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WO1988007014A1 - Dispositif de manutention de palettes - Google Patents

Dispositif de manutention de palettes Download PDF

Info

Publication number
WO1988007014A1
WO1988007014A1 PCT/SE1987/000129 SE8700129W WO8807014A1 WO 1988007014 A1 WO1988007014 A1 WO 1988007014A1 SE 8700129 W SE8700129 W SE 8700129W WO 8807014 A1 WO8807014 A1 WO 8807014A1
Authority
WO
WIPO (PCT)
Prior art keywords
pallet
pallets
platform
picking
outfeed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/SE1987/000129
Other languages
English (en)
Inventor
Anders Lindell
Hans Werner Siebert
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
TRI TEKNIK AB
Original Assignee
TRI TEKNIK AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from SE8504352A external-priority patent/SE449602B/xx
Application filed by TRI TEKNIK AB filed Critical TRI TEKNIK AB
Priority to PCT/SE1987/000129 priority Critical patent/WO1988007014A1/fr
Publication of WO1988007014A1 publication Critical patent/WO1988007014A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0478—Storage devices mechanical for matrix-arrangements

Definitions

  • the present invention concerns a handling device for pallets upon which e.g. components are stored and transported to a converting machine, assembly station or the similar, at which the components are picked by help of a robot or the similar from the pallets, including one or a plurality of pallet platforms, which are complete filled up with pallets, and upon which pallets are dis- placeably arranged in lines extending in two mutually normal directions.
  • a handling device for pallets upon which e.g. components are stored and transported to a converting machine, assembly station or the similar, at which the components are picked by help of a robot or the similar from the pallets, including one or a plurality of pallet platforms, which are complete filled up with pallets, and upon which pallets are dis- placeably arranged in lines extending in two mutually normal directions.
  • assembly stations or the similar with components whic are to be shaped or assembled e.g. a robot is utilized by help of which the components are picked from a buffer store showing a defined picking location.
  • the components as a rule are furnished to the buffer store by hand from load carriers e.g. in the shape of pallets and transpor ⁇ ting boxes.
  • the components are stored before and after the shaping upon these pallets or in transporting boxes in separate storage rooms.
  • a drawback whith the up to now known way to pro- vide picking robots with components is that usually a manual transloading must be done between the load car ⁇ rier, upon which the components have been transported from the storage room, and the buffer store which is con ⁇ nected to the picking station.
  • "Another drawback is that the picking robot must be programmed with a great number of picking positions corresponding the number of compo ⁇ nents.
  • the memory of the picking robot is utilized, e.g. with complex assembling motions, the great number of picking positions demand for an extra large capacity in the memory of the robot by help of which the picking is controlled.
  • a drawback with the magazine according to SE-C- 30 682 is that the robot must move the pallets from the first to the second conveyor. Another drawback is that the pallets at storing in a storage room on one hand must be lifted up upon the first conveyor when supplying pallets and on the other hand must be lifted off from the second conveyor and placed upon another pallet or the si ⁇ milar for transporting to an storing in the storage room. Another drawback is that the great number of picking po ⁇ sitions at the locactions for collecting respective dis ⁇ position. DESCRIPTION OF THE INVENTION
  • the purpose with the present invention is to achive a handling device for pallets which not shows the drawbacks as at the known devices.
  • the purpose has been achived by help of a handling device for pallets, upon which e.g. components are stored and transported to a converting machine, assembly station or the similar, in which the components are picked by help of a robot or the similar from the pallets, including one or more above each other arranged pallet platforms along which the pal ⁇ lets are displaceably arranged in lines extending in two mutally normal directions.
  • Each pallet platform is rec- tangular or square and complete filled up with likewise rectangular or square pallets and showing an outfeed side and an infeed side, which are mutually opposite and parallel.
  • the invention is characterized in that the pal ⁇ let platforms are vertically adjustable arranged relative to a picking section by help of a lifting device so that they each can be brought on the same level as the picking section, that the picking section is arranged extending between the outfeed side and the infeed side on the ac ⁇ tual pallet platform, and that feeding means are arranged at the sides of the pallet platform, by help of which pallets can be displaced from the pallet platform to the picking section along the outfeed side, or from the pic ⁇ king section to the pallet platform along the infeed side.
