RU2785653C2 - Device for laying pallet - Google Patents

Abstract

FIELD: construction.

SUBSTANCE: invention relates to lifting devices. A device for laying pallets for placing them on a shelf in a shelf structure is made with the possibility of operation in a loading, unloading, inaction/transportation mode. The device contains a platform, a transportation device for the platform, at least one unfolding structure for transferring pallets, at least one unfolding anchor, at least one holder. The platform is made with the possibility of movement and loading/unloading of a pallet from a shelf of the shelf structure. The unfolding structure is mounted on the platform and is made with the possibility of transfer, lift and grip of pallets. The anchor is unfolded to interact with the holder. The anchor has at least one of features: at least one of holders is located at a distance from the ground and ceiling inside the space limited with a convex shell of the shelf structure; the space is located between the platform and the holder in the loading/unloading mode until switching to the inaction/transportation mode; at least one of anchors is made with the possibility of changing the structure height to transfer pallets after initial interaction of the pallet with the structure for transferring pallets.

EFFECT: possibility of using simple and light support frame is achieved.

16 cl, 59 dwg

Description

FIELD OF TECHNOLOGY

The present invention generally relates to lifts and hoists for placing and stacking pallets and pallets, and in particular to articulated loaders and hoists for narrow aisle operation in warehouse complexes.

DISCLOSURE OF THE INVENTION

In accordance with one aspect of the present invention, there is provided a palletizing device configured to place pallets on a shelf in a shelf structure. The pallet may be empty or may be part of a palletized unit load. The palletizing device is configured to operate in loading mode, unloading mode, idle/transport mode. The palletizing device comprises a platform, a transporting device for transporting and placing the platform, at least one deployable structure for carrying pallets, and at least one deployable anchor for temporarily stabilizing the palletizing device relative to at least one holder. The platform that can be moved is configured, in the loading mode, to be placed to enable the pallet to be loaded from at least one selected shelf of the shelf structure and is configured, in the unloading mode, to be placed to enable the pallet to be unloaded on at least one selected shelf. At least one deployable pallet-carrying structure mounted on the platform in at least idle/transport mode is deployed in at least one of loading mode and unloading mode, said structure being capable of carrying, lifting and capturing pallets. At least one deployable anchor is deployed in at least one of loading mode and unloading mode to interact with at least one holder to provide stabilization, and at least one deployable anchor has at least one of the following features: (i) at least one of at least one holder is located at a distance from the ground and at a distance from the ceiling; (ii) at least one of the at least one holder is located within the space defined by the convex shell of the shelf structure ("space"); (iii) in the loading mode or in the unloading mode, at least before switching the mode to the idle/transport mode, the specified space is located between the platform and at least one of the at least one holder; and (iv) at least one of the at least one deployable anchor is configured to change the height of at least one selected pallet carrying structure from the at least one deployable pallet carrying structure in at least one of a loading mode and an unloading mode. after initially picking up the pallet with the at least one selected pallet transfer structure.

The lower part of said space may be located at a distance from the ground under the lowest shelf of the shelf structure.

While in the idle/transport mode, the palletizer may also have at least one of the following: (i) the platform is located outside the bounding space defined by the shell of the shelf structure; (ii) at least one deployable pallet-carrying structure is not deployed and located outside the bounding space; and (iii) at least one deployable anchor is not deployed and is located outside the bounding space.

The palletizer may also include a mount for mounting at least one selected pallet transfer structure from the at least one deployable pallet transfer structure onto the platform. The attachment may include at least one of: (i) a vertical slant to allow at least one selected pallet-carrying structure to vertically rotate relative to the platform; and (ii) a mechanism for adjusting the height of the mount to allow adjustment of the vertical position of at least one selected pallet carrying structure relative to the platform. At least the proximal side of at least one selected pallet-carrying structure can be mounted by means of a mount on the platform, wherein the horizontal movement of the mount is limited relative to the platform towards and away from the shelf structure.

The palletizer may also include an auxiliary platform and a platform height adjustment mechanism for adjusting the relative vertical position between the platform and the auxiliary platform.

At least one of: (i) a mounting height adjustment mechanism for adjusting the vertical position of at least one of the at least one deployable pallet-carrying structure relative to the platform; and (ii) a mechanism for adjusting the height of the platform to adjust the relative vertical position between the auxiliary platform and the platform may include a piston lifter, a bottle type lifter, a trolley lifter, a telescopic lifter, a screw lifter, a block lifter, a diamond type lifter , scissor lift and/or winch lift.

The palletizing device may also comprise a device for laterally shifting the pallet carrying structure to selectively adjust the lateral width between at least two pallet carrying structures of the at least one deployable pallet carrying structure. The sideshift device may include a sideshift mechanism in the transverse direction of one of at least two pallet transfer structures.

The palletizing device may also include a loading/unloading reversing mechanism to change the direction of deployment of the at least one deployable pallet-carrying structure. The redirection mechanism may comprise at least one of at least one deployable pallet-carrying structure, comprises a mechanism for pulling in opposite directions, a fastener for attaching at least one of the at least one deployable pallet-carrying structure to a platform having a connection transversely rotatable fastener for attaching at least one of the at least one deployable pallet-carrying structure to a platform having a vertically rotatable connection, a platform having a plate rotatable in a transverse direction, and/or an auxiliary platform having a mechanism for adjusting the height of the platform for adjusting the relative vertical position between the auxiliary platform and the platform, and the auxiliary platform contains a mechanism configured to rotate company in the transverse direction.

The at least one deployable anchor may comprise a support lift configured to be attached to at least one selected pallet carrying structure of at least one deployable pallet transfer structure, wherein the support lift is configured to deploy to interact with at least with one holder that functions as a support base for vertically extending the support lifting device when at least one selected pallet transfer structure is deployed. The support lift may be placed for storage, when not deployed, in a cavity of at least one selected pallet transfer structure.

At least one deployable anchor can be deployed by/using (i) moving at least one deployable anchor; (ii) a transport device; (iii) at least one deployable pallet-carrying structure; (iv) a vertical slant that is included in the fixture for attaching at least one selected pallet carrying structure of the at least one deployable pallet carrying structure to the platform to allow the at least one selected pallet carrying structure to vertically rotate relative to the platform ; (v) a mechanism for adjusting the height of the mount, which is included in the mount for attaching at least one selected pallet transfer structure from the at least one deployable pallet transfer structure to the platform to allow the vertical position of the at least one selected transfer structure to be adjusted pallet relative to the platform; and/or (vi) a mechanism for adjusting the height of the platform to adjust the relative vertical position between the auxiliary platform and the platform.

The at least one deployable anchor may include a support bar that, when deployed, is positioned between a support location in the palletizer and at least one holder to stabilize the palletizer relative to the at least one holder. The support location may be located on the transport device, platform, fixture for attaching at least one of the at least one deployable pallet-carrying structure to the platform and/or sub-platform, including a mechanism for adjusting the height of the platform to adjust the relative vertical position between the sub-platform and platform. The support bar may include a holding support hoist that is deployable to engage with at least one holder and may also have a cavity into which the holding hoist is inserted when the holding hoist is not deployed. The support bar may include a retractable retractable bar configured to extend when deployed to stabilize the palletizer and retract in a non-deployed position.

The palletizer may also comprise a load support lift configured to deploy between the load support base and at least one selected pallet carrying structure of at least one deployable pallet carrying structure to support at least one selected structure. for transferring pallets in a vertical direction. The load support lifter can be inserted, when not deployed, into the cavity of the palletizer.

The support hoist and/or load support hoist may also be configured to vertically raise and lower at least one selected pallet carrying structure.

The base for supporting the load may be located on: (I) the platform; (ii) a transport device; (ii) a fixture for attaching at least one of the at least one deployable pallet-carrying structure to the platform; (iii) an auxiliary platform comprising a mechanism for adjusting the height of the platform for adjusting the relative vertical position between the auxiliary platform and the platform; and/or (iv) at least one deployable anchor including a support bar, wherein, when the support bar is deployed, is positioned between a support location in the palletizer and at least one holder while stabilizing the palletizer relative to at least one holder.

The support hoist holding the bar support hoist to support at least one deployable anchor and/or the load support hoist may include a diamond type hoist, block hoist, trolley hoist, telescopic hoist, screw hoist, articulated hoist. hoist, bottle-type hoist, winch hoist, fluid jet hoist, and/or electromagnetic hoist.

The at least one deployable anchor may comprise an anchor base member that may be movable and at least one anchor stabilizing member, wherein the anchor base member is physically detached from the palletizer, excluding the at least one deployable anchor when deployable. the anchor is not deployed, and the anchor base member is actuated by the palletizer excluding at least one deployable anchor with at least one of the at least one anchor stabilizing element when the deployable anchor is deployed to stabilize the palletizer. The anchor stabilizing element may be attached, when the at least one deployable anchor is not deployed, to either the anchor base element or the palletizing device, excluding the at least one deployable anchor.

The selected holder of the at least one holder may include: (i) a selected holder located on a shelf of the shelf structure; (ii) a selected holder located on the vertical posts of the shelf structure; (iii) a selected holder located on the ground; (iv) a selected holder located on the ceiling; (v) a selected holder positioned below a shelf of another shelf structure such that the palletizer is positioned between the shelf structure and the other shelf structure; (vi) a selected holder located on the surface of the structure, which is supported by any of the above methods; (vii) a magnetic field that causes an attraction/repulsion force to be applied to the magnetic portion of at least one deployable anchor; and/or (viii) a fluid flow that provides a repulsive force to the at least one deployable anchor.

Deploying the at least one deployable pallet-carrying structure may include horizontally moving the at least one deployable pallet-carrying structure toward the shelf structure.

The palletizer may also include a mechanism for lifting the pallet carrying structure to vertically move the distal side of the at least one deployable pallet carrying structure and/or the proximal side of the at least one deployable pallet carrying structure.

The at least one deployable pallet-carrying structure may comprise a beam, wherein the deployment of the pallet-carrying, lifting, and gripping beam involves controlling: (i) a transport device; (ii) an attachment for attaching the beam to the platform; (iii) a vertical slanted anchorage connection for attaching the beam to the platform; (iv) a mechanism for adjusting the height of the attachment for attaching the beam to the platform; (v) a mechanism for adjusting the height of the platform to adjust the relative vertical position between the auxiliary platform and the platform; and/or (vi) a support retractable beam.

At least one deployable pallet-carrying structure that includes a retractable retractable beam and/or at least one deployable anchor that includes a retractable retractable bar may include a collapsible segmented beam, a scissor beam that folds into accordion beam, vertical parallelogram beam, horizontal parallelogram beam, horizontal parallelogram beam with n-shaped traverse, side rail and fixing beam, telescopic beam and/or sliding beam.

The palletizer may also include a pallet conveyor configured to carry a pallet on at least one of the at least one deployable pallet-carrying structure along a path between a location located above the selected shelf and a location located above or below. platform, to ensure the movement of the pallet in the loading mode and in the unloading mode. The pallet conveyor may be an active pallet conveyor comprising a movable conveyor element for moving the active pallet conveyor relative to at least one deployable pallet-carrying structure. The movable conveyor element may be wheels, tracks and/or track wheels. The active pallet conveyor may be releasable from at least one deployable pallet-carrying structure to transport a pallet releasably to and from a remote shelf, and the active pallet conveyor also includes movable means to reach the remote shelf. The movable means may include a movable conveyor element. The pallet conveyor may include: (i) a trolley that travels over a beam of at least one deployable structure for carrying pallets; (ii) an overhead trolley that travels under a beam of at least one deployable pallet-carrying structure; (iii) a conveyor belt; (iv) rolling elements mounted above the at least one deployable pallet-carrying structure; (v) collapsible segmented beam; (vi) folding scissor beam; (vii) an accordion-folding beam; (viii) collapsible horizontal parallelogram beam; (ix) collapsible horizontal parallelogram beam with n-beam; (x) a retractable retractable beam of the retractable type; (xi) retractable telescoping beam; and/or (xii) retractable side rail and fixing beam.

The palletizer may also include a gravity-based pallet conveyor wherein the vertical rotation of at least one selected pallet-carrying structure from the at least one deployable pallet-carrying structure relative to the platform is activated in a loading mode and an unloading mode for causing the pallet to gravitationally slide relative to the at least one selected pallet carrying structure along a path between a location above the selected shelf and a location above or below the platform. The vertical pivot can be activated by (i) a dedicated pivot drive, (ii) a support hoist of at least one deployable anchor, the support hoist attached to at least one selected pallet carrying structure, the support hoist being deployable for interacting with at least one holder that functions as a support base for vertically extending the support lift when deploying at least one selected pallet carrying structure, and/or (III) a load support lift configured to be deployed between the base to support the load and at least one selected pallet-carrying structure to vertically support at least one selected pallet-carrying structure. The activation, deactivation, speed change, acceleration and direction of the gravity slide can be controlled by a controller capable of pivoting in the vertical direction and thus controlling the movement of the pallet.

The transport device may include a pallet lift to raise the platform to the required height, which may include (i) a scissor mechanism for lifting, (ii) a screw mechanism for lifting, (iii) a telescopic mechanism for lifting, (iv) a crane capable of lifting platform from above, (v) a mast and a vertical carriage extending along it for lowering and raising the platform along the mast, (vi) a rope carriage for lowering and raising the platform along the mast, and/or (vii) a lifting structure with a cable carriage containing a mast, a carriage and a counterweight in which the carriage moves along and inside the mast, the counterweight is movable along the mast and attached to the carriage by means of an overhead pulley.

The conveyance device may include a means for movement on the ground, which may include wheels in contact with the ground, a continuous track and/or wheels for rail track. The ground moving means may include two perpendicular sets of wheels, each perpendicular set being aligned to move in a direction perpendicular to the alignment of the other set, and wherein one of the perpendicular sets is activated and engages the ground while the other set is raised off the ground to prevent friction. The means for moving on the ground can provide control of the direction of movement using a mechanism for changing the direction and speed of the wheels, including a set of four rectangularly deployable wheels, and separate control of the direction of movement, configured to activate the first pair of two oppositely located wheels from the specified set, by : (a) driving the wheels of the first pair in the same direction at the same speed to move forward; (b) driving the wheels of the first pair in opposite directions at the same speed to turn in place; and/or (c) driving the wheels of the first pair at different speeds to turn, wherein the second pair of two opposed wheels is slidable, passively turned and/or driven in a manner simulating direction control exercised by the first pair. .

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention will be better understood and appreciated upon reading the following detailed description in conjunction with the drawings, in which:

In FIG. 1A is a schematic side view of a prior art palletizer with a counterweight and a pallet on an elongated beam;

in fig. 1B is a schematic side view of the prior art palletizer shown in FIG. 1A, without counterweight;

in fig. 2A, 2B, 2C, 2D and 2E are schematic side views of a palletizer for placing a palletized unit load on a shelf in a shelf structure, constructed and operated in accordance with an embodiment of the present invention; in fig. 2A is a schematic side view of a palletizer in transport mode;

in fig. 2B is a schematic side view of the palletizer shown in FIG. 2A with the beams in the extended position and the support jacks deployed;

in fig. 2C is a schematic side view of the palletizer shown in FIG. 2A with the beams extended, support hoists deployed and pallets carried along the beams;

in fig. 2D is a schematic side view of the palletizer shown in FIG. 2A with beams extended, support hoists deployed, and pallets resting on a selected shelf;

in fig. 2E is a schematic side view of the palletizer shown in FIG. 2A, in idle mode;

in fig. 3A, 3B, 3C, 3D, and 3E are schematic side views of a palletizer for placing a palletized unit load on a shelf in a shelf structure, the deployable anchor including a retractable retractable rod constructed and operating in accordance with another embodiment of the present invention; in fig. 3A is a schematic side view of the palletizer in idle mode;

in fig. 3B is a schematic side view of the palletizer shown in FIG. 3A with the beams removed and the rod deployed to engage with the bottom shelf;

in fig. 3C is a schematic side view of the palletizer shown in FIG. 3A, with its mechanism for adjusting the height of the attachment lifts the elongated beams, and then removes the pallet from the shelf structure;

in fig. 3D is a side view of the palletizer shown in FIG. 3A, in which the pallet is carried over elongated beams;

in fig. 3E is a schematic side view of the palletizer shown in FIG. 3A, in transport mode;

in fig. 4 is a schematic perspective view of a palletizer constructed and operated in accordance with an embodiment of the present invention;

in fig. 5 is a schematic enlarged perspective view of a mechanism comprising a mount with a beam sideshift device constructed and functioning in accordance with another embodiment of the present invention;

in fig. 6 is a schematic perspective view of a palletizer constructed and operated in accordance with another embodiment of the present invention;

in fig. 7A and 7B are schematic plan views of shelf structures constructed and operating in accordance with another embodiment of the present invention; in fig. 7A is a schematic plan view of a pallet rack structure with rear and front crossheads;

in fig. 7B is a schematic plan view of a pallet rack structure with two side rails;

in fig. 8A, 8B, and 8C are schematic exemplary side views of various types of lifting devices that can be used in a fixture height adjustment mechanism and/or in a platform height adjustment mechanism, a palletizer constructed and functioning in accordance with additional embodiments of the present invention; in fig. 8A is a schematic side view of a mechanism for adjusting the height of a piston lifter;

in fig. 8B is a schematic side view of a mechanism for adjusting the height of the diamond structure;

in fig. 8C is a schematic side view of a winch-based height adjustment mechanism;

in fig. 9A, 9B, 9C and 9D schematically show examples of mechanisms for changing the direction of loading/unloading, made and functioning in accordance with embodiments of the present invention; in fig. 9A is a schematic perspective view of a deployable two-beam pallet-carrying structure, a palletizing device that is pulled in two opposite directions;

in fig. 9B is a schematic side view of a deployable beam-like pallet-carrying structure rotatable in the vertical direction;

in fig. 9C is a schematic plan view of a deployable pallet-carrying structure in the form of two beams pivotable in a horizontal direction;

in fig. 9D is a schematic plan view of a platform rotatable in a horizontal direction;

in fig. 10A, 10B, 10C, 10D and 10E are schematic exemplary perspective views of retractable beams or rods constructed and operating in accordance with additional embodiments of the present invention; in fig. 10A is a schematic perspective view of an accordion folding beam/rod;

in fig. 10B is a schematic perspective view of a folding scissor beam/bar;

in fig. 10C is a schematic perspective view of a telescoping beam/rod;

in fig. 10D is a schematic perspective view of the side rail and fixing beam/bar;

in fig. 10E schematically shows a two-section segmented horizontal parallelogram beam/rod;

in fig. 11 is a schematic perspective view of an embodiment including a diamond type support hoist constructed and operated in accordance with one embodiment of the present invention;

in fig. 12 is a schematic perspective view of an embodiment including a telescopic holding support hoist constructed and operable in accordance with one embodiment of the present invention;

in fig. 13A and 13B are schematic side views of an embodiment including a deployable beam-like pallet-carrying structure and a single screw-type support-lift anchor constructed and operating in accordance with one embodiment of the present invention; in fig. 13A is a schematic side view of an elongated beam with the helical support hoist retracted;

in fig. 13B is a schematic side view of an elongated beam with the helical support hoist deployed;

in fig. 14A, 14B, 14C, and 14D are schematic side views of an embodiment including a retractable rod anchor equipped with a screw retaining support hoist, a beam-like deployable pallet-carrying structure, and a slant-joint beam far-side lifting mechanism. motorized, made and functioning in accordance with one embodiment of the present invention; in fig. 14A is a schematic side view of an embodiment including an elongated beam with a motorized slant joint and a retracted rod with a retracted helical holding support hoist;

in fig. 14B is a schematic side view of an embodiment including an elongated beam with a motorized slant joint and an elongated rod with a retracted helical holding support hoist;

in fig. 14C is a schematic side view of an embodiment including an elongated beam with a motorized slant joint and an elongated rod with a deployed helical retaining support hoist;

in fig. 14D is a schematic side view of an embodiment including an elongated beam tilted by a motorized inclined connection and an elongated rod with a helical retaining support jack deployed;

in fig. 15A, 15B, 15C, and 15D are schematic side views of an embodiment including a retractable rod retractable anchor, a telescoping mechanism for platform height adjustment, a deployable beam-like pallet-carrying structure, and a hoist-like mechanism for lifting the far side of the beam. winch type for supporting cargo, made and functioning in accordance with one embodiment of the present invention; in fig. 15A is a schematic side view of an embodiment including an extended beam, a retracted rod, and a winch-type hoist to support a coiled load;

in fig. 15B is a schematic side view of an embodiment including an elongated beam, an elongated rod, and a winch-type hoist to support a coiled load;

in fig. 15C is a schematic side view of an embodiment including an elongated beam, an elongated rod, and a winch-type hoist to support a load whose cable is attached to the far side of the beam;

