Device for moving transport containers between a container stack and a container rack

Abstract

The invention relates to a device for moving transport containers (1) between a container stack (4) and a container rack (22), which device has a lifting device (2) which can be applied to the transport container (1) transversely to the lifting direction (H). This device, which is compact in construction, nevertheless achieves reliable movement of the transport container between the container stack and the container rack independently of the degree of filling of the container rack and is preferably suitable for equipping a robot hand in an industrial robot, in order to achieve this device, the lifting device (2) has a guide device for moving the transport container (1) transversely to the lifting direction (H) and is provided with a movement device (3) which can be detachably connected to the transport container (1) in a tension-proof and shear-proof manner in order to move the transport container (1) in the guide device (19) between a lifting position and a rack entry position.

Description

Technical Field

[0001] The present invention relates to an apparatus for moving transport containers between container stacks and container racks, the apparatus having a lifting device capable of being placed laterally onto the transport containers in the lifting direction. Background Technology

[0002] In the field of transportation and logistics, devices designed as so-called robotic arms are particularly used. These devices enable the placement and lifting of individual transport containers. Such devices typically include a lifting mechanism that approaches the transport container from above along the lifting direction, for example, a clamping system, and rests against the transport container transversely to the lifting direction. This transverse resting is understood to mean that the lifting mechanism's working surface is not on the bottom of the container, but rather against the side wall of the transport container, allowing the transport container to be lifted by the lifting mechanism in a frictional engagement along the lifting direction. However, a drawback of this device is that it can only move transport containers from a container stack to a container rack, which is typically only accessible from one input side, within a limited scope. This is because, especially for at least partially filled container racks, the clamping system or its pivoting arm no longer provides sufficient space to insert the transport container into the corresponding compartment of the container rack. Conversely, due to given design limitations, moving transport containers from a full container rack to a container stack is, in principle, impossible. Summary of the Invention

[0003] Therefore, there is a need for devices of the type described at the beginning, which, despite their compact construction, are capable of reliably moving transport containers between container stacks and racks regardless of the degree of container rack filling, and are preferably suitable for robotic arms equipped with industrial robots.

[0004] The present invention solves the technical problem as follows: the lifting device has a guide device for moving the transport container laterally in the lifting direction, and is provided with a moving device for moving the transport container in the guide device between a lifting position and a shelving position, the moving device being detachably connected to the transport container in a tensile and shear-resistant manner.

[0005] Due to the features of this invention, regardless of the filling level of the container rack, it is possible to lift the uppermost transport container from the container stack in the lifting direction, transfer the transport container to the container rack with a fall prevention system, and push it in there by means of a moving device transverse to the lifting direction; and on the other hand, to remove the transport container from the container rack transverse to the lifting direction by the moving device and load it back onto the container stack or transport plate in the lifting direction. The lifting device can be positioned such that the transport container is securely and preferably form-fittingly and frictionlessly held in the lifting position, thereby allowing the transport container to move transversely to the lifting direction along the guide device. The moving device can be detachably connected to the transport container in a tensile and shear-resistant manner, so that the transport container is secure in the lifting position even under the large acceleration required by the industrial robot for short operation times, and can effectively withstand the force applied by the moving device to move the transport container between the lifting position and the racking position. Therefore, especially when the device also includes a multi-axis industrial robot, the device no longer needs to first enter the internal area of ​​the container rack in order to move the transport container into the rack, thereby enabling the transport container to be released from the raised position and inserted into the rack. In contrast, according to the invention, the device, along with the transport container in the raised position, can be positioned in a transfer position at the corresponding rack height on the input side of the rack, wherein the transport container is then moved from the raised position along the guide device to the rack entry position and thus transferred to the corresponding rack compartment. Particularly advantageous design features arise, for example, when the guide device according to the invention is composed of a slide rail on which the transport container is placed and can be moved laterally in the lifting direction between the raised position and the rack entry position by a moving device. Furthermore, the device according to the invention can rotate with reference to a rotation axis extending along the lifting direction, so that the transport container can be moved relative to each other regardless of the spatial position of the container stack and the container rack.

[0006] To achieve reliable movement between container stacks and racks regardless of the size of the transport container while maintaining a compact construction, the proposed device includes a container receiving section into which the transport container can be introduced along the lifting direction when the lifting device is opened, and laterally into the container receiving section when the lifting device is positioned. When the containers are stacked closely together, a narrow gap is typically left between adjacent stacks to allow the transport container to be manually lifted if necessary, by reaching into the gap to grasp it from each side. For smooth lifting of the transport container in this context, it is suitable that the lifting device, in terms of its width relative to the transport container, only exceeds the width of the transport container by an amount sufficient to allow the lifting device to extend into the gap from the lifting direction.

