JPH0710293A - Loading system - Google Patents

Abstract

PURPOSE:To provide a loading system which is provided with a transfer device and can undergo full automation, the transfer device not being affected even if the deck level of a motor-truck is lowered because of loads. CONSTITUTION:In a loading system, a pallet load 12 conveyed by a shipping conveyor 10 is loaded on the deck of a trailer 16 via a transfer device 14 disposed between the shipping conveyor 10 and the trailer 16, and the transfer device 14 comprises a table lifter 48 drivingly raised and lowered by a lifting cylinder 46, a horizontally moving slide plate 52 provided on the lifting plate 50 of the table lifter 48, and a fork 54. A free-roller conveyor 40 disposed along the longitudinal direction of the deck of the trailer 16 raises the rear of the trailer 16 using a lift 22 on the basis of the coefficient of friction between the pallet 44 used and the free-roller conveyor 40, so as to incline the free-roller conveyor 40 by a predetermined angle so as to move the pallet load 12 using that inclination.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a loading system,
In particular, it relates to a loading system for loading a cargo on a pallet, which is carried out from a warehouse or the like by a shipping conveyor, onto a truck such as a trailer.

[0002]

2. Description of the Related Art As a loading system for transferring a load carried out by a shipping conveyor onto a cargo bed of a freight vehicle such as a trailer, Japanese Patent Laid-Open Nos. 56-28130 and 62-62.
─146828 and Japanese Patent Laid-Open No. 61-243734. Further, in connection with the loading system, there is Japanese Utility Model Laid-Open No. 62-98628 as a load pushing device for transferring loads from a shipping conveyor to a freight car.

In Japanese Unexamined Patent Publication No. 56-28130, a transfer device having a conveyor mechanism is provided between a shipping conveyor and a freight vehicle, and the loading conveyor side of the transfer device is swung to swing the cargo bed. A transfer device is disclosed in which the side can be adjusted to the level of the bed of a lorry. Further, in Japanese Unexamined Patent Publication No. 62-146828, a transfer device equipped with a transfer conveyor is equipped with a width adjusting mechanism and a load pushing mechanism which can be controlled based on the detection results of a lifter mechanism and a detector. The load of each pallet unit that has been carried out is leveled with the loading platform of the freight vehicle by moving the lifter mechanism up and down, and the loading is performed to the loading position of the freight vehicle, and the loading conveyor conveys the freight vehicle's loading platform. There is disclosed a loading system for pushing the load transferred to the inside of the lorry with a load pushing mechanism. Further, there is disclosed a luggage carrier fixing device that supports a chassis of a truck by a jack mechanism so that the truck level of the truck does not drop due to a loading load.

Further, in Japanese Patent Laid-Open No. 61-243734, a load on a pallet held on a fork of an unmanned loader having an elevating function is loaded on a freight car via a transshipment bridge whose height can be adjusted. Thus, a loading system for leveling with a cargo bed of a lorry is disclosed. Further, in Japanese Utility Model Laid-Open No. 62-98628, a tip of a second plate is provided by sliding a second plate provided on a first fixed plate with a load pushing device provided in a transfer device. Discloses a load pushing device that pushes a load placed on a transfer conveyor of the transfer device into a trailer.

[0005]

However, the above-mentioned conventional loading system has the following drawbacks. That is, Japanese Patent Laid-Open No. 56-28130 is a device for transferring individual loads, and is not suitable for transferring loads in pallet units. Further, in the case of Japanese Patent Laid-Open No. 62-146828,
After the loading platform lowering device is supported by the loading load by the loading platform fixing device, the leveling of the loading device and loading platform is performed by the lifter mechanism of the loading and unloading device. There is a drawback that it costs. Moreover, although the load pushing device is provided, the operation is performed until the load on the pallet is transferred to the free roller conveyor arranged in the front-rear direction of the loading platform of the freight vehicle, so that the movement of the freight in the freight vehicle is performed. Must rely on human labor, which is a burden on workers. Further, the fact that the movement of the load in the lorry could not be performed by a simple device without relying on human labor was a bottleneck in the full automation of the loading system. Further, as a countermeasure against this, when the load is transferred from the transfer device to the freight car, the load pushing device provided in the transfer device strongly pushes the load to move the load in the freight car.
However, there was a risk that the load collapsed by pushing the load strongly, the pallet collided with the load already loaded and damaged, and the operator was also caught between the loads. .