In FIG. 15D is a schematic side view of an embodiment including a tilted stretch beam, a stretch rod, and a winch-type hoist to support a load whose cable pulls the far side of the beam;

in fig. 16A, 16B, and 16C are schematic side views of an embodiment including a platform, a retractable rod anchor, a deployable beam-type pallet-carrying mechanism, and a "warm" type platform height adjustment mechanism constructed and functioning in accordance with one embodiment. implementation of the present invention. in fig. 16A is a schematic side view of an embodiment including an extended beam, a lowered platform, and a retracted rod;

in fig. 16B is a schematic side view of an embodiment including an extended beam, a lowered platform, and an extended rod;

in fig. 16C is a schematic side view of an embodiment including an elongated beam raised by an upwardly pushed platform and an elongated rod;

in fig. 17A, 17B, 17C, and 17D are schematic side views of an embodiment including a diamond-type platform height adjustment mechanism, a deployable beam-like pallet-carrying structure, a deployable retractable rod-type anchor equipped with an articulated load support lifter, which has at its tip a screw-lift adapter constructed and operated in accordance with one embodiment of the present invention; in fig. 17A is a schematic side view of an embodiment including an extended beam and a retracted rod with an inserted articulated load support lifter that has a retracted screw lifter at its tip;

in fig. 17B is a schematic side view of an embodiment including an elongated beam and an elongated rod with an inserted articulated load support hoist that has a retracted helical hoist at its tip;

in fig. 17C is a schematic side view of an embodiment including an elongated beam and an elongated rod with an articulated upright hoist that has at its tip a retracted helical hoist positioned directly below the beam;

in fig. 17D is a schematic side view of an embodiment including an inclined elongated beam and an elongated rod with an articulated lifter to support a load in a vertical position with a screw lifter deployed at its tip that pushes the beam towards its midpoint;

in fig. 18A, 18B, 18C and 18D are schematic perspective views of simplified exemplary pallet conveyors constructed and operating in accordance with additional embodiments of the present invention; in fig. 18A is a schematic perspective view of a pallet conveyor mechanism which is a simplified version of a passive gravity pallet conveyor;

in fig. 18B is a schematic perspective view of a simplified version of an active pallet belt;

in fig. 18C is a schematic perspective view of a simplified version of the powered trolley-type pallet conveyor;

in fig. 18D is a schematic perspective view of an active pallet conveyor in the form of a folding segmented beam;

in fig. 19A, 19B, and 19C are simplified schematic side views of several types of transport devices that include several pallet lift mechanisms constructed and operating in accordance with further embodiments of the present invention; in fig. 19A is a schematic simplified side view of a crane pallet transporter with a pallet hoist;

in fig. 19A is a schematic simplified side view of a crane palletizer with a telescopic pallet lift;

in fig. 19A is a schematic simplified side view of a palletizing crane conveyor with a screw lifting mechanism;

in fig. 20 is a schematic side view of a palletizer illustrating several optional features of at least one deployable anchor constructed and operating in accordance with other embodiments of the present invention;

in fig. 21 is a schematic perspective view that illustrates a deployable pallet-carrying structure mechanism comprising an expander mechanism and a friction anchor constructed and functioning in accordance with one embodiment of the present invention;

in fig. 22A and 22B are schematic perspective views of an exemplary ground transportation means constructed and operated in accordance with further embodiments of the present invention; in fig. 22A is a schematic perspective view of the endless tracks of the ground moving means; and

in fig. 22B is a schematic perspective view of the wheels for the track of the ground moving means.

IMPLEMENTATION OF THE INVENTION

The present invention proposes a new device and method for palletizing. Further, the description refers to FIG. 1A and 1B. In FIG. 1A is a schematic representation of a prior art palletizer 10 having a counterweight 12 to prevent tipping when unloading/loading a palletized unit load 14 onto a shelf 16. FIG. 1B is a schematic side view of the stacker 10 of FIG. 1A illustrating the overturning of the device if it does not have a counterweight 12 when unloading/loading a palletized unit load 14 onto or from a shelf 16. The device 10 includes a support frame 18 configured to lift the load to a shelf height, typically 3 to 20 meters, and a means of transport in the form of wheels 20. The device 10 is often of a lightweight design that cannot remain stable when a heavy load is stowed. typical palletized unit load 14 without counterweight balancing. In the absence of a counterweight 12 with sufficient mass, the device 10 is prone to overturning by the mass of the palletized unit load 14 when its center of gravity is outside the vertical contour of the body 18 of the support of the device 10 or, more precisely, outside the vertical contour around the wheels 20 that support the support frame 18 When unbalanced, the wheels 22, which are the wheels closest to the palletized unit load 14, become the fulcrum of the device 10 overturning. 10 may be broken, as shown in FIG. 1B. The use of a counterweight 12 to balance the palletized unit load 14 results in a significant horizontal bending stress on the support frame 18 as well as a vertical collapse stress. These horizontal tension forces are greater the higher the support body 18, the heavier the palletized unit load 14 and the further the palletized unit load 14 is removed from the support frame 18 by the extension mechanism 24. Thus, the counterweight 12 can only be used in a robust, heavy and expensive device 10 containing massive means of movement. The counterweight 12 is located at the bottom of the device 10 to achieve maximum effect and is usually required to be much heavier than the palletized unit weight 14 to achieve the required moment (torque) due to its proximity to the fulcrum compared to the palletized unit weight 14, which, in typical use, is sometimes located much farther from the fulcrum. In some cases, the counterweight 12 is located at a laterally remote location at the rear of the support frame 18, which allows to reduce its mass while maintaining sufficient balancing moment, but this design involves additional expansion of the device in the lateral direction, which significantly limits the maneuverability of the device 10. The present invention makes it possible to significantly relax the requirements regarding the use of a counterweight and allows the use of a much simpler and lighter support frame, which must withstand essentially only vertical stresses.

In the main aspects of the present invention there is provided a palletizer capable of placing pallets on a shelf in a shelf structure, the pallet being empty or being part of a palletized unit load. The palletizer is configured to operate in four main modes: loading mode, unloading mode, idle mode, and transport mode (the latter two modes are sometimes referred to herein as one "idle/transport mode"). The palletizing device includes a platform, a transporting device, at least one deployable structure for transferring pallets, and at least one deployable anchor (usually as a fastener). The platform included for mobility is configured, in the loading mode, to be placed in the required position to enable the pallet to be loaded from the selected shelf in the shelf structure, and configured, in the unloading mode, to be placed in the required position to enable the pallet to be unloaded to the selected shelf. The transporting device is made with the possibility of transporting and placing the platform in the required position. At least one deployable pallet-carrying structure is installed on the platform in at least idle/transport mode, deployed in at least one of loading mode and unloading mode, and is configured to carry, lift and capture pallets. The at least one deployable anchor is designed to temporarily stabilize the palletizing device with respect to at least one holder. At least one deployable anchor is deployed in at least one of loading mode and unloading mode to interact with at least one holder for stabilization. At least one deployable anchor also has the following features: (a) at least one of at least one holder is located at a distance from the ground and at a distance from the ceiling; (b) at least one of the at least one holder is located within the space defined by the convex shell of the shelf structure; (c) in the loading or unloading mode, at least before switching the mode to the idle/transport mode, the specified space is located between at least one selected holder and the platform; and/or (d) at least one of the at least one deployable anchor is configured to change the height of at least one selected pallet-carrying structure of at least one deployable pallet-carrying structure in at least one of the loading and unloading modes after at least one selected pallet transfer structure initially grips the pallet.

According to embodiments of the palletizer, the palletizer may include a fixture for securing at least one selected pallet carrier structure to at least one deployable pallet carrier structure on the platform. Said fastener may comprise a vertical slanted joint to enable vertical rotation of at least one selected pallet-carrying structure relative to the platform.

In accordance with embodiments of the palletizer, the at least one deployable pallet-carrying structure may comprise a beam. Said beam can be retractable retractable, retractable when deployed and retractable in non-deployed position, and the beam is deployed to carry, lift and capture pallets by pulling the beam. As noted above, the beam may be secured to the platform with a mount, and the mount may comprise a vertical slanted joint. According to embodiments of the palletizer, deployment of the beam to carry, lift, and pick up pallets can be accomplished by operating a vertical, angled anchorage joint by which the beam is secured to the platform.

As noted above, at least one deployable pallet-carrying structure can be mounted on the platform with a mount. According to embodiments of the palletizer, the horizontal movement of the fixture is limited relative to the platform towards and away from the shelf structure.

According to embodiments of the palletizer, deploying the at least one deployable pallet-carrying structure includes horizontally moving the at least one deployable pallet-carrying structure toward the shelf structure.

According to embodiments of the palletizer, the palletizer may also include a mechanism for raising the far side of the pallet carrying structure to vertically move the far side of the at least one deployable pallet carrying structure.

In the context of a shelf structure, the "shell" of the shelf structure is the minimum space surrounding the shelf structure, and the "convex shell" of the shelf structure is the minimum convex space surrounding the shelf structure.

In accordance with embodiments of the palletizing device, the platform, at least one deployable pallet-carrying structure, and/or at least one deployable anchor are located outside the bounding space defined by the shell of the shelf structure, in idle/transport mode.

In accordance with embodiments of the palletizer, at least one deployable pallet-carrying structure and/or at least one deployable anchor is not deployed in idle/transport mode.

According to embodiments of the palletizer, the at least one deployable anchor can be deployed by spontaneous movement, by movement of the at least one deployable pallet-carrying structure, and/or by movement of the vertical slant.

In accordance with embodiments of the palletizing apparatus, the at least one deployable anchor may include a support hoist attached to at least one selected pallet-carrying structure of the at least one deployable pallet-carrying structure, wherein the support hoist is deployable for interacting with at least one carrier that functions as a support base for vertically extending the support hoist when deploying at least one selected pallet transfer structure. According to embodiments of the palletizer, the support lift may be configured to vertically raise and lower at least one selected pallet carrying structure, and the at least one selected pallet transfer structure may also have a storage cavity for the support lift. when it is not expanded.

In accordance with embodiments of the palletizer, at least one carrier is positioned on a shelf within a shelf structure that is located at a distance from the ground, located at a distance from the ceiling, and located within a space defined by the convex hull of the shelf structure.

In accordance with embodiments of the palletizing device, the transport device may include a pallet lift configured to raise the platform to a desired height, and may also include a ground moving means, which may have wheels in contact with the ground.

Further, the present description refers to FIG. 2A, 2B, 2C, 2D and 2E, which are schematic side views of a palletizing device (also referred to as a "stack") on a shelf, generally indicated at 100, for placing a palletized unit load on a shelf in a shelf structure, made and operating in accordance with an embodiment of the present invention. It should be noted that the term "pallet" in this context refers to either an empty pallet or a palletized unit load, shown schematically in block form in the drawings. In the description and drawings, for the sake of simplicity, like numbers refer to like parts.

In FIG. 2A is a schematic side view of a palletizer 100 in transport mode supporting a pallet, indicated 102, and positioned adjacent to a shelf structure, indicated 104. beams 106 in a retracted position (ie, not deployed) with deployable anchors in the form of support lifters 112 that are inserted into beams 106 (when not deployed). In FIG. 2B is a schematic side view of the palletizer 100 of FIG. FIG. 2C is a schematic side view of the palletizer 100 of FIG. 2A in unloading mode with beams 106 extended, lifters 112 deployed, and pallet 102 being carried over beams 106 by an active pallet conveyor (not shown) into a shelf structure 104 for placement over shelf 116. Examples of an active pallet conveyor that are not of the type folding beams are also described with reference to FIGS. 18B and 18C. In FIG. 2D is a schematic side view of the palletizer 100 of FIG. 2A in unload mode, with the pallet lifter 124 lowering the beams 106 while the lifters 112 are simultaneously retracted to leave the pallet 102 on the shelf 116. In FIG. 2E is a schematic side view of the palletizer 100 of FIG. 2A in non-pallet idle mode in which the lifters 112 are located in the retracted beams 106.

The device 100 is configured to operate in loading mode, unloading mode (FIGS. 2B-2D), transport mode (FIG. 2A), and idle mode (FIG. 2E). For simplicity, pallet unloading is described in more detail below with reference to the embodiment shown in FIG. 2A-2E, and pallet loading is described in more detail with reference to the embodiment shown in FIG. 3A-3E, however, both embodiments appear to be suitable for both loading and unloading.

The apparatus 100 comprises at least one deployable pallet-carrying structure, such as beams 106, a platform 108, a transport device 110, consisting of a moving means 122 and a lifting means 124, and at least one deployable anchor, such as lifting devices 112. The beams 106 are mounted on the platform 108 using the fastener 109. The fastener 109 has a vertical inclined connection 111 with a latch 115. The vertical inclined joint 111 serves to allow the beams 106 to rotate vertically relative to the platform 108 up to the position limited by the latch 115. Vertical rotation is necessary to compensate for unsynchronized movements between the pallet lift 124 and the lifters 112 and thus to ensure that the pallet 102 is stable on the shelf 116, as seen in FIG. 2D. A detailed explanation and examples of attachments are given below with reference to FIGS. 4, 6, 8A-8C, 11, 12, 18A, 19B, 20 and 21.

The platform 108 is located outside the bounding space 114 defined by the shell of the shelf structure 104 in idle/transport mode, as seen in FIG. 2A and 2E, and thus the device 100 can move freely along the passages located between adjacent shelf structures. It should be noted that this document sometimes refers to a single “idle/transport” mode instead of specifically referring to each of the idle mode and the transport mode, since the only major difference between these two modes in the present context of the invention is only the placement of the pallet 102 on the device. 100 in transport mode and no pallet 102 in idle mode. In idle/transport mode, beams 106 are retracted and lifters 112 are inserted into them. The platform 108, when in the loading mode, is configured to be positioned to allow the pallet 102 to be loaded from a selected shelf, such as the shelf 116 in the shelf structure 104, and when it is in the unloading mode shown in FIG. fig. 2B-2D is configured to be positioned to allow pallet 102 to be unloaded onto a selected shelf 116 in shelf structure 104. It should be noted that in some embodiments of the present invention, such as those shown in FIGS. 8C and 15A-15D, the term "selected shelf" can also refer to the above ground area at the bottom of the shelf structure 104. In addition, it should be noted that the device 100 is also configured to load/unload pallet 102 to/from any other suitable surface.

In FIG. 2B and 2C, platform 108 is located proximate shelf 116 and in such a suitable position relative to shelf 116 that pallet 102 can be unloaded/loaded from shelf 116. The transport device 110 is configured to accomplish this purpose and is configured to position the platform by transporting and adjusting the height to a desired position. The transport device 110 includes a means of movement, namely wheels 122, configured to transport the device 100 to a desired location, and a pallet lift 124, configured to raise or lower the platform 108 to a desired height for placement on a shelf 116 or for loading/unloading. to/from any other appropriate surface.

When platform 108 is properly positioned for unloading pallet 102 onto shelf 116, as shown in FIG. 2A, the beams 106 are pulled into an extended position and engaged with the shelf structure 104 by means of lifters 112 that deploy from the beams 106 and rest on the far side 126 of the shelf 116 as shown in FIG. 2B. At this point, the lifters 112 support the elongated beams 106 and thus completely stabilize the device 100, creating a gap 117 between the pallet 102 and the shelf 116 to allow the pallet 102 to move freely on the shelf 116.

The pallet 102 is then transported along the beams 106 directly over the shelf 116 as shown in FIG. 2C. The transport of the pallet 102 is also described with reference to FIG. 18B and 18C, which show examples of active pallet conveyors that are not of the folding beam type. At this stage, the lifting devices 112 support the elongated beams 106, thus ensuring the stabilization of the device 100 regardless of the movement and position of the pallet 102 along the elongated beams 106 and, thus, provide two main characteristics of the device for palletizing, namely, satisfying the need to accommodate redundant balancing counterweight and substantially eliminate the horizontal stresses acting on the pallet lifter 124, thereby greatly reducing the structural requirements for the pallet lifter 124 to withstand only substantially vertical forces.

Deployable anchors, such as lifters 112, are used to temporarily stabilize the device 100 with respect to at least one holder that is located on the far side 126 of the shelf 116, as shown in FIG. 2B and 2C. Lifters 112 are used to temporarily stabilize the device 100 in both loading and unloading modes by allowing them to interact with the far side 126 of a shelf 116 containing at least one holder. It should be noted that the lifters 112 are located outside of the idle/transport space 114 in the idle/transport mode. Lifting devices 112 may be stored on the device 100 or can be installed on it and transported with it, without interfering with the free movement of the device 100 in the aisles between adjacent shelf structures, except when they are deployed for loading/unloading a pallet. In addition, it should be noted that the far side 126 of the shelf 116, which functions as at least one holder, is located at a distance from the ground, is located at a distance from the ceiling, and is located in the space 114.

Beams 106 are mounted by fastening 109 with their proximal side 128 to platform 108, and are configured to carry, lift, and grip pallets 102. Beams 106 can be retracted from a retracted position, as shown in FIG. 2A and 2E, when in idle/transport mode, to perform idle mode or to transport pallet 102 to be placed by platform 108. In the retracted position, beams 106 are located outside space 114 to allow device 100 to move freely in the aisles between adjacent shelf structures. in idle/transport mode as shown in FIG. 2A and 2E. Beams 106 can be retracted into an extended position as shown in FIG. 2B-2D when they are in loading mode or in unloading mode when they enter space 114 to enable loading or enabling pallet 102 to be unloaded.

Support lifters 112 also function as a mechanism for lifting the far side of the beams 106 to allow vertical movement of the far side of the beams 106. Other examples of the mechanism for lifting the far side of the beam are described below with reference to FIG. 4, 6, 8A-8C, 11, 12, 13A, 13B, 14A-14D, 15A-15D, 16A-16C, 17A-17D, 18A, 19A-19C, 20 and 21. As shown in FIG. 2D, when the pallet 102 is positioned directly above the shelf 116 at the location where it will be dropped and left, the pallet lifter 124 lowers the beams 106 while the lifters 112 are simultaneously retracted to leave the pallet 102 on the shelf 116 and insert the lifters. 112 into the retracted beams 106. After that, the beams 106 can be retracted to release them from the pallet 102, and the device 100 enters a non-pallet idle mode in which the supporting hoists 112 are inserted into the retracted beams 106.

