Warehouse loading machine

Abstract

A warehouse loading machine (1) for moving suspended goods in an automated goods handling warehouse comprises a motor-driven rolling frame (2) with wheels (3, 4) and a lifting column (5). The lifting column (5) is mounted on the rolling frame (2), and a movable motor-operated lifting block (6) is arranged on the lifting column (5), which is raised and lowered and supports a lifting frame (7). The lifting frame (7) comprises a motor-driven pull-out unit (8) and a motor-driven fork lifting unit (9).

Description

Technical Field

[0001] The subject of this patent is a warehouse loading machine for handling goods stored in a suspended manner in a warehouse with an automated goods handling system, the warehouse loading machine comprising a motor-driven rolling frame with wheels. Background Technology

[0002] Known and widely used automated warehouse cargo handling systems are primarily designed to transfer goods stored on shelves within a warehouse, enabling storage units (such as pallets, crates, etc.) that hold various types of goods to move between receiving / sending stations and storage shelves. These systems feature self-propelled transport and loading components capable of locating suitable storage units, loading or unloading goods at those units, and transporting goods between shelves and receiving / sending stations.

[0003] Known solutions typically pertain to the warehousing system itself, where the same equipment performing loading and unloading on shelves transports goods between the receiving / sending point and the racking system. These robots are far more complex than the loading machines that are the subject of this invention, and they perform loading and unloading operations in entirely different ways, often employing loading machines mechanically connected to the racking system, such as elevators, winches, etc. Because these solutions apply to the entire warehouse system, loading machines are usually described only generally, and thus discussed only in connection with the placement and removal of goods from shelves. Another important distinction is that known warehousing solutions are typically used for loading and unloading bulk goods; when goods are placed into some form of unitized packaging (such as crates or pallets), the equipment does not actually perform individual processing on the product itself. Solutions involving warehouse processing of goods stored in a suspended manner are less common, especially if these goods are individually suspended and their loading and unloading are also performed individually. In known systems, loading machines typically employ elevators, i.e., devices capable of moving up and down at a point within the racking system, and goods are placed onto or removed from the elevator using specialized machine units mounted on the racks in question. As can be seen from the above, such systems are unsuitable for handling goods stored in a suspended manner. The following documents describe warehouse systems and loading solutions commonly used for loading and unloading goods: EP0615946A1, US2052690A, US6929440B1, US7101139B1, US7381022B1, US2011142581A1, EP1086910A1, EP1348646A2, W02010100513A2, CN103359441A, EP2025625A1, US5147176A, US2004197171A1, and US2006239801A1.

[0004] Many known automated cargo handling systems are typically designed to manipulate product storage containers or unit packages, rather than to store individual suspended products. Solutions are also known in which cargo-carrying racks (shuttles) shuttle between shelves and receiving / sending stations, and lifting modules operate between the shuttles and shelves. These solutions are similar to our invention in their intended purpose, but are generally unsuitable for storing suspended cargo. Solutions for handling suspended cargo are described in documents CN217375879U, EP3050828A1, US2001051085A1, US10370179B2, US10710802B2, US11124365B2, US11370611B2, and WO2014029202A1. However, these solutions transport and load cargo onto and unload it from shelves in a conventional manner (i.e., by means of equipment), and the cargo is not stored individually but in batches or in containers.

[0005] The closest solution to the present invention is described in Publication Nos. P0900218 and P1400194.

[0006] Publication document P0900128 (the authorized version of which is patent specification HU229022B1, which contains far less detailed information) describes a loading machine operating in a warehouse layout. This loading machine carries storage containers and elevates them to shelf height via a lifting device, wherein a lateral movement mechanism places the containers onto a racking system. The loading machine is a wheeled rack, but the document does not describe its movement in detail. Lifting of the containers is achieved via a winch, wherein the winch components can be, for example, cables and cable drums, chains and sprockets, or rack and pinion drives. Lateral movement of the lifted containers is achieved via a pusher and puller unit, wherein containers lifted to the same height as the shelves are pushed onto or removed from the shelves by, for example, a magnetic device.

[0007] The loading machine described in the document was developed to handle bulk goods and is neither suitable for individually suspending and removing goods stored in a suspended manner, nor for pulling the suspension beams out into the aisle of the racking system and pushing them back into the racking system.

