Loading device, loading system and loading and unloading method

Abstract

The invention relates to a loading method and a loading device (10) for the ordered loading, and unloading, of a loading or storage surface of a freight vehicle with goods (12) from an X / Y provision plane into an X / Z loading plane, in particular a loading robot for loading, and unloading, a freight vehicle loading space (54) extending in an X / Y plane with piece goods such as vehicle tires (56), at least comprising a base frame (14) which extends at least in a horizontal X-axis transverse to the loading or storage surface and a gripper device (16) which can be arranged on the base frame (14) and can be moved out of the X / Y plane in the direction of a vertical Z-axis. According to the invention, the gripper device (16) comprises a pivot arm (20) arranged on a rotary unit (18) and having a gripper unit (22) for gripping the goods (12), in particular the vehicle tires (56), the gripper device (16) being linearly movable at least in the X-direction of the base frame (14), and the pivot arm (20) being rotatably supported, at a first end, on the rotary unit (18) and being pivotable out of an X / Y plane in the direction of the Z-axis about a first axis of rotation (26), and the pivot arm (20) supporting, at a second end, the gripper unit (22) for rotation about a second axis of rotation (28) lying in a further X / Y plane.

Description

[0001] Loading device, loading system and

[0002] Loading and unloading procedures

[0003] The invention relates to a loading device for the orderly loading and unloading of a loading or storage area with goods from an X / Y provision plane into an X / Z loading plane, in particular a loading robot for loading and unloading a cargo vehicle cargo space extended in an X / Y plane with general cargo such as vehicle tires, at least comprising a base frame extending at least in a horizontal X-axis transverse to the loading or storage area and a gripper device that can be arranged on the base frame and moved in the direction of a vertical Z-axis from the X / Y plane.

[0004] In addition, the invention relates to a loading system with such a loading device.

[0005] Furthermore, the invention relates to a loading and unloading method using such a loading system or such a loading device.

[0006] STATE OF THE ART

[0007] Freight transport, as part of logistics, is an essential component of basic services and thus of the prosperity of our society. Goods are now transported in a wide variety of ways: by land, by water, and by air.

[0008] A significant portion of everyday goods is transported primarily by land, using road freight transport via trucks and rail freight wagons, by air using transport aircraft, and by sea using container ships. A well-known example of such freight transport is the transport of general cargo such as parcels, bagged goods, suitcases, or vehicle tires.

[0009] The time-efficient and cost-effective loading and unloading of the corresponding loading areas of these transport vehicles presents the logistics industry with an ever-increasing challenge.

[0010] GAW-8639WO

[0011] 07.01.2026: greater challenges.

[0012] Currently, the loading and unloading of freight vehicles, especially trucks, is largely done manually, i.e., by human operators. The most common reasons for this are the associated costs and the lack of affordable alternative solutions in the form of at least partially automated machines. Therefore, for most logistics companies, the most cost-effective and thus preferred solution remains the use of human operators.

[0013] In this respect, the automated handling of goods is becoming increasingly important in the logistics industry due to rapid technological progress.

[0014] Telescopic conveyor belts, as length-adjustable conveyor belts, represent a well-established solution for the partial automation of loading processes for trucks, cargo planes, rail freight vehicles, or cargo and container ships. Typically, goods are manually placed and stacked on the loading platform or in a container.

[0015] Robotics applications represent a well-known alternative to manual loading of the loading area. For example, the use of gripper robots for such pick-and-place applications—that is, removing goods from a staging position and precisely placing them in a target position, particularly in stacked arrangements—is already established. These typically involve robot arms with multiple axes of movement and a gripper device, allowing the goods to be moved in any spatial direction, at least within the swivel range of the robot arm, or moved in the corresponding degrees of freedom. Currently, six-axis robots are used in most cases.

[0016] Such robotics applications are known from the publications DE 11 2017 004070 B4, DE 10 2023 121 875 A1, US 2019 / 0 291 979 A1 and EP 4 574 722 A1.

[0017] GAW-8639WO

[0018] January 7, 2026. Publication WO 2023 / 028229 A1 discloses a mobile loading device for unloading cartons from a storage area. The device has a base frame extending transversely to the storage area in a horizontal plane (X / Y plane) and mounted on a base movable by means of wheels. A gripper device is arranged on this base frame, comprising two gripper units arranged side by side, each movable in a vertical direction (Z direction) from the horizontal X / Y plane. The gripper units are implemented as robot arms with gripper units attached to them, the latter each being designed as a suction gripper arrangement with an end effector. Each robot arm is pivotably mounted on a rotary unit in a Y / Z plane.The robot arms can each be configured as six-axis robot arms, with at least sections of such a robot arm pivoting vertically upwards from the horizontal plane in the Z direction around a first X-axis rotation located in the horizontal X / Y plane. Furthermore, the robot arms are guided along the base frame by means of a linear drive to move vertically upwards in the Z direction. The robot arms are designed for vertical movement relative to the base frame in the Y / Z plane. The lateral reach of the end effectors covers a fixed unloading width. Due to the design of the two adjacent robot arms, particularly their axis arrangement, a horizontal extension of the gripping range and thus complete coverage of the unloading area in the X direction is not possible.Accordingly, a single robot arm cannot cover the entire unloading width of the storage area extending in the X-direction. Therefore, two robot arms are arranged parallel to each other and spaced apart in the X-direction on the base frame. If necessary, the entire base frame can also be moved in the X-direction by a carriage to utilize the width of the X / Z unloading plane. Thus, two robot arms, each with three rotary axes oriented in the X-direction and a linear Z-axis for providing pivoting movements in a Y / Z plane, are provided, requiring two loading robots to cover an X-axis.

[0019] GAW-8639WO

[0020] January 7, 2026. To cover the width of an unloading level. Aside from the aforementioned disadvantages of the known loading device, existing robotic applications are also complex in their design and not universally applicable, but only effective in specific applications. The technical requirements for realizing the necessary spatial movement capabilities almost always result in a large, heavy, and complex technical device. This presents the user with considerable logistical and economic challenges, as it involves flexibly transporting the device to its deployment location and making it operational. The complex technology also results in a high susceptibility to errors. Ultimately, due to their complexity and the associated maintenance effort, existing devices are cost-intensive, both in terms of their acquisition and ongoing operating costs.

[0021] Therefore, in most cases it is still cheaper and more efficient to rely on human operators to manually load cargo vehicles such as trucks, cargo planes, freight ships, or railcars. However, this presents a problem, especially with heavy goods such as vehicle tires, of significant health risks and accident hazards for operators due to lifting heavy loads in confined spaces.

[0022] The object of the invention is to provide an improved solution for the at least partially automated loading and unloading of loading or storage areas of a freight vehicle, which is in particular simpler, faster, and therefore cheaper than known devices, yet more efficient than human operators and thus overall more advantageous than known solutions. In addition to improved economic efficiency, a further object of the invention is to reduce the human workload and the risk of accidents during loading.

[0023] This task is accomplished by a loading device, a loading system, and a

[0024] GAW-8639WO

[0025] 07.01.2026 Loading procedure solved according to the independent claims.

[0026] Advantageous embodiments of the invention are the subject of the dependent claims.

[0027] REVELATION OF THE INVENTION

[0028] The invention relates to a loading device for the orderly loading and unloading of a loading or storage area with goods from an X / Y provision plane into an X / Z loading plane, in particular a loading robot for loading and unloading a cargo vehicle cargo space with vehicle tires extending in an X / Y plane, at least comprising a base frame extending at least in a horizontal X-axis transverse to the loading or storage area and at least one gripper device that can be arranged on the base frame and moved out of the X / Y plane in the direction of a vertical Z-axis.

[0029] According to the invention, the gripper device comprises a swivel arm arranged on a rotary unit with a gripper unit for gripping the goods, in particular packages, bagged goods, suitcases or vehicle tires, wherein the gripper device is linearly movable at least in the X direction of the base frame, and wherein the swivel arm is rotatably mounted at a first end on the rotary unit and is pivotable from an X / Y plane in the direction of the Z axis about a first axis of rotation, and the swivel arm rotatably mounts the gripper unit about a second axis of rotation lying in a further X / Y plane at a second end.

[0030] The loading device according to the invention enables the stacking of goods in both vertical and horizontal directions. In other words, it allows for the horizontal (X / Y direction) and vertical (Z direction) transfer of goods from a horizontal (X / Y) staging plane to a vertical (X / Z) loading plane and back. This transfer is achieved through a combination of linear movement of the gripper unit in the X direction and linear and pivoting or rotary movements of the swivel arm about at least one axis in the X / Y plane, and optionally a rotary movement of the rotary unit about a vertical Z axis.

[0031] GAW-8639WO

[0032] January 7, 2026. The swivel arm, by rotating around its first axis, allows goods to be pivoted vertically. Furthermore, the gripper unit, by rotating around its second axis (preferably parallel to the first), allows the gripped goods to be tilted to compensate for any necessary geometric or positional misalignments. Combined with the linear movement of the gripper in the X-direction, this covers the entire range of motion for moving goods in all three spatial directions.