Further, in the case of JP-A-61-243734, since the transfer is carried out via the transshipment bridge, the device becomes complicated and the rim of the rear door of the freight car is installed in the gate equipped with the transshipment bridge. Accurate positioning is a burden on the driver. Further, there is a drawback that the device cost is increased by the amount corresponding to the transshipment bridge. Also,
The load pushing device disclosed in Japanese Utility Model Laid-Open No. 62-98628 is also an operation until the load on the pallet is pushed into the loading platform of the freight vehicle. It has the same drawbacks as in the case of Japanese Patent No. 146828.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a loading system provided with a transfer device that does not affect the level of the cargo bed of a freight vehicle due to the loading load. To do. Another object of the present invention is to provide a loading system capable of completely automating loading from a shipping conveyor to the inside of a freight car, since the pallets in the freight car can be moved without manpower.

[0008]

In order to achieve the above-mentioned object, the present invention provides a load on a pallet conveyed by a conveyor through a transfer device arranged between the conveyor and a vehicle. In a loading system for loading on a vehicle, the transfer device has a transfer fork, and the fork is provided between a vertical movement mechanism and a pallet receiving position from the conveyor and a pallet mounting position on the vehicle. It is characterized in that it has a horizontal moving mechanism for moving.

Further, in order to achieve the above object, the present invention loads a load on a pallet conveyed by a conveyor into the vehicle through a transfer device arranged between the conveyor and the vehicle. In the system, the transfer device includes a transfer conveyor that receives the load from the conveyor and transfers the load to the vehicle, and a load pushing unit that pushes the load on the transfer conveyor. Characterize.

In order to achieve the above object, the present invention is to load a load on a pallet conveyed by a conveyor onto the vehicle via a transfer device arranged between the conveyor and the vehicle. In the loading system in which the transfer device or the vehicle is moved up and down by an elevating device to adjust the level, the elevating device is equipped with a hydraulic cylinder mechanism driven by a hydraulic pump that rotates in forward and reverse directions. .

In order to achieve the above object, the present invention transfers a load on a pallet conveyed by a conveyor onto a free roller conveyor arranged in the front-rear direction of a vehicle by a transfer device. In a loading system for moving the load from the rear part of the vehicle to the front part by sliding on the free roller conveyor, an elevating means for elevating the rear part of the vehicle is provided, and the elevating means is provided from the transfer means to the free roller conveyor. It is characterized in that the loading surface of the vehicle is inclined so that the load sent to the top is gravity-carried on a free roller conveyor.

[0012]

According to the first aspect of the invention, the transfer device for transferring the load on the pallet conveyed by the conveyor to the vehicle has a transfer fork, and the fork has a vertical movement mechanism and A horizontal movement mechanism for moving between a pallet receiving position from the conveyor and a pallet mounting position on the vehicle is provided. As a result, when the fork horizontally moves to the lower side of the conveyor and reaches the pallet receiving position, the fork is raised to receive the pallet. Next, after horizontally moving to the pallet mounting position on the vehicle, the fork is lowered to mount the pallet on the vehicle. If the stroke width of the vertical movement mechanism of the transfer device is set in consideration of the lowering width at which the loading platform level of the vehicle decreases due to the loading load, the load on the pallet is not affected by the level variation of the loading platform and the freight vehicle Can be transferred to.

According to the second aspect of the invention, the transfer device for transferring the load on the pallet conveyed by the conveyor to the vehicle includes a transfer conveyor for receiving the pallet from the conveyor and transferring it to the vehicle. And a load pushing means for pushing a load on the transfer conveyor. As a result, for example, the vehicle bed level is higher than the transfer device level,
If the transfer force of the transfer conveyor is not sufficient and the transfer speed slows down or the load stops in the middle of the transfer conveyor, the load can be pushed back by the load pushing means to reliably transfer the load to the vehicle. Therefore, no manual assistance is required.