[0008] Publication document P1400194 (No. HU230618B1) describes a warehouse loading machine capable of moving along aisles of a racking system in mutually perpendicular directions, such that the loading machine has wheels that roll along guide rails mounted at multiple levels of the racking system. The loading machine moves vertically between levels via a winch assembly. The loading machine carries storage containers of goods, which are placed onto shelves by a manipulator, such that the loading machine has a pull-out element that removes the shelf from the racking system. The manipulator then lifts the goods from the container and places them onto the shelf, and the pull-out element pushes the shelf back into the racking system.

[0009] According to the document, the loading machine is developed for handling bulk or palletized goods and is neither suitable for individually suspending and removing goods stored in a suspended manner, nor for pulling the suspension holders out of the aisle of the racking system and pushing them back into the racking system.

[0010] Therefore, known systems for storing suspended goods follow the construction of conventional automated warehousing systems. In most cases, goods are not transported to loading robots via shuttle racks, but rather the same unit that rolls on rails performs both transport and loading operations. This reduces availability, and in the event of a failure, a significant amount of storage space becomes inaccessible and rendered unusable. Therefore, there is a need for a system that stores goods in a suspended manner and largely follows a conventional warehouse layout, but performs loading and unloading operations using equipment independent of product transport. Such equipment forms the basis of the loading machine that constitutes the subject of this invention. Summary of the Invention

[0011] Our goal is to design a loading machine that can be used in automated goods handling warehouses and is capable of individually loading and unloading suspended goods onto and from a warehouse racking system, wherein the goods are individually suspended on hangers secured to the racking system. The loading machine is also capable of removing and pushing hanger holders from and back onto the racking system, and of suspending goods on (storing) and removing them from (removing) hanger holders.

[0012] Another goal of ours is that the loading machine itself can automatically locate, lift, and remove goods with flawless accuracy based on the location of individually stored goods, all of which must be implemented through a simple and easy-to-manage construction.

[0013] The development of this invention benefits from the understanding that if the loading machine is equipped with a pull-out unit that can be positioned in each direction and a tiltable lifting fork unit that can also be positioned and moved in each direction, we can effectively achieve our goal.

[0014] The solution to the objective task is presented by the loading machine as specified in claim 1. Advantageous solutions of the invention are embodied by the variations specified in claims 2 to 10. Attached Figure Description

[0015] The invention will be described below with reference to the accompanying drawings, wherein...

[0016] Figure 1 This is a 3D schematic diagram of the loading machine.

[0017] Figure 2 To enhance the three-dimensional top view of the framework,

[0018] Figure 3 To improve the three-dimensional side view of the frame,

[0019] Figure 4 To enhance the three-dimensional top view of the fork unit,

[0020] Figure 5 A three-dimensional bottom view diagram of the lifting fork unit. Detailed Implementation

[0021] therefore, Figure 1 The loading machine shown includes a motor-driven rolling frame 2 with driven wheels 3 and idler wheels 4. Wheels 3 and 4 travel on guide rails in aisles of a racking system (not shown). Wheels 3, arranged on a common shaft, are driven by a drive motor 10 depending on the forward or backward movement of the loading machine 1. Two vertical lifting columns 5 are mounted on longitudinal supports of the rolling frame 2 parallel to the direction of travel, and in the current embodiment, these two vertical lifting columns have a circular cross-section, with a lifting block 6 mounted on each of the two vertical lifting columns 5, and these lifting blocks together support the lifting frame 7. The lifting blocks 6 engage with a toothed belt 12, which runs parallel to the lifting columns 5 and is driven by toothed pulleys 13 equipped with bearings at the top and bottom ends of the lifting columns 5. The lower toothed pulleys 13 are mounted on a common shaft 14 and rotated by a lifting motor 11 via a gearbox 40. Due to the toothed belt 12, the lifting frame 7 can be vertically raised and lowered.

[0022] Instead of the lifting block 6 sliding on the lifting column 5, the vertical movement of the lifting frame can naturally be achieved by using, for example, a ball screw or rack and pinion system, which will also be operated by the lifting motor 11.

