EP0151624B1 - Transport vehicles - Google Patents

Transport vehicles Download PDF

Info

Publication number
EP0151624B1
EP0151624B1 EP84903054A EP84903054A EP0151624B1 EP 0151624 B1 EP0151624 B1 EP 0151624B1 EP 84903054 A EP84903054 A EP 84903054A EP 84903054 A EP84903054 A EP 84903054A EP 0151624 B1 EP0151624 B1 EP 0151624B1
Authority
EP
European Patent Office
Prior art keywords
loading
unloading device
storage rack
vehicle
transport vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
EP84903054A
Other languages
German (de)
French (fr)
Other versions
EP0151624A1 (en
Inventor
Eduard Angele
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of EP0151624A1 publication Critical patent/EP0151624A1/en
Application granted granted Critical
Publication of EP0151624B1 publication Critical patent/EP0151624B1/en
Expired legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"

Definitions

  • the invention relates to a conveyor vehicle with the features of the above definition of claim 1.
  • a rack conveyor vehicle in which an equally guided, attached but detachable storage rack can be connected to a loading and unloading device guided by rails on the floor.
  • the loading and unloading device comprises a lifting device which has a lifting carriage, which is guided on a support frame and is driven in a vertically movable manner, with a lifting fork for transferring piece goods into the rack storage or into shelf compartments.
  • a transverse slide device and a longitudinal slide device are provided. Only in this way is it possible to transfer piece goods laterally from the rack of the warehouse in the longitudinal direction of the conveyor vehicle and then to push them into the respective rack locations by means of the longitudinal sliding device.
  • the loading and unloading device is driven in a track-bound manner.
  • a longitudinal movement device and a transverse movement device are therefore necessary in addition to the lifting device.
  • This rack conveyor vehicle is only suitable for operating storage racks located directly next to the vehicle. Shelves located at a greater distance would allow excessively large lateral tipping forces to be counteracted when the load is transferred by means of the transverse sliding device.
  • a conveyor vehicle in which a loading and unloading device with a pick-up fork for a piece goods is removably driven from the piece goods tray.
  • the general cargo support is formed by a type of forklift that can accommodate the loading and unloading device so that it can move in height.
  • the lifting fork points away from the general cargo tray in the direction of travel.
  • the lifting fork of the loading and unloading device is supported by support rollers. It is disadvantageous that the loading and unloading device with piece goods exerts a tilting moment on the piece goods deposit after this.
  • the loading and unloading device and general cargo storage in the connected position do not have the smallest possible longitudinal dimension.
  • the conveyor vehicle is not free of overturning moment in the target journey connected to the loading and unloading device with or without general cargo.
  • a forklift is known in which the height-adjustable lifting fork is supported by a base frame by rollers in such a way that the packaged goods do not cause a tilting moment.
  • Such a manually controllable conveyor vehicle in the form of a forklift truck has unnecessarily large dimensions.
  • a conveyor vehicle is known from US Pat. No. 3,841,503, FIG. 3, in which a loading and unloading device with a piece goods receptacle is connected to one another via a rack and pinion arrangement, but is rigidly connected to one another. This is to avoid a scissor arrangement for the lifting fork.
  • the known conveyor vehicle is positively driven on the ground and overhead. This means that the loading and unloading device cannot pick up or drop off piece goods at any angle and distance from the route. In addition, overturning moments occur to the side of the route when goods are picked up or delivered.
  • the invention has for its object to improve a conveyor vehicle of the type described above so that it can park or resume the goods at any angle to the route and variable distance from the vehicle, which transmits the load originating from the piece goods without tipping moment on the floor and a space-constrained construction, in particular a short construction length, is permitted.
  • the invention makes it possible to use the track-independent and steerable loading and unloading device to reach or pick up or deliver piece goods at any distance and angle to the route. Because the base frame of the loading and unloading device extends over the length of the lifting fork, no tilting moments can be effective. In addition, the design of the frame of the general cargo storage and loading and unloading device allows driving into one another, which results in the shortest possible overall length of the vehicle when driving with or without general cargo.
