阅读说明：本技术 集成叉的托盘夹具 (The pallet grippers of integrated fork ) 是由 塞巴斯蒂安·施瓦茨 M·欧克罗伊 于 2019-05-16 设计创作，主要内容包括：本发明提供一种材料搬运车辆,其包括一对叉,该一对叉沿叉的纵向方向插入具有一个或多个纵梁的托盘中。提供了托盘夹紧装置,包括第一操作装置和第二操作装置,每个叉中安装一个操作装置,用于致动相应的冲头构件与托盘上的相邻表面接合。每个操作装置包括位于叉的一个中的空腔内的模块,模块包括致动器,相应的冲头构件中的一个,以及连接致动器和相应的冲头构件的连杆结构。(The present invention provides a kind of materials handling vehicle comprising a pair of fork, a pair of fork is along the pallet that the longitudinal direction insertion of fork has one or more stringers.Tray clamping device, including the first operating device and the second operating device are provided, an operating device is installed in each fork, is engaged for activating corresponding formed punch component with the adjacent surface on pallet.Each operating device includes the module in the cavity in one of fork, and module includes actuator, one in corresponding formed punch component, and the link mechanism of connection actuator and corresponding formed punch component.)

1. a kind of materials handling vehicle, comprising:

A pair of fork, the longitudinal direction insertion along the fork is in the pallet of one or more stringers；And

Tray clamping device comprising at least one is located at the operating device in corresponding fork, for activating formed punch component and institute State the adjacent surface engagement on pallet；

Wherein, at least one described operating device activate the formed punch component carry out transverse to the fork longitudinal direction substantially Linear movement.

2. materials handling vehicle according to claim 1, wherein at least one described operating device is located at corresponding In the cavity of fork.

3. materials handling vehicle according to claim 2, wherein corresponding fork includes one extendd in the longitudinal direction To side, and at least one described operating device is located between the side of corresponding fork.

4. materials handling vehicle according to claim 3, wherein corresponding fork includes one in the side Guiding surface on a, and the formed punch component is supported for sliding by the guiding surface.

5. materials handling vehicle according to claim 3, wherein corresponding fork includes extended in longitudinal direction Upper side and downside, and at least one described operating device be located at corresponding fork the upper side and downside it Between.

6. materials handling vehicle according to claim 1, wherein the formed punch component is activated with towards the pair of fork In another movement, to be engaged with the stringer of the pallet between the fork.

7. materials handling vehicle according to claim 1, wherein the formed punch component is activated far from the pair of fork In another movement, to be engaged with the stringer of the pallet near the lateral surface for being located at corresponding fork.

8. materials handling vehicle according to claim 1, wherein at least one described operating device includes module, described Module includes the link mechanism of actuator, the formed punch component and the connection actuator and the formed punch component.

9. materials handling vehicle according to claim 8, wherein the module includes the first pivot to corresponding fork Turn connection and second be pivotally connected, described first to be pivotally connected the pivot limited between the actuator and corresponding fork attached It connects.

10. materials handling vehicle according to claim 9, wherein the link mechanism includes first connecting rod and second Connecting rod, the first connecting rod, which has, to be connected to the first end of corresponding fork in second pivotal connection and is connected to institute The second end of the output shaft of actuator is stated, second connecting rod has the first end for being connected to the first connecting rod and is connected to the punching The second end of head component.

11. materials handling vehicle according to claim 8, wherein the actuator includes linear motor.

12. materials handling vehicle according to claim 11, wherein the actuator is connected to controller and to described Controller provides at least one of force feedback signal and position feed back signal, is applied to institute by the formed punch component for controlling State the position of the power and/or the formed punch component of tray surface relative to corresponding fork.

13. materials handling vehicle according to claim 1, wherein the formed punch component includes: elongated shaft, is extended logical Cross corresponding fork；And nest plate, it is removably positioned on the outer end of the elongated shaft, so as to selectively more Change the nest plate.

14. a kind of materials handling vehicle, comprising:

A pair of fork, the longitudinal direction insertion along the fork is in the pallet of one or more stringers；And

Tray clamping device comprising the first operating device and the second operating device, for activating corresponding formed punch component and institute State the adjacent surface engagement on pallet；

Wherein each operating device includes the module in one cavity in the fork, and the module includes actuator, One in corresponding formed punch component, and the link mechanism of the connection actuator and corresponding formed punch component.

15. materials handling vehicle according to claim 14, wherein each module includes pivoting to first pitched accordingly It connection and second is pivotally connected, described first to be pivotally connected the pivot limited between the actuator and corresponding fork attached It connects, and described second is pivotally connected the pivotal attachment limited between the link mechanism and corresponding fork.