[0033] The kinematics of the horizontal linear method in the X-direction of the unloading width, as provided for in the invention, enable a structural simplification of the loading device while flexibly covering a varying width of an X / Z unloading plane. According to the invention, it is possible to move the gripper device across the entire X-width of the storage area without having to relocate the entire loading device. According to the invention, a pivot axis is deliberately displaced from the rotary axis position to allow a 360° pivoting movement with the axis. Due to this geometric modification, the entire loading plane can be covered with only two rotary axes in conjunction with the linear traversability in the X-direction.

[0034] Thus, the invention proposes a loading and unloading robot that provides an interaction of different rotary axes in combination with lifting axes to efficiently transfer goods from a horizontal X / Y provisioning plane to a vertical X / Z loading plane and vice versa.

[0035] Advantageously, a simplified loading device is provided compared to known solutions, which can cover the complete range of movements necessary for a corresponding loading or unloading process. In particular, compared to the loading device discussed at the beginning of this document WO 2023 / 028229 A1, the loading device according to the invention requires fewer rotary and pivot axes to completely cover the loading plane and is therefore more cost-effective and lighter.

[0036] GAW-8639WO

[0037] January 7, 2026, and more compact than the known loading device. The loading device according to the invention ensures the effective implementation of corresponding "pick and place" applications, enabling fast and safe handling of individual items. In particular, different heights for placing the goods can be easily accommodated. Due to the small number of rotary axes and components necessary for movement, the loading device according to the invention offers a compact design with low weight, making it easier to handle logistically, more cost-effective, requiring less maintenance, and highly functional.

[0038] According to a preferred embodiment, the rotary unit of the gripper device can be rotated in the X / Y plane about the vertical Z-axis, wherein preferably the rotation of the rotary unit about the Z-axis, the swivel arm about the first axis, and / or the gripper unit about the second axis is limited to a maximum of + / -180 degrees. The rotary unit enables at least a 180° rotation of the swivel arm with the gripper unit mounted on it, so that the goods can be moved from a staging position, which is typically located behind the loading device with respect to the desired placement position, to the area in front of the loading device, i.e., the loading level.By vertically rotating the gripper device, goods can be moved from an X / Y provisioning plane located behind or next to the gripper device, across the gripper device, to the X / Z loading plane located in front of the gripper device and back, whereby any intermediate positions from 0° to 180° are possible for picking up goods.

[0039] In principle, the rotary unit can be rotationally fixed relative to a vertical Z-axis, or the vertical Z-axis and / or the swivel arm and / or the gripper unit can rotate arbitrarily by 360° about the first vertical axis and / or the gripper unit about the second axis. According to an advantageous further development of the above embodiment, it can be provided that the rotation of the rotary unit about the Z-axis, the swivel arm about the first axis, and / or the gripper unit about the second axis is limited to a maximum of + / -180 degrees.

[0040] GAW-8639WO

[0041] The design is restricted to January 7, 2026. Therefore, a partial rotation (semicircular) of the corresponding rotatably mounted components of the loading device is preferably provided. Alternatively, a complete 360-degree rotation of each of the axes of rotation can be provided. Advantageously, this further simplifies the mechanical design of the loading device.

[0042] In principle, goods can be delivered to the X / Y provisioning plane at any position relative to the vertical Y-axis of rotation, i.e., they can be positioned laterally, above, or below the Y-axis of rotation. According to a preferred embodiment, the base frame can include a portal unit, allowing the goods to pass under the gripper device in the X / Y provisioning plane. In this embodiment, the goods can be moved under the gripper device in the X / Y provisioning plane right up to the gripper device, i.e., directly in front of the X / Z loading plane. This embodiment advantageously eliminates the need for vertical pivoting of the gripper device and does not require lifting the goods over it. Therefore, a vertical axis of rotation can be omitted, resulting in greater time and energy savings.The elimination of rotational stress minimizes wear on the gripper due to the reduced inertia of the goods being moved. Furthermore, the absence of geometric interference edges during rotational movement in the confined loading / unloading area reduces the risk of collision to a minimum.

[0043] The loading device can generally comprise one or more gripper units that can divide the loading tasks between them in the X-direction. According to a preferred embodiment of the above, it can be provided that, particularly on the portal unit, but also without a portal unit, at least two gripper units are included for the individual and / or joint handling of the goods. In other words, each gripper unit can handle a single item completely on its own, i.e.,

[0044] GAW-8639WO

[0045] January 7, 2026: The corresponding loading or unloading process can be carried out completely independently, allowing two items to be loaded or unloaded simultaneously and independently. The two gripper units can be identical or different. Short positioning paths enable double or parallel loading levels, controlled by a switch, with gripper units arranged parallel to each other on the base frame. Short lateral travel distances are achieved through the interaction of the swivel arm kinematics in combination with an adjustable Z-axis. Additionally or alternatively, the gripper units can (if required) handle a single item together, thus cooperating during the corresponding individual loading or unloading process. This significantly increases the efficiency of the loading or unloading process.

[0046] According to a preferred embodiment, the at least one gripper device can be moved linearly in the X-direction by means of an X-linear guide unit, preferably formed in the base frame, wherein the travel path of the X-linear guide unit in the X-direction essentially corresponds to the X-dimension of the loading or storage area, and the swivel arm with the gripper device can be moved at least in the Y-direction, particularly radially to the Z-axis of rotation in the X / Y plane, by means of a radial guide unit, preferably formed in the rotary unit. The guide units enable the gripper device to move within a horizontal plane. Preferably, the X-travel path plus twice the length of the swivel arm, i.e., at least the length of the base frame, corresponds, under intended use, essentially to the width of the loading area or the width of the transport area, for example, of a truck trailer, as extended in the X-direction.Advantageously, the length of the base frame is chosen to be greater and can extend to the full width of the loading platform, in order to reach all goods positions on higher and lower levels of the X / Z loading plane. In particular, a maneuvering clearance of 20 cm to 80 cm can remain between the width of the base frame and the full width of the loading platform. The linear guide unit essentially serves for the X-axis pre-positioning of the gripper device.

[0047] GAW-8639WO

[0048] January 7, 2026, particularly for pre-selecting the target or stacking position of the goods, so that they can be arranged there during rotary and swivel movements of the gripper device. The radial guide unit essentially serves to compensate for minor inaccuracies in positioning the goods in the target position. Advantageously, achieving a clean and therefore satisfactory stacking result is ensured in both horizontal and vertical directions.

[0049] According to a preferred embodiment, the X-line guide unit and / or the radial guide unit can be designed as a slide or rail guide. Preferably, at least one of the guide units comprises a static slide element and a slide element mounted thereon to slide linearly. Advantageously, this provides a particularly robust and durable, mechanically simple, and therefore cost-effective solution for the guide units.

[0050] According to a preferred embodiment, the swivel arm can be designed to be length-adjustable, in particular as a pneumatically, hydraulically, or electrically adjustable telescopic arm. Due to its high inertia, rotation of the swivel arm around the Z-axis can result in a highly stressed axis of rotation, which is subject to significant energy and wear. This problem can be advantageously solved by the length-adjustable swivel arm while maintaining the swivel arm kinematics. In particular, the swivel arm can be shortened or lengthened by means of a horizontal stroke for rotation around the Z-axis. Thus, individual items can be picked up near the ground and moved into the stacking position via the swivel arm kinematics and the horizontal stroke of the telescopic arm, whereby the items are moved closer to the axis of rotation by means of the telescopic drive before the swivel movement.This allows for a reduction in torque during the swiveling motion, particularly for heavy goods such as tires, packages, bagged goods, or suitcases. The length-adjustable swivel arm axis, as an additional adjustment element, allows for movement from a defined central position using a combination of...

[0051] GAW-8639WO

[0052] January 7, 2026: The swivel arm kinematics, Y-axis horizontal displacement, and the length-variable Z-axis allow all positions to be reached within a rectangular cargo space of a freight vehicle. Optimal travel paths could be achieved by feeding goods from both sides in the X / Y staging plane. In particular, a measuring system is assigned to or integrated within the length-variable swivel arm, which controls the acceleration of the movements depending on the projecting axis length.

[0053] In addition, it is conceivable to use a weight sensor in the gripper unit and / or acceleration and rotation angle sensors in the gripper unit, rotary unit, X-linear guide unit, and / or swivel arm to control the driving dynamics, in particular accelerations and linear and rotational movements, with regard to energy efficiency and time savings. Based on the sensor values, for example, load-dependent control of the longitudinal movement of the gripper unit, the rotation axes of the swivel arm, or the rotary unit is possible, and depending on the defined limit values, the movements can be controlled accordingly to avoid overload or collision.According to a preferred embodiment, the loading device may include a lifting device, particularly a lifting table, arranged on the base frame, and configured to move at least one gripper in the Z-direction. The lifting device may, for example, be a scissor lift table, or alternatively, other technical solutions such as screw jacks, telescopic cylinders, pneumatic, hydraulic, electric, magnetic, or alternative lifting systems. The movement in the Z-direction is achieved by raising and lowering the base frame with the gripper mounted on it. The lifting device is preferably located below the base frame and gripper. Advantageously, this allows the loading device to operate a larger vertical area.An adjustable, increased stacking height can be achieved, which can be significantly greater than the height of the gripper device itself.

