Warehouse loading machine

Abstract

A warehouse loading machine for moving suspended products in an automated warehouse system comprises a frame structure consisting of columns (101) and beams (102), a fork loading unit (1) for receiving products, and a stacking unit (2) with hooks. The fork loading unit (1) comprises an arm (3) that pivots horizontally about a suspension element (12), a loading fork (4) that moves longitudinally on the arm (3), and a coupling member (6) connected to the arm (3). The loading unit (2) comprises a mobile bracket (10) on which a hook (9) cooperating with the fork (4) is suspended.

Description

Technical Field

[0001] The subject of this patent is a warehouse loading machine for handling goods stored in an automated warehousing system in a suspended manner, comprising a frame structure consisting of columns and beams, a forklift loader unit for receiving goods, and a loading unit equipped with hooks. Background Technology

[0002] It is known from the literature that there exist automated warehousing systems with endpoints that serve as loading or dispatching stations.

[0003] Patent publication number US2021 / 130094A1 describes a loading station for loading and unloading unit packages in a storage system constructed as a three-dimensional modular network. The storage system includes transport equipment that carries a line of unit packages between loading and storage locations, allowing operators to manually load or unload the packages.

[0004] Patent publication number US2011 / 142581A1 describes a product dispatch station that allows for the manual dispatch of individually packaged products according to a separate order sequence. After the products in question are identified, they are automatically boxed and sorted by type. A belt conveyor then transports the packages to appropriate tracks on a series of spatial chute ramps, at the ends of which an operator manually transports the parcels of the type matching the order.

[0005] However, the solutions described above are not suitable for individual product handling, as they are designed for storing large quantities of goods packaged in unit packs. Furthermore, these devices were developed for boxed packaging, not for suspended products.

[0006] Patent publication No. US2001 / 051085A1 describes a multi-level storage system for suspended storage of goods (primarily clothing on hangers), wherein the automated loading unit of the multi-level storage system is constructed in the form of a lift bracket that rolls on guide rails, thereby causing a unit volume of hangers suspended on beams to move horizontally, load them into a space at a predetermined location in the storage system, and lift them out of the space.

[0007] Patent publication No. WO2023 / 178405A1 describes an automated storage and retrieval system for storing suspended products (primarily clothing on hangers). The system features an operator-supervised loading / sorting station. An automatically operating rail-mounted transport vehicle enters the loading / sorting station, and the operator fills the station with suspended products. The transport vehicle, carrying a unit load, rolls to a specific point in the warehouse, where a loading machine, also moving along a rail path, transfers the load to the desired location. When products are dispatched, the operations are performed in reverse order.

[0008] The latter two warehouse systems have been developed for the storage, handling, loading, and unloading of suspended products, but these solutions are designed to handle a predetermined quantity of a specific type of goods and therefore cannot enable the individual handling of products of any type and quantity.

[0009] By developing our invention, our goal is to design a warehouse loading machine that can individually receive products in an automated warehousing system, regardless of the type and size of the products, and load them onto conventional transport vehicles.

[0010] Based on this, our goal is to design a loading machine that enables the individual storage of suspended cargo, wherein the loaded products are independent of type and size, so that the loading machine can deliver a randomly mixed set of products toward a transport vehicle and can reload the transport selected from individually arriving cargo in a precise, traceable, and recordable manner, thereby combining the advantages of individual manual loading and automated warehousing. Summary of the Invention

[0011] The solution to the objective task is provided by the loading machine as specified in claim 1. Advantageous solutions of the invention are embodied in the variants specified in claims 2 to 9. Attached Figure Description

[0012] The invention will be described below with reference to the accompanying drawings, wherein...

[0013] Figure 1 This is a 3D schematic diagram of the loading machine.

[0014] Figure 2 This is a 3D schematic diagram of the loading machine.

[0015] Figure 3 This is a 3D view of a forklift loader unit.

[0016] Figure 4 A three-dimensional view of the loading unit.

[0017] Figure 5 A 3D diagram of a cross.

[0018] Figure 6 This is a 3D view of the eccentric cam of a forklift loader unit.

[0019] Figure 7 and Figure 8 Two different types of suspension components are shown.