  • the base frame of the piece goods deposit has a U-shape arranged transversely to the longitudinal direction of the piece goods deposit, and the loading and unloading device arranged with the free ends of the lifting fork pointing outward to the longitudinal direction of the piece goods deposit has only a reciprocating drive .
  • This execution form results in a structural simplification and is particularly suitable for long piece goods.
  • a further embodiment of the invention makes it possible to transport the loading and unloading device lifted from the route in the parking position when it arrives through the general cargo storage unit itself.
  • the conveyor vehicle 1 has a base frame 2, which is formed by rigid rails 3. This low-lying base frame 2 forms a support 4 for a stacking device, for. B in the form of a shelf storage 5.
  • This memory 5 could also be firmly connected to the support 4.
  • the base frame 2 has rollers 6 arranged in pairs, which are pivotally connected to the frame 2.
  • a pivotable steering and drive device 7 at the front end, which is connected via a handlebar 8 to a guide carriage 9 which runs on a guide rail 10 running overhead.
  • the steering and drive device 7 has a pivotably mounted frame 11 with rollers 12 and a drive roller 13 with a drive motor 14.
  • General cargo 15 can be set one above the other and / or next to one another in the store 5.
  • the conveyor vehicle 1 can also have a differently designed steering drive. For example, it could also be guided inductively or otherwise automatically in the usual way. It could also be an address or sensor controlled vehicle.
  • the conveyor vehicle 1 has an independent, so-called satellite vehicle 20.
  • This has a base frame 21 which is designed to be torsionally rigid.
  • a pivotable travel drive 22 mounted on the low-lying base frame 21 is a pivotable travel drive 22 with a drive wheel 23 which cooperates with the floor surface 24.
  • a drive roller 25, which is arranged on the base frame 21, is assigned in parallel to the drive wheel 23. Furthermore, 21 supporting rotles 26 are arranged at the other end of the base frame.
  • the frame 21 of the satellite vehicle 20 carries a telescopic mast 27 to which a height-adjustable lifting fork 28 is connected by means of a drive, not shown, which can be raised and lowered.
  • the satellite vehicle 20 has a detection device for its position and the position of the lifting fork 28, and a control device for the corresponding drives.
  • This device comprises a connecting device 30 which comprises articulated connecting rods 31 and 32, angle sensors 33, 34, 35 and a height-displaceable rod 36 which, for. B. via bearing 37 on the back of the shelf storage 5 or a fixed to the base frame 2, raised frame part 38 is connected.
  • the travel drive 22 of the satellite vehicle 20 has a servo motor 39 with an integrated angle sensor, which detects the angular position of the servomotor 39 and thus of the drive wheel 23.
  • the connecting device 30 additionally serves as a holder for cables, not shown, for the energy and data transmission between the conveyor vehicle 1 and the satellite vehicle 20.
  • the connecting device 30 When the telescopic mast 27 is extended to raise the lifting fork 28, the connecting device 30 is also raised, it being possible for a lifting sensor (not shown) to cooperate with the rod 36, so that the respective position of the lifting fork 28 can be seen.
  • the trajectory to be traveled by the satellite vehicle 20 is predetermined by the angle a, which is set via the servomotor 39 with an integrated angle sensor.
  • the angle a is determined by the longitudinal center plane through the vertical axis of rotation of the drive wheel 23 and by the center plane of the drive wheel in the respective position.
  • the center of the circle M, or M ', around which the satellite vehicle 20 moves, results from the intersection of the extended imaginary drive wheel axis 40 and the center axis 41 through the support rollers 26.
  • the path curve is checked using the ACTUAL values of the angles ß, y and s.
  • any other device for determining the respective position of the satellite vehicle 20 and the lifting fork 28 is also possible.
  • the satellite vehicle can also be replaced by any other, e.g. B. fully electrical device in the respective position.
  • the connecting device 30 also only fulfills the function of an actual value transmitter device and not the function of a mechanical guide.
  • a releasable holding device can connect the satellite vehicle 20 to the conveyor vehicle 1, so that it is carried along by the conveyor vehicle 1 when it moves.
