

34.

Stock situation

35.

Scissor lift table

36.

Lifting and / or damping element

37.

Friction-increasing / layer-fixing element

37 '.

Locating pin

38.

Friction reducing element

38 '.

Bullet

39.

Height alignment device

40.

Reflector strip

41.

Picking pallet

42.

Movement arrow

43.

Movement arrow

44.

Movement arrow

45.

Movement arrow

46.

Movement arrow

47.

Movement arrow

48.

Movement arrow

50.

Stack of goods

51.

palette

52.

Shelf aisle

53.

Take-away console

54.

attack

55.

PLC / MC

57.

Height alignment device

58.

shelf

59.

Double-wall perforated sheet

60.

Lower perforated plate

61.

Measure

62.

Spacer plate

63.

Upper perforated plate

64.

Spring means (compression spring)

65.

Spring block length

66

Lower goods position

67.

Measure of height displaceability

70.

Chain drive

71.

Pulley

72.

Lifting cylinder

73.

Fixing hole

74.

Hole spacing

76.

Fixing screws

77.

distance

Claims (54)

Position pick-up device for a forklift vehicle, arranged on a vertically movable 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, at least one centering gripper of which can be controlled and pivoted about an upper horizontal axis of rotation
characterized by
that within the goods position centering gripping device (20), an action-coupled goods position hold-down device (21) and below the coverage area of the goods position centering gripping device (20), an action-coupled goods position transfer console (19) for receiving the goods position (s) is arranged. Layer pick-up device according to claim 1 and / or 2,
characterized by
that the centering grippers (33) are designed as at least one product layer (34) in the length, width and height of all-encompassing clamp plates. Layer receiving device according to one or more of the preceding claims,
characterized by
that at least two opposite centering grippers (33) are controlled in parallel. Layer receiving device according to one or more of the preceding claims,
characterized,
that at least two centering grippers (33) adjoining one another at right angles are controlled in parallel. Layer receiving device according to claim 1,
characterized by
that the centering grippers (33) are designed as replaceable interchangeable grippers. Layer receiving device according to claim 5,
characterized by
that for locking when changing the centering gripper (33) Mechanical and / or electromechanical and / or hydraulic and / or pneumatic locking means are provided, at least one of which is designed as an energy coupling. Layer receiving device according to claim 5 and / or 6,
characterized by
that the centering grippers (33) are designed as suction grippers and the energy coupling as suction air connection. Layer receiving device according to one or more of the preceding claims,
characterized by
that the fabric layer hold-down (21) is arranged within the coverage area of the centering gripper (33). Layer receiving device according to claim 8,
characterized by
that the centering gripper (33) and the fabric layer hold-down (21) are fastened together on a common support frame (31). Layer receiving device according to one or more of the preceding claims,
characterized by
that the fabric layer hold-down device (21) is designed to be height-adjustable and controllable at least in one direction. Layer receiving device according to one or more of the preceding claims,
characterized by
that the lowering of the fabric hold-down (21) is carried out by gravity generated by its own weight. Layer receiving device according to one or more of the preceding claims,
characterized by
that at least one additional lifting and / or damping element (36) is provided for lowering and / or lifting the fabric layer hold-down device (21). Layer receiving device according to one or more of the preceding claims,
characterized by
that a scissor lift table (35) is provided as the fabric layer hold-down device (21), which is equipped with a hold-down plate (32). Layer receiving device according to one or more of the preceding claims,
characterized by
that the side of the hold-down plate (32) facing the product layer (34) is at least partially equipped with friction-increasing and / or layer-fixing elements (37) and / or surface areas. Layer receiving device according to one or more of the preceding claims,
characterized by
that the hold-down plate (32) and / or the friction-increasing and / or position-fixing elements (37) can be replaced depending on the packaging. Layer receiving device according to one or more of the preceding claims,
characterized by
that the hold-down plate (32) is designed as a double-wall perforated plate (59) in which the friction-increasing and / or layer-fixing elements (37) in geometrically regular and / or irregular formation as loose and height-displaceable fixing pins (60) which are outstanding from the lower perforated plate (60) 37 ') are arranged. Layer receiving device according to one or more of the preceding claims,