16. materials handling vehicle according to claim 14, wherein the link mechanism includes first connecting rod and second Connecting rod, the first connecting rod, which has, to be connected to the first end pitched accordingly in pivotal connection and is connected to the defeated of the actuator The second end of shaft, second connecting rod have the first end for being connected to the first connecting rod and are connected to the second of the formed punch component End.

17. materials handling vehicle according to claim 16, wherein the actuator includes linear motor.

18. materials handling vehicle according to claim 14, wherein each formed punch component includes: elongated shaft, is extended logical After what is pitched accordingly；And nest plate, it is removably positioned on the outer end of the elongated shaft, selectively to replace The nest plate.

19. materials handling vehicle according to claim 14, wherein the operating device activates the formed punch component and carries out The movement substantial linear transverse to the longitudinal direction of the fork.

20. materials handling vehicle according to claim 14, wherein each actuator is connected to controller and to controller Force feedback signal and/or position feed back signal are provided, for controlling the power for being applied to tray surface by the formed punch component.

21. a kind of materials handling vehicle, comprising:

A pair of fork, the longitudinal direction insertion along the fork is in the pallet of one or more stringers；And

Tray clamping device comprising the first operating device and the second operating device install an operating device in each fork, use It is engaged in activating corresponding formed punch component with the adjacent surface on the pallet；

Wherein it is substantially online transverse to the longitudinal direction of the fork to activate corresponding formed punch component progress for the operating device The movement of property.

22. materials handling vehicle according to claim 21, wherein the formed punch component is activated to move toward each other It is dynamic, to be engaged with the stringer of the pallet between the fork.

23. materials handling vehicle according to claim 21, wherein the formed punch component is actuated to move away from each other It is dynamic, to be engaged with the respective longerons of the pallet near the outside for being located at the fork.

24. materials handling vehicle according to claim 21, wherein each actuator is connected to controller, and to described Controller provides at least one of force feedback signal and position feed back signal, is applied to for controlling by corresponding formed punch component The power of tray surface and/or corresponding formed punch component are relative to the position pitched accordingly.

25. materials handling vehicle according to claim 24, wherein each actuator includes linear motor.

26. a kind of materials handling vehicle, comprising:

Component is carried in load, and insertion has the supporting structure surface longitudinally extended on the longitudinal direction that component is carried in load In support structures；And

Tray clamping device is located at the operating device in the load carrying component including at least one, for activating formed punch structure Part is engaged with supporting structure surface described at least one；

Wherein the operating device includes the module in the cavity that component is carried in the load, and the module includes actuating The link mechanism of device, formed punch component and the connection actuator and the formed punch component.

27. materials handling vehicle according to claim 26, including the second operating device, second operating device include The second module in the cavity in component is carried positioned at the load, second module activates the second formed punch component and institute State another engagement in supporting structure surface.

28. materials handling vehicle according to claim 26, wherein it includes ramp structure that component is carried in the load, institute It states ramp structure to upwardly extend far from the side of the punching component, for connecing with another in the supporting structure surface It closes.

Technical field

The present invention relates to materials handling vehicles, clamp more specifically to the pallet associated with fork of this vehicle Pallet is fixed on fork by device, to prevent moving and/or tumbling for pallet.

Background technique

The various pallet grippers and other tray locking devices for pallet to be fixed on fork of material carrying truck exist Be in the prior art it is known, such as U.S. Patent No. 7,544,037, U.S. Patent No. 7,448,842 and JP10291790。

It is worth noting that, traditional pallet grippers may be not always to fully meet for pallet to be maintained to be used for material The Industry standards call of position on the fork of carrying vehicle.This industrial standard may relate to for example ensure different types of support Disk or other structures resist the laterally requirement with banking motion, for example, when worker tramples pallet/structure.Although for example, existing Some pallet grippers can satisfy the requirement being fixed on pallet on one direction of transverse direction and banking motion, but this support Plate clamp may be not enough to limit the movement on other one or more directions.

Summary of the invention

According to an aspect of the invention, there is provided a kind of materials handling vehicle, including a pair of of fork, along the longitudinal direction of fork Direction insertion has in the pallet of one or more stringers.There is provided tray clamping device comprising at least one is located at corresponding Operating device in fork is engaged for activating formed punch component with the adjacent surface on pallet.The actuating punching of at least one operating device Head component carries out the movement substantial linear transverse to the longitudinal direction of fork.

At least one operating device can be located in the cavity pitched accordingly.

Corresponding fork may include a pair of of the side extendd in the longitudinal direction, and at least one operating device is located at phase Between the side for the fork answered.

Corresponding fork may include the guiding surface on one in side, and formed punch component is supported for leading to Cross guiding surface sliding.

Corresponding fork may include upper side extended in longitudinal direction and downside, and at least one operation fills Setting between the upper side and downside pitched accordingly.

Formed punch component can be activated with another movement in a pair of of fork of direction, to be located at the pallet between pitching Stringer engagement.