[0020] Figure 9 This demonstrates the operation of the forklift loader unit.

[0021] Figure 10 The illustration demonstrates the operation of the hook of the movable suspension retainer, while

[0022] Figure 11 and Figure 12 Illustrative examples illustrate the operation of the device. Detailed Implementation

[0023] Figure 1 and Figure 2 A schematic diagram of the components of a loading machine is shown, wherein the frame structure consists of columns 101 and beams 102, which support the loading unit 2, its linear actuator unit, and the forklift loader unit 1. One end of the forklift loader unit is connected to the linear actuator unit mounted on the frame structure, and the other end holds a suspension element 12, which is connected to another component of the storage system, namely the frame 103, which is schematically illustrated in the given case (and does not constitute part of this invention). This other device may be the labeling machine mentioned below. The loading machine actually places the moved goods onto a material handling machine (hereinafter referred to as a transport frame) that moves on a suspended track. For this purpose, the material handling machine moves along a track connected to the loading machine and is actually equipped with suspension points on which the loading machine can suspend the products stored in a suspended manner. For clarity, the material handling machine and the suspension track designed in this way are not shown, and only the suspension points 19 for suspending the products and the hooks 20 on the suspension points are shown in the figures. The accompanying drawing also shows accessory cabinet 104, which houses the electronic control system components of the loading machine.

[0024] Since the loading machine, the subject of our study, might operate, for example, in a fully automated warehouse, for completeness we note its application in an automated goods handling warehouse where products are stored suspended on a warehouse racking system. The products first arrive at a labeling station (not shown), where products in unit packages (e.g., ten light bulbs packaged in a single box) are unpacked, and each product receives a separate label, i.e., a unique identification code is placed on the product. Then, a hanging device, such as... Figure 7 and Figure 8 The suspension unit 30 is shown. Products equipped with the suspension unit are placed on the forks 4 of the current loading machine. Optionally, the device can then determine the three-dimensional dimensions of the product suspended on the forks 4 by, for example, illuminating the product from multiple sides using several light plates, while simultaneously using cameras positioned at the sides and top, employing a light-blocking method to determine the product's three-dimensional dimensions. Based on the determined dimensions, the warehouse control system creates a task that assigns a suitable storage space to a specific product with a specific label, and the product is placed in said storage space. The product is transported to the designated storage space by a transport rack (e.g., a rack on an overhead conveyor, i.e., a so-called "shuttle"). The task of the loading machine, the subject of this invention, is to load products suspended on the forks 4 onto the transport rack. Labeling stations and transport racks are not part of this invention, but it is necessary to describe them in the specification for a better understanding of the working principle of the loading machine, which is the object of this invention.

[0025] Figure 3 The location and design of the forklift loader unit 1 are shown. The forklift loader unit 1 includes an arm 3, the distal end of which is connected via a suspension element 12 to an element of a rack system, such as the frame 103 of a labeling station. The suspension element 12 includes a vertical pin (not shown) about which the arm 3 can rotate in a horizontal plane. A connecting member 6 is mounted to the other end of the arm 3, which is connected to a linear actuator unit mounted on the frame structure. In this configuration, the linear actuator unit consists of a linear guide 24, a linear carrier 25, and a toothed belt 7 driven on a toothed pulley 8 powered by a motor 31.

