DE102018112566A1 - Truck with extendable structure - Google Patents

Abstract

The invention relates to an industrial truck (1), in particular order picking truck, with a drive part (3) and a load part (4) for receiving at least one load bearing device, in particular a pallet. It is proposed that on the drive part (3) a horizontally in the direction of the load part (4) extendable structure (2) is mounted, which at the drive part (3) facing away from a vertically aligned mast (24), on which a Lifting carriage (17) is mounted vertically movable, which has a load handling manipulator arm (18).

Description

The invention relates to an industrial truck, in particular picking truck, with a drive part and a load part for receiving at least one load bearing device, in particular a pallet.

Industrial trucks are used, for example, for order picking, that is, for putting together goods in a warehouse. For this purpose, picking trucks are very often used as a form of industrial trucks. In this case, the order-picking truck with a load bearing device located on forks, such as a pallet or a wire mesh basket, moves through the rack aisles of a warehouse in which the goods to be picked or picked are stored. Depending on the order, the picker or executive removes the goods located on the shelf, places them on or in the load-carrying device of the order-picking truck, and then has to drive to the next pick-up location within the warehouse or the rack aisle of the goods warehouse for the next goods , When the respective order for picking has been completely processed, the order picker moves to a goods delivery with the order picking truck. The routes from one location to the next are in the great majority short to very short straight distances within a rack aisle or along a shelf in the warehouse. In the sum, however, arises due to the large number of required travel movements of the truck, which must be made by the order picker, a considerable amount of time since the order picker has to go to a driver's workplace of the picking truck to operate the corresponding drive switch and the vehicle in the To control driving movement, and then back to the position for picking up the goods.

There are therefore forklifts known for semi-automated picking. This semi-automated picking basically works in a similar way, except that the order picker no longer has to carry the truck himself, at least on the straight sections along a shelf, but the truck automatically moves. The control of the truck while driving to the next receiving station can be done for example by a radio remote control, such as a wireless glove with a radio remote control function, or by controlling the truck via voice commands.

Further automation is made possible by mobile picking robots. Mobile picking robots are used for the fully automatic picking of objects, for example goods, the objects being removed from a storage location located laterally next to the picking robot and being deposited on a load carrying device carried on the picking robot, for example a pallet. The storage location can be a shelf of a shelf located laterally next to the picking robot of a warehouse or even a laterally located next to the picking robot range of a warehouse.

It is known to design mobile picking robots on the basis of an autonomously and thus driverless operated truck by providing the truck for handling the objects with a load handling manipulator arm. The load handling manipulator arm can be used to pick up an object located outside the base area of the industrial truck at a storage location located laterally next to the industrial truck and place it on the load carrying device of the industrial truck.

Such a mobile picking robot, which is formed on the basis of an autonomous and driverless operated truck, which is provided for the handling of the objects with a load handling manipulator, is from the EP 2 987 761 A1 known. The load handling manipulator arm, with which objects are picked up from a shelf located laterally next to the industrial truck or from a pallet and deposited on the load-bearing device on the industrial truck, is arranged directly on the industrial truck.

In this case, however, it is disadvantageous that during operation of the load handling manipulator arm, for example during the handling of objects during a picking operation, the truck supported on the carriageway in the roadway is endangered and can tip over. This can occur in particular if the load handling manipulator arm represents a high construction on the industrial truck or if objects are gripped by the load handling manipulator arm far to the side of the industrial truck or if large dynamic loads occur during operation of the load handling manipulator arm.

In addition, the truck must be specially designed for use with the load handling manipulator arm. An adaptation to different types of load handling manipulator arms is not readily possible. Such trained as a picking robot truck therefore does not allow flexible design with different robot kinematics.

The present invention is based on the object, a truck of the above in such a way that the flexibility with regard to the integration of different types of load handling manipulator arms is improved.

This object is achieved in that a horizontally in the direction of the load part extendable structure is attached to the drive part, which comprises a vertically oriented mast on the end remote from the drive part to which a lifting is mounted vertically movable, which has a load handling manipulator.

The invention is thus based on a combination of a conventional industrial truck, for example an autonomously and thus driverless operated industrial truck, a load handling manipulator arm and an extensible structure. In this case, the load handling manipulator arm can in principle be designed for manual or automatic actuation. In a manual operation, the load handling manipulator arm is controlled by, for example, a remote operator. Preferably, however, the load handling manipulator arm is designed for automatic actuation via a computer system. In this case, the load handling manipulator arm is a gripper robot arm. Thus, the truck, which is preferably operated autonomously and thus driverless, to a mobile picking robot that allows autonomous picking.

The preparation of an industrial truck for robotic control requires a suitable working environment, i. a necessary and adequate space for the maneuverability of the load handling manipulator arm to prevent the load handling manipulator arm from colliding with the goods deposited on the load bearing apparatus, particularly the pallet.

Previously, it was necessary for the integration of a Greifroboterarms in an industrial truck specially adapted to this application truck construction to meet the requirements of the manufacturer of Greifroboterarms. The invention now provides the possibility of providing conventional trucks with an extendable structure which provides the load handling manipulator arm disposed therewith adequate space for its maneuverability in picking up and dropping goods.

In a preferred embodiment, the load part comprises at least one horizontally oriented load arm. In this case, the structure is expediently extendable parallel to the load arm. The attached to the drive part of the truck retractable structure thus consists of two main axes. The x-axis is oriented along the load arm and the z-axis corresponds to the height movement of the lifting carriage on the mast. In this case, the extendable structure allows a relative movement of the load handling manipulator arm in the axis of the load arm of the truck. Thus, together with the movements of the load handling manipulator arm, the load handling can be carried out in three dimensions.

