WO1993003982A1 - Transporteur reglable a dispositif de manutention de palette - Google Patents

Transporteur reglable a dispositif de manutention de palette Download PDF

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Publication number
WO1993003982A1
WO1993003982A1 PCT/US1992/001416 US9201416W WO9303982A1 WO 1993003982 A1 WO1993003982 A1 WO 1993003982A1 US 9201416 W US9201416 W US 9201416W WO 9303982 A1 WO9303982 A1 WO 9303982A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
load
handling
phd
pallet
Prior art date
Application number
PCT/US1992/001416
Other languages
English (en)
Inventor
William T. Stewart
Original Assignee
Stewart-Glapat
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from EP19910307787 external-priority patent/EP0472439A3/en
Application filed by Stewart-Glapat filed Critical Stewart-Glapat
Publication of WO1993003982A1 publication Critical patent/WO1993003982A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G67/00—Loading or unloading vehicles
    • B65G67/02—Loading or unloading land vehicles

Definitions

  • the present invention relates to devices for loading and unloading pallets or other concentrated loads from over- the-road cargo vehicles and more particularly for a conveyor device with an integrated pallet handling apparatus.
  • Other specific apparatus are used for non-palletized concentrated loads, such as slipsheet loads, paper rolls, drums, and containers.
  • Patent No. 2,755,945 to Gilson describes an apparatus for loading and unloading of a vehicle that comprises a fully cantilevered structure together with a forklift mounted on the end of the structure. While this device can extend into a truck to be loaded, the entire structure moves in and out of the vehicle, therefore requiring a great deal of facility room in order to operate.
  • the Gilson apparatus requires that an operator physically sit in the cantilevered structure to run the forklift at the end of that structure. In order to traverse from one side of the vehicle to the other, the entire Gilson apparatus must be transported laterally in order to load pallets or cargo on either side of the vehicle to be loaded. Further, the Gilson apparatus does not have an adjustable length capability thereby limiting its usefulness to facilities having a great deal of loading dock space.
  • U.S. Patent No. 2,823,813 to Shimmon describes a self- loading forklift truck.
  • the forklift on this vehicle rotates about an axis for loading objects onto the bed of the truck.
  • the Shimmon invention however requires that the truck physically enter the vehicle being loaded or unloaded. It therefore does not mitigate wear and tear on the floor of the vehicle being loaded or unloaded and it takes up valuable cargo room in the vehicle itself.
  • U.S. Patent No. 3,788,452 to McWilliams describes an extendable conveyor belt that is partially cantilevered.
  • the McWilliams apparatus requires the entire conveyor belt to be wheeled into the bed of the truck to be loaded or unloaded, thereby again placing a heavy floor load on the bed of the vehicle in question. Further, there is no lateral adjustment of the McWilliams apparatus allowing cargo to be removed from different sides of the cargo vehicle.
  • U.S. Patent No. 3,596,785 to Weatherford describes an adjustable conveyor belt requiring a series of supports along the length of the conveyor belt as it extends into a vehicle being loaded or unloaded. Again, floor loading problems can result from this type of support system. Further, once inside the vehicle to be loaded, no provision is made for lateral movement with the cargo vehicle for loading pallets on either side of the vehicle.
  • U.S. Patent No. 3,819,068 to Weir describes a boom conveyor that is adjustable for extension into a truck to be loaded or unloaded. Again, however, the Weir apparatus requires support once extended into the truck during the course of loading of pallets. Again, this does not account for wear and tear on the floor of the vehicle to be loaded or unloaded.
  • U.S. Patent No. 3,835,980 to Brooks describes an adjustable conveyor belt with extendable booms. The Brooks apparatus however does not address the issue of material/cargo handling at the end of the boom.
  • Patent No. 4,249,842 to Johnson all deal with cargo loading in some form. These inventions deal with parts of the problems associated with loading and unloading vehicles but do not together address the issue of subsequent internal cargo handling by forklifts or related vehicles, the transverse loading of pallets within a vehicle, or the elimination of human interface inside the cargo vehicle being loaded or unloaded.
  • the Pallet Handling Conveyor System is an electro-mechanical cargo handling system which loads or unloads cargo vehicles present at a loading dock in a manufacturing, warehouse, and/or distribution facility.
