WO2018137981A1 - Improved industrial truck - Google Patents

Abstract

The invention relates to an industrial truck, comprising at least one first support wheel (31), at least one second support wheel (32), at least one drive wheel (4), a chassis (2; 11) and a pendulum frame (10), which is articulated to the chassis (2) by means of a horizontal pendulum shaft (30), wherein the first support wheel (31) is arranged on the chassis (2) and wherein the second support wheel (32) and the drive wheel (4) are arranged on the pendulum frame (10).

Description

 Description title

 Improved industrial truck prior art

The present invention relates to an improved industrial truck, in particular an autonomously operating industrial vehicle, which

Transport tasks takes over.

Industrial trucks are known from the prior art in different configurations. Here are also autonomous driving

Industrial trucks are known, which are used for example in the field of manufacturing a company for the transport of small parts or boxes or the like. In particular, for this purpose loaded with boxes trolleys are used, which have their own roles, so that these trolleys at the workplace, to which they have been transported by means of the industrial truck, are movable. Such industrial trucks need for flexible handling the tightest possible turning circle. However, a problem of such constructed lift trucks are gradients or gradients or bumps or the like, which are difficult to overcome obstacles for the industrial truck. Figure 1 shows schematically a structure of an industrial truck 1 according to the prior art. This has a first support wheel 31 at a front end of the industrial truck, a second support wheel 32 at a rear end of the industrial vehicle and a drive wheel 4, which is centered on a chassis 2 or

Vehicle frame is arranged. In a gradient travel can thus occur a state in which the drive wheel 4 floats in the air and thus further travel of the industrial truck is not possible.

Disclosure of the invention The industrial truck according to the invention with the features of claim 1 has the opposite on the advantage that gradients and / or gradients and / or thresholds or the like can be easily traveled. This is possible both in the loaded condition of the industrial truck and in the unloaded condition of the industrial truck. this will

According to the invention achieved in that the industrial vehicle comprises at least a first and a second support wheel and at least one drive wheel. The industrial vehicle further comprises a chassis (vehicle frame) and a pendulum frame, which is articulated to the chassis by means of a horizontal swing axle. The first support wheel is arranged on the chassis and the second support wheel is arranged together with the drive wheel on the pendulum frame. Thus, by means of the pendulum frame, which is pivotable on the horizontal pendulum axis, a balance of gradients and / or gradients and / or uneven floors are possible.

The dependent claims show preferred developments of the invention.

More preferably, a drive and / or a transmission of the drive wheel is arranged on the pedal frame. This can be a compact construction of a

Drive unit comprising the drive wheel and the drive in the

 Pendulum frame to be integrated. This also makes it possible for the

To provide pendulum frame as a pre-assembled component.

The pendulum frame is preferably fixed to the chassis such that the

Drive wheel in the axial direction of the industrial truck, which corresponds to the direction of travel, is disposed between the first support wheel and the second support wheel.

 More preferably, the industrial truck comprises exactly two drive wheels. This allows a simple and cost-effective maneuverability of

Forklift can be realized by, for example, the two

 Drive wheels are driven differently fast or in different directions.

For a particularly stable state, the industrial truck comprises at least two support wheels, which are arranged on the vehicle frame. More preferably, the industrial vehicle additionally comprises at least two support wheels, which are arranged on the pendulum frame. In a particularly preferred The forklift truck comprises exactly two drive wheels on the pendulum frame, exactly two support wheels on the chassis and exactly two

Support wheels on the pendulum frame. Particularly preferred is at least a first support wheel, which is arranged on the chassis, more preferably all arranged on the chassis first support wheels, designed such that the first support wheels are arranged rotatably about a vertical axis on the chassis. Thus, the rotatable about the vertical axis arranged first support wheels can act as castors. More preferred are all arranged on the pendulum frame second

Support wheels arranged rotatably about a vertical axis. As a result, in particular maneuverability of the industrial vehicle is significantly simplified.

