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WO2024123184A1 - Inverseur de palette, système et procédé d'échange de palette - Google Patents

Inverseur de palette, système et procédé d'échange de palette Download PDF

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Publication number
WO2024123184A1
WO2024123184A1 PCT/NO2023/060109 NO2023060109W WO2024123184A1 WO 2024123184 A1 WO2024123184 A1 WO 2024123184A1 NO 2023060109 W NO2023060109 W NO 2023060109W WO 2024123184 A1 WO2024123184 A1 WO 2024123184A1
Authority
WO
WIPO (PCT)
Prior art keywords
pallet
load
inverter
exchange system
substantially horizontal
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/NO2023/060109
Other languages
English (en)
Inventor
Terje Obrestad
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.)
Teo Teknikk AS
Original Assignee
Teo Teknikk AS
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
Application filed by Teo Teknikk AS filed Critical Teo Teknikk AS
Priority to EP23847647.7A priority Critical patent/EP4630340A1/fr
Priority to KR1020257022245A priority patent/KR20250120339A/ko
Priority to AU2023390088A priority patent/AU2023390088A1/en
Publication of WO2024123184A1 publication Critical patent/WO2024123184A1/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
    • B65G65/00—Loading or unloading
    • B65G65/23—Devices for tilting and emptying of containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/14—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines
    • B23Q7/1426—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines with work holders not rigidly fixed to the transport devices
    • B23Q7/1431—Work holder changers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D88/00—Large containers
    • B65D88/54—Large containers characterised by means facilitating filling or emptying
    • B65D88/56—Large containers characterised by means facilitating filling or emptying by tilting
    • 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
    • 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
    • B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
    • B65G37/02—Flow-sheets for conveyor combinations in warehouses, magazines or workshops
    • 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
    • B65G59/00—De-stacking of articles
    • B65G59/08—De-stacking after preliminary tilting of the stack
    • 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
    • B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
    • B65G69/22—Horizontal loading or unloading platforms
    • B65G69/26—Rotatable platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H15/00—Overturning articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H15/00—Overturning articles
    • B65H15/02—Overturning piles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0267—Pallets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/30—Orientation, displacement, position of the handled material
    • B65H2301/33—Modifying, selecting, changing orientation
    • B65H2301/332—Turning, overturning
    • B65H2301/3321—Turning, overturning kinetic therefor
    • B65H2301/33214—Turning, overturning kinetic therefor about an axis perpendicular to the direction of displacement and parallel to the surface of material
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S414/00—Material or article handling
    • Y10S414/10—Associated with forming or dispersing groups of intersupporting articles, e.g. stacking patterns
    • Y10S414/106—Associated with forming or dispersing groups of intersupporting articles, e.g. stacking patterns including means for supplying pallet or separator to group
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S414/00—Material or article handling
    • Y10S414/10—Associated with forming or dispersing groups of intersupporting articles, e.g. stacking patterns
    • Y10S414/12—Associated with forming or dispersing groups of intersupporting articles, e.g. stacking patterns including means pressing against top or end of group

Definitions

  • the invention concerns a pallet inverter. More specifically the invention concerns a pallet inverter arranged to be able to hold a pallet with load and rotate the pallet with load from an initial position and to an inverted position about a substantially horizontal axis, wherein the pallet inverter in the inverted position is arranged to be able to release the load from the pallet and to rotate the pallet, without load, from the inverted position and to a pallet exchange position.
  • the invention also concerns a pallet exchange system where the pallet inverter is included, as well as a method of use of the pallet exchange system.
  • Pallet exchange systems are used to repalletize goods, typically in the transition between a transport situation and a warehouse with special hygiene and cleanliness requirements. Normally, it is not permitted to use wooden pallets in the inner zone of a food company.
  • pallet exchange systems are used in pharmaceutical industry and in food industry for changing from transport/wooden pallets to plastic pallets. Plastic pallets are typically more costly and are therefore preferably only used in areas and zones where it is mandatory.
  • a first type is based on clamping the load laterally from at least two sides and lifting up, so that the pallet beneath easily can be replaced when it is without, or with reduced, weight load.
  • This is a type of pallet exchanger which is relatively simple and efficient, but it is still not suitable for goods which must be handled particularly gently, and which cannot withstand pressure from the side.
  • a second type of pallet exchange system is based on pushing the load from a first pallet and onto a second pallet. The two pallets then stand next to each other while a stopper retains the second pallet so that it does not move while the load is pushed onto it.
  • This type of pallet exchange system is poorly suited for particularly heavy load or load which in itself, or due to its packaging, cause a lot of friction against the pallet it is placed on or is about to be transferred to.