  • a feeding means is travelling along the outfeed respective infeed side of the pallet plat ⁇ form and provided with a carrier means, which can be brought in at a pallet, or between two adjacent pallets, in the pallet line close to the feeding means and bring this to move at least one length of a pallet in the tra- veiling direction along the outfeed respective infeed side along the pallet platform.
  • Each feeding means also can be moved in a right angle to its travelling direction and bring a line of pallets, which extends normal to the travelling direction, to move at least one length of a pallet in its length direction along the outfeed respective infeed side of the pallet platform.
  • a first feeding means is movable along the outfeed side of the pallet platform and provided with a carrier means, by help of which pallets can be fed out to the picking sec ⁇ tion.
  • a second feeding means is movable along the infeed side of the pallet platform and provided with a pushing means, by help of which pallets can be fed in to the pal ⁇ let platform from the picking section.
  • -A third feeding means is arranged at the infeed side of the pallet plat ⁇ form and movable normal to the infeed respective outfeed side and provided with a pushing means by help of which pallets can be fed from the infeed side to the outfeed side.
  • the picking section is constituted by a picking platform, which shows a picking location at one end of the platform, close to a first corner of the pallet platform, and a holding point at the other end of the platform, close to a second cor ⁇ ner on the same side as the first corner on the pallet platform.
  • the picking platform can include a transporting device by help of which the pallets can be transported from the picking location to the holding point.
  • the pic ⁇ king section also can be constituted by a picking con ⁇ veyor extending in a loop along the pallet platform.
  • the pallet platform also can be arranged upon a load carrier, which is disposed upon the lifting device close to the picking section during picking of articles from the pal ⁇ lets, e.g.
  • each pallet is constituted by a flat plate, the lower side of which, resting against the pallet platform, shows a projection extending around the pallet.
  • the car ⁇ rier means is brought down in the groove between the up ⁇ per parts of the pallets.
  • the upper part can be provided with cavities in which components to be shaped or assem- bled are kept in a fix position.
  • a pallet adjacent to the picking location on the picking platform is brought to move to the picking location by help of the feeding means. After components have been picked from the pallet this is transferred to the holding point on the picking platform.
  • a pallet position In order to return the pallet to the original pallet platform a pallet position must be made free close to the holding point. This will be done by moving pallets in two mutually parallel rows along the sides of the pallet platform at the feeding means and a row normal to these are moved in the way that an empty pallet position arises close to the holding point. The procedure is repeted until the components are picked off from all pallets.
  • the pallet nearest the picking conveyor is moved out to this by help of the fee ⁇ ding means at the outfeed side of the pallet platform.
  • the pallet is moved on the picking conveyor to one or more picking stations from which it is brought back to the picking platform by help of the feeding means which is located at the end of the infeed side of the pallet platform.
  • the picking of components only is done from certain pal ⁇ lets on the pallet platform.
  • the pallets on the pallet platform in this alternative are numbered and their posi- tion on the pallet platform is known on forehand.
  • By help of a dator each changes in the position of the pallets on the pallet platform is registrated, by which picking only is done from the on forehand intended pallets.
  • a device has been pro- vided by help of which components can be stored in a storage room as well as placed in a buffer storage for picking components by help of a robot or the similar whithout moving the components between different load carriers.
  • a semi-finished pr ⁇ duct never must leave its place on the load carrier before it will be picked to the first shaping respective after it has been brought back to the pallet for the storage in the storage room.
  • the device according to the invention provides a system as well for storing of semis or assembled components as for providing these components to shaping respective assembly stations whithout the components have to leave its posi- tion on the pallet except for shaping or assembling. DESCRIPTION TO DRAWINGS
  • Figure 1 shows schematically a complete pallet handling device according to the invention in a perspec ⁇ tive.
  • Figure 2 shows a pile including four pallet platforms arranged upon another pallet.
  • Figure 3 shows a pallet intended for handling of one single component.
  • Figure 4 shows a pallet intended for handling of sixteen components.
  • Figure 5 shows a schedule for the movement of the pallets between a pallet platform and a picking platform which is a part of the pallet handling device.
  • Figure 6 shows an alternative embodiment of the device according to figure 1.
  • the pallet 2 carries a pile of pallet plat ⁇ forms including four mutually parallel and horisontal pallet platforms 3, which is closer shown on figure 2, at which each pallet platform 3 is carried by two vertical uprights 4 arranged at two opposite sides of the pallet 2.