  • the lifting fork 28 of the satellite vehicle 20 is preferably brought into the parking position against the lowest storage space support.
  • the fork lift drive is then operated further, whereupon the satellite vehicle 20 lifts off the ground. It is then only supported on the conveyor vehicle 1 via the lifting fork 28.
  • the conveyor vehicle shown in FIGS. 1 to 3 allows piece goods to be taken up to the left or right of the route at any angle and variable vehicle distance as required, stored in the vehicle and returned to the destination.
  • the simplified conveyor vehicle shown in FIGS. 4 to 6 is particularly suitable for oversized general cargo dimensions, e.g. B. Long goods suitable and makes it possible to pick up general cargo only to the left or only to the right of the route in a variable vehicle distance, to park it on the vehicle and to return it to the destination.
  • oversized general cargo dimensions e.g. B. Long goods suitable and makes it possible to pick up general cargo only to the left or only to the right of the route in a variable vehicle distance, to park it on the vehicle and to return it to the destination.
  • the conveyor vehicle 50 in turn has a relatively low-lying base frame 51.
  • This has the shape of a U lying transversely to the longitudinal direction of the vehicle. As can be seen from FIG. 5, the open U-side points to the right. The upper sides of the legs 52, 53 lying transversely to the longitudinal direction of the vehicle are flat.
  • the two legs 52, 53 are connected to one another via a yoke carrier 55 in a torsionally rigid manner.
  • a steering device 56 is connected to the base frame 51 via a hoisted support 57.
  • the leg bearings 58, 59 on the carrier 57 accommodate a handlebar 60. This is connected to a guide carriage 61 which is guided in guide rails 62 running overhead.
  • the pivotable handlebar 60 has a drive roller 63 which is driven by a drive motor 64. Furthermore, swiveling rollers 65, which are laid backwards, are connected to the carrier 57.
  • the base frame 51 has two parallel rollers 66 at the rear end.
  • the vertical supports 69, 70 are firmly connected to the base frame 51.
  • the transverse U-opening 67 serves to receive a satellite vehicle 80.
  • This has a low-lying traveling frame 81, which preferably has two parallel, fork-shaped support frame parts 82, 83.
  • a frame-shaped mast 85 is fixedly connected to the yoke part 84.
  • a commonly designed lifting fork 86 is arranged such that it can move in height and is moved up and down by means of a lifting fork drive 87.
  • Tandem rollers 88, 89 are arranged at the free ends of the support frame parts 82, 83, respectively.
  • a cross member 71 is firmly connected to the lifting fork 86 and can be supported on the supports 69, 70.
  • a drive shaft 90 which runs transverse to the satellite vehicle 80 and carries the side drive wheels 91, 92, is mounted on the yoke part 84. This shaft 90 is driven by the drive motor 93 via a chain drive 94.
  • the connecting device 100 between the conveyor vehicle 1 and the satellite vehicle 80 consists of articulated rods 101 and 102, and a telescopic rod 103 which is articulated with the satellite vehicle 80, for. B. at the articulation point 104, is articulated on an arm 105 of the mast 85.
  • the connecting device 100 also serves as a holder for the energy and information cables and the limit switch for the end limitation of the travel path.
  • the satellite vehicle 80 In the parking position shown in FIG. 4, the satellite vehicle 80 is taken over by the conveyor vehicle 1.
  • the lifting fork 86 of the satellite vehicle 80 moves up until the lifting fork cross part 71 is above the supports 69, 70.
  • the satellite vehicle 80 is then retracted into the conveyor vehicle to the end position and the lifting fork is lowered until the lifting fork cross part 71 rests on the supports 69, 70.
  • the travel frame 81 Upon further actuation of the lifting fork drive in the direction of lowering, the travel frame 81 is raised to the predetermined end position, as can be seen in FIG. 4.
  • the rollers 88, 89 and the drive wheels 91, 92 are thus free from the ground 108.
  • the control of the satellite vehicle for entering and exiting is carried out similarly to that of the conveyor vehicle 1 according to FIGS. 1 to 3 by means of appropriate sensors or in some other way.
  • the entry and exit movement of the satellite vehicle 80 from the conveyor vehicle 50 can be preprogrammed in the drives for the travel movement and lifting fork movement.
  • the connecting device 100 could also be omitted.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Cephalosporin Compounds (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