  • a third type of pallet exchange system uses pallet inverters which turn/rotate pallet with load about a horizontal axis.
  • a pallet inverter is well suited for handling different types/sizes of pallets and load, including pallets having overhanging goods.
  • the rotation method is also well suited for bagged goods or large sacks, as well as for load standing on poor quality pallets.
  • a disadvantage of some prior art pallet exchangers is that they are relatively inefficient. Single steps and movements during the repalletizing occur in series, one following the other. For example, both before and after a rotation/inversion of a pallet, different linear displacements of the pallet with or without load, will typically be performed.
  • the invention has for its object to remedy or to reduce at least one of the disadvantages of prior art, or at least to provide a useful alternative to the prior art.
  • the invention concerns a pallet inverter arranged to be able to hold a pallet with load and rotate the pallet with load from an initial position and to an inverted position about a substantially horizontal axis, wherein the pallet inverter in the inverted position is arranged to be able to release the load from the pallet and to rotate the pallet, without load, from the inverted position and to a pallet exchange position, where the pallet inverter is also arranged to be able to move along a substantially horizontal direction perpendicular to the axis of rotation in that the axis of rotation is movable along the substantially horizontal direction.
  • the pallet is herein meant a small platform which is used for transport and storage of goods.
  • the pallet may typically be the size of a standardized European pallet.
  • the pallet may be ELIR1 , which has a length of 1200 mm (+8/-5 mm), width of 800 mm (+8/-5 mm) and height of 144 mm (+10/-0 mm).
  • the pallet may have other dimensions, e.g. corresponding to ELIR2, ELIR3 or ELIR6.
  • the pallet inverter being arranged to hold the pallet with load during rotation, is meant that it is arranged to be able to hold the pallet and the load together during the rotation.
  • the pallet may in addition or as an alternative be fastened to the surface on which it stands during rotation by means of a locking means, e.g. in the form of a gripping device which may have one or more claws holding the pallet from below for instance by gripping one or more of the bottom boards.
  • a locking means e.g. in the form of a gripping device which may have one or more claws holding the pallet from below for instance by gripping one or more of the bottom boards.
  • two arms or the similar may possibly be pressed horizontally against the pallet from opposite sides.
  • the pallet inverter being arranged to be able to move perpendicular to the axis of rotation has two significant advantages. Firstly, the pallet inverter will be able to position a pallet, empty or with load, much quicker, for a next step in the repalletizing process. For example, the pallet inverter may be moved linearly perpendicular to the axis of rotation directly before or after rotation. In an advantageous embodiment, rotation and linear movement may happen simultaneously, thus achieving considerable time savings. By the pallet inverter, after rotation, already being in position for the next step of a repalletizing process, for example in that a pallet directly ends up in a pallet exchange position after rotation.
  • pallet inverter being movable perpendicular to the axis of rotation, is that the pallet inverter with load may take up less space in the room by being able to move laterally and thus hold the load, during rotation, within a less spatial volume.
  • the pallet inverter may be arranged to be able to rotate the pallet with load from the initial position and with an angle between 90° and 180° about the substantially horizontal axis to the inverted position, preferably between 135° and 180°, and even more preferably around 150°.
  • the initial position may thus well be defined as 0°.
  • An advantage of rotating more than 90°, is that the load will, in the inverted position, have a vertical component “up- down” which makes it possible for it to “slide” into position and out of engagement with the pallet.
  • the pallet inverter may comprise a shell portion and a core portion, wherein the core portion and the shell portion are releasably connected to each other.
  • the shell portion may be actively rotatable about the substantially horizontal axis, while the core portion may be rotatable about the substantially horizontal axis through its connection to the shell portion.
  • the core portion may be rotatable while the shell portion may be rotated through the connection to the core portion, or both the core portion and the shell portion may be actively rotatable.
  • Rotation may be effected by an electromotor which rotates the shell portion by means of a toothed belt.
  • the pallet inverter may comprise a gripping device arranged to be able to hold the pallet while it is rotated about the substantially horizontal axis.
  • the gripping device may preferably be integral with a roller conveyor, or another means of propulsion, which forms part of the pallet inverter.
  • assembly lines or other propulsion means can be used, which applies to all means of propulsion described herein.
  • the roller conveyor may move a pallet, with or without load, in a direction parallel to the axis of rotation.
  • the roller conveyor and the gripping device may be a part of the shell portion.
  • roller conveyors described herein may be driven by an electric motor and chain drive which actively drives each of the rollers, that is one motor per roller conveyor or per portion of a roller conveyor.
