WO2016009284A1 - Véhicule à guidage automatique destiné à la gestion d'un emballage - Google Patents

Véhicule à guidage automatique destiné à la gestion d'un emballage Download PDF

Info

Publication number
WO2016009284A1
WO2016009284A1 PCT/IB2015/052536 IB2015052536W WO2016009284A1 WO 2016009284 A1 WO2016009284 A1 WO 2016009284A1 IB 2015052536 W IB2015052536 W IB 2015052536W WO 2016009284 A1 WO2016009284 A1 WO 2016009284A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
package
guide
strapping machine
tying
Prior art date
Application number
PCT/IB2015/052536
Other languages
English (en)
Inventor
Paola Ferrari
Original Assignee
Paola Ferrari
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
Application filed by Paola Ferrari filed Critical Paola Ferrari
Publication of WO2016009284A1 publication Critical patent/WO2016009284A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B13/00—Bundling articles
    • B65B13/18—Details of, or auxiliary devices used in, bundling machines or bundling tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B13/00—Bundling articles
    • B65B13/02—Applying and securing binding material around articles or groups of articles, e.g. using strings, wires, strips, bands or tapes
    • B65B13/04—Applying and securing binding material around articles or groups of articles, e.g. using strings, wires, strips, bands or tapes with means for guiding the binding material around the articles prior to severing from supply
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided

Definitions

  • the present invention relates to an automated guided vehicle for managing a package.
  • an automated guided vehicle also known by the acronym AGV, used in warehouses or in production departments within the ceramic industry.
  • a package such as a package of tiles, generally comprises a base pallet whereon the tiles are tidily arranged.
  • a first AGV type exhibits a front forked structure equipped with wheels defining a pair of carriages, one for each side of the vehicle, thereby defining a containment zone of the package arranged on the lifting forks.
  • a second AGV type is the so-called "counterbalanced vehicle", or the type comprising a rear weight.
  • AGVs of the prior art are such that some drawbacks may occur when packages of tiles as the above ones are to be handled or transferred from the AGV to roller conveyors.
  • the pallets are in turn very thin and therefore are subject to bending if stressed.
  • Pallets bending may also occur when the same are transferred onto the roller conveyors thus causing the tiles to become unstable and fall to the ground.
  • FIG. 1 shows a schematic side view of an automated guided vehicle of the invention herein;
  • Figure 2A shows a detail of Figure 1 with some parts missing to better highlight other parts which otherwise would not be visible;
  • FIG. 2B shows the detail of figure 2A in a different operational configuration
  • FIG. 3 shows a schematic plan view of the vehicle of Figure 2B
  • Figure 4 shows a schematic rear view of the vehicle of Figure 2B
  • FIG. 5A shows a schematic view of an operational condition of use of the automated guided vehicle herein disclosed
  • FIG. 5B shows a schematic view of a different operational condition of the vehicle of figure 5A
  • FIG. 5C shows a schematic view of a different and further operational condition of the vehicle of figure 5A.
  • an automatic guided vehicle 10 for carrying a package 00 of the type already described in the prior art.
  • the invention can also be applied, by way of example but not exclusively, to a vehicle other than an AGV such as a lift truck or the like.
  • the invention herein can also be applied for managing and handling packages or product burdens relating to different sectors such as for example food products, profile shapes or rolling mill products, and so on.
  • the automated guided vehicle 10 may be of the type equipped with a front "fork” comprising a pair of front carriages 1 arranged on the sides of the vehicle 10, as already explained in relation to the prior art.
  • the invention can be applied to counterbalanced AGVs and to AGVs in general.
  • the automated guided vehicle 10 comprises lifting forks 12 arranged in the front space between the pair of carriages 1 1 .
  • the automated guided vehicle 10 comprises a drive wheel adapted to move and guide the AGV 10, which drive wheel is associated with the wheels of the carriages 1 1 that can be idle and not adjustable.
  • the automated guided vehicle 10 carries tying means 20 onboard, comprising a strapping machine 28 suitable for arranging a tie strap 200 around the package 100 housed on the lifting forks 2.
  • the tying means 20 on board of the AGV 10 comprises a sliding carriage 21 suitable for bearing the strapping machine 28.
  • the strapping machine 28 comprises an operating unit 26 and a guide frame 22 of the tie strap 200, integral to the operating unit 26 so as to define an operational body unit.
  • the guide frame 22 is adapted to arrange a tie strap 200 along the perimeter of a package 100 of a product for tying thereof.
  • the operating unit 26 of the strapping machine 28 is adapted to perform some specific functions of said strapping machine according to methods of the known type, such as: removing the tie strap from the accumulating means as described hereunder, launching the tie strap along the frame followed by welding and cutting thereof.
  • the guide frame 22 includes a groove 22a
  • the tying means 20 preferably comprises a storage member 23 of the tie strap 200, said storage member 23 being operatively associated with the strapping machine 28.
  • the storage member 23 provides a tie strap 200 portion to be "launched” along the groove 22a (or inner channel) during the tying step of the package 100.
  • the storage member 23 comprises at least a reel 23a for housing a spool 210 of the tie strap 200.
  • the storage member 23 has braking means (by way of example of the motorized type), suitable for slowing down the stroke of the spool 210 after the strapping machine 28 performed "launching" of the tie strap 200 through the guide frame 22.
  • the braking means prevents the tie strap 200 wound around the spool 210 from being unwound in an uncontrolled manner due to rotational inertia.
  • the storage member 23 includes a movement member 23b, such as a linear actuator, associated to the reel 23a so as to allow displacement thereof between two alternative configurations: a configuration for replacement of the spool 210 of the tie strap 200 with a new one, and a configuration for use of the storage member 23.
  • a movement member 23b such as a linear actuator
  • the reel 23a In the replacement configuration of the reel 2 0, the reel 23a is placed projecting on one side of the AGV and the tying means 20, so as to be reachable by hand. In the configuration of use of the storage member 23, the reel 23a is placed in the working position, as shown by way of example in the schematic view of Figure 4.
  • the operator can have an easier access to the reel 23a during replacement operations of the spool 210, and the overall dimensions of the tying means 20 can be simultaneously optimized. Additionally, the displacement of the storage means 23 allows to easily open the inspection panels arranged in the housing of the AGV under the storage member 23 for purposes of maintenance works.
  • the tying means 20 also comprises at least one guide 24 which is defined by at least one vertical column 24 fastened to a structural portion 14 of the vehicle 10.
  • the sliding carriage 21 is then operatively associated with the guide column 24 and is such as to move along it.
  • the tying means 20 comprises two vertical guide columns 24 arranged parallel to each other and transversely relative to the forks 12 (see the development direction "F" of the forks in the appended figures).
  • the two guide columns 24 are structured in such a way as to allow the sliding of the sliding carriage 21 , and thus the run of the strapping machine 28 therealong.
  • the sliding carriage is at least partially housed in the space separating the two guide columns 24.
  • the sliding carriage 21 moves rigidly along the two guide columns 24 via a pair of rollers and linear guides arranged therebetween.
