EP0499250B1 - 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 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.

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 truck, so that stack delivery to the other side requires a laborious and time-consuming maneuvering of the forklift truck .

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 by 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 quadruple 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 easily resumed. In addition, the use of suction pads requires extremely homogeneous surfaces, which 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 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 gripping device an action-coupled goods position hold-down device and below the coverage area of the goods position centering gripping device an action-coupled goods position transfer console for receiving the goods position (s) is arranged. This extremely compact design allows for absolutely safe order picking even in narrow shelf stores with the option of removing goods layers directly in the shelf compartment up to the intermediate floor, whereby goods layers can be picked quickly and quickly and the pressures of the centering gripping device required for layer pick-up 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 clamping 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 concept, 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 exchangeable 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 goods position is at least partially equipped with elements which increase the friction and / or fix the position 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 cheaper 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 sensible 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 being able to remove the goods position on the commission stack from two superposed goods layers without running the risk of shifting the goods position as a whole or its individual packages.

An extremely useful further development of the inventive concept 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 forklift vehicle 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 the Movement sequence of the goods position transfer console is at least partially designed as a follow-up control and / or feed control to the goods position centering gripping device. An at least partially automated sequence of movements represents a psychological relief for the forklift driver, particularly 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 logic circuit and / or a microcomputer can be provided for the purpose of semi and / or fully automated 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 special developments of the invention with respect to (partial) automation are inherent in the fact that as a result significantly lower demands are placed 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 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 simplifies the movement sequences.

For certain areas of application, it is sufficient that the load carrier of the layer receiving device is arranged as an additional load carrier over another 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 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 design 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 pickup 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 traveled on, which a comparable forklift truck can also travel 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 action area 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 set out 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

In den Fig. 1 und 2 ist ein als Lagenkommissioniergerät ausgebildetes Staplerfahrzeug in Seitenportalbauweise schematisch dargestellt. Der Fahrzeugrahmen 1 besteht aus einem in Fahrtrichtung gesehen hinteren Rahmenschenkel 2, einem in Fahrtrichtung gesehen vorderen Rahmenschenkel 3 und einem die beiden Rahmenschenkel 2 und 3 stirnseitig verbindenden Rahmenschenkel 4. Die Rahmenschenkel 2-4 können zur Rahmenversteifung aus Stabilitätsgründen über ein nicht dargestelltes Versteifungsblech oder eine Platte miteinander verbunden sein, wobei das Versteifungsblech vorzugsweise eingeschweißt ist. Die Rahmenschenkel 2-4 bilden gemeinsam ein nach einer Fahrzeugseite hin geöffnetes Querportal 5. Auf dem in Fahrtrichtung gesehen hinteren Rahmenschenkel 2 ist eine Fahrzeug-Bedienzentrale 6 angeordnet, die mit einem Fahrerstand 7 oder stattdessen mit einem Fahrersitz bestückt sein kann und Träger diverser Fahrzeugfunktionsgruppen ist. Letztere können u.a. einen Fahrantrieb, eine Lenkung, eine Arbeitshydraulik, eine Fahrzeugelektrik bzw. -elektronik sowie eine strichpunktiert angedeutete Batterie 8 beinhalten, die gleichzeitig eine Gegengewichtsfunktion erfüllt. Andere bauliche Anordnungen und Aufteilungen dieser Fahrzeugfunktionsgruppen sind denkbar.The invention allows several embodiments. One of them is shown as an example in the drawing using several figures. It shows:

Fig. 1

1 shows a schematic outline sketch of a layer order picking stacker according to the invention in side view,

Fig. 2

1 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

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 vehicle longitudinal direction,

Fig. 4

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

Fig. 5

3 shows a plan view of FIG. 3,

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-loaded spring pins on the left and spring-loaded pins 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 connected to each other, wherein the stiffening plate is preferably welded. The frame legs 2 - 4 together form a cross 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, among other things, a traction drive, a steering system, working hydraulics, vehicle electronics or electronics as well as a battery 8 indicated by dash-dotted lines, 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, 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, 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 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.

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 console 19, a goods layer centering gripping 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. 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. 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 slide 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 running direction, 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 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. 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 grippers 33 can also be arranged to be movable 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. In the exemplary embodiment in FIGS. 3-5, 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.

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 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.

Within the cover area formed by the centering grippers 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 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.

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 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. 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 lifting 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 interlayer spaces, there is the possibility of making the spacing 74 of the aligned fixing bores 73 larger or smaller from one another and thus of arranging 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 to a maximum 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' 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.