The unloading sequence can be easily followed in FIG. 2A-2E. The loading process is close to the reverse of the described sequence, subject to the adjustments that will be explained below with reference to FIG. 3A-3E.

As noted above, the palletizer may include a mount for mounting at least one selected pallet transfer structure of at least one deployable pallet transfer structure onto the platform. In accordance with embodiments of the palletizer, the mount includes a mechanism for adjusting the height of the mount to allow adjustment of the vertical position of at least one selected palletizing structure relative to the platform.

According to embodiments of the palletizing device, the palletizing device may comprise a mechanism for lifting the near side of the pallet carrying structure and/or a mechanism for lifting the far side of the pallet carrying structure, configured to effect vertical movement on the near side and/or on the the far side of the at least one deployable pallet-carrying structure.

As noted above, at least one deployable anchor can be deployed due to its spontaneous movement. According to embodiments of the palletizer, the at least one deployable anchor can be deployed by moving the anchor height adjustment mechanism and/or by moving the platform height adjustment mechanism.

As noted above, at least one deployable pallet-carrying structure may comprise a retractable retractable beam configured to extend when deployed and retract in a non-deployed position, and the deployment of the beam to carry, lift and capture pallets is performed by pulling the beam. As noted above, the beam may be secured to the platform with a mount, the mount may include a mechanism for adjusting the height of the mount, and the palletizer may include a mechanism for adjusting the height of the platform. According to embodiments of the palletizing device, deployment of the beam to carry, lift and pick up pallets can be accomplished by controlling the anchor height adjustment mechanism and/or by controlling the platform height adjustment mechanism.

According to embodiments of the palletizer, the palletizer may also include an auxiliary platform and a mechanism for adjusting the height of the platform to adjust the relative vertical position between the platform and the auxiliary platform.

In accordance with embodiments of the palletizer, at least one deployable anchor comprises a support bar that, when deployed, is positioned between a support location in the palletizer and at least one holder for stabilizing the palletizer relative to at least one holder . According to embodiments of the palletizer, said support bar may include a retractable retractable bar configured to extend when deployed to stabilize the palletizer and retract in a non-deployed position. As noted above, the palletizer may include an auxiliary platform. In accordance with embodiments of the palletizing apparatus, the support location may be located on the auxiliary platform.

Further, the present description refers to FIG. 3A, 3B, 3C, 3D and 3E, which schematically show a side view of a palletizing device, typically designated 200, for placing a palletized unit load 102 on a shelf in a shelf structure 104, wherein the deployable anchor includes a retractable bar 212 with the ability to retractor, made and functioning in accordance with another embodiment of the present invention. Palletizing device 200 is a modified device 100 in which an exemplary deployable retractable rod anchor 212 of device 200 functionally replaces the lifting support devices 112 of device 100 of FIG. 2A as a stabilizing element of device 200.

In FIG. 3A is a schematic side view of an idle palletizer 200 positioned in close proximity to a shelf structure 104 and ready to load a pallet 102 that rests on a shelf 116 of the shelf structure 104 onto a device 200 containing a deployable pallet-carrying structure in the form two retractable retractable beams 206 in the retracted (ie, not deployed) position and a deployable retractable rod anchor 206 in the retracted (ie, not deployed) position. In FIG. 3B is a schematic side view of the palletizer 200 of FIG. 3A in loading mode with beams 206 extended (ie, deployed) to grip pallet 102 and rod 212 extended (ie, deployed) to support bottom shelf 228 in shelf structure 104. FIG. 3C is a schematic side view of the palletizer 200 shown in FIG. 3A, in a loading mode in which the height adjustment mechanism 209 lifts the elongated beams 206 and then removes the pallet 102 from the shelf 116 supported by the beams 206, while the rod 212 is deployed and rests on the lower shelf 228. It should be noted that by lifting mechanism 224 to adjust the height of the platform can achieve the same result. In FIG. 3D is a schematic side view of the palletizer 200 shown in FIG. 3A, in a loading mode in which the pallet 102 is transported using an active conveyor (not shown) over the beams 206 while the bar 212 remains deployed and rests on the lower shelf 228, stabilizing the device 200 until the pallet 102 is above the platform 208. The transport of the pallet 102 is also described with reference to FIG. 18B and 18C, which show examples of active pallet conveyors that are not of the folding beam type. In FIG. 3E is a schematic side view of the palletizer 200 shown in FIG. 3A, in a transport mode in which the pallet 102 is placed so that it rests on the retracted beams 206 above the platform 208 and the rod 212 is also retracted. It should be noted that the mechanism 209 to adjust the height of the rack can also be lowered to position the pallet 102 so that it rests on the platform 208.

Device 200 includes at least one deployable pallet-carrying structure such as beams 206, platform 208, transport device 210, auxiliary platform 232, at least one deployable retractable pull-rod anchor 212, and a fastener 219 for attaching beams 206 to the platform 208. The mount 219 includes a mechanism 209 for adjusting the height of the mount, configured to adjust the vertical position of the beams 206 relative to the platform 208. The transport device 210 includes a movement means, indicated at 222, to control the position on the ground of the device 200 (and thus, platform 208) and hoist 225 for pallets. The pallet lift 225 includes two lifting mechanisms: a lift mechanism 234 for lifting the sub platform 232, and a platform height adjustment mechanism 224 configured to adjust the relative vertical position between the sub platform 232 and the platform 208. Thus, the pallet lift 225 is used to adjust platform height 208. Several mechanisms for height adjustment are also discussed with reference to FIG. 4, 6, 8A-8C, 15A-15D, 16A-16C, 17A-17D and 19A-19C.

The platform 208 is located outside the bounding space 114 defined by the shell of the shelf structure 104 in idle/transport mode, as seen in FIG. 3A and 3E, so that the device 200 can move freely in the passages located between adjacent shelf structures. Platform 208, when in loading mode, as seen in FIG. 3B-3D is positionable to allow pallet 102 to be loaded from a selected shelf 116 in shelf structure 104 and, when in unload mode, is positionable to allow pallet 102 to be unloaded onto a selected shelf. , such as shelf 116, in shelf structure 104, as well as any other suitable loading/unloading surface. In FIG. 3B and 3C, platform 208 is positioned adjacent to shelf 116 and at a suitable height relative to shelf 116 so that pallet 102 can be loaded/unloaded from shelf 116.

In the idle mode (FIG. 3A), the device 200 is not palletized and is located near the shelf structure 104 in preparation for loading the pallet 102, which lies on the shelf 116. The beams 206, which are mounted on the platform 208, and the rod 212, which is platform 232 are retracted and located outside of space 114. It should be noted that the proximal side 226 of shelf 228, which functions as at least one holder, is located away from the ground, is located away from the ceiling, and is located in space 114.

Then (FIG. 3B) the beams 206 are pulled into the extended position of the pallet gripper 102 just above the top surface of the shelf 116. The bar 212 is deployed and rests on the bottom shelf 228 in the shelf structure 104 to stabilize the device 200, preventing it from possibly tipping over and preventing most of the horizontal tension forces on the lifting mechanism 234. The rod 212 is inserted into the space 114 to interact with the proximal side 226 of the shelf 228 containing at least one holder. Providing a specific height difference between the beams 206 and the rod 212, if necessary, provide using the mechanism for adjusting the height of the platform 224, configured to adjust the relative vertical position between the platform 208 and the auxiliary platform 232. The mechanism for adjusting the height of the mount 209 is built into the mount 219 which secures the beams 206 to the platform 208. The attachment height adjustment mechanism 209 can be used to adjust the vertical distance between the beams 206 and the platform 208.

Then, when the height adjustment mechanism 209 is raised, the beams 206 are lifted to lift the pallet 102 off the shelf 116 against the beams 206 (FIG. 3C). The pallet 102 is then transported along the beams 206 while the bar 212 continues to provide support that stabilizes the device 200 regardless of the movement and position of the pallet 102 along the retracted beams 206, and thus provides the two main characteristics of the palletizer, namely satisfying the need for redundant balance weight placement and essentially eliminating the horizontal stresses acting on the hoist 234, thereby significantly reducing the design requirements for most of the device 200, which must withstand only essentially vertical forces.

As shown in FIG. 3D, the palletizer 200 is still in a loading mode, in which the bar 212 remains deployed, resting on the bottom shelf 228 and stabilizing the device 200 until the pallet 102 is above the platform 208, and the beams 206 can remain extended, as seen in the figure, and can be retracted to gradually retract according to the location of the pallet 102.

As shown in FIG. 3E, when pallet 102 is above platform 208 in which it will be lowered and rested, beams 206 and bar 212 are retracted to put device 200 into transport mode. It should be noted that, in transport mode, the pallet 102 may further rest directly on the platform 208 while lowering the mount height adjustment mechanism 209 to further reduce horizontal stress forces, in particular on the mount height adjustment mechanism 209 and the platform height adjustment mechanism 224. When transporting the pallet 102, it is preferable to place it as low as possible in order to lower the center of gravity of the apparatus 200, and for this purpose the pallet lift 225, and hence the pallet 102, can be further lowered.

The unloading sequence can be easily followed in FIG. 2A-2E. In FIG. 2A, the palletizer 100 is in transport mode, supporting the pallet 102, positioned in close proximity to the shelf structure 104 and its beams 106 with the support lifters 112 retracted. In FIG. 2B, the palletizer 100 is in the initial stage of an unloading mode in which its beams 106 are extended and supported on a shelf 116 in a shelf structure 104 by lifters 112 that are deployed so that they rest on the far side 126 of the shelf 116. On fig. 2C shows a palletizer 100 during an unload mode, with the beams 106 extended and the pallet 102 being carried over the beams 106 in the shelf structure 104 above the shelf 116 for placement on it. In FIG. 2D, the palletizer 100 is still in the unload mode, with the pallet lifter 124 lowering the beams 106 while the lifters 112 are simultaneously retracted to leave the pallet 102 on the shelf 116. In FIG. 2E, the palletizer 100 of FIG. 2A is in a non-pallet idle mode in which the lifting devices 112 are located in the retracted beams 106. The beams 106 were retracted after leaving the pallet 102 on the shelf 116, which allowed the beams 106 to be disconnected from the pallet 102. The loading process is close to the reverse sequence of the described sequence, subject to the adjustments that will become apparent with reference to FIG. 3A-3E.

The loading sequence can be easily understood from FIG. from 3A to 3E. In FIG. 3A, palletizer 200 is idle without a pallet, positioned in close proximity to shelf structure 104, and ready to load pallet 102, which rests on shelf 116, with beams 206 retracted and rod 212 retracted. In FIG. 3B, the palletizer 200 is in the initial stage of the loading mode, with the bar 212 deployed and resting on the lower shelf 228 in the shelf structure 104 after lifting the auxiliary platform 232 with the lifting mechanism 234, and with the beams 206 extended to capture the pallet 102 after lifting the beams 206 using the mechanism 209 for adjusting the height of the attachment. In FIG. 3C, the palletizer 200 is in the loading mode and, using the height adjustment mechanism 209, raises the beams 206 to lift the pallet 102 from the shelf 116 supported by the beams 206 while the rod 212 remains deployed and rests on the bottom shelf 228. In FIG. 3D palletizer 200 is still in loading mode with bar 212 remaining deployed and resting on bottom shelf 228 stabilizing device 200 until pallet 102 is above deck 208 with beams 206 extended. In FIG. 3E, the palletizer 200 is in a transport mode in which the pallet 102 is positioned above the platform 208 and the beams 206 and rod 212 are retracted. The unloading process is close to the reverse of the described sequence, subject to adjustments that will become apparent when reading FIG. 2A-2E.

As noted above, the at least one deployable pallet-carrying structure may comprise a retractable retractable beam configured to extend when deployed and retract when not deployed. According to embodiments of the palletizing device, deployment of the beam to carry, lift and pick up pallets can be accomplished by controlling the transport device. In accordance with embodiments of the palletizer, the retractable retractable beam may be a retractable type beam.

According to embodiments of the palletizing device, the palletizing device may also comprise a device for laterally shifting the pallet carrying structure to selectively adjust the lateral width between at least two palletizing structures of the at least one deployable pallet carrying structure, and optionally , the device for side-shifting the pallet-carrying structure comprises a side-shift mechanism for only one of the at least two pallet-carrying structures.

According to embodiments of the palletizer, the palletizer may also comprise a load support lift configured to be deployable between the load support base and at least one selected pallet carrier structure of at least one deployable pallet carrier structure. , to support at least one selected structure for transferring pallets in the vertical direction. In accordance with embodiments of the palletizing device, a load support base may be located on the platform, on the transport device, or on a fixture for attaching at least one selected pallet transfer structure to the platform.

In accordance with embodiments of the palletizing device, at least one deployable anchor can be deployed by moving the transport device.

In accordance with embodiments of the palletizer, the palletizer may comprise a pallet conveyor configured to carry a pallet along at least one of the at least one deployable pallet carrier structure along a path between a location located above a selected shelf, and a location above or below the platform to allow the pallet to move in loading and unloading modes. In accordance with embodiments of the palletizer, the pallet conveyor may be a retractable retractable beam of the retractable type.

As mentioned above, the transport device may include a means for moving on the ground, which may have wheels in contact with the ground. In accordance with embodiments of the palletizing device, the ground moving means is configured to control the direction of movement by means of a mechanism for changing the direction and speed of the wheels. Said mechanism may comprise a set of four rectangular deployable wheels, a device for separately controlling the direction of movement, configured to activate the first pair of two oppositely located wheels from the set by, for example: (a) driving the wheel from the first pair in the same direction with the same speed for direct forward movement; (b) drive the wheels of the first pair in opposite directions at the same speed to turn in place; or (c) drive the wheels of the first pair at different speeds to turn, wherein the second pair of two opposed wheels is slidable, passively turned and/or driven in a manner that mimics direction control exercised by the first pair.

As noted above, the transport device may include a pallet lift to raise the platform to a desired height. According to embodiments of the palletizing device, it comprises a mast and a vertical carriage movable along it to lower and raise the platform along the mast.

Further, the present description refers to FIG. 4, which is a schematic perspective view of a palletizer 300 constructed and operated in accordance with another embodiment of the present invention.

The device 300 includes a platform 302, a transport device 304 comprising a means for moving on the ground 320 and a lifting device 322, at least one deployable structure for carrying a pallet in the form of two retractable retractable beams 306 and 308 of the retractable type, which are installed using anchors 314 on platform 302, and two deployable anchors 310 and 312.

The ground moving means 320 is configured to control the ground position of the device 300 and thus the platform 302. The ground moving means 320 includes a moving chassis 324 located at the bottom of the device 300 and mounted on four swivel wheels 325, 326 and 327, which are located at the four corners of the chassis 324 for movement. The diagonally arranged swivel wheels 325 and 327 are driven by two drive motors 330, respectively (one of the drive motors 330, which is attached to the wheel 327, is hidden behind the wheel 327). Propulsion motors 330 are used to propel the ground and control the direction of movement of device 300. Wheels 326, which are not equipped with propulsion motors, passively control the direction of travel. It should be noted that the wheels 326 can also be equipped with motors to provide movement. In addition, it should be noted that the diagonal wheels 326 may be steered wheels in addition to or instead of wheels 325 and 327.

In order to move the device 300 in the forward direction at a predetermined speed, the movement motors 330 are configured to drive their respective wheels 325 and 327 at the same speed, i. translational movement in the forward direction movement with the required speed relative to the ground. The direction of movement of the device 300 can be controlled by driving the wheels 325 and 327 at different respective speeds. For example, to perform a right turn of device 300, wheel 325 is driven at a speed greater than that of wheel 327.

The swivel wheels 325, 326, and 327 are also equipped with swivel motors 328. The swivel motors 328 are located above the wheels 325, 326, and 327 and are configured to swivel the wheels 325, 326, and 327 in two orthogonal directions, which are referred to as "normal" and "perpendicular" . When switching from the "normal" direction to the "perpendicular" direction, the rotary motors 328 will rotate all four rotary wheels 325, 326, and 327 at 90 degrees clockwise to the right (or counterclockwise to the left). When switching from the "perpendicular" direction to the "normal" direction, the rotary motors 328 will reverse the direction of rotation of the wheels 325, 326 and 327. It should be noted that for correct operation, after each switch between "perpendicular" direction and "normal" direction, the rotary motors 328, located above the wheels 325 and 327, will lock the wheels 325 and 327 in their new directions, while the rotary motors 328, which are located above the wheels 326 will allow the wheels 326 to rotate freely. Furthermore, it should be noted that such operation may be required when the device 300 transitions from the idle/transport mode to the loading/unloading mode, as it allows the device 300 to approach the selected shelf in a direction perpendicular to the original "normal" direction of travel. In addition, it should be noted that the minimum number of rotary motors 328 corresponds to the number of motors 330 for movement, in which case all motors 328 and 330 drive the same wheels, i.e. rotary motors 328 and motion motors 330 are configured to rotate wheels 325 and 327, while rotary motors 328 configured to rotate wheels 326 may be omitted. In an alternative maneuver to perform the turn, the turn motors 328 turn the wheels 325 and 327 45 degrees in the same direction of turn, such as clockwise, and turn the wheels 326 45 degrees in the opposite direction of turn, such as counterclockwise, to thereby essentially arrange all four wheels along a virtual circle, and driving the wheel 325 in one direction and the wheel 327 in the opposite direction causes the device 300 to rotate in place. Such a maneuver is more efficient if the wheels 326 are also driven by motors to provide movement such that all four wheels 325, 326 and 327 are driven along a virtual circle.

The hoist 322 is configured to set the desired height of the platform 302. The hoist 322 includes a support frame 332 with four corner masts 331. The masts 331 have guide slots 339 made in the form of grooves along the masts 331, arranged in such a way that they face each other in pairs. each other and all face beams 306 and 308. The four platform bearing plates 318 have bearings guided by slots 339, respectively. connected to one side of the engine belt 336 with the left attachment of the belt attachments 329. The motor belts 335 and 336 are endless belts driven by lift motors 333 and 334, respectively, which are mounted on the chassis 324 for movement. The belts 335 and 336 are driven by the respective drums of the motors 333 and 334. The rollers 337 and 338, which may include pulleys, are mounted at the top of the support frame 332. The motor belts 335 and 336 are taut along the support frame 332 between the rollers 337 and 338. and lift motor drums 333 and 334, respectively, to enable the platform 302 to rise along the support frame 332. Therefore, by controlling the operation of the lift motors 333 and 334, the height of the platform 302 can be set. synchronize.

The anchor masts 360 of the anchor 314 have U-shaped cross-sectional profiles in the central niches, the open sides of which face each other. The anchor masts 360 are fixedly mounted on a platform 302, which in turn is mounted on platform bearing plates 318. The mount height adjustment mechanism in the form of a telescoping lifter 370 is configured to raise and lower the mount carriage 372 along the mount masts 360. The mount carriage 372 includes horizontal upper and lower carriage bars 366 and 368 that connect the right and left carriage posts 362 and 363. The mount carriage 372 is movably guided along the mount masts 360 by carriage bearings 364 of the stanchions 362 and 363 which move along the recesses of the masts 360. The lower rod 368 of the carriage is mounted on the hoist 370 and any change in the height of the hoist 370 results in a change in the height of the mount carriage 372, which is guided by 360 mounting masts.