The transport vehicle (1) is provided with a storage arrangement for parcelled goods (15), provided as a store (5) with at least one storage place, as well as a loading and unloading installation for depositing and taking parcelled goods (15) in and out of each storage place. The loading and unloading installation is a satellite vehicle (20) which is towed to take the parcelled goods (15) by the transport vehicle (1). The satellite vehicle (20) may then be autonomously directed in at least one direction to take or deposit the parcelled good.

Description

Die Erfindung betrifft ein Förderfahrzeug mit den Merkmalen des Oberbeegriffs des Patentanspruches 1.The invention relates to a conveyor vehicle with the features of the above definition of claim 1.

Aus der EP-A-30 111 ist ein Regalförderfahrzeug bekannt, bei dem mit einer durch Schienen am Boden geführten Be-und Entladeeinrichtung ein ebenso geführtes, angehängtes, aber abkuppelbares Speicherregal verbindbar ist. Die Be-und Entladeeinrichtung umfaßt eine Hubvorrichtung, die einen an einem Traggestell geführten, höhenbeweglich angetriebenen Hubschlitten mit Hubgabel zum Überführen von Stückgütern in den Regalspeicher oder in Regalfächer aufweist. Zusätzlich ist eine Querschiebevorrichtung und eine Längsschiebevorrichtung vorhanden. Nur dadurch wird es möglich, Stückgüter seitlich aus dem Regal des Lagers in die Längsrichtung des Förderfahrzeuges zu überführen und dann mittels der Längsschiebevorrichtung in die jeweiligen Regalplätze einzuschieben. Bei diesem bekannten Förderfahrzeug ist die Be- und Entladeeinrichtung spurgebunden angetrieben. Zur Überführung der Stückgutlasten in die Regalspeicherplätze entweder des Förderfahrzeuges oder des Lagerregals sind daher neben der Hubvorrichtung eine Längsbewegungsvorrichtung und eine Querbewegungsvorrichtung notwendig. Dieses Regalförderfahrzeug ist lediglich dazu geeignet, unmittelbar neben dem Fahrzeug befindliche Lagerregale zu bedienen. In größerer Entfernung befindliche Regale würden übermäßig große, seitliche Kippkräfte bei Überführung der Last mittels der Querschiebevorrichtung entsteilen lassen.From EP-A-30 111 a rack conveyor vehicle is known, in which an equally guided, attached but detachable storage rack can be connected to a loading and unloading device guided by rails on the floor. The loading and unloading device comprises a lifting device which has a lifting carriage, which is guided on a support frame and is driven in a vertically movable manner, with a lifting fork for transferring piece goods into the rack storage or into shelf compartments. In addition, a transverse slide device and a longitudinal slide device are provided. Only in this way is it possible to transfer piece goods laterally from the rack of the warehouse in the longitudinal direction of the conveyor vehicle and then to push them into the respective rack locations by means of the longitudinal sliding device. In this known conveyor vehicle, the loading and unloading device is driven in a track-bound manner. In order to transfer the general cargo loads to the rack storage locations of either the conveyor vehicle or the storage rack, a longitudinal movement device and a transverse movement device are therefore necessary in addition to the lifting device. This rack conveyor vehicle is only suitable for operating storage racks located directly next to the vehicle. Shelves located at a greater distance would allow excessively large lateral tipping forces to be counteracted when the load is transferred by means of the transverse sliding device.