Preferably, the pendulum frame is square, in particular provided square. Two drive wheels are particularly preferably arranged on a first and second corner of the pendulum frame, and in each case a second support wheel is arranged on the other two corners of the pendulum frame.

In order to provide the most compact possible construction, the chassis is preferably designed as a side member. As a result, the dimensions of the industrial truck remain low. The longitudinal member preferably extends in the direction of travel of the industrial truck. Preferably, the pendulum axis is arranged for the pendulum frame in an opening in the side member. The industrial truck is particularly preferably an autonomously driving

 Vehicle. In this case, the vehicle preferably includes sensors for

Environment detection and a control unit configured to control the vehicle based on the detected values of the environmental sensors.

According to a further preferred embodiment of the present invention, the industrial truck further comprises a vertical lifting mechanism, which is arranged on the chassis. The lifting mechanism is connected to a loading area of the industrial truck and is set up, the

Raise cargo bed vertically up and down and lower.

By providing the lift cylinder, it is possible that the material handling vehicle can transport as a cargo eg trolleys, which on a bottom Rollers have, on soft the trolleys stand. By lifting the trolleys, the rollers come out of engagement with a substrate and the industrial truck can transport the trolleys without restriction to any location.

Preferably, the lifting mechanism comprises a lifting cylinder and at least one toggle mechanism. The lifting mechanism is

preferably arranged on the chassis. Further preferred is the

Lifting mechanism operated by means of a pull rod. The drawbar is connected to the lifting cylinder, wherein the lifting cylinder preferably by means of a

Electric motor is actuated. About the toggle mechanism, which is connected to the drawbar, then the lifting movement of the lifting cylinder can be converted into a vertical upward movement and / or downward movement. A direction of movement of the lifting cylinder is preferably arranged at an angle of 90 ° to a vertical axis. The lifting movement takes place in

Direction of vertical axis up or down. Particularly preferably, the lifting cylinder is arranged between a first bearing and a second bearing. This makes it possible that the lifting cylinder executes a pitching movement during a lifting movement, whereby an actuation of the

Toggle mechanism is simplified. More preferably, a sensor, in particular a potentiometer, is provided which continuously monitors a lifting height of the loading surface.

Further preferably, the industrial truck further comprises a

Force generating device, which is set up, an additional force on the

Exercise drive wheel. By exercising the additional force can always sufficient friction of the drive wheel, especially when unloaded

Forklift truck to be ensured. Preferably, the force generating device comprises a leg spring having a first and a second leg. Further, a spring travel limiter is provided which limits a spring travel of one of the two legs. One of the two legs of the leg spring is preferably connected via a support plate with the pendulum frame. Here, two situations can be distinguished. First, the raised state, in which the

Cargo is lifted by means of the lifting mechanism. In this state, due to the weight of the transported good sufficient friction on Drive the pendulum frame present, so that in the raised state of the lifting mechanism, the leg spring out of engagement with the

Pendulum frame is. In the lowered state, in which no goods to be transported are arranged on the industrial truck, the first leg of the leg spring is set to come into contact with the pendulum frame and exert an additional force on the pendulum frame. As a result, even when not transporting a cargo good enough friction of the drive wheel on the

Substrate reached so that a sufficient mobility of the

Forklift vehicle is allowed in the unloaded state. On the pendulum frame, a support plate is preferably provided, which depends on a

Hubes of the lifting mechanism with the first leg of the leg spring engages or disengaged.

For secure support of the second leg of the leg spring, a second support plate is preferably provided on the chassis. In the second support plate is preferably an opening through which a

End portion of the second leg of the leg spring is passed to ensure a precise position of the leg spring relative to the chassis. The end region is preferably bent by 90 ° relative to the second leg.