[0026] The connecting member 6 is connected to the toothed belt 7 via fastener 26. A stop 27 prevents over-limit movement of the connecting member 6 and the linear carrier 25 on the linear guide 24. The fork 4 is connected to the arm 3 via a linear actuator unit, which in this case consists of a linear guide 28, a linear carrier, and a toothed belt 13 that engages with a toothed pulley 14 driven by a drive motor 11. The fork 4 is connected to the toothed belt 13 via fastener 32, allowing the fork 4 to move on the linear guide 28. In this case, a stop (not shown) also prevents over-limit movement of the fork 4 and the linear carrier 29 on the linear guide 28. The product to be loaded onto the fork 4 is suspended by a suspension member 30. Figure 7 and Figure 8Two variations of such a suspension 30 are shown. We note beforehand that the product suspended on the fork 4 is moved toward the frame structure by the motor 11 via the toothed belt 13, and the frame structure then suspends the product onto one of the hooks 9 described below. The control system selects a specific hook 9 from the row of hooks 9, and the toothed belt 7 rotates the arm 3 to a desired angular position in the horizontal plane via the connecting member 6, thereby allowing the fork 4 to move forward to suspend the product onto the appropriate hook 9. Thus, as... Figure 9 As shown, before the fork 4 begins to move toward the selected hook 9, the arm 3 rotates along a circular path in the horizontal plane toward the specific hook 9. As a result of the circular motion, the frame structure end of the arm 3 moves away from the given beam 102, so that the connecting member 6 is connected to the arm 3 by a pin 22, which slides out of and back into the arm 3. Thus, the movement of the pin 22 ensures the necessary change in the length of the fork unit. The pin 22 moves in a sliding bearing 33 placed on the connecting member 6. Since the pin can slide in and out, this makes it possible for the angle between the connecting member 6 and the arm 3 to change due to the horizontal movement of the arm 3. The fork 4 is designed such that it can extend at every point on the bending trajectory of the arm from the end 2 of the arm 3 to the target hook 9, at any position on the arm 3, and can tilt the hook. Therefore, the fork 4 can transport the product to any of the hooks 9 in a row suspended on the movable suspension holder 10.

[0027] Figure 4 The location of loading unit 2 within the frame structure is shown. The tilting arm 35 is connected to the beam 101 of the frame structure via shafts in bearing housing 42 and bearing housing 43, and an eccentric cam 51. The tilting arm 35 is equipped with a linear guide rail 36, a linear carrier 37 running on the linear guide rail 36, a toothed belt 15 driven on a toothed pulley 16, and a motor 21, which together form a linear actuator unit. The linear carrier 37, the movable suspension retainer 10, and the toothed belt 15 are connected by fasteners 38 and 39. A stop 48 prevents the movable suspension retainer 10 and the linear carrier 37 from over-moving on the linear guide rail 36. The toothed pulley 16 and the toothed belt 15 are powered by the motor 21. To drive the toothed belt 15 on both tilting arms 35, the rotational motion of the motor is transmitted between the tilting arms 35 via shaft 40. A support post 23 is mounted on the movable suspension retainer 10, wherein the hook 9 is suspended on the support post 23 by a pin 17, so that the hook 9 can tilt forward about the pin 17 in a vertical plane.

[0028] When loading products, the operator or automated machine suspends the product onto the fork 4 via the suspension member 30. The fork 4 moves forward with the product on the arm 3 via the toothed belt 13, so that the fork 4 contacts the hook 9 and tilts it forward to a near-horizontal position. The fork 4, still moving slightly forward with the product, moves past the hook 9, so that the hook 9 rotates back to its initial vertical position. The rear surface of the suspension member 30 of the product on the fork 4, which has begun to move back, is hooked by the hook 9, which is now in the vertical position, and then the hook 9 pulls the product away from the fork teeth 5 of the fork 4. The product is thus transferred onto the hook 9. The specific product is then held in a suspended position on the specific hook 9 by the suspension member 30. The hook 9 is mounted so that it can rotate freely about the pin 17 to a near-horizontal position, but is supported in a vertical position when moving backward, so that the suspension member 30 suspended on the hook 9 and the product with it are stably held in this position, thus preventing the product from falling.

[0029] The tilting arms 35 are designed such that, located on the sides of their forklift loader units 1, the tilting arms 35 are connected to the beam 101 via shafts in bearing housings 42. The tilting arms 35 can thus tilt about a pivotal shaft in the bearing housings 42 (they can be raised and lowered). On the side away from the forklift loader unit 1, the tilting arms 35 are connected to the beam 101 via shafts 43 and eccentric cams 51 in the bearing housings. To raise and lower the tilting arms 35, the eccentric cams 51 rotate via toothed belts 47 driven by toothed pulleys 45. The toothed belts 47 are driven by a motor 41. To enable the eccentric cams 51 connected to the two tilting arms 35 to rotate, the rotational motion of the motor 41 is transmitted to both sides of the loader via shafts 46 and bearings 44.