  • the PHCS comprises two distinct systems: 1) A mobile roller conveyor and 2) an extendable front end loading device to handle pallets to be loaded or unloaded in a vehicle.
  • the conveyor portion of the current invention is designed to be positioned entirely on the loading dock.
  • the extendable front end pallet handling device (PHD) attached to the end of the conveyor is of sufficient length to fully extend into conventional tractor-trailer cargo vehicles of standard lengths (usually 53 feet) .
  • the number of booms and length of each boom can be varied in design, depending upon the length of the vehicle being loaded or unloaded.
  • the width of the conveyor portion of the PHCS is constructed to handle any appropriate widths of anticipated pallet dimensions.
  • the fixed section of the extendable conveyor portion of the PHCS can be mounted on a mobile undercarriage to move from door to door.
  • the unit is stationary during a given loading/unloading operation and is designed to interface with a variety of materials handling systems such as roller conveyors, belt conveyors, forklifts, and Automated Guided Vehicle Systems (AGVS) .
  • An alternative to the roller/conveyor section of the present invention is an arrangement whereby pallets or other cargo to be loaded are presented on rollers in front of the PHD perpendicular to the direction in which they will travel when they are loaded into the over-the-road vehicle. This situation occurs with very dense or wide loads which must travel on the floor of a loading dock as opposed to over a roller or conveyor belt transport. In the non-conveyor situation a series of booms is used to extend the PHD into the truck. However. rotational movement of the PHD about an axis is eliminated.
  • the pallet load moves along the conveyor on the conveyor rollers moving from the rear of the fixed conveyor section of the PHCS to the front end PHD attached to the fixed conveyor by way of boom structures which extend the PHD into the vehicle.
  • the pallet load is next handled by the PHD.
  • the PHD can take the form of various load supporting and movement controlling subsystems. In general, however, the PHD operates in the same fashion regardless of the various optional front-end material handling devices that may be attached to it. For example, the PHD operates with four degrees of freedom, each of which is independent from the other. The forks or other material handling device are attached to a mast which allows the load to be moved vertically.
  • the mast system itself is on a rotating bearing which can rotate in a complete circle (360 degrees) . Further, the mast moves across the width of the over-the- road vehicle being loaded or unloaded by means of transverse rails.
  • the handling device itself can pivot on a horizontal axis to align with the floor to aid for the insertion and removal of forks for a pallet or otherwise orient the handling device to the material being loaded or unloaded.
  • the PHD comprises floor support rollers to eliminate torsion as the load is moved from side to side on the transverse rails.
  • a vertical support structure Connected to the front end of the foremost boom structure is a vertical support structure that provides vertical movement of the entire PHD mechanism.
  • a horizontal support structure is directly coupled to this vertical structure.
  • a second vertical structure is movably connected to the horizontal support structure and is capable of traversing horizontally across the width of the horizontal support structure inside the cargo vehicle being loaded or unloaded by virtue of an electronically actuated side to side ball screw mechanism.
  • Both vertical mast structures are comprised of an electronically actuated vertical ball screw mechanisms. The vertical movement provided by the vertical ball screw mechanism allows the attached PHD (e.g. forks or other) to be raised from the floor of the vehicle to any height within the vehicle.
  • the foremost (or front) vertical mast structure is positioned on a 360° rotational bearing allowing the entire vertical structure, forks, and load to be electronically rotated 180 degrees to face the rear of the vehicle being unloaded once the load is raised vertically to a height clearing the conveyor positioned on the loading dock.
  • This rotation is controlled by a gearmotor, pinion, and circular rack mounted on (may be inside or out) the rotational bearing.
  • the movement of the entire device is controlled by computer.
  • the program which controls the function of the PHCS is written in "ladder" logic for use by the Programmable Logic Controller (PLC) .
  • PLC Programmable Logic Controller