More preferably, the present invention relates to an industrial conveyor system comprising at least one industrial truck according to the present invention and at least one trolley, which is movable by means of the industrial truck. Preferably, the conveyor system comprises a plurality of

Trolleys. More preferably, the conveyor system also includes a variety of industrial trucks. The industrial trucks preferably drive autonomously. At the parking spaces for the trolleys are preferably rails or

Stops or the like provided by means of which the trolleys can be placed exactly in a designated position.

Short description of the drawing

Hereinafter, preferred embodiments of the invention will be described in detail with reference to the accompanying drawings. Identical or functionally identical parts are designated by the same reference numerals. In the drawing is: 1 shows a schematic representation of an industrial truck according to the prior art, FIG. 2 shows a schematic illustration of an industrial truck according to a first exemplary embodiment of the invention,

Figure 3 is a schematic, perspective view of the

 Industrial truck of the first embodiment with details,

Figure 4 is a schematic representation of a bottom view of the industrial truck of the first embodiment, Figure 5 is a schematic side view of the

 Industrial truck of Figure 4,

FIG. 6 is a schematic sectional view of the industrial truck of FIG. 4;

FIG. 7 is a perspective view of a pendulum frame of the industrial truck of FIG. 4;

Figure 8 is a schematic, perspective view of a

 Industrial truck according to a second

 Embodiment of the invention,

Figure 9 is a schematic representation of a bottom view of

 Industrial truck of Figure 8,

Figure 10 is a schematic sectional side view of

 Industrial truck of Figure 8,

Figure 1 1 is a schematic representation of a

 Toggle mechanism of the second

Embodiment, FIG. 12 shows a schematic illustration of a drive unit of the industrial truck of the second exemplary embodiment,

Figure 13 is a schematic perspective view of the

 Lever mechanism of the second embodiment,

Figures 14 and 15 are schematic representations of the function of

 Lever mechanism and

Figures 16 and 1 are schematic representations of a

 Force generating device for increasing a

 Stiction of a drive wheel of the industrial truck of Figure 8 in the unloaded state.

Preferred embodiments of the invention

Hereinafter, with reference to Figures 2 to 7 a

Industrial truck 1 according to a first preferred embodiment of the invention described in detail.

As can be seen from the schematic view of FIG. 2, the industrial truck 1 comprises a first support wheel 31, a second support wheel 32 and a drive wheel 4. The industrial vehicle comprises a chassis 2, on which the first support wheel 31 is arranged.

The industrial truck 1 further comprises a pendulum frame 10, on which the second support wheel 32 and the drive wheel 4 is arranged. Of the

Pendulum frame 10 is pivotally mounted on the chassis 2 of the industrial truck about a pendulum axis 30. The pendulum axis 30 extends in

Horizontal direction.

As can be seen from FIG. 2, the industrial truck can thereby easily pass over slopes and / or gradients, with the drive unit having

Pendulum frame 10 by pivoting about the pendulum axis 30 always in contact with the roadway 100 remains. As can be seen from FIG. 2, the drive wheel 4 is arranged in the axial direction XX of the industrial truck 1 between the first support wheel 31 and the second support wheel 32. FIGS. 3 to 7 illustrate the basic structure of the industrial truck 1.

As can be seen from FIG. 7, the pendulum frame 4 is rectangular and has a quadrangular cross section. On pendulum frame 10, two drive wheels 4 and two drives 3 are arranged. Furthermore, two second support wheels 32 are arranged on the pendulum frame 10. The two support wheels 32 are each arranged in corners of the pendulum frame 10. Also, the drive wheels 4 are arranged in the other corners of the pendulum frame 10. A pendulum axis 30 is provided centrally on the pendulum frame 10. The pendulum axis 30 is a central axis of a pendulum shaft 34 (see Figure 3), which through two openings 33 in

Pendulum frame 10 is passed.