[0023] The lifting frame 7 includes a pull-out unit 8 and a lifting fork unit 9. The pull-out unit 8 pulls the aforementioned hanging element holders out of and back into the racking system, and stores suspended goods on these holders. The lifting fork unit 9 removes suspended goods from the hanging element holders and hooks them back onto the hanging element holders. The pull-out unit 8 includes fastener holding hooks 20, which are arranged perpendicular to the travel direction of the rolling frame 2. The lifting fork unit 9 includes lifting forks 24 pointing in the travel direction of the rolling frame 2.

[0024] To stabilize the lifting column 5, the top of the lifting column 5 is secured to another point of the rolling frame 2 by a support rod 32. A guide rod 37 engages with the top of the lifting column 5 and runs along the warehouse aisle in a guide rail placed above the loading machine 1 (not shown), thereby stabilizing the movement of the loading machine 1.

[0025] The following text mainly references Figure 2 and Figure 3 The lifting frame 7 is described. The lifting frame 7 is assembled from two longitudinal supports 17 parallel to the travel direction of the rolling frame 2, and a front transverse support 15 and a rear transverse support 26 perpendicular to the two longitudinal supports. A guide rail 16 is mounted on the front transverse support 15, and a pull-out unit 8 is disposed on the guide rail so that the pull-out unit 8 can move along the guide rail 16 perpendicular to the travel direction. The movement of the pull-out unit 8 is actuated by a drive motor 19, which is mounted in the cantilever of the unit and drives a toothed pulley 41. The toothed pulley 41 is connected to a toothed belt 18, which is connected to the longitudinal supports 17 and is properly tensioned between the longitudinal supports. The toothed pulley 41, running on the toothed belt 18, enables the pull-out unit 8 to move in the transverse direction. The front end of the unit carries a retaining block 42, which is positioned perpendicular to the direction of travel and includes a hanging retaining hook 20 schematically shown at each end. Through the hanging retaining hook, the loading machine 1 pulls the hanging retaining of the suspended goods from the racking system and pushes the hanging retaining back into the racking system.

[0026] The lifting frame 7 also supports the lifting fork unit 9, which includes a sliding support 30. The sliding support 30 is mounted on a guide rail 43 installed on the front lateral support 17 and the rear lateral support 26, and can slide in the lateral direction on the guide rail.

[0027] The cantilever 29 of the lifting fork unit 9 is suspended on the sliding support 30 (see...). Figure 4 and Figure 5The lifting fork unit includes a lifting fork 24 extending forward in the rolling direction of the rolling frame 2, and a sliding support 30 carrying a lifting motor 21 and a lateral drive motor 22. The lateral drive motor 22 drives a toothed pulley 31 connected to a toothed belt 25. The toothed belt 25 is connected to and tensioned between longitudinal supports 17. The toothed pulley 31, operating with the toothed belt 25, can move the sliding support 30 and thereby the lifting fork unit 9 in the lateral direction.

[0028] exist Figure 4 and Figure 5 The detailed structure of the lifting fork unit 9 is shown in the figure. The cantilever 29 of the lifting fork unit 9 is suspended on the sliding support 30 via a joint 27 and an eccentric cam 28. The eccentric cam 28 is connected to the lifting motor 21 via a gearbox 40. The lifting motor 21 rotates the eccentric cam 38 and vertically raises or lowers the cantilever 29, that is, it tilts the cantilever 29 in the vertical direction and rotates the cantilever about the joint 27.

[0029] The sliding support 30 is connected to the sliding member 36 on the guide rail 43. Figure 4 It is connected to the front lateral support 15 and the rear lateral support 26 of the lifting frame 7, thereby allowing it to slide.

[0030] The feed motor 23 is mounted on the rear end of the cantilever 29, and the toothed pulley 34 is connected to the feed motor via a gearbox 40. The toothed belt 33 is driven on the toothed pulley 34 by... Figure 4 From the top and Figure 5 The device is driven by a roller 35 shown below, and then by another toothed pulley 44, which is embedded in a sliding block 39 mounted at the bottom of the cantilever 29. A lifting fork 24 is mounted on the front of the sliding block 39. The sliding block 39 is placed on a guide rail 45 at the bottom of the cantilever 29 and can move on the guide rail by a wheel (not shown). Therefore, the toothed belt 33, moved by the feed motor 23, rotates the toothed pulley 44, and thus, the sliding block 39 and the lifting fork 24 mounted on the sliding block can move back and forth.