[0030] Figure 5 A perspective view of fork 4 is shown. Fork 4 is connected to a linear actuator unit placed on arm 3. In this case, the linear actuator unit is a linear guide 28 with a linear carrier 29, a toothed pulley, and a toothed belt connected thereto. Another element of fork 4 is fork tooth 5, which has a groove in its upper flange. A suspension member (e.g., a product not shown in the figure) is suspended on fork tooth 5. Figure 7 The suspension element 30 shown rests in the groove. The fork 5 is bounded by the frame plate 18, which serves to protect the suspension element 30 and the product suspended thereon, and to orient the movement of the fork if necessary.

[0031] Figure 6Details of the eccentric cam 51 of the forklift unit 2 are shown. The eccentric cam 51 is connected to the beam 101 via a shaft mounted in the bearing housing 43. The eccentric cam 51 can therefore rotate about the pivot 34 via a toothed belt 47 driven on a toothed pulley 45. A shaft 50 offset from the pivot 34 is driven through the eccentric cam. The shaft 50 is also driven through a groove 49 formed in the tilting arm 35. The shaft 50 is able to slide in the groove 49. By rotating the eccentric cam 50, the shaft offset from the pivot 34 moves in the groove 49, thereby raising or lowering the tilting arm 35.

[0032] Figure 7 and Figure 8 Two variations of the suspension 30 are shown; Figure 7 It shows what is called a "suspension with legs," while Figure 8 The so-called "hook-mounted suspension" is shown. The suspension can have several other possible designs; for example, the width of the suspension 30 can be increased, so that the front panel of the suspension will have several cutouts (windows) that are adjacent to each other.

[0033] Figure 10 The design of hook 9 is shown. As shown, hook 9 is connected to movable suspension retainer 10 via support 23 so that it can rotate about pin 17 embedded in support 23; when fork 4 contacts hook and pushes hook forward, hook 9 can tilt forward until it is approximately horizontal, and then, when fork moves slightly further forward, hook falls back against support 23 to a vertical position and does not tilt further backward, but stops in a vertical position via support.

[0034] Figure 11 and Figure 12 Provides a diagram illustrating the operation of the warehouse loading machine. According to... Figure 11 In step A, the operator or automated machine suspends the product, equipped with suspension element 52, onto fork 4. Optionally, the device can then determine the three-dimensional dimensions of the product suspended on fork 4 by, for example, illuminating the product from multiple sides using several light plates, while simultaneously using cameras positioned on the sides and top, employing a light-blocking method to determine the product's three-dimensional dimensions. After determining the dimensions, the control system selects a specific hook 9 from the row of hooks 9 and rotates arm 3 in the horizontal plane to a desired angular position, thereby allowing fork 4 to move forward to move the product toward the appropriate hook 9. Thus, as... Figure 9As shown, before the fork 4 begins to move toward the selected hook 9, the arm 3 rotates in a circular path in the horizontal plane toward the specific hook 9. Since the operator (e.g., after labeling) individually suspends the product onto the fork 4, the fork 4 similarly carries and suspends the product one by one onto the hooks 9 of the movable suspension holder 10. Therefore, the movable suspension holder 10 also acts as a buffer storage unit; that is, it remains stationary until the goods are suspended on all hooks 9 and until the entire width of the movable suspension holder 10 between beams 102 is filled with goods. The selection of the fork 4's orientation, the positioning of the product, and other movement operations are performed by the control system of the warehousing system, for example, by using data from the aforementioned dimensional determination unit.

[0035] It should be noted that, depending on the size of the product involved, one product may occupy the space of multiple hooks 9. In the case of narrow products, the product is suspended on each hook 9, but wider products may occupy the space of multiple hooks. Based on the data from the aforementioned size determination device, the machine's control system determines the position of the product on the movable suspension holder 10. For example, in the case of narrow products, the fork 4 will move towards the hook 9 one product at a time via the toothed belt 7, thus enabling the fork 4 to fill the movable suspension holder 10 with products one after another.

[0036] Buffer-type storage is necessary to prevent the movable suspension holder 10 from carrying only one product, but rather to allow a specific group of products to move toward the transport carrier (not part of this invention). Important parts of the transport carrier are not included in the drawings, and only a row of hooks 20 and the mechanical parts holding them are shown.