[0054] GAW-8639WO

[0055] January 7, 2026. According to a preferred embodiment, the loading device may have a chassis arranged below the base frame, particularly on the bottom of the base frame or on the bottom of the lifting device, for moving the loading device in at least the Y-direction. Preferably, the chassis is motor-driven. In particular, the chassis has at least one motor-driven wheel, roller, or track unit. Preferably, the chassis is remotely controllable, enabling loading and unloading by remote control. Advantageously, the chassis can allow for X / Y / Z alignment of the base frame so that the loading device in the loading area of, for example, a truck or container can be adapted to external conditions, in particular to an incline of the loading area.The chassis can include several independently movable telescopic actuators and / or articulated actuators on corresponding wheels or rollers to enable alignment and steering of the base frame in the X / Y plane and adjustment in the Z direction.

[0056] Preferably, the loading device is attached to the end of a conveyor, in particular a telescopic conveyor belt, with the chassis preferably extending or shortening the telescopic conveyor belt. The chassis allows the loading device to be moved, at least within the area of ​​the loading or storage surface, or pre-positioned there with respect to the target Y-position, and enables variable positioning of the individual loading levels during the loading process. In particular, the chassis allows the loading device to be moved onto the loading or storage surface, i.e., initially positioned. This process can be carried out actively or automatically by driving the chassis with a motor, or passively by being pushed by an operator.The chassis can also be detachably or permanently connected to the end of a conveying device, preferably a telescopic conveyor belt, whereby the loading device is retracted in the Y-direction when the telescopic conveyor belt is shortened. Advantageously, the chassis, particularly in the case of a motor drive, reduces the physical and logistical effort required for the Y-movement and positioning of the loading device.

[0057] GAW-8639WO

[0058] 07.01.2026 significantly reduced, with particular physical relief for operating personnel.

[0059] According to a preferred embodiment, the loading device may include a measuring device with at least one sensor unit and / or at least one camera unit for measuring and / or monitoring the loading or storage area and for orderly loading or unloading based on this measurement. Preferably, a visualization unit, in particular a monitor, is included for visualizing the measured loading or storage area and / or the position of the loading device in relation to the loading or storage area for a user. Camera monitoring of the loading area enables the detection of defects or irregularities in the loading / unloading process and allows for real-time responses. Such a monitoring function protects both the goods and the loading unit from damage.The measuring device significantly increases the efficiency of the loading process, as it allows for optimal planning and execution based on measurements and / or monitoring. This is particularly important with regard to the optimal positioning of the loading device and maximum utilization of the available loading or storage area. The sensors can also detect unauthorized entry into the danger zone around the gripper unit and trigger an emergency stop, thus securing the hazardous area. Furthermore, it eliminates the need for an operator to be present in the danger zone of the loading device during operation. Using optical sensors and a non-contact measuring system, such as ultrasound, radar, or lidar, the highly dynamic drives and propulsion of the loading device can be precisely positioned within the loading area.For this purpose, an automatic feed axis with sensor-controlled workspace monitoring is provided, whereby camera-based loading area monitoring can be used for optimal loading or unloading. This is particularly advantageous.

[0060] GAW-8639WO

[0061] 07.01.2026 a cycle time can be optimized and travel path-optimized movements can be implemented through travel algorithms adaptable to the unit load, such as a rick-rack or stove-pipe loading pattern.

[0062] According to a preferred embodiment, the gripper unit can be arranged on the swivel arm, preferably in a tool-free and interchangeable manner, and / or the gripper unit can be designed as a vacuum gripper, magnetic gripper, or electrically, hydraulically, and / or pneumatically operated clamping gripper, particularly for gripping vehicle wheels, packages, bagged goods, or cases. The selection of the specific design of the gripper unit can vary depending on the specific application. Modular interchangeability of the gripper unit by means of a quick-change system enables easy adaptation of the gripper to the goods being transported. Preferably tool-free interchangeability, for example in the form of a screw thread, bayonet fitting, clamping mechanism, or similar, allows the gripper unit to be adapted to the type of goods being loaded, making the gripper unit easily interchangeable or adaptable for a variety of loading tasks.Required media and power connections can be provided either via pluggable cables or integrated into the locking mechanism. This allows the loading device to be optimally adapted to the goods being loaded, thus enabling efficient and reliable loading and unloading processes.

[0063] According to a preferred embodiment, the loading device may have at least one drive unit, in particular an electric motor. The drive unit may be used for rotating and / or linearly moving the gripper assembly, rotating the swivel arm and / or the gripper unit, driving the chassis, raising and lowering, and / or moving the loading device. Preferably, a separate drive unit is provided for each of these movements. Alternatively, the same drive unit may be used for at least two of the aforementioned movements, with the drive unit preferably being an actuator, a gearbox, or similar device for the component to be moved.

[0064] GAW-8639WO

[0065] January 7, 2026. The loading device must be assignable to the load, or the kinetic energy generated by the drive unit must be converted into the required movement via the gearbox or similar device. Advantageously, at least partially automated operation of the loading device is enabled.

[0066] According to a preferred embodiment, the loading device may include a higher-level control unit and / or an operating console for the controlled operation of the loading device and the controlled execution of loading or unloading of goods from an X / Y staging level to an X / Z loading level, or from an X / Z loading level to an X / Y staging level. The control unit and / or the operating console is configured for at least partially automated loading or unloading and is further preferably configured for moving the X / Z loading level and the X / Y staging level in the Y direction. The control unit controls the intended operation of the loading device, in particular the drive unit for moving, turning, rotating, etc., and preferably performs the measurement of the loading or storage area and the automated loading process based thereon.Advantageously, this allows the loading device to be operated at least partially, and in particular fully, automatically. Advantageously, the control system can be designed either as a stationary operating console connected to the loading device or as a mobile operating console, for example, a control tablet or smartphone, so that an operator can remain outside the danger zone of the loading device.

[0067] In a secondary aspect, the invention relates to a loading system for the orderly loading of goods onto a loading or storage area extending in an X / Y plane, in particular loading robots for loading or unloading a cargo space of a freight vehicle with general cargo, especially packages, bagged goods, suitcases, or vehicle tires, into or from an X / Z loading plane of the loading or storage area. The loading system comprises a conveying device, in particular a telescopic conveyor belt for conveying the goods in the Y direction, and a centering device forming an X / Y positioning plane.

[0068] GAW-8639WO

[0069] 07.01.2026 Centering table, a loading device, in particular a loading robot, and an offset device for offsetting the centering device and the loading device in a Y-direction. According to the invention, it is proposed that the loading device be designed as described above. The advantages already mentioned above result.

[0070] According to a preferred embodiment, the conveying device, the centering device, the loading device, and the offsetting device can be designed and arranged relative to each other in the intended operation of the loading system such that the goods can be conveyed to or from the centering device by means of the conveying device, arranged on an X / Y provisioning level by means of the centering device, and transferred from the X / Y provisioning level to an X / Z loading level or vice versa by means of the loading device, wherein the offsetting device makes the X / Z loading level movable at least in the Y direction, preferably wherein the offsetting device is designed as a chassis for the loading device.In particular, the conveyor is loaded by operator or by means of an automatic control system, so that the goods initially arranged on the conveyor can be fed to the centering device and thus brought into the access area (X / Y positioning plane) of the loading device (previously pre-positioned by the offset device). In other words, from the moment the goods are arranged on the conveyor, the loading process is essentially automated by the loading system. This advantageously enables an efficient, highly automated, and low-risk loading process.

[0071] The invention relates, in a secondary aspect, to a loading or unloading method using the loading device or loading system described above. According to the invention, it is proposed that, on a loading or storage area extending in an X / Y plane, goods are transferred from an X / Y staging plane to an X / Z loading plane on the loading or storage area during a loading process, preferably stacked, in particular in a rickrack (herringbone) or stovepipe (tire stack).

[0072] GAW-8639WO

[0073] The items will be stacked on January 7, 2026, or transferred from the X / Z loading level to the XY staging level during an unloading process. The loading or unloading process will be carried out accordingly by the loading device or loading system. The advantages already mentioned in advance will result.

[0074] According to a preferred embodiment, the cargo space of a freight vehicle such as a truck can be used as a loading or storage area for vehicle tires, packages, or other general cargo. As discussed above, the loading device or system is particularly well-suited for this application. Advantageously, this enables a highly efficient loading or unloading process.

[0075] According to a preferred embodiment, it can be provided that, for transferring the goods from the X / Y staging plane to the X / Z loading plane and back, at least one gripper unit of the loading device moves along an X-axis, preferably rotated about a Z-axis, and then rotates from the X / Y plane in the Z-direction about a first axis of rotation lying in an X / Y plane, and about a second axis of rotation lying in another X / Y plane. As discussed above, the loading process is carried out by a combination of a linear movement of the gripper unit in the X-direction and linear and pivoting or rotary movements of the pivot arm about at least one axis in the X / Y plane, and optionally a rotary movement of the rotary unit about a vertical Z-axis. The advantages already mentioned in this regard result.

