EP1116686A2 - Industrial truck - Google Patents

Abstract

The invention relates to an industrial truck, in particular a driverless transport vehicle, with load suspension devices that can be lifted, moved and pivoted.

According to the invention, the load suspension means are within a C-claw (3) arranged.

A tilting moment caused by the load is reduced or avoided.

Description

The invention relates to an industrial truck, in particular a driverless truck Transport vehicle, with lifting devices that can be lifted, swiveled and are movable.

Driverless transport vehicles are land-based subsidies with their own Travel drive that is automatically controlled and with its own, mostly battery-generated power supply. In the production integrated They are used for flexible linking of manufacturing facilities and Assembly places used. They are also used in picking and in the operation of rack storage. The material to be transported is normally carried by active load handling attachments on the industrial truck are grown. Active load handling devices allow the vehicle to carry the load automatically and automatically at the starting point without the aid of other funding can pick up and deliver at the destination.

A transport task that occurs particularly frequently consists of the provided palletized goods to be conveyed floor level, from above-ground transfer devices, Trestles or from shelves to take over automatically, via a to transport the specified route and level with the floor, to above ground Transfer devices, trestles or in shelves. Depending on Material flow layout must be the loading unit to be transported on the right or left side provided or handed over to the vehicle or behind the vehicle. The Load suspension devices (usually these are forks) must therefore be horizontal Extending movements to the left and right or to the rear and vertical Can perform movements (lifting, lowering).

Driverless are known and currently used on a large scale Transport vehicles equipped with a lifting and lowering swivel push fork. Their basic possibilities of movement are shown in FIG. 1. Figure 1 shows Above the possibility of lifting and lowering the forks and in the lower one Partial view in the top view both the swivel option to the left and right as well the ability to move around goods that lie next to the lane of the vehicle, record or deliver there. Because in these versions the loading unit on the forks of the load handler not only during the load handler and load delivery but also when transporting the load from the receiving to the The point of delivery protrudes beyond the wheel contact area of the vehicle Vehicle to achieve sufficient stability with a counterweight be equipped. To meet the requirement, loading units on the right or also being able to pick up on the left at floor level is an improvement in the stability of the tipping during the transport process by means of fixed, conventional forklift trucks Wheel arms, in the driverless transport vehicle versions with Swivel push fork not possible. The heavy counterweight required increases the total weight of the vehicle, resulting in increased wheel pressures and therefore greater floor load, higher wheel wear, greater driving resistance. This also results in the need for larger traction motors and a higher one Stress on vehicle batteries.

The object of the invention is therefore to provide an industrial truck, in particular a driverless one Transport vehicle to improve in that the disadvantages mentioned be avoided.

This object is achieved according to the invention by a vehicle that has a C-claw having. The C-claw is a C-shaped arch that is suitable for a vertical Center axis to be pivoted so that the open position of the C's both left of the Vehicle as well as behind the vehicle and to the right of the vehicle. In the C the load suspension device is then arranged, which can carry out a stroke and is telescopic to move loads from outside the Pick up vehicle contour from the ground and into the interior of the vehicle contour bring to. This significantly reduces a tilting moment.

In a preferred embodiment, there are castors or castors on the C-claw arranged. This has the great advantage that the load is withdrawn Load suspension devices are then located within the footprint of the vehicle is so that no tilting moments occur while driving, counterweights or protruding carriers are not necessary. The vehicle can be designed much lighter, which means the wheel pressures and the soil load is reduced. This results in smaller traction motors or smaller batteries can be used. In addition, the handling capacity is increased or it results longer operating times due to the lower required traction motor power between two battery charges. The load suspension device according to the invention is so designed to be used as a separate vehicle or as a universal vehicle Attachment to various types of driverless transport vehicles can be attached from which it obtains the necessary energy supply. In this way, driverless transport vehicles that were previously only available as Tractors are used, or only equipped with passive load handling devices are retrofitted with a universal active load handler.