characterized by
that the measure of the height displacement (67) of the fixing pins (37 ') corresponds at most to the measure (61) by which they protrude from the lower perforated plate (60). Layer receiving device according to one or more of the preceding claims,
characterized by
that above the double-wall perforated plate (59) at a distance from the dimension (61) to the upper perforated plate (63) there is a spacer plate (62) which limits the height displacement of the fixing pins (37 '). Layer receiving device according to one or more of the preceding claims,
characterized by
that the fixing pins (37 ') are spring-loaded relative to the spacer plate (62), preferably by means of compression springs (64), the end protruding from the lower perforated plate (60) the fixing pins (37 ') are reduced by the amount of the spring block length (65) or the distance between the spacer plate (62) and the upper perforated plate (63) is increased accordingly. Layer receiving device according to one or more of the preceding claims,
characterized by
that the fixing pins (37 ') are made of metal and / or plastic. Layer receiving device according to one or more of the preceding claims,
characterized by
that the fixing pins (37 ') are designed as semicircular tubular rivets. Layer receiving device according to one or more of the preceding claims,
characterized by
that the friction-increasing and / or layer-fixing elements (37) are designed as raised rubber and / or foam knobs or cone tips of a honeycomb arrangement. Layer receiving device according to one or more of the preceding claims,
characterized by
that the friction-increasing and / or position-fixing surface of the hold-down plate (32) has a rough structure of arbitrarily selectable degree of roughness and roughness depth. Layer receiving device according to one or more of the preceding claims,
characterized by
that the hold-down plate (32) is provided with an exchangeable, rough coating, preferably emery paper. Layer receiving device according to one or more of the preceding claims,
characterized by
that the friction-increasing and / or layer-fixing surface of the layer holding-down device (32) is knurled and / or flanged and / or grained. Layer receiving device according to one or more of the preceding claims,
characterized by
that at least the upper side of the goods layer transfer console (19) carrying the goods layer (34) is at least partially equipped with a friction-reducing surface and / or with friction-reducing elements (38). Layer receiving device according to one or more of the preceding claims,
characterized by
that spring-loaded balls (38 ') are provided as friction-reducing elements (38). Layer receiving device according to one or more of the preceding claims,
characterized by
that belts which can be driven in at least one direction are provided as friction-reducing elements (38). Layer receiving device according to one or more of the preceding claims,
characterized by
that the goods layer transfer console (19) is provided with a friction-reducing plastic coating hard surface, for example Teflon. Layer receiving device according to one or more of the preceding claims,
characterized by
that the friction-reducing surface is polished and / or ground. Layer receiving device according to one or more of the preceding claims,
characterized by
that the layer pick-up device (18) is manually and / or automatically height-controllable. Layer receiving device according to one or more of the preceding claims,
characterized by
that the goods position transfer console (19) is at least provided with an optical and / or optoelectronic height alignment device (39 or 57). Layer receiving device according to one or more of the preceding claims,
characterized by
that a first height alignment device (37) on one front edge facing goods stack (50) to be picked and a second height-aligning device (57) is arranged on the front edge of the goods position transfer console (19) facing a picking pallet (41). Layer receiving device according to one or more of the preceding claims,
characterized by
that the first height alignment device (37) is designed as an optical sighting device, preferably as a visual light scanner, for manual height alignment of the goods layer transfer console (19) on the upper edge of a goods layer (34) lying below the goods layer (34) to be picked. Layer receiving device according to one or more of the preceding claims,
characterized by
that a second height alignment device (57) is designed as a preferably infrared-based reflex light barrier for automatic height control of the layer transfer console (19) on the upper edge of the order-picking pallet (41) or layer (34) on it. Layer receiving device according to one or more of the preceding claims,
characterized by
that the second height alignment device (57) for automatic height control of the goods position transfer console (19) is at least optically operatively connected to a vertical reflector strip (40) arranged on the forklift vehicle. Layer receiving device according to one or more of the preceding claims,