The sideshift device for the warm type pallet transfer structure in the form of a beam sideshift device 316 is configured to cause the sliding plate 384 to slide laterally along the upper and lower carriage bars 366 and 368, which are inserted through corresponding holes in the slide plate 384. Therefore, the lateral movement of the slide plate 384 changes the distance between the beam 308, which is mounted on the slide plate 384, and the beam 306, which is mounted on the right carriage post 362. The shear motor 380 is coupled by a motor connector 386 to the upper carriage shaft 366 and is rotatable for a screw shaft 382 that is inserted into the mating screw thread hole of the slide plate 384. Rotation of the screw shaft 382 causes the lateral position to change. in the transverse direction of the sliding plate 384 with respect to the motor 380 to provide a shift along the upper and lower bars 366 and 368 of the carriage and, consequently, to change the distance between the beams 306 and 308.

Beams 306 and 308 include fixed beam elements 342 and 343, movable beam elements 340 and 341, and beam guides 344 and 345, which are inserted through the open sides of the fixed beam elements 342 and 343 and movable beam elements 340 and 341, respectively. 306 and 308 refer to a drawer-type beam that can be extended by sliding movable beam members 340 and 341 along beam guides 344 and 345, respectively, and by sliding beam guides 344 and 345 along fixed beam elements, respectively. 342 and 343. The proximal side of the fixed beam element 342 is mounted on the right vertical element 362 of the carriage, and the proximal side of the fixed beam element 343 is mounted on the sliding plate 384, so that the distance between the beams 306 and 308 can be changed using the beam side shifter 316. It should be noted that the mechanics The SP used to pull and pull beams 306 and 308 is not shown and may, for example, be similar to the mechanism described later in this document with reference to FIG. 5. In addition, it should be noted that the upper wall of the movable beam elements 340 and 341 is made higher than that of the fixed beam elements 342 and 343, so that any pallet carried by the beams 306 and 308 rests only on the movable beam elements 340 and 341, and then moved along with the movable beam members 340 and 341. In addition, it should be noted that the beams 306 and 308 are retractable retractable beams and are also configured to be used as an active pallet conveyor of the device 300. Examples of retractable beams beams, which can also function as an active pallet conveyor, are described herein below with reference to FIGS. 10A-10E and 18D.

Deployable anchors 310 and 312 have consoles 350 that are configured to rest on a selected shelf of the shelf structure to stabilize the device 300 relative to the selected shelf when loading/unloading a pallet from/to the selected shelf. Anchor 310 is fixedly mounted on platform 302 to the right of beam 306. Anchor 312 is movably mounted on platform 302 and is movable laterally in a transverse direction. Lateral movement in the transverse direction of the anchor 312 is controlled by a mechanical connector 388, which mechanically connects the anchor 312 and the sliding plate 384, so that the anchor 312 moves laterally in the transverse direction (but not up and down) along with the sliding plate 384. Because the beam 308 is mounted on a sliding plate 384, a mechanical connector 388 having a connector fastener 389 on which the anchor 312 is mounted provides a constant displacement of the anchor 312 to the left of the beam 308 (determined by the length of the connector fastener 389), which is essentially equal to the lateral displacement transversely between the anchor 310 and the beam 306. Deployment of the anchors 310 and 312 is accomplished by moving the platform 302 controlled by the conveyor 304 during the process of loading/unloading the pallet from/to the target shelf. It should be noted that the lateral distance in the transverse direction between the anchors 310 and 312 and, respectively, between the beams 306 and 308, is set to a width that is sufficient to provide lateral retention of the beams 306 and 308 in the hollow openings of the pallet, while the anchors 310 and 312 are located on the side of the pallet, outside it.

The loading/unloading process begins when the device 300 is initially in idle/transport mode. Thereafter, the transport device 304 places the platform 302 in a position suitable for the loading/unloading mode. For loading mode, the consoles 350 are positioned slightly above the selected shelf and spaced transversely to accommodate a loading pallet between them (the consoles 350 will later be lowered by the lifting device 322 to provide an engaging support on the selected shelf). The anchor 310 is fixed to the right of the pallet, and the anchor 312 is displaced by the beam sideshifter 316 by the mechanical connector 388 to be placed to the left of the pallet. The distance between the beams 306 and 308 is set using the device 316 for lateral displacement of the beam. The height of the beams 306 and 308 is also set by the fixture height adjustment mechanism 370 so as to guide the beams 306 and 308 to a location near the front side of the hollow inner pallet openings. For the unload mode, the conveyor 304 positions the arms 350 slightly above the selected shelf (ready to be lowered later by the lift 322 to provide an engaging support on the selected shelf). The height of the beams 306 and 308 is also set by the fixture height adjustment mechanism 370 to allow the pallet resting on the beams 306 and 308 to move freely over the selected shelf as the beams 306 and 308 are pulled.

When the platform 302 is in position and adjustments are completed with the anchor height adjustment mechanism 370 and the beam sideshifter 316 prior to actually initiating loading/unloading, the anchors 310 and 312 are deployed. » direction and wheels 325, 326 and 327 are installed so that they face the shelf structure. The steerable wheels 325 and 327 move straight towards the selected shelf until the vertical inner portions 391 of the anchor arms 310 and 312 interact with the selected shelf. Thereafter, the lifting device 322 lowers the platform 302 slightly until the anchors 310 and 312 rest and rest on the upper protruding feet 351 and consoles 350 relative to the proximal side of the selected shelf, stabilizing the device 300. It should be noted that at this stage beams 306 and 308 may already be inserted into the bounding space defined by the shell of the shelf structure that surrounds the selected shelf.

The protruding heels 351 extend forward, towards the front of the platform 302, by a distance corresponding to the protrusion distance of the fixed beam elements 342 and 343 relative to the support frame 332. The chassis 324 for movement also protrudes forward by the protrusion distance relative to the support frame 332, indicated by the position 396 , which is less than the protrusion distance of the vertical inner sections 391 of the consoles. This design is compatible with common practice in warehouses that use a shelf structure designed to accommodate heavy pallets, with the edges of the lying pallets protruding beyond the space defined by the convex hull of the shelf structure. If the support frame 332 were made with the same contour as deployable anchors 310 and 312, the support frame would collide with other pallets placed on other shelves (above or below the selected shelf) in the shelf structure during the deployment phase of the anchors in loading mode or in upload mode. As a general rule, pallets can be placed on the ground with greater placement accuracy than when stacked on shelves and, accordingly, less tolerance is required regarding their protrusion in the near field relative to the shelf structure. It may be preferable to increase the stability of the device by providing the movement chassis 324 with the widest forward projection relative to the support frame 332 (below the first shelf).

In loading mode, when the anchors 310 and 312 are deployed to stabilize the device 300, the beams 306 and 308 are pulled over the selected shelf to insert them into the hollow openings of the pallet. After the beams 306 and 308 have been pulled out, the fixing height adjuster 370 raises the pallet gripping beams 306 and 308 until the pallet is removed from the selected shelf while the anchors 310 and 312 are still supported on the selected shelf for prevent the device 300 from tipping over. When the pallet is removed from the selected shelf, the beams 306 and 308 are then retracted, moving the pallet to a position above the platform 302. The weight of the pallet resting on the retracted beams 306 and 308 above the platform 302 still creates a load on the beams 306 and 308, which is substantially received by the load support hoists in the form of telescoping hoists 390 and 392, which function as load stabilizers and are activated to support beams 306 and 308, respectively. At this point, device 300 is substantially stable, such Thus, the lifting device 322 can raise the platform 302 a little higher to raise the anchors. 310 and 312 above the selected shelf and prepare the device 300 for transport mode.

In the unloading mode, when the anchors 310 and 312 are deployed to stabilize the device 300, the lifters 390 and 392 retract, releasing from the beams 306 and 308, respectively, then pull the beams 306 and 308 and thus carry the pallet resting on them , over the selected shelf until the pallet is placed in the appropriate position above the selected shelf while the anchors 310 and 312 are still supported by the selected shelf to prevent tipping of the device 300. When the placement of the pallet over the selected shelf is complete, the mechanism 370 for The height adjustment lowers the beams 306 and 308 until the pallet rests on the selected shelf, and then the beams 306 and 308 are lowered a little more to disengage them from the pallet, leaving a small gap between the beams 306 and 308 and the pallet. At this point, the beams 306 and 308 can be retracted to return them to the device 300. After this, the lifting device 322 raises the platform 302 a little higher to raise the anchors 310 and 312 above the selected shelf, after which the device 300 is ready for idle mode.

Any of the lifters and motors of device 300 (eg, 328, 330, 333, 370, 380, 390, and 392) may be electric, hydraulic, or the like. and can be powered by electric batteries 394, which are placed on the chassis 324 for movement, the mass of which also increases stability. Any of the lifts and motors of device 300 may be configured to be locally, remotely, or intermittently controlled by a suitable controller (not shown), which may have an interface for human operator control or control of stand-alone control equipment, or control by remote control using a controller. equipment.

Further, the present description refers to FIG. 5, which schematically shows an enlarged perspective view of a mechanism 140 comprising a sideshifter mount of a beam sideshifter pallet carrying structure constructed and operating in accordance with another embodiment of the present invention. The mount-and-beam mechanism 140 includes two retractable pull-type beams 142 and 144 that are mounted on a mount 146 that includes a two-way beam sideshifter with side telescopic lifters 190 and 192, and is configured to separately adjust the lateral the position of the beams 142 and 144 in the transverse direction, and, therefore, the adjustment of the distance between the beams 142 and 144 of the palletizer.

Mount 146 includes mount masts 180, top and bottom mounting bars 186 and 188, and left and right sliding plates 182 and 184. Mount masts 180 are horizontally connected by top and bottom mount bars 186 and 188. Mounting bars 186 and 188 are inserted through their respective holes. 194 in the slide plates 182 and 184 to allow the slide plates 182 and 184 to move laterally along the mount bars 186 and 188. A hoist 190 is attached between the left mount mast 180 and the slide plate 182, and a hoist 192 is attached between the right mount mast 180 and a sliding plate 184. The mount 146 is configured to be mounted on a platform (not shown) by means of the mount masts 180. The lifters 190 and 192 are retractable and extendable and thus allow the respective sliding plates 182 and 184 to slide over the mounts. rods 186 and 188. Beams 142 and 144, respectively, are mounted on sliding plates 182 and 184, and thus the lateral positions of beams 142 and 144 in the transverse direction change in accordance with the degree of extension or retraction of the lifting devices 190 and 192, respectively.

Beams 142 and 144 have fixed beam elements 150 and 152, movable beam elements 154 and 156, beam guides 158 and 160, beam nuts 166 and 168, beam screw thread shafts 162 and 164, beam pull motors 170 and 172, and suspension brackets 174 and 176 beam engines. Beam members 150, 152, 154, and 156 have an elongated profile with a U-shaped cross section and have guide grooves, such as guide grooves 159, extending along the top and bottom walls of beam members 150, 152, 154, and 156. Beam Guides 158 and 160 have elongated crossheads, such as crosshead 178, and have equally spaced rolling elements, such as rollers 179, along both sides thereof. The height dimension of the traverse 178 is slightly less than the vertical gap between the top and bottom walls of the beam elements 150, 152, 154 and 156. The rollers 179 are located between the upper and lower grooves 159. For the beam 142 (and, accordingly, for the beam 144), the fixed beam element 150 (152 for beam 144) and the movable beam element 154 (156 for beam 144) are located side by side and parallel to each other, with their open sides facing each other and forming a cavity between them, and the width of the beam guides 158 (160 for beam 144) slightly less than the width of the specified cavity.

The fixed beam elements 150 and 152 are mounted on sliding plates 182 and 184, respectively. Beam guides 158 and 160 are inserted into the fixed beam elements 150 and 152, respectively, and into the movable beam elements 154 and 156, with the guide grooves 159 of all beam elements 150, 152, 154 and 156 guiding the rollers 179 of the beam guides 158 and 160, providing movement of the movable beam elements 154 and 156, suspended on, respectively, guides 158 and 160 of the beams. When the beams 142 and 144 are retracted, the beam guides 158 and 160 are placed completely inside the beam elements 150 and 154, 152 and 156, respectively. fixed beam elements 150 and 152, and the far sections of the guides 158 and 160 beams are overlapped along the near sections of the movable beam elements 154 and 156, and the movable beam elements 154 and 156 are located on the far side relative to the fixed beam elements 150 and 152 and, thus , extended beams 142 and 144.

The mechanisms for activating the pull and pull of the beams 142 and 144 comprise beam nuts 166 and 168, beam shafts 162 and 164, beam pull motors 170 and 172, and beam motor suspension brackets 174 and 176. Beam nuts 166 and 168 are threaded nuts appropriately attached to the rear proximal side of the movable beam members 154 and 156. Beam pulling motors 170 and 172 are mounted on the forward proximal side of the fixed beam members 150 and 152 via suspension brackets 174, respectively. and 176 engines. Beam pulling motors 170 and 172 are rotatable, respectively, of shafts 162 and 164. Helical beam shafts 162 and 164 extend along fixed beam members 150 and 152 and are inserted into helical beam nuts 166 and 168, respectively.

Beam pull motors 170 and 172 rotate beam shafts 162 and 164, respectively, which, depending on the direction of rotation, pull or push beam nuts 166 and 168 towards or away from beam pull motors 170 and 172. The movable beam elements 154 and 156, which are attached respectively to the beam nuts 166 and 168, are thus movable with them, parallel to the respective fixed beam elements 150 and 152, with the movable beam elements 154 and 156 suspended from the rails 158 and 160 beams, which are moved with them by roller rolls 179, but only along part of the path (for example, approximately half way when the pull reaches the near side of the movable beam elements 154 and 156, in close proximity to the far side of the fixed beam elements 150 and 152 ).

As noted above, the palletizer may include an auxiliary platform and a mechanism for adjusting the height of the platform to adjust the relative vertical position between the platform and the auxiliary platform.

According to embodiments of the palletizer, the mechanism for adjusting the height of the platform may be a piston type lifter, a bottle type lifter, a trolley type lifter, a telescopic type lifter, a screw lifter, a block type lifter, a scissor type lifter. , winch-type hoist, etc.

As noted above, the palletizer may comprise a load support lift configured to deploy between the load support base and at least one selected pallet carrying structure of at least one deployable pallet carrying structure to support at least at least one selected design for carrying pallets in the vertical direction. According to embodiments of the palletizer, the load support lift may be configured to vertically raise and lower at least one selected pallet-carrying structure.

As noted above, at least one deployable anchor may include a support bar that, when deployed, is positioned between a support location in the palletizer and at least one holder for stabilizing the palletizer relative to at least one holder. According to embodiments of the palletizing device, the base for supporting the load may be located on the support bar or on the auxiliary platform. According to embodiments of the palletizer, the palletizer may also include a cavity into which a lift is inserted to support a load when not deployed.

As noted above, the palletizer may also comprise a support hoist attached to at least one selected pallet-carrying structure of at least one deployable pallet-carrying structure, the support hoist being deployable to cooperate with at least one holder that functions as a support base for vertically extending the supporting lifting device when deploying at least one selected pallet transfer structure. According to embodiments of the palletizing apparatus, both the support hoist and the load support hoist may be a diamond type hoist, a block type hoist, a trolley type hoist, a telescopic type hoist, a screw hoist, a hoist articulated type, winch type hoist, bottle type hoist, fluid jet hoist, electromagnetic type hoist, and the like.

As noted above, the at least one deployable anchor may comprise a retractable retractable rod configured to retract when deployed to stabilize the palletizer and retract in a non-deployed position. In accordance with embodiments of the palletizing apparatus, the pop-up pole may be a telescopic pole type.

According to embodiments of the palletizer, the palletizer may also comprise a mechanism for changing the loading/unloading direction to change the direction of deployment of at least one deployable pallet-carrying structure, and the mechanism for changing the direction of loading/unloading may comprise a mechanism configured with the possibility of turning in the transverse direction within the auxiliary platform.

As noted above, the palletizing apparatus may also comprise a pallet conveyor configured to carry a pallet on at least one selected pallet carrying structure of at least one deployable pallet carrying structure along a path between a location located above the selected shelf. , and a location above or below the platform to allow the pallet to move in loading and unloading modes. In accordance with embodiments of the palletizing apparatus, the pallet conveyor may be a gravity-based pallet conveyor in which the vertical rotation of at least one selected pallet-carrying structure relative to the platform is activated in a loading mode and/or an unloading mode for allowing the pallet to gravity slide on the at least one selected structure to carry the pallet along a path between a location above the selected shelf and a location above or below the platform. According to embodiments of the palletizing device, the vertical pivot can be activated by a dedicated rotary drive and/or by a support hoist of at least one deployable anchor, the hoist being attached to at least one selected pallet transfer structure, and the support hoist is deployable to engage with at least one carrier that functions as a support base for vertically extending the support hoist when at least one selected pallet-carrying structure is deployed. In accordance with embodiments of the palletizer, the activation, deactivation, change of speed, acceleration, and direction of the gravity slide can be controlled by a controller configured to change the tilt angle and thus control the movement of the pallet.

As noted above, at least one deployable pallet-carrying structure may comprise a beam. In accordance with embodiments of the palletizer, the pallet conveyor may be a trolley that travels over a beam.

As noted above, the transport device may include a pallet lift configured to raise the platform to a desired height, and may also include a ground moving means, which may have wheels in contact with the ground. In accordance with embodiments of the palletizing apparatus, the pallet lifter may be a scissor lift. In accordance with embodiments of the palletizers, the wheels include two perpendicular sets of wheels, with each perpendicular set aligned to move in a direction perpendicular to the alignment of the other set, and wherein one of the perpendicular sets is activated and engaged with the ground while the other set is raised above the ground to prevent friction.

Further, the present description refers to FIG. 6, which is a schematic perspective view of a palletizer 400 constructed and operated in accordance with another embodiment of the present invention. The device 400 includes a platform 402, a transport device 404, which is equipped with a means for moving on the ground 420 and a scissor lift 422, a deployable structure for carrying a pallet in the form of two telescopic retractable beams 406 installed with a mount 414 on the platform 402, two deployable 408 diamond-type support jack anchors, two deployable 410 retractable pull-rod anchors, an auxiliary platform 412, a 482 screw jack platform height adjuster, two 416 trolley pallet conveyors, and two hoists. load support devices in the form of telescopic articulated lifting devices 472.

The ground moving means 420 is configured to control the ground position of the device 400 and thus the platform 402. The ground moving means 420 comprises a moving chassis 424, two sets of four wheels, the first set of moving wheels including wheels 426 and 428, and the second set of travel wheels includes wheels 434 and 436, drive motors 430 and 438, and a redirection mechanism that includes cam screw lifters 440 driven by direction motors 442. The movement chassis 424 is located at the bottom of the apparatus 400 and is mounted on a first set of movement wheels 426 and 428 which are located at the four corners of the movement chassis 424 by fixed height wheel cams 432 and point in the direction in which the apparatus 400 is moving in the aisle. between adjacent shelf structures. Wheels 434 and 436 of the second set of wheels for movement are located next to the wheels 426 and 428 of the first set of wheels for movement, rotated in a direction perpendicular to the direction of the first set of wheels 426 and 428 for movement. The second set of travel wheels 434 and 436 are connected to the travel chassis 424 by four cam screw lifters 440 which are driven by four direction motors 442. The cam screw lifters 440 control the direction of rotation of the wheels 434 and 436. The direction motors 442 are configured to pull the cam screw lifters 440 until, with minimal pull, the cam screw lifters 440 are shorter than the wheel cams 432, and also pushing the cam screw lifters 440 until, at maximum extension, the cam screw lifters 440 are higher than the wheel cams 432. Accordingly, the pushing or pulling of the cam screw lifters 440 determines which set interacts with the ground and thus the direction of transport of the device 400. Wheels 428 and 436 are driven by motors 430 and 438, respectively, to provide movement. Movement motors 430 and 438 move device 400 on the ground. Wheels 426 and 434, which are not equipped with motors for movement, have passive directional control. It should be noted that wheels 426 and 434 may also be provided with motors for propulsion, but such propulsion motors must be synchronized with motors 430 and 438, respectively, for propulsion to function properly. In addition, it should be noted that either of the wheels 426 and 434 may be equipped with motors to provide movement instead of the wheels 428 and 436, respectively.