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 - 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 from the lower Perforated plate 60 protruding end of the fixing 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 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.

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 and by means of the goods position transfer console 19 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 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 optically operatively connected to a vertical reflector bar 40 so that the height of the goods position transfer console 19 automatically rests on 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 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. 3 and 4, in which the stacker 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 stacker front and the further load carrier 16 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. In order 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 corner region facing one another, 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 connecting line between the two-sided light exit openings for height detection.

The most important component of the vehicle electronics, not shown and described in greater 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 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.

The mode of operation of the layer picking 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 goods 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 indicates 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 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 the load-carrying device 17 within the vehicle contour in front of the front frame leg 3. In the same FIG. 10 there is on the right-hand side a mirror-image picking device 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 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. In a first step, 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. 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 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 alignment device 39, which is designed, for example, as a light scanner, 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 direct the goods layer transfer bracket 19 suspended from the transport carriage 26 directly to the outside of the seen from above, second goods layer 34, which lies below the goods layer 34 to be picked, approach.

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.

, 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 layer hold-down 21 so that the hold-down plate 32 comes to lie on the goods layer 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 with one another during the subsequent shifting of the entire layer of goods 34 onto the layer-receiving console 19 (FIG. 4).

To actually pull the goods layer 34 to be picked from the goods stack 50 and push them onto the goods position transfer console 19 in front, 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. For this purpose, 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. Alternatively, 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 at the interface between the control sequence 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.

After this command is 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 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.

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 on it, 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.

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 the hold-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, 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 use of such a program control then presupposes that when the resulting diagonal movement of the goods position centering gripping device 20 is triggered, the centering grippers 33 on the front, as seen 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 finished 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 set down the fully assembled 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 clear of 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 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.

If 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.

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 lie 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 specialist to arrange a further frame leg in front of the front frame leg 3 and parallel to it at a distance from it, which together with the front frame leg 3 would form a further portal accommodating the further load carrier 16, the left-hand side 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 cross 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.

Claims (54)

