WO2023099586A1 - Système de chargement/déchargement de palettes et procédé pour charger/décharger des palettes - Google Patents

Système de chargement/déchargement de palettes et procédé pour charger/décharger des palettes Download PDF

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Publication number
WO2023099586A1
WO2023099586A1 PCT/EP2022/083896 EP2022083896W WO2023099586A1 WO 2023099586 A1 WO2023099586 A1 WO 2023099586A1 EP 2022083896 W EP2022083896 W EP 2022083896W WO 2023099586 A1 WO2023099586 A1 WO 2023099586A1
Authority
WO
WIPO (PCT)
Prior art keywords
pallet
pallets
agv
row
lifting
Prior art date
Application number
PCT/EP2022/083896
Other languages
German (de)
English (en)
Other versions
WO2023099586A4 (fr
Inventor
Ludwig BRANDMÜLLER
Herbert Fellner
Original Assignee
Brandmueller Ludwig
Herbert Fellner
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 Brandmueller Ludwig, Herbert Fellner filed Critical Brandmueller Ludwig
Publication of WO2023099586A1 publication Critical patent/WO2023099586A1/fr
Publication of WO2023099586A4 publication Critical patent/WO2023099586A4/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
    • B65G65/00—Loading or unloading
    • 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

Definitions

  • the invention relates to a pallet loading and unloading system and a method for loading/unloading pallets using such a system.
  • the sorted products stored temporarily are then put together on picking pallets for delivery to the branches/distribution centers.
  • Such a system is described, for example, in WO 2018/029268 A1, which also goes back to the applicants.
  • the goods/goods, containers can be picked, for example, via a picking device as described in WO 2019/154 815 A1.
  • a picking device as described in WO 2019/154 815 A1.
  • the goods delivered by truck full pallet
  • a hand pallet truck and then transported by hand to the loading station of the picking device, for example the high-bay warehouse.
  • the invention is based on the object of creating a pallet loading and unloading system through which the loading and unloading is significantly simplified.
  • the invention is also based on the object of providing a method for loading/unloading pallets, in particular full pallets, with reduced personnel expenditure.
  • the pallet loading and unloading system has a lifting device which has a lifting carriage that can be moved along a horizontal guide, the lifting means of which can be adjusted in the vertical direction for lifting or lowering a pallet, in particular a full pallet, with a guide length of the horizontal guide corresponding to the number of pallets in a row of pallets, is designed with at least twice the pallet length.
  • the pallet loading and delivery system also has a control device that is designed to control the goods delivery.
  • the pallets are transported via at least one driverless transport system.
  • Such a concept makes it possible to lift pallets unloaded from a truck one after the other using the lifting device that can be moved along the horizontal guide and set them down on an AGV (driverless transport system), so that the respective pallet can be transported via the AGV for further processing, for example to a high-bay warehouse. It is particularly preferred if the pallets are arranged in a row of pallets or are arranged during delivery so that the horizontal guide of the lifting device extends along this row of pallets, with the guide length being designed such that all pallets in the row of pallets are picked up or set down can become.
  • AGV driverless transport system
  • a system of this type enables the fully automated loading and unloading of pallets, so that the personnel effort is significantly reduced compared to conventional solutions and the frequency of errors that goes with it.
  • the horizontal guide is arranged parallel to the row of pallets.
  • the lifting means are also positioned parallel to the row of pallets and thus to the horizontal guide.
  • Transporting the full pallets is simplified when they are placed on a pallet table carried by the AGV.
  • the system according to the invention can be implemented in a particularly compact manner if the approach and departure direction of the AGV is oriented approximately at right angles to the row of pallets.
  • the approach position of the AGV is different for each pallet in a row of pallets. This can be implemented in a simple manner by appropriate programming of the control device according to the invention.
  • the lifting device or its lifting carriage is designed with a vertically movable fork head.