  • Inputs may be simple On-Off types, or can give values, such an analog voltage or number of counts. Values of this inputs are specified and Outputs are put into action. Inputs are organized into three main categories:
  • the Sequence of Operations is given for the Loading Sequence.
  • the control logic of the computer system allows the vehicle size and dimensions to be loaded into the computer. Thereafter, movements of the cantilevered booms and the PHD are controlled by the control logic of the computer.
  • the PHCS includes an extendible conveyor with a front- end device attached (PHD-Pallet Handling Device) .
  • the extendible conveyor is a triple boom model, with a closed length of 35 feet, providing 55 feet of cantilevered extension.
  • the fixed section of the conveyor has roller conveyor sections mounted on it for accumulation of the pallet loads from the delivery system.
  • the three booms extend and retract in synchronized motion from the fixed section.
  • the entire conveyor system can be mounted on wheels for traversing to alternate door locations.
  • the PHD section is mounted on the front of the boom sections and moves with it into and out of the trailer.
  • Stabilizing rollers are provided to make floor contact when required to eliminate any torsion when the pallet load moves from side to side in the trailer.
  • the fork mechanism is mounted on a mast, with UP-DOWN motion controlled by a vertical motorized ball screw.
  • the entire mast moves side-to-side, controlled by a horizontal motorized ball screw.
  • the Mast Structure is supported by two horizontal rails, as it moves from side-to-side.
  • This entire Rail/Mast mechanism is supported by the aft vertical mast structure, with up-down motion controlled by a vertical motorized ball screw.
  • the aft vertical mast structure is attached to the front boom structure. Tilting of the forks is accomplished with a CAM system mounted near the base of the mast.
  • the Mast Structure is mounted on a rotating bearing which is driven by a rack/pinion arrangement so the entire mast can rotate in a circle. This allows the forks to engage a pallet which is located at the front of the roller conveyor sections and to rotate 180 degrees to enter the trailer.
  • degrees of freedom of motion are summarized below:
  • EXTEND-RETRAC This motion causes the boom structures and the attached PHD to move along the centerline of the trailer from the dock to the front of the trailer.
  • PHD UP-DOWN This motion causes the entire PHD system to move vertically for proper vertical alignment with the trailer floor.
  • PHD LEFT-RIGHT This motion causes the Mast Structure to move across the width of the trailer for proper placement of the pallet on the trailer floor.
  • MAST-UP-DOWN This motion causes the forks to move vertically between the height of the pallet pick-up section of roller conveyor and the floor level of the trailer.
  • MAST ROTATE This motion causes the Mast Structure to rotate in a circle to properly orient the pallet from the roller conveyor section to the trailer.
  • PHD FORK TILT This motion causes the pallet engagement device (or forks) to tilt to match the floor slope for proper disengagement of the forks from the pallet.
  • This system can be operated in either the LOAD or the UNLOAD modes.
  • the necessary motions for either mode are provided in the basic mechanical package, and only the electrical controls would be customized for either or both of these modes.
  • the control circuitry is modular in design with a complete complement of required logic in the basic program.
  • the basic control circuit is centered on the use of a PLC, mounted on the fixed section of the PHCS. This PLC provides both the input capability and sufficient outputs to control all functions.
  • PLC input cards include discrete input, analog input, and high-speed counters; output cards include discrete relay output and computer/modem interface.
  • a display message system is provided with keypad interface for operator control and trouble-shooting.
  • the speed of the various motions will be controlled with frequency drives. Three separate drives will be used and they will be switched to the various motions as required. Thus smooth acceleration-deceleration motions will be assured.
  • An Emergency Run Bypass System will be used to allow a supervisor to control all motions if the system must be operated outside of full PLC control.
  • Anti-collision zone isolation, and position sensing are employed to ensure that the moving PHD will not hit an unanticipated obstacle.
  • Sonic sensor(s) with analog output will be used to measure the distance of the PHD from the sides of the trailers and looking forward to the cargo already in the vehicle.
  • Each motion will also have "end of motion” sensing devices (positive drive limit switches) to prevent action beyond the normal design limits, and a "home” sensing device (proximity switch) to provide a zero encoder count signal to the PLC.