1. Layer picking device (18) disposed on a lifting load carrier (13) for a lift truck with a goods layer centering and gripping device (20) which is equipped with four centering grippers (33) which are disposed at right-angles to one another and grip a layer of goods and at least one centering gripper of which is controllable and pivotable about an upper horizontal pivot axis, characterised in that inside the goods layer centering and gripping device (20) there is a goods layer hold-down device (21) which is coupled operatively with the latter and under the area of alignment of the goods layer centering and gripping device (20) there is a goods layer transfer table (19) which is coupled operatively with the latter to pick up the layer(s) of goods.
2. Layer picking device according to claim 1 and/or 2, characterised in that the centering grippers (33) are embodied as clamping plates completely embracing at least one layer of goods (34) over its length, width and height.
3. Layer picking device according to one or more of the preceding claims, characterised in that at least two centering grippers (33) lying opposite one another are controlled in parallel.
4. Layer picking device according to one or more of the preceding claims, characterised in that at least two centering grippers (33) adjacent to one another at right-angles are controlled in parallel.
5. Layer picking device according to claim 1, characterised in that the centering grippers (33) are embodied as changeable grippers which can be changed according to the packaging.
6. Layer picking device according to claim 5, characterised in that for immobilisation when changing the centering grippers (33) mechanical and/or electromechanical and/or hydraulic and/or pneumatic locking means are provided at least one of which is embodied as a power coupling.
7. Layer picking device according to claim 5 and/or 6, characterised in that the centering grippers (33) are embodied as suction grippers and the power coupling is embodied as a vacuum connection.
8. Layer picking device according to one or more of the preceding claims, characterised in that the goods layer hold-down device (21) is disposed inside the area of alignment of the centering grippers (33).
9. Layer picking device according to claim 8, characterised in that the centering grippers (33) and the goods layer hold-down device (21) are secured together on a common supporting frame (31).
10. Layer picking device according to one or more of the preceding claims, characterised in that the goods layer hold-down device (21) is embodied so that it can move vertically and is controllable in at least one direction.
11. Layer picking device according to one or more of the preceding claims, characterised in that the goods layer hold-down device (21) is lowered by the gravity produced by its own weight.
12. Layer picking device according to one or more of the preceding claims, characterised in that at least one additional lifting and/or damping element (36) is provided for lowering and/or lifting the goods layer hold-down device (21).
13. Layer picking device according to one or more of the preceding claims, characterised in that the goods layer hold-down device (21) is embodied as a scissor lifting table (35) which is equipped with a hold-down plate (32).
14. Layer picking device according to one or more of the preceding claims, characterised in that the side of the hold-down plate (32) facing the layer of goods (34) is equipped at least in part with friction-increasing and/or position-fixing elements (37) and/or surface areas.
15. Layer picking device according to one or more of the preceding claims, characterised in that the hold-down plate (32) and/or the friction-increasing and/or position-fixing elements (37) can be changed according to the packaging.
16. Layer picking device according to one or more of the preceding claims, characterised in that the hold-down plate (32) is embodied as a double-walled perforated plate (59) in which the friction-increasing and/or position-fixing elements (37) are disposed in a geometrically regular and/or irregular formation in the form of loose and vertically displaceable fixing pins (37') projecting from the lower perforated plate (60).
17. Layer picking device according to one or more of the preceding claims, characterised in that the amount of the vertical displacement (67) of the fixing pins (37') corresponds at most to the amount (61) by which these project from the lower perforated plate (60).
18. Layer picking device according to one or more of the preceding claims, characterised in that a spacer plate (62) limiting the vertical displacement of the fixing pins (37') is disposed above the double-walled perforated plate (59) at a distance matching the amount (61) to the upper perforated plate (63).
19. Layer picking device according to one or more of the preceding claims, characterised in that the fixing pins (37') are sprung in relation to the spacer plate (62), preferably by means of compression springs (64), the end of the fixing pins (37') projecting from the lower perforated plate (60) being reduced by the amount of the spring block length (65) or the distance between the spacer plate (62) and the upper perforated plate (63) being increased accordingly.
20. Layer picking device according to one or more of the preceding claims, characterised in that the fixing pins (37') are made of metal and/or of plastic.
21. Layer picking device according to one or more of the preceding claims, characterised in that the fixing pins (37') are embodied as undriven half-round rivets.
22. Layer picking device according to one or more of the preceding claims, characterised in that the friction-increasing and/or position-fixing elements (37) are embodied as raised rubber and/or foam pimples or cone apexes in a honeycomb arrangement.
23. Layer picking device according to one or more of the preceding claims, characterised in that the friction-increasing and/or position-fixing surface of the hold-down plate (32) exhibits a rough texture with any degree of roughness and depth of roughness.
24. Layer picking device according to one or more of the preceding claims, characterised in that the hold-down plate (32) is provided with a changeable rough covering, preferably emery paper.
25. Layer picking device according to one or more of the preceding claims, characterised in that the friction-increasing and/or position-fixing surface of the goods layer hold-down device (32) is milled and/or beaded and/or granular.
26. Layer picking device according to one or more of the preceding claims, characterised in that at least the upper side of the goods layer transfer table (19) carrying the layer of goods (34) is at least partially equipped with a friction-reducing surface and/or with friction-reducing elements (38).
27. Layer picking device according to one or more of the preceding claims, characterised in that spring-loaded balls (38') are provided as friction-reducing elements (38).
28. Layer picking device according to one or more of the preceding claims, characterised in that belts driveable in at least one direction are provided as friction-reducing elements (38).