Formed punch component can be activated with far from another movement in a pair of of fork, with be located at the corresponding outside pitched The stringer of pallet near face engages.

At least one operating device may include module, and module includes actuator, formed punch component and connection actuator With the link mechanism of formed punch component.

Module may include being pivotally connected to be pivotally connected with second to first pitched accordingly, and first is pivotally connected restriction Pivotal attachment between actuator and corresponding fork.

Link mechanism may include first connecting rod and second connecting rod, and first connecting rod has to be connected in the second pivotal connection It is connected to the second end of the first end pitched accordingly with the output shaft for being connected to actuator, second connecting rod, which has, is connected to the first company The first end of bar and the second end for being connected to formed punch component.

Actuator may include linear motor.

Actuator can be connected to controller and provide in force feedback signal and position feed back signal extremely to controller It is one few, for controlling the power for being applied to tray surface by formed punch component and/or formed punch component relative to the position pitched accordingly It sets.

Formed punch component may include extending through the elongated shaft pitched accordingly, and be removably positioned in elongated shaft Nest plate on outer end, selectively to replace nest plate.

According to another aspect of the present invention, a kind of materials handling vehicle, including a pair of of fork are provided, along the vertical of fork In the pallet to direction insertion with one or more stringers.There is provided tray clamping device comprising the first operating device and the Two operating devices are engaged for activating corresponding formed punch component with the adjacent surface on pallet.Each operating device includes being located at The module in one cavity in fork, module includes actuator, one in corresponding formed punch component, and connection actuating The link mechanism of device and corresponding formed punch component.

Each module may include being pivotally connected to be pivotally connected with second to first pitched accordingly, and first is pivotally connected The pivotal attachment between actuator and corresponding fork is limited, and second is pivotally connected restriction link mechanism and pitches it accordingly Between pivotal attachment.

Link mechanism may include first connecting rod and second connecting rod, and first connecting rod has to be connected in pivotal connection The second end of the first end pitched accordingly and the output shaft for being connected to actuator, second connecting rod, which has, is connected to first connecting rod First end and the second end for being connected to formed punch component.

Actuator may include linear motor.

Each formed punch component may include extending through the elongated shaft pitched accordingly, and be removably positioned in elongated Nest plate on the outer end of axis, selectively to replace nest plate.

Operating device can activate formed punch component and carry out the movement substantial linear transverse to the longitudinal direction of fork.

Each actuator can be connected to controller and provide force feedback signal and/or position feed back signal to controller, For controlling the power for being applied to tray surface by formed punch component.

According to another aspect of the present invention, a kind of materials handling vehicle, including a pair of of fork are provided, along the longitudinal direction of fork Direction insertion has in the pallet of one or more stringers.There is provided tray clamping device comprising the first operating device and second Operating device is installed an operating device in each fork, is connect for activating corresponding formed punch component with the adjacent surface on pallet It closes.Operating device activates corresponding formed punch component and carries out the movement substantial linear transverse to fork longitudinal direction.

Formed punch component can be activated to move towards each other, to engage with the stringer for the pallet being located between fork.

Formed punch component can be activated to be moved away from each other, with corresponding vertical to the pallet near the outside for being located at fork Beam engagement.

Each actuator can be connected to controller, and provide in force feedback signal and position feed back signal to controller At least one, for control by corresponding formed punch component be applied to tray surface power and/or corresponding formed punch component it is opposite In the position pitched accordingly.

Each actuator may include linear motor.

According to another aspect of the present invention, a kind of materials handling vehicle is provided, including component is carried in load, negative Carrying insertion on the longitudinal direction for carrying component has in the support structures of the supporting structure surface longitudinally extended.Pallet clamps dress It sets, is located at the operating device in load carrying component including at least one, tied for activating formed punch component and at least one load The engagement of structure surface.Operating device includes the module in the cavity that component is carried in load, and module includes actuator, formed punch structure The link mechanism of part and connection actuator and formed punch component.

The second operating device can be provided, the second operating device includes the in the cavity carried in component positioned at load Two modules, the second module activate the second formed punch component and engage with another in supporting structure surface.

It may include ramp structure that component is carried in load, and ramp structure is upwardly extended in the side far from punching component, is used for It is engaged with another in supporting structure surface.