  • the core portion may comprise an elevator arranged to be able to lower a weight plate down towards the load on the pallet for putting weight on the load from above in the initial position, before the pallet with load is rotated about the substantially horizontal axis, and where the elevator, subsequent to the pallet with load being rotated about the substantially horizontal axis to the inverted position, is arranged to be able to support the load while it is lowered/slides away from the pallet, so that the pallet is released from the load and the shell portion with the pallet may be rotated back to the pallet exchange position.
  • Connecting and disconnecting the shell portion to and from the core portion may for instance be carried out by moving one or more locking bolts on one of the shell portion and the core portion, into and out of engagement with complementary fitting holes on the second of the shell portion and the core portion.
  • the disconnection may take place when the pallet inverter has inverted the pallet with load to the inverted position, typically directly before or after the load is released from the pallet, but in any case, before the pallet without load is rotated to the pallet exchange position.
  • the connection may take place after a new pallet is rotated to the inverted position, which will be explained in the following. This will typically be directly before or after the new pallet and the load are connected, and in any case, before the load with new pallet is rotated back to the initial position.
  • the pallet exchange position may substantially have the same angle of rotation about the substantially horizontal axis as the initial position, that is 0°, but the pallet exchange position may be moved along the substantially horizontal direction perpendicular to the axis of rotation compared to the initial position.
  • the pallet exchange position could coincide with a position between two pallet magazines, one for each type of pallet, as will be explained in the following.
  • the invention concerns a pallet exchange system for changing pallets under a load, wherein the pallet exchange system includes a pallet inverter according to the first aspect of the invention, and where the pallet exchange system further comprises:
  • the pallet exchange system may further comprise a third means of transport for moving the first pallet, without load, from the pallet exchange position and to a first pallet magazine, and a fourth means of transport for moving the second pallet, without load, from a second pallet magazine and to the pallet exchange position.
  • the first and the second means of transport may be arranged to be able to move the load in a substantially straight line from the entrance and to the exit via the pallet inverter.
  • the third and fourth means of transport may be arranged to be able to move pallets in a direction which is substantially parallel to the substantially straight line which is defined by the first and second means of transport.
  • the pallet inverter itself is provided with its own propulsion means, for example a roller conveyor, which is arranged to be able to move pallets between the first and the second propulsion means and between the third and the fourth propulsion means, depending on the position of the pallet inverter, and which can be moved horizontally perpendicular to the axis of rotation as described above.
  • the horizontal movement of the pallet inverter perpendicular to the axis of rotation may take place by the pallet inverter, possibly with a roller conveyor, being driven on a rail system and/or being provided with wheels.
  • the pallet exchange system may further comprise a pushing means for pushing a load over from the first pallet to a second pallet without rotating/inverting the load about the substantially horizontal axis.
  • the pushing means may for example be an arm which can be flipped down into a horizontal position, and which pushes the lower portion of the load, just above the first pallet, onto the second pallet.
  • the arm may for example be displaceable via a hydraulic or electric cylinder, possibly with an electric motor and a chain which drives the arm back and forth.
  • the pallet exchange system according to the invention may advantageously be fully automated or partly automated. This means that the entire or parts of the pallet exchange process may be performed without directly involving an operator.
  • the pallet exchange system will include a control unit arranged to perform the different steps of the pallet exchange process by controlling the various propulsion means, the rotation actuator and/or motor and the connection between the shell portion and the core portion etc. Parts of the operation may be pre-programmed in the control unit, while finetuning of the movement of one or more components may be based on measured data which is fed into the control unit, and where the control unit preferably in a closed circuit may use measured data for controlling the movement of one or more components of the pallet exchange system.
  • the pallet exchange system may comprise measuring means for being able to measure one or more of the following values:
  • the measured values may then be sent to the control unit which will be able to use one or more of the values to ensure correct positioning of load during movement, including during rotation, in order to ensure correct securing of load during rotation, to ensure correct relative height of the pallets during movement of the load etc.
  • the pallet exchange system may comprise a measuring means for measuring the width of the load as well as the placement of the load on the pallet. This may be performed with different types of distance meters, for example by means of a laser.
  • the system may comprise a set of measuring doors which can be moved laterally towards and away from the load before this enters the pallet inverter. The measuring doors are pushed in towards the load and will be able to measure both width of the load and position on the pallet.
  • the distance between the doors as well as the position of the doors may be read directly by means of a distance meter, or indirectly by measuring the reading on an encoder, a cylinder, or the like, which is used for moving the doors.
  • Measured width and position are received by the control unit for calculating how the pallet with load is to be placed in the pallet inverter. By knowing the width and the positioning of the load, this may, in the subsequent step be placed almost anywhere on the second pallet.