1. Zumindest zwei der Laufrollen, die an der C-Pratze angeordnet sind, sind angetrieben und/oder aktiv gelenkt. Bevorzugt sind dies die Rollen/Räder, die am offenen Ende des C's der C-Pratze angeordnet sind. Mit gelenkten Rollen ist das Fahrzeug besonders kurvengängig. Wenn die Räder zusätzlich angetriebenen sind, ergibt sich zusammen mit dem im Vorbau befindlichen Antriebsrad ein flächenbewegliches Fahrzeug. Das Fahrzeug hat nun eine Art Dreirad-Kinematik und ist in seiner Beweglichkeit wesentlich verbessert, da nun nicht mehr nur ein Antriebsrad vorliegt, sondern drei angetriebene Räder, die den Vortrieb unter allen Umständen sichern. Auch ungünstige Beladung führt nun nicht mehr dazu, dass das Antriebsrad abhebt und der Vortrieb nicht mehr gesichert ist. Eines der drei Räder, die angetriebenen sind, ist sicher ausreichend belastet, um den Vortrieb des Gesamtfahrzeuges zu sichern. Die Laufrollen sind nun auch aktiv gelenkt. D.h. dass die Laufrollen nicht einfach wie Lenkrollen hinterhergezogen werden, sondern dass mit ihnen aktiv die Richtung vorgegeben werden kann, in die das Fahrzeug fahren kann.
Damit der Vorbau, der das Hauptantriebsrad enthält, nicht verkippt, wenn die Pratze geschwenkt wird, sind Laufrollen links und rechts vorgesehen, die möglichst weit außen am Fahrzeug angeordnet sind und die bevorzugt an dem Ende des Vorbaus angeordnet sind, an dem die Pratze angelenkt ist.

2. Das Flurförderzeug wird dadurch verbessert, dass zumindest zwei der Laufrollen tangential zur C-Pratze angeordnet sind. Diese Laufrollen können entweder angetrieben sein oder auch nicht angetrieben und dann einfach mitlaufen. In dieser Anordnung ergibt sich wieder zusammen mit dem im Vorbau befindlichen Antriebsrad für das Fahrverhalten eine Dreirad-Kinematik. Auch hier verhindern kleine Stützrollen an den äußeren Enden des Vorbaus wieder ein Verkippen des Vorbaus bei Schwenkbewegungen der Pratze. Bei angetriebenen Laufrollen in der Pratze wird die Antriebskraft wieder sicher auf den Boden gebracht, unabhängig von den Beladungszuständen des Fahrzeugs. Eines der drei angetriebenen Räder hat sicherlich guten Griff. Die Ausführungen mit den tangential angeordneten Rollen ist ausgesprochen preisgünstig herzustellen, da diese Rollen innerhalb der Pratze feststehen und nicht lenken. Kurvenfahrten des Fahrzeugs können nun entweder durch Verschwenken des Hauptantriebsrades erfolgen oder durch Verschwenken der C-Pratze. Selbstverständlich können auch beide Varianten kombiniert werden. Möglich ist auch - bei angetriebenen Laufrollen - die linke und die rechte Laufrolle gegensinnig anzutreiben. Dadurch wird ein Verschwenken der C-Pratze eingeleitet oder unterstützt. Im Extremfall reicht diese Bewegung völlig zum Verschwenken der Pratze, so dass auf einen eigenen Verschwenkantrieb verzichtet werden kann.

3. Das unter zweitens genannte Flurförderzeug kann weiterhin dadurch verbessert werden, dass zwei ausfahrbare Stützelemente an den Enden der C-Pratze vorgesehen sind. Diese Stützelemente können bevorzugt Stützzylinder sein, die sich in den Pratzenspitzen befinden und die beim Ausfahren der Last aus dem C-Bogen ein Kippen des Fahrzeugs verhindern. Durch Ausfahren der Stützzylinder wird die Unterstützungslinie des Fahrzeugs genau an den Rand des Fahrzeugs geschoben, so dass ein maximales Gegengewicht, nämlich das Gesamtgewicht des Fahrzeugs, als Gegengewicht gegen ein Verkippen beim Ausschub der Last wirkt.

The following improvements are also within the scope of the invention:

1. At least two of the rollers that are arranged on the C-claw are driven and / or actively steered. These are preferably the rollers / wheels which are arranged at the open end of the C of the C-claw. With steered rollers, the vehicle is particularly easy to negotiate curves. If the wheels are additionally driven, a flat-moving vehicle results together with the drive wheel located in the stem. The vehicle now has a type of three-wheel kinematics and its mobility has been significantly improved, since there is no longer just one drive wheel, but three driven wheels that ensure propulsion under all circumstances. Even unfavorable loading no longer means that the drive wheel lifts off and propulsion is no longer secured. One of the three wheels that are driven is certainly sufficiently loaded to secure the propulsion of the entire vehicle. The castors are now actively steered. This means that the castors are not simply pulled behind like castors, but that the direction in which the vehicle can drive can be actively specified.
So that the stem, which contains the main drive wheel, does not tilt when the claw is pivoted, castors are provided on the left and right, which are arranged as far as possible outside on the vehicle and which are preferably arranged at the end of the stem to which the claw is articulated .