Detailed description of the invention

Although this specification ending particularly points out and is distinctly claimed claims of the present invention, it is believed that passing through Following description with reference to the accompanying drawings are better understood with the present invention, and wherein the same reference numerals denote the same elements, and its In:

Fig. 1 is the perspective view of materials handling vehicle, the illustrative embodiments including tray clamping device as described herein；

Fig. 2 is the perspective view that a part of component is carried in the load of materials handling vehicle, and part is removed to be located at showing The operating device for the tray clamping device in cavity pitched accordingly；

Fig. 3 is the enlarged perspective of one of operating device shown in Fig. 2；

Fig. 4 is the schematic diagram for showing the control system of tray clamping device；

Fig. 5 A is the plan view of tray clamping device, shows the actuating formed punch component in the non-clamping position retracted；

Fig. 5 B is the plan view of tray clamping device, the actuating formed punch component in stretching, extension clamped position is shown, to pitch Inside clamping structure；

Fig. 6 is the plan view of tray clamping device, shows another aspect of the present invention, wherein operating device is positioned to From the outside clamping structure of fork；

Fig. 7 is the plan view of another structure of tray clamping device, the inside clamping structure in fork is shown, wherein one The formed punch component of a operating device is located at fixed position；

Fig. 8 is the plan view of another structure of tray clamping device, is shown from the outside clamping structure of fork, one of them The formed punch component of operating device is located at fixed position；

Fig. 9 is the plan view of another structure of tray clamping device, the inside clamping structure in fork is shown, wherein one A operating device is replaced with bevel structure；

Figure 10 is the plan view of another structure of tray clamping device, is shown from the outside clamping structure of fork, one of them Operating device is replaced with bevel structure；

Figure 11 A be show load carry component can arrangement plan view, the load carry component include single fork simultaneously And including clamping device, which includes the operating device being positioned to from outside clamping structure is individually pitched；And

Figure 11 B be show Figure 11 A load carry component can arrangement plan view, one of operating device uses Ramp structure replaces.

Specific embodiment

In the detailed description of preferred embodiment below, with reference to forming part thereof of attached drawing, and wherein pass through explanation Rather than the mode of limitation shows and can practice particularly advantageous embodiment of the invention.It should be appreciated that preferred implementation can be combined Example, can be used other embodiments, and can be changed without departing from the spirit and scope of the present invention.

Referring initially to Fig. 1, the tray clamping device of the application is generally indicated by appended drawing reference 10, and is removed with material Fortune vehicle is shown in conjunction with, and artificial material carrying vehicle 12 is more specifically shown in FIG. 1.Example vehicle shown in Fig. 1 12 include operating platform 14, and operating platform 14 is supported for vertically moving on mast structure 16, to allow operator increasing Position contact sort article.It will be appreciated that though tray clamping device 10 combined with artificial material carrying vehicle 12 description with The advantage related to tray clamping device 10 described, but the description be provided by way of illustration and not limitation, and A variety of materials carrying vehicle or similar vehicles may include tray clamping device 10 as described herein.

18A is pitched including a pair, the load of 18B carries component 18 on longitudinal direction L1 (i.e. from front to back), flat from operation The base portion 20 of platform 14 extends.Pitch 18A, interval of the 18B on transverse direction L2 (being transversely to the machine direction direction), can choose for Different tray types provide support, such as eur-pallets (Europe), GMA pallet (North America) and CHEP pallet (Australia). It is noted that although this specification is with specific reference to the tray clamping device 10 provided for clamping pallet, clamping device It can operate and the various articles or support structures on component 18 are carried in load with clamping brace, including but not limited to, pallet, Cart, pedestrian's platform, storage rack or other storage organizations.It should therefore be understood that the behaviour executed on pallet in being described below Make with specific reference to being intended to include the operation that the alternative structure on 18B executes to being supported on fork 18A.In addition, although following right Clamping device describes the stringer that engagement longitudinally extends to limit the table of joint for the structure being supported on fork 18A, 18B Face, it is to be understood that the description of engagement surface includes any suitable structure, including for being engaged by tray clamping device 10 Region or surface.

Referring to Fig. 2, a part of the fork 18A, 18B adjacent with the base portion 20 of operating platform 14, and and pallet are shown Center stringer S show in association, such as when fork 18A, when 18B is longitudinally inserted into the pallet including stringer S.As shown, 18A is pitched, 18B can be located at the two sides of the center stringer S of eur-pallets.In addition, cutting away each fork 18A, the upside of 18B in Fig. 2 A part of 24A, 24B, to show the first and second operating device 22A of tray clamping device 10,22B is relative to corresponding Pitch 18A, the position of 18B.Operating device 22A, 22B actuating is including on the clamp structure and pallet of formed punch component 26A, 26B Corresponding adjacent surface engagement, as shown in Fig. 2, passing through formed punch the component 26A, 26B of the two sides stringer S.

First operating device 22A is formed as the module in the first cavity 28A being fully located in fork 18A, the second operation dress 22B is set to be formed as being fully located at the module pitched in the second cavity 28B in 18B.Each of formed by operating device 22A, 22B Module includes corresponding actuator 30A, 30B, one in each formed punch component 26A, 26B, and connection actuator 30A, The link mechanism 32A, 32B of 30B and corresponding formed punch component 26A, 26B.