29. Layer picking device according to one or more of the preceding claims, characterised in that the goods layer transfer table (19) is provided with a friction-reducing plastic covering with a hard surface, for example Teflon.
30. Layer picking device according to one or more of the preceding claims, characterised in that the friction-reducing surface is burnished and/or finely polished.
31. Layer picking device according to one or more of the preceding claims, characterised in that the height of the layer picking device (18) is controllable manually and/or automatically.
32. Layer picking device according to one or more of the preceding claims, characterised in that the goods layer transfer table (18) is at least provided with an optical and/or optoelectronic height alignment device (39 or 57).
33. Layer picking device according to one or more of the preceding claims, characterised in that a first height alignment device (37) is disposed on the front edge facing the stack of goods (50) to be picked and a second height alignment device (57) is disposed on the front edge of the goods layer transfer table (19) facing a picking pallet (41).
34. Layer picking device according to one or more of the preceding claims, characterised in that the first height alignment device (37) is embodied as an optical sighting device, preferably a visual light sensor, for manual height alignment of the goods layer transfer table (19) on the upper edge of a layer of goods (34) lying under the layer of goods (34) to be picked.
35. Layer picking device according to one or more of the preceding claims, characterised in that a second height alignment device (57) is embodied as a reflex photo-electric cell preferably working on an infrared basis for automatic height control of the goods layer transfer table (19) on the upper edge of the picking pallet (41) or layers of goods (34) thereon.
36. Layer picking device according to one or more of the preceding claims, characterised in that for automatic height control of the goods layer transfer table (19) the second height alignment device (57) is in optical operative connection at least with a vertical reflector strip (40) disposed on the lift truck.
37. Layer picking device according to one or more of the preceding claims, characterised in that the goods layer centering and gripping device (20) and/or the goods layer hold-down device (21) and/or the goods layer transfer table (19) are controllable manually and/or at least partially programmed.
38. Layer picking device according to one or more of the preceding claims, characterised in that the goods layer centering and gripping device (20) and/or the goods layer hold-down device (21) and/or the goods layer transfer table (19) are controllable separately and/or at least partially with coordinated movements.
39. Layer picking device according to one or more of the preceding claims, characterised in that the goods layer centering and gripping device (20), the goods layer hold-down device (21) and the goods layer transfer table (19) are in each case equipped with their own drive.
40. Layer picking device according to one or more of the preceding claims, characterised in that the control of the sequence of movements of the goods layer transfer table (19) is embodied at least in part as following control and/or leading control in relation to the goods layer centering device (20).
41. Layer picking device according to one or more of the preceding claims, characterised in that at least one memory-programmable circuit and/or one microcomputer (55) is provided for control of the goods layer transfer table (19) and/or the goods layer hold-down device (21) and/or the goods layer centering and gripping device (20).
42. Layer picking device according to claim 1, characterised in that the goods layer centering and gripping device (20), the goods layer hold-down device (21) and the goods layer transfer table (19) are disposed jointly on the lifting load carrier (13).
43. Layer picking device according to one or more of the preceding claims, characterised in that the goods layer centering and gripping device (20) together with the goods layer hold-down device (21) and the goods layer transfer table (19) can be moved longitudinally and transversely, preferably telescoped.
44. Layer picking device according to one or more of the preceding claims, characterised in that the goods layer centering and gripping device (20) is fixed on a lower of two horizontal lifting masts (29, 30) intersecting at right-angles, the upper horizontal lifting mast (29) being disposed on a transporting slide (26) at right-angles to its direction of travel in the direction of the longitudinal axis (25) of the vehicle.
45. Layer picking device according to one or more of the preceding claims, characterised in that the goods layer transfer table (19) is fixed on a telescopic assembly (27) disposed on the transporting slide (26) in the direction of the longitudinal axis (25) of the vehicle.
46. Layer picking device according to one or more of the preceding claims, characterised in that the transporting slide (26) can be moved on telescopic rails (23) secured to the load carrier (13) at right-angles to the longitudinal axis (25) of the vehicle.
47. Layer picking device according to one or more of the preceding claims, characterised in that the load carrier (13) of the layer picking device (18) is disposed as an additional load carrier over a further load carrier (16) on a common lifting framework.
48. Layer picking device according to one or more of the preceding claims, characterised in that the load carrier (13) of the layer picking device (18) has a separate lifting framework (12).
49. Layer picking device according to one or more of the preceding claims, characterised in that the separate lifting framework (12) of the load carrier (13) of the layer picking device (18) is disposed before or after a lifting framework (15) of the further load carrier (16) in the direction of travel of the lift truck.
50. Layer picking device according to one or more of the preceding claims, characterised in that the two lifting frameworks (12, 15) are embodied as side lifting frameworks.
51. Layer picking device according to one or more of the preceding claims, characterised in that the two lifting frameworks (12, 15) are disposed at right-angles to the longitudinal axis (25) of the vehicle.
52. Layer picking device according to one or more of the preceding claims, characterised in that one of the two lifting frameworks (12 or 15) is embodied as a side lifting framework and the other lifting framework (12 or 15) is disposed at right-angles to the longitudinal axis (25) of the vehicle.
53. Layer picking device according to one or more of the preceding claims, characterised in that the lifting framework (12) of the load carrier (13) is disposed in a transverse portal (5) of the lift truck and the layer picking device (18) picks up the layer of goods (34) outside the transverse portal (5).
54. Layer picking device according to one or more of the preceding claims, characterised in that the further load carrier (16) is disposed at the front of the lift truck and the layer picking device (18) can be brought into the area of action of the further load carrier (16) essentially inside the lateral vehicle contours.

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