  • the pallet exchange system may include a sensor for measuring the width of a pallet before it arrives at the pallet inverter, which could also be an advantage for as precise and secure inversion process as possible.
  • the pallet exchange system may comprise measuring means, typically distance/height meters, for measuring height of pallets of both the first and the second type.
  • the height meters may be different types of electronic height meters, laser-based distance meters etc. This could be very practical for being able to operate the pallet exchange system with some deviations in pallet sizes and shapes. It could also contribute to allowing the elevator to run as precisely as possible when connecting to and from the load during the inversion process.
  • the height of the first and the second pallet are measured as they are run into and out of a respective pallet magazine. The elevator, when it is about to lift the load up to contact with the second pallet, will be able to be run to the same position as it had with the first pallet, but corrected for any height differences of the pallets.
  • a height meter may be arranged to be able to be moved along the width of a pallet with goods while it measures height from the underside upwards.
  • the displacement of height meters may be carried out by means of a small actuator, for example an air cylinder.
  • a hydraulic or electric cylinder may be used.
  • the actuator displaces the height meter laterally under the pallet while it measures, for example, from the underside of the roller conveyor, between two rollers.
  • the highest value which is measured will be the gap between the top boards of the pallet. If there is load on the pallet and the reference point is set corresponding to the bottom of the pallet, the highest measured value will correspond to the height of the pallet.
  • the meter itself could for example be a laser distance meter.
  • the second/new pallet may well be a plastic pallet with well-defined dimensions, whereas the first pallet, which typically is a wooden pallet, and often of the European pallet type, may vary slightly in height. Therefore, it may be particularly desirable to measure the height of the pallets which enter the pallet exchange system.
  • the height meter may therefore in some embodiments preferably be integral with the pallet inverter itself or with the first propulsion means below the roller conveyor. The measured height of the pallet may be sent to a control system which, based on the received value, may lift or lower the first and/or the second pallet before the load is pushed over from the first pallet to the second pallet.
  • the elevator may be provided with a measuring means for measuring the weight of the load when this is in the inverted position.
  • the measuring means may for example be a load cell.
  • the elevator may lift the load up towards the second pallet with the weight of the load plus a desired contact weight.
  • the desired contact weight may be set in the control unit.
  • the contact weight may be in the same order of size as the dead weight of a weight plate which constitutes part of the elevator, which will be explained further with reference to the figures. In cases where the load is non- compact/formable, it could be practical to drive the elevator to a higher contact weight in order to hold the load in position during inversion.
  • propulsion means may be driven in a controlled manner both forwards and backwards, so that the entire pallet exchange process may be reversed, for example by moving a load from a warehouse to a transport situation. What was then exit, will become entrance and the other way around.
  • the pallet exchange system may comprise a device for removing packaging, for example the partition sheet typically placed between the load and the pallet which enters the pallet exchange system.
  • the device may be a suction means which uses vacuum or underpressure to remove unwanted packaging or parts of packaging.
  • the device may be arranged on a manipulator arm which may be moved relatively to the rest of the pallet inverter.
  • the device may be particularly suited for removing the partition sheet as mentioned above. This will preferably be done while the pallet with load is in the inverted position and the load is separated from the pallet, so that the partition sheet lies available on the inverted load.
  • the device may for example comprise one or more suction cups connected to a vacuum pump or the like.
  • the suction cups may be connected to a perforated plate. Typically, one suction cup will encircle each perforation.
  • the manipulator arm may lift the sheet away from the load and to a depository. To drop the sheet, the vacuum pump may be turned off so that the suction effect ceases.
  • the manipulator arm may in an embodiment be fastened to a cabinet which houses electric supply, control systems etc.
  • the invention concerns a method for changing pallet under a load by use of a pallet exchange system according to the second aspect of the invention, where the method comprises the steps:
  • Figs. 1-5 show, viewed from the front, a first embodiment of a pallet exchange system in five different positions;
  • Figs. 6-10 show, viewed in perspective, the pallet exchange system from Figs. 1-5 in the five different positions;
  • Figs. 11-15 show, viewed from above, the pallet exchange system from Figs. 1-5 in the five different positions;
  • Figs. 16-17 show, viewed in a first perspective from the side, two steps in a process for pushing a load from a pallet to another by means of a pallet exchange system according to a second embodiment;
  • Fig. 18 shows, viewed in a second perspective from the front, the same step in the process as Fig. 17;
  • Fig. 19 shows, viewed in the same perspective as Fig. 18, the same step in the process as Fig. 18;
  • Fig. 20 shows, viewed in the same perspective as the Figures 16 and 17, a next step in the process of pushing the load from a pallet to another;
  • Fig. 21 shows, viewed in the same perspective as Fig. 18, the same step in the process as Fig. 20;
  • Fig. 22 shows, viewed in the same perspective as the Figures 16 and 17, a next step in the process of pushing the load from a pallet to another;
  • Fig. 23 shows, viewed in the same perspective as Fig. 18, the same step as Fig. 22;
  • Figs. 24-25 show, viewed in perspective from the front, an embodiment where the pallet exchange system comprises measuring walls for measuring a width of the load;
  • Figs. 26-29 show, in different perspectives, an alternative embodiment of a pallet inverter
  • Fig. 30 shows a portion of a pallet inverter comprising a measuring device for measuring the height of a pallet.
