WO2004039701A1 - A carriage - Google Patents
A carriage Download PDFInfo
- Publication number
- WO2004039701A1 WO2004039701A1 PCT/SE2003/001567 SE0301567W WO2004039701A1 WO 2004039701 A1 WO2004039701 A1 WO 2004039701A1 SE 0301567 W SE0301567 W SE 0301567W WO 2004039701 A1 WO2004039701 A1 WO 2004039701A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- carriage
- arms
- disposed
- rail pair
- wheels
- Prior art date
Links
- 230000000284 resting effect Effects 0.000 claims abstract description 11
- 238000011068 loading method Methods 0.000 description 4
- 125000006850 spacer group Chemical group 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0485—Check-in, check-out devices
-
- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
-
- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
- B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
Definitions
- the present invention relates to a carriage for transporting a load, preferably a pallet, along a rail pair in a so-called deep racking store, comprising carrier means which, in a deactivated transport position of the carriage, are disposed to pass under a load resting on the rail pair and which, in an activated lifting position, are disposed to carry from beneath the load free from the rail pair, the carriage having a supporting chassis/frame provided with at least four wheels.
- a carriage which rolls on the rail pair and is designed in such a manner that, in a deactivated position, it may pass under loads resting on the rail pair. If, on the other hand, it is transferred to an activated lifting position, it lifts from beneath a load resting on the rail pair so that the load is free of the rail pair and can, with the aid of the carriage, be transported along the rail pair.
- a pallet lifted up by, for example, a fork-lift truck and placed at an end region of a rail pair may readily be transported with the aid of the carriage to the inner end of the rail pair.
- the carriage may thereafter return to the outer end of the rail pair to fill the rail pair with additional loads until the complete rail pair is fully loaded.
- one and the same carriage is employed for transporting loads on different rail pairs, for which reason the carriage is moved from one rail pair to another as required.
- the carriage In order to lift the load, the carriage has a lifting device with at least so great a lifting distance that the carriage, with the lifting device in a deactivated position, may pass under a load resting on the rail pair while, in an activated lifting position, it lifts the load so high that it is free of the rail pair.
- the lifting device comprises a parallelogram or pantograph mechanism which, in the vertical direction, acts on carrier means disposed on the carriage so that these may be raised and lowered in relation to the carriage.
- the pantograph mechanism has an upper arm pivotally connected to the carrier means and a lower arm pivotally connected to the chassis or frame of the carriage, the arms also being interconnected to one another and, at this connecting point, further connected to a linear prime mover.
- Both of the arms are pivotal under the action of the prime mover between a position where they lie approximately in line with one another and where the carrier means are raised, and a position where the arms make an angle with one another and where the carrier means are lowered so that the carriage can pass under a load resting on a rail pair.
- pantograph mechanism functions satisfactorily, but has insufficient load carrying capacity.
- Constructions are also previously known in the art where the wheels of the carriage are adjustable in the vertical direction so that the entire carriage is raised and lowered in relation to the rail pair when the load is to be lifted up or deposited on a rail pair.
- the present invention has for its object to design the carriage intimated by way of introduction such that this will display considerably greater lifting capacity than prior art carriages are capable of performing. Further, the present invention has for its object to design the carriage so that it will be simple and economical in manufacture, at the same time as needing but simple maintenance and possessing long service life. SOLUTION
- the carriage intimated by way of introduction is characterised in that the carrier means are rigidly connected to the chassis, that each wheel is journalled in an associated arm which is pivotally journalled in the chassis for raising and lowering the wheel in relation to the chassis, the arm being further operable by means of an operating device.
- Fig. 1 shows a carriage according to the present invention resting on a rail pair, a part of the one rail having been cut away for purposes of clarity and the carriage being in a deactivated transport position, i.e. in a lowered position;
- Fig. 2 shows the carriage according to Fig. 1 in an activated lifting position, i.e. in a raised position
- Fig. 3 in a view corresponding to Fig. 1 is a vertical cross section through the carriage
- Fig. 4 in a view corresponding to Fig. 2 is a vertical cross section through the carriage
- Fig. 5 shows a mounting unit included in the carriage with two wheels mounted thereon.
- Figs. 1 and 2 show a rail 1 included in a rail pair in a deep racking store, the rail having, along its upper defining edge, a substantially horizontal support surface 2 which is intended for carrying a load, preferably a pallet.