2. The industrial truck is improved in that at least two of the rollers are arranged tangentially to the C-claw. These rollers can either be driven or not and then simply run along. In this arrangement, together with the drive wheel located in the front end, a three-wheel kinematics result for the driving behavior. Here, too, small support rollers on the outer ends of the stem prevent the stem from tilting when the claw is pivoted. With driven rollers in the claw, the driving force is safely brought back to the ground, regardless of the vehicle's load conditions. One of the three driven wheels certainly has a good grip. The versions with the tangentially arranged rollers are extremely inexpensive to manufacture, since these rollers are fixed within the claw and do not steer. Turning the vehicle can now be done either by swiveling the main drive wheel or by swiveling the C-claw. Of course, both variants can also be combined. It is also possible - with driven rollers - to drive the left and right rollers in opposite directions. This initiates or supports pivoting of the C-claw. In extreme cases, this movement is sufficient to swivel the claw so that there is no need for a swivel drive.

3. The industrial truck mentioned under second can be further improved in that two extendable support elements are provided at the ends of the C-claw. These support elements can preferably be support cylinders which are located in the claw tips and which prevent the vehicle from tipping over when the load extends from the C-arm. By extending the support cylinder, the support line of the vehicle is pushed exactly to the edge of the vehicle, so that a maximum counterweight, namely the total weight of the vehicle, acts as a counterweight against tipping when the load is extended.

Further advantages, features and refinements of the invention result from the Description of an embodiment with reference to the drawing.

Figur 2

die Gesamteinsicht eines erfindungsgemäßen Fahrzeugs,

Figuren 3 und 4

Einzelansichten eines erfindungsgemäßen Fahrzeugs,

die Figuren 5 bis 9

Einzelteile des erfindungsgemäßen Fahrzeugs

und die Figuren 10 und 11

zwei weitere Ausführung der Erfindung.

Show it

Figure 2

the overall view of a vehicle according to the invention,

Figures 3 and 4

Individual views of a vehicle according to the invention,

Figures 5 to 9

Individual parts of the vehicle according to the invention

and Figures 10 and 11

two further embodiments of the invention.

The driverless transport vehicle shown in Figure 2 consists of the Main components vehicle stem 1 and load carrier 2. The chassis of the Vehicle stem 1 contains the drive and steering unit, the power supply, the Control and the necessary safety devices. It is based on that steered drive wheel in the middle and over several castors 1.1, here two pieces the road. Two spherical bearings 3.2 on one serve as a connection to the load carrier Bracket 9. The load carrier 2 contains the C-bracket 3 as an essential component, which is designed as a C-shaped welded construction with a U-shaped cross section is trained. The C-claw 3 is about the pivot axis 3.1, which is essentially runs vertically, rotatable. The twisting or pivoting takes place via the Geared motor 12. Also shown in FIG. 2 is the lifting mast 6 for lifting the Load. The C-claw 3 is supported on four castors 14. The castors can additionally with a switchable swivel brake or a directional lock be equipped, in particular when cornering, the pivoting movement of the To be able to block castors 14 about their vertical axis. Then you can regardless of the swivel angle position of the C-claw 3 always the two to Vehicle stem 1 facing castors 14 may be blocked while the two rearmost rollers 14 remain freely pivotable. Within the C-claw 3 are the telescope 4 and the mast pusher 5, which carries the mast 6, on which the actual load suspension devices (forks).

Figure 3 shows a top view of the vehicle according to the invention with to the right swiveled C-claw 3. You can see here the swivel drive for the C-claw 3, which contains the chain sprocket 12.1, which is driven by the motor 12 and which Roll chain 13 sets in motion, the ends of which are attached to the C-claw 3. Each after the direction of rotation of the motor 12, the C-claw 3 can thus from the position shown on the far right in other positions, e.g. the position shown in Figure 4, completely after be pivoted behind. 9 with the holder is designated, part 1, the Vehicle stem with which the C-claw 3 connects.

FIG. 4 shows the vehicle with the C-claw 3 pivoted backwards again the telescope 4, which pushes the load backwards, here drawn in dashed lines, enables. The load rests on the mast truck 5, which the Carries mast 6 on which the fork carriage 7 with the fork tines 8 is located. During the swiveling process, the load is preferably inside the C-claw 3. This avoids tilting moments. The C-claw 3 is here with two joint bearings 3.2 attached to the vehicle stem 1. As an alternative to the articulated connection shown between vehicle stem 1 and load carrier 2, the latter can also have a rigid Flange connection with the vehicle stem 1 connected (screwed). Then are no longer four castors 14, but only two castors necessary. The Inner diameter and the opening width of the C-claw 3 are determined in that the loading unit to ensure the required floor-level pick-up / delivery can be pushed in and out horizontally without collision through the opening of the C's and does not have to be lifted over the wheel arms of the claw 3. In the figure 4 retracted load position shown, it is also possible to by the loading unit Swiveling the C-claw 3 around the pivot axis 3.1 by 90 ° in each case without that the vehicle contour is exceeded by the outer contour of the loading unit. In a rack warehouse, for example, you only need the working aisle width Vehicle width and the safety distance required on each side Shelves.

