Unloading and transfer of roller trucks from troughs

FIELD: transport.

SUBSTANCE: trucks 2 comprising two guide wheels mounted to revolve about vertical axis are delivered to loading section 4, unloaded from troughs 3 and/or knocked-down from stack by robot 5 with articulated jib, and, thereafter, are transferred to transport-handling line loading section. Balance of the truck and/or its guide wheels are controlled prior to placing onto transport-handling line with the help of digital camera 7 and data processing computer-aided unit 11. Then, robot 3D motion is controlled depending upon controlled magnitudes.

EFFECT: uniform balance of truck wheels.

18 cl, 3 dwg

 

The invention relates to a method and apparatus for unloading roller trucks with pallets and transportation, the so-called rolling carts containing at least two installed rotatably around the vertical axis of the guide wheel. This truck delivers to the boot area, remove from pan and/or, if necessary, placed in a pile by means of a lifting device, for example, a robot with an articulated boom, and then transferred to the adjacent loading area of the transport and haulage line. Thus it is essential that the alignment of the truck and/or idler wheels control prior to installation on transport and haulage line using at least one sensor, for example, a digital camera, and the sensor is connected with a suitable automated data processing unit, and subsequently control the three-dimensional movement of the lifting device, generally, a robot with an articulated boom, according to the monitored measured values.

Increasingly important in transportation, storage and handling of goods and products purchase of wheeled transport system. This wheeled pallets, the so-called moving cart. This rolling cart is shown in DE 0251439 A2. These little trucks are, as a rule, the reference area corresponding to half or one-quarter of the pallet according to the EU standard, moreover, of the four rollers, as a rule, one pair is a guide wheel mounted for rotation around a vertical axis. The second pair is made unmanaged. In EP 1149753 A2 shows such a moving truck, named in this publication as a transport trolley. In reusable systems, the moving cart return to the supplier established in stacks on pallets and load their new product. Loaded trucks usually make, fix and re-deliver on transport pallets, usually on pallets.

In DE 3442111 C2 shows a device and method in which individual loaded roller pallet is transported by the conveyor bars with grips. However, problematic in the return system is irregular alignment of stacked trucks, and above all, the guide wheels may be directed in any direction. This requires alignment of trucks and/or idler wheels before or after a new download to create opportunities for further optimal locations of loaded trucks on the pallet.

According to this object of the invention is a device and method that excludes or eliminates the aforementioned problems.

This problem is solved by the present invention through with the person unloading of pallets and transportation trucks, the so-called rolling carts, and trucks deliver to the boot area, if necessary, unloaded from the pallets and/or placed in a pile by means of a lifting device, for example, a robot with an articulated boom, and then transferred to the transport and haulage line. When this alignment of the truck and/or idler wheels control prior to installation on transport and haulage line using at least one sensor connected with a suitable automated data processing unit. Subsequent three-dimensional movement of the lifting device govern according to the monitored measured values.

Preferably a sensor device consists of one or more digital cameras, through which control data of the real image (real image) and compared in an automated data processing unit with the given samples (given imaging) or other target values. Then, based on this, control of the three-dimensional movement of the lifting device for optimal and uniform positioning and alignment of the trucks, and their wheels in the transport and haulage line.

An improved version of the method lies in the fact that incorrect installation or improper alignment, at least onethe guide wheels, the truck overturned after lift lifting device around a horizontal axis, so that, as a rule, two guide wheels are together above or below a fixed wheels and two guide wheels align the same, or essentially the same by gravity. The angle α is preferably from 30° to 90°. The alignment of the wheels may be supported by vibration and/or purposeful movements acceleration of the lifting device. Vibration and/or purposeful movement acceleration if necessary, you can repeatedly retry. Then a trolley mounted on the transport and haulage line. This variant of the method has the great advantage that the alignment of the idler wheels is not any need for a separate step of the method or device, and this alignment or straightening occurs in parallel with the transfer truck from the site of delivery in the transport and haulage line and no other AIDS or tools. Preferably, if then a trolley mounted on the transport and haulage line so that the guide wheel below the stationary wheel and the guide wheel is mounted first. Then the truck turn around a horizontal axis on a horizontal line. When installing truck, to the beginning of the rotation process on the mountains is santali, the angle α preferably ranges from 30° to 60°.

Since the vertical support guide wheels easily contaminated, resulting in the rotation or sometimes completely not happening only on the basis of gravity, the optimization is to be provided in the transport and haulage lines, at least one guide element, which is injected, at least one of the guide wheels when installing a truck to transport and haulage line for correction if necessary, available to improper installation or incomplete alignment of the idler.