  • SYSTEM INTERFACES The PHD system controls will easily interface with other control systems in the operating environment. Status of the system can be communicated to a host control system, and activation of the PHD system can be controlled by a central computer. Self-diagnostics with coded displays are provided assist Supervisors and
  • a PLC to phone line interface is included to provide assistance by the manufacturer when necessary.
  • the "AUTO-RUNNING" warning light is next actuated, and 5-sec. warning horn is sounded.
  • the PHCS next gives the "Ready to Receive Cargo” signal. 8. Cargo is moved to the "Pallet Engaged State-1" switch and stopped.
  • the boom extension speed is set to 100%. 14. After the PHD enters trailer, the PHD lift control is switched to automatic. 15. Once the PHD support wheels are resting on the trailer floor, the pallet is positioned left or right as necessary for placement.
  • Left/Right pallet positioning is accomplished at final boom position, less one foot if pallet is first to be placed in present row.
  • Left/right pallet positioning is accomplished at the final boom position less six feet, if pallet is last to be placed in present row.
  • FIG. 1 Overall View of the Pallet Handling Conveyor System Apparatus.
  • FIG. 1 Pallet handling front end (side view).
  • Figure 3. Pallet handling front end (top view).
  • Figure 4. Pallet handling front end (head on). Detailed Description of the Invention
  • the PHCS comprises three major parts: roller conveyor or belt system, an extendable boom system, and a front-end pallet handling device.
  • the base unit of the PHCS [1] generally rests on either a mobile undercarriage or directly on a loading dock or other solid surface.
  • the adjustable booms attached to the front-end pallet handling device [2,3,4] extend into the cargo vehicle [6] to be loaded or unloaded.
  • the front-end cargo handling system [5] is movably connected to the end of the foremost extendable boom [4] where it is used to remove or load pallets [9] .
  • Eigra 2 describes the PHD.
  • a vertical structure or mast [10] allows the forks [12] of the cargo handling unit to be raised or lowered to lift a given pallet.
  • Floor contact rollers are provided to counteract any torsional loads imposed by the pallet load being off-center. It should be noted that these floor contact rollers are not load bearing, for the cantilevered loads.
  • the forks [12] are attached to a carriage moveable within the vertical mast [10] .
  • the entire vertical assembly traverses laterally along the horizontal support members [20] .
  • the frontal view of the PHD is shown.
  • the combination vertical ball screw mechanism and forklift is moved laterally across the horizontal support [20] by a horizontal ball screw mechanism [30].
  • the entire front-end apparatus can transverse laterally across the width of a trailer to be unloaded.
  • the invention data flow is not described. Vehicle dimensions and type of cargo are first determined and loaded into the central processing unit or the computer that controls the invention. Based upon these instructions and the resident logic in the CPU, instructions to the invention are generated. These instructions are subsequently transmitted to the PHD which results in loading or unloading actions. During the course of loading or unloading, sensors on the PHD generate signals when the device comes in contact with the cargo being loaded or unloaded. Those signals are sent back to the central processing unit for generating new instructions which again result in loading or unloading actions and adjustments. In this manner data are constantly being fed to the PHD and received from the PHD in order to effect the loading or unloading desired.
  • the PLC has various input signals and output signals that drive the PHC.
  • Step Auto-Sequence Forward (in HOLD mode) 40.0. Trailer Height 11. Trailer Width 12. Trailer Length 13. Pallet Height 14. Pallet Width 45.5. Pallet Depth 16. Pallet Spacing (average distance between pallets) 17.
  • MISCELLANEOUS NOTES The location of the end of the dock will be hard programmed based on individual installations.
  • Standard trailer dimensions will be hard programmed into memory with an operator option to change these dimensions for a given load-cycle.
  • Trailer floor height will always be flush or higher than dock floor.
  • Line display unit and key pad for operator interface and alarm/query annunciation to be standard.
  • the program When a request to run auto-sequence is made, the program shall query the operator and require a positive response to machine status before permission to run is given.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