As can be seen in particular from FIGS. 3 and 4, the second support wheels 32 on the pendulum frame 10 and the first support wheels 31 on the chassis 2 are each designed as rollers pivotable about a vertical axis 23. The vertical axis 23 is offset from a central axis of the support wheels 31, 32nd

As further seen in FIGS. 3 and 4, each drive wheel 4 has a separate drive 3. This makes it possible that the drive wheels 4 in a simple manner by controlling the individual drives 3 with

Different speeds can be driven or driven in different directions. This will do that

Industrial truck 1 steerable without a steering or the like is provided. This allows a very simple and inexpensive construction of the industrial truck. As can be seen from FIG. 4, the lanes of the first support wheels 31 are farther from the central axis X-X of the industrial truck than the lanes

Lanes of the second support wheels 32. As further seen in Figures 5 and 6, a wheel diameter of the first support wheels 31 is greater than a wheel diameter of the second support wheels 32. A wheel diameter of the second support wheels 32 is also the same as a wheel diameter of the drive wheels

4th On the chassis 2, a loading area (which in this

Embodiment is not shown) are provided. Furthermore, a not shown lifting mechanism can be arranged on the chassis 2 to the loading surface vertically, d. H. perpendicular to the axial direction X-X raise and lower.

The industrial truck 1 of the first embodiment is preferably designed for autonomous driving and has corresponding sensors and control units.

The chassis 2 is provided as a rectangle, wherein the first support wheels 31 are arranged on two lying in the direction of travel corners of the chassis 2. The pendulum frame 10 is arranged on the chassis 2 such that the second support wheels 32 under the other corner regions of the quadrangular

Chassis 2 are.

As a result of the oscillating arrangement of the pendulum frame 10 on the chassis 2, gradients and / or gradients or the like can thus be overcome independently of a road surface, with the drive wheels 4 arranged centrally with respect to the length of the chassis 2 always remaining in contact with the roadway 100. Thus, in the autonomous material handling vehicles according to the first

Embodiment situations are prevented in which the

Industrial truck stops due to a lack of contact of the drive wheels 4 with the roadway.

It should also be noted that it is also possible that the pendulum shaft 34 is divided and that two pendulum frames are provided, wherein a respective drive wheel 4 and a second support wheel 32 is arranged on each pendulum frame. This variant has the additional advantage that the drive wheels of the respective vehicle side can act independently of each other, for example, if on only one side of the industrial truck 1 an obstacle such. B. a bump or the like is present. Figures 8 to 17 show a material handling vehicle 1 according to a second

Embodiment of the invention. The chassis 2 of this industrial truck 1 is a side member 1 1. The longitudinal member 1 1 extends in the axial direction XX of the industrial truck.

The industrial truck 1 is used for lifting and transporting trolleys, which can be loaded, for example, with boxes for material supply of a production. The industrial truck can drive between the rollers of the trolley, lift the trolley and transport. At a predetermined location of the trolley is then discontinued and the

Industrial truck continues without load or picks up another trolley.

On the side member 1 1 of the industrial truck of the second embodiment, a pendulum axis 30 is arranged in the form of a pendulum shaft 34. At the

Pendulum shaft 34, two separate drive units 20 are provided. Each drive unit 20 comprises a drive 3 and a drive wheel 4. In the drive

3 can be integrated a transmission. The drive 3 and the drive wheel 4 are mounted in a pendulum axle 21. The pendulum support 21 is in turn mounted on a bore 22 by means of the pendulum shaft 34 on the longitudinal member 1 1 (see Figure 12). Furthermore, the second support wheel 32 is also arranged on the pendulum axle carrier 21. This can be seen in detail from FIGS. 8 and 12.

As further apparent from Figures 8 and 9, the first support wheels 31 on the longitudinal beam 1 1 by means of a first plate 12 and a second plate 13 are fixed.