  • the method according to the invention for loading or handing over pallets, in particular full pallets or other transport aids, work accordingly. Put simply, the pallets are either taken individually from a row of pallets via the lifting device according to the invention and transferred to an AGV, via which the full pallet is then transported for further processing.
  • a full pallet is taken over in a corresponding manner, for example from a high-bay warehouse, and moved via the AGV into the effective range of the lifting device, which is then used to lift the full pallet from the AGV and set it down in a predetermined position in the row of pallets, so that the latter can then be a suitable means of transport, for example a lifting ant, can be transported further.
  • FIG. 1 shows a highly schematized basic representation of a pallet loading and delivery system according to the invention
  • FIG. 2 shows a side view of the system according to FIG. 1;
  • FIG. 3 shows a view according to FIG. 1, one pallet of a row of pallets being raised;
  • FIG. 4 shows a side view of the system according to FIG. 3;
  • Figure 5 is a flow chart of a method according to the invention for abandoning pallets (goods receipt) and
  • FIG. 6 shows a method according to the invention for delivering pallets (goods issue).
  • FIG. 1 shows a side view of the basic components of a pallet loading and unloading system 1 according to the invention.
  • a lifting device 12 Aligned with respect to the narrow side 10 of the row of pallets 8 is a lifting device 12 which, according to the invention, is designed with a fork carrier 14 on which two forks 16 (only one visible in FIG. 1) are held.
  • the fork carriage 14 is held in the vertical direction (view according to FIG.
  • the effective or travel length of the horizontal guide 20 corresponds approximately to the length L of the row of pallets 8, so that the forks 16 can reach each pallet 2, 4, 6 of a row of pallets 8 and can be raised or lifted off.
  • FIG. 2 shows a side view of the system according to FIG.
  • the narrow side 10 of the pallet 6 to be transferred or picked up can be seen with the goods 9 positioned thereon, which can consist, for example, of several unmixed containers.
  • the fork carriage 14 is shown to the side next to the row of pallets 8 , the forks 16 of which are offset parallel to the row of pallets 8 perpendicularly to the plane of the drawing.
  • the fork carriage 14 is mounted on the mast 18 so that it can be adjusted in the vertical direction, the adjustment taking place, for example, via the belt drive 24 indicated in FIGS. 1 and 2 and the servomotor 26, which together form a linear drive.
  • the mast 18 is guided perpendicularly to the plane of the horizontal guide 20 which is supported on the floor 7 .
  • the forks 16 are not yet arranged in operative engagement with respect to the adjacent pallet 6.
  • the linear drive 22 is activated by activation via a central control device 27 of the system 1 in order to adjust the mast 18 in the vertical direction towards the row of pallets 8 so that the forks 16 are moved into the receiving space of the adjacent pallet 6 .
  • the servo motor 26 is actuated via the control device 27 in order to move the fork carriage 14 upwards in the vertical direction via the belt drive 24 along the mast 18 so that the adjacent pallet 6 with the goods on it 9 is raised.
  • an AGV 28 with a pallet table 30 arranged on it is moved under the pallet 6 and then the servo motor 26 and the belt drive 24 are controlled via the control device 27 in such a way that the pallet 6 rests on the pallet table 30 is dropped.
  • the mast 18 is moved backwards along the horizontal guide 20 perpendicularly to the plane of the drawing, so that the forks 16 disengage from the pallet 6 .
  • the pallet 6 arranged on the pallet table 30 is transported via the AGV 28 to the next processing step, for example to the goods receipt of a high-bay warehouse.
  • the pallet row 8 is successively formed when goods are handed over, or when goods are handed over, a parked row of pallets 8 is successively picked up and transported on.
  • FIG. 5 shows the way in which goods are received. It is assumed that single-variety full pallets are delivered via a truck 32 and unloaded by hand, for example. The unloaded pallets 2, 4, 6 are then picked up, for example, by a lifting ant 34, for example a row of pallets 8 consisting of three pallets 2, 4, 6 being arranged on a transport frame 36, which is only indicated. The goods 9 arranged on the pallets 2, 4, 6 are not shown in the illustrations according to FIGS. The row of pallets 8 is then set down on the floor 7 by the lifting ant 34 . As explained above with reference to FIG.
  • the system 1 according to the invention is in its basic position, in which the two forks 16 are not yet in active engagement with the row of pallets 8 .