Further, according to the third invention, when the vehicle or the transfer device is pushed up by the elevating device and the level of the vehicle and the transfer device is adjusted, a hydraulic cylinder mechanism driven by a hydraulic pump rotating forward and backward is provided. The transfer device or the vehicle is moved up and down by the elevating device to adjust the loading level. As a result, the lifting device does not change the lifting speed due to the load of the load and can be lifted and lowered at a constant speed, so that the loading level accuracy is improved and a stable loading operation can be performed.

Further, according to the fourth aspect of the present invention, an elevating means for elevating and lowering the rear part of the vehicle is provided, and the elevating means gravity loads the load sent from the transfer means onto the free roller conveyor on the free roller conveyor. An elevating device for inclining the mounting surface of the vehicle so as to convey the vehicle is provided. As a result, the load transferred from the transfer means onto the free roller conveyor can be automatically moved from the rear part of the freight vehicle to the front part.
At this time, if the inclination angle of the mounting surface is controlled in the range of 0.2 to 1.5 °, the load can be automatically moved without the runaway.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of a loading system according to the present invention will be described below in detail with reference to the accompanying drawings. 1 and 2 show a first embodiment of the loading system of the present invention, FIG. 1 is a side view and FIG. 2 is a plan view. Then, the loading system of the present invention is configured so that the load on the pallet (hereinafter referred to as pallet load 12) carried out by the shipping conveyor 10 is loaded on the lorry such as the trailer 16 via the transfer device 14. The details are described below.

The shipping conveyor 10 includes a pair of parallel electric drive type roller conveyors 10A and 10A arranged from a warehouse (not shown) to a shipping port. Further, the trailer 16 for loading the pallet load 12 carried out to the shipping port on the shipping conveyor 10 has a platform 20 with its rear part facing the shipping conveyor 10 side, which is one step lower than the warehouse floor 18 on which the shipping conveyor 10 is arranged. Stop at the stop position. In addition, two substantially vertical cylindrical holes are formed in the platform 20 corresponding to the rear position of the trailer 16, a hydraulic cylinder 22 is provided in one hole, and a hydraulic cylinder 22 of the hydraulic cylinder 22 is provided in the other hole. A sensor dog mounting rod 26 attached to the tip of the piston rod 24 is movably inserted. In addition, the platform 20 of the sensor dog mounting rod 26
The first dog (detection mark) 2 on the top and bottom
8 and the second dog 30 are attached, and the dog 2
A detection sensor 32 that detects the dogs 28 and 30 is disposed near the dogs 8 and 30. Further, the detection sensor 32 is connected to a motor 38 of a hydraulic pump 36 by a signal line 34, and the piston rod 24 is lifted and lowered by a hydraulic pump that rotates forward and backward as well as at a constant speed. Further, a pair of free roller conveyors 40, 40 are arranged in parallel with each other on the loading platform of the trailer 16 in the front-rear direction of the loading platform.

When the hydraulic pump 36 rotates forward,
When the piston rod 24 of the hydraulic cylinder 22 extends and pushes up the rear part of the trailer chassis frame 42, the detection sensor 32 detects the second dog 30 instead of the first dog 28 that was initially detected. The signal is input to the motor 38 of the hydraulic pump 36, and the extension operation is stopped. As a result, the rear portion of the trailer 16 has the first dog 28.
The free roller conveyor 40, which is pushed up by the distance between the second dog 30 and the trailer 16 and is arranged on the bed of the trailer 16.
An inclination of a predetermined angle is formed on the. When the hydraulic pump 36 rotates in the reverse direction, the piston rod 24 contracts to lower the rear portion of the trailer 16, and when the detection sensor 32 detects the first dog 28, a signal from the detection sensor 32 is input to the motor 38 and contracted. Operation stopped, trailer 16
The rear part is lowered to its original position.

The inclination angle of the free roller conveyor 40 depends on the type of the pallet 44 used, such as a plastic pallet or a wooden pallet, or the roller diameter of the free roller conveyor 40. It is determined by the coefficient of friction when moving the roller conveyor 40. That is, the free roller conveyor 4
When 0 is inclined, the moving speed at which the pallet load 12 slides on the free roller conveyor 40 differs depending on the magnitude of the friction coefficient. From this, the relationship between the friction coefficient and the moving speed of the pallet 44 to be used and the free roller conveyor 40 is obtained in advance, and the pallet load 12 is set to the free roller conveyor 40.
The mounting position of the second dog 30, which is mounted on the sensor dog mounting rod 26, can be freely changed so that the inclination angle is such that the trailer 16 can be slid slowly. And the inventor of the present invention is
As a result of examining various combinations of 44 types of pallets and 40 types of free roller conveyors, the inclination angle was 0.2 to 1.
It was found that the pallet load 12 slowly slides on the free roller conveyor 40 by selecting in the range of 5 °.