Both sets of wheels for movement are mounted with the possibility of rolling and moving the device 400 in a certain direction, perpendicular to the direction of the other set. In other words, the directions of the first set of wheels 426 and 428 for movement and the second set of wheels 434 and 436 for movement are mutually orthogonal to match the conventional warehouse configuration, which is generally rectangular with narrow aisles in two perpendicular directions. The direction of movement is chosen by activating the appropriate set of wheels to provide movement. When the cam screw lifters 440 are fully extended, the travel chassis 424 rises with the first set of travel wheels 426 and 428 that rise off the ground, with only the second set of travel wheels 434 and 436 capable of transporting the device 400 in their specified direction. As the cam screw lifters 440 are retracted, the chassis 424 is lowered until the first set of wheels 426 and 428 for movement come into contact with the ground, and as the cam screw lifters 440 continue to retract, the second set of wheels 434 and 436 movement is pulled up until it is completely out of contact with the ground, with only the first set of wheels 426 and 428 able to transport the device 400 in the direction they specify. The cam screw lifters 440 can be actuated to partially retract so that all eight wheels are in contact with the ground to lock the device 400 in position and provide additional stabilization that may be needed during loading/unloading.

The scissor lift 422 sets the desired height of the platform 402. The scissor lift 422 includes four fixed lift arms 445 and 446, four roller lift arms 448 and 449, and a lift drive mechanism that includes a lift motor 458, a lift shaft 457, and a lift nut 456. lifting beams 445 are mounted on the left side of the lift base 425, which is part of the chassis 424 for movement, by means of shoes 444. The fixed lifting beams 446 are attached to the lower part of the auxiliary platform 412 on its left side by means of traverse shoes (not shown). All fixed lifting beams 445 and 446 are hinged to the axle 452 of the lifting nut. The roller lift arms 448 have at their lower ends traverse wheels 447 which co-operate and roll over the lift base 425. The roller lift traverses 449 have similar top traverse wheels at their upper ends which co-operate and roll under the bottom of the auxiliary plate 480 (the upper traverse wheels are not visible as they are hidden under the auxiliary plate 480). The wheel ends of the roller lift beams 448 are located on the right side of the lift base 425, the wheel ends of the roller lift beams 449 are located on the right lower side of the auxiliary platform 412, and the other ends of the roller lift beams 448 and 449 are pivotally mounted on the lift drive axle 450. Elevator axle 450 and nut axle 452 are of the same length and approximately parallel so that the midpoints of fixed lift arms 445 and 446, and respectively roller lift arms 448 and 449, intersect and are hinged at the intersection points by pivot pins 454. The traverse shoes 444, lift axle 450, nut axle 452, and pivot pins 454 are passively hinged to allow the lift traverses 445, 446, 448, and 449 to freely rotate clockwise and counterclockwise about their pivots.

The lifting motor 458 is mounted in the middle of the elevator axle 450, and the lifting nut 456 is mounted in the middle of the nut axle 452. Lift shaft 457 is a screw-threaded shaft that is inserted into lift nut 456 and connected to lift motor 458. Lift motor 458 is configured to rotate lift shaft 457. Co-rotating lift motor 458 tightens lift nut 456, reducing clearance between lift motor 458 and lift nut 456, tightens the near lift arms 445, 446, 448, and 449, causes the arms 447 to rotate to the left and hence lift the auxiliary platform 412 (and with it, platform 402). The reversing lift motor 458 pushes the lift nut 456, increasing the clearance between the lift motor 458 and lift nut 456, pushes the far lift arms 445, 446, 448, 449, rotates the arms 447 of the arms to the right and therefore lowers the auxiliary platform 412. It should be noted that the movement of the auxiliary platform 412 is not only vertical, but further includes lateral movement, which can be compensated for by the ground movement means 420.

The auxiliary platform 412 includes an auxiliary plate 480, a platform height adjustment mechanism 482 of the screw lifter type, a main tower 484, and rod covers 486. The auxiliary plate 480 is mounted on the lifting beams 446, 449 and its height changes in accordance with their movement. The main tower 484, mounted on the sub-plate 480, is a turret capable of changing the direction of operation of the device 400, such as by rotating 180 degrees. The functional elements of the apparatus 400 that are necessary for the loading/unloading of the pallet (i.e. platform 402, retractable beams 406 with their support hoists 408, deployable bars 410, mounts 414, trolleys 416 and hoists 472 to support the load ), turn together with the tower 484 by 180 degrees. Rod shrouds 486 function as housings for rods 410, from which rods 410 deploy to interact with special holders and retract for storage when not in use. The platform height adjustment mechanism 482 located between the main tower 484 and the platform 402 is configured to change the relative height between the sub platform 412 (and thus the rods 410) and the platform 402 by changing the extension amount of the platform height adjustment mechanism 482 of the screw type. lifting device. The platform height adjustment mechanism 482 is needed when the device 400 must rest on a surface below the chosen loading/unloading shelf to stabilize the device 400 when loading/unloading a pallet.

The rods 410 are located within the rod housings 486, configured to retract and fully or partially reside in the rod housings 486 when not in use, as well as deploy outside the rod housings 486 to engage with a holder placed on the proximal side of the lower shelf, which is below the selected shelves in the shelf structure to stabilize the device 400. Deploying the bars 410 to engage with the bottom shelf while the pallet rests on the elongated beams 406 (via the trolls 416) results in almost no horizontal stresses generated by the pallet on the scissor lift 422, with no impact to these tension forces applied to the platform 402 and mechanism 482 for adjusting the height of the platform.

Telescopic load support hoists 472 are rotatably mounted on the mid-front of the rods 410 via hinges 474. The hoists 472 operate in three different ways according to the mode of operation of the device 400. In load/unload mode, the hoists 472 are configured to raise or lower the far side of the beams 406 by contracting and expanding, applying pressure to the beams 406 through the engaging grips 469 of the lifter to control the angle of the beams 406 relative to the platform 402 and thus control the movement parameters of the trolls 416 that slide over the beams 406 under the influence of gravity . In transport mode, the lifters 472 are configured to stabilize the load and support the beams 406 via the engaging grips 469 as the pallet rests on the trolleys 416 which are positioned above the platform 402, ready for transport. In idle mode, the lifters 472 are not used and can be fully folded into the rod cavity 473. It should be noted that in different modes, the lifters 472 interact with the grips 469 at different angles, depending on the position of the rods 410, and for this purpose, the hinges 474 have drives with an appropriate locking mechanism (not shown) to prevent the lifters 472 from possible slipping, which allows you to adjust the angle of support and fixation of lifting devices 472.

Beams 406 are telescopically retractable and comprise fixed beam members 460 and movable beam members 462. Fixed beam members 460 have upwardly facing fixed beam channels 461 along them and side beam steps 463 extending along their bottom. Rollers, such as step rollers 464, are located above the beam steps 463 and are configured to roll in the pull and pull directions of the beams 406. The movable beam members 462 have guide grooves 468 along them and beam cavities 470 on their far side. The movable beam members 462 comprise deployable anchors in the form of a diamond-type support hoist 408 installed in the cavities 470 of the beams. Rollers, such as beam rollers 466, are positioned above the tops of the movable beam members 463 on both sides of the guide grooves 468 and are movable in the pulling and retracting directions of the beams 406.

The movable beam members 462 are extendable and retractable within the fixed beam members 460 to form together retractable beam members 406 that are used in the loading/unloading process.

The diamond-type support lifters 408 are deployable to support the beams 406 relative to the far side of the selected shelf during pallet loading/unloading and thus stabilize the device 400, and also act as a beam far side lift mechanism to control the angle of the beams 406 to control of the movement parameters of the trolls 416, which freely slide along the beams 406 under the action of gravity. The support lifters 408, when not deployed, are retracted and contained within the cavities 470 of the beams. While the booms 410 stabilize the device 400 in loading/unloading mode, the lifting devices 408 provide additional stabilization. If the load support hoists 472 are not used for stabilization, the load support hoists 408 can be used to ensure there is little to no horizontal stress applied to the platform 402 and the platform height adjustment mechanism 482 (this may be a stage in the loading/unloading mode in some work profiles). A further description of the operation of the diamond type lifter is given below with reference to FIG. eleven.

Trolleys 416 have an inverted U-shaped cross-sectional profile positioned so that their open sides enclose beams 406. Trolleys 416 have elongated V-shaped guide lugs 496 projecting downward along the middle of the upper inner wall of trolls 416. Trolleys 416, when located above the beams 406, rest with the lower edge of their side wall on the rollers of the steps 463 of the beam and slightly higher than the fixed beam elements 460, as a result of which their guide lugs 496 are installed in such a way as to keep them higher within the guide grooves 468. Thus, the trolleys 416 can slide freely over the beams 406 when placed over the fixed beam elements 460 using the rollers of the steps 463 of the beam, and are also guided by the fixed beam elements 460 located below them, and when placed above the movable beam elements 462 using the rollers located above the top of the movable beam elements 462, as well as for example are the guide grooves 468 which guide the guide lugs 496. It should be noted that the trolleys 416 together with the beam steps 463 and the top of the movable beam members 462 form a conveyor for the gravitational movement of the pallets.

The beams 406 are mounted on the fixture 414 on the lower proximal side of the fixed beam elements 460 by means of a vertically tiltable connection 490 configured to tilt the fixture. The mount 414 is fixedly mounted on the platform 402, which is in turn mounted on the main tower 484 of the auxiliary platform 412 by means of a platform height adjustment mechanism 482, such as a screw lifter. The platform height adjustment mechanism 482 is configured to raise and lower the platform 402 along with the beams 406 as required during the loading/unloading process.

The use of rods 410 with load support jacks 472 and support jacks 408 as two sets of deployable anchors and mechanisms to lift the far side of the beam is useful in some cases where each set can only be deployed for a short time, while transporting a pallet, during loading/unloading process. For example, if the pallet to be transported has a bottom plate, the support lifters 408 cannot be deployed when the pallet is placed over the selected shelf, and the load support lifters 472 cannot be deployed when the pallet is positioned over the lifters 469 grips. The loading/unloading process described below applies to such a pallet.

The loading/unloading process begins when the device 400 is initially in idle/transport mode. Thereafter, the transport device 404, the platform height adjusting mechanism 482, and the main tower 484 set the auxiliary platform 412 and the platform 402 to a position suitable for carrying out the loading/unloading mode. For both loading and unloading modes, the sequence begins when the ground moving means 420 places the device 400 at the appropriate location on the ground, the main tower 484 sets the device 400 in the appropriate working direction, and the scissor lift 422 appropriately sets the height of the deployed rods 410 slightly above the support shelf, which is located below the selected shelf in the shelf structure. In loading mode, the height and location relative to the ground of the beams 406 will then be further set by the ground travel means 420 and platform height adjustment mechanism 482 so that the beams 406 are guided to a location near the front of the hollow inner pallet openings. In unload mode, the height and ground position of the beams 406 will then be further set by the ground moving means 420 and the platform height adjustment mechanism 482 so that the pallet rests on the beams 406 and moves freely over the selected shelf when the trolleys 416 carry the pallet. to the selected shelf, immediately after the beams 406 are pulled out. For simplicity, the above description assumes that in the idle mode and in the transport mode, the load-supporting hoists 472 maintain the beams 406 in horizontal balance by means of the lifter grips 469. In addition, for simplicity, the above description assumes that the trolleys 416 are initially placed on the rear proximal side of the beams 406 in idle and transport mode, whether in transport mode with a pallet on them or in idle mode without a pallet.

When the auxiliary platform 412 and platform 402 are in their respective positions, before loading/unloading actually begins, the deployable rods 410 will be extended so that their far side is located just above the near side of the support shelf. The bars 410 are pulled out and the actuators, locking mechanism, and controls of the load support hoists 472 (not shown) set the angle and extent of extension of the load support hoists 472, which engage with the beams 406 via the hoists 469 of the load support to maintain the horizontal balance of beam 406. The scissor lift 422 then lowers the auxiliary platform 412 slightly until the rods 410 rest on the near side of the support shelf to stabilize the device 400. After that, the beams 406 are pulled by pulling the movable beam elements 462 from the fixed beams elements 460 until the support lifters 408 are positioned over the far side of the selected shelf.

In loading mode, when the support lifters 408 are placed over the far side of the selected shelf, the load support lifters 472 are slightly retracted and/or the platform height adjustment mechanism 482 is raised slightly to advance the empty trolleys 416 towards the far side of the beams 406 by sliding first on the rollers 464 of the steps 463 of the beams when they are guided by the fixed beam elements 460 when they are located above them, and then by sliding on the rollers 466 located on the top of the movable beam elements 462 when they are guided by the guide grooves 468 when they are located above the movable beam members 462. As the trolleys 416 move along the beams 406, the device controller 400 (not shown) changes the position of the load support hoists 472 and/or the platform height adjustment mechanism 482 to adjust the angle of the beams 406 and thus motion control trolleys 416. The trolleys 416 stop just before reaching the far end of the movable beam elements 462, which are inside the hollow inner openings of the pallet. It should be noted that after stopping the trolleys 416 must be horizontally balanced. The load support jacks 472 and the platform height adjuster 482 are simultaneously lifted to raise the pallet above the selected shelf and to support the pallet on the trolleys 416 while the bars 410 are still supported on the support shelf, stabilizing the device 400. the load supporters 472 are extended slightly and/or the platform height adjuster 482 is lowered slightly to advance the pallet loaded trolleys 416 towards the proximal side of the beams 406 while the device controller 400 repositions the load support lifters 472 and/or a mechanism 482 for adjusting the height of the platform to adjust the angle of the beams 406 and thus control the movement of the trolleys 416 and stop them just before reaching the lifting devices 472 to support the load. At this point, the bottom plate of the pallet is located below the fixed beam members 460 and 462 and any further advance to the near side will be blocked by the lifting of the load support hoists 472, which are caught by the beams 406 on the claws 469. Also, at this point, the pallet has already been removed from the the far side of the selected shelf and the bottom plate of the pallet no longer blocks the gap between the support lifter 408 and the far side of the selected shelf. The support lifters 408 are then deployed to the far side of the selected shelf and the load support lifters 472 are stowed in the bars 410. It should be noted that the bottom plate of the pallet cannot pass through the load support lifters 472 unless they are disconnected from the beams 406. When the load support hoists 472 are disengaged from the claws 469 and retracted, the device controller 400 resumes moving the pallet loaded trolleys 416 towards the proximal sides of the beams 406 by controlling the position of the load support hoists 408 and/or the platform height adjustment mechanism 482 and stops the trolleys 416 just before they reach the proximal end of the fixed beam members 460. At this point, the pallet has already been removed from the location of the grips 469. Thereafter, the load support hoists 472 are deployed again to interact with the grips 469 to perform they act as load stabilizers and maintain horizontal balance, the beams 406, the support jacks 408 are retracted and detached from the selected shelf, the movable beam elements 462 are retracted to fold into the fixed beam elements 460, the scissor lift 422 lifts the auxiliary platform 412 slightly to disconnect the rods 410 from the support shelf, and retract the rods 410 while the load support hoists 472 maintain the horizontal balance of the support beams 406 through the grips 469 to prepare the device 400 for transport mode.

In the unloading mode, when the support jacks 408 are located over the far side of the selected shelf, the support jacks 408 are deployed on the far side of the selected shelf, and the load support jacks 472 are placed in the bars 410. Thereafter, the device controller 400 (not shown) advances the trolleys 416 with a pallet loaded on them towards the far side of the beams 406, controlling the position of the support hoists 408 and/or the platform height adjustment mechanism 482 and stops the trolleys 416 just before it reaches the deployed support hoists 408.

At this point, the bottom plate of the pallet cannot pass through the deployed support lifters 408 and the pallet has already been removed from the location of the grips 469. The load support lifters 472 are then pulled out to engage with the grips 469, and the support lifters 408 are retracted into the beam cavities 470, clearing the way for the pallet. Thereafter, the controller of the device 400 resumes the movement of the trolleys 416 with the pallet loaded on them towards the far side of the beams 406, controlling the position of the supporting hoists 472 and/or the platform height adjustment mechanism 482 and stops the trolleys 416 just before reaching the far end of the movable beam elements 462 The load weight lifters 472 and the platform height adjuster 482 are then simultaneously lowered to hold the pallet on the selected shelf and then lowered further to allow the beams 406 and thus the trolleys 416 to be released from the pallet. At this point, the controller of the device 400 advances the trolleys 416 towards the proximal side of the beams 406 by controlling the position of the support lifters 472 and/or the platform height adjustment mechanism 482 and stops the trolleys 416 just before reaching the proximal end of the fixed beam elements 460. Then the movable beam elements 462 are retracted to fold into the fixed beam members 460, the scissor lift 422 lifts the auxiliary platform 412 slightly to disengage the rods 410 from the support shelf, and the rods 410 are retracted while the load support jacks 472 maintain the horizontal balance of the support beams 406 to prepare the device 400 for idle mode.

Any of the lifters and motors of device 400 (eg, 430, 438, 442, 458, and 482) may be electric, hydraulic, or the like. and can be powered by electric batteries that are placed on the chassis 424 for movement, and their mass also increases stability. Any of the lifts and motors of device 400 may be configured to be locally, remotely, or intermittently controlled by a suitable controller (not shown), which may have an interface for human operator control or control of autonomous control equipment, or control by remote control using a controller. equipment.

In accordance with embodiments of the palletizer, the space defined by the convex shell of the shelf structure or the space defined by the shell of the shelf structure includes the lowest shelf of the shelf structure, and the bottom thereof may include the ground or may be located above the ground.

Further, the present description refers to FIG. 7A and 7B, which are schematic top views of shelf structures constructed and operating in accordance with additional embodiments of the present invention.

In FIG. 7A is a schematic plan view of a conventional double-rear and front-traverse pallet rack structure, designated 700, with vertical shelf posts 701 and 702, shelf traverses 704 and 707, and shelf support posts 706. The vertical shelf posts 701 and 702 are respectively arranged in two equally spaced rows 703 and 705 such that each of the vertical shelf posts 701 is adjacent to a parallel vertical shelf post 702. Traverse 704 shelves installed between two adjacent vertical pillars of the vertical pillars 701 shelves. Traverse 707 shelves installed between two adjacent vertical pillars vertical pillars 702 shelves. Each of the shelf beams 704 is connected in pairs with a parallel beam of the shelf beams 707 at the same height, so that together they form a shelf. At least one of the shelf support posts 706 is installed in rows 703 and 705, between one of the vertical shelf posts 701 and an adjacent parallel post of vertical shelf posts 702 to be connected via rows 703 and 705 (not necessarily all parallel posts or shelves) and in such a way as to ensure the connection at an equal distance and the stability of the rows 703 and 705. The convex shell (surface) of the shelf structure 700 is indicated by 708. The pallets, when placed, rest on the shelves (formed by parallel traverses 704 and 707 of the shelves) in accordance with embodiments of the present invention.