[0076] According to a preferred embodiment, the length of the swivel arm can be dynamically adjusted during the loading process to reduce torque. In particular, the swivel arm is shortened when pivoting between the X / Y staging plane and the X / Z loading plane and lengthened for placing or picking up the goods. The length of the swivel arm, which is thus designed to be variable in length, is adjusted according to the situation, i.e., depending on the current load.

[0077] GAW-8639WO

[0078] On January 7, 2026, the mechanical load on the swivel arm was adjusted to minimize the applied mechanical stress and the resulting torque. In particular, dynamically shortening the stacking arm before the swivel movement begins and extending it afterward reduces torque and thus the mechanical load on the loading device. This enables significant energy savings and a beneficial reduction in wear. Furthermore, the linear traverse of the swivel arm can shorten the X-axis travel and thus contribute to time savings during loading and unloading.

[0079] According to a preferred embodiment, the loading device can be repositioned, in particular raised and / or lowered, in the vertical Z-direction by means of a lifting device. This results in the advantages already mentioned above.

[0080] According to a preferred embodiment, it can be provided that, particularly at the beginning of the loading or unloading process, the loading device is moved within the loading or storage area at least in the Y direction, preferably in the X / Y direction, and especially also in the Z direction, by means of an offsetting device, in particular by means of a chassis, preferably remotely controlled, and in particular driven onto the loading or storage area, causing at least one offset of an X / Z loading plane in the Y direction. The ability to move in multiple spatial directions advantageously allows for position compensation in case of an incline of the loading area. The advantages already mentioned above in this regard result.

[0081] According to a preferred embodiment, it can be provided that, in order to optimize the loading or unloading process, particularly at the beginning of the loading or unloading process, the loading or storage area and / or the goods are measured by a measuring device and / or the loading or storage area is monitored by the measuring device during the loading process. The advantages already mentioned above result from this. According to a preferred embodiment of the above design...

[0082] GAW-8639WO

[0083] As of January 7, 2026, it may be envisaged that the measured loading or storage area and / or the position of the loading device in relation to the loading or storage area and in relation to the orientation of the goods in the loading space is visualized for a user by a visualization unit, and / or based on the measurement and / or monitoring, the position of the loading device on the loading or storage area is adjusted, and / or pivoting, rotating, and / or linear movements of the loading device are adjusted and / or carried out, in particular automatically. The advantages already mentioned in advance result, with particular improvements to the efficiency and safety of the loading process.

[0084] According to a preferred embodiment, it can be provided that during the loading process, the goods are fed to a centering device by means of a conveyor, positioned by the centering device in an X / Y provisioning plane, then picked up by the loading device and subsequently placed, in particular stacked, in an X / Z loading plane in or on the loading or storage area by means of the loading device, and vice versa. The advantages already mentioned above result from this.

[0085] The invention enables inertia-optimized swivel arm kinematics through the center of gravity of the loading element being positioned close to the axis of rotation, thanks to a telescopic gripper arm. Short positioning paths allow for the control of double or parallel loading levels via a switch; gripper devices arranged parallel to each other on the base frame are also possible, with short lateral travel distances achieved through the interaction of the swivel arm kinematics in combination with an adjustable Z-axis.

[0086] Using optical sensors and a non-contact measuring system, such as ultrasound, radar, or lidar, highly dynamic drives of the loading device and the drive mechanism can be precisely positioned within the loading area. For this purpose, an automatic feed axis with sensor-controlled workspace monitoring is possible, including camera-based monitoring.

[0087] GAW-8639WO

[0088] January 7, 2026. Loading area monitoring can be used for optimal loading or unloading. Non-contact measuring systems have the further advantage of environmental monitoring and protection; that is, if a person is present in the danger zone of the loading device, this person can be detected and the system stopped to prevent accidents and personal injury. Furthermore, cycle time or travel path-optimized movements can be monitored and, if necessary, optimized and monitored using loading patterns or travel algorithms adaptable to the individual item, such as a rickrack loading pattern, a herringbone loading pattern, or stack loading, possibly using AI-based learning strategies. Thus, loading strategies can be optimized using non-contact measuring systems, determining whether a loading process should be carried out with one gripper device or with two or more grippers with minimized travel paths.By specifying a placement pattern, rotary movements and linear travel paths can be further coordinated to time- and energy-efficient motion sequences, thus achieving cycle time advantages.

[0089] In particular, in connection with the present invention, a patent-supported loading optimization of the loading process is conceivable in order to provide an efficient and safe loading and unloading process that minimizes energy consumption, reduces distance and shortens time.

[0090] The invention recognizes that in daily practice, certain loading and unloading situations may arise in which the loading device according to the invention must be driven into or out of a freight vehicle cargo space containing general cargo via a ramp, for example, a loading and unloading ramp, or, in its intended use, must be parked on said ramp and thus at a certain angle. As a result, the gripper unit and a centering device of the loading device, which defines the X / Y positioning plane, are not orthogonally aligned with respect to the X / Z loading plane and the loading or storage surface, but are tilted at an angle, which is undesirable.

[0091] GAW-8639WO

[0092] January 7, 2026. For this reason, in a further embodiment of the invention or an embodiment of an independent invention that has at least the features of the preamble of claim 1, it may be provided that the loading device has a compensating device for compensating for an inclination and / or a height adjustment of the loading device relative to the loading or storage surface. The compensating device may be configured to align the gripper unit and / or the X / Y positioning plane of said centering device parallel or at least substantially parallel with respect to the loading or storage surface and to compensate for any height difference.The term "essentially parallel" is intended to account for manufacturing and / or process-related tolerances, whereby the invention preferably also considers positions of the gripper unit and / or the X / Y positioning plane of the centering device as parallel with respect to the loading or storage surface, even if the gripper unit and / or the X / Y positioning plane of the centering device is tilted angularly by + / - 10°, preferably + / - 5°, relative to the loading or storage surface. This has the effect that if the loading device is placed on a ramp during intended use, i.e., preferably during unloading, and this causes the loading device to tilt, this tilt can be compensated for.This has the advantage that an item gripped and placed by the gripper unit, preferably a vehicle tire, can be placed on the loading or storage surface with a defined orientation even if the loading device is tilted, thus enabling efficient loading.

[0093] The compensating device can be configured to raise and / or lower the loading device on one side in the direction of the vertical Z-axis. For example, the compensating device can be configured to raise and / or lower one side of the loading device opposite the gripper unit on one side, thereby pivoting the loading device about a rotary axis parallel to the X-axis. This allows the gripper unit and / or the X / Y positioning plane of the centering device to be adjusted relatively.

[0094] GAW-8639WO

[0095] January 7, 2026. The leveling device is simply aligned with respect to the aforementioned loading or storage surface and adjusted parallel or at least substantially parallel to it. Advantageously, the leveling device is arranged on the lifting device, the chassis, or the base frame of the loading device and / or designed as an integral part of the lifting device, the chassis, or the base frame. Preferably, the gripper device and the leveling device can be arranged on opposite sides of the loading device, preferably the lifting device, the chassis, or the base frame. With a corresponding design of the loading device, the lifting device, the chassis, or the base frame can be raised or lowered on one side in the direction of the vertical Z-axis of the base frame.

[0096] Furthermore, it is conceivable that the compensating device is arranged, preferably along the Y-axis, between on the one hand the loading device and on the other hand the conveying device described above, in particular a telescopic conveyor belt for conveying the goods.

[0097] The compensating device can have at least one elongated lifting spindle unit, the main extent of which is preferably aligned parallel to the Z-axis. The lifting spindle unit can have a threaded spindle rotatably mounted in a spindle receptacle, a runner coupled to the threaded spindle, and a rotary drive unit for driving the threaded spindle. This allows the runner to be driven in a linear motion along a rotational axis of the threaded spindle. The spindle receptacle can be arranged on the lifting device, the chassis, or the base frame of the loading device, and the runner can be arranged on the said conveying device, in particular the telescopic conveyor belt for conveying the goods.Alternatively, the runner can be arranged on the lifting device, the chassis, or the base frame of the loading device, while the spindle mount is arranged on the said conveying device, in particular the telescopic conveyor belt for conveying the goods. However, a...

[0098] GAW-8639WO

[0099] 07.01.2026The movement unit of the compensation device may be designed as an electromechanical unit, as a pneumatic unit or as a hydraulic unit for compensation adjustment; a linear mechanism and / or a lever mechanism may also be used mechanically.

[0100] DRAWINGS

[0101] Further advantages become apparent from the accompanying drawing description. The drawings illustrate exemplary embodiments of the invention. The drawing, the description, and the claims contain numerous features in combination. A person skilled in the art will expediently consider the features individually and combine them into meaningful further combinations. The drawings show:

[0102] Fig. 1 A perspective view of an advantageous loading device of a loading system;

[0103] Figs. 2A to 2C each show a side or top view of the loading device;

[0104] Figures 3A to 3C show a highly simplified representation of the loading device during intended operation to discuss a loading procedure carried out using the loading device;

[0105] Fig. 4.1 shows a perspective view of another embodiment of a loading device with a lifting device and a chassis;

[0106] Figs. 4.2ac a three-view projection of the embodiment of Fig. 4.1;

[0107] Figs. 4.3ac a three-view projection of the gripper device of the embodiment of Fig. 4.1;

[0108] Figs. 5a, b show a perspective view and a top view of a loading process of tires in the cargo area of ​​a truck.