The first cavity 28A in fork 18A is limited to by upside 24A, opposite downside 34A, inside 36A and opposite outer In the region that side 38A is defined.Similarly, the second cavity 28B pitched in 18B is limited to by upside 24B, opposite downside 34B, In the region that inside 36B and opposite outside 38B are defined.In illustrative non-limiting embodiment, cavity 28A, 28B can To limit installation space of the size less than 12.5 inches × 4.5 inches × 2 inches (320mm × 116mm × 50mm), for connecing Receive operating device 22A, 22B.It is understood that the size of installation space can change, and installation space can be limited to In fork 18A, 18B, size is less than or greater than specific installation space as described herein.For example, non-limiting showing other In example, lesser installation space can be formed in the fork with relatively small cross section, for example, 4 inches × 1.75 inches The fork-shaped cross section of (100mm × 65mm) or installation space can be limited in the fork with relatively large cross section, example Such as 6 inches × 3 inches (150mm × 75mm) of fork-shaped cross section.As described in more detail below, operating device 22A, 22B Compact modules are each defined, which includes entire clamping system, which can be directly integrated in phase In the cavity 28A, 28B limited in the fork 18A, 18B answered.

With reference to Fig. 3, the first operating device 22A is described in detail, wherein it is understood that the second operating device 22B can To be formed as with for identical structure described in the first operating device 22A, i.e. the second operating device 22B can be formed as The mirror image of first operating device 22A.

First operating device 22A is provided with actuator mounting bracket 40A, and actuator mounting bracket 40A is in the first cavity It is rigidly attached to fork 18A in 28A, and is pivotally connected to actuating in the first pivotal connection limited by fastener 42A The first end of device 30A.Actuator mounting bracket 40A is formed with the first tongue piece 40A₁With the second tongue piece 40A₂.First tongue piece 40A₁ The attachment location of the actuator 30A for the first operating device 22A, and the second tongue piece 40A can be formed₂It can be optionally It is arranged to form attachment location of the actuator 30B for the second operating device 22B in the second cavity 28B, with reference to Fig. 2.The Two tongue piece 40A₂It is also an option that property provide installation site for actuator 30A, moved out for activating formed punch component 26A, I.e. far from fork 18B, as further described below.

Operating device 22A is additionally provided with connecting rod mounting bracket 44A, and the connecting rod mounting bracket 44A is in the first cavity 28A The end opposite with actuator mounting bracket 40A of inherent operating device 22A is rigidly attached to fork 18A.Link mechanism The first connecting rod 46A of 32A is pivotably connected to connecting rod mounting bracket in the second pivotal connection limited by fastener 48A 44A.The second end of first connecting rod 46A is pivotably connected to the output shaft 50A of actuator 30A by fastener 52A.

The second connecting rod 54A of link mechanism 30A includes the connecting rod shorter than first connecting rod 46A.Second connecting rod 54A includes logical Cross the approximate mid points that fastener 56A is pivotably connected on first connecting rod 46A first end and by fastener 60A can pivot It is connected to the second end of the inner end of the elongated shaft 58A of formed punch component 26A with turning.In the shown embodiment, second connecting rod 54A packet The first and second shaft portion 54A1,54A2 are included, they are located on the opposite side of first connecting rod 46A and positioned at elongated shaft 58A's On the opposite side of inner end.

It is formed and can be spiral shell for above-mentioned the fastener 42A, 48A, 52A, 56A, 60A being pivotally connected of operating device 22A Bolt or any equivalent structure, such as sell, it is pivotally connected with limiting hinge shape.

Elongated shaft 58A can be supported by the guiding surface that the bushing 61A by the medial surface 36A for being fixed to fork 18A is limited It is slided with the medial surface 36A by fork 18A, referring to fig. 2.Optionally, nest plate 62A is removably positioned in elongated shaft 58A's On outer end, and it can use removable fastener and be attached to elongated shaft 58A, such as by means of the engagement in nest plate 62A Screw 64A of the surface 66A to lower recess.Removable nest plate 62A makes it possible to that different nest plate 62A is selected to be used for respectively Kind clamps application.For example, nest plate 62A can limit the engagement surface 66A formed by the hard material of such as steel, for relating to And with supporting plate or the application engaged by the other structures that relatively hard material is formed.Nest plate 62A can be easily with having The nest plate 62A of the engagement surface 66A formed by another material is replaced, such as the material of flexible relative or elasticity, such as rubber Glue is used for other application, such as the engagement with the formation of the pallet of relatively soft material, such as plastic material.The formed punch of diagram Plate 62A is formed as round member, and provides relatively large surface area, engages for the adjacent surface with pallet, thus in pallet It is upper that secured and stable grasping is provided.However, it is possible to provide being used for the other shapes and construction of nest plate 62A, including non-circular Shape and/or construction limit the engagement features for being suitable for matching the re-spective engagement feature of engagement surface of pallet.