In FIG. 7B is a schematic plan view of a double side rail pallet rack structure, designated 720, with vertical shelf posts 722 and 727, shelf side rails 724, and shelf support legs 726. Vertical columns 722 and 727 of the shelf are located, respectively, in two equally spaced rows 723 and 725 so that each vertical column of vertical columns 722 of the shelf is adjacent to a parallel vertical column of vertical columns 727 of the shelf. Two traverses of side traverses 724 of the shelf are installed at the same height in rows 723 and 725 on the side of four adjacent vertical pillars of vertical pillars 722 and 727 of the shelf, each of these two traverses connecting one of the vertical pillars 722 of the shelf with another of the vertical pillars 727 of the shelf , and moreover, these two traverses face each other and form a shelf between four adjacent vertical posts of vertical posts 722 and 727 of the shelf. The side rails 724 of the shelf also provide equidistant attachment between rows 723 and 725 along each shelf. At least one of the pedestals 726 is positioned between two adjacent vertical posts of vertical poles 727 of the shelf to be connected along a row 725. The pedestals 726 of the shelf may be mounted at the same height along one shelf or eclectically mounted at different heights sufficient to stability of the vertical posts 722 and 727 of the shelf along the row 725 required to support the shelf structure 720. The convex shell (surface) of the shelf structure 720 is designated 728. 724 shelves) in accordance with embodiments of the present invention.

The placement configurations of the deployable pallet-carrying structure and the deployable anchor may include any relative placement thereof. The deployable anchor can also support the deployable pallet-carrying structure and/or optionally lift at least a portion of the deployable pallet-carrying structure, from above or below. Additionally, optionally, a holder that can be used to support a deployable anchor may include a target shelf of a shelf structure, another shelf in the same shelf structure, another shelf in another shelf structure, a ceiling and/or a floor. To simplify the illustrative explanation, the deployable pallet-carrying structure will hereinafter be referred to as a retractable beam. Such exemplary placement configurations may include, but are not limited to, the following.

1. The far side of the stretched beam is lifted from the target flange towards the ceiling using a deployable anchor that also functions as a mechanism for lifting the far side of the beam. The deployable anchor may interact with the stretched beam on its far side at a location located behind the bulge of the shelf structure, and may interact with the stretched beam at some midpoint of the stretched beam at a location located in front of the bulge of the shelf structure.

2. The far side of the extruded beam is moved up from the target flange by a deployable anchor that also acts as a mechanism to lift the far side of the beam. The deployable anchor may interact with the tie beam at the far side of the beam and/or at some midpoint of the tie beam at a location located within the convex shell of the shelf structure. An example of a deployable beam lifter anchor that pushes the far side of an elongated beam against a holder located on a target flange is shown in FIG. 13A and 13B.

3. The far side of the extruded beam is moved up from the target flange by a deployable anchor that also acts as a mechanism to lift the far side of the beam. The deployable anchor may interact with the bulge on the far side of the beam at a location located behind the bulge of the shelf structure, and may interact with the bulge at some midpoint of the bulge of the beam at a location located in front of the bulge of the shelf structure.

4. The elongated beam is attached to the platform of the palletizer using a slant joint at some midpoint of the elongated beam. The near side of the extruded beam is pushed out by a deployable anchor that rests on the bottom of another shelf that is in another shelf structure located behind the platform. The deployable anchor also functions as a mechanism to lift the far side of the beam.

5. The deployed support bar anchor rests on a shelf that is positioned above the target shelf. The far side of the elongated beam is lifted from the target flange towards the support bar by the beam far side lifting mechanism. The mechanism for lifting the far side of the beam may interact with the draw beam at its far side at a location located behind the convex shell of the shelf structure, and may interact with the draw beam at some midpoint of the draw beam at a location located in front of the convex shell of the flange. An example of a mechanism for lifting the far side of a beam in the form of a winch hoist to support a load cooperating with an elongated beam on its far side at a location behind the convex shell of the shelf structure is shown in FIG. 15A-15D.

6. The deployed support bar anchor rests on a flange that is located below the target flange. The far side of the extruded beam is moved up from the target flange by a mechanism to lift the far side of the beam. The mechanism for lifting the far side of the beam rests on the support bar and pushes the elongated beam either on the far side of the elongated beam at a location located behind the convex shell of the shelf structure, or at some midpoint of the elongated beam at a location located in front of the convex shell of the shelf structure. An example of a mechanism for lifting the far side of a beam in the form of a load support hoist interacting with the beam at some midpoint of the beam at a location in front of the convex hull of the shelf structure is shown in FIG. 17A-17D.

7. The deployed support bar anchor is attached to the palletizer to stabilize it against the proximal side of the shelf that is above the target shelf. The elongated beam is rotatably mounted on the platform of the palletizing device by means of a mount that has an oblique connection with a swivel drive, configured to rotate the elongated beam. The far side of the elongated beam is lifted off the target flange by activating the rotary actuator to rotate the elongated beam. An example of a mechanism for lifting the far side of a beam in the form of an active slant connection is shown in FIG. 14A-14D.

8. The deployed support bar anchor is attached to the palletizer to stabilize it against the proximal side of the shelf that is below the target shelf. The elongated beam is attached to the palletizing platform of the palletizing device by means of a fastener, which is equipped with a mechanism for adjusting the height of the fastener. The elongated beam is lifted from the target flange by activating the attachment height adjustment mechanism pushing the elongated beam upward. An example of a beam lifting mechanism in the form of a platform height adjustment mechanism similar to the above example is shown in FIG. 16A-16C.

As noted above, the palletizer may include an auxiliary platform and a mechanism for adjusting the height of the platform for adjusting the relative vertical position between the auxiliary platform and the platform, and may also include a fixture for mounting at least one selected structure for transferring pallets from at least one of a deployable pallet-carrying structure on the platform, and said fastening may comprise a mechanism for adjusting the height of the fastening to adjust the vertical position of at least one selected pallet-carrying structure relative to the platform. In accordance with embodiments of the palletizer, the mechanism for adjusting the height of the mount and/or the mechanism for adjusting the height of the platform may include a piston-type lifter, a bottle-type lifter, a trolley-type lifter, a telescopic-type lifter, a screw-type lifter, a lifter block type, scissor type lift, winch type lift, etc.

Further, the present description refers to FIG. 8A, 8B and 8C, which schematically show an exemplary side view of various types of lifting devices that can be used in the mechanism for adjusting the height of the attachment and/or in the mechanism for adjusting the height of the platform, palletizing device, made and functioning in in accordance with additional embodiments of the present invention.

As shown in FIG. 8A-8C, the height adjustment mechanism 250 is installed between the bottom member 254 and the top member 252, the functions of which are determined by the application: (I) in FIG. 8A, element 252 is a retractable beam and element 254 is a platform if the height adjustment mechanism 250 is configured to operate as a fixture height adjustment mechanism; (II) in FIG. 8B, element 252 is a platform and element 254 is an auxiliary platform if the height adjustment mechanism 250 is configured to operate as a platform height adjustment mechanism; (iii) in FIG. 8C, element 252 is a platform and element 254 is a retractable beam if the height adjustment mechanism 250 is configured to operate as a mounting height adjustment mechanism.

As shown in FIG. 8A, the height adjustment mechanism 250 is implemented as a piston lifter.

As shown in FIG. 8B, the height adjustment mechanism is implemented as two diamond type lifters 250, however, it should be noted that a single diamond type lifter may also be used.

As shown in FIG. 8C, the height adjustment mechanism 250 is implemented as a winch hoist and is used to lift the lower member 254 to the higher member 252, the vertical member 256 being fixedly attached on its upper side to the proximal side of the upper member 252 and tilted on its bottom side to the proximal side of the lower element 254 through an inclined connection 258 to allow the lower element 254 to tilt.

It should be noted that other types of lifters, such as the telescoping lifter 370 shown in FIG. 4, the scissor lift 422 shown in FIG. 6 (acting as a hoist), the screw hoist 482 shown in FIG. 6, winch hoist 952 shown in FIG. 19A, etc.

As noted above, the palletizing device may also comprise a loading/unloading reversing mechanism to change the direction of deployment of at least one selected pallet carrying structure from the at least one deployed pallet carrying structure. In accordance with embodiments of the palletizer, the mechanism for changing the loading/unloading direction may include: (a) at least one selected palletizing structure having a pull mechanism in opposite directions; (b) a mount for attaching at least one selected pallet transfer structure to the platform, having a joint rotatable in a lateral or vertical direction; and/or (c) a platform with a plate that can be rotated laterally.

Further, the present description refers to FIG. 9A, 9B, 9C and 9D, which schematically show examples of mechanisms for changing the direction of loading/unloading by changing the direction of pulling at least one deployable structure for carrying pallets, made and functioning in accordance with an embodiment of the present invention.

In FIG. 9A is a schematic perspective view of at least one deployable two-beam pallet-carrying structure, a palletizer that is capable of being pulled (deployed) in two opposite directions. An attachment 604, such as a wall, is mounted on a platform (not shown) and is configured to move the beams 600 and 602 so that they extend to the left (for example, to the front of the palletizer) or to the right (for example, to the back of the device). for stacking pallets). In practice, beams 600 and 602 extend in the same direction.

In FIG. 9B is a schematic side view of a deployable beam-like pallet-carrying structure rotatable in the vertical direction. The beam 610 is pivotally mounted to the mount 614 by means of an angled joint 616 and can be rotated in the vertical direction to take the opposite direction from that shown by the beam 612.

In FIG. 9C is a schematic top view of a deployable pallet-carrying structure in the form of two horizontally pivotable beams. Beams 622 and 624 are respectively mounted on horizontally pivotable mounts 626 and 628, both of which are mounted on platform 620. The mounts 626 and 628 can be rotated horizontally to mount beams 622 and 624 in different directions. In practice, beams 622 and 624 are rotated so that they point in the same direction.

In FIG. 9D is a schematic top view of a platform rotatable in a horizontal direction. The platform 630 includes a horizontally pivotable tower 632 and at least one deployable pallet-carrying structure in the form of two beams 634 mounted on the tower 632. The tower 632 is rotatable and therefore allows the beams 634 to be installed in a different direction, as shown in the figure.

As noted above, at least one deployable pallet transfer structure may be at least one retractable beam and/or at least one deployable anchor may be at least one retractable bar. In accordance with embodiments of the palletizer, the at least one retractable retractable beam/rod may include a folding segmented beam, a scissor beam, an accordion-folding beam, a vertical parallelogram beam, a horizontal parallelogram beam, an n-shaped horizontal parallelogram beam. traverse, side rail and fixing beam, telescopic beam, pull-out beam, etc.

As noted above, the palletizer may also comprise a pallet conveyor configured to carry a pallet on at least one of the at least one deployable pallet-carrying structure along a path between a location above the selected shelf and a location, located above or below the platform, to ensure the movement of the pallet in loading and unloading mode. In accordance with embodiments of the palletizing apparatus, the pallet conveyor may be a beam of the telescopic retractable beam type or a retractable rail and fixing beam.

Further, the present description refers to FIG. 10A, 10B, 10C, 10D, and 10E are schematic exemplary perspective views of retractable beams or rods constructed and operating in accordance with additional embodiments of the present invention. As shown in FIG. 10A-10E, shelf 790 includes plate 794, front proximal traverse frame 792, and rear distal traverse frame 796, and shows the relative position of the retractable beam/rod in various pull positions. Some of the beams shown, when extended or retracted, can also function as an active pallet conveyor, in particular if the movable beam elements are designed to carry a pallet.

In FIG. 10A is a schematic perspective view of a collapsible segmented beam/rod made up of accordion-folding plate links 710 which are pivotally connected vertically in two rows. Links 710 include plates 712 that are horizontal and rotatable about vertical hinges 716. Cross bars 714 are located between links 710, namely between every two plates 712 in each row and connect the two rows. The plates 712 are arranged horizontally and vertically hinged at their ends, by means of hinges 716, with an adjacent plate 712 or with a cross bar 714. Between the cross bars 714 in each row, one plate 712 is located on top of another plate 712 in such a way that the top plate 712 is overlapped with the bottom plate 712 when the beam/rod compresses when folded (leftmost position). The beam/rod can be partially extended (middle position) or fully extended (rightmost position).

In FIG. 10B is a schematic perspective view of a folding scissor beam/bar having plate links that are vertically hinged to three other plate links. Plates 724 and 726 are arranged horizontally and are rotatable around vertical hinges. The top plates 724 are pivotally connected to the bottom plates 726 and vice versa. Each plate of plates 724 is hinged at its ends with the ends of two plates of plates 726 and in its middle with the middle of the third plate of plates 726 in such a way that the whole structure resembles two alternating bicycle chains that form a folding segmented beam / bar. The top plates 724 are overlapped with the bottom plates 726 when the beam/rod is compressed when folded (leftmost position). The beam/rod can be partially extended (middle position) or fully extended (rightmost position).

In FIG. 10C is a schematic perspective view of a telescoping beam/rod. The links are arranged such that the innermost link 750 is a fixed beam member that is attached to the palletizer, while the outermost link 752 is the largest and is capable of functioning as a plate on which to place a pallet when loaded. or unload. Accordingly, the telescoping beam/rod can also function as an active pallet conveyor, moving from a stowed position (leftmost position) to a fully extended position (rightmost position).

In FIG. 10D is a schematic perspective view of a side rail and fixing beam/rod with a fixed beam element 760 and a movable beam element 762. The fixed beam element 760 includes a female elongated guide rail 764 with a C-shaped cross section. The distal end 761 of the fixed beam element 760 is fixed (fixation not shown). The fixed beam element 760 and the movable beam element 762 are located next to each other, with the open side of the fixed beam element 760 adjacent to the movable beam element 762 when the beam/rod is retracted (leftmost position). Sliding plate 766 with transversely protruding lever 768 is slidable along guide rail 764, with fixed distal end 761 of fixed beam member 760 and its shaped edges preventing slide plate 766 from falling out. 768 in the vertical direction, and at its other end is also pivotally connected to a transversely protruding shoulder 772 mounted on the proximal side of the movable beam element 762. beam member 760, and the bent arm link 770 rotates counterclockwise on its hinges to position the movable beam member 762 distally in front of the fixed beam member 760 and thereby fully extend the beam/rod (rightmost oh position).

In FIG. 10E is a schematic perspective view of a two-section segmented horizontal parallelogram beam/rod. The beam/rod has a fixed beam element 780 and a movable beam element 782, both of which have a U-shaped cross section, forming a cavity 786, with an open side along it. The fixed beam element 780, whose open side faces to the left, and the movable beam element 782, whose open side faces to the right, are horizontally aligned so that they are parallel. The fixed beam member 780 is attached by means of a fastener 789 to a palletizer. The movable beam member 782 is movably connected to the fixed beam member 780 by two collapsible segmented crossbeams, such as a beam 784, which are vertically hinged at their ends to the ends of the beam members 780 and 782. The beams 784 are segmented into two vertically hinged links. , which are designed to be folded into each other or one on top of the other in such a way that when the beam/rod is retracted, the links of each segmented crossbeam 784 fold and are inside the cavities 786 of the beam elements 780 and 782, which are thus placed next to each other (in the leftmost position in the figure, the crossbars 784 are not fully folded, the beam elements 780 and 782 are located on the sides, and further folding of the crossbars will lead to further convergence of the elements 780 and 782). Optionally, the length of the crossbeams 784 is less than half the length of the cavities 786, with one crossbeam 784 hinged to the top walls of the beam elements 780 and 782 and the other to the bottom walls of the beam elements 780 and 782 (or one element of the two beams 784 is hinged with the top wall of one of the beam elements 780 or 782, and the other element with the bottom wall of the other of the beam elements 780 and 782) so as to place the crossbeams, one on top of (or next to) the other inside the cavities 786 when partially or fully extended beams/rods, and the movable beam element 782 is located in front of the fixed beam element 780 (the rightmost position in the figure).

It should be noted that types of retractable beams or rods may include other types such as the retractable type beams 142 and 144 shown in FIG. 5 and the collapsible segmented beams shown in embodiment 870 in FIG. 18D.

As noted above, the palletizer may also include a mount for mounting at least one selected pallet transfer structure of at least one deployable pallet transfer structure onto the platform. Said fastener may comprise a vertical slanted joint to enable vertical rotation of at least one selected pallet-carrying structure relative to the platform.

Further, the present description refers to FIG. 11, which is a schematic perspective view of an embodiment 650 including a two-position diamond type support hoist constructed and operated in accordance with one embodiment of the present invention.

At least one deployable pallet-carrying structure in the form of a pull-out (deployable) beam 666 is attached to the mount 656 by a vertical slanted joint 658 and has a beam cavity 654 on its far side into which a diamond-shaped support hoist 652 is installed. Lifter 652 is configured to deploy (pull out) to engage with at least one holder in the form of a far side 696 of shelf 698 that functions as a support base for vertically extending lifter 652. Lifter 652 is contained within beam cavity 654 when fully retracted ( not deployed - right position on the figure).

The diamond-type lifter 652 has a side bolt 660, on the sides of which is threaded in two opposite directions, which is respectively screwed by engagement nuts 664 located on the side corners of the diamond-type lifter 652. As the threaded bolt 660 is rotated, the nuts 664 either simultaneously expand sideways to retract the diamond structure 662 and thus lower the far side of the extended beam 666 (right position in the figure), or simultaneously pull together to pull the diamond structure 662 and thus thus, by raising the far side of the elongated beam 666 (left position in the figure).

As noted above, at least one deployable anchor may include a support bar that, when deployed, is positioned between a support location in the palletizer and at least one holder for stabilizing the palletizer relative to at least one holder. In accordance with embodiments of the palletizer, the support bar may include a holding support hoist that is deployable to engage with at least one holder, and may also include a cavity into which the holding support hoist is inserted when not in use. . According to embodiments of the palletizing apparatus, the holding support hoist may be a diamond type hoist, block type hoist, trolley type hoist, telescopic type hoist, screw hoist, articulated type hoist, winch type hoist, a bottle type lifter, a fluid jet lifter, an electromagnetic type lifter, and the like.

Further, the present description refers to FIG. 12, which is a schematic perspective view of an embodiment 670 including a telescoping holding support hoist that also functions as a far-side lifting mechanism for at least one deployable double-stretched beam pallet-carrying structure mounted in two positions, made and operating in accordance with one embodiment of the present invention.

Attachment 682 includes two vertical attachment posts 684 that are fixedly mounted on a platform 674. A horizontal attachment rod 686 connects the attachment posts 684, and an attachment yoke 688 is pivotally mounted on the attachment rod 686 and tilts relative to it. The two elongated beams 672 and the deployed support bar 676 are fixedly mounted on the mounting bar 688 and tilt together vertically when the mounting bar 688 rotates relative to the mounting bar 686. The support bar 676 has a bar cavity 678 located at its distal end and a telescopic retaining the lifting device 680 is installed in the cavity 678 of the plank. The holding support hoist 680, when deployed, rests on at least one holder located on the proximal side 694 of the shelf 698. The left position in the figure illustrates the elongated beams 672 in their lowest position when the telescoping hoist 680 is fully folded and in the lath cavity 678 . The right position in the figure illustrates the elongated beams 672 with their distal ends in a raised position when the telescoping hoist 680 is extended to rotate the mounting beam 688, which thus tilts the elongated beams 672 and raises their distal ends.