Conveniently, the load part comprises two parallel arranged, preferably supported on rollers load arms on which the load bearing device can be stored. Instead of load arms and self-supporting load forks can be provided.

The pull-out structure has the advantage of being able to release the truck specific environment in order to utilize the entire work area of the load handling manipulator arm and to perform palletizing operations. Thus, the load handling manipulator arm can freely grasp the goods and position them on the load bearing device, in particular the pallet being transported by the truck. The invention is therefore suitable for many picking applications according to customer needs.

Advantageously, the structure comprises at least one fixed arm attached to the drive part and at least one movable arm, the movable arm being displaceable in a linear guide along the fixed arm.

In the case of forming the load part with two parallel load arms, two fixed and two movable arms are preferably provided parallel to the load arms, wherein the load arms are inside, while the fixed and movable arms are arranged laterally adjacent to the outside.

In addition, in this case, the mast preferably comprises two mast profiles formed, vertically oriented masts, one of which is supported on one of the parallel, movable arms. In this case, the lifting carriage can be guided by guide rollers on both sides of the mast profiles and thus along the vertical axis (z-axis) to be moved.

The fixed arm and / or the movable arm preferably have a mast profile designed as a C-profile or as an I-profile. This achieves, on the one hand, a high rigidity of the structure and, on the other hand, an effective guidance of the movable arm. In order to ensure reliable extensibility of the structure, the fixed arm and / or the movable arm are preferred Guide rollers on. The guide rollers run suitably on two opposite sides of the mast profile, so that considerable forces can be absorbed from both sides. In particular, an I-profile is advantageous for this purpose. With mast profiles a simple linear guide can be formed and can be achieved that the extendable structure has a simple structure.

The movable arm preferably covers the fixed arm. In this case, the movable arm is guided in the mast profile of the fixed arm, whereby a sliding of the movable arm relative to the fixed arm is made possible.

At the end of the movable arm, the mast, which is preferably also in the form of a mast, allows lifting and lowering of the lifting carriage and thus of the load handling manipulator arm.

Actuators preferably allow the mobility of the extendable structure and the lifting and lowering of the lifting carriage.

For extending and retracting the structure, the fixed arm and / or the movable arm have at least one drive device which can displace the movable arm in the linear guide along the fixed arm in the horizontal direction (x-axis). In the case of forming the extendable structure with two parallel arms, preferably both arms have their own drive means. The drive device expediently comprises an electrically actuated linear drive. The linear drive preferably has a threaded drive, in particular a ball screw drive, which can be driven, for example, by an electric motor. Thus, the extendable structure can be placed very precisely and quickly in the longitudinal direction with the load handling manipulator arm. Alternatively, the drive device may comprise a belt drive. A hydraulically actuated linear drive can also be advantageous. In this case, a driven by a hydraulic pump hydraulic cylinder is provided, which causes a Ausschub- and insertion movement of the movable arm.

For lifting and lowering the lifting carriage can also be used a hydraulic or electric drive. For this purpose, the mast can be equipped, for example, with an electric motor-driven ball screw drive or a hydraulic pump driven by a hydraulic cylinder. This allows fast and precise movements along a vertical axis ( z -Axis).

In the case of the formation of the mast with two parallel masts each mast is preferably equipped with its own drive. In this case, for example, electrically operated linear drive, preferably electric motors with ball screw drives can be used, both motors are synchronized, or it is only one electric motor used and the movement is transmitted to both ball screw drives.

The actuators equipped with the extendable structure allow the simultaneous generation of the movements along the x-axis and the z-axis. To these two movements come the movements of the load handling manipulator arm, which then form a relative movement in three dimensions.

Conveniently, support rollers are provided for support on the ground at the end of the structure facing away from the drive part. Together with the chassis, which usually has at least three wheels on the drive part and possibly on the load part of the truck, the truck equipped with the extendable structure is statically determined.

In the case of forming the retractable structure with fixed and movable arms, support rollers are preferably provided below each movable arm in the region of the mast, which make it possible to take the load of the mast and with which a smooth movement of the extendable structure during rolling on the ground ensured becomes.

In a particularly preferred embodiment of the invention, the structure in the extended state between the drive part facing away from the end facing the drive part and at least one, in particular designed as an additional role, additional wheel for support on the ground. This solves the problem of mechanical deflection that occurs when the structure is extended.

When forming the structure with at least one fixed arm attached to the drive part and at least one arm movable along the fixed arm, the additional wheel is expediently arranged on the end of the fixed arm facing away from the drive part. The additional wheel makes it possible to avoid permanent deformations of the structure even when heavy loads are taken up.

According to one embodiment of the invention, the additional wheel has a retracting and retracting device, which in particular comprises a folding mechanism. The retracting and retracting device is It is designed so that the additional wheel is retracted in the retracted state of the structure and automatically extends when extending the structure.

In a particularly preferred embodiment of the invention, the auxiliary wheel on a Zusatzrad-suspension with an adjustment on the pretending the vertical distance of the additional wheel in the extended state to the load part as a variable preset. In this way, an adjustability of the additional wheel is achieved, so that an adaptation to structural conditions of the truck and to various loads is possible.

With particular advantage, the extension and retraction of Zusatzrad suspension has a pivotable about a horizontal pivot axis lower arm to which the auxiliary wheel is rotatably mounted about a horizontal axis of rotation, and a pivotable about the horizontal pivot axis upper link, which is provided with an actuating device for Extending and retracting is in operative connection, on. In this case, the upper link and the lower link are connected to each other via the adjustment such that the angle between the upper arm and the lower arm is presettable.

Conveniently, the adjustment device comprises a threaded adjustment, in particular a threaded screw, with which the angle between the upper and the lower arm can be adjusted.