[0031] Therefore, due to the above structural arrangement, the lifting motor 21 moves the cantilever 29 and thus the lifting fork 24 in the vertical direction, and the feed motor 23 moves the sliding block 39 and thus the lifting fork 24 back and forth. This dual movement enables the lifting fork 24 to lift the suspended cargo from the aforementioned suspension beam and hook it back onto the suspension beam.

[0032] The operation of the lateral drive motor 22 causes the lifting fork unit 9 to move laterally, thereby allowing the lifting fork 24 to move horizontally to a position suitable for the suspended cargo.

[0033] The embodiment of the loading machine 1 illustrated herein also includes control electronics 51, a battery 50 (e.g., a battery placed on the rolling frame 2), and a current collector (not shown, e.g., a current collector placed between the guide rods 37), which can be connected to a power supply line extending, for example, above the loading machine 1. Since the loading machine 1 operates in a fully automated warehouse, for completeness, we mention here that the guide rails are equipped with limit switches, and the components involved in handling the goods may be equipped with cameras and distance measurement sensors; the motors are equipped with encoders for positioning, and certain components of the warehousing system including the loading machine 1 are equipped with weighing scales to check and record the weight of the goods.

[0034] The loading machine 1 according to the invention is used in an automated goods handling warehouse where goods are stored in a suspended manner in a warehouse racking system. The goods are suspended on suspension holders fixed to the racking system; the suspension holders can be pulled out of the racking system to a passageway between the racks and can be pushed back into the racking system. The loading machine 1, protected by intellectual property rights, moves along the passageway, pulling the suspension holders out of the racking system and suspending the goods on the suspension holders (storage), or removing the goods from the suspension holders (removal), and pushing the suspension holders back into the racking system.

[0035] The process of goods arriving at and being dispatched from the warehouse is carried out through receiving / dispatch points. The transport of goods between the loading machine 1, which forms the subject of this invention, and the receiving and dispatch points is carried out by shuttle carriers that move on suspended overhead conveyor tracks. When storing goods, the goods brought by the suspended transport carriers are lifted from the carriers by the loading machine 1, a suspension holder is pulled out, and the goods are suspended on the suspension holder, which is then pushed back into the racking system, where the goods are stored in a suspended manner.

[0036] When removing goods, the loader 1 pulls the suspension beam out of the racking system, removes the goods from the beam and suspends them on the transport rack, which then carries the goods to the receiving / sending point.

[0037] The advantages of the loading machine, which is the subject of this invention, are as follows:

[0038] The loading machine is adapted to lift goods stored in a warehouse with an automated cargo handling system, in which goods are suspended on a racking system, enter and leave the racks, wherein the goods are individually suspended from suspension holders that are coupled to the racking system.

[0039] - The loading machine is adapted to remove and push the suspension holders from and back into the racking system, as well as to suspend goods onto (store) and remove them from (remove) the suspension holders.

[0040] The loading machine can accurately and automatically locate itself based on the position of individually stored goods, lifting and removing the goods, all through a simple and easy-to-manage layout.

[0041] The loading machine can operate within an automated warehousing system, while the delivery, loading, and unloading of goods are performed using independent devices.

[0042] Availability is improved, and storage space loss due to inaccessibility during component failures is significantly reduced.

[0043] List of reference numerals

[0044] 1 Loading machine

[0045] 2 Scrolling Frame

[0046] 3 rounds

[0047] 4 wheels

[0048] 5 lifting columns

[0049] 6 lifting blocks

[0050] 7. Improve the framework

[0051] 8-beam pull-out unit

[0052] 9 lifting fork units

[0053] 10 drive motors

[0054] 11 lifting motors

[0055] 12-tooth belt

[0056] 13 gears

[0057] 14-axis

[0058] 15 Front Lateral Support

[0059] 16 guide rails

[0060] 17 Longitudinal Support Components

[0061] 18-tooth belt

[0062] 19 drive motors

[0063] 20-beam capture hook

[0064] 21 lifting motors

[0065] 22 lateral drive motors

[0066] 23 feed motor

[0067] 24 lifting forks

[0068] 25-tooth belt

[0069] 26 rear lateral support

[0070] 27 connector

[0071] 28 eccentric cam unit

[0072] 29 cantilever

[0073] 30 sliding support

[0074] 31 gears

[0075] 32 support rods

[0076] 33-tooth belt

[0077] 34 gears

[0078] 35 rolls

[0079] 36 sliding parts

[0080] 37 guide rod

[0081] 38 eccentric cam

[0082] 39 sliding blocks

[0083] 40 gearbox

[0084] 41 gears

[0085] 42 retainer block

[0086] 43 guide rail

[0087] 44 gears

[0088] 45 guide rail

[0089] 50 batteries

[0090] 51 Control Box.