[0007] An advantageous design solution for safely accommodating a transport container by means of a lifting device, and despite this, enabling lateral movement in the lifting direction, arises when the lifting device, placed on the transport container, forms a keyway connection with the transport container extending laterally in the lifting direction. To avoid the risk of damaging the key due to erroneous manipulation of the transport container, the transport container preferably has guide grooves extending laterally in the lifting direction on two opposite sidewalls. Corresponding guide strips of the lifting device engage with these guide grooves as keys, thereby achieving a form fit along the lifting direction on the one hand, and enabling lateral movement of the transport container relative to the lifting device in the lifting direction on the other hand through the sliding of the guide strips relative to the guide grooves. However, the guide grooves can also, in principle, be formed by the lifting device itself, with the key arranged on the transport container.

[0008] If the lifting device has two lifting arms that can move relative to each other, particularly advantageous lifting conditions are created with lower construction space requirements. The lifting arms can be moved relative to each other, for example, by a pneumatically or hydraulically loaded telescopic arm or screw drive that can move laterally in the lifting direction. Each lifting arm preferably has a corresponding keyway connection with the transport container being lifted. The width of each individual lifting arm can here be less than the minimum clearance between two transport containers in a side-by-side container stack.

[0009] To facilitate smooth connection and detachment of the mobile device from the transport container while simultaneously achieving a particularly robust construction, it is recommended that the mobile device have at least one slider with a locking body adjustable between a locked position and an open position for engaging with a locking opening in the transport container. For connecting the mobile device to the transport container, it is preferable to insert the locking body, comprising two actuating elements, into the locking opening of the transport container along the insertion direction, then move the two actuating elements laterally relative to the insertion direction and form-fit into the locking opening and / or allow the locking body to be frictionally supported within the locking opening. Conversely, the actuating elements of the locking body are moved back relative to each other to detach the mobile device from the transport container. For particularly advantageous design aspects, the locking body may have two locking body halves capable of moving towards or relative to each other as actuating elements. Since the locking body is not disposed on the transport container, it also has the advantage of reducing the risk of damage to the supported locking body due to erroneous manipulation of the transport container.

[0010] In an advantageous design of the device according to the invention, the slider of the moving device is movable between a transfer position for connecting with a transport container arranged in a container rack and a lifting position for accommodating the transport container in a lifting device. To particularly save space, the slider is preferably movable from an edge region of the device toward an edge region laterally opposite the lifting direction. This feature ensures that the device, or its support on a possible pivot arm, is only subjected to a low overturning moment when the transport container moves between the container rack and the lifting device, because the weight of the transport container can be supported by both the lifting device and the container rack during movement between the transfer and lifting positions.

[0011] To enable the device according to the invention to be used with transport containers of varying widths and to achieve design advantages for both the lifting and moving devices, it is suitable that the moving device includes two sliders supported on lifting arms, each capable of lateral movement in the lifting direction. Each lifting arm preferably forms a structural unit together with the slider and a corresponding adjusting transmission device. For example, a double-chain transmission consisting of a pair of gears can be provided as the adjusting transmission device, wherein the lifting arm is hinged both to the corresponding chain and to the corresponding slider itself for a drive connection. By giving the chains corresponding to each gear different operating speeds, the adjustment stroke of the slider's lateral movement in the lifting device can be adjusted with appropriate design and sizing of the double-chain transmission device. Alternatively, the adjusting transmission device can be configured as a chute guide device, along which the lifting arm capable of moving is drivenly connected to the slider. For a particularly compact construction, it can be stipulated that, in the case of a keyway connection between the transport container and the lifting device, the guide strips of the lifting arm, each acting as a key, simultaneously constitute guides for lateral movement of the slider in the lifting direction.

[0012] The transport containers may include locking devices for detachably securing stacked transport containers. The locking device has locking hooks movable in an engagement direction for engaging with locking recesses in transport containers adjacent to the stack. These locking recesses may be constructed, for example, between two opposing sidewalls of the transport container or provided via guides disposed on the top of the container. After operation of the locking device, the locking hooks engage with the locking recesses in a form-fitting manner, securing the transport containers together. This also secures the transport containers laterally against the engagement direction and due to the form-fitting mechanism, thus aligning and securing two adjacent transport containers relative to each other in all spatial directions.

[0013] To facilitate the smooth movement of these transport containers between container stacks and racks in this context, it is recommended to provide an operating device for the locking connection. This operating device allows the locking connection used to anchor the transport container, constructed via the aforementioned locking mechanism, to be released, thereby releasing the transport container to be lifted for movement. In the case of two lifting arms, each of these arms can be equipped with a corresponding operating device.