Actuator 30A, 30B can be electric linear motor, such as manufactured by the LINAK company that German Buddhist nun reaches LA23 Linear actuator.Therefore, the output shaft 50A of actuator 30A shown in Fig. 3 can be relative to actuator body 31A line Property it is mobile, to drive first connecting rod 46A to be pivotally connected pivoting action around what is limited by fastener 48A.As shown in figure 4, actuator 30A, 30B may be coupled to the controller 68 of vehicle 12, and wherein controller 68 can be from operator control panel 70 or other conjunctions Suitable operator control unit receives input signal and provides one or more control signals to actuator 30A, 30B, with actuating The into and out engagement with pallet of first and second operating device 22A, 22B.Controller 68 may also receive from actuator The force feedback signal and/or position feed back signal of 30A, 30B can be handled by the software in controller 68 to detect and hold in the palm The engagement of disk, to control each formed punch component 26A, the distance that 26B extends, and control are applied by formed punch component 26A, 26B To obtain the power of scheduled clamping force with pallet.In the exemplary embodiment, each formed punch component 26A, 26B can be caused It moves with preset distance mobile in linear movement, for example, the distance of maximum 3.6 inches (90.4mm), and can apply predetermined Power, such as the power of maximum 2500N.

The operation of tray clamping device 10 is described with reference to Fig. 5 A and 5B.Fig. 5 A shows the formed punch structure being located at retracted position Part 26A, 26B, wherein nest plate 62A, 62B close to fork 18A, 18B respective inner 36A, 36B positioning or with fork 18A, 18B Respective inner 36A, 36B engagement, to prepare to receive pallet on fork 18A, 18B.In retracted position, actuator 30A, 30B Output shaft 50A, 50B can be fully retracted, and first connecting rod 46A, 46B can be pivoted to and pitch 18A, and 18B's is corresponding Lateral surface 38A, 38B adjacent position.

In response to the signal from controller 68, actuator 30A, 30B extends output shaft 50A, 50B, so that first connects Respective inner 36A, the 36B pivot of bar 46A, 46B towards fork 18A, 18B.Actuator 30A, 30B are installed relative to actuator Bracket 40A, 40B are pivoted in cavity 28A, 28B, to adapt to first connecting rod 46A, the pivoting action of 46B.First connecting rod 46A, The pivoting action of 46B makes second connecting rod 54A, and the second end of 54B is mobile towards connecting rod mounting bracket 44A, 44B, and second connects The first end of bar 54A, 54B push elongated shaft 58A, 58B to outwardly extending from fork 18A, the respective inner 36A, 36B of 18B Position, as shown in Figure 5 B.Elongated shaft 58A, 58B are mobile with linear or substantial linear path, transverse to fork 18A, 18B's Longitudinal direction L1, because they are conducted through bushing 61A, 61B in sliding manner.Extended position in the shown embodiment, Nest plate 62A, 62B are shifted inwardly toward each other from fork 18A, 18B, and may be positioned to flank opposite with the stringer S's of pallet It closes.As described above, from actuator 30A, the feedback signal of 30B to controller 68 can be used for detecting nest plate 62A, 62B and vertical The engagement of beam S, to control formed punch component 26A, the distance that 26B advances.Moreover, the feedback signal to controller 68 can be used In the engaging force that control is applied by nest plate 62A, 62B, so that the engaging force for ensuring applied is enough to keep pallet relative to fork The movement of 18A, 18B and/or banking motion.

With reference to Fig. 6, according to an aspect of the present invention, operating device 22A, 22B be configurable to can in fork 18A, The module for removing and replacing in the cavity 28A, 28B of 18B.For example, operating device 22A, 22B can be repositioned so that energy Enough and jack stringer S1, S2 engagement, such as jack stringer of GMA or CHEP pallet, wherein the first operating device 22A can be positioned at In the second cavity 28B for pitching 18B.Second operating device 22B can be located in the first cavity 28A of fork 18A.Alternatively, by phase Overturning or rotary operating device 22A, 22B in the cavity 28A, 28B that answer, can be with so that formed punch component 26A, 26B are outwardly directed The first and second operating device 22A, 22B are relocated to engage with jack stringer S1, S2, extend through corresponding lateral surface 38A, 38B.

As shown in fig. 6, formed punch component 26A, 26B are supported for by pitching 18B, the lateral surface 38B, 38A of 18A accordingly Linear movement is slided, to apply outside clamping force on jack stringer S1, S2.It is understood that matching again in Fig. 6 In the arrangement set, the actuating of operating device 22A, 22B between retraction and extended position with above with reference to described in Fig. 5 A and Fig. 5 B It is identical.