characterized by
that the goods position centering device (20) and / or the goods position hold-down device (21) and / or the goods position transfer console (19) can be controlled manually and / or at least partially programmed. Layer receiving device according to one or more of the preceding claims,
characterized by
that the material position centering device (20) and / or the goods position hold-down device (21) and / or the goods position transfer console (19) can be controlled separately and / or at least partially in a movement-coordinated manner. Layer receiving device according to one or more of the preceding claims,
characterized by
that the fabric position centering device (20), the fabric position hold-down device (21) and the fabric position transfer console (19) are each equipped with their own drive. Layer receiving device according to one or more of the preceding claims,
characterized by
that the movement sequence of the goods position transfer console (19) is at least partially designed as a follow-up control and / or feed control to the goods position centering device (20). Layer receiving device according to one or more of the preceding claims,
characterized by
that at least one programmable circuit and / or a microcomputer (55) is provided for controlling the goods position transfer console (19) and / or the goods position hold-down device (21) and / or the goods position centering gripping device (20). Layer receiving device according to claim 1,
characterized by
that the goods position centering device (20), the goods position hold-down (21) and the goods position transfer bracket (19) are arranged together on the height-adjustable load carrier (13). Layer receiving device according to one or more of the preceding claims,
characterized by
that the goods position centering gripping device (20) together with the goods position hold-down device (21) and the goods position transfer bracket (19) can be moved longitudinally and transversely, preferably telescopically. Layer receiving device according to one or more of the preceding claims,
characterized by
that the goods position centering gripping device (20) is fixed to a lower, of two crossing horizontal lifting masts (29,30), the upper horizontal lifting mast (29) in the direction of the vehicle longitudinal axis (25) on a transport carriage (26) transverse to its direction of travel is arranged. Layer receiving device according to one or more of the preceding claims,
characterized by
that the goods position transfer console (19) is fixed to a telescopic cable (27) arranged on the transport carriage (26) in the direction of the longitudinal axis (25) of the vehicle. Layer receiving device according to one or more of the preceding claims,
characterized by
that the transport carriage (26) can be moved on telescopic rails (23) attached to the load carrier (13) transversely to the longitudinal axis (25) of the vehicle. Layer receiving device according to one or more of the preceding claims,
characterized by
that the load carrier (13) of the layer receiving device (18) is arranged as an additional load carrier over a further load carrier (16) on a common mast. Layer receiving device according to one or more of the preceding claims,
characterized by
that a separate lifting frame (12) is assigned to the load carrier (13) of the layer receiving device (18). Layer receiving device according to one or more of the preceding claims,
characterized by
that the separate mast (12) of the load carrier (13) of the layer receiving device (18) is arranged in the direction of travel of the forklift vehicle in front of or behind a mast (15) of the further load carrier (16). Layer receiving device according to one or more of the preceding claims,
characterized by
that the two masts (12, 15) are designed as side masts. Layer receiving device according to one or more of the preceding claims,
characterized by
that both masts (12, 15) are arranged transversely to the vehicle longitudinal axis (25). Layer receiving device according to one or more of the preceding claims,
characterized by
that one of the two masts (12 or 15) is designed as a side mast and the other mast (12 or 15) is arranged transversely to the longitudinal axis of the vehicle (25). Layer receiving device according to one or more of the preceding claims,
characterized by
that the lifting frame (12) of the load carrier (13) is arranged in a cross portal (5) of the forklift vehicle and the layer pick-up device (18) receives the goods layer (34) outside the cross portal (5). Layer receiving device according to one or more of the preceding claims,
characterized by
that the further load carrier (16) is arranged on the front of the forklift vehicle and the position pick-up device (18) can be moved essentially within the lateral vehicle contours into the area of action of the further load carrier (16).

Images