In addition, it is preferable for security reasons, the way to provide, on site, on which you put the cart after transfer to transport and haulage line, at least one position sensor. For example, if not optimal positioning of the trolley for transport and haulage lines and/or when not optimal alignment of one of the guide wheels, may receive a failure message, and then follow the re-alignment of trucks and/or idler wheels or termination of way. Preferably, if the position of the wheel truck directly after installation on transport and haulage line controls at least one position sensor, in particular, the position of the first both wheels.

Image is eenie also includes a device for unloading with pallet and transporting roller trucks, contains the boot area for delivery, usually stacked in piles trucks, at least one lifting device for lifting and transfer trucks on the adjacent transport and haulage line. In particular, the device comprises at least one sensor and automated unit, through which you can control the alignment of the trucks and their guide wheels at the site of delivery and to manage and/or regulate the subsequent movements of the at least one lifting body for optimal translation and positioning of the trucks in the transport and haulage line. In one embodiment, the sensor device may be an optoelectronic sensor, preferably it contains one or more digital cameras. When this lifting device is preferably single-branch or a robot with an articulated boom, providing smooth three-dimensional movement.

Another improvement consists in the fact that there is coupled with an automated control unit position sensor, controlling the position of the wheels of the truck directly after installation on transport and haulage line and transmitting further measurement data to the control unit for further processing. It can be located on or in the transport and haulage lines and control rights of the aspects of the position of the wheels. In this case the specialist are available many different types of sensors. Preferably the sensors are even in the guide or on your work surface and set the position of the wheel inductively or as a pressure sensor.

An alternative position sensor can be positioned at or lifting device. In this case, the conclusion about the correct or incorrect position of the trolley and/or idler wheels can be done based on the progress of the end position of the lifting device. Moreover, preferably, when in the transport and haulage lines suitable chisel edge and/or the sensor signals, connected directly or via an automated data processing unit with a position sensor in or on the single-branch of the robot or the robot with an articulated boom. According to an improved variant is provided in the transport and haulage lines, at least one guide element, with the possibility of introducing at least one of the guide wheels when installing a truck to transport and haulage line, preferably, if for each idler has one guide element. This allows you to correct improper installation guide wheels and to facilitate installation of the trucks. For this is at the disposal of a specialist, there are many forms of execution. The most suitable variant of this guide element has a protruding upward over a guide or above the path of movement of the transport and haulage line bent outwards in the form of a funnel side walls. The guide wheels are made through a design in the form of a funnel and aligned. In an improved embodiment, the guide elements sink, so that they could not after installing truck and during transportation to cling to it.

Figure 1 and 2 shows as an example the device to unload the pallets and transporting roller trucks, and figure 3 shows the guide element in detail, the image in the section.

Figure 1 shows a General view of the device 1 intended to unload the pallets and transporting roller trolleys used to capture the first trolley 2, standing on the top of the stack, consisting of several trucks. The stack is held on the pallet 3. Truck 2 and tray 3 are on the boot section 4. The robot 5 with articulated boom captures not shown in detail spectacular tool 6 the upper roller cart 2. The alignment roller cart 2 and the guide wheels 9 is controlled by means of digital cameras 7 and 8, and controlled real image is sent on line 10 data on automated unit 11 of the data about abayat, and then on line 12 data transfer control robot 5 with articulated boom. Of course, lines 10 and 12 data can serve as a transmission channel in the case of wireless transmission. In the example shown, the digital camera 7 controls the alignment of the guide wheels 9, and the digital camera 8, the alignment and position of the actual truck 2.

Figure 2 shows the process of installing roller truck 2 in the transport and haulage line 13. Roller cart 2 when lifting from the boot of the plot turns around the axis 14 and incline at an angle α around the axis 15. In figure 2 the axis 15 is located vertically in the plane of the drawing and marked with a small cross. When installing the roller truck 2 in the transport and haulage line 13, the carriage 2 is lowered in the direction of the arrow 17 and simultaneously carries out motion tilt in the direction of the arrow 18. Fixed wheel 19 mounted after the guide wheels 9, and the guide wheel 9 customize and send in the guiding element 20.