  • Each pallet platform 3- is surrounded by *a rim 5 show ⁇ ing two openings 6 situated at one and the same side of the pallet platform 3 each close to a corner of the same.
  • the lifting table 1 shows an outfeed side, along which pallets 12 are fed out from the pallet platform 3, and an infeed side, along which pallets 12 are fed into the pallet platform 3-
  • the outfeed respective infeed side are mutually oposite and parallel.
  • a handling unit is arranged, comprising a base 7, extending along the outfeed respective infeed side, in the length direction of the same a feeding head 8 is travelling.
  • the feeding head 8 is movable normal to the travel ⁇ ling direction on the base 7 and carrying a carrier arm 9 extending in the feeding direction of the feeding head 8.
  • a picking platform 10 is arranged on posts 11 at one end of the bases 7.
  • the feeding head 8 respective the carrier arm 9 can be brought in contact with pallets 12, which are situated in adjacent lines along the side of the pallet platform 3 and thereby move the nearest line parallel to the travelling direction of the feeding head
  • a pallet 12 is moved out to respecti- ve away from the picking platform 10. Pallets 12 in a pallet line normal to the outfeed respective infeed side after that is moved out to the outfeed side of the pallet platform.
  • the picking platform 10 is mainly rectangular and extending between the opposite sides of the bases 7.
  • the left end of the picking platform 10, according to figure 1 constitutes a picking location while its right end constitutes a holding point. According to same figure 1 the picking location and the holding point, respective the outfeed side and the infeed side change places.
  • a handling robot can catch compo ⁇ nents from one pallet 12 at a time and bring it into e.g. a converting machine.
  • the handling robot is not shown on the figures .
  • pallets 12 are arranged and movable in two mutally normal directions, i.e. partly in the travelling direction of the feeding head 8 along the base 7 and partly in the moving direction of the feeding head 8.
  • the pallet 12 is constituted by a flat plate the lower side of which, res ⁇ ting against the pallet platform 3, shows a projection 13 surrounding the pallet 12.
  • a groove 14 is obtained between the upper parts 15 of the pallets 12 through the projection 13-
  • the upper part 15 is provided with cavities T6 In which components to be shaped are kept in place.
  • the pallets 12, shown on figure 1 are proposed to carry four components, while the pal ⁇ let 12, shown on figure 3, is proposed for one component and the pallet 12 shown on figure 4, is proposed for sixteen components .
  • FIG. 1 An example of moving pallets 12, according to figure 1, within a pallet platform 3, respective between this pallet platform 3 and the picking platform 10, is symbolic shown on figure 5.
  • the feeding head 8 on the right base 7 according to figure 1 is brought to move the outermost right line of pallets 12 parallel to the movement on the picking platform 10 in order to make a free pallet position in the lowermost right corner of the pallet platform 3, i.e. the infeed side.
  • Finished components on the same time and in the same order can be placed on empty pallets 12 by help of the handling robot in a lower on an upper pallet platform 3, at which the lifting table is raised or lowered bet ⁇ ween each operation.
  • An alternative embodiment of the pallet handling device includes a lifting table 1 upon which a pallet 2 is placed.
  • the pallet 2 carries a pile of other pallets comprising four pallet platforms 3-
  • Each pallet platform 3 is surrounded by a rim 5 according to figure 2, showing two openings 6 located at one and the same side of the pallet platform 3 each close to a corner on the same.
  • the pallet platform 3 shows an out- feed and an infeed side which are mutually opposite and parallel.
  • the picking plat ⁇ form 10, according to figure 1 is substituted by a pic ⁇ king conveyor 20, extending horisontally in a loop along the end of the pallet platform 3, at which the openings 6 are located.
  • An outfeed cylinder 21 provided with a car ⁇ rier arm 22 extends along the outfeed side of the pallet p l atform 3, normal to the connected section of the pic ⁇ king conveyor 20 and extending a bit outside the pallet platform 3, so that the carrier arm 22 can be moved out of the pile when the lifting table 1 is raised or loward.
  • the outfeed cylinder 21 one pallet 12 at a time is fed out to the picking conveyor 20, on which it will be moved to picking locations for picking robots, not shown on figure 12.
  • Two cross-feed cylinders 23, provided with a common first pushing means 24 are arranged at the infeed side of the pallet platform 3 which is opposite to the outfeed side.
  • the outfeed cylinder 2T is hori- thankally turnable making the carrier arm 22 to be removed from the pallet pile in a situation when the other pallet 2 is lifted away from the lifting table 1.
  • the cross-feeding cylinder 23 and the infeed cy ⁇ linder are retracted In positions making the pallet pile to be lifted away from the other pallet frily.
  • the pallets 12 thus have not to be provided with projections 13 accordning to figure 4.