The threaded screw makes it possible to adjust the preload on the ground, for example, according to the load fork type, the truck type used and the desired customer application. If e.g. the threaded screw screwed as far as the stop in the upper arm of the additional wheel suspension, this is on the lower arm of the additional suspension on. By tightening or loosening the threaded screw, the retractable height of the auxiliary wheel can be easily adjusted in order to obtain a strong and good support on the ground.

The operation of the extension and retraction of the additional wheel can be done in different ways.

A preferred variant is that an actuating device during extension of the extendable structure of the truck is automatically actuated by applying pressure to the movable arm. For this embodiment, no active control e.g. required via an electromotive actuator. Instead, it is sufficient that the contour of the movable arm of the extendable structure comes in contact with the actuator during the Ausschubvorgang. In this case, when moving the movable arm expediently an adjusting element is moved, which acts on extension of the movable arm on the actuator and thus automatically triggers the extension of the auxiliary wheel and lowers the auxiliary wheel on the road.

In a particularly advantageous embodiment, the actuating device comprises a cam roller arranged on the upper arm and a cam arranged on the movable arm, the cam pressing on the cam roller for actuating the retraction and retraction device. For this purpose, the cam is expediently attached to the extendable structure, in particular on the movable arm, so that it presses on extension of the movable arm on the arranged on the upper arm of the additional wheel suspension cam roller and thus the upper arm and the associated lower arm down pushes, whereby the auxiliary wheel is pressed onto the road. In this way, the support is triggered by the additional wheel automatically when needed, namely, if there is a risk that the arms of the extendable structure bend due to their extension by the recorded load.

Another variant consists in that the actuating device comprises an electromechanical drive device which has an electric motor and a power transmission device driven by the electric motor, in particular a threaded drive or a belt drive. In this way, the extension and retraction of the additional wheel can be controlled for example by a vehicle control.

According to a further advantageous embodiment, the actuating device comprises a hydraulic drive device which has a hydraulic cylinder. In this way, a controlled extension and retraction of the additional wheel is made possible for example by a vehicle control.

Appropriately, the extension and retraction device has an energy storage device, in particular a spring which exerts a biasing force which holds the auxiliary wheel in the retracted position. This embodiment is particularly advantageous in the case of actuation of the extension and retraction device by applying pressure to the movable arm. In this case, in particular presses an actuator of the movable arm, the auxiliary wheel against the biasing force on the road.

In the case of training the extension and retraction of the additional wheel suspension with a The power storage device is arranged between the upper or the lower arm and the fixed arm about a horizontal pivot axis pivotable lower arm and upper arm.

The extendable structure is preferably designed such that the full load bearing device (in particular the pallet) can be easily removed. To meet this need, the structure should be open on the side of the load part. Therefore, it is provided according to a particularly preferred embodiment of the invention that the structure comprises two fixed arms and two movable arms, wherein the fixed and movable arms are each arranged parallel to each other and at a horizontal distance from one another, which is greater than the width of the load bearing device.

In addition, the mast is preferably formed of two vertically oriented masts, which are arranged at a horizontal distance from each other, which is greater than the width of the load bearing device. In this case, the masts are preferably held together by at least one horizontally oriented, in particular designed as a locking rod, cross strut, which is arranged vertically movable on the masts.

The height-adjustable crossbar ensures the parallel locking of the fixed and movable arms. The crossbar ensures the correct function of guiding the movable arms relative to the fixed arms and the rigidity of the mast when the lifting carriage and the load handling manipulator arm are in operation.

Overall, the height-adjustable cross member enables the structure on the side of the load handling manipulator arm to be as stable as a conventional industrial lift frame, while by pushing up the cross member, free access to the load bearing device can be formed and the entire load bearing device can be taken out to its maximum loading height. This is important to the proper functioning of the entire extendable structure as it maintains the position of the fixed and movable arms and the parallelism of their guidance.

For raising and lowering the transverse strut, the cross strut can be in operative connection with a drive device which executes the vertical movement of the cross strut.

In this case, the drive device may be designed in particular as a threaded drive, which is driven by an electric motor.

According to a particularly preferred embodiment, however, the cross member is moved by the already existing lifting, which can be raised and lowered along the masts. For this purpose, cooperating connecting elements are provided on the transverse strut and on the lifting carriage, which allow a coupling of the transverse strut with the lifting carriage, wherein the cross strut is arranged in the decoupled state in the lower region of the lifting masts and is movable in the coupled state with the lifting carriage.

For example, to let a pallet pass, the lifting carriage picks up the crossbar in its lower position. As soon as the lifting carriage is raised with the cross brace, the path is free in the lower area of the lifting masts to allow the pallet to pass.

Conveniently, the connecting elements comprise a pin and a pin receptacle. For example, the pin may be provided on the lifting carriage and the pin receiving means on the transverse strut. A reverse arrangement is conceivable. The pin engages when coupling in the pin receptacle and thus establishes a secure connection between lifting and cross strut ago.

In a particularly preferred embodiment of the invention, the pin is in operative connection with a magnetic actuator. In this way, the coupling can be triggered by an electrical signal, for example by a control device. The coupling may also be automatic, e.g. by means of a sensor, the abutment of the lifting carriage is detected on the cross strut.

In a further development of the invention, at least one sensor is provided in the region of the connecting element, which monitors the coupling of the locking rod with the lifting carriage. The sensor detects the correct position of the pin in the pin receptacle before the lifting carriage is raised with the crossbar.

It is also conceivable to produce the connection between the lifting carriage and the transverse strut by magnetization. In addition, any mechanical coupling in different axes ( X ; Y ; Z ) respectively.