- the support surface 2 is, in Figs. 1 and 2, at right angles to the plane of the Drawing and extends towards the observer from this plane.
- the rail 1 further has a running surface 3 which is also horizontal and preferably parallel with the support surface 2 and is intended for supporting a carriage 4 according to the present invention.
- the support surface 2 and the running surface 3 are connected to one another by the intermediary of a wall 5 extending in the vertical direction of the rail, and further a downwardly directed flange 6 which extends downwards from that edge of the running surface 3 which is turned to face towards the other rail included in a rail pair.
- the two running surfaces 3 lie as horizontal shelves in between both of the walls 5 in the rail pair, while the support surfaces 2 extend away from one another from the upper edge portions of the walls 5.
- the carriage 4 On its upper side, the carriage 4 has carrier means 10 which are fixedly secured in the carriage and are thus rigidly connected to a chassis/frame included in the carriage.
- the carrier means 10 are disposed to engage from beneath with a load resting on a rail pair and lift the load so high that the load is free of the support surfaces 2 of the rail pair when the carriage 4 with the load is to be run along a rail pair.
- the carrier means 10 When the carriage 4 is to be run along the rail pair without a load, the carrier means 10 are located on a lower level, so low that the carriage 4 may freely pass under a pallet resting on the rail pair.
- Fig. 1 the carriage is in a deactivated transport position, i.e. the lowered position, while in Fig. 2, the carriage is in an activated lifting position, i.e. the raised position, and it will be apparent on a comparison between these two Figures that the wheel 7 and the axle 8 in Fig. 1 are of considerably higher vertical extent in relation to the carriage than is the case in Fig. 2. From this it follows that the whole carriage 4 is raisable and lowerable for raising and lowering of the carrier means 10 by a corresponding lowering and raising of the wheels 7, respectively.
- an operating device disposed in the carriage which, in turn, is connected to a prime mover. The operating device will be described in greater detail below.
- the carriage For operating the wheels 7 and their axles 8 in the vertical direction, the carriage has an operating device 16 which is disposed for pivoting both of the arms 11 about the pivot shafts 15.
- the operating device 16 includes an excenter or crank device which engages with the inner ends of the inner portions 13 of the arms 11.
- the operating device 16 has a drive shaft 17 which, for its rotation, is connected to a prime mover (not shown on the Drawings), for example an electric motor.
- a prime mover for example an electric motor.
- the wheels 7 of the carriage extend in the lateral direction outside the chassis or supporting frame of the carriage so that this be located in between the two downwardly directed flanges 6 on the rails included in a rail pair (see Fig. 1).
- the outer arm portions 12 are located a greater distance from the longitudinal centre line of the carriage than is the case for the inner arm portions 13.
- connecting members or sleeves 18 are provided which mutually rigidly connect the two arm portions and which are included in the journal devices 14 of the arms.
- spacer sleeves which surround the wheel axles.
- the roller bearings in the bearings 9 are axially fixed in the outer arm portions 12 of the arms so that axial loadings on the wheels are transferred to these arm portions via the spacer sleeves and the roller bearings.
- these are provided with guides whose purpose is to prevent axial movement of the wheel and the outer portions 12 of the arms in relation to the chassis of the carriage by transferring thereto the above-mentioned loadings.
- the guides include elongate apertures 19 in the outer portions 12 of the arms, the apertures being concentric about the pivot shafts 15 of the arms and being disposed at the outer ends of the outer arm portions 12 in particular outside the wheel axles 8.
- stub shafts extend through these apertures 19 which, at their ends facing towards the observer of Figs. 3 and 4, have heads or washers 20 which prevent movement towards the observer of Figs. 3 and 4 of the outer end portions of the arms 11.
- the fixing of the outer portions 12 of the arms takes place in the longitudinal direction of the wheel axles 8 in that the stub shafts with the heads 20 are fixed in the chassis of the carriage.
- On the rear side (in Figs. 3 and 4) of the arms these abut against sliding guides which are rigidly connected to the chassis.
- the wheels 7 pairwise have a common and through-going axle 8 whereby the wheels are interconnected to each other in the axial direction, so that, in principle, both of the guides for the outer portions 12 of the arms will thereby share an axial loading on the wheels. It should also be mentioned that the wheel axles 8 are parallel with the pivot shafts 15 of both arms 11.