  • the guide columns 24 are structured and arranged on the AGV 10 so as to guide the run of the strapping machine 28 by means of the sliding carriage 21 along a direction of space "X" of the package 100 of a product.
  • the above guide frame 22 lies in a plane substantially perpendicular to the direction of space "X" of the package 100 of a product.
  • the tying means 20 also comprises actuating means 25 active at least on the sliding carriage 21 and configured for moving along the direction defined by the guide columns 24, the sliding carriage 21 and, consequently, the strapping machine 28 thereto connected.
  • the actuating means 25 comprises elements of mechanical power transmission such as a mechanical gear, pulleys and toothed belts or chains, and so on.
  • the aforementioned operating unit 26 is functionally associated to the storage means 23, and more specifically to the spool 210; in detail, the strapping step provides a return movement of the tie strap 200 by the unit 26, said tie strap 200 being then launched along the guide frame 22 developing around a package 100.
  • control unit installed onboard the vehicle 10 itself; the control unit is preferably programmed to activate or deactivate the tying means 20.
  • control unit can be programmed for managing the positioning of the guide frame 22 and the strapping machine 28 by shifting the sliding carriage 21 along a direction of space "X" of the package 100 of a product.
  • the vehicle AGV 10 comprises compensating means 27 operatively associated with the strapping machine 28 and configured for managing a shifting thereof towards and away from the package 100 which is to be strapped.
  • the compensating means 27 allows a shifting of the strapping machine 28 along a direction transverse to abovementioned columns.
  • the compensating means 27 preferably comprises guide rods 27a mounted integral with the carriage, and as many elastic elements 27b, such as coil springs or similar means, to which the shifting is subject.
  • the shifting of the strapping machine 28 and guide frame 22 unit allows recovery of the excess portion of the tie strap 200 when the same is being stretched around the package 100 of a product prior to the welding and cutting steps of the tie strap 200 itself.
  • the tie strap in order to attain an effective and firm grip of the tie strap on the package, the latter shall be stretched around it and this is achieved if the welding is performed when the operating unit 26 is in close proximity to the package.
  • the packages to be carried may have different sizes and on the other during the vertical shifting of the strapping machine 28, the unit 26 mentioned above shall never interfere in the space occupied by the package carried, so as to prevent any collisions.
  • the unit 26 recovers and stretches the tie strap by generating a tension force therealong.
  • This tension force causes a shifting of the unit 26 along the guide rods 27a towards the package 100 so as to enable the unit itself to advantageously stand close to a side 10 of the package 100.
  • the side 1 10 of the cited package 100 is the one facing the tying means 20.
  • the elastic element 27b returns the strapping machine 28 towards the carriage, thus removing the handling unit 26 from the package.
  • the operating unit 26 cuts a flap of the tie strap 200.
  • the cutting of the tie strap 200 removes the constraint based on which the strapping machine 28 generates abovementioned reaction force, thereby enabling the springs to exert the return force which causes the strapping machine 28 to shift away and to assume the initial configuration.
  • the unit 26 does not interfere with the loading volume surmounting the forks.
  • the springs have a predetermined spring constant that does not oppose an excessive force during the tensioning step of the operating unit 26, so as to allow shifting of the unit towards the said side 1 10 of the package 100.
  • the elastic constant is such that the springs exert a return force high enough as to allow the return movement of the strapping machine 28 to the initial position once the tying of the package 100 has been performed.
  • the compensating means 27 may comprises return elements of a different kind, such as for example of the pneumatic type, etc.
  • the tying means 20 are electrically powered by energy supplied by the vehicle AGV 10, i.e. by the accumulators thereof.
  • the strapping machine 28 is constructively integrated to the above structural portion 14 of the vehicle 10 so as to define together with it a single functional unit.
  • vehicle 10 is designed in such a way as to comprise the strapping machine 28 herein disclosed within its own structure, which is therefore not a mere juxtaposition of two different functional units.
  • the tying means 20 are structured in such a way as to be reversibly mounted on board of the AGV 10.
  • the tying means 20 are structured in such a way as to have overall dimensions allowing them to be reversibly mounted at the front of the AGV, where the lifting forks handling apparatus is located.
  • the AGV 10 is directed towards a loading station for picking up a package 100 (see Figure 5A).
  • the strapping machine is arranged in a position where it does not occupy the front zone provided for receiving the loading so that the package 100 can be loaded.
  • the AGV 10 approaches autonomously the package 100 of a product disposed in the loading station, and forks it in a manner as already explained. At this point, the tying step around the package 100 is performed by means of the tie strap 200 (see Figure 5C).
  • the tying step provides arrangement of the strapping machine 28 through activation of the sliding carriage 21 along a direction of space "X" of the package 100 of a product, that is to say at a given height of the package 100 itself.
  • the operating unit 26 performs the launching of the tie strap along the guide frame 22 at the pre-established point, so as to tie the package 00 of a product, in a manner already discussed.
  • Tying of the package 100 with tie strap 200 can be optionally repeated by repositioning the strapping machine at a different height and repeating the above steps.
  • the AGV moves towards the package 100 and in the meantime it rearranges the strapping 28 in the upper rest position thereof as described hereinabove.
  • the tying of the package 100 of a product can be performed in a completely automatic way, thus without the assistance of an operator.
  • the AGV according to the present invention allows to overcome the drawbacks mentioned in relation to the prior art.
  • the invention herein is configured such as to also allow use of the AGV in the traditional manner, that is to say, for the purpose of transport only, regardless the tying mode.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Basic Packing Technique (AREA)