As soon as the load bearing device is full, the height-adjustable lifting carriage on which the load handling manipulator arm is installed and which moves along the z -Axis moved along the mast, the cross strut from the lower position, it raises to the upper position (removal position) and free the space for passing the full load bearing device. The cross strut is preferred with Guide rollers for his leadership within the mast profiles along the z -Axis equipped.

The locking of the crossbar in the lower position, i. in the working position, is advantageously carried out mechanically via locking elements and is controlled by presence sensors. Preferably, at least one sensor is provided in the region of the locking elements, which monitors the locking of the transverse strut in the lower position. If the sensor detects the correct locking of the cross brace in the lifting mast, the control of the truck and a new palletizing can be authorized by a control device.

According to a further preferred embodiment of the invention, the extendable structure is attached to the drive part via a hinge with horizontal tilting axis. The entire extendable structure is thus connected by a pivotal connection with the drive part of the truck. This allows the structure to conform to bumps without compromising stability.

In order to enable an autonomous and thus driverless operation of the truck, at least one environmental monitoring sensor is preferably arranged on the drive part and on the end of the extendable structure facing away from the drive part. The environmental monitoring sensor can be designed, for example, as a laser scanner, camera (in particular 3D camera) or ultrasound detector. Particularly preferably, the drive part and the extendable structure are equipped with a total of four laser scanners, which are attached to the outer corners of the truck. Thus, possible obstacles or dangers can be detected at every position of the extendable structure.

The load part of the truck according to the invention may have load arms, which are designed for an initial stroke.

In a further development of the invention, a load fork with forks is provided on the load part in addition to load arms, which are designed for an initial lift, which allow an additional mast stroke independently of the load arms. While the load arms are e.g. only about 10 to 15 cm can be raised to lift the load bearing device, in particular the pallet from the ground, the fork can, for example. be raised on a separate mast to a height of for example 1 m. The lower load arms are typically so long that two pallets can be taken in succession. In contrast, the forks of the upper fork are typically only as long as a pallet.

With this configuration, there is thus an additional load fork, that is, there is a long Lastarmsystem and independent independent short load fork system. The long load arms are provided to receive and set down two pallets simultaneously. The short forks of the forks cover the long load arms in their lower position and lift the first pallet to be loaded.

This embodiment makes it possible to place goods on the first pallet with a full second pallet.

For example, in the case where only one or two rows of goods are missing on the first pallet, the first pallet can be raised with the additional forks of the forks over the second full pallet so that the load handling manipulator arm can deposit the goods on the first pallet without having to place the second pallet on the floor.

For example, if the first pallet lacks more than two rows of goods, the load arms can only set down the second pallet on the ground, while the first pallet remains resting on the additional, slightly raised forks of the forklift. With this solution, the load handling manipulator arm can use its entire working space to pick up and deposit a commodity without fully deploying the extendable structure.

To deposit the second pallet so the first pallet is raised with the forks of the additional fork by means of their own mast, while the load arms are lowered by means of the Initialhubes to settle only the second pallet on the floor.

Another variant of the invention provides that the load arms with, in particular two, levels of different heights, but the same lifting system, are equipped. For example, if the load arms are lower in the area in which the second pallet is received than in the area in which the first pallet is received, then (as in the previous description) the second pallet can be set down on the ground, while the first pallet remains lying on the load arms.

• Die Erfindung kann schnell in jede neue Entwicklung eines Flurförderzeugs integriert werden. Außerdem erlaubt die ausfahrbare Struktur die Verwendung einer großen Anzahl von Lasthandhabungsmanipulatorarmen (3-Achsen / 4-Achsen / 5-Achsen / 6-Achsen), ohne die grundsätzliche Konstruktion des Flurförderzeugs in Frage zu stellen. Das Vorhandensein der ausfahrbaren Struktur relativ zum Flurförderzeug erleichtert die Anpassung der Kinematik des Lasthandhabungsmanipulatorarms. Die Größe des Lasthandhabungsmanipulatorarms ist für die gesamte Arbeitsumgebung kein Problem mehr. Die ausfahrbare Struktur verbessert die Manövrierbarkeit des Lasthandhabungsmanipulatorarms in der Umgebung des Flurförderzeugs. Dadurch kann der Platz zur Verfügung werden, den der Lasthandhabungsmanipulatorarm benötigt, um alle seine Bewegungen beim Aufnehmen und Ablegen von Waren auszuführen, unabhängig davon, wie viele Paletten auf den Lastarmen des Flurförderzeugs vorhanden sind. Dies ermöglicht die gleichzeitige Kommissionierung von zwei Paletten auf einem Flurförderzeug.

The invention offers a whole series of advantages:

• The invention can be quickly integrated into any new truck development. In addition, the extendable structure allows the use of a large number of load handling manipulator arms (3-axis / 4-axis / 5-axis / 6-axis) without compromising the basic design of the truck. The presence of the extendable structure relative to the truck facilitates the adaptation of the kinematics of the load handling manipulator arm. The size of the load handling manipulator arm is no longer a problem for the entire work environment. The extendable structure improves maneuverability of the load handling manipulator arm in the truck environment. This can provide the space required by the load handling manipulator arm to perform all of its movements in picking and dropping goods, regardless of how many pallets are present on the truck's load arms. This allows the simultaneous picking of two pallets on a truck.

Since no separate driverless transport system must be developed, but integration into conventional autonomous trucks is possible, the development costs can be significantly reduced, thereby increasing overall cost-effectiveness.

In addition, for the automated operation of the truck 1 and the load handling manipulator arm 18 as a mobile picking robot with a fully automatic picking of the pallets enables a simple control, there for extendable structure 2 the drive part 3 of the truck 1 serves as a reference point and for the lifting carriage 17 arranged load hand manipulation manipulator arm 18 the extendable structure 2 serves as a reference point.