Aus der GB-PS-1 453 387. Fig. 6, ist ein Förderfahrzeug bekannt, bei dem eine Be- und Entladeeinrichtung mit einer Aufnahmegabel für ein Stückgut von der Stückgutablage entfernbar, fahrbar angetrieben ist. Die Stückgutauflage wird von einer Art Gabelstapler gebildet, der die Be-und Entladeeinrichtung höhenbeweglich aufnehmen kann. Hierbei zeigt die Hubgabel in Fahrtrichtung von der Stückgutablage weg. Die Hubgabel der Be- und Entladeeinrichtung wird durch Stützrollen abgestützt. Nachteilig ist, daß die Be- und Entladeeinrichtung mit Stückgut nach der Aufnahme von der Stückgutablage auf dieses ein Kippmoment ausübt. Zudem nehmen Be- und Entladeeinrichtung und Stückgutablage in verbundener Stellung nicht ihre geringstmögliche Längsabmessung ein. Außerdem ist das Förderfahrzeug in der mit der Be- und Entladeeinrichtung verbundenen Zielfahrt mit oder ohne Stückgüter nicht kippmomentfrei.From GB-PS-1 453 387. Fig. 6, a conveyor vehicle is known in which a loading and unloading device with a pick-up fork for a piece goods is removably driven from the piece goods tray. The general cargo support is formed by a type of forklift that can accommodate the loading and unloading device so that it can move in height. The lifting fork points away from the general cargo tray in the direction of travel. The lifting fork of the loading and unloading device is supported by support rollers. It is disadvantageous that the loading and unloading device with piece goods exerts a tilting moment on the piece goods deposit after this. In addition, the loading and unloading device and general cargo storage in the connected position do not have the smallest possible longitudinal dimension. In addition, the conveyor vehicle is not free of overturning moment in the target journey connected to the loading and unloading device with or without general cargo.

Aus der FR-PS-1 428 891 ist ein Gabelstapler bekannt, bei dem die höhenbewegliche Hubgabel von einem Grundrahmen durch Rollen derart abgestützt ist, daß das aufgenommene Stückgut kein Kippmoment bewirkt. Ein solches von Hand steuerbares Förderfahrzeug in Form eines Gabelstaplers besitzt aber unnötig große Raumabmessungen.From FR-PS-1 428 891 a forklift is known in which the height-adjustable lifting fork is supported by a base frame by rollers in such a way that the packaged goods do not cause a tilting moment. Such a manually controllable conveyor vehicle in the form of a forklift truck has unnecessarily large dimensions.

Schließlich ist aus der US-PS-3 841 503, Fig. 3, ein Förderfahrzeug bekannt, bei dem eine Be-und Entladeeinrichtung mit einer Stückgutaufnahme über eine Zahnstangen-Zahnanordnung zueinander beweglich, aber starr zueinander abgestützt verbunden sind. Hierdurch soll eine Scherenanordnung für die Hubgabel vermieden werden. Das bekannte Förderfahrzeug ist dabei bodenseits und über Kopf zwangsgeführt. Somit kann die Be- und Entladeeinrichtung nicht in jedem beliebigen Winkel und Abstand zur Fahrtrasse Stückgüter aufnehmen bzw. abgeben. Außerdem entstehen bei Übernahme oder Abgabe von Stückgütern seitlich zur Fahrtrasse Kippmomente.Finally, a conveyor vehicle is known from US Pat. No. 3,841,503, FIG. 3, in which a loading and unloading device with a piece goods receptacle is connected to one another via a rack and pinion arrangement, but is rigidly connected to one another. This is to avoid a scissor arrangement for the lifting fork. The known conveyor vehicle is positively driven on the ground and overhead. This means that the loading and unloading device cannot pick up or drop off piece goods at any angle and distance from the route. In addition, overturning moments occur to the side of the route when goods are picked up or delivered.