On décrit un transporteur réglable à dispositif de manutention de matérial, comprenant une flèche réglable (2, 3, 4) ainsi qu'un dispositif avant (5) de manutention de matériel présentant quatre degrés de liberté afin que des charges (9) puissent être soulevées et pivotées vers la position requise, puis placées dans un véhicule sur route (6) ou déchargées d'un tel véhicule (6). Le dispositif de manutention est commandé par ordinateur en fonction des dimensions du véhicule (6) en cours de chargement ou de déchargement, et comprend en outre des capteurs permettant d'effectuer le réglage plus précis du mouvement du dispositif (5) lors du chargement ou du déchargement.
PCT/US1992/001416 1991-08-22 1992-02-25 Transporteur reglable a dispositif de manutention de palette WO1993003982A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US74881791A 1991-08-22 1991-08-22
US748,817 1991-08-22
EP91307787.01 1991-08-23
EP19910307787 EP0472439A3 (en) 1990-08-24 1991-08-23 Pallet handling adjustable conveyor

Publications (1)

Publication Number Publication Date
WO1993003982A1 true WO1993003982A1 (fr) 1993-03-04

Family

ID=26129813

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US1992/001416 WO1993003982A1 (fr) 1991-08-22 1992-02-25 Transporteur reglable a dispositif de manutention de palette

Country Status (2)

Country Link
AU (1) AU3436193A (fr)
WO (1) WO1993003982A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004050518A1 (fr) * 2002-11-29 2004-06-17 Caljan Rite-Hite Gmbh Transporteur telescopique

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3202242A (en) * 1962-04-13 1965-08-24 Lansing Bagnall Ltd Industrial truck with an elevatable operator platform that is movable with and relative to the load handling means
US3819068A (en) * 1973-01-02 1974-06-25 Fmc Corp Boom conveyor
US3853230A (en) * 1971-07-29 1974-12-10 G Schultz Loader/unloader conveyor system
US3984019A (en) * 1972-10-24 1976-10-05 Brudi Equipment, Inc. Lift truck side loading attachment particularly adaptable for handling elongate loads
US4128183A (en) * 1976-12-16 1978-12-05 Allis-Chalmers Corporation Straddle-type lift truck with a apparatus for handling loads at the front and sides thereof
US5009560A (en) * 1988-12-06 1991-04-23 Yellow Freight System, Inc. Mixed freight handling system
US5015145A (en) * 1989-10-06 1991-05-14 R. J. Reynolds Tobacco Company Automated cargo loading system
US5036952A (en) * 1989-02-17 1991-08-06 Harper Clark N Load lift truck
US5052882A (en) * 1989-12-04 1991-10-01 Caterpillar Industrial Inc. Apparatus and method for controllably positioning forks of a material handling vehicle

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3202242A (en) * 1962-04-13 1965-08-24 Lansing Bagnall Ltd Industrial truck with an elevatable operator platform that is movable with and relative to the load handling means
US3853230A (en) * 1971-07-29 1974-12-10 G Schultz Loader/unloader conveyor system
US3984019A (en) * 1972-10-24 1976-10-05 Brudi Equipment, Inc. Lift truck side loading attachment particularly adaptable for handling elongate loads
US3819068A (en) * 1973-01-02 1974-06-25 Fmc Corp Boom conveyor
US4128183A (en) * 1976-12-16 1978-12-05 Allis-Chalmers Corporation Straddle-type lift truck with a apparatus for handling loads at the front and sides thereof
US5009560A (en) * 1988-12-06 1991-04-23 Yellow Freight System, Inc. Mixed freight handling system
US5036952A (en) * 1989-02-17 1991-08-06 Harper Clark N Load lift truck
US5015145A (en) * 1989-10-06 1991-05-14 R. J. Reynolds Tobacco Company Automated cargo loading system
US5052882A (en) * 1989-12-04 1991-10-01 Caterpillar Industrial Inc. Apparatus and method for controllably positioning forks of a material handling vehicle

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004050518A1 (fr) * 2002-11-29 2004-06-17 Caljan Rite-Hite Gmbh Transporteur telescopique
GB2410482A (en) * 2002-11-29 2005-08-03 Caljan Rite Hite Gmbh Telescopic conveyor device
GB2410482B (en) * 2002-11-29 2007-01-10 Caljan Rite Hite Gmbh Telescopic conveyor device

Also Published As

Publication number Publication date
AU3436193A (en) 1993-03-16

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