• 1 eine perspektivische Darstellung des Flurförderzeugs mit ausfahrbarer Struktur,
• 2 das Flurförderzeug im eingefahrenen und ausgefahrenen Zustand der ausfahrbaren Struktur,
• 3 eine Detaildarstellung der als Verriegelungsstab ausgebildeten Querstrebe,
• 4 eine Detaildarstellung des ausklappbaren Zusatzrads,
• 5 verschiedene Arbeitspositionen des Flurförderzeugs,
• 6 verschiedene Positionen der Querstrebe,
• 7 das Flurförderzeug mit zusätzlicher Lastgabel,
• 8 verschiedene Arbeitspositionen des Flurförderzeugs mit zusätzlicher Lastgabel ohne Absetzen der Palette,
• 9 verschiedene Arbeitspositionen des Flurförderzeugs mit zusätzlicher Lastgabel mit Absetzen der Palette,
• 10 verschiedene Arbeitspositionen des Flurförderzeugs mit zusätzlicher Lastgabel mit Beladen der Palette,
• 11 das Flurförderzeug mit unterschiedlicher Höhe der Lastarmebenen, und
• 12 verschiedene Arbeitspositionen des Flurförderzeugs mit unterschiedlicher Höhe der Lastarmebenen mit Absetzen der Palette.

Further advantages and details of the invention will be explained in more detail with reference to the embodiments illustrated in the schematic figures. Show here

• 1 a perspective view of the truck with extendable structure,
• 2 the truck in the retracted and extended state of the extendable structure,
• 3 a detailed representation of the crossbar formed as a locking rod,
• 4 a detailed representation of the fold-out auxiliary wheel,
• 5 different working positions of the truck,
• 6 different positions of the cross brace,
• 7 the truck with additional fork,
• 8th different working positions of the truck with additional fork without setting down the pallet,
• 9 different working positions of the truck with additional fork with setting of the pallet,
• 10 different working positions of the truck with additional fork with pallet loading,
• 11 the truck with different height of the loading arm levels, and
• 12 Different working positions of the truck with different height of the loading arm levels with settling of the pallet.

In the figures, the same features are designated by the same reference numerals.

In 1 is designed as a picking truck industrial truck 1 with an extendable structure 2 shown. The truck 1 is as autonomous and thus driverless operated truck 1 educated.

The truck 1 comprises a drive part 3 in which an electric traction drive and a traction battery and a vehicle control are housed, and a load part 4 with load arms 5 with which a load bearing device, not shown in the figure, in particular a pallet, can be accommodated. At the drive part 3 a steerable drive wheel is mounted centrally, which is not visible in the perspective view of the figure. The load arms 5 rely on load rollers 6 on the ground. The load arms 5 are designed for an initial stroke and by means of an Initialhubvorrichtung on the drive part 4 raised and lowered arranged.

Parallel to the load arms 5 extends the extendable structure 2 , This includes parallel arranged fixed arms 7 . 8th and movable arms 9 . 10 , The poor 7 . 8th . 9 . 10 have a mast profile in the form of a C-profile or I-profile. The moving arms 9 . 10 cover the fixed arms 7 . 8th and are along the fixed arms 7 . 8th longitudinally. These are guide rollers 12 provided that run on both sides in the mast profiles. The mast profiles of the arms 7 - 10 and the leadership roles 12 form a linear guide and allow a retracting and retracting movement of the movable arms 9 . 10 relative to the fixed arms 7,8.

Furthermore, in the fixed arms 7 . 8th electrically operated linear drives 19 , For example, ball screw drives, arranged, the extension and retraction of the movable arms 9 . 10 cause.

On the drive part 3 opposite end of the movable arms 9 . 10 are support rollers 13 . 14 attached, over which the extendable structure 2 supported against the ground. In addition to the drive part 3 facing away end of the fixed arms 7 . 8th trained as additional roles auxiliary wheels 26 provided during extension of the movable arms 9 . 10 automatically fold out and rest on the ground. These additional wheels 26 prevent a bending of the arms 7 . 8th . 9 . 10 in the extended state when loading the load handling manipulator arm 18 with heavy loads.

The fixed arms 7 . 8th are over a joint with horizontal tilt axis 11 on the drive part 3 appropriate. Thus, the fixed arms 7 . 8th by a pivotal connection with the drive part 3 connected. This will be an adaptation of the extendable structure 2 allows for uneven floors without compromising stability.

At the rear end of the movable arms 9 . 10 are vertical masts 15 . 16 attached to the mast 24 form. At the masts 15 . 16 is a lifting carriage 17 arranged vertically. The lifting carriage 17 has, not shown in the figure, guide rollers in the mast profiles of the masts 15 . 16 to run. In the masts 15 . 16 are electrically operated linear drives 20 , For example, ball screw drives arranged, the raising and lowering of the lifting 17 cause.

On the lifting carriage 17 is a load handling manipulator arm designed as a gripper robotic arm 18 appropriate.

The load arms 5 are thus between the drive part 3 and the mast 24 arranged.

At the bottom of the masts 15 . 16 is designed as a locking rod, horizontally aligned and height-adjustable cross member 21 provided the stability of the mast 24 ensures and a spreading apart of the two masts 15 . 16 when loading the load handling manipulator arm 18 prevented with heavy loads.

At the rear ends of the movable arms 9 . 10 and on the drive part 3 are designed as laser scanner environmental monitoring sensors 22 . 23 appropriate. Thus, in an autonomous operation of the truck 1 possible obstacles or dangers are detected early.

By the drive of the drive part 3 , the linear drives 19 at the fixed arms 7 . 8th and the linear drives 20 on the mast 24 as well as the mobility of the load handling manipulator arm 18 results in a total of a mobility in the load handling in all three spatial dimensions in x - y - and z -Direction.