Although should also be understood that operating device 22A, the retraction of 22B and extended position are depicted as such as Fig. 5 A, figure 5B and the position shown in fig. 6 being fully retracted with full extension, retract and extended position can be defined as shown in retract and Any selected location between extended position can such as be controlled by actuator 30A, 30B.Particularly, extended position can become Change, and can be by the position restriction of the adjacent surface of formed punch component 26A, 26B splice, such as the phase limited by stringer Adjacent surface.

Although the preferred embodiment of actuator 30A, 30B are described as electrical linear motor, other actuators can be with It is realized in operating device 22A, 22B, including but not limited to hydraulic or pneumatic actuator, as long as these substitution actuators can To be accommodated fully in the cavity 28A, 28B of the appropriate size limited in fork 18A, 18B.In addition, although preferred actuating knot Structure is described as linear actuators 30A, 30B, with link mechanism 32A, 32B, for activating formed punch component 26A, 26B's There are other to move and be connected to formed punch component 26A, 26B for the movement of substantially linear, actuator, can by link mechanism or Other transmission devices are directly or indirectly implemented to activate formed punch component 26A, 26B.For example, in alternative embodiments, operation Device 22A, 22B may include link mechanism, which includes actuator 30A, 30B or substitution actuator and formed punch It is directly connected between component 26A, 26B, such as link mechanism is for example including pushing away chain.

The modular construction of operating device 22A, 22B completely in fork 18A, 18B and placement can zoom to different Size, so that operating device 22A, 22B be may be implemented in for example lesser vehicle, around the fork that component is carried due to load The space in region limits, and smaller vehicle may be not easy to adapt to prior-art pallet clamping system.In addition, being completely contained in fork It may include that the fixture actuating system for being used for clamp structure is provided in terms of modular operation device in 18A, 18B, remove this paper institute Except the formed punch component 26A, 26B that state.For example, 22B identical or different modular operation device can with operating device 22A In fork chamber 28A, 28B, to activate the clamp structure moved in a manner of linear, non-linear or pivoting action.This substitution Modular operation device can operate so that by relevant clamp structure, from fork 18A, 18B moves in or out pre-determined bit It sets.In addition, the modular operation device of this substitution may include handling feedback signal in controller, for determining pallet It engages and is used to clamping force control to predetermined value and/or control formed punch component 26A, 26B pitching 18A relative to corresponding, The position of 18B and the operation for executing other software realization, such as in order to improve safety and/or facilitate the convenience of operation Property.

With reference to Fig. 7 and Fig. 8, the alternative constructions of tray clamping device 10 are shown, wherein operating device 22A, in 22B One is maintained at fixed position, and another holding in operating device 22A, 22B can be operated with the corresponding formed punch component of movement The into and out engagement with pallet longitudinal axis S.For example, as shown in fig. 7, the actuator 30A pillar of operating device 22A 72A is replaced.Pillar 72A can prolong in tie point 42A, 52A at mounting bracket 40A and between the second end of first connecting rod 46A It stretches, wherein pillar 72A has regular length, which can limit fixed position and be used for link mechanism 32A for formed punch component 26A is located in the position or any other predetermined position of full extension.In addition, ramp structure 74 can be installed to fork 18A's Medial surface 36A will pitch 18A, 18B and stringer S and be directed to substantially centered position.Ramp structure 74 includes ramped surfaces 76, ramped surfaces 76 extend at a certain angle from the medial surface 36A of fork 18A, with as fork 18A, 18B is moved to related to stringer S Near the one side for nest plate 62A being guided or being located in when connection stringer S.Then, operating device 22B can be actuated to and stretch Exhibition position is set, and the nest plate 62B of formed punch component 26B is bonded on the opposite side of stringer S, and is applied and be enough bias stringer S And the power that fixed punch head component 26A is engaged each other.

Tray clamping device 10, including fixed punch head component 26A, 26B are substituted, can be used for clamping the outer vertical of pallet In the construction of beam S1, S2.For example, as shown in figure 8, the actuator 30B of operating device 22B is by opposite tie point The pillar 72B that extends between 42B, 52B is replaced, to limit fixed position, for formed punch component 26B from the lateral surface of fork 18A 38A extends outwardly.The ramp structure 74 for being installed to the lateral surface 38A of fork 18A includes ramped surfaces 76, and ramped surfaces 76 can be with Operation is directed to a position will pitch 18A, and wherein nest plate 62B is adjacent with the one side of stringer S1, when fork 18A, 18B are mobile To with stringer S1, when S2 is associated.Then, operating device 22A can be activated so that the nest plate 62A of formed punch component 26A connects It closes on stringer S2 and applies and be enough that stringer S1 and fixed punch head component 26B is made to be biased to the power being engaged with each other.It should be understood that It is that in Fig. 7 and alternative configuration shown in Fig. 8, operating device 22A, any of 22B can be modified to will be corresponding Formed punch component 26A, 26B are limited to the fixed punch head component being supported on fork a 18A, 18B.