Further, the present description refers to FIG. 13A and 13B, which schematically show a side view of an embodiment 510 including a platform 512, a deployable beam-like pallet-carrying structure 514, and at least one deployable anchor that also functions as a mechanism for lifting the far side of the beam in the form of a helical support lift. device 516, made and functioning in accordance with another embodiment of the present invention.

The elongated beam 514 is mounted for rotation on the platform 512 on the axis 518 of rotation. As shown in FIG. 13A, the elongated beam 514 rests on the target flange 504 with the lifter 516 retracted (not deployed) into the insertion cavity 517 located on the lower distal side of the elongated beam 514. As shown in FIG. 13B, the far side of the extended beam 514 is lifted from the target flange 504 by a lifting device 516, which can also function as a deployable anchor that deploys downward from the insertion cavity 517 and pushes the far side of the extended beam 514 relative to the far side 506 of the target flange 504.

As noted above, at least one deployable anchor may include a support bar that, when deployed, is positioned between a support location in the palletizer and at least one holder for stabilizing the palletizer relative to at least one holder, and the bar for the support may have a deployable anchor may comprise a retractable retractable rod configured to extend when deployed to stabilize the palletizer and retract in the non-deployed position of the rod. In accordance with embodiments of the palletizing device, the support site may be located on a transport device, platform, or fixture for attaching at least one of the at least one deployable pallet-carrying structure to the platform.

Further, the present description refers to FIG. 14A, 14B, 14C and 14D, which schematically show a side view of an embodiment 520 including a platform 522, a deployable anchor in the form of a retractable rod 528 equipped with a screw retaining support hoist 529, a deployable pallet-carrying structure in the form of a beam 524 and a mechanism for lifting the far side of the beam in the form of an electrically driven slant joint 526 constructed and operable in accordance with one embodiment of the present invention.

The elongated beam 524 is pivotally mounted on the platform 522 by means of a motorized inclined connection 526. Rod 528 is mounted above beam 524 on platform 522 and includes a holding support hoist 529 that is inserted into a cavity 527 located on the lower distal side of rod 528. FIG. 14A, bar 528 is retracted, lifter 529 is retracted and inserted into cavity 527, and elongated beam 524 is positioned on a target flange 506 located below flange 504. In FIG. 14B, bar 528 is extended and its far side is positioned over the near side of shelf 504. In FIG. 14C, lifter 529 is deployed downward from cavity 527 to support rod 528 relative to shelf 504. In FIG. 14D, the far side of the elongated beam 524 is raised relative to the target flange 506 by activating the motorized tilt joint 526 to rotate the elongated beam 524 clockwise.

Further, the present description refers to FIG. 15A, 15B, 15C and 15D, which schematically show a side view of an embodiment 530 including a platform 532, a deployable beam-like pallet-carrying structure 534, a telescoping mechanism 542 for adjusting the height of the platform, an auxiliary platform 540, a deployable anchor in the form of a pull-out anchor with a retractable rod 544; and a mechanism for raising the far side of the beam in the form of a winch-type load support hoist 546 equipped with a haul cable 548, constructed and operated in accordance with another embodiment of the present invention.

Embodiment 530 is a variation of embodiment 520 of FIG. 14A-14D, in which the lift 546, equipped with a traction cable 548, functionally replaces the power ramp 526, and the platform height adjustment mechanism 542 functionally replaces the holding support hoist 529. The elongated beam 534 has a traction hook 536, which is installed on its far side and pivotally mounted on platform 532 via slant connection 538. Boom 544 is mounted on subplatform 540 and has a winch 546 that is mounted on its far side and includes a traction cable 548 wound thereon. Auxiliary platform 540 is mounted on platform 532 by means of mechanism 542 for platform height adjustment. In FIG. 15A, the height adjustment mechanism 542 is extended to hold the rod 544, which is retracted, at a height slightly higher than the height of the leg 504, and the extended beam 534 is positioned on the target leg 506 below the leg 504. The traction line 548 is fully assembled on the winch 546. In FIG. In FIG. 15C, the haul rope 548 is released and tied to the haul hook 536. In FIG. 15D, the far side of the extended beam 534 is raised relative to the target flange 506 by activating a winch 546 (using a winch motor—not shown) to pull a haul cable 548 that pulls the far side of the extended beam 534 with a hook 536 in a clockwise direction.

Further, the present description refers to FIG. 16A, 16B and 16C, which schematically show a side view of an embodiment 550 including a deployable retractable rod anchor 562, a deployable beam-like pallet-carrying structure 556, a "warm" platform height adjustment mechanism comprising a vertical a head bolt 560 which is mounted on the sub platform 558, and a threaded hole platform 552 554 constructed and functioning in accordance with another embodiment of the present invention.

The elongated beam 556 is fixedly mounted on the platform 552, which is attached to the sub-platform 558 by means of a "warm" type platform height adjustment mechanism, comprising a vertical head bolt 560, which is installed on the sub-platform 558. The vertical member 560 is screwed through the threaded hole 554 and made pivoted by a screw motor (not shown) to raise or lower the platform 552 along with the elongated beam 556. The rod 562 is mounted on an auxiliary platform 558 located below the elongated beam 556. In FIG. 16A, rod 562 is retracted and beam 556 extended is positioned on target shelf 504 above shelf 506 with platform 552 in its lowered position. In FIG. 16B, bar 562 is extended and its far side is positioned over the near side of shelf 506. In FIG. 16C, the screw motor has been actuated to rotate the vertical member 560 through the threaded hole 554 and thereby push the platform 552 and the elongated beam 556 upward, causing the elongated beam 556 to rise above the shelf 504.

Further, the present description refers to FIG. 17A, 17B, 17C, and 17D, which schematically show a side view of an embodiment 570 including a platform 572, a deployable beam-like pallet-carrying structure 574, an auxiliary platform 578, a diamond-type platform height adjustment mechanism 580, and a deployable pull-out anchor. retractable rod 582 equipped with an articulated load support hoist 586 that has at its end a screw hoist adapter 588, also configured as a beam far side hoist constructed and operated in accordance with another embodiment of the present invention.

An elongated beam 574 is pivotally mounted on a platform 572 by means of an angled joint 576. A pole 582 is mounted on an auxiliary platform 578 and is equipped with a load support hoist 586 that has a screw hoist adapter 588 at its end. When the screw lifter adapter 588 is not deployed, it is inserted into the adapter cavity 592 within the lifter 586 to support the load. When the load support lifter 586 is not deployed, it is inserted into the lifter cavity 590 inside the auxiliary platform 578. The auxiliary platform 578 is mounted on the platform 572 by a diamond-type platform height adjustment mechanism 580. In FIG. 17A, the height adjustment mechanism 580 is retracted to hold the rod 582, which is retracted, at a height slightly higher than the height of the shelf 506, and the extended beam 574 is located on the target shelf 504 located above the shelf 506. The screw lifter adapter 588 is inserted into the screw cavity located inside adapter cavity 592, and the load support lifter 586 is inserted inside the lifter cavity 590. In FIG. 17B, bar 582 is deployed and rests on shelf 506 after height adjustment mechanism 580 is pulled out. The screw lifter adapter 588 and the load support lifter 586 are still inserted inside the adapter cavity 592 and the lifter cavity 590, respectively. As shown in FIG. 17C, the load support lifter 586 is pivoted counterclockwise about the lifter axis 584 by a pivot motor (not shown), outside the lifter cavity 590 is vertically supported at its lower end on a rod 582, with its upper end located slightly below the elongated beam 574. As shown in FIG. 17D, the screw lift adapter 588 exits the adapter cavity 592 upwardly, pushing the extended beam 574 at a point prior to the proximal side of the convex shell of the legs 504 and 506, which rotates the extruded beam 574 clockwise about the slant joint 576 and therefore raises the far side of the extended beam 574 above the flange 504.

As noted above, the palletizer may comprise a load support lift configured to be deployed between the load support base and at least one selected pallet carrying structure of the at least one deployable pallet carrying structure, to support in in the vertical direction of said at least one selected pallet carrying structure, and the base for supporting the load may be a platform.

As noted above, the palletizer may also include a pallet conveyor configured to carry a pallet relative to at least one of the at least one deployable pallet-carrying structure on a path between a location located above the selected shelf and a location located above or below the platform to facilitate the movement of the pallet in loading and unloading modes, and the pallet conveyor may be a gravity-based pallet conveyor in which the vertical rotation of at least one selected pallet-carrying structure relative to the platform is activated in loading mode and/or in an unloading mode to cause the pallet to gravity slide relative to at least one selected pallet carrying structure along a path between a location above the selected shelf and a location above or below the platform. In accordance with embodiments of the palletizing device, the vertical rotation can be activated by means of a lifting device to support the load.

In accordance with embodiments of the palletizing apparatus, the pallet conveyor may be an active pallet conveyor that includes a conveyor movable element for moving the active pallet conveyor relative to at least one deployable pallet-carrying structure, and the conveyor movable element may be wheels. , caterpillar tape and/or wheels for rail track. According to embodiments of the palletizing apparatus, the active pallet conveyor may be removable from at least one deployable pallet-carrying structure to transport the pallet to and from a remote shelf, and the active pallet conveyor also includes movable means to reach a remotely located shelf. In accordance with embodiments of the palletizing apparatus, the movable means of the active pallet conveyor may comprise a movable conveyor element.

As noted above, at least one deployable pallet-carrying structure may comprise a beam. According to embodiments of the palletizing device, the pallet conveyor may comprise a conveyor belt, rolling elements mounted on at least one beam, a folding segmented beam, a folding scissor beam, an accordion-folding beam, a folding horizontal parallelogram beam, a folding horizontal parallelogram a beam with an n-shaped traverse, etc.

Further, the present description refers to FIG. 18A, 18B, 18C and 18D are schematic perspective views of simplified exemplary pallet conveyors constructed and operating in accordance with further embodiments of the present invention.

In FIG. 18A is a schematic perspective view of the pallet conveyor mechanism 800, which is a simplified version of the passive gravity pallet conveyor for the palletizer. The conveyor mechanism 800 includes a platform 802, a deployable elongated beam pallet-carrying structure 804, a beam attachment 806, an articulated load support hoist 808, a hoist shaft 836, a pallet-carrying conveyor trolley 810, and beam rollers 820 disposed along the top surface. elongated beam 804. The elongated beam 804 is a rectangular inverted U-beam with a downward channel 822. Similarly, the conveyor troll 810 includes a downward-facing rectangular inverted U-beam, but is wider than the elongated beam 804 and is located on the top wall and part of the side walls of the elongated beam 804 and covers them. The conveyor trolley can slide freely on the rollers 820 of the beam. A beam fixture 806 is mounted on the left side of the platform 802, an elongated beam 804 is mounted on top of the fixture 806 with a beam slant connection 830. The lifter nut 834 is mounted to the lifter mount 806 by the nut slant 832 at a mid-position along the mount 806. The articulated lifter 808 is attached to the lifter mount 838 by the lifter's slant 840 at the mid-position on the platform 802. The articulated lifter 808 is equipped with at its upper end by a lifter wheel (not shown) which is inserted into the channel 822 of the elongated beam 804 to slide in it. One side of the lifter shaft 836 with screw threads is inserted into the lifter nut 834, and the other side is rotated by the lifter motor 844 mounted in the middle of the articulated lifter 808 by the tilt motor connection 842.

The lifter motor 844 is configured to screw or unscrew the lifter shaft 836 into/out of the lifter nut/nuts 834 to increase or decrease the distance between the lifter motor 844 and the lifter nut 834 according to its direction of rotation, thereby changing the angle between the articulated lifter 808 and the platform 802 and hence the wheel end of the articulated lifter 808 rises and thus the elongated beam 804 tilts relative to the platform 802, which can cause the conveyor trolley 810 to slide gravitationally. Accordingly, the movement, stop, speed, acceleration, and direction of movement of the trolley 810 are controlled by the hoist controlled motor 844. In an alternative embodiment, some of the rollers 820 are activated by a suitable motor that actively moves the trolleys 810 without the beam 804 having to be tilted to transport the trolley 810.

In FIG. 18B is a schematic perspective view of the pallet conveyor mechanism 850, which is a simplified version of the active pallet conveyor belt for the palletizer. The conveyor mechanism 850 comprises a deployable pallet-carrying structure in the form of an elongated beam 852 with a fixed beam element 854, a movable beam element 856, and two conveyor belts 858 and 860, which are mounted, respectively, on the beam elements 854 and 856. Conveyor belts 858 and 860 rotate by means of drives (not shown) in the direction of the fixed beam element 854 whenever it is required to transport a pallet placed on the movable beam element 856 to the fixed beam element 854, and vice versa.

In FIG. 18C is a schematic perspective view of the pallet conveyor mechanism 890, which is a simplified version of the active pallet conveyor for the palletizer. The conveyor mechanism 890 includes a deployable pallet-carrying structure in the form of an elongated beam 892 having beam side steps 894 located externally along the bottom walls of the beam 892. The pallet-carrying conveyor trolley 896, with an inverted U-shaped traverse, has side wheels 898, which function as a movable member of the conveyor trolley 896 and which are configured to carry the conveyor trolley 896 along the beam 892. The wheels 898 are driven by a suitable drive (not shown) which is controlled to orient the conveyor trolley 896 along the beam 892. passive rolling wheels 898 is another alternative to the conveyor trolley 810 and rollers 820 of the conveyor mechanism 800 of FIG. 18A.

The conveyor trolley 896 does not touch the beam 892 and is configured to transport a pallet placed on it to and from a remote shelf without touching the beam. The wheels 898 of the conveyor trolley 896 may also act as a movable means of the conveyor trolley 896 to reach a remote shelf.

In FIG. 18D is a schematic perspective view of an active pallet conveyor mechanism 870 comprising a collapsible segmented beam resembling the plate links of a bicycle chain that are hinged in series in a vertical direction. The links are interspersed with inner plates and have an upwardly projecting surface 872 which is aligned with the surfaces of the outer plates. Each inner plate is pivotally connected at its ends to adjacent outer plates and vice versa. The outer plates have a gap to accommodate the end sections of the inner plates when the beam is folded (lower position in the figure). The plates are arranged horizontally and can be rotated around vertical hinges. The outer plates have strong flanges around the vertical hinges capable of holding the inner plates in a stable horizontal position without deflection when the beam is partially extended (upper position in the figure) or fully extended. The upward projecting bearing balls 872 are inserted along the upper surface of the outer plates and the upper surface of the raised surfaces 872 of the inner plates and are passively rolling in all directions. The pallet placed on the segmented beam can be engaged by the rod 876 and can be actively moved by the folding beam while the support balls 872 slide below to allow the beam to fold.

As noted above, the transport device may include a pallet lift to raise the platform to a desired height. In accordance with embodiments of the palletizing device, the pallet lifter may include a screw hoist, a telescopic hoist, a crane capable of lifting the platform from above, a rope carriage for lowering and raising the platform along the mast, a cantilever rope hoist for holding and lifting the platform along the mast, a rope carriage lifting structure comprising a mast, a carriage and a counterweight, in which the carriage moves along and inside the mast, the counterweight is movable along the mast and is attached to the carriage by means of a hanging pulley, and the like.

As noted above, the palletizer may also comprise a pallet conveyor configured to carry a pallet on at least one of the at least one deployable pallet-carrying structure along a path between a location above the selected shelf and a location, located above or below the platform, to ensure the movement of the pallet in loading and unloading mode. As noted above, at least one deployable pallet-carrying structure may comprise a beam. In accordance with embodiments of the pallet apparatus, the pallet conveyor may comprise an overhead troll running under a beam.

The pallet hoist of the type of hoist for the palletizing device may have a hoist with a typical design and a typical lifting mechanism. For example, such a lifting device may have side towers that are mounted on a chassis for movement and a vertically movable platform (which supports at least one deployable pallet-carrying structure). The platform is balanced by a counterweight and raised and lowered by a motor, the counterweight and the motor being connected to the platform. The platform is movable in a vertical direction between the tower-shaped posts, while the counterweight is movable in a vertical direction away from the platform and moves up or down in the direction opposite to the direction of movement of the platform without interfering with the movement of the platform. The platform and counterweight are usually suspended from the same chain, which is raised to the top of the tower-like racks. The engine is usually connected to the platform by a closed circuit and is simply in an equilibrium position between the platform and the counterweight.

Further, the present description refers to FIG. 19A, 19B and 19C which are simplified schematic side views of several types of transport devices that include several pallet lift mechanisms constructed and operating in accordance with an embodiment of the present invention.

In FIG. 19A is a schematic simplified side view of a crane carrier including a pallet hoist for a palletizer 940. Crane carrier 940 includes a crane base 944 and a crane carrier 946. Carrier 946 includes a crane arm 948, a shank 950 crane and a pallet hoist in the form of a winch hoist 952 crane. Platform 942 is suspended from winch cables 954 that are wound around a crane winch hoist 952 that is mounted on a crane shank 950 . The shank 950 of the crane is mounted on the boom 948 of the crane and can move along the boom 948 of the crane. The crane arm 948 is mounted on the tower section of the crane base 944 and is rotatable in a radial direction around the tower section.

The platform 942 can be placed over any surface location by radially moving the crane boom 948 and linearly moving the crane shank 950 along the boom 948. The crane hoist 952 is configured to raise or lower the winch ropes 954 to raise or lower the platform 942.

In accordance with embodiments of the palletizing device, the at least one deployable anchor is configured to change the height of at least one selected pallet carrying structure from the at least one deployable pallet carrying structure in loading mode and/or unloading mode after initial interaction at least one selected pallet-to-pallet transfer design. As noted above, at least one deployable pallet-carrying structure may comprise a beam.

As noted above, the at least one deployable anchor temporarily stabilizes the palletizer against the at least one holder. In accordance with embodiments of the palletizer, the at least one holder may be located on the ground or on the ceiling.

As noted above, the palletizer may also include a fixture for mounting at least one selected pallet transfer structure from at least one deployable pallet transfer structure to the platform, and the at least one selected pallet transfer structure may include a beam. As noted above, the deployment of the beam for carrying, lifting and picking up pallets can be done by controlling the fixture.

In FIG. 19B is a schematic simplified side view of a transport device with a telescoping pallet lifter for a palletizer 970. Embodiment 970 includes a platform 972 that is equipped with a mounting rail 982, a transport device 974, at least one deployable structure for carrying pallets in in the form of an elongated beam 973, a deployable anchor 984 and a fastener 980. The transport device 974 includes a telescopic pallet lift 978, a chassis 979 and a means for moving on the ground, namely wheels 976. The deployable anchor 984 contains a means for moving the anchor on the ground 987, a piston lifting device 986 anchor and a vertical anchor post 985 having an anchor roller 988 at its upper end.

An elongated beam 973 is pivotally attached to the fixture 980 by a horizontal hinge 981. The fixture 980 can move towards/away from the shelf structure along the attachment rail 982 of the platform 972. using means 976 for movement on the ground. The vertical anchor post 985, which engages with the ground via means for moving the anchor on the ground 987, is connected on its underside to the chassis 979 via a piston lifting device 986. The midpoint of the elongated beam 973 rests on the anchor roller 988 of the vertical anchor post 985.