[0109] GAW-8639WO

[0110] 07.01.2026 by means of an embodiment of a loading system with a conveying device;

[0111] Fig. 6 shows a perspective view of a loading process of general cargo in a cargo space of a truck using an embodiment of a loading system with a conveyor device;

[0112] Figs. 7a-c are perspective views in three viewing perspectives of a further embodiment of a loading device with a gripper device arranged on a portal unit;

[0113] Fig. 8.1 perspective view of another embodiment of a loading device with two gripper devices arranged parallel on a portal unit;

[0114] Figs. 8.2ac a three-view projection of the embodiment of Fig. 8.1;

[0115] Fig. 8.3 shows another perspective view of the embodiment of Fig. 8.1 in frontal view;

[0116] In the figures, similar elements are numbered with the same reference numerals. The figures merely show examples and are not to be understood as limiting. Figures 1 to 6 show embodiments of a loading device in which goods are moved by the loading device in the Y-direction from behind the base frame of the loading device to the front, or vice versa, i.e., lifted over the base frame of the loading device. Figures 7a to 8.3 show further embodiments of a loading device in which goods are moved under a portal on which the base frame with the rotary unit is arranged to the front of the base frame, so that the

[0117] GAW-8639WO

[0118] 07.01.2026 The swivel arm picks up the goods in front of the base frame, and lifting the base frame with corresponding additional kinematic work is eliminated.

[0119] Figure 1 shows a simplified perspective view of an advantageous loading device 10 according to a first embodiment with the goods being lifted over the base frame 14. The loading device 10 is designed to load a loading or storage area with goods 12 from an X / Y provisioning plane 60 into an X / Z loading plane 62 or vice versa.

[0120] According to the embodiment shown in Figure 1, the loading device 10 is designed as a swivel-arm robot which, when used as intended, is used to load a truck cargo space 54 as a loading or storage area with tires 56 as goods 12, or to unload the goods 12 or tires from the truck cargo space. However, packages, bagged goods, suitcases, or similar stackable goods can also be accepted as goods.

[0121] The loading device 10 or the swivel-arm robot has a base frame 14 extending at least in a horizontal X-axis transverse to the loading or storage surface, on which a gripper device 16 is arranged that can be displaced from the X / Y plane at least in the direction of a vertical Z-axis. The gripper device 16 comprises a rotary unit 18, a swivel arm 20 and a gripper unit 22.

[0122] The rotary unit 18 serves to enable, or is designed to enable, rotation of the gripper assembly 16 in the X / Y plane about a vertical Z-axis 24, or to provide the possibility of rotation of the gripper assembly 16. As can be clearly seen in Figure 1, the gripper assembly 16 is mounted on the base frame 14 by means of the rotary unit 18. The swivel arm 20 is rotatably mounted at a first end on the rotary unit 18, so that it can rotate from an X / Y plane in the direction of the Z-axis about a first axis 26. The gripper unit 22 is rotatably mounted at a second end of the swivel arm 20 opposite the first end, so that the gripper unit 22 can rotate about a second axis 28 lying in a further X / Y plane. The gripper unit 22 serves to, or is designed to, grip the goods.

[0123] GAW-8639WO

[0124] 07.01.202612 mechanically grip and hold. Depending on the application or type of goods 12, the gripper unit 22 can be designed as a vacuum gripper, magnetic gripper, pneumatically or electrically operated pincer gripper, or similar. Preferably, the gripper unit 22 is interchangeable by means of a (not shown) quick-change system, in particular without tools, so that it can be exchanged or adapted to the goods 12 depending on the application.

[0125] The pivoting arm 20 on the rotary unit 18, which is rotatable about the first axis of rotation 26, allows the gripper unit 22 to pivot in both horizontal and vertical directions. In conjunction with the rotation about the Z-axis of rotation 24 provided by the rotary unit 18, the gripper device 16 is designed to grasp the goods 12 from the X / Y staging plane 60 located behind the loading device 10 in the Y direction and to transfer them, by means of rotation and / or pivoting movements, to the X / Z loading plane located in front of the loading device 10 in the Y direction and to place them there in an orderly manner.

[0126] In this context, when the loading device 10 is used as intended, it is particularly intended that tires 56 previously provided by means of the loading device 10 are stacked in an orderly manner in the area of ​​the loading or storage area, i.e. arranged into several rows of stacks.

[0127] The loading device 10 further comprises an X-linear guide unit 30 arranged in the base frame 14, by means of which the gripper device 16 can be moved linearly in the X direction of the base frame 14. This advantageously increases the area accessible to the gripper device 16. Preferably, the travel distance of the X-linear guide unit 30 in the X direction corresponds essentially to the X dimension of the loading or storage area. Preferably, the X dimension is smaller than the width of the loading space to allow the loading device 10 to be easily and smoothly inserted into the loading space 54. Due to the rotatable swivel arm 20, the entire width of the loading space can still be covered.

[0128] Furthermore, the loading device 10 includes additional components, a

[0129] GAW-8639WO

[0130] 07.01.2026 Lifting device 32, a chassis 34 and a measuring device 36, all of which are not shown in detail in Figure 1 for the sake of clarity.

[0131] The lifting device 32 is preferably arranged below and connected to the base frame 14. The lifting device 32 serves, or is designed, to move at least the gripper device 16, in this case the gripper device 16 and the associated base frame 14, in the Z-direction. In other words, the lifting device 32 can raise and lower at least the gripper device 16. This ensures that a larger vertical area can be accessed by the gripper device 16; simply put, that the goods 12 can be stacked even higher on the loading or storage area 54. Therefore, when the stacking height achievable solely through the dimensions of the gripper device 16 is reached, the gripper device 16 can be moved or raised in the Z-direction, i.e., vertically, by means of the lifting device 32, so that the existing stack of goods 12 can be stacked even higher.

[0132] The chassis 34 is located below the base frame 14, preferably also below the lifting device 32, and thus on the base of the base frame 14 or the lifting device 32. The chassis 34 serves to, or is designed to, enable the entire loading device 10 to move along a horizontal X / Y plane. For this purpose, the chassis 34 has at least one drive unit in the form of a wheel, roller, or track unit, which is preferably motor-driven. In this respect, the chassis 34 can enable both passive movement, i.e., movement by force applied by an operator, and essentially automatic or motor-driven movement of the loading device 10. For example, the loading device 10 has a drive unit that motor-drives the chassis 34 or its corresponding drive unit. Preferably, the chassis 34 is also designed to be remotely controllable.is operable, so that the loading device 10 procedure can be carried out remotely.

[0133] GAW-8639WO

[0134] January 7, 2026. The measuring device 36 comprises at least one sensor unit and / or at least one camera unit, which are not shown in detail here for the sake of clarity. The measuring device 36 serves to measure and monitor the loading or storage area and, based on this, to optimize the loading or unloading of the area. Simply put, the measuring device 36 can be used to measure the dimensions of the loading or storage area, so that it is possible to optimally determine exactly where, how, and in what order the goods 12 should be positioned later in the loading or unloading process. Furthermore, based on the measurement and / or monitoring, the positioning of the loading device 10 on the loading or storage area can be controlled and optimally adjusted, particularly dynamically during the loading or unloading process.Automated control and / or dynamic adjustment of the swivel, rotation, and / or linear movements of the loading device 10 is also possible based on monitoring. Preferably, the measuring device 36 further includes a visualization unit, for example, a monitor, to visualize the previously measured loading or storage area for the user and / or to enable the user to determine the position of the loading device 10 in relation to its current arrangement on the loading or storage area.Thus, the measuring device 36 can be used both for user-guided operation and to transmit telemetry data to a driver's cab, as well as for semi- or fully automated operation by means of a computer-guided control unit, in particular an artificial intelligence, which can perform optimal travel path calculation with the aim of more efficient component positioning and thus be used for optimized load control.

[0135] Figures 2A to 2C show a side view and a top view, respectively, of the loading device 10 discussed previously. The individual rotary, swiveling and linear movements possible with the loading device 10 will now be explained in more detail using Figures 2A to 2C.

[0136] As previously discussed with reference to Figure 1, the loading device 10 is by

[0137] GAW-8639WO

[0138] 07.01.2026 their three rotary axes 24, 26, 28 and the X-linear guide unit 30 are designed in such a way that at least with regard to the gripper device 16 or its gripper unit 22 a series of rotational or rotary movements, pivoting movements and at least in the X direction of the base frame 14 linear movements can be carried out.

[0139] As can be seen in the side view of the Y / Z plane shown in Figure 2A, the present loading device 10 is also designed so that at least the swivel arm 20 with the gripper unit 22 mounted on it is radially movable in the X / Y plane relative to the Z axis of rotation 24. For this purpose, the loading device 10 has a radial guide unit 38 formed in the area of ​​the rotary unit 18. The radial guide unit 38 comprises a rail element 40 which is fixed to or attached to the base frame 14, and a slide element 42 which is slidably mounted on the rail element 40 and thus linearly displaceable. The swivel arm 20 is rotatably mounted at its first end on the slide element 42, so that the swivel arm 20 with the gripper units 22 mounted on it can be linearly displaced with respect to the rotary unit 18 or the rail element 40 of the radial guide unit 38.Since the rail element 40 can be rotated together with the rotary unit 18 around the Z-axis 24, the gripper device 16 can be displaced radially to the Z-axis 24.