In 2 is the truck in the figure above 1 out 1 in the retracted state of the extendable structure 2 and in the lower figure in the extended state of the extendable structure 2 shown.

3 shows in the upper part again the truck 1 out 1 in the retracted state of the extendable structure 2 , In addition, the mast is 24 and the lifting carriage 17 with the load handling manipulator arm 18 shown. At the bottom of the mast 24 is the crossbar 21 arranged. The cross strut 21 is in the lower part of the 3 shown in detail. It can be seen that the transverse death 21 between the masts 15 . 16 is arranged vertically movable. The cross strut 21 is in the mast profiles of the masts 15 . 16 vertically movable by means not shown in the figure mast guide rollers and supports in the lower position of the masts 15 . 16 against each other. In this position, the cross strut engages 21 in locking elements 25 one at the masts 15 . 16 are attached. The locking elements 25 have in the figure, not shown inlet rails, in the on the cross member 21 arranged and not shown in the figure inlet guide rollers with horizontal perpendicular to the locking bar 21 aligned axes of rotation when lowering the crossbar 21 enter. In this way, in the lower position of the crossbar 21 the two lifting masts 14 . 15 locked in the vehicle transverse direction and a spreading apart of the masts 15 . 16 prevents and a constant horizontal distance of the masts 15 . 16 even when loading the load handling manipulator arm 18 secured with heavy loads.

In 4 is the additional wheel 26 out 1 shown in detail. Here is the additional wheel 26 on the left side of the 4 in the folded state and on the right side of the 4 shown in the unfolded state. The additional wheel 26 is about a handlebar 29 and a joint 27 with horizontal axis of rotation at the rear end of the fixed arm 7 . 8th hinged. In addition, the additional wheel 26 a cam roller 28 on, rotatable on the handlebar 29 is arranged. When extending the movable arm 9 . 10 shifts the movable arm 9 . 10 relative to the fixed arm 7 . 8th , One in the moving arm 9 . 10 provided cam 30 presses when extending the movable arm 9 . 10 on the cam roller 28 and presses the auxiliary wheel 26 against a spring force of a spring 31 on the ground 32 , The extension of the moving arm 9 . 10 is on the right side of the 4 shown. Extending the movable arm 9 . 10 takes place in this illustration in the arrow direction 33 to the right, whereby the unfolding of the additional wheel 26 in the direction of the arrow 34 is effected. By pressing the additional wheel 26 by means of the cam 30 allows it on simple way that the extra wheel 26 with incoming mobile arms 9 . 10 by means of the spring 31 retracted or folded and lifted off the ground and when extending the movable arms 9 . 10 automatically extended or unfolded and on the ground 32 is lowered.

5 shows different working positions of the truck 1 of the 1 to 4 in the side view. In the left upper figure is the truck 1 shown in the driving position without a pallet. This driving position could also be taken with a full range. In this condition are the movable arms 9 . 10 completely retracted. The at the fixed arms 7 . 8th mounted retractable auxiliary wheels 26 are collapsed. The truck 1 stands on the drive wheel 35 of the drive part 3 and the at the moving arms 9 . 10 attached support rollers 13 . 14 , The fixed arms 7 . 8th are over a joint with horizontal tilt axis 11 on the drive part 3 appropriate. Thus, the fixed arms 7 . 8th by a pivotal connection with the drive part 3 connected. At the masts 15 . 16 is the lift 17 with the load handling manipulator arm 18 arranged vertically.

In the upper right illustration of the 5 is the truck 1 shown in a palletizing position in which the loading volume 36 a first pallet is loaded with goods. For this purpose, the movable arms 9 . 10 so far extended that the additional wheels 26 expand automatically. In this way, it ensures that the arms 7 . 8th and 9 . 10 even when loading the load handling manipulator arm 18 do not bend with heavy loads. The load handling manipulator arm 18 has enough working space in this position 37 to pick up the goods and place them on the first pallet.

In the lower left illustration of the 5 are the moving arms 9 . 10 even further extended to have enough work space 37 to load the behind the loading volume 36 the first pallet loading volume 38 to create a second palette. Also in this position are the additional wheels 26 collapsed.

The bottom right illustration of the 5 finally shows the driving position of the truck 1 with the full load volumes 36 . 38 the two loaded pallets. In this position are the movable arms 9 . 10 fully retracted and the additional wheels 26 collapsed.

In the truck 1 of the 1 to 5 First, the front pallet and then the second rear pallet can be picked with goods.

In the 6 are the different positions of the trained as a locking rod crossbar 21 of the truck 1 shown. In the upper left illustration of the 6 is the truck 1 shown after completion of the palletizing process. Here is the crossbar 21 completely lowered and stabilizes the masts 15 . 16 in the vehicle transverse direction, while the lifting 17 with the load handling manipulator arm 18 in the upper area of the masts 15 . 16 located.

To move out with the goods 39 loaded pallets must have the crossbar 21 be driven up. For this purpose, first, as in the upper right figure of the 6 shown the lifting carriage 17 lowered. The lifting carriage 17 coupled via cooperating connection means on the cross brace 21 and so can the cross strut 21 to grab.

In the left middle picture of the 6 is shown as the crossbar 21 with the lifting carriage 17 was lifted up, so that the full on the load arms 5 pallets can be parked on the ground and with the truck 1 can be driven up. The parked on the floor pallets are thereby of the raised crossbar 21 happens.

In the right middle picture the 6 is the truck 1 shown in the discharged state.

After unloading the pallets, the lifting carriage can 17 with the cross brace 21 be lowered again and from the crossbar 21 be decoupled, as in the lower picture of the 6 is shown, so that the crossbar 21 the lifting masts 15 . 16 locked again and stabilized.