[0037] according to Figure 11 In order to suspend product 52 on hook 9, fork 4 moves forward on arm 3, so that product 52 and suspension 30 contact the selected hook 9 and tilt it forward to a near-horizontal position. Figure 11 C, still moving slightly forward with the product, the fork 4 moves past below the hook 9, so the hook 9 rotates back to its initial vertical position. Afterwards, according to... Figure 11 As D begins to move back, the rear surface of the suspension member 30 on the fork 4 is hooked by the hook 9, which is now in the vertical position. The hook 9 then pulls the product away from the fork tooth 5 of the fork 4. The product is thus transferred to the hook 9. The given product is then held in the suspended position on the hook 9 by the suspension member 30.

[0038] The process of transferring the product onto hook 20 occurs in a sequence similar to the movement sequence described above. According to Figure 12 In section A, the tilting arm 35 tilts upwards around a pivot point created by the bearing housing 42 via an eccentric cam, thus forming a tilted track. According to... Figure 12By moving the movable suspension holder 10, hook 9 moves toward hook 20. The movable suspension holder 10 approaches hook 20 in a position lifted by the eccentric cam 51. When lifted, the position of hook 9 is determined such that the suspension of the product on the forward-moving hook 9 is driven onto hook 20. Therefore, in this position, product 52 is suspended on suspension 9, but hook 20 is also driven through the hole in the suspension. Then, according to Figure 12 At position C, the eccentric cam 51 rotates, lowering the movable suspension holder 10. This movement results in the reversal of position D. The product is now suspended on hook 20, but hook 9 is also driven through the hole in the suspension. Hook 9 can then be driven away from suspension 30, and the now empty movable suspension holder 10 can be driven back to its initial position. The product is now suspended on hook 20.

[0039] It should be noted that in the current implementation, the linear actuator unit is presented with toothed pulleys and belt drives, but it can also be composed of compact linear units, such as pneumatic, electric or electromechanical linear actuators, ball screw mechanisms, or similar custom drives.

[0040] The advantages of the warehouse loading machine according to the present invention are as follows:

[0041] - It enables the separate storage of suspended products.

[0042] - It can load products of any type and size.

[0043] - Transport racks can carry any combination of products from loading machines.

[0044] - The equipment is capable of transferring units selected from individually arriving products in a precise, traceable, and recordable manner.

[0045] The equipment combines the advantages of manual individual loading and automated warehousing.

[0046] List of reference numerals in the attached diagram:

[0047] 1 Forklift Loader Unit

[0048] 2 loading units

[0049] 3 arms

[0050] 4-fork

[0051] 5-tooth

[0052] 6 connecting components

[0053] 7-tooth belt

[0054] 8-tooth pulley

[0055] 9 hooks

[0056] 10. Mobile suspension retainer

[0057] 11 motors

[0058] 12 Suspension Elements

[0059] 13-tooth belt

[0060] 14 gears

[0061] 15-tooth belt

[0062] 16-tooth pulley

[0063] 17 sales

[0064] 18-frame board

[0065] 19 suspension points

[0066] 20 hooks

[0067] 21 motors

[0068] 22 sales

[0069] 23 pillars

[0070] 24 linear guides

[0071] 25 linear carriers

[0072] 26 Fasteners

[0073] 27 Stopping parts

[0074] 28 linear guides

[0075] 29 linear carriers

[0076] 30 suspension components

[0077] 31 motors

[0078] 32 Fasteners

[0079] 33 sliding bearing

[0080] 34 pivot points

[0081] 35-degree tilt arm

[0082] 36 linear guides

[0083] 37 linear carriers

[0084] 38 Fasteners

[0085] 39 Fasteners

[0086] 40 axis

[0087] 41 motors

[0088] 42 bearing housing

[0089] 43 Bearing Housing

[0090] 44 bearing housing

[0091] 45 toothed pulley

[0092] 46 axes

[0093] 47-tooth belt

[0094] 48 stop components

[0095] 49 grooves

[0096] 50 axis

[0097] 51 eccentric cam

[0098] 52 products

[0099] 101 columns

[0100] 102 beams

[0101] 103 Shelves

[0102] 104. Parts cabinet.