[0140] Figure 2B shows a side view of the loading device 10 from the X / Z plane in the Y direction. As indicated by the semicircular arrows 44, the present embodiment provides that the rotation of the swivel arm 20 about the first axis of rotation 26 and the rotation of the gripper unit 22 about the second axis of rotation 28 are limited to a maximum of ± 180°. In this respect, the gripper unit 22 and the swivel arm 20 can be moved forwards and backwards within a semicircle. In other words, complete rotation or pivoting through 360° is not provided in this embodiment, but can be included as an option. Furthermore, the linear movement of the gripper unit 16 in the X direction of the base frame 14 is illustrated again in Figure 2B by a double arrow 46, which, as mentioned previously, is limited by

[0141] GAW-8639WO

[0142] 07.01.2026 the X-linear guide unit 30 trained in the basic frame 14 is made possible.

[0143] Figure 2C shows a top view of the loading device 10, i.e., a view from the X / Y plane looking downwards in the Z direction. As illustrated by an additional arrow 48 in Figure 2C, the rotation of the rotary unit 18 about the Z-axis 24 is also limited to a maximum of ± 180°, so that here too, only pivoting or rotating the gripper 16 within a semicircle in the forward and reverse directions is possible. Thus, the goods 12 can be moved from the X / Y staging plane 60 to the X / Z loading plane 62 by rotating them about the Z-axis 24. Furthermore, the linear traversability of the gripper 16 in the X direction is again shown in Figure 2C by the double arrow 48, analogous to Figure 2B. Furthermore, the radial mobility of swivel arm 20 and gripper unit 22 provided by means of the radial guide unit 38 is also shown by a further double arrow 50.The swivel arm 20 can rotate at least 180° around its axis of rotation lying in the X / Y plane, preferably 360°, to enable cycle-optimized loading strategies. Thus, the gripper device 16, or at least the swivel arm 20 and the gripper unit 22, can be moved linearly in both the X and Y directions, i.e., within the X / Y plane.

[0144] In particular, the loading device 10 can be part of a loading system 52, which is only indicated or partially shown here for the sake of clarity. The loading system 52 comprises, in addition to the loading device 10, a conveying device 68, in particular a telescopic conveyor belt for conveying the goods 12, a centering device 70 forming the X / Y provisioning plane 60, preferably a centering table, and an offset device 72 for offsetting the centering device and the loading device 10 at least in one Y direction. In this context, the offset device 72 is preferably formed by the chassis 34 of the loading device 10. The loading system 52 enables a highly automated and therefore efficient loading process.

[0145] GAW-8639WO

[0146] January 7, 2026. The loading or unloading process of the loading or storage area is enabled. In this regard, an exemplary loading method that can be carried out using the loading device 10 or the loading system 52 will be discussed below with reference to Figures 3A to 3C. As an example, this method envisages that a loading space 54 of a truck is loaded with tires 56 as goods 12. The tires 56, initially provided in a disordered manner, are to be sorted and arranged in the loading space 54 into several rows of stacks placed side by side.

[0147] At the start of the process, the loading system 52 is set up as intended. In this context, the centering device 70 and the conveyor device 68 are arranged on or in front of the loading space 54 such that the tires 56 can be arranged either manually by an operator or automatically on the conveyor device 68 and transported from there to the centering device 70. Furthermore, the loading device 10 is moved into the loading space 54 by a user, preferably remotely controlled. Preferably, in a first step, the loading space 54 is measured using the measuring device 36, and based on this, the loading device 10 is optimally positioned in the loading space 54 using its chassis 34, and the optimal arrangement of the tires 56 in the loading space 54 is determined.Simply put, the loading device 10 is moved into the loading space 54 and positioned so that the tires 56 provided by the centering device 70 can be grasped by the gripper device 16 and stacked in an orderly manner in the loading space 54. It is intended that the loading space 54 is loaded with the tires 56 from back to front, i.e., starting at its rear wall and ending at its loading opening.

[0148] After the initial positioning of the loading device 10 by the operator, loading begins. For this purpose, the tires 56 are placed onto the conveyor device 68 manually or automatically and then sorted, centered, and positioned in the X / Y provisioning plane 60 of the loading device 10, essentially fully automatically. In a subsequent step, the loading device 10 rotates the gripper device 16 about the Z-axis.

[0149] GAW-8639WO

[0150] On January 7, 2026, the pivot axis 24 rotates, allowing the gripper unit 22 to access the X / Y staging level 60 located behind the loading device 10. In the next step, the gripper unit 22 is lowered and aligned in the Y direction to the height of the staging tires 46 by means of pivoting and rotating movements about the first pivot axis 26 and the second pivot axis 28, so that a single staging tire 56 can be gripped by the gripper unit 22. In the next step, further pivoting and rotating movements about the two pivot axes 26 and 28 are performed, so that the tire 56 gripped by the gripper unit 22 is lifted. In the next step, by rotating the gripper device 16 about the Z pivot axis 24 in the opposite direction to the previous rotation, the gripped tire 56 is moved forward, i.e., into the X / Z loading level 62.In an optional next step, the gripped tire 56 can be pre-positioned relative to its intended storage position by linear movements in the X direction. In a subsequent step, the second axis of rotation 28 of the tire 56 is maneuvered to its intended position by a series of further pivoting and rotating movements about the first axis of rotation 26. Radial movements about the Z axis of rotation 24 are performed, if necessary, to compensate for any inaccuracies regarding the target position. Once the intended target position is reached, the gripper 22 releases the gripped tire 56, so that it is now neatly arranged in its intended storage position.

[0151] The preceding steps are repeated until the first stack of precisely stacked tires 56 is complete. If necessary, the loading device 10 is raised and lowered again by the lifting device 32 so that the tires 56 can be stacked up to the ceiling of the loading space 54. Once the first stack of tires 56 is complete, the gripper device 16 moves linearly in the X direction so that a second stack, then a third stack, and so on, can be created next to the first stack of tires 56 until the entire width of the loading space 54 is occupied. If necessary, if the width of the loading space 54 in the X direction cannot be completely covered by the X-linear guide unit 30, the entire

[0152] GAW-8639WO

[0153] 07.01.2026 Loading device 10 moved in the X direction by means of the chassis 34.

[0154] Thus, a first row of tire stacks is created in the X-direction of the cargo space 54. Once the first row is completed, the loading device 10 is moved back in the Y-direction, i.e., in this case towards the opening of the cargo space 54, preferably remotely controlled by the chassis 34, by the width of one tire stack, so that a second row of tire stacks can now be created in the Y-direction in front of the first row. This process is repeated until the entire cargo space 54 is gradually filled with orderly tire stacks or all tires have been loaded.

[0155] In this context, it is generally intended that the cargo space 54 be filled with stacks of tires from back to front, in a zigzag pattern. Alternatively, other loading patterns are possible, with the loading pattern ideally being selected depending on the goods 12 being handled. The zigzag pattern described above is suitable for a wide variety of goods 12, especially those with a high degree of symmetry or simple geometric shapes, such as crates or pallets. For more specialized goods 12, such as tires 56, more complex or specialized loading patterns, such as the so-called rickrack pattern, can be implemented using the loading device 10 or the loading system 52.

[0156] Once the entire cargo space 54 is neatly loaded with tires 56, the loading device 10 is removed from the cargo space 54, allowing the previously loaded tires 56 to be transported away. For this purpose, the loading device 10 can be extended out of the cargo space 54 via the chassis 34 and positioned for the next use. Advantageously, a drive mechanism of the chassis 34 can be disengaged from its ground contact, and the loading device 10 can be manually moved to the next location.

[0157] Figure 4.1, together with Figures 4.2A-4.2C and 4.3A-4.3C, shows a further or second embodiment of the previously discussed loading device 10 or loading system 52. Identical elements are provided with the same reference numerals, whereby in the following only

[0158] GAW-8639WO

[0159] The differences will be explained on January 7, 2026.

[0160] An operating console 64 serves for the semi- or fully automatic control of the loading system 58 with offset device 72, which includes a chassis 34. The swivel arm 20 is telescopic, i.e., its length is variable, and it can be retracted to reduce torque during a swiveling movement.

[0161] The second embodiment differs from the first embodiment described above with reference to Figures 1 to 3 essentially in that the swivel arm 20 is designed to be variable in length or telescopic. In this respect, the swivel arm 20 has two arm elements, in particular tubular ones, which can be moved into and out of each other by means of a drive unit (not shown) to lengthen or shorten the swivel arm 20. A change in the length of the swivel arm 20 can also be achieved in other ways, for example, by a pivot joint between two arm elements, two arm elements movable parallel to each other, or other length-variable configurations of the swivel arm 20. In particular, the swivel arm 20 can also be shortened or lengthened by means of a horizontal stroke for rotation about the Z-axis 24.The resulting possibility of dynamic length adjustment of the swivel arm 20 enables a beneficial reduction in torque during the loading process. By shortening or lengthening the swivel arm 20 as required, depending on the movement to be performed, the mechanical load acting on the swivel arm 20 can be advantageously minimized, thus enabling a more dynamic swiveling movement by reducing the inertia of the swivel arm 20.