Abstract

La présente invention concerne un véhicule destiné au transport d'un emballage (100) comprenant un moyen de liage (20) dudit emballage (100). Le moyen de liage (20) comprenant : une cercleuse (28) adaptée au placement d'une sangle d'attache (200) autour dudit emballage (100) ; un chariot coulissant (21) destiné au support de ladite cercleuse (28) ; au moins un guide (24) fixé à une partie structurale (14) dudit véhicule à guidage automatique (10) et fonctionnellement associé audit chariot coulissant (21), ce dernier étant adapté au coulissement sur le guide (24) ; et un moyen d'entraînement (25) approprié au déplacement du chariot coulissant (21) le long dudit guide (24).
PCT/IB2015/052536 2014-07-18 2015-04-08 Véhicule à guidage automatique destiné à la gestion d'un emballage WO2016009284A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITMO2014A000207 2014-07-18
ITMO20140207 2014-07-18

Publications (1)

Publication Number Publication Date
WO2016009284A1 true WO2016009284A1 (fr) 2016-01-21

Family

ID=51663281

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2015/052536 WO2016009284A1 (fr) 2014-07-18 2015-04-08 Véhicule à guidage automatique destiné à la gestion d'un emballage

Country Status (3)

Country Link
EP (1) EP2974968A1 (fr)
MA (1) MA39276A (fr)
WO (1) WO2016009284A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109132478A (zh) * 2018-06-27 2019-01-04 嘉善缔嘉装饰材料有限公司 一种板件上料装置
CN110435787A (zh) * 2019-08-20 2019-11-12 和县隆盛精密机械有限公司 一种跟随式agv小车
IT201800006626A1 (it) * 2018-06-25 2019-12-25 Baia di carico perfezionata in una linea di imballaggio e relativo sistema di trasporto

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106314594B (zh) * 2016-08-26 2018-09-25 南京理工大学 一种用于现代物流行业的仓储搬运机器人
CN107650757B (zh) * 2017-09-25 2021-08-24 芜湖智久机器人有限公司 一种便捷上货、卸货的agv小车
CN109319371B (zh) * 2018-11-16 2020-12-15 深圳市天和双力物流自动化设备有限公司 一种仓库物流自动配货装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4119023A (en) * 1977-07-11 1978-10-10 A. Duda And Sons Portable pallet strapping device
GB2266288A (en) * 1992-04-15 1993-10-27 Tony Sandland Strapping equipment
GB2303609A (en) * 1995-07-27 1997-02-26 Tony Sandland Strapping apparatus
US20100074709A1 (en) * 2008-09-19 2010-03-25 Komarnisky Gordon Load restraint installation apparatus

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4119023A (en) * 1977-07-11 1978-10-10 A. Duda And Sons Portable pallet strapping device
GB2266288A (en) * 1992-04-15 1993-10-27 Tony Sandland Strapping equipment
GB2303609A (en) * 1995-07-27 1997-02-26 Tony Sandland Strapping apparatus
US20100074709A1 (en) * 2008-09-19 2010-03-25 Komarnisky Gordon Load restraint installation apparatus

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT201800006626A1 (it) * 2018-06-25 2019-12-25 Baia di carico perfezionata in una linea di imballaggio e relativo sistema di trasporto
CN109132478A (zh) * 2018-06-27 2019-01-04 嘉善缔嘉装饰材料有限公司 一种板件上料装置
CN110435787A (zh) * 2019-08-20 2019-11-12 和县隆盛精密机械有限公司 一种跟随式agv小车

Also Published As

Publication number Publication date
EP2974968A1 (fr) 2016-01-20
MA39276A (fr) 2016-01-20

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