- the mounting unit 21 has two outer or first walls 22 which are at right angles to the pivot shafts 15 of the arms 11, as well as two inner or second walls 23 which are parallel with the outer walls 22 and which are located a distance inside them.
- the distance between the outer and inner walls is such that the sleeves 18 which the connect the outer portions 12 of the arms 11 with the inner portions 13, as well as the arms proper, will have space without axial play between the mutually facing sides of these walls.
- the journals of the arms 11 are supported by the above-mentioned first and second walls 22 and 23.
- the operating device 16 includes an excenter 26 which is radially offset in relation to the drive shaft 17 (Figs. 3 and 4). On the excenter, there are disposed two roller bearings side-by-side, i.e. closely joined together in the axial direction. In Figs. 3 and 4, only the roller bearing most proximal to the observer of the Figure is visible.
- the two roller bearings supported by the excenter 26 each have an inner ring 27 and an outer ring 28.
- the outer ring on the roller bearing located most proximal in Figs. 3 and 4 is accommodated in an aperture in the inner portion 13 of the left arm in the Figures, while the roller bearing located most distal from the observer of the Figure has its outer ring accommodated in a corresponding aperture in the inner portion 13 of the right arm 11 in the Figures, whose inner portion 13 in the Figures is located behind the inner portion of the left arm.
- the apertures in the inner portion 13 of the arms are of approximately the same extent as the diameter of the outer rings of the two roller bearings, so that the outer rings may be accommodated substantially without play in the apertures in the vertical direction.
- the operating device 16 has an upper and lower dead point, the arms 11 in the lower dead point of the operating device having their outer portions 12 raised, while the opposite applies when the operating device 16 is located in the upper dead point.
- the major advantage will be afforded that loadings on the wheels in the vertical direction will not be transferred to the prime mover that drives the operating device 16 when the carriage is located in its activated lifting position and in its deactivated transport position, in other words the operating device is "self-locking" when the wheels 7 are located in their maximum raised and maximum lowered positions in relation to the chassis.
- the bearings 9 of the wheels 7 have been described as roller bearings. Possibly, other types of bearings could be employed, for example bearings with different types of bushings. The same circumstance applies to the bearings for the drive shaft 17 and the bearings between the excenter 26 and the apertures of the arms 11. Possibly, one variation could be conceivable where both of the roller bearings on the excenter 26 are replaced by a bearing whose outer ring engages with the apertures in the two arms 11.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
- Intermediate Stations On Conveyors (AREA)
- Vehicle Body Suspensions (AREA)
- Supporting Of Heads In Record-Carrier Devices (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Warehouses Or Storage Devices (AREA)
- Pharmaceuticals Containing Other Organic And Inorganic Compounds (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
- Leg Units, Guards, And Driving Tracks Of Cranes (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2003268806A AU2003268806A1 (en) | 2002-10-31 | 2003-10-09 | A carriage |
DE60316976T DE60316976T2 (en) | 2002-10-31 | 2003-10-09 | DARE |
EP03748858A EP1558506B1 (en) | 2002-10-31 | 2003-10-09 | A carriage |
DK03748858T DK1558506T3 (en) | 2002-10-31 | 2003-10-09 | Wagon |
US10/907,728 US7131810B2 (en) | 2002-10-31 | 2005-04-13 | Carriage |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE0203202A SE524006C2 (en) | 2002-10-31 | 2002-10-31 | Trolley for transporting a load along a rail pair |