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  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

Dispositif de manutention pour palettes (12), sur lequel par exemple des éléments sont stockés et transportés à destination d'une machine de transformation, d'un poste d'assemblage ou similaire dans lesquels les éléments sont saisis au moyen d'un robot ou similaire depuis les palettes (12), qui comprend une ou plusieurs plates-formes de palette (3) avec palettes (12) et sur lequel les palettes (12) sont de façon amovible disposées en lignes s'étendant dans deux directions perpendiculaires l'une à l'autre. Une plate-forme de palette correspondante (3) présente un côté de sortie et un côté d'entrée pour l'acheminement des palettes, côtés qui sont opposés et parallèles l'un par rapport à l'autre. Au moins une section de préhension (10, 20) s'étend entre le côté d'entrée et le côté de sortie sur le même niveau que chaque plate-forme de palette (3), lorsque les éléments doivent être saisis à partir ou à destination des palettes (12) sur cette plate-forme. Des organes d'acheminement (8, 21, 23, 25) sont disposés sur les côtés de la plate-forme de palettes (3), organes au moyen desquels les palettes (12) peuvent être déplacées depuis la plate-forme de palette (3) vers la section de préhension (10, 20).
PCT/SE1987/000129 1985-09-20 1987-03-12 Dispositif de manutention de palettes Ceased WO1988007014A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/SE1987/000129 WO1988007014A1 (fr) 1985-09-20 1987-03-12 Dispositif de manutention de palettes

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE8504352A SE449602B (en) 1985-09-20 1985-09-20 Handling equipment for pallets
PCT/SE1987/000129 WO1988007014A1 (fr) 1985-09-20 1987-03-12 Dispositif de manutention de palettes

Publications (1)

Publication Number Publication Date
WO1988007014A1 true WO1988007014A1 (fr) 1988-09-22

Family

ID=26659081

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE1987/000129 Ceased WO1988007014A1 (fr) 1985-09-20 1987-03-12 Dispositif de manutention de palettes

Country Status (1)

Country Link
WO (1) WO1988007014A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4300682A1 (de) * 1993-01-13 1994-07-14 Ford Werke Ag Transportwagen zum Verlagern von Werkstückmagazinen- oder -trägern und dergleichen von einer Bearbeitungsmaschine zur nächsten
WO2025132206A1 (fr) * 2023-12-22 2025-06-26 Dematic Gmbh Système de stockage pour le stockage tridimensionnel compact de récipients, et procédé de fonctionnement d'un tel système de stockage

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2510028A1 (de) * 1975-03-07 1976-09-16 Ernst Dipl Ing Turck Etagen-horde
DE2533975A1 (de) * 1975-07-30 1977-02-17 Holstein & Kappert Maschf Verfahren und vorrichtung zum be- und entladen von paletten mit stueckguetern
DE2903320A1 (de) * 1978-07-25 1980-02-14 Rudolph E Futer Zwischenspeicher fuer gegenstaende
SE430682B (sv) * 1982-05-06 1983-12-05 Asea Ab Sett och anordning att tillfora och bortfora detaljer vid en robotbetjenad bearbetningsmaskin
SE449602B (en) * 1985-09-20 1987-05-11 Tri Teknik Ab Handling equipment for pallets

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2510028A1 (de) * 1975-03-07 1976-09-16 Ernst Dipl Ing Turck Etagen-horde
DE2533975A1 (de) * 1975-07-30 1977-02-17 Holstein & Kappert Maschf Verfahren und vorrichtung zum be- und entladen von paletten mit stueckguetern
DE2903320A1 (de) * 1978-07-25 1980-02-14 Rudolph E Futer Zwischenspeicher fuer gegenstaende
SE430682B (sv) * 1982-05-06 1983-12-05 Asea Ab Sett och anordning att tillfora och bortfora detaljer vid en robotbetjenad bearbetningsmaskin
SE449602B (en) * 1985-09-20 1987-05-11 Tri Teknik Ab Handling equipment for pallets

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4300682A1 (de) * 1993-01-13 1994-07-14 Ford Werke Ag Transportwagen zum Verlagern von Werkstückmagazinen- oder -trägern und dergleichen von einer Bearbeitungsmaschine zur nächsten
WO2025132206A1 (fr) * 2023-12-22 2025-06-26 Dematic Gmbh Système de stockage pour le stockage tridimensionnel compact de récipients, et procédé de fonctionnement d'un tel système de stockage

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