The industrial truck 1 further comprises a lifting mechanism 50, which in detail from the figures 10, 1 1, 13, 14 and 15 can be seen. Of the

Lifting mechanism 50 includes a lift cylinder 51 and a

Knee lever mechanism 40, which is twice present due to the size of the loading area 5 (see Figure 1 1). In each case, a toggle mechanism 40 is arranged at each one axial end of the loading surface 5. Everyone

The toggle mechanism comprises a first axis 41, a second axis 42 and a third axis 43. The first axis 41 is in each case mounted in the longitudinal member 1 1. The second axle 42 is connected to an actuating rod 44, which in turn is connected to the lifting cylinder 51. As can be seen from FIGS. 14 and 15, the lifting cylinder 51 is rotatably mounted on a first bearing 52 and a second bearing 53. The third axis 43 of Toggle mechanism 40 is connected to the loading surface 5, respectively. For better clarity, the pendulum frame 10 is not shown in Figure 13 but only the pendulum shaft 34 which is mounted on the side member 1 1. On the longitudinal member 1 1 also a guide member 45 is further arranged, which is connected to the third axis 43 of the toggle mechanism 40, which is further removed from the lifting cylinder 51.

The lifting mechanism 50 and the two toggle mechanisms 40 are shown again in section in FIG. 10 and in side view in FIG. 11. For connecting the three axes connecting elements 70 are provided.

The function of the lifting mechanism 50 is illustrated in FIGS. 14 and 15. FIG. 14 shows the state of the lowered loading area 5, FIG. 15 shows the state of the raised loading area 5. If the loading area is to be raised starting from the lowered state illustrated in FIG. 14, the lifting cylinder 51 is actuated, for example by means of an electric motor, ie retracted in this embodiment, so that the actuating rod 44 is moved in the direction of arrow A. This will be the two

Knee lever mechanisms 40 spread over the actuating rod 44 and the second axis 42. As a result, the loading area 5, as indicated by the arrow B in FIG. 15, lifts.

Thus, when the industrial truck has been placed under a trolley, the trolley can be raised by activating the lifting mechanism 50 so that the trolley is lifted and the rollers of the trolley come out of contact with the road. As a result, the trolley of the industrial truck 1 can be moved autonomously. When the trolley has arrived at the designated place, the loading surface 5 is lowered again by the lifting cylinder 51 is moved in the opposite direction and the toggle mechanism 40, the loading area 5 is lowered again. During the raising and lowering of the loading area 5, the loading area 5 thereby executes a circular movement.

The illustrated lifting mechanism 50 is designed so that only tensile forces act in the operating rod 44. Accordingly, this can be provided very slim and slim, since there is no risk of buckling. It should also be noted that the cargo bed 5 may have folded and lowered edges to increase the rigidity of the cargo bed.

In the lifting cylinder 51, a spindle is preferably integrated, which is preferably designed self-locking. This can be a simple way

Unintentional lowering of the cargo area 5 can be prevented. Since the

Toggle mechanism 40 also acts as a translator, the forces acting on the lifting cylinder 51 forces are reduced. It should be noted that the lifting cylinder 51, a sensor, such as a potentiometer, can be arranged to continuously monitor a lifting height.

By the storage of the lifting cylinder 51 on the first and second bearings 52, 53, the lifting cylinder 51 can perform a pitching motion during retraction and extension.

In the figures 16 and 17 is still still a schematic

Force generating device 80 shown which can be used in both described embodiments. By means of

Force generating device 80, an additional force F can be generated when the truck performs an empty drive. It should be noted that the heavier the truck is, the higher a normal force on