[0162] Another difference between the illustrations in Figures 4.1, 4.2A - 4.2C and 4.3A - 4.3C and the previous figures is that some of the elements of the loading device 10 or the loading system 52, which were previously only indicated for clarity, are now shown in more detail. Specifically, the lifting device 32, in this case a lifting table, is now shown.

[0163] GAW-8639WO

[0164] The chassis 34, the offset device 72 formed with it, the measuring device 36, and the centering device 70 are shown in detail. The lifting device 32 shown is designed as a scissor lift table, but can alternatively be implemented using other technical solutions such as screw jacks, telescopic cylinders, pneumatic, hydraulic, electric, magnetic, or alternative lifting systems. For the design and function of these elements, reference is made to the previous discussions, particularly those relating to Figure 1, to avoid repetition.

[0165] Furthermore, a control console 64 is provided as a further difference. This console serves for the semi- or fully automatic control of the loading device 10 or the loading system 52. Using the control console 64, which thus functions as a control unit, operators can input corresponding control commands, at least during or at the initiation of the loading or unloading process, and / or adjust or readjust these commands as needed during the process. The control console 64 can be connected to the control unit of the loading device 10 (not shown) via a flexible connection or wirelessly via a common radio protocol such as WLAN, Bluetooth, or another industry standard. This allows an operator to move away from the danger zone, which is preferably monitored by a sensor unit, for control and loading operations, thus preventing any risk to the operator's life and limb.

[0166] Furthermore, it should be mentioned that the embodiment of the loading device 10 shown in Fig. 4.2a is provided with a compensating device 78, indicated here by a simple box and illustrated exclusively in Fig. 4.2a, which serves to compensate for an inclination and / or to equalize the height of the loading device 10, in particular the gripper unit 22 and / or the X / Y provisioning plane 60 of the centering device 70, relative to the loading or storage surface.

[0167] Figures 5A and 5B represent exemplary excerpts or snapshots of a Rick-Rack, previously indicated in relation to Figures 3A-3C.

[0168] GAW-8639WO

[0169] 07.01.2026 Loading process of the cargo space 54 with tires 56 as goods 12. The tires 56 are transported via the conveying device 68, now shown in detail (in this case a telescopic conveyor belt), to the X / Y staging level 60 and stacked in the X / Z loading level 62 according to a rick-rack pattern by means of the gripper device 16 of the loading system 52. Regarding the basic motion kinematics used and the basic sequence of the loading process, reference is made to the previous discussions to avoid repetition.

[0170] Fig. 6 shows an exemplary section of a comparable stacking loading process with packaged goods (goods 12), previously indicated in relation to Figures 3A-3C. Regarding the basic movement kinematics used and the general sequence of the loading process, reference is made to the previous discussions to avoid repetition.

[0171] Figures 7A to 7C show, from different perspectives, a further and a third embodiment of the loading device 10 and the loading system 52, respectively. Identical elements are designated with the same reference numerals, and only the differences will be explained below. In contrast to the aforementioned first and second embodiments, goods pass under the base frames 14 with rotating unit 18 arranged on a portal, so that they do not have to be lifted over the base frames 14.

[0172] The third embodiment differs from the first and second embodiments described above with reference to Figures 1 to 6 essentially in that the base frame 14 comprises a portal unit 66. The portal unit 66 is essentially formed by a bridge or arch section of the base frame 14, which extends over or spans an end region of the centering device 70. As previously discussed, the gripper device 16 is movable on the base frame 14 within or on an upper region of the portal unit 66.

[0173] GAW-8639WO

[0174] Arranged on January 7, 2026. This allows the goods 12, in this case vehicle tires, to be guided under the gripper device 16 in the X / Y staging plane 60 and then gripped by the gripper device 16. In the third and fourth embodiments, the goods 12 therefore do not need to be lifted over the base frame 14 of the loading device 10 by means of a rotary unit 18 rotatable about the vertical Z-axis 24. In other words, the horizontal rotation of the rotary unit 18 about the Z-axis 24, which was necessary in the previous embodiments, is not required to grip the goods 12 from the X / Y staging plane 60. This enables an energy-minimized and time-optimized loading process. Because, as already described, the goods do not necessarily have to be lifted over the base frame 14 of the loading device 10, as shown in the figures. Figures 1 to 6 are shown, viewed from behind the axis of rotation 18 in the Y direction, but the X / Y provisioning plane 60 can completely surround the axis of rotation 18, i.e.The goods can be arranged in front of or to the side of it. Thus, in these embodiments, the goods pass under the rotary unit 18 in the provisioning level 60 and can be picked up in front of the rotary unit 18 in a 360° radius by the swivel arm 20.

[0175] Furthermore, the centering device 70 has a separating element 74 arranged centrally on the corresponding centering surface, by which goods 12 conveyed by the conveying device 68 can be sorted into one or more, in this case two, rows within the X / Y staging level 60, insofar as the centering device 74 serves as a diverter 76 for the goods 12. Thus, efficient centering is advantageously enabled, particularly since, while one item 12 that has already been picked is being loaded, the next item 12 to be loaded can already be pre-sorted and ready for loading.

[0176] Figures 8.1, 8.2A - 8.2C and 8.3 show, from different perspective angles, a further or fourth embodiment of the loading device 10 or the loading system 52, respectively. Identical elements are provided with the same reference numerals, and only the differences will be explained below.

[0177] GAW-8639WO

[0178] January 7, 2026. The fourth embodiment represents a modification of the third embodiment with portal unit 66, previously discussed with reference to Figures 7A-7C. The fourth embodiment differs essentially in that two movable gripper devices 16 are arranged parallel to each other on the portal unit 66 or the base frame. The loading device 10 thus comprises at least two gripper devices 16. The two gripper devices 16 are designed and arranged such that incoming goods 12 can preferably be handled independently by each of the gripper devices 16, i.e., the corresponding loading or unloading process can be carried out by one of the gripper devices 16 alone.Advantageously, two loading or unloading operations can be carried out in parallel, with, for example, one of the gripper devices 16 loading the left side and the other gripper device 16 loading the right side of the loading space 54. Additionally or alternatively, the two gripper devices 16 can also cooperate as required, handling the same load 12 together, with each gripper device 16 taking on a different part of the respective loading operation. Thus, the gripper devices 16 can optionally work synergistically together.

[0179] Furthermore, in the fourth embodiment, the centering device 70 and the separating element 74 are designed as a controllable switch 76. The switch 76 distributes the goods 12 conveyed by the conveyor 68 within the X / Y staging level 60 as needed, or makes them available to the two gripper units 16. Thus, the efficiency of the loading device 10 or the loading system 52 can be significantly increased and corresponding time saved by the demand-based allocation of the goods 12 by means of the switch 76 and the individual handling of the goods 12 by the gripper units 16.

[0180] GAW-8639WO

[0181] 07.01.2026 Reference number list 0 Loading device

[0182] 2 goods

[0183] 4 basic frames

[0184] 6 Gripper device

[0185] 8 rotary unit

[0186] 0 (length-adjustable) swivel arm

[0187] 2 gripper units

[0188] 4 Z-axis rotary axis

[0189] 6 First axis of rotation

[0190] 8 Second axis of rotation

[0191] 0 X-Linear Guide Unit

[0192] 2 lifting device

[0193] 4 Chassis

[0194] 6 Surveying equipment

[0195] 8 Radial guide unit

[0196] 0 rail element

[0197] 2 Slide element

[0198] 4 arrows

[0199] 6 Double Arrow

[0200] 8 Further arrow

[0201] 50 Another double arrow

[0202] 52 Loading system

[0203] 54 cargo space

[0204] 56 tires

[0205] 60 X / Y deployment level

[0206] 62 X / Z deployment level

[0207] 64 Control console

[0208] 66 Portal Unit

[0209] 68 Conveyor device

[0210] GAW-8639WO

[0211] 07.01.20260 Centering device 2 Offset device 4 Separating element

[0212] 6 switches

[0213] 8 Compensation device

[0214] GAW-8639WO

[0215] January 7, 2026

Claims

Patent claims 1. Loading device (10) for the orderly loading and unloading of a loading or storage area with goods (12) from an X / Y staging plane (60) into an X / Z loading plane (62), in particular a loading robot for loading and unloading a cargo space (54) of a freight vehicle extending in an X / Y plane with general cargo such as vehicle tires (56), comprising at least a base frame (14) extending at least in a horizontal X-axis transverse to the loading or storage area and at least one gripper device (16) that can be arranged on the base frame (14) and displaced from the X / Y plane in the direction of a vertical Z-axis, characterized in that the gripper device (16) comprises a pivot arm (20) arranged on a rotary unit (18) with a gripper unit (22) for gripping the goods (12), in particular the vehicle tires (56), wherein the gripper device (16) extends at least in the X-direction the base frame (14) is linearly movable,and wherein the swivel arm (20) is rotatably mounted at a first end on the rotary unit (18) and is pivotable from an X / Y plane in the direction of the Z-axis about a first axis of rotation (26), and the swivel arm (20) rotatably mounts the gripper unit (22) at a second end about a second axis of rotation (28) lying in a further X / Y plane.