In the 7 is a variant of the truck 1 shown in addition to the load arms 5 , which are designed for an initial stroke, a fork 40 is provided, which is independent of the load arms 5 allows an additional mast lift.

In the left picture of the 7 is shown as the fork 40 can be raised. While the load arms 5 By means of an Initialhubvorrichtung only about 10-20 cm can be raised to lift the pallet from the ground, the fork can 40 from a lower position 41 to a higher position 42 be raised in about 1 m height. Here are the lower load arms 5 so long that two pallets can be taken in succession. In contrast, the upper fork is 40 only as long as a pallet.

In the right picture of the 7 is the truck 1 with two loaded pallets with the loading volumes 36 . 38 shown. Here is the fork 40 lowered. The additional wheels 26 are collapsed.

8th shows different working positions of the truck 1 with additional fork 40 without settling the second, rear pallet.

In the upper left illustration of the 8th is the situation after complete palletizing of the loading volume 38 the second palette shown. Here are the movable arms 9 . 10 extended to sufficient work space 37 for the load handling manipulator arm 18 to accomplish. The additional wheels 26 are unfolded. On the loading volume 36 the first pallet lacks a number of goods. To finish the first pallet, the first pallet with the forklift will be 40 over the loading height of the full load volume 38 lifted the second pallet, so that the load handling manipulator 18 The goods can settle on the first pallet without having to put the second pallet on the ground.

To do this, as in the upper right figure of the 8th shown the movable arms 9 . 10 retracted so that the load handling manipulator arm 18 the loading volume 36 reach the first pallet. The additional wheels 26 are collapsed.

In the lower picture of the 8th is the truck 1 shown in the driving position in which the forks 40 is lowered.

In the 9 are different working positions of the truck 1 with additional fork 40 presented with discontinuation of the second, rear pallet.

In the upper left illustration of the 9 the situation is shown, according to which in the load volume 36 the first pallet lacks several rows of goods.

As in the upper right figure of the 9 In this case, the load handling manipulator arm may be illustrated 18 a critical area 41 the loading volume 36 the first pallet even with raised fork 40 do not reach.

Therefore, as shown in the lower left illustration of 9 shown, the load arms 5 under the lowest position of the fork 40 lowered or the fork 40 raised so that the load arms 5 only the second pallet with the full load volume 38 can settle on the floor while the first pallet with the unfilled load volume 36 on the forklift 40 remains lying.

In the lower right illustration of the 9 is the second pallet with the full load volume 38 parked on the ground and the truck 1 pulled up so that the second pallet was unloaded and dropped off and behind the truck 1 located. The load handling manipulator arm 18 can now his entire workspace 37 use to pick up goods and load in the cargo 36 the first pallet.

To deposit the second pallet so the first pallet with the forks of the additional fork 40 raised by their own mast, while the load arms 5 lowered by the initial stroke to settle only the second pallet on the ground.

In the 10 are different working positions when filling the loading volume 36 the first pallet after unloading the second plate shown. In the upper left illustration of the 10 the situation is shown in the second pallet with the full load volume 38 on the ground behind the truck 1 is turned off and the load volume 36 the first pallet by means of the load handling manipulator arm 18 who has the whole workspace 37 can be exploited.

In the upper right illustration of the 10 is shown that the lifting carriage 17 with the load handling manipulator arm 18 and the cross strut, not shown 21 is fully raised to allow free access to accommodate the second pallet with the full load volume 38 to accomplish. The second pallet with the loading volume 38 can then by returning the truck 1 be resumed.

The lower picture of the 10 shows the truck 1 in the driving position with recorded second pallet.

For a truck 1 according to the 7 to 10 with the additional fork 40 can the front pallet with the loading volume 36 regardless of the rear pallet with the loading volume 38 be raised. By lifting the front pallet, the front pallet is also for the load handling manipulator arm 18 even if the rear pallet on the load arms 5 is loaded higher.

For a truck 1 according to the 7 to 10 For example, the front first pallet and the rear second pallet can be picked simultaneously with goods. The front first pallet can be loaded without unloading the second rear pallet ( 8th ) or by unloading the second rear pallet ( 9 ).

In the 11 is another variant of the truck 1 shown in which the load arms 5 with two levels 41 . 42 different height, but the same lifting system, are equipped. Here is the level 42 to which the second palette is taken, opposite the plane 41 to which the first palette is added, lower. So the second pallet can be placed on the ground while the first pallet is on the load arms 5 remains lying.

In the left picture of the 11 is the truck 1 without retractable structure 2 as shown in the picture on the right 11 with extendable structure 2 and mast 15 . 16 as well as load handling manipulator arm 18 is shown.

In 12 are different working positions of the truck 1 out 11 shown.

In the upper left illustration of the 12 the situation is illustrated in which the second pallet with the full load volume 38 on the ground behind the truck 1 is discontinued and the first pallet with the not completely filled load volume 36 from the load handling manipulator arm 18 who has the full working space 37 can be used.

In the upper right illustration of the 12 will be recording the second pallet with the full load volume 38 prepared. For this purpose, the lifting carriage 17 with the load handling manipulator arm 18 and the cross strut, not shown 21 is fully raised to allow free access to accommodate the second pallet with the full load volume 38 to accomplish. The second pallet with the loading volume 38 can then by returning the truck 1 be resumed.

In the lower picture of the 12 is the driving position of the truck 1 with the two pallets taken in with the loading volumes 36 and 38 shown.

For a truck 1 according to the 11 and 12 with long load arms 5 with different levels 41 . 42 is the accessibility of the front pallet for the load handling manipulator arm 18 even without additional lift by means of an additional liftable fork 40 ( 7 to 10 ).