[0014] Correspondingly, if the operating device includes an operating slider arranged on the free end of the chain drive guided along the operating direction, particularly advantageous design conditions arise. The corresponding chain drive is preferably mounted in the lifting arm, thus achieving a particularly compact structure. Depending on the design of the locking connection to be released, the operating slider can, for example, form a sliding surface at its free end, thereby enabling the force application of a locking device, such as one with a spring-loaded locking frame, to be smoothly achieved via the operating slider. Attached Figure Description

[0015] The technical solution of the present invention is illustrated by way of example in the accompanying drawings. In the accompanying drawings:

[0016] Figure 1 A schematic front view of three side-by-side container stacks is shown, having a device according to the invention that connects along the lifting direction when the lifting device is opened.

[0017] Figure 2 A cross-section along line II-II is shown.

[0018] Figure 3 A cross-section along line IV-IV is shown.

[0019] Figure 4 Showing with Figure 3 The corresponding view is taken when the lifting device is being placed against the wall.

[0020] Figure 5 A partially disconnected side view of the device according to the invention is shown, the device having a moving device in a raised position as in the first embodiment.

[0021] Figure 6 It shows the relationship with Figure 5 The corresponding detailed view shows the moving device in the transferred position.

[0022] Figure 7 A schematic perspective view of a slider according to the invention, having a locking body in the locking position, is shown.

[0023] Figure 8 It shows the relationship with Figure 7 The corresponding view has a locking body in the open position, and

[0024] Figure 9 A schematic side view of another embodiment of the mobile device according to the invention is shown. Detailed Implementation

[0025] The apparatus according to the invention includes a lifting device 2 capable of being placed transversely to the lifting direction H onto a transport container 1, and a moving device 3 detachably connected to the transport container 1 in a tensile and shear-resistant manner. The transport container 1 is arranged on a stack of containers 4 arranged side-by-side, the stack itself being as follows: Figure 1 The lifting device 2 is arranged as shown on an exemplary plate 5. In the illustrated embodiment, the lifting device 2 has two lifting arms 7 and 8, which are movable relative to each other, for example, via a hydraulically loaded telescopic arm 6. The device may also include an industrial robot, represented, for example, by a pivoting arm on which the lifting device 2 is supported.

[0026] To accommodate the transport container 1, the lifting device 2 approaches the topmost transport container 1 of the container stack 4 from the lifting direction H and rests on the transport container 1 laterally in the lifting direction H via the lifting arms 7 and 8. In order to smoothly lift the transport container 1 by the lifting device 2 despite the narrow gap between the side-by-side container stacks 4, the width of each individual lifting arm 7 and 8 can be lower than the minimum gap between two transport containers 1 in the side-by-side container stacks 4.

[0027] Depend on Figure 2 , Figure 3 ,and Figure 4 It is understood that the side-by-side stacked transport containers 1 currently have locking devices 9 for detachably securing each other. Locking devices 9, for example, have locking hooks movable along the engagement direction to engage with locking recesses of transport containers 1 located below them on the same container stack 4. Locking recesses can be provided, for example, by guides 10, which are respectively arranged on the top of the transport containers 1. In order to smoothly lift the transport containers 1 from the container stack 4, the device according to the invention can have an operating device 11 for releasing the locking connection formed by the locking devices 9. To apply force to the locking devices 9, the operating device 11 includes, for example, an operating slider 12 arranged on the free ends 13, 14 of the chain drive 15 guided along the operating direction. The chain drive 15 can be mounted in the lifting arms 7, 8 to achieve a compact construction. As also by Figure 2 As shown, the moving device 3 may have at least one slider 16, which includes a locking body 7 for engaging with a locking opening 18 in the transport container 1 to form a tensile and shear-resistant detachable connection.

[0028] Depend on Figure 3 and Figure 4It is understood that the lifting device 2 has a guiding device in the form of guide strips 19 and guide grooves 20, for moving the transport container 1 laterally in the lifting direction H. Meanwhile, the transport container 1, for example, has guide grooves 20, thereby moving according to... Figure 4 The lifting device 2 applied to the transport container 1 forms a keyway connection 21 extending transversely to the lifting direction H with the transport container 1. Thus, the transverse mobility of the transport container 1 relative to the lifting device 2 is achieved by the sliding of the guide strip 19 relative to the guide groove 20.