Further, between the shipping conveyor 10 and the trailer 16, the pallet load 12 carried out by the shipping conveyor 10 is received, and is transferred to a free roller conveyor 40 provided on the bed of the trailer 16. A mounting device 14 is provided. The transfer device 14 includes a table lifter 48 that is vertically driven mainly by a lifting cylinder 46,
The table lifter 48 includes a slide plate 52 and a fork 54 which are provided on an elevating plate 50 and horizontally move. That is, as shown in FIG. 2, two rows of rails 56, 5 having a concave cross section are formed on the upper surface of the elevating plate 50 along the transfer direction.
6 are provided, and slide plates 52 are slidably fitted in the respective rail grooves. A groove having a concave cross section is also formed on the upper surface of the slide plate 52, and a fork 54 is slidably fitted in the groove of each slide plate 52. The slide plate 52 slides on the rail 56 between A and A by a drive device (not shown), and the fork 54 is slide plate 52 by a drive device (not shown).
Slide up between BB.

Next, a method of loading the pallet load 12 on the trailer 16 using the loading system configured as described above will be described. First, the trailer 16 stops at the stop position of the platform 20. Next, the hydraulic cylinder 22 is activated to push up the rear part of the trailer chassis frame 42 and the free roller conveyor 4 installed on the trailer carrier bed.
An inclination of 0 is formed at a predetermined angle. Next, the elevating cylinder 46 of the transfer device 14 contracts to lower the elevating plate 50 of the table lift 48 and stop when it goes below the level of the shipping conveyor 10, and the slide plate 52 and the fork 54 are driven by a driving device (not shown). After sliding to the side of the shipping conveyor 10, the elevating cylinder 46 extends to elevate the elevating plate 50. As a result, the pallet load 12 carried out by the shipping conveyor 10 is lifted by the fork 54. Next, when the fork 54 and the slide plate 52 contract to move the pallet load 12 onto the lift plate 50, the slide plate 52 and the fork 54 extend to the trailer 16 side this time to move the pallet load 12 to the free roller. It is moved above the conveyor 40. Then, the lifting cylinder 46 contracts to lower the lifting plate 50 to the level position of the free roller conveyor 40. As a result, the pallet load 12 held by the fork 54 is placed on the free roller conveyor 40, and one cycle of transferring the pallet load 12 from the shipping conveyor 10 to the free roller conveyor 40 is completed. By repeating this cycle, the pallet load 12 can be sequentially transferred onto the trailer 16.

Next, the pallet load 12 transferred to the free roller conveyor 40 of the trailer 16 slides from the rear part of the trailer to the front part due to the inclination of the free roller conveyor 40 formed at a predetermined angle, and is already loaded. The pallet load 12 is abutted and stopped. By selecting the inclination angle of the free roller conveyor 40 at this time within the range of 0.2 to 1.5 °, the free roller conveyor 40 is automatically and slowly moved on the free roller conveyor 40 at a slow moving speed without requiring any manpower. Since it can be slid, the pallet load 12 can be prevented from running out of control. Therefore, the pallet load 12 moving on the free roller conveyor 40 does not collide with the already loaded pallet load 12 and the load is not collapsed or damaged.

Next, when the pallet load 12 is fully loaded on the trailer 16, the hydraulic pump 36 is rotated in the reverse direction and the hydraulic cylinder 2 is rotated.
The second piston rod 24 is contracted to lower the trailer 16 to its original position. At this time, the contraction operation of the piston rod 24 of the hydraulic cylinder 22 is performed by the hydraulic pump 3 that rotates at a constant speed.
Since 6 is used, the trailer 16 can be lowered at a stable and constant lowering speed, and the shock when landing on the platform 20 can be softened.
As a result, the trailer 16 does not bounce or shake, so that the pallet load 12 loaded in the trailer 16 does not collapse or break.