With reference to Fig. 9 and 10, show for providing another alternative constructions of tray clamping device 10, wherein operating device One in 22A, 22B is replaced by ramp structure 78, and the restriction of ramp structure 78 fixes to clamp surface 80, is shown mounted to fork 18A Side.As shown in figure 9, ramp structure 78 can be installed to the medial surface 36A of fork 18A, and including ramped surfaces 82, with Fork 18A is directed to a position, wherein clamping surface 80 is adjacent with the one side of stringer S, when fork 18A, 18B are moved to and indulge When beam S is associated.The operation of operating device 22B can apply the phase for being enough to make the nest plate 62B and stringer S of formed punch component 26B Opposite side is engaged to bias the power that stringer S and clamping surface 80 are engaged with each other.As shown in Figure 10, ramp structure 78 can be installed to The lateral surface 38A of fork 18A works as fork so that clamping surface 80 is positioned to adjacent with the one side of stringer S1 by ramped surfaces 82 18A, 18B are moved to and stringer S₁, S₂When associated.The actuating of operating device 22A can make the nest plate of formed punch component 26A 62A is bonded on stringer S₂It goes up and applies and be enough to make stringer S₁The power being engaged with each other is biased to clamping surface 80.It should be understood that Be, in Fig. 9 and alternative configuration shown in Fig. 10, operating device 22A, any of 22B can be removed and with folder Tight surface 80 is replaced, and such as associated description ramp structure 78 is supported on one in fork 18A, 18B.

By replacing actuator 30A with pillar 72A, 72B, one in 30B, for positioning formed punch component 26A, 26B In fixed position, with reference to described in Fig. 7 and 8, or pass through one in the 80 replacement operation device of clamping surface with fixation, reference Described in Fig. 9 and Figure 10, the alternative configuration to provide can be provided relative to operating device 22A, and 22B is in clamping movement The cost for activating the construction of two formed punch components 26A, 26B reduces.

It should be noted that although the attached drawing referred in description in front depicts pairs of fork 18A, 18B and is supported on edge Operating platform 24 base portion 20 in fixed position (that is, at different pitches), the modular arrangements of operating device 22A, 22B Allowing to load carrying component Configuration has moveable fork 18A, 18B, can be located at different lateral positions along base portion 20. It is used together in addition, clamping device can carry component with load, it includes for engaging support structures which, which carries component, Substitution fork configuration.For example, in the alternative configuration that component is carried in load as shown in Figure 11 A and 11B, single fork can be provided 18' is to support support structures.Support structures may include cart C, wherein fork 18' can be moved to the load platform L of cart C The position of lower section and it is positioned to extension adjacent with the supporting structure surface longitudinally extended, such as corresponding lower wall S1', S2', for example, the longitudinal frame member of cart C.

As shown in Figure 11 A, clamping device may include the first and second behaviour in the single tine 18' that component is carried in load Make device 22A, 22B, for activating corresponding formed punch component 26A, 26B outward with lower wall S1', the S2' engagement with cart C. It can control the actuating of the first and second operating device 22A, 22B in single tine 18', so that formed punch component 26A, 26B are from single tine The opposite side 39A of 18', 39B are extended to be engaged with lower wall S1', S2', to be similar to above-mentioned reference Fig. 6 for operating The mode of the actuating of device 22A, 22B.

As shown in Figure 11 B, clamping device can only include the first operating device 22A in single tine 18', for activating The formed punch component 26A extended through side 39B.The opposite of fork 18' can be installed to reference to Figure 10 ramp structure 78 described Side 39A so that ramped surfaces 82 are upwardly extended far from the side of formed punch component 26A, and clamping surface 80 can position with The surface of side wall S1' is adjacent, when fork 18' is moved to associated with cart C.The actuating of operating device 22A can make formed punch structure Part 26A, which is bonded on side wall S2' and applies, is enough that side wall S1 and clamping surface 80 are biased into and are engaged with each other, upper to be similar to State the mode with reference to Figure 10.Further it should be noted that can be by being replaced with fixed formed punch component 26B and bevel structure 74 Ramp structure 78 on the 39A of side forms the alternative constructions of Figure 11 B, with reference to as described in Fig. 8.

It is noted that although the description of the upper surface of alternative configuration as shown in Figure 11 A and Figure 11 B is provided for clamping The tray clamping device of cart, but clamping device can operate with clamping brace load carry component on various articles or Support structures, including but not limited to pallet, cart, pedestrian's platform, storage rack or other storage organizations.

Although having illustrated and described the particular embodiment of the present invention, show to those skilled in the art And be clear to, without departing from the spirit and scope of the present invention, various other changes and modification can be carried out.Cause This, it is intended to all such changes and modifications within the scope of the present invention are covered in the following claims.