[0029] Figure 5 A transport container 1, housed by a lifting device 2 and positioned on the input side of a container rack 22, is shown in a lifted position. The transport container is detachably connected to a moving device 3 in a tensile and shear-resistant manner. The moving device 3 includes two sliders 16, each movable laterally in the lifting direction H, supported on lifting arms 7 and 8. Each slider 16 has a locking body 17 for engaging with a locking opening 18 in the transport container 1. Furthermore, the moving device 3 has an adjusting transmission device 23 mounted in the lifting arms 7 and 8. Figure 5 and Figure 6 As shown, a double-chain transmission device consisting of a pair of double gears 24 can be used as an adjustment transmission device. The double gears include two gears 25 and 26 with different diameters, so that the gear 25 with a smaller diameter and the gear 26 with a larger diameter correspond to chains 27 and 28 respectively, thus chain 27 obviously has a lower running speed than chain 28. The lifting arm 29 is hinged to both chains 27 and 28 and to the slider 16. Therefore, the slider 16 can be adjusted according to the drive device 23. Figure 5 The lifting position is according to Figure 6 The movement of the transfer position, thereby transporting container 1 as... Figure 6 As shown, it is in the shelf-ready position. Furthermore, especially by Figure 6 It can be seen that the guide device used for transport container 1 can also be configured as a guide device for allowing slider 16 to move laterally in the lifting direction H.

[0030] Figure 7 and Figure 8 Detailed views of slider 16 are shown. If the locking body 17 of the slider is inserted into the locking opening 18 of the transport container 1, the locking body 17 can be adjusted to... Figure 7 The locking position forms a detachable connection that is resistant to tension and shear. Here, the locking body 17 has, for example, two locking body halves 30 that move laterally relative to each other in the guide direction and engage with the locking opening 18 in a form-fitting manner, and / or the locking body 17 is frictionally supported in the locking opening 18. Adjustment movement is generated here, for example, by a hydraulic cylinder 31. Figure 8The retracted locking body half 30 is shown, so that the locking body 17 is in the open position and can be guided out from the locking opening 18.

[0031] at last, Figure 9 Another embodiment of the adjusting transmission device 23 is shown. The adjusting transmission device 23 may include a chute device 32 having a vertically extending chute guide device 33 and a horizontally extending, arcuate chute guide device 34. The slider 16 is drivenly connected to a drive unit 36 ​​for driving the arm 35 via a lifting arm 35 hinged thereto, the drive unit being supported in the chute device 32 on the vertical guide device. Furthermore, the lifting arm 35 has a guide pin (not shown in detail) that engages with the arcuate chute guide device 34. If the lifting arm 35 is loaded with rotational movement by the drive unit 36, the drive unit moves along the vertical chute guide device 33, and the section of the lifting arm 35 with the guide pin moves along the arcuate chute guide device 34. This also causes the slider 16 to move laterally in the lifting direction H.

Claims

1. An apparatus for moving a transport container (1) between a container stack (4) and a container rack (22), the apparatus having a lifting device (2) capable of resting against the transport container (1) laterally in the lifting direction (H), characterized in that, The lifting device (2) has a guide device for moving the transport container (1) laterally in the lifting direction (H), and is provided with a moving device (3) that is detachably connected to the transport container (1) in a tensile and shear-resistant manner to move the transport container (1) between a lifting position and a shelving position in the guide device (19), wherein the moving device (3) has at least one slider (16) having a locking body (17) adjustable between a locking position and an open position to engage with a locking opening (18) of the transport container (1).

2. The apparatus according to claim 1, characterized in that... The container receiving section, wherein the transport container (1) is able to be introduced into the container receiving section along the lifting direction (H) when the lifting device (2) is opened, and is introduced into the container receiving section laterally in the lifting direction (H) when the lifting device (2) is placed against the ground.

3. The apparatus according to claim 1 or 2, characterized in that, The lifting device (2) placed on the transport container (1) forms a keyway connection (21) with the transport container (1) extending transversely to the lifting direction (H).

4. The apparatus according to claim 1 or 2, characterized in that, The lifting device (2) has two lifting arms (7, 8) that are movable relative to each other.

5. The apparatus according to claim 1 or 2, characterized in that, The slider (16) of the moving device (3) is movable between a transfer position for connecting with the transport container (1) arranged in the container rack (22) and a lifting position for accommodating the transport container (1) in the lifting device (2).

6. The apparatus according to claim 4, characterized in that, The moving device (3) includes two sliders (16) that are respectively supported on the lifting arms (7, 8) and can move laterally in the lifting direction (H).

7. The apparatus according to claim 1 or 2, characterized in that, An operating device (11) is provided to form a locking connection for anchoring the transport container (1).

8. The apparatus according to claim 7, characterized in that, The operating device (11) includes an operating slider (12) arranged on the free end (13, 14) of the chain drive (15) guided along the operating direction.

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