Drive wheel 4 is. When the industrial truck transports a cargo, the weight on the drive wheel 4 is sufficiently large, so that a very good traction is available. However, traction may not be sufficient during an empty journey. For this purpose, the force-generating device 80 is provided which comprises a leg spring 8. The leg spring 8 has a first leg 81 and a second leg 82. Furthermore, a spring travel limiter 83 is provided. As can be seen in FIGS. 16 and 17, the second leg 82 is connected to the loading surface 5. For this purpose, an opening 55 is provided in the loading area 5, which receives a bent by 90 ° end of the second leg 82 of the leg spring. Fig. 16 shows the state in which the loading surface 5 is raised, and Fig. 17 shows the state in which the loading surface is lowered. In the raised state of the loading surface 5 is thus the first leg 81 on Federwegbegrenzer 83. As a result, the first leg 81 is disengaged from a support plate 84 which, for example, on the chassis or on another drive side Component is arranged. In the lowered state of the loading surface 5, which is shown in Figure 17, the first leg 81 comes into contact with the support plate 84. As a result, the leg spring 8 generates the additional force F, which acts on the drive wheels 4. Thus, even in the unloaded state of the

Forklift truck 1 in any driving condition, a sufficient load on the drive wheel 4 are exercised, so that there is always sufficient traction. The maximum force is at the lowest point of the

Lifting mechanism available. Thus, by means of the force-generating device 80, depending on a height of the loading surface 5, an additional force F acting on the drive wheels 4 can be varied.

Claims

claims 1 . Industrial truck, comprising  at least one first support wheel (31),  at least one second support wheel (32),  at least one drive wheel (4),  - a chassis (2), and  a pendulum frame (10) which is articulated on the chassis (2) by means of a horizontal pendulum axle (30),  - Wherein the first support wheel (31) on the chassis (2) is arranged and - Wherein the second support wheel (32) and the drive wheel (4) on  Pendulum frame (10) are arranged. 2. Industrial truck according to claim 1, wherein a drive and / or a  Transmission of the drive wheel (4) on the pendulum frame (10) is arranged. 3. Industrial truck according to one of the preceding claims, wherein the drive wheel (4) in the axial direction (X-X) of the industrial truck between the first support wheel (31) and the second support wheel (32) is arranged. 4. Industrial truck according to one of the preceding claims,  characterized by exactly two drive wheels (4), which on  Pendulum frame (10) are arranged. 5. Industrial truck according to one of the preceding claims,  characterized exactly by two second support wheels (32) which are arranged on the pendulum frame (10). 6. Industrial truck according to one of the preceding claims, wherein the first support wheel (31) about a vertical axis (23) rotatably mounted on the chassis (2, 1 1) and / or wherein the second support wheel (32) about a vertical axis (23 ) is rotatably mounted on the pendulum frame (10). 7. Industrial truck according to one of the preceding claims, wherein the pendulum frame (10) is quadrangular and at least a second support wheel (32) is arranged in a corner of the pendulum frame and at least one drive wheel (4) is arranged in a corner of the pendulum frame. 8. Industrial truck according to one of the preceding claims, wherein the chassis (2) comprises a longitudinal member (1 1). 9. Industrial truck according to one of the preceding claims, wherein the industrial truck is an autonomously moving industrial vehicle. 10. Industrial truck according to one of the preceding claims, further comprising a vertical lifting mechanism (50) which is arranged on the chassis and with a loading area (5) is connected. 1 1. Industrial truck according to claim 10, wherein the lifting mechanism (50) at least one lifting cylinder (51) and at least one  Toggle mechanism (40) which is connected to the lifting cylinder (51). 12. Industrial truck according to claim 10 or 1 1, further comprising a  Force generating device (80) which is adapted to generate an additional force (F) on the drive wheel (4) as a function of a lifting height of the lifting mechanism (50). 13. Industrial truck according to claim 12, wherein the  Force generating device (80) has a leg spring (8) having a first leg (81) and a second leg (82), wherein the first leg is connected to a connected to the chassis (2) component or the chassis (2) and wherein the second leg (82) is connected to the loading surface (5) or to a component connected to the loading surface (5). 14. Industrial truck according to claim 13, wherein the  Force generating device (80) further comprises a Federwegsbegrenzer (83) which limits a spring travel of the first leg (81).