Claims

1. A warehouse loading machine (1) for handling suspended goods in a warehouse with an automated goods handling system, the warehouse loading machine comprising a motor-driven rolling frame (2) equipped with wheels (3, 4), characterized in that, The rolling frame (2) is equipped with a lifting column (5), the lifting column (5) is equipped with a motor-driven lifting and lowering block (6), the lifting and lowering block is able to move along the lifting column and hold the lifting frame (7), and the lifting frame (7) includes a motor-driven pull-out unit (8) and a motor-driven lifting fork unit (9).

2. The warehouse loading machine (1) according to claim 1, characterized in that, The rolling frame (2) consists of a pair of idler wheels (4) mounted on a common shaft and a pair of driven wheels (3) mounted on a common shaft; wherein a drive motor (10) is connected to the driven wheels (3).

3. The warehouse loading machine (1) according to claim 1 or 2, characterized in that, The toothed belt (12) is fastened to the lifting block (6) and driven on the toothed pulleys (13) at the bottom and top of the lifting column (5); and the lower toothed pulley (13) is mounted on a common shaft (14) connected to the lifting motor (11).

4. The warehouse loading machine (1) according to any one of claims 1-3, characterized in that, The pull-out unit (8) is mounted on the guide rail (16) of the front transverse support (15) of the lifting frame (7) in a manner that allows it to slide, and the pull-out unit (8) is equipped with a drive motor (19), and the longitudinal support (17) of the lifting frame (7) is equipped with a toothed belt (18) parallel to the transverse support (15), and the toothed pulley (41) of the drive motor (19) is connected to the toothed belt (18).

5. The warehouse loading machine (1) according to any one of claims 1-4, characterized in that, The suspension retainer capture hook (20) is mounted on the front end of the pull-out unit (8) perpendicular to the rolling direction of the rolling frame (2).

6. The warehouse loading machine (1) according to any one of claims 1-5, characterized in that, In the rolling direction of the rolling frame (2), a forward-protruding lifting fork (24) is mounted on the front end of the lifting fork unit (9).

7. The warehouse loading machine according to any one of claims 1-6, characterized in that, The lifting fork unit (9) includes: - A sliding support (30), which is connected to the front lateral support (15) and the rear lateral support (26) of the lifting frame (7) in a manner that allows it to slide via a sliding member (36), and -Cantilever (29), which is connected to the sliding support (30) via a joint (27) and an eccentric cam (38), wherein, - The lifting motor (21) and the lateral drive motor (22) are mounted on the sliding support (30), and the feed motor (23) is fitted to the rear end of the cantilever (29) so that... - The lifting motor (21) is connected to the cantilever (29) via the eccentric cam unit (38).

8. The warehouse loading machine (1) according to claim 7, characterized in that, - Another toothed belt (25) is parallel to the transverse support (15, 26) and engages with the longitudinal support (17) of the lifting frame (7), and the toothed pulley (31) of the transverse drive motor (22) is connected to the toothed belt (25), and - A longitudinal toothed belt (33) is placed at the bottom of the cantilever (29) and is driven on the toothed pulley (34) of the feed motor (23) and the toothed pulley (44) connected to the lifting fork (24), such that the toothed belt (33) is also driven on the guide roller (35), and the lifting fork (24) is engaged with the bottom of the cantilever (29) in a manner that allows its sliding movement, so that... - The lifting fork (24) is held in a sliding block (39), which is placed on a guide rail (45) formed at the bottom of the cantilever (29), and the toothed pulley (44) is embedded in the sliding block (39).

9. The warehouse loading machine (1) according to any one of claims 1-8, characterized in that, The upper end of the lifting column (5) and the rolling frame (2) are connected by a support rod (32).

10. The warehouse loading machine (1) according to any one of claims 1-9, characterized in that, A horizontal guide rod (27) is installed on the top of the lifting column (5).

Images