The transport device 974 is configured to accommodate the platform 972 by means of a ground moving means 976 and a pallet lift 978. To deploy the stretched beam 973 in order to capture the pallet, it is necessary to lift its far side. Embodiment 970 includes several additional mechanisms for lifting the far side of the beam.

1. The pallet lifter 978 is lowered to lower the near side of the extended beam 973 when the extended beam rests at some midpoint on the anchor roller 988, and thus the far side of the beam 973 is raised.

2. Anchor 980 moves forward on the mounting rail 982 and thus moves the draw beam 973 forward as the point of engagement of the draw beam 973 with the anchor roller 988 approaches the near side of the draw beam 973 and thus the far side of the draw beam 973 rises.

3. The piston lifter 986 of the anchor is compressed back to retract the deployable anchor 984 and return the engagement point of the extended beam 973 with the anchor roller 988, and thus the far side of the beam 973 is lifted.

It should be noted that at least one deployable anchor holder 984 is ground/floor, and the deployable anchor 984 is configured to change the height of the elongated beam 973 in loading and unloading mode after the elongated beam 973 has initially interacted with a pallet.

In FIG. 19C is a schematic simplified side view of a transport device in a palletizing device with a screw mechanism for lifting pallets, indicated 990. Embodiment 990 includes a platform 992 and a transport device 996. 999 and means for moving on the ground, namely the wheels 998. The platform 992 contains mating threaded holes 994 into which the threaded columns 997 are inserted. The columns 997 are mounted on a chassis 999 which is moved by the ground moving means 998, and the rotation of the columns 977 causes the platform 992 to be raised or lowered. for pallets.

As noted above, the palletizer may include a fixture for mounting at least one selected pallet transfer structure from at least one deployable pallet transfer structure to the platform, and at least one selected pallet transfer structure may include a beam. In accordance with embodiments of the palletizing device, the fixture is attached to some intermediate point of the beam.

As noted above, the at least one deployable anchor temporarily stabilizes the palletizer against the at least one holder. In accordance with embodiments of the palletizer, the space defined by the convex shell of the shelf structure is located between the platform and at least one of the at least one holder in loading mode or in unloading mode at least before switching to idle/transport mode.

According to embodiments of the palletizer, the selected deployable anchor of the at least one deployable anchor may have an anchor base member and at least one anchor stabilizing member, wherein the anchor base member is physically detached from the palletizer, excluding the selected deployable anchor. the anchor when the deployable anchor is not deployed, and the base member of the anchor is actuated by the palletizer excluding the selected deployable anchor with at least one of the at least one stabilizing anchor element when the deployable anchor is deployed to stabilize the palletizer. According to embodiments of the palletizing device, the base element of the anchor may be movable. According to embodiments of the palletizing device, at least one of the at least one stabilizing anchor element is attached, when the selected deployable anchor is not deployed, to the palletizing device, excluding the selected deployable anchor, or to the base element of the anchor.

In accordance with embodiments of the palletizing device, the selected holder from at least one holder may have at least one of the following features: (a) located on the vertical posts of the shelf structure; (b) positioned below a shelf of another shelf structure such that the palletizer is positioned between the shelf structure and the other shelf structure; (c) located on the surface of a structure that is supported by any of the ground, ceiling, shelf structure shelf and/or holders mentioned in (a) and (b) above; (d) lifting is provided by an attraction/repulsion force on the magnetic portion of at least one deployable anchor; and (e) lifting is provided by a fluid flow that provides a repulsive force to the at least one deployable anchor.

Further, the present description refers to FIG. 20, which is a schematic side view of a further embodiment of a palletizer, indicated at 50, which illustrates several additional features for at least one deployable anchor constructed and functioning in accordance with another embodiment of the present invention. The palletizer 50 can be movable along a passageway 55 separating two rows of shelves, labeled "front" shelf structure 58 and "rear" shelf structure 56, which are named to demonstrate palletizing onto a target shelf 59 located in the front shelf structure 58. The palletizing device 50 comprises a stacking fixture 52, an anchor base element 54 physically detached from the racking device 52, and two types of anchor stabilizing elements in the form of a magnetic bar 86 and two telescopic lifting devices 96 (only the near lifting device facing the observer, seen in the side view), made with the possibility of emitting strong air jets from their tips in an upward direction, shown by arrows 97.

The stacker 52 includes a platform 60, a transport device 62, at least one deployable pallet-carrying structure in the form of two retractable beams 68 (only the near beam facing the observer is visible in the side view), a rear deployable anchor in the form retractable with the possibility of retracting the rod 80 with the body 81 of the rod, fastening 72 beams, an elongated cavity 84 of the device anchor and a hoist for supporting the load in the form of a winch hoist 76 equipped with a traction cable 77 of the winch.

The transport device 62 includes a transport device chassis 64, which is driven by a ground moving means 63, and a lifting device 65 mounted on the transport device chassis 64. The platform 60 is mounted on an elevator 65 that selectively raises and lowers the platform 60 to a height appropriate for a particular mode of operation (ie, transport, loading, unloading, or idle). The retractable extendable beams 68 include fixed arms 69 and movable arms 70. The movable arms 70 retract, respectively, into the fixed arms 69 when the beams 68 are not deployed and extend, respectively, from the fixed arms 69 over the target shelf 59 when the beams 68 deployed. Beams 68 are designed to carry, lift and grab a pallet. The fixed arms 69 are tilted at some mid-position to the beam mount 72 on the pivot 73, and the beam mount 72 is mounted on the platform 60. The winch hoist 76 is mounted on the rod body 81, which in turn is mounted on the platform 60. Rope 77 wound around a winch hoist 76 at one end and attached to the proximal side of fixed arms 69 at the other end. The winch hoist 76 is configured to pull or release the cable 77 and pulling on the cable 77 pulls down the proximal side of the beams 68, which in turn causes the beams 68 to tilt relative to the hinge 73 and thus raise the far side of the beams 68.

The anchor base 54 comprises an anchor chassis 94 which is driven by a moving means 92 and an elongated secondary anchor cavity 88 .

Telescopic lifting devices 96 are mounted on the chassis 94 of the anchor. The telescopic lifters 96 are stowed, when not deployed, below a height that allows the anchor base 54 to continuously maneuver under the bottom flanges of the shelf structures 56 and 58. When the beams 68 are fully deployed (in loading or unloading mode), the far sides of the fixed arms 70 are extended beyond the front of the shelf structure 58, and the telescoping lifters 96 can be vertically extended (deployed) so that their tips are placed slightly below, respectively, the far sides of the fixed arms 70. The telescopic lifters 96 are configured to support beams 68, either by further stretching them to provide physical interaction of the far sides of the fixed arms 70, or by emitting strong air jets upward from their tips to create a repulsive lifting force on the far sides of the movable arms 70 and thus stabilize device 50 for stacking pallets. It should be noted that the telescoping jacks 96 may also function as a mechanism to lift the far side of the beams 68 using any of these alternative methods.

The magnetic bar 86, when deployed, connects the anchor base 54 to the laying fixture 52 to stabilize the palletizer 50 in loading mode and in unloading mode. The magnetic bar 86, when not deployed, is located within one of the cavities 84 and 88. The placement of the magnetic bar 86 for deployment or retraction in one of the cavities 84 and 88 is controlled by the device anchor electromagnet 85 located in the interior of the cavity 84 and the secondary an anchor electromagnet 89 positioned within cavity 88 by pushing and retracting magnetic bar 86 along aligned elongated cavities 84 and 88. Retractable rod 80 provides an alternate option for temporarily stabilizing palletizer 50. The rod 80, when not deployed, is retracted and inserted into the rod body 81, and when it is deployed, is pulled out of the rod body 81, supported by a holder located below the support shelf 57 located in the rear shelf structure 56.

Although the telescopic lifters 96 can be used both to stabilize the palletizer 50 and as a mechanism to lift the far side of the beams 68, the magnetic bar 86 and bar 80 can only be used to stabilize the palletizer 50. If any of these mechanisms is used as a deployable anchor, the winch hoist 76 and its rope 77 can be used as a mechanism for lifting the far side of the beams 68.

As noted above, at least one holder may be located on vertical posts of the shelf structure, such as vertical posts 701 and 702 in shelf structure 700 in FIG. 7A and vertical posts 722 and 727 in shelf structure 720 in FIG. 7B.

Further, the present description refers to FIG. 21, which is a schematic perspective view that illustrates a deployable pallet-carrying structure mechanism, denoted 900, comprising an expander mechanism and a friction anchor constructed and operating in accordance with one embodiment of the present invention.

The deployable pallet-carrying mechanism 900 includes a platform 902, a mount 904 that is proximal to the platform 902 by a hinge 906, a mounting carriage 910 that is movable relative to the mount 904 along a mounting rail 908, two deployable pallet-carrying structures 912 that mounted on the carriage 910 by means of two vertical elements 914, two deployable anchors in the form of two motorized rollers 920 and an expansion mechanism containing an expansion piston 916 and expansion shafts 918. Deployable pallet-carrying structures 912 comprise two elongate elements 911 that are substantially parallel to each other, with each element 911 being horizontally rotatable with respect to respective vertical elements 914. The elements 911 protrude rearward and are attached near their rear end to one end of the shafts. 918 for expansion, the other end of the expansion shafts 918 engaging with the expansion piston 916, which is configured to control the expansion of the expansion shafts 918 at the rear end of the elements 911. 922, which are curved side-to-back, and motorized rollers 920 are mounted on their tip.

With respect to the loading mode and the unloading mode, the palletizer which is part of the deployable pallet-carrying structure mechanism 900 performs the following procedures when loading/unloading a pallet from/to the shelf of the shelf structure.

1. The expansion piston 916 sets the expandable structures 911 for carrying pallets 912 parallel to each other.

2. The mounting carriage 910 is moved forward until the rollers 920 are located outside the convex shell of the shelf structure.

3. The expansion piston 916 sets up the deployable pallet-carrying structures 912 by positioning the rollers 920 between the pallet and the vertical posts of the shelf structure.

4. The mounting carriage 910 is moved back until the rollers 920 are facing the vertical posts of the shelf structure.

5. The expansion pistons 916 hold the rollers 920 on the sides of the vertical posts of the shelf structure.

6. The motorized rollers 920 are driven to roll upwards, thereby lifting the deployable pallet-carrying structures 912. Mount 904 can tilt at hinge 906 to allow such movement.

It should be noted that in the context of the mechanism 900, at least one holder is located on the vertical posts of the shelf structure. In addition, it should be noted that the rollers 920 also function as a mechanism for lifting the far side of the deployed pallet-carrying structure.

As noted above, the transport device may include means for moving on the ground. According to embodiments of the palletizer, the ground moving means may comprise ground contact wheels, a continuous track, or track wheels.

Further, the present description refers to FIG. 22A and 22B, which are a schematic perspective view of an exemplary ground transportation means constructed and operated in accordance with additional embodiments of the present invention.

In FIG. 22A is a schematic perspective view of a ground moving means 770 comprising a chassis 772, two endless tracks 778, two drive gear drums 774, and four wheels 776. Drive gear drums 774 are located at the front left and front right corners of the chassis 772, two wheels of the wheels 776 are located in the rear left and rear right corners of the chassis 772 and two wheels 776 are located in the center, on the left and right side of the chassis 772. Drive gear drums 774 and wheels 776 are mounted on axles 775 and 777, respectively. Drive gear drums 774 driven by motor(s) (not shown).

Separate left and right motors (or a single differential power motor) are connected to drive gear drums 774 (not shown) and actuate them in the same direction or in opposite directions, at the same or different speeds. In order to advance the ground moving means 770 in a forward direction at a predetermined speed, the driving toothed drums 774 are driven at the same speed and in the same direction. Control of the direction of the means 770 to move on the ground can be provided by driving the drive toothed drums 774 at different speeds. For example, in order for the ground moving means 770 to turn to the right, the left gear drum of the driving gear drums 774 is driven at a speed greater than the speed of the right gear drum of the driving gear drums 774. The rotation of the ground moving means 770 may be carried out by driving the toothed drums 774 at the same speed in opposite directions.

In FIG. 22B is a schematic perspective view of a ground moving means 780 including a chassis 782, track wheels 784, and wheel mounts 786. Wheel mounts 786 are fixedly mounted at the bottom corners of chassis 782. Each wheel 784 has a median groove for mounting on rail tracks including two parallel rail tracks 790.

At least one of the wheels 784 is driven by a motor (not shown) at a selected speed and in a selected direction. If more than one of the track wheels 784 is driven, then all driven track wheels must be synchronized for proper operation. The position on the ground of the means 780 for moving on the ground depends on the placement of the tracks 790.

Although some embodiments of the disclosed subject matter have been described to enable one skilled in the art to practice the present invention, the foregoing description is by way of example only. It should not be used to limit the scope of the disclosed subject matter, which is defined by the following claims.

Claims (57)

1. A palletizing device for placing pallets on a shelf in a shelf structure, configured to operate in loading mode, unloading mode, idle/transportation mode, comprising: a platform that can be moved, made with the possibility, in the specified loading mode, of placement to enable loading of the pallet from at least one selected shelf of the specified shelf structure and made with the possibility, in the specified unloading mode, of placement to enable the unloading of the pallet at least on the specified one selected shelf; a transport device for transporting and placing said platform; at least one deployable pallet-carrying structure mounted on said platform in at least said idle/transport mode, which is deployed in at least one of said loading mode and said unloading mode, and configured to carry, lift and capture pallets ; at least one deployable anchor for temporarily stabilizing said palletizing device relative to at least one holder, wherein at least one deployable anchor is deployed in at least one of said loading mode and said unloading mode to cooperate with at least one of said a holder for said stabilization, wherein said at least one deployable anchor has at least one of the following features: at least one of the specified at least one holder is located at a distance from the ground and at a distance from the ceiling; at least one of the specified at least one holder is located inside the space bounded by the convex shell of the specified shelf structure; in said loading mode or in said unloading mode, at least until the mode is switched to said idle/transport mode, said space is located between said platform and at least one of said at least one holder; and at least one of said at least one deployable anchor is configured to change the height of at least one selected pallet-carrying structure from said at least one deployable pallet-carrying structure in at least one of said loading mode and said unloading mode after initial interaction with the pallet of said at least one selected pallet transfer structure. 2. A palletizing device according to claim 1, which, in said idle/transport mode, has at least one of the following features: said platform is located outside the bounding space defined by the shell of the shelf structure; said at least one deployable pallet-carrying structure is not deployed and is located outside the bounding space; and said at least one deployable anchor is not deployed and is located outside said bounding space. 3. The palletizer according to claim 1, which also comprises a fixture for attaching at least one selected pallet transfer structure from said at least one deployable pallet transfer structure to said platform, said fixture comprising at least one from: a vertical slanted joint for allowing said at least one selected pallet-carrying structure to be vertically rotatable relative to said platform; and a mechanism for adjusting the mounting height to allow adjustment of the vertical position of said at least one selected pallet carrying structure relative to said platform. 4. A palletizing device according to claim 3, wherein at least the proximal side of said at least one selected pallet transfer structure is mounted by means of said fastener on said platform, said fastening being limited in horizontal movement relative to said platform towards said shelf. structure and away from it. 5. The palletizer according to claim 1, which also includes an auxiliary platform and a mechanism for adjusting the height of the platform, configured to adjust the relative vertical position between said platform and said auxiliary platform. 6. The palletizing device of claim 1, wherein said at least one deployable anchor comprises a support lift attached to at least one selected pallet carrying structure of said at least one deployable pallet carrying structure, wherein said the supporting hoist is deployable to engage with at least one carrier that functions as a support base to vertically extend said hoist when deploying said at least one selected pallet transfer structure. 7. The palletizer according to claim 1, wherein said at least one deployable anchor is deployed by moving at least one of the group consisting of: said at least one deployable anchor; the specified transport device; said at least one deployable pallet carrying structure; a vertical slanted joint that is included in the fixture for attaching at least one selected pallet carrying structure from said at least one deployable pallet carrying structure to said platform to allow at least one selected pallet carrying structure to be vertically rotated relative to said platform ; a mechanism for adjusting the height of the mount, which is included in the mount for attaching at least one selected pallet-carrying structure from said at least one deployable pallet-carrying structure to said platform to allow adjustment of the vertical position of at least one selected pallet-carrying structure regarding the specified platform; and a mechanism for adjusting the height of the platform for adjusting the relative vertical position between the auxiliary platform and said platform. 8. The palletizer of claim 1, wherein the at least one deployable anchor comprises a support bar that, when deployed, is positioned between a support location in said palletizer and said at least one holder to stabilize said palletizer pallet relative to the specified at least one holder. 9. The palletizer according to claim 8, wherein said support location is located on a single element selected from the group consisting of: specified platform; fasteners for attaching at least one of said at least one deployable structure for carrying pallets to said platform; an auxiliary platform containing a mechanism for adjusting the height of the platform to adjust the relative vertical position between the auxiliary platform and the specified platform; and specified transport device. 10. The palletizer according to claim 8, wherein said support bar comprises at least one of: holding support lifting device, made with the possibility of deployment for interaction with the specified at least one holder; and a retractable retractable boom configured to extend when deployed to stabilize said palletizing device and retract in a non-deployed position. 11. The palletizer of claim 1, which also comprises a load support lift configured to be deployed between the load support base and at least one selected pallet carrying structure of said at least one deployable pallet carrying structure. , to support said at least one selected structure for carrying pallets in the vertical direction. 12. The palletizing device of claim 1, wherein said at least one deployable anchor comprises an anchor base element and at least one anchor stabilizing element, wherein said anchor base element is physically detached from said palletizing device, excluding said at least one deployable anchor when said deployable anchor is not deployed and said base element of the anchor is engaged by said palletizing device, excluding said at least one deployable anchor with at least one of said at least one stabilizing element anchor when said deployable anchor is deployed to stabilize said palletizer. 13. The palletizer according to claim 1, wherein the selected holder from said at least one holder includes at least one of: said selected holder positioned on a shelf of said shelf structure; the specified selected holder located on the vertical pillars of the specified shelf structure; said selected holder located on the ground; said selected holder located on the ceiling; said selected holder positioned below a shelf of another shelf structure such that the palletizer is positioned between said shelf structure and said other shelf structure; the specified selected holder located on the surface of the structure, which is supported by any of the above methods; a magnetic field that provides the application of force of attraction/repulsion on the magnetic area of the specified at least one deployable anchor; and a fluid flow that provides a repulsive force to said at least one deployable anchor. 14. The palletizer of claim 1, which also includes a mechanism for lifting the pallet-carrying structure to vertically move at least one of: a far side of said at least one deployable pallet-carrying structure; and the proximal side of said at least one deployable pallet-carrying structure. 15. The palletizer according to claim 1, wherein said at least one deployable pallet-carrying structure comprises a beam, said beam being deployed for said pallet-carrying, lifting and capturing involves controlling at least one of: the specified transport device; fasteners for attaching said beam to said platform; a vertical slanted attachment connection for attaching said beam to said platform; a mechanism for adjusting the height of the attachment for attaching said beam to said platform; a mechanism for adjusting the height of the platform for adjusting the relative vertical position between the auxiliary platform and said platform; and specified retractable with the possibility of retracting the beam. 16. The palletizer of claim 1, which also includes a pallet conveyor configured to carry a pallet on at least one of said at least one deployable pallet carrying structure along a path between a location above said selected shelf, and a location located above or below the specified platform, to ensure the movement of the pallet in the specified mode of loading and in the specified mode of unloading.

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