  • the mast 18, which can be moved along the horizontal guide 20, is in an end position on the right-hand end section of the horizontal guide 20, which is arranged parallel to the row of pallets 8.
  • step S1 the lifting ant 34 is moved away from the row of pallets 8 with the transport frame 36.
  • the AGV 28 with the pallet table 30 is moved into the area of the first pallet 6 to be stored.
  • the forks 16 are still disengaged from this pallet 6.
  • the horizontal guide 20 runs parallel to the row of pallets 8, so that the forks 16 are aligned with respect to the foremost pallet, pallet 6 in the present case.
  • the forks 16 are then brought under the adjacent pallet 6 by adjusting the mast 18 along the horizontal guide 20 and then in step S2 the servo motor 26 is actuated with the belt drive 24 in order to move the fork carriage 14 with the forks 16 to be adjusted along the mast 18 in the vertical direction, so that the foremost pallet 6 is raised and the AGV 28 can be moved with the pallet table 30 under the pallet.
  • the mast 18 with the forks 16 is removed from the engagement area with the pallet 6 pulled out (not shown in Figure 5), so that the AGV loaded with the pallet 6 28 can be moved, for example, to the high rack.
  • step S3 the mast 18 with the forks 16 is then adjusted via the linear drive 22 along the horizontal guide 20 such that it is aligned with respect to the next pallet 4.
  • step S4 another AGV or the unloaded AGV 28 is then aligned with respect to the pallet 4 and the lowered forks 16 are moved under the pallet 4 by moving the mast 18 along the horizontal guide 20 .
  • step S5 the pallet 4 is then raised by vertically adjusting the fork carrier 14 so that the AGV 28 can drive under the pallet.
  • the mast 18 with the forks 16 is disengaged from the pallet 4 via the control device 27, so that according to step S6 the AGV 28 loaded with the pallet 4 can travel to the next station.
  • step S7 the remaining pallet 2 is picked up by the forks 16 by vertically adjusting the fork carriage 14 and the forks 16.
  • the AGV 28 occupied by the pallet table 30 is then moved under the pallet 2 and this is then set down on the AGV 28 by appropriate control of the forks 16 (step S8).
  • step S8 the forks 16 with the mast 18 are moved out of the engagement area with the pallet 2 so that the AGV 28 can move to the next station with the last pallet 2 - the three full pallets 2, 4, 6 are handed over/stored fully automatically.
  • the mast 18 then moves back along the horizontal guide 20 to its basic position shown in FIG. 5 above and in step S1 and is thus ready for the next incoming goods or for the realization of an outgoing goods, as shown in FIG.
  • FIG. 5 shows the last step of the goods issue, in which a row of pallets 8 with three pallets 2, 4, 6 is taken over by the lifting ant 34 and transported to the truck 32, for example.
  • the steps for preparing the row of pallets 8 with the pallets 2, 4, 6 and the goods 9 on them are identified in FIG ,
  • the pallets 2, 4, 6 being transported to the next station via the AGVs 28 when the goods are received, while they are transported from these stations via the AGVs 28 to the transfer position, for example to the truck 32 in the goods issue, when the goods are dispatched.
  • step A1 the first pallet 2 is moved via the AGV 28 with the pallet table 30 arranged on it in the direction of the pallet loading and unloading system 1 according to the invention and then lifted off the AGV 28 by retracting and lifting the forks 16 (see step A2). Subsequently, the AGV 28 with the pallet table 30 is moved out from under the pallet 2 (A3) and this pallet 2 is placed on the floor 7 by lowering and moving out the forks 16 .
  • the second pallet 4 is then set down on the floor 7 via steps A4, A5, A6 and, according to steps A7, A8, A9, the third pallet 6 of the row of pallets 8, so that the lifting ant 34 with the transport frame 36 record the entire row of pallets 8 and spend it on the truck 32, for example.
  • the truck 32 is then loaded here, for example using a pallet truck by hand or the like.
  • the approach position of the AGV 28 is different for each pallet 2, 4, 6 during the indication/output, with this approach position being calculated individually by the control device.
  • This is a very flexible handling of the pallets/transport aids in goods receipt/goods issue.
  • the approach is preferably carried out transversely to the row of pallets 8 or to the horizontal guide 20 or to the forks 16.
  • a system for loading and unloading pallets and a method for loading/unloading pallets or the like are disclosed, with the handling of these transport aids being carried out fully automatically.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)