  • reference number 1 is used for referring to a pallet inverter according to the first aspect of the invention, while reference number 10 refers to the pallet exchange system according to the second aspect of the invention.
  • Equal reference numbers refer to equal or corresponding elements in the figures.
  • the figures are shown schematically and simplified, and elements therein are not necessarily shown to scale in relation to each other.
  • the figures 1-5 show a pallet inverter 1 according to the first aspect of the invention, and as included in a pallet exchange system 10 according to the second aspect of the invention, viewed from the front at an entrance 2 to the pallet exchange system 10 as will be explained in more detail in the following.
  • the figures 1-15 show the pallet inverter 1 and the pallet exchange system 10 in five different positions, A, B, C, D, and E, respectively.
  • the Figures 6-10 show the same pallet inverter 1 and the same pallet exchange system 10 in the same five positions A-E viewed obliquely from the side, while the Figures 11-15 correspondingly show A-E, respectively, viewed directly from above
  • a first pallet 4 with a load 6 is placed in the entrance 2 of the pallet exchange system 10.
  • a first propulsion means 8, here in the form of a roller conveyor moves the first pallet 4 with load 6 from the entrance 2 and to a position where the pallet 4 with load is positioned in the pallet inverter 1 , as is shown in the figures 1 , 6, and 11.
  • the horizontal lines L which are shown throughout the figures, define sensors, typically photo cells, which detect when a pallet, with or without load, passes, and which could improve the security of the pallet exchange system 10.
  • the pallet inverter 1 itself comprises a roller conveyor 12 which is arranged in the extension of the first roller conveyor 8 which brings the pallet 4 with load 6 to the pallet inverter 1.
  • That portion of the roller conveyor 12 which constitutes part of the pallet inverter 1, is laterally movable, relatively to the propulsion direction of the first roller conveyor 8, so that the first pallet 4 and the load 6 may be drawn in laterally and abuts the wall 14 in the pallet inverter 1 as shown in figure 2 (and correspondingly in figures 7 and 12).
  • the load 6 is narrower than the first pallet 4, or if the load is not placed centrally on the pallet 4, the pallet could possibly drive under the wall 14 in that the wall 14 does not extend all the way down to the roller conveyor 12. This is not shown in the figures 1-15 but is indicated for example in Fig. 16 where there is a gap 52 under the wall 14 which is high enough to accommodate a pallet.
  • the roller conveyor 12 in the pallet inverter 1 is also provided with not shown gripping means which grips about the first pallet 4 so that this is held in a fixed position relative to the roller conveyor 12 in the pallet inverter 1.
  • the gripping means may for example be a claw device which is driven towards the first pallet 4, typically towards one or both of the long sides, and partly encloses a lower portion of the first pallet 4 so that this is held fixedly relative to the roller conveyor 12 in the pallet inverter 1.
  • the pallet 4 with load 6 takes this position against the wall 14 before the rotation starts and thus defines an initial position B for the pallet inverter 1 , as shown in figure 2.
  • an elevator 16 with a weight plate 18 is lowered down towards the top of the load 6.
  • the weight plate 18 is displaceably mounted inside a frame 20 which encloses the top of the load 6 during rotation.
  • the elevator 16 is shown in an upper position, before it is moved downwards.
  • the speed of the elevator 16 is reduced so that the weight plate 18 in a controlled manner gets into contact with and thereafter rests, by its own weight, against the top of the load 6.
  • the weight of the weight plate 18 is in the order of 100 kg.
  • the pallet inverter 1 is formed with an outer shell portion 22 and an inner core portion 24, where the shell portion 22 is shaped as two semi-circularly shaped plates 26 arranged at a distance therebetween along an axis R of rotation, which will be further presented below.