Der Erfindung liegt die Aufgabe zugrunde, ein Förderfahrzeug der eingangs beschriebenen Art so zu verbessern, daß es die Güter in jedem beliebigen Winkel zur Fahrtrasse und variablem Abstand zum Fahrzeug abstellen oder wieder aufnehmen kann, die von den Stückgütern herrührende Last ohne Kippmoment auf den Fahrboden überträgt und dabei eine raumgedrängte Bauweise, insb. kurze Baulänge, erlaubt.The invention has for its object to improve a conveyor vehicle of the type described above so that it can park or resume the goods at any angle to the route and variable distance from the vehicle, which transmits the load originating from the piece goods without tipping moment on the floor and a space-constrained construction, in particular a short construction length, is permitted.

Die Erfindung löst diese Aufgabe mit den kennzeichnenden Merkmalen des Patentanspruches 1.The invention solves this problem with the characterizing features of claim 1.

Die Erfindung erlaubt es, mittels der spurunabhängig und lenkbar ausgebildeten Be-und Entladeeinrichtung Stückgüter in jeglicher Entfernung und Winkel zur Fahrtrasse zu erreichen oder aufzunehmen bzw. abzugeben. Dadurch, daß sich der Grundrahmen der Be- und Entladeeinrichtung über die Hubgabellänge erstreckt, können keine Kippmomente wirksam werden. Außerdem erlaubt die Ausbildung der Rahmen von Stückgutablage und Be- und Entladeeinrichtung ein Ineinanderfahren, wodurch bei Zielfahrten mit oder ohne Stückgüter die kürzest mögliche Baulänge des Fahrzeuges sich ergibt.The invention makes it possible to use the track-independent and steerable loading and unloading device to reach or pick up or deliver piece goods at any distance and angle to the route. Because the base frame of the loading and unloading device extends over the length of the lifting fork, no tilting moments can be effective. In addition, the design of the frame of the general cargo storage and loading and unloading device allows driving into one another, which results in the shortest possible overall length of the vehicle when driving with or without general cargo.

Nach einer Ausgestaltung der Erfindung hat der Grundrahmen der Stückgutablage eine quer zur Längsrichtung der Stückgutablage angeordnete U-Form, und die mit den freien Enden der Hubgabel zur Längsrichtung der Stückgutablage nach außen weisend angeordnete Be- und Entladeeinrichtung weist nur einen hin- und hergehenden Antrieb auf. Diese Ausführungs form ergibt eine konstruktive Vereinfachung und ist insbesondere für Langstückgüter geeignet.According to one embodiment of the invention, the base frame of the piece goods deposit has a U-shape arranged transversely to the longitudinal direction of the piece goods deposit, and the loading and unloading device arranged with the free ends of the lifting fork pointing outward to the longitudinal direction of the piece goods deposit has only a reciprocating drive . This execution form results in a structural simplification and is particularly suitable for long piece goods.

Eine weitere Ausgestaltung der Erfindung erlaubt es, die Be-und Entladeeinrichtung bei der Zielfahrt in der Parkstellung von der Fahrtrasse abgehoben durch die Stückgutablage selbst mit zu transportieren.A further embodiment of the invention makes it possible to transport the loading and unloading device lifted from the route in the parking position when it arrives through the general cargo storage unit itself.

Weitere Ausgestaltungen der Erfindung ergeben sich aus den Unteransprüchen.Further refinements of the invention result from the subclaims.

Die Erfindung wird nachfolgende anhand von in der Zeichnung dargestellten Ausführungsbeispielen näher erläutert. In der Zeichnung zeigen:

  • Fig. 1 eine Seitenansicht des Förderfahrzeuges mit zusätzlichem Satellitenfahrzeug;
  • Fig. 2 eine Draufsicht des Förderfahrzeuges nach Fig. 1;
  • Fig. 3 eine Rückansicht mit nach rechts seitlich ausgefahrenem Satellitenfahrzeug in Übergabestellung an einen Regalspeicher;
  • Fig. 4 eine Seitenansicht eines Förderfahrzeuges nach einer anderen Ausführungsform, wobei ein Satellitenfahrzeug nur seitlich ausund einfahrbar ist;
  • Fig. 5 eine Draufsicht des Förderfahrzeuges nach Fig. 4 und
  • Fig. 6 eine Rückansicht mit seitlich nach rechts ausgeffahrenem Satellitenfahrzeug in Übergabestellung.
The invention is explained in more detail below with reference to exemplary embodiments shown in the drawing. The drawing shows:
  • Figure 1 is a side view of the conveyor vehicle with an additional satellite vehicle.
  • FIG. 2 shows a top view of the conveyor vehicle according to FIG. 1;
  • 3 shows a rear view with the satellite vehicle extended laterally to the right in the transfer position to a shelf store;
  • 4 shows a side view of a conveyor vehicle according to another embodiment, a satellite vehicle being able to be extended and retracted only laterally;
  • Fig. 5 is a plan view of the conveyor vehicle according to Fig. 4 and
  • Fig. 6 is a rear view with the satellite vehicle extended to the right in the transfer position.

Das Förderfahrzeug 1 weist einen Grundrahmen 2 auf, der von verwindungssteif verbundenen Profilschienen 3 gebildet ist. Dieser tiefliegende Grundrahmen 2 bildet eine Auflage 4 für eine Stapeleinrichtung, z. B in Form eines Regalspeichers 5.The conveyor vehicle 1 has a base frame 2, which is formed by rigid rails 3. This low-lying base frame 2 forms a support 4 for a stacking device, for. B in the form of a shelf storage 5.

Dieser Speicher 5 könnte auch mit der Auflage 4 fest verbunden sein.This memory 5 could also be firmly connected to the support 4.

Der Grundrahmen 2 besitzt paarweise angeordnete Rollen 6, die schwenkbar mit dem Rahmen 2 verbunden sind. Am vorderen Ende befindet sich nach Fig. 1 eine schwenkbare Lenk-und Antriebsvorrichtung 7, die über eine Lenkstange 8 mit einem Führungswagen 9 verbunden ist, der an einer über Kopf verlaufenden Führungsschiene 10 läuft. Die Lenk-und Antriebsvorrichtung 7 weist einen schwenkbar gelagerten Rahmen 11 mit Rollen 12 und einer Antriebsrolle 13 mit Antriebsmotor 14 auf.The base frame 2 has rollers 6 arranged in pairs, which are pivotally connected to the frame 2. According to FIG. 1, there is a pivotable steering and drive device 7 at the front end, which is connected via a handlebar 8 to a guide carriage 9 which runs on a guide rail 10 running overhead. The steering and drive device 7 has a pivotably mounted frame 11 with rollers 12 and a drive roller 13 with a drive motor 14.

In den Regalspeicher 5 sind übereinander und/oder nebeneinander Stückgüter 15 einstellbar.General cargo 15 can be set one above the other and / or next to one another in the store 5.

Das Förderfahrzeug 1 kann auch einen anders ausgebildeten Lenkantrieb besitzen. Es könnte beispielsweise auch in üblicher Weise induktiv oder sonstwie selbsttätig geführt sein. Es könnte auch ein adressen- oder fühlergesteuertes Fahrzeug sein.The conveyor vehicle 1 can also have a differently designed steering drive. For example, it could also be guided inductively or otherwise automatically in the usual way. It could also be an address or sensor controlled vehicle.

Das Förderfahrzeug 1 weist neben dem Fahrzeugteil mit Speicher 5 ein unabhängiges, sogenanntes Satellitenfahrzeug 20 auf. Dieses besitzt einen Grundrahmen 21, der verwindungssteif ausgebildet ist. An den tiefliegenden Grundrahmen 21 angebaut ist ein schwenkbarer Fahrantrieb 22, mit Antriebsrad 23, welches mit der Bodenfläche 24 zusammenarbeitet.In addition to the vehicle part with memory 5, the conveyor vehicle 1 has an independent, so-called satellite vehicle 20. This has a base frame 21 which is designed to be torsionally rigid. Mounted on the low-lying base frame 21 is a pivotable travel drive 22 with a drive wheel 23 which cooperates with the floor surface 24.