Claims

1. A warehouse loading machine for handling goods stored in an automated warehousing system in a suspended manner, the loading machine comprising a frame structure consisting of columns (101) and beams (102), a forklift loader unit (1) for receiving goods, and a loading unit (2) equipped with hooks, characterized in that, The fork loader unit (1) includes an arm (3) that rotates horizontally about a suspension element (12), a loading fork (4) that moves longitudinally along the arm (3), and a component (6) connected to the arm (3), the component also being connected to a horizontal linear actuator unit mounted to a beam (102) of the frame structure. The loading unit (2) includes a movable suspension holder (10), to which a hook (9) cooperating with the fork (4) is suspended, and the movable suspension holder (10) is tiltably connected to a linear actuator unit placed on a tilting arm (35).

2. The loading machine according to claim 1, characterized in that, The connecting member (6) is connected to the arm (3) by a pin (22) that can extend from the arm and a sliding bearing (33).

3. The loading machine according to claim 1 or 2, characterized in that, The linear actuator unit connected to the connecting member (6) consists of a linear guide (24), a linear carrier (25), and a toothed belt (7), which is connected to the motor (31) via a toothed pulley (8).

4. The loading machine according to any one of claims 1-3, characterized in that, The linear actuator unit connected to the movable suspension retainer (10) consists of a linear guide (36), a linear carrier (37), and a toothed belt (15) connected to the motor (21) via a toothed pulley (16).

5. The loading machine according to any one of claims 1-4, characterized in that, The fork (4) is connected to the arm (3) via a linear actuator unit, which is connected to the motor (11). The linear actuator unit consists of a linear guide (28), a linear carrier (2), and a toothed belt (13), which is connected to the motor (11) via a toothed pulley (14).

6. The loading machine according to any one of claims 1-5, characterized in that, The linear actuator mounted on the frame structure consists of a linear guide (24), a linear carrier (25), a toothed pulley (8) and a toothed belt (7), and the connecting member (6) is connected to the toothed belt (7) by a fastener (26), and the connecting member (6) is connected to the arm (3) by a pin and a sliding bearing (33) that can extend from the arm (3).

7. The loading machine according to any one of claims 1-6, characterized in that, The movable suspension holder (10) is connected to a linear actuator unit placed on a tilting arm (35), a drive motor (11) is connected to the linear actuator unit, and the hook (9) is suspended on a horizontal pin (17) on the movable suspension holder (10) such that the hook can tilt about the pin in a vertical plane, and the tilt range of the hook (9) is limited to between a vertical position and a horizontal position.

8. The loading machine according to claim 7, characterized in that, The linear actuator unit placed on the tilting arm (35) consists of a linear carrier (37), a linear guide (36), and a toothed belt (15) driven on a toothed pulley (16) supported by a bearing on the tilting arm (35), and fasteners (38, 39) of the movable suspension retainer (10) secure the movable suspension retainer to the toothed belt (15) and the linear carrier (37).

9. The loading machine according to any one of claims 1-8, characterized in that, The end of the tilting arm (35) near the fork (4) is tiltably connected to the column (101) via a shaft driven through the bearing housing (42).

10. The loading machine according to any one of claims 1-9, characterized in that, The end of the tilting arm (35) away from the fork (4) is connected to the column (101) via an eccentric cam (51), and the eccentric cam (51) is connected to the motor (41) via a toothed belt (47) driven on a toothed pulley (45).

11. The loading machine according to any one of claims 1-10, characterized in that, The toothed belt (15) is connected to the motor (21), and the shaft (40) supported by the bearing is connected to the toothed belt (15).

12. The loading machine according to any one of claims 1-11, characterized in that, The toothed belt (47) is connected to the motor (41), and the shaft (46) supported by the bearing (44) is connected to the toothed belt (47).

13. The loading machine according to any one of claims 1-12, characterized in that, The movable suspension holder (10) is equipped with a support (23), and the hook (9) is suspended from the support (23) such that the hook can tilt about a horizontal pin (17) in a vertical plane, and the tilt range of the hook (9) is limited between a vertical position and a horizontal position.

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