  • the roller conveyor 12 in the pallet inverter 1 is connected to a lower portion of the semi-circularly shaped plates 26 and extends between these.
  • the core portion 24 with the elevator 16 is placed just in front of the diameter of the semicircle, so that the elevator 16 is vertical in the initial position.
  • the frame 20 with the weight plate 18 is displaceable along vertical guideposts 28 so that these constitute the elevator 16 in the shown embodiment. Rotation of the first pallet 4 with load 6 may now be performed about the substantially horizontal axis R of rotation.
  • the axis R of rotation coincides with the centre of the semi-circular plates 26.
  • the shell portion 22 and the core portion 24 are at this stage connected.
  • a rotation actuator is connected to the shell portion 22 and rotates this.
  • the core portion 24 with the elevator 16 follows the rotation of the shell portion 22 as long as these two are connected.
  • the pallet inverter 1 drives to the left in figure 1, in a horizontal direction H perpendicular to the axis R of rotation. This means that the entire axis R of rotation is moved horizontally.
  • the pallet inverter 1 is provided with wheels 29 which are moved along horizontal rails 30.
  • the wheels 29 are typically driven by an electromotor.
  • the movement of the pallet inverter 1 may also be viewed indirectly by comparing figures 2 and 3, where it is clearly shown that the axis R of rotation and the centre of the semi-circular plates 26, are moved to the left in figure 3 compared to figure 2.
  • the pallet 4 with load is rotated approx. 150 degrees about the substantially horizontal axis R so that the pallet with load takes an inverted position C as shown in figure 3.
  • the elevator 16 is lowered in the guideposts 28 so that the load 6 is released from the first pallet 4 (not shown).
  • lowered is in this case meant that the load is carried with a vertical component downwards, away from the first pallet (which hangs upside down due to the gripping means).
  • the direction refers to the figure and “downwards” in figure 3 would have been upwards in figures 1 and 2.
  • the load slides downwards along the wall 14 due to gravitation, as the elevator 16 drives downwards in the guideposts 28 and abuts the weight plate 18.
  • the core portion 24 is released from the shell portion 22.
  • the shell portion 22, which holds the first pallet 4 is rotated 150° back into the initial position (0°) as it is shown in figure 4.
  • the core portion 24 with the elevator 16 which supports the load 6, is not rotated in this process, while the shell portion 22 with the first pallet 4 is rotated about the core portion 24.
  • the entire pallet inverter 1 is further moved to the left so that it takes the pallet exchange position E.
  • the core portion 24 cannot be rotated when it is released from the shell portion, it will still be moved along the substantially horizontal direction normal to the axis R of rotation, as the pallet inverter 1 is moved as a whole.
  • the pallet exchange system 10 comprises a first magazine 32 of pallets 4 of the first type.
  • a second magazine 34 contains pallets of a second type (not shown).
  • the first type of pallets 4 is likely to be transport pallets, for example European pallets, wooden, while the second type is likely to be made of plastic, which is easier to clean, and which meets requirements for use in warehouses for foodstuffs, pharmaceutical products etc., as explained in the introduction of this description.
  • the gripping means are released from the first pallet 4, which is sent towards the first magazine 32 by means of a third transport means 36 which may also be a roller conveyor.
  • the second, not shown, pallet is sent from the second magazine 34 to the pallet inverter 1 by means of a fourth transport means 38 which may also be a roller conveyor.
  • a fourth transport means 38 which may also be a roller conveyor.
  • the movement of the pallets takes place simultaneously out of and into the second pallet magazine 34 and the first pallet magazine 32, respectively.
  • the pallet inverter 1 Since the pallet inverter 1 is laterally movable, it has, during its rotation, possibly directly afterwards, positioned itself in the pallet exchange position E, whereby replacement of pallets may take place immediately.
  • the two pallet magazines 32, 34 will typically be provided with not shown lifting equipment so that single pallets may be placed into and released from, respectively, a stack of pallets, which then are typically pallets of the same type.
  • the gripping means are reactivated so that the pallet is securely held in the roller conveyor 12 in the pallet inverter 1.
  • the shell portion 22 is thereafter rotated back to the inverted position (not shown), and the elevator with the weight plate is elevated so that the load 6 is moved back upwards to contact with that which is now the second pallet.
  • the elevator 16 at this stage lifts the load with its own weight plus the weight of the weight plate 18, which in this case is 100 kg.
  • the elevator may be driven to a desired position.
  • the height of the different pallets may be measured in the pallet exchange system 10 so that the height difference may be compensated for by a not shown control unit which controls the elevator’s 16 position.
  • the heigh might typically be measured as the two pallets are driven into and out from their respective pallet magazines, respectively.