Abstract

L'invention concerne un système de chargement/déchargement de palettes ainsi qu'un procédé pour charger/décharger des palettes ou similaires, la manutention de ces moyens auxiliaires de transport étant entièrement automatisée.
PCT/EP2022/083896 2021-12-01 2022-11-30 Système de chargement/déchargement de palettes et procédé pour charger/décharger des palettes WO2023099586A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021131651.0 2021-12-01
DE102021131651.0A DE102021131651A1 (de) 2021-12-01 2021-12-01 Palettenaufgabe- und Palettenabgabesystem und Verfahren zum Aufgeben/Abgeben von Paletten

Publications (2)

Publication Number Publication Date
WO2023099586A1 true WO2023099586A1 (fr) 2023-06-08
WO2023099586A4 WO2023099586A4 (fr) 2023-07-27

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Application Number Title Priority Date Filing Date
PCT/EP2022/083896 WO2023099586A1 (fr) 2021-12-01 2022-11-30 Système de chargement/déchargement de palettes et procédé pour charger/décharger des palettes

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Country Link
DE (1) DE102021131651A1 (fr)
WO (1) WO2023099586A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102022127082A1 (de) 2022-10-17 2024-04-18 Safelog Gmbh Verfahren und -system zum Verladen und Umladen von Warenbehältern

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2155787A1 (fr) * 1971-10-05 1973-05-25 Cgms
EP0589844A1 (fr) * 1992-09-24 1994-03-30 Claus Berndt Magasin à haute performance avec des moyens pour stocker et prélever des marchandises
DE202014102274U1 (de) * 2014-05-14 2014-06-16 SSI Schäfer AG Folienerkennung und Palettentyperkennung mittels Kanalfahrzeug in einem Kanalregallager
EP2794439B1 (fr) 2011-12-20 2016-04-06 Brandmüller, Ludwig Système de dépalettisation et unité de prélèvement
WO2018029268A1 (fr) 2016-08-09 2018-02-15 Herbert Fellner Système de chargement pour la palettisation de produits mélangés sur une palette cible
WO2019154815A1 (fr) 2018-02-06 2019-08-15 Herbert Fellner Dispositif de préparation de commandes

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2719727A1 (de) 1977-05-03 1978-11-09 Kettner Max Gabelstapelgeraet
DE9313755U1 (de) 1993-09-11 1993-11-18 Reker Maschinenfabrik Und Bagg Palettentransportvorrichtung
DE19503199C1 (de) 1995-02-02 1996-02-22 Noell Gmbh Vorrichtung für das seitliche Be- und Entladen von Fahrzeugen

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2155787A1 (fr) * 1971-10-05 1973-05-25 Cgms
EP0589844A1 (fr) * 1992-09-24 1994-03-30 Claus Berndt Magasin à haute performance avec des moyens pour stocker et prélever des marchandises
EP2794439B1 (fr) 2011-12-20 2016-04-06 Brandmüller, Ludwig Système de dépalettisation et unité de prélèvement
DE202014102274U1 (de) * 2014-05-14 2014-06-16 SSI Schäfer AG Folienerkennung und Palettentyperkennung mittels Kanalfahrzeug in einem Kanalregallager
WO2018029268A1 (fr) 2016-08-09 2018-02-15 Herbert Fellner Système de chargement pour la palettisation de produits mélangés sur une palette cible
WO2019154815A1 (fr) 2018-02-06 2019-08-15 Herbert Fellner Dispositif de préparation de commandes

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DE102021131651A1 (de) 2023-06-01
WO2023099586A4 (fr) 2023-07-27

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