SE0203202-7 | 2002-10-31 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US10/907,728 Continuation US7131810B2 (en) | 2002-10-31 | 2005-04-13 | Carriage |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004039701A1 true WO2004039701A1 (en) | 2004-05-13 |
Family
ID=20289412
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/SE2003/001567 WO2004039701A1 (en) | 2002-10-31 | 2003-10-09 | A carriage |
Country Status (10)
Country | Link |
---|---|
US (1) | US7131810B2 (en) |
EP (1) | EP1558506B1 (en) |
CN (1) | CN100482552C (en) |
AT (1) | ATE375942T1 (en) |
AU (1) | AU2003268806A1 (en) |
DE (1) | DE60316976T2 (en) |
DK (1) | DK1558506T3 (en) |
ES (1) | ES2295620T3 (en) |
SE (1) | SE524006C2 (en) |
WO (1) | WO2004039701A1 (en) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1939114A1 (en) | 2006-12-29 | 2008-07-02 | Automha S.r.l. | Device for the automatic storage of a load unit in a storage rail |
EP2008950A1 (en) | 2007-06-26 | 2008-12-31 | Automha S.r.l. | Device for the automatic storage of a load unit in a storage rail |
EP2404848A1 (en) | 2010-07-07 | 2012-01-11 | Jungheinrich Aktiengesellschaft | Cart for rail-bound transport of palettes within a deep shelf system |
EP2404847A1 (en) | 2010-07-07 | 2012-01-11 | Jungheinrich Aktiengesellschaft | Cart for transporting palettes within a deep shelf system |
EP3466844A1 (en) * | 2017-10-03 | 2019-04-10 | AJ Produkter AB | A shuttle for delivering and retrieving goods, a storage system with a shuttle and methods associated therewith |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102008022322B4 (en) | 2008-04-30 | 2014-10-09 | SSI Schäfer AG | Lifting mechanism for a shuttle of a channel warehouse, as well as shuttle and shuttle channel storage |
CN102069985B (en) * | 2011-02-25 | 2012-07-04 | 阮志华 | Box loading wheel mechanism of box pulling device |
NO335839B1 (en) | 2012-12-10 | 2015-03-02 | Jakob Hatteland Logistics As | Robot for transporting storage containers |
US11858738B2 (en) | 2013-08-09 | 2024-01-02 | Ocado Innovation Limited | Apparatus for retrieving units from a storage system |
GB201314313D0 (en) | 2013-08-09 | 2013-09-25 | Ocado Ltd | Apparatus for retrieving units from a storage system |
NO337544B1 (en) | 2014-06-19 | 2016-05-02 | Jakob Hatteland Logistics As | Remote controlled vehicle assembly to pick up storage containers from a storage system |
CN106957034A (en) * | 2017-04-24 | 2017-07-18 | 深圳市鸿鹭工业设备有限公司 | A kind of shuttle lifting body |
CN112041243B (en) * | 2018-04-25 | 2022-04-19 | 自动存储科技股份有限公司 | Container handling vehicle having first and second sections and a hoist motor in the second section |
CN108725628B (en) * | 2018-08-29 | 2023-07-18 | 汕头大学 | Combined modular wheel type chassis mechanism for express robot |
DE102020206306A1 (en) | 2020-05-19 | 2021-11-25 | Continental Teves Ag & Co. Ohg | Driverless transport vehicle with a payload lifting device. |
US20220371822A1 (en) * | 2021-05-19 | 2022-11-24 | Gpcp Ip Holdings Llc | Vehicle suspension system, conveyor system, and autonomous vehicles incorporating the same |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3709383A (en) * | 1970-03-23 | 1973-01-09 | Morris H Ltd | Racks for storage and transfer purposes |
US4273494A (en) * | 1978-09-27 | 1981-06-16 | Interlake, Inc. | Storage rack entry vehicle |
DE3213983A1 (en) * | 1982-04-16 | 1983-10-27 | Fraunhofer-Institut für Transporttechnik- und Warendistribution | Device for manipulating transport or storage units, in particular in high-rack block-storage systems |
US5033928A (en) * | 1986-09-10 | 1991-07-23 | Suominen Seppo K | Method and transfer vehicle to eliminate the accumulation of errors occuring in the placing of packages in a consecutive store |
US5388657A (en) * | 1993-03-29 | 1995-02-14 | Yugen Kaisha Takuma Seiko | Lifting mechanism for no-man vehicle |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4395181A (en) * | 1978-07-17 | 1983-07-26 | Litton Systems, Inc. | Robot vehicle |