The picking process of a truck 1 according to the 11 and 12 is as follows:

On the load arms 5 There are two palettes, the front palette at the higher level 41 and the rear pallet on the lower level 42 , Unless the front pallet is to be loaded, even though the loading volume 38 the rear pallet is already packed high, the load arms become with the initial stroke 5 lowered so that the rear pallet stands up on the ground, the front pallet resting on the plane 41 is arranged, but still from the load arms 5 will be carried. The truck 1 can then by ancestors from the rear pallet with the loading volume 38 drive out and put these on the ground and the front, on the plane 41 pallet located with the load handling manipulator arm 18 loaded (left picture of the 12 ). After loading the front pallet, the rear pallet can be loaded with the load 38 by returning the truck 1 (right picture of the 12 ) and lifting the load arms 5 be resumed (bottom picture of the 12 ).

For a truck 1 according to the 11 and 12 For example, the front first pallet and the rear second pallet can be picked simultaneously with goods. The front first pallet can be loaded by unloading the second rear pallet.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• EP 2987761 A1 [0006]

Claims (23)

Industrial truck, in particular picking truck, with a drive part and a load part for receiving at least one load-carrying device, in particular a pallet, characterized in that on the drive part (3) a horizontally in the direction of the load part (4) extendable structure (2) is mounted, the end facing away from the drive part (3) comprises a vertically aligned mast (24) on which a lifting carriage (17) is mounted in a height-adjustable manner, which has a load handling manipulator arm (18). Truck after Claim 1 , characterized in that the load part (4) comprises at least one horizontally oriented load arm (5) and the structure (2) parallel to the load arm (5) is extendable. Truck after Claim 1 or 2 , characterized in that the structure (2) comprises at least one fixed arm (7, 8) attached to the drive part (3) and at least one movable arm (9, 10), the movable arm (9, 10) running along a linear guide the fixed arm (7, 8) is displaceable. Truck after Claim 3 , characterized in that the fixed arm (7, 8) and / or the movable arm (9, 10) have a mast profile designed as a C-profile. Truck after Claim 3 , characterized in that the fixed arm (7, 8) and / or the movable arm (9, 10) have a mast profile designed as an I-profile. Truck after one of the Claims 3 to 5 , characterized in that the fixed arm (7, 8) and / or the movable arm (9, 10) guide rollers (12). Truck after Claim 6 , characterized in that the guide rollers (12) run on two opposite sides of the mast profile. Truck after one of the Claims 3 to 7 characterized in that the fixed arm (7, 8) and / or the movable arm (9, 10) comprise at least one drive device which guides the movable arm (9, 10) in the linear guide along the fixed arm (7, 8) can move. Truck after Claim 8 , characterized in that the drive device comprises an electrically operated linear drive. Truck after Claim 8 or 9 , characterized in that the drive device comprises a threaded drive. Truck after Claim 8 or 9 , characterized in that the drive device comprises a belt drive. Truck after Claim 8 , characterized in that the drive device comprises a hydraulically actuated linear drive. Truck after one of the Claims 1 to 12 , characterized in that the structure (2) on the drive part (3) facing away from supporting rollers (13, 14) for support on the ground. Truck after Claim 13 , characterized in that the structure (2) in the extended state between the drive part (3) facing away from the end facing the drive part (3) at least one, in particular as an additional role (26) formed, additional wheel (26) for support on the ground having. Truck after Claim 14 , characterized in that when forming the structure (2) with at least one on the drive part (3) mounted fixed arm (7, 8) and at least one along the fixed arm (7, 8) slidably movable arm (9, 10), the additional wheel (26) on which the drive part (3) facing away from the end of the fixed arm (7, 8) is arranged. Truck after Claim 14 or 15 , characterized in that the additional wheel (26) has a training and retraction, which is formed so that the auxiliary wheel (26) retracted in the retracted state of the structure (2) and automatically extends when extending the structure (2). Truck after one of the Claims 1 to 16 characterized in that the structure (2) comprises two fixed (7, 8) and movable (9, 10) arms, the fixed (7, 8) and movable (9, 10) arms being parallel to one another and horizontal Spaced apart, which is greater than the width of the load bearing device. Truck after one of the Claims 1 to 17 , characterized in that the mast (24) is formed of two vertically aligned masts (15,16) which are arranged at a horizontal distance from one another, which is greater than the width of the load bearing device, and by at least one horizontally oriented, in particular formed as a locking rod (21), transverse strut (21) are held together, wherein the Cross member (21) is arranged vertically movable on the masts (15,16). Truck after Claim 18 , characterized in that on the transverse strut (21) and on the lifting carriage (17) cooperating connecting means are provided which allow a coupling of the transverse strut (21) with the lifting carriage (17), wherein the transverse strut (21) in the decoupled state in the lower region the lifting masts (15, 16) is arranged and for loading or unloading of the truck (1) with the load bearing device, the transverse strut (21) coupled by lowering the lifting carriage (17) with the lifting carriage (17) and can be moved together with this upwards , so that a free accessibility for the load bearing device is formed. Truck after one of the Claims 1 to 19 , characterized in that the extendable structure (2) via a hinge with horizontal tilting axis (11) on the drive part (3) is mounted. Truck after one of the Claims 1 to 20 , characterized in that at least one environmental monitoring sensor (22, 23) is arranged on the drive part (3) and on the end remote from the drive part (3) of the extendable structure (2). Truck after one of the Claims 1 to 21 , characterized in that the load part (4) comprises load arms (5) and a load fork (40) which have independent lifting systems. Truck after one of the Claims 1 to 22 , characterized in that the load part (4) comprises load arms (5) with planes (41, 42) of different heights.

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