  • the core portion 24 is again connected to the shell portion 22 and these rotate together back to the initial position B.
  • roller conveyor 12 in the pallet inverter 1 is again laterally displaced so that the load’s engagement with the wall 14 ceases and the roller conveyor 12 in the pallet inverter 1 is aligned with another propulsion means 40, which is typically also a roller conveyor, for bringing the load 6, which is now placed on the second pallet, from the pallet inverter 1 and to an exit 42 of the pallet exchange system 10.
  • another propulsion means 40 which is typically also a roller conveyor, for bringing the load 6, which is now placed on the second pallet, from the pallet inverter 1 and to an exit 42 of the pallet exchange system 10.
  • the figures 16-23 show an alternative use of the pallet exchange system 10 according to the second aspect of the invention, where the load 6 is pushed from the first pallet 4 to a second pallet 44. Some types of goods are not suitable for being inverted. If the weight and/or the friction of the load 6 against the first 4 and the second pallet 44 is/are not too high, the load 6, as an alternative to being inverted for replacing the pallet, as shown in the figures 1-15, could be pushed from a pallet to another. One and the same pallet exchange system 10 will therefore be able to change pallets in two different ways.
  • the first pallet 4 with load 6 is shown on its way from the entrance 2 towards the pallet inverter 1 via the first roller conveyor 8.
  • the second pallet 44 is already in the roller conveyor 12 in the pallet inverter 1.
  • the second pallet 44 is brought from the second pallet magazine 34 prior to the step shown in figure 16. This part of the process is not shown in the figures.
  • the second pallet 44 by means of the roller conveyor 12 in the pallet inverter 1 , is driven to the right (in the figures 1 and 2) so that it comes to rest against the first pallet 4, as shown in the figures 17 and 18.
  • the two pallets 4, 44 are driven together, further towards the exit 42 as shown in figure 19.
  • a pallet pusher 46 here in the form of an arm, is first flipped down from vertical to horizontal position, where the vertical position for example can be seen in figures 16 and 17, whereas the horizontal position, before the displacement, may best be seen in figure 20.
  • the arm rests horizontally against a lower portion of the load 6 at height level just above the first pallet 4.
  • the arm 46 is thereafter activated for displacement in the longitudinal direction of the two pallets 4, 44 aligned with the direction of movement of the first and second roller conveyors 8, 40, as well as the roller conveyor 12 in the pallet inverter 1.
  • a stopper prevents the second pallet 44 from being moved forwards while the load 6 is pushed from the first pallet 4 and to the second pallet 44.
  • the stopper is removed, and the second pallet 44 with load may be brought to the exit 42 via the second roller conveyor 40.
  • the first pallet 4, which is now in the pallet inverter 1 is moved to the first magazine 32 by driving the pallet inverter to the pallet exchange position E (not shown in the Figures 16-23), and the first pallet 4 is placed in the first magazine 32. If the pushing process is to be repeated, a new, second pallet 44 is simultaneously fetched from the second magazine 34 and driven into the pallet inverter 1. If the next pallet change process is not going to push, but invert, the first pallet 4 with load 6, the pallet exchange system 10 instead moves on to perform the process as described with reference to the figures 1-15.
  • Fig. 30 shows a portion of a pallet inverter 1 according to the invention, where the pallet inverter comprises a height meter 54 for measuring the height of the first pallet 4.
  • the height meter is arranged under the roller conveyor 12 in the pallet inverter 1 on a linear guide 56.
  • a laser beam 58 is directed upwards towards the first pallet 4 with load 6.
  • An actuator 60 here in the form of a pneumatic cylinder, displaces the height meter 54 linearly within a defined working area along the width of the pallet 4.
  • the largest value measured by the height meter 54 corresponds to an area between top boards 62 of the pallet, where the laser beam 58 hits the load.
  • the height of the pallet 4 may be determined with great precision.
  • the measured height may be used to compensate for height differences, for example by elevating and lowering the first pallet 4 and/or the second pallet 6 (not shown in this figure), when the load 6 is to be pushed from one pallet to the other, as described above.
  • the figures 24-25 show an embodiment of the pallet exchange system 10 where a measuring means in the form of a set of measuring walls 48 is used for measuring the width of the load 6 before it is driven into the pallet inverter 1.
  • the measuring walls 48 are movably suspended in a bridge 50 which extends over the first roller conveyor 8, upstream of the pallet inverter 1 when the load is moved from the entrance 2 to the exit 42. This will be appropriate in a case where the load 6 on top of the pallet 4 is wider or narrower than the first 4 and/or the second pallet 44.