By the above operation, all loading work is completed. As described above, in the loading system of the present invention, since the transfer device 14 is configured to have the fork mechanism, the level change of the transfer device 14 and the trailer 16 loading platform is caused by the load of the pallet load 12 loaded on the trailer 16. The pallet load 12 can be transferred without being affected. This eliminates the need for level matching between the transfer device and the trailer carrier as a pre-preparation for transfer, like the transfer device transferred by the conveyor mechanism used in the conventional loading system, and the carrier level can be adjusted. There is no need for a fixing device for fixing. Therefore, the loading system of the present invention can shorten the time required for pre-preparation for transfer and can simplify the loading system itself.

Further, the free roller conveyor 40 arranged on the bed of the trailer 16 is formed with a predetermined inclination angle,
Since the pallet load 12 transferred to the trailer 16 can be automatically moved in the trailer 16 by utilizing this inclination, no labor is required unlike the conventional case. Therefore, it is possible to completely automate the processes from the unloading of the pallet load 12 from the warehouse by the shipping conveyor 10 to the completion of loading in the trailer 16. As a result, it is possible to reduce the labor of the worker engaged in the loading work and further save labor.

Next, a second embodiment of the loading system of the present invention will be described with reference to FIGS. In the second embodiment, the transfer device 14 is used as the transfer conveyor 60 and the load pushing device 6.
2 and other configurations are the same as those in the first embodiment. In the transfer device 14, a pair of electric drive type roller conveyors 64 are arranged in parallel on the upper surface of a base 61 with a predetermined interval, and a hydraulic cylinder 62, which is a load pushing device, is provided between the pair of roller conveyors 64. The piston rod 66 of Fig. 4
It is arranged so as to expand and contract between C and C. The main body of the hydraulic cylinder 62 is fixed to the base 67 of the shipping conveyor 10. A swingable pusher plate 68 is provided at the tip of the piston rod 66, and the pallet load 12 is transferred from the shipping conveyor 10 to the transfer conveyor 64.
When the front portion of the pallet load 12 comes into contact with the pusher plate 68 when the pallet load 12 is transferred to the vehicle, the pallet load 12 falls in the direction shown in FIG. It is designed to stand upright by a spring (not shown). The upright pusher plate 68 is supported by a stopper member 70 so as not to fall down to the shipping conveyor 10 side. Further, the lifting and lowering of the hydraulic cylinder 62 is performed by the hydraulic pump 7 that rotates forward and backward.
The piston rod 66 is expanded and contracted at a speed slower than the transfer speed of the transfer conveyor 64.

By using the transfer device 14 configured as described above, the transfer conveyor 64 is moved from the shipping conveyor 10 to the transfer conveyor 64.
When the pallet load 12 transferred to the transfer conveyor 64 is conveyed to the trailer 16 by the transfer conveyor 64, for example, the shipping conveyor 10
The level of the trailer 16 is higher than the level of the trailer 16, the transfer force of the transfer conveyor 64 alone is not sufficient, and the transfer speed becomes slower, or the pallet load 12 is transferred to the transfer conveyor 64.
If stopped in the middle of the process, use the hydraulic cylinder 62 to
By pushing 2, the conveyance of the transfer conveyor 64 can be assisted. This allows the pallet load 12 to be transferred from the transfer device 14 to the trailer 1 without the need for manual assistance.
6 can be reliably transferred. Further, the expansion / contraction speed of the piston rod 66 of the hydraulic cylinder 62, that is, the load pushing speed is set to be slower than the transfer speed of the transfer conveyor 64, and the transfer conveyor 64 is mainly used to transfer the pallet load 12. The hydraulic cylinder 62 is used to compensate for the insufficient transporting power. As a result, an unreasonable force that exceeds the transfer speed of the transfer conveyor 64 is not applied to the pallet load 12, so that the pallet load 12 can be stably transferred.

Further, the pallet load 12 transferred to the free roller conveyor 40 in the trailer 16 utilizes the inclination of the free roller conveyor 40 as in the case of the first embodiment, from the rear part to the front part of the trailer 16. In the case of the second embodiment, complete automation is possible as in the case of the first embodiment. Although the hydraulic cylinder 62 is used as the load pushing device in the second embodiment, an air cylinder, an electric cylinder with an inverter motor, or the like may be used.