Figure 5 shows details of the bracket 9. The bracket 9 is on the hinge bearing 3.2 movably connected to the vehicle stem 1. The one here as a welded part trained bracket 9 takes over the leadership with four horizontal rollers 10 the C-claw 3 when pivoting about its vertical axis 3.1. The four vertical Rollers 11 serve to absorb the forces that occur when the center of gravity the loading unit is outside the contact area of the C-claw 3 and thus a Tipping moment works. The two spherical bearings 3.2 are used to connect the bracket the vehicle stem 1 and level unevenness or smaller heels, such as arise when entering and leaving a freight elevator can.

FIG. 6 shows an embodiment of the mast pusher 5 according to the invention here from the base frame 5.1, in which the four rollers 5.2 are mounted. The Base frame 5.1 serves to accommodate the lifting mast 6. The mast pusher 5 is horizontally extended and retracted along the inner profile pairs of the telescope 4. As Lifting device can use the initial lifting device of a picking stacker become. It consists e.g. from the mast 6, a single-acting Hydraulic cylinder 6.2 and a running over a pair of guide rollers 6.3, simple reeved lifting chain pair 6.1, which the fork carriage 7 with the attached Fork pair 8 carries.

Figure 7 shows the C-claw 3. The C-claw 3 or the C-arm is a C-shaped trained welded construction, which is designed here with a U-shaped cross section. It consists of the upper flange 3.3, the lower flange 3.4 and the two Flanges connecting webs 3.5. At the lower flange 3.4 there are four castors 14 appropriate. 3.1 is the pivot axis.

Figures 8 and 9 show the telescope 4 in its structure and in its Functionality. The telescope 4 for the horizontal extension of the mast pusher 5 consists of two telescopic profile pairs. The outer pair of profiles 4.1 is fixed with the C-claw 3 connected. The inner profile pair 4.2 can with the help of two in outer profile pair 4.1 arranged double-acting hydraulic cylinders 4.3 extend and retract opposite the outer profile. The management of the two profile pairs 4.1, 4.2 is taken over by two pairs of rollers 4.4. There is a pair of rollers 4.4 stored in the outer profile pair 4.1, the other in the inner profile pair 4.2. in the inner profile pair 4.1 runs the mast truck 5, which carries the lifting device 6. The Extending and retracting movement of the mast pusher 5 is in pairs existing double-acting hydraulic cylinders 4.3 and also in pairs existing exit chains 4.5 or entry chains 4.6. The exit chain 4.5 runs over, as Figure 9 shows, from the front fixed point 4.7 of the outer profile pair 4.1 the first deflection roller 4.8 to the fixed point on the mast pusher 5.3. The entry chain 4.6 runs from fixed point 4.7 via the second deflection roller 4.9 to fixed point 5.4 Mast pusher 5. The extension path of the mast pusher 5 is twice as much as large as the cylinder stroke of the hydraulic cylinder 4.3. The leadership of the two Profile pairs 4.1 and 4.2 are taken over by two pairs of rollers 4.4. There is one Roller pair 4.4 in the outer profile pair 4.1, the other in the inner profile pair 4.2 stored. In the inner profile pair 4.2, the mast pusher 5 runs, which is the lifting device wearing.

FIG. 9 shows the function of the telescope 4 in the somewhat extended state and down in the retracted state. Here you can see the movability of the inner profile pair 4.2 compared to the outer profile pair 4.1, which is firmly attached to the Claw 3 is attached. The hydraulic cylinder 4.3 and the are also shown Exit chain 4.5 and the entry chain 4.6. With 4.7 the fixed point is on the outside Profile pair 4.1, with 4.8 the first pulley and with 4.9 the second pulley designated. With 5.3 and 5.4 the fixed points for the chains 4.5 and 4.6 are at Mast truck 5 designated.