IT1136819B (en) * | 1981-03-13 | 1986-09-03 | Finsider Costr Metall Cmf | CONVEYOR DEVICE FOR A STORAGE SYSTEM |
DE3208400C2 (en) * | 1982-03-09 | 1985-08-22 | Expert Maschinenbau Gmbh, 6143 Lorsch | Scissor lift table with step drive |
FI81309C (en) * | 1989-01-04 | 1990-10-10 | Pesmel Insinoeoeritoimisto | Trolley |
US6019565A (en) * | 1996-11-12 | 2000-02-01 | Gesuale; Thomas | Container lifting and transport apparatus |
-
2002
- 2002-10-31 SE SE0203202A patent/SE524006C2/en not_active IP Right Cessation
-
2003
- 2003-10-09 AT AT03748858T patent/ATE375942T1/en not_active IP Right Cessation
- 2003-10-09 DE DE60316976T patent/DE60316976T2/en not_active Expired - Lifetime
- 2003-10-09 DK DK03748858T patent/DK1558506T3/en active
- 2003-10-09 WO PCT/SE2003/001567 patent/WO2004039701A1/en active IP Right Grant
- 2003-10-09 AU AU2003268806A patent/AU2003268806A1/en not_active Abandoned
- 2003-10-09 EP EP03748858A patent/EP1558506B1/en not_active Expired - Lifetime
- 2003-10-09 CN CNB2003801025754A patent/CN100482552C/en not_active Expired - Lifetime
- 2003-10-09 ES ES03748858T patent/ES2295620T3/en not_active Expired - Lifetime
-
2005
- 2005-04-13 US US10/907,728 patent/US7131810B2/en not_active Expired - Lifetime
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3709383A (en) * | 1970-03-23 | 1973-01-09 | Morris H Ltd | Racks for storage and transfer purposes |
US4273494A (en) * | 1978-09-27 | 1981-06-16 | Interlake, Inc. | Storage rack entry vehicle |
DE3213983A1 (en) * | 1982-04-16 | 1983-10-27 | Fraunhofer-Institut für Transporttechnik- und Warendistribution | Device for manipulating transport or storage units, in particular in high-rack block-storage systems |
US5033928A (en) * | 1986-09-10 | 1991-07-23 | Suominen Seppo K | Method and transfer vehicle to eliminate the accumulation of errors occuring in the placing of packages in a consecutive store |
US5388657A (en) * | 1993-03-29 | 1995-02-14 | Yugen Kaisha Takuma Seiko | Lifting mechanism for no-man vehicle |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1939114A1 (en) | 2006-12-29 | 2008-07-02 | Automha S.r.l. | Device for the automatic storage of a load unit in a storage rail |
EP2008950A1 (en) | 2007-06-26 | 2008-12-31 | Automha S.r.l. | Device for the automatic storage of a load unit in a storage rail |
EP2404848A1 (en) | 2010-07-07 | 2012-01-11 | Jungheinrich Aktiengesellschaft | Cart for rail-bound transport of palettes within a deep shelf system |
EP2404847A1 (en) | 2010-07-07 | 2012-01-11 | Jungheinrich Aktiengesellschaft | Cart for transporting palettes within a deep shelf system |
DE102010026871A1 (en) | 2010-07-07 | 2012-01-12 | Jungheinrich Aktiengesellschaft | Trolley for a rail-bound transport of pallets in a deep racking system |
DE102010026885A1 (en) | 2010-07-07 | 2012-01-12 | Jungheinrich Aktiengesellschaft | Trolley for transporting pallets within a deep racking system |
EP3466844A1 (en) * | 2017-10-03 | 2019-04-10 | AJ Produkter AB | A shuttle for delivering and retrieving goods, a storage system with a shuttle and methods associated therewith |
WO2019068718A1 (en) * | 2017-10-03 | 2019-04-11 | Aj Produkter Ab | A shuttle for delivering and retrieving goods, a storage system with a shuttle and methods associated therewith |
Also Published As
Publication number | Publication date |
---|---|
AU2003268806A1 (en) | 2004-05-25 |
CN100482552C (en) | 2009-04-29 |
EP1558506A1 (en) | 2005-08-03 |
US7131810B2 (en) | 2006-11-07 |
CN1708442A (en) | 2005-12-14 |
DK1558506T3 (en) | 2008-01-28 |
DE60316976D1 (en) | 2007-11-29 |
EP1558506B1 (en) | 2007-10-17 |
DE60316976T2 (en) | 2008-07-24 |
ES2295620T3 (en) | 2008-04-16 |
SE0203202D0 (en) | 2002-10-31 |
SE0203202L (en) | 2004-05-01 |
US20050191160A1 (en) | 2005-09-01 |
ATE375942T1 (en) | 2007-11-15 |
SE524006C2 (en) | 2004-06-15 |
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