Figure 3 shows a cut rail transport and haulage line 13, the line of section a-a (figure 2), and transport and haulage line 13 contains two essentially identically constructed rails on which dwuhmomentnam transport roller truck 2. Transport and haulage line 13 has TNA is by legs 14 and essentially horizontally directed guides 15. In the shown section a-a guide 15 moves inextricably into the guide element 16, which depicts both tilted outward side elements 17 and rear wall 18. The rear wall 18 is divided into two parts, one of which is tilted vertically, and the other to the back. The vertical portion of the rear wall 18 includes a probe 20 provisions. Incorrect position of idler wheel 9 discover inductively, if both guide wheels 9 does not impinge on the sensor 20 provisions at the beginning of the installation of the trolley 9 in the transport and haulage line. On line 21 data this information is transmitted to the automatic control block 11 and processed in it.

1. Method of unloading with pallet and transporting roller trucks, the so-called rolling carts containing at least two installed rotatably around the vertical axis of the guide wheel, and roller carts deliver in the boot area by means of a lifting device, for example, a robot with an articulated boom, if necessary, unloaded from the pallets and/or dismantle of the pile, and then transferred to the adjacent loading area of the transport and haulage line, wherein the alignment roller cart and/or idler wheels control prior to installation on transport and haulage l is of using, at least one sensor, for example, a digital camera, and the sensor is connected with a suitable automated data processing unit, and subsequent control of three-dimensional movement of the lifting device according to the monitored measured values.

2. The method according to claim 1, characterized in that the at least one sensor device is a digital camera, and controlled data of a real image (real image) is compared in an automated data processing unit with the set of samples (set image), and through this control of three-dimensional movement of at least one lifting device for optimal and uniform positioning and alignment of the trucks, and their wheels in the transport and haulage line.

3. The method according to any one of claims 1 or 2, characterized in that the incorrect installation or improper alignment, at least one of the guide wheels the cart cant after lift lifting device around a horizontal axis, so that two guide wheels are the same or essentially the same level by gravity, and then a trolley mounted on the transport and haulage line.

4. The method according to claim 3, characterized in that the angle α is 30° to 90°, while a truck to transport the port-haulage line is 30° - 60°.

5. The method according to claim 1, characterized in that the lifting device searches for the alignment of the wheels of the vibration and/or purposeful movement acceleration.

6. The method according to claim 1, characterized in that the transport and haulage line has at least one guide element, which is injected, at least one of the guide wheels when installing a truck to transport and haulage line for correction if necessary, available to improper installation guide wheels.

7. The method according to any one of claims 1, 2, 4-6, characterized in that on the site that put the cart after transfer to transport and haulage line, provided at least one position sensor, so while not ideal positioning of trucks for freight haulage lines and/or when not optimal alignment of one of the idler wheels give a failure message, and then may be followed by re-alignment of trucks and/or idler wheels or termination of the method.

8. The method according to claim 7, characterized in that the position of the wheels of the truck directly after installation on transport and haulage line control, at least by one position sensor.

9. Device for unloading with pallet and transporting roller trucks, the so-called rolling trucks with smaller measures which, two installed rotatably around the vertical axis of the guide wheel, which contains the boot area for delivery, usually stacked in piles trucks, at least one lifting device for lifting and transfer trucks on the adjacent transport and haulage line, characterized in that the device comprises at least one sensor and automated unit, through which you can control the alignment of the trucks and their guide wheels at the site of delivery and to manage and/or regulate the subsequent movement of the at least one lifting body for optimal translation and positioning of the trucks in the transport and haulage line.

10. The device according to claim 9, wherein the sensor is an optoelectronic sensor, preferably a digital camera.

11. The device according to claim 9 or 10, characterized in that the lifting device is a robot with an articulated boom.

12. The device according to claim 9 or 10, characterized in that there is connected with the automated control unit position sensor, controlling the position of the wheels of the truck directly after installation on transport and haulage line and transmitting further measurement data to the control unit for further processing.

13. The device according to item 12, characterized in that on the outskirts of the but-for the haulage line is, at least one position sensor and controlling the correct position of the wheels.

14. The device according to item 12, wherein the at least one position sensor is located on or in a lifting device, and according to the end position of the lifting device is controlled by proper or improper installation of truck and/or idler wheels in the transport and haulage lines, which in the transport and haulage line may be provided with a breaker edge and/or the sensor signals.

15. Device according to any one of p, 10, 13, 14, characterized in that the transport and haulage line provides at least one guide element with the possibility of introducing at least one of the guide wheels when installing a truck to transport napravlyayusya line for correcting, if necessary, improper installation guide wheels.

16. The device according to item 15, characterized in that the guide element has a protruding upward over a guide or above the path of movement of the transport guide line and bent outward in a funnel side walls converging downward, in the direction of a guide or motion path.

17. The device according to item 15, wherein the guide element should be embedded.

18. The device according to item 16, characterized in that h is on the guide element should be embedded.



 

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