Figure 10 shows an industrial truck according to the invention with the vehicle stem 1 the drive wheel 1.2, which is pivotable and drivable, and the rollers 1.1 contains on the left and on the right side of the stem. At stem 1 is pivotably arranged the C-claw 3. Steerable and active are new drivable castors 14. In this embodiment, there are Swivel castors 14 each at the tips of the claw 6. As can be clearly seen, this is Driving with the active castors is now much more varied. Either you can all driven wheels (1.2, 14) are parallel, as shown in Figure 10, so that a three-wheel drive results in which the force in all cases and with every load is brought to the ground. All three wheels can now be swiveled that extremely tight curve radii can be used in in this case e.g. steer the drive wheel 1.2 to the left and the wheels 14 to right so that the vehicle can turn practically on the spot. On the other hand, can a kind of pass passage can also be reached, in which the vehicle now has the possibility also drive across its longitudinal direction. In extreme cases, the drive wheels 1.2 and the two castors 14 by 90 ° relative to the position shown Figure 10 are rotated so that the vehicle is then no longer in the drawing of left to right, but from top to bottom. A lateral offset or too an inclination are possible through these arrangements, which increases maneuverability of the vehicle is significantly increased. The castors 14 can also be put that they are each tangent to the claw. Then the castors driven in opposite directions, the C-claw 3 rotates relative to the Vehicle stem 1, the pivoting movement of the C-claw 3 relative to the Stem is supported by it or even entirely by these wheels is taken over, so that on its own motor for pivoting the claw 3 can be dispensed with.

FIG. 11 shows a further embodiment of an industrial truck according to the invention the vehicle stem 1, the drive wheel 1.2 and the rollers 1.1, which in turn a Prevent tilting of the vehicle stem 1 when pivoting the claw 3. At the Vehicle stem 1 is in turn arranged the C-claw 3, here with two tangential to her standing rollers 15 and 16 is equipped. Even with this vehicle there are again many opportunities to maneuver in narrow aisles. So allowed e.g. the pivoting of the drive wheel 1.2 by 90 ° and counter-drive the Rollers 15 and 16 a pivoting "on the plate", which is also possible when the rollers 15 and 16 are not driven. Even in this very simple one Variant is a high maneuverability of the vehicle. With movements on well-prepared flat floors, the use of a single one is sufficient driven wheel, e.g. the drive wheel 1.2, perfect.

Since in this arrangement shown in Figure 11, the support line at Extending the load from the C-claw is relatively far behind, namely approximately in the In the middle of the C-claw, two extendable support cylinders 17 are in this embodiment Claw tips arranged. These are during normal driving of the vehicle Support cylinder 17 retracted so that they do not touch the ground and therefore not to disturb. When unloading the load, the support cylinders 17 are on the floor extended and then form a support line, which is drawn here with dots, which located at the very edge of the vehicle. This allows the total weight of the Vehicle for the counter torque against tilting when extending the load be used. But also if the C-claw e.g. by 90 ° compared to Vehicle stem 1 is twisted, the tilt line by using the support cylinder 17th again pushed to the edge of the vehicle so that a sufficient Counter torque against tilting of the vehicle is formed.

Reference list

1

Vehicle stem

1.1

Casters

2nd

Load carrier

3rd

C-claw

3.1

Swivel axis for C-claw

3.2

Spherical bearings

3.3

Upper flange

3.4

Lower flange

3.5

web

4th

telescope

4.1

Outer profile pair

4.2

Inner pair of profiles

4.3

Hydraulic cylinder

4.4

Pair of rollers

4.5

Exit chain

4.6

Drive chain

4.7

Fixed point on the outer profile

4.8

first pulley

4.9

second pulley

5

Mast truck

5.1

Base frame

5.2

Roller

5.3

Fixed point on the mast pusher

5.4

Fixed point on the mast pusher

6

Mast

6.1

Lifting chain

6.2

Lifting cylinder

6.3

Pulley

7

Fork carriage

8th

Forks

9

bracket

10th

Horizontal roller

11

Vertical roller

12th

Gear motor

12.1

Chain sprocket

13

Roller chain for swiveling the C-claw

14

Swivel castors

15

Casters

16

Casters

17th

Support cylinder

Claims (7)

Industrial truck, in particular driverless transport vehicle, with load handling devices that can be raised, moved and pivoted, characterized by a C-claw (3). Industrial truck according to claim 1, characterized by rollers (14) on the C-claw (3). Industrial truck according to one of the preceding claims, characterized characterized in that the load handler from a position within the C-claw (3) in a position outside the C-claw (3) and the vehicle contour are movable. Industrial truck according to one of the preceding claims, characterized characterized in that a lifting mast (6) is provided with which the Load suspension devices can be lifted a longer distance. Industrial truck according to one of the preceding claims, characterized in that at least two of the rollers (14) are driven and / or actively steered. Industrial truck according to one of the preceding claims, characterized in that at least two of the rollers (15, 16) are arranged tangentially to the C-claw (3) are. Industrial truck according to claim 6, characterized by two extendable Support elements (17).

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