[0029]

As described above, according to the loading system of the present invention, since the fork mechanism is adopted as the transfer device, the load of the pallet unit is generated by the load loaded on the trailer and the cargo bed of the truck. The load can be transferred without being affected by the level changes of and.
With this, unlike the transfer device used in the conventional loading system that transfers by the conveyor mechanism, it is not necessary to perform leveling between the transfer device and the cargo bed of the lorry as pre-preparation for transfer, There is no need for a locking device to lock the bed level. Therefore, the loading system of the present invention can shorten the time required for pre-preparation for transfer, and
The loading system itself can be simplified.

Further, since the transfer device is composed of the transfer conveyor and the load pushing means, it is possible to reliably push the transfer device into the trailer with the hydraulic cylinder without the need for manual assistance. Further, a hydraulic cylinder mechanism driven by a hydraulic pump that rotates in forward and reverse directions is provided as an elevating device that adjusts the level when the load is transferred by elevating the vehicle or the transfer device. As a result, the ascending / descending speed does not change due to the influence of the load of the load, and the ascending / descending speed can be increased and decreased at a constant speed, so that the leveling accuracy is improved and a stable loading operation can be performed.

In addition, an elevating means for elevating the rear part of the vehicle is provided to incline the mounting surface of the vehicle so that the load sent from the transfer means onto the free roller conveyor is gravity conveyed on the free roller conveyor. Therefore, the load transferred from the transfer means onto the free roller conveyor can be automatically moved from the rear part to the front part of the lorry. As a result, since no manpower is required to move the load in the lorry, it is possible to completely automate the process from the unloading of the load by the collection conveyor to the completion of the loading of the lorry. Therefore,
The labor of the worker can be reduced and further labor saving can be achieved.

[Brief description of drawings]

FIG. 1 is a side view illustrating a first embodiment of a loading system according to the present invention.

FIG. 2 is a plan view for explaining the first embodiment of the loading system according to the present invention.

FIG. 3 is a side view illustrating a second embodiment of the loading system according to the present invention.

FIG. 4 is a plan view illustrating a second embodiment of the loading system according to the present invention.

[Explanation of symbols]

 10 ... Shipping conveyor 12 ... Pallet load 14 ... Transfer device 16 ... Trailer 22 ... Hydraulic cylinder 28 ... First dog 30 ... Second dog 32 ... Detection sensor 36 ... Hydraulic pump 40 ... Free roller conveyor 46 ... Lifting cylinder 48 ... Table lifter 52 ... Slide plate 54 ... Fork 62 ... Loading hydraulic cylinder

Claims (5)

[Claims] 1. A loading system for loading a load on a pallet conveyed by a conveyor onto the vehicle through a transfer device disposed between the conveyor and the vehicle, wherein the transfer device is a transfer device. A loading system having a loading fork, which has a vertical movement mechanism and a horizontal movement mechanism for moving between a pallet receiving position from the conveyor and a pallet mounting position on the vehicle. 2. A loading system for loading a load on a pallet conveyed by a conveyor onto the vehicle via a transfer device disposed between the conveyor and the vehicle, wherein the transfer device comprises: A loading system comprising: a transfer conveyor that receives the load from the conveyor and transfers the load to the vehicle; and a load pushing unit that pushes the load on the transfer conveyor. 3. A transfer device or an elevating device for loading or unloading a load on a pallet conveyed by a conveyor onto the vehicle via a transfer device disposed between the conveyor and the vehicle. In the loading system for raising and lowering to adjust the level by means of the above, the raising and lowering device is provided with a hydraulic cylinder mechanism driven by a hydraulic pump that rotates forward and backward. 4. A load on a pallet conveyed by a conveyor is transferred by a transfer device onto a free roller conveyor arranged in the front-rear direction of the vehicle and slid on the free roller conveyor. In a loading system for moving a load from a rear part of a vehicle to a front part, an elevating means for elevating and lowering the rear part of the vehicle is provided, and the elevating part is provided for freeing the load sent from a transfer means onto a free roller conveyor. A loading system in which a mounting surface of the vehicle is inclined so that the vehicle is gravity conveyed on a roller conveyor. 5. The inclination of the mounting surface of the vehicle is 0.2 to 1.5.
The loading system according to claim 4, wherein the loading system is controlled in an angle range of °.