2. Loading device (10) according to claim 1, characterized in that the rotary unit (18) of the gripper device (16) is rotatable in the X / Y plane about the vertical Z axis of rotation (24), wherein preferably a rotation of the rotary unit (18) about the Z axis of rotation (24), of the swivel arm (20) about the first axis of rotation (26) and / or of the gripper unit (22) about the second axis of rotation (28) is limited to a maximum of + / -180 degrees.

3. Loading device (10) according to claim 1 or 2, characterized in that the base frame (14) comprises a portal unit (66) whereby the goods (12) can be passed under the gripper device (16) in the X / Y provisioning plane (60). GAW-8639WO 07.01.20264. Loading device (10) according to one of the preceding claims, characterized in that, preferably on the portal unit (66), at least two gripper devices (10) for individual and / or joint handling of the goods (12) are included.

5. Loading device (10) according to one of the preceding claims, characterized in that the at least one gripper device (16) is linearly movable in the X-direction by means of an X-linear guide unit (30) formed in particular in the base frame (14), preferably wherein the travel path of the X-linear guide unit (30) in the X-direction corresponds essentially to the X-extension of the loading or storage surface, and the pivot arm (20) with the gripper unit (22) is movable at least in the Y-direction, in particular radially to the Z-axis of rotation (24) in the X / Y-plane by means of a radial guide unit (38) formed in particular in the rotary unit (18), wherein preferably the X-linear guide unit (30) and / or the radial guide unit (38) is designed as a slide or rail guide.

6. Loading device (10) according to one of the preceding claims, characterized in that the swivel arm (20) is length-variable, in particular designed as a pneumatically, hydraulically or electrically length-adjustable telescopic arm.

7. Loading device (10) according to one of the preceding claims, characterized in that the loading device (10) has a lifting device (32), in particular a lifting table, arranged in particular on the bottom side of the base frame (14), wherein the lifting device (32) is designed to displace at least one gripper device (16) in the Z direction. GAW-8639WO 07.01.20268. Loading device (10) according to one of the preceding claims, characterized in that the loading device (10) has a chassis (34) arranged below the base frame (14), in particular on the bottom of the base frame (14) or on the bottom of the lifting device (32), for moving the loading device (10) in at least the Y-direction, preferably wherein the chassis (34) is motor-driven, in particular wherein the chassis (34) has at least one motor-driven wheel, roller or track unit, preferably wherein furthermore the chassis (34) is remotely controllable, so that a loading or unloading process is enabled by remote control, preferably wherein furthermore the loading device (10) is attached to the end of a conveying device (68), preferably a telescopic conveyor belt, and furthermore preferably the chassis (34) causes the telescopic conveyor belt to be extended or shortened.

9. Loading device (10) according to one of the preceding claims, characterized in that the loading device (10) has a measuring device (36) with at least one sensor unit and / or at least one camera unit for measuring and / or monitoring and for orderly loading or unloading of the loading or storage area based thereon, preferably comprising a visualization unit, in particular a monitor, for visualizing the measured loading or storage area and / or the position of the loading device (10) in relation to the loading or storage area for a user.

10. Loading device (10) according to one of the preceding claims, characterized in that the gripper unit (22) is arranged on the swivel arm (20), preferably without tools by means of a quick-change system, in a replaceable manner, and / or the gripper unit (22) is designed as a vacuum gripper, magnetic gripper or electromechanically, hydraulically and / or pneumatically operated gripper, in particular for gripping individual items such as vehicle wheels (56). GAW-8639WO 07.01.202611. Loading device (10) according to one of the preceding claims, characterized in that the loading device (10) comprises a higher-level control unit and / or an operating console (64) for controlled operation of the loading device (10) and controlled execution of loading or unloading of goods (12) from an X / Y provisioning level (60) to an X / Z loading level (62), or from an X / Z loading level (62) to an X / Y provisioning level (60), wherein the control unit and / or the operating console (64) is configured for at least partially automated loading or unloading, and is further preferably configured for moving the X / Z loading level (62) and X / Y provisioning level (62) in the Y direction.

12. Loading device (10) according to the preamble of claim 1, or according to one of the preceding claims, characterized by a compensating device (78) for compensating for an inclination and / or a height adjustment of the loading device (10) relative to the loading or storage surface.

13. Loading system (52) for the orderly loading and unloading of a loading or storage area extending in an X / Y plane with goods (12), in particular a loading robot for loading or unloading a cargo vehicle cargo space (54) with unit loads such as vehicle tires (56) into or from an X / Z loading plane (62) of the loading or storage area, comprising a conveying device (68), in particular a telescopic conveyor belt for conveying the goods (12) in the Y direction, a centering device (70), preferably a centering table, forming an X / Y provision plane (60), a loading device (10), in particular a loading robot, and an offset device (72) for offsetting the centering device (70) and the loading device (10) in a Y direction, characterized by a design of the loading device (10) according to one of claims 1 to 12. GAW-8639WO 07.01.202614. Loading system (52) according to claim 13, characterized in that the conveying device (68), the centering device (70), the loading device (10) and the offset device (72) are designed and arranged relative to each other in the intended operation of the loading system (52) such that the goods (12) can be conveyed to or from the centering device (70) by means of the conveying device (68), arranged on an X / Y provisioning level (60) by means of the centering device (70) and transferred from the X / Y provisioning level (60) to an X / Z loading level (62) or vice versa by means of the loading device (10), wherein the offset device (72) adjusts the X / Z loading level (62) to be displaceable at least in the Y direction, preferably wherein the offset device (72) is designed as a chassis (34) of the loading device (10).

15. Loading or unloading method using a loading device (10) according to one of claims 1 to 12 or a loading system (52) according to claim 13 or 14, characterized in that goods (12) are transferred on a loading or storage area located in an X / Y plane from an X / Y provisioning level (60) to an X / Z loading level (62) on the loading or storage area during a loading process, preferably stacked, in particular in a rick-rack (herringbone) or stove-pipe (tire stack), or transferred from the X / Z loading level (62) to the XY provisioning level (60) during an unloading process.

16. Loading or unloading method according to claim 15, characterized in that a cargo space (54) of a freight vehicle is loaded or unloaded as a loading or storage area with general cargo such as vehicle tires (56) as transport goods (12). GAW-8639WO 07.01.202617. Loading or unloading method according to claim 15 or 16, characterized in that, for moving the goods (12) from the X / Y provision plane (60) to the X / Z loading plane (62) and back, at least one gripper unit (22) of the loading device (10) is moved in an X-axis, preferably rotated about a Z-axis of rotation (24), and is rotated from the X / Y plane in the Z direction about a first axis of rotation (26) lying in an X / Y plane, and about a second axis of rotation (28) lying in a further X / Y plane.

18. Loading or unloading method according to one of claims 15 to 17 with a loading device according to claim 5, characterized in that the length of the pivot arm (20) is changed during the loading process to reduce a torque, preferably dynamically, in particular the pivot arm (20) is shortened when pivoting between the X / Y provision plane (60) and the X / Z loading plane (62) and is lengthened for placing or picking up the goods (12).

19. Loading or unloading method according to one of claims 15 to 18, characterized in that the loading device (10) is moved in the vertical Z-direction by means of a lifting device (32), in particular raised and / or lowered.

20. Loading or unloading method according to one of claims 15 to 19, characterized in that, in particular at the beginning of the loading or unloading process, the loading device (10) is moved within the loading or storage area at least in the Y direction by means of an offset device (72), in particular by means of a chassis (34), preferably remotely controlled, and in particular is driven onto the loading or storage area, and causes at least an offset of an X / Z loading plane (62) in the Y direction. GAW-8639WO 07.01.202621. Loading or unloading method according to one of claims 15 to 20, characterized in that, in order to optimize the loading or unloading process, in particular at the beginning of the loading or unloading process, the loading or storage area and / or the goods (12) are measured by a measuring device (36) and / or the loading or storage area is monitored by the measuring device (36) during the loading process.

22. Loading or unloading method according to claim 21, characterized in that the measured loading or storage area and / or the position of the loading device (10) in relation to the loading or storage area is visualized for a user by a visualization unit, and / or based on the measurement and / or monitoring the position of the loading device (10) on the loading or storage area is adjusted, and / or pivoting, rotating and / or linear movements of the loading device (10), in particular automated, are adjusted and / or carried out.

23. Loading or unloading method according to one of claims 15 to 22, characterized in that during the loading process the goods (12) are fed to a centering device (72) by means of a conveying device (68), provided by the centering device (72) in an X / Y provisioning plane (60), then picked up by the loading device (10) and subsequently placed in an ordered manner in an X / Z loading plane (62) in or on the loading or storage area by means of the loading device (10), in particular stacked, and vice versa. GAW-8639WO January 7, 2026

Images