Dem Antriebsrad 23 parallel zugeordnet ist eine Schwenkrolle 25, die am Grundrahmen 21 angeordnet ist. Ferner sind am anderen Ende des Grundrahmens 21 Tragrotlen 26 angeordnet.A drive roller 25, which is arranged on the base frame 21, is assigned in parallel to the drive wheel 23. Furthermore, 21 supporting rotles 26 are arranged at the other end of the base frame.

Der Rahmen 21 des Satellitenfahrzeuges 20 trägt einen Teleskopmast 27 mit dem heb- und senkbar über einen nicht dargestellten Antrieb eine höhenverschiebbare Hubgabel 28 verbunden ist.The frame 21 of the satellite vehicle 20 carries a telescopic mast 27 to which a height-adjustable lifting fork 28 is connected by means of a drive, not shown, which can be raised and lowered.

Das Satellitenfahrzeug 20 besitzt eine Erfassungseinrichtung für seine Position und die Position der Hubgabel 28, sowie eine Steuereinrichtung der entsprechenden Antriebe.The satellite vehicle 20 has a detection device for its position and the position of the lifting fork 28, and a control device for the corresponding drives.

Diese Einrichtung umfaßt eine Verbindungseinrichtung 30, welche gelenkig verbundene Gelenkstangen 31 und 32, Winkelgeber 33, 34, 35 und eine höhenverschiebbare Stange 36 umfaßt, welche z. B. über Lager 37 an der Rückseite des Regalspeichers 5 oder einem mit dem Grundrahmen 2 fest verbundenen, hochgezogenen Rahmenteil 38 verbunden ist. Außerdem besitzt der Fahrantrieb 22 des Satellitenfahrzeuges 20 einen Stellmotor 39 mit einem integrierten Winkelgeber, der jeweils die Winkelstellung des Stellmotors 39 und damit des Antriebsrades 23 erfaßt. Die Verbindungseinrichtung 30 dient zusätzlich als Halter fur nicht dargestellte Kabel für die Energie- und Datenübertragung zwischen dem Förderfahrzeug 1 und dem Satellitenfahrzeug 20.This device comprises a connecting device 30 which comprises articulated connecting rods 31 and 32, angle sensors 33, 34, 35 and a height-displaceable rod 36 which, for. B. via bearing 37 on the back of the shelf storage 5 or a fixed to the base frame 2, raised frame part 38 is connected. In addition, the travel drive 22 of the satellite vehicle 20 has a servo motor 39 with an integrated angle sensor, which detects the angular position of the servomotor 39 and thus of the drive wheel 23. The connecting device 30 additionally serves as a holder for cables, not shown, for the energy and data transmission between the conveyor vehicle 1 and the satellite vehicle 20.

Beim Ausfahren des Teleskopmastes 27 zum Anheben der Hubgabel 28 wird die Verbindungseinrichtung 30 mit angehoben, wobei mit der Stange 36 ein nicht dargestellter Hubfühler zusammenarbeiten kann, so daß die jeweilige Stellung der Hubgabel 28 erkennbar ist.When the telescopic mast 27 is extended to raise the lifting fork 28, the connecting device 30 is also raised, it being possible for a lifting sensor (not shown) to cooperate with the rod 36, so that the respective position of the lifting fork 28 can be seen.

Die zu fahrende Bahnkurve des Satellitenfahrzeuges 20 wird durch den Winkel a vorgegeben, der über den Stellmotor 39 mit integriertem Winkelgeber eingestellt wird. Der Winkel a wird dabei von der Längsmittelebene durch die vertikale Drehachse des Antriebsrades 23 und von der Mittelebene des Antriebsrades in der jeweiligen Stellung bestimmt. Der Kreismittelpunkt M, bzw. M