  • the pallet exchange system 10 includes means for measuring the height of the first and/or second type of pallet 4, 44. This could typically be done when the pallets 4, 44 move into and out of their respective magazines 32, 34. Measured height may be sent to the control unit so that it may take account of any height differences when changing pallets. This applies both to rotation, to ensure that the elevator 16 is driven a correct distance both for securing and for releasing load 6, as well as in a case where the load 6 is pushed from the first 4 to the second pallet 44.
  • the figures 26-29 show an embodiment of a pallet inverter 1 according to the invention where the pallet inverter 1 is provided with a device 64 for removing packaging 66 from the load 6 or the pallet 4.
  • the device is designed to be able to remove a partition sheet 66 which is typically located between the load 6 and the first pallet 4 which enter into the pallet exchange system.
  • Fig. 26 shows the load 6 in the inverted position, while the first pallet 4 (not shown) is rotated back to the pallet exchange position, as explained above.
  • a suction means 65 is led towards the load 6 and sucks in the partition sheet 66 which typically remains on the top of the inverted load 6.
  • the suction means 65 is in the shown embodiment designed to have a plate with a matrix of perforations (not shown) connected to a vacuum and underpressure system.
  • a suction cup 68 or the like is arranged around each perforation and gets into contact with and holds the partition sheet.
  • the suction means 65 is connected to the distal end of a manipulator arm 72 fastened to the top of a cabinet 74 belonging to the pallet inverter 1.
  • Fig. 27 shows that the manipulator arm 72 has lifted the suction means 65 from the load 6 so that the sheet is held by the suction cups 68 via the vacuum/underpressure from the not shown vacuum pump.
  • the vacuum pump is typically connected to the perforations/suction cups 68 via a not shown pipe/tube extending inside the manipulator arm 72 and which branch out to the perforations in the plate.
  • Fig. 29 shows the same situation as in Fig. 27 but viewed from the side.
  • Fig. 28 shows the arm 72 swung out to the side where the partition sheet 66 is released at a suitable, not shown place.
  • the partition sheet 66 is released by turning off/down the vacuum pump and/or by breaking the connection between the vacuum pump and the perforations/suction cups 68.
  • any reference signs placed between parentheses shall not be construed as limiting. Use of the verb "comprise” and its conjugations does not exclude the presence of elements or steps other than those stated in a claim. The article “a” or “an” preceding an element does not exclude the presence of a plurality of such elements.
  • control unit which is used in connection with the pallet exchange system may be implemented by means of hardware which comprises various different elements, and by means of a suitable computer. In device claims that specify several means, several of these may be included in one and the same hardware unit.

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

Abstract

L'invention porte sur un inverseur de palette agencé pour pouvoir maintenir une palette avec une charge et pour faire tourner la palette avec une charge à partir d'une position initiale autour d'un axe sensiblement horizontal et jusqu'à une position inversée, l'inverseur de palette dans la position inversée étant agencé pour pouvoir libérer la charge de la palette et pour faire tourner la palette, sans charge, à partir de la position inversée et jusqu'à une position d'échange de palette, l'inverseur de palette étant également agencé pour pouvoir se déplacer le long d'une direction sensiblement horizontale perpendiculaire à l'axe de rotation par le fait que l'axe de rotation est mobile le long de la direction sensiblement horizontale. L'invention concerne également un système d'échange de palette qui comprend l'inverseur de palette ainsi qu'un procédé d'utilisation du système d'échange de palette.
PCT/NO2023/060109 2022-12-05 2023-12-04 Inverseur de palette, système et procédé d'échange de palette Ceased WO2024123184A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP23847647.7A EP4630340A1 (fr) 2022-12-05 2023-12-04 Inverseur de palette, système et procédé d'échange de palette
KR1020257022245A KR20250120339A (ko) 2022-12-05 2023-12-04 팔레트 인버터, 팔레트 교환 시스템 및 방법
AU2023390088A AU2023390088A1 (en) 2022-12-05 2023-12-04 Pallet inverter, pallet exchange system and method

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NO20221304A NO20221304A1 (no) 2022-12-05 2022-12-05 Pallevender, palleskiftersystem og metode
NO20221304 2022-12-05

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WO2024123184A1 true WO2024123184A1 (fr) 2024-06-13

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EP (1) EP4630340A1 (fr)
KR (1) KR20250120339A (fr)
AU (1) AU2023390088A1 (fr)
NO (1) NO20221304A1 (fr)
WO (1) WO2024123184A1 (fr)

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KR20250120339A (ko) 2025-08-08
AU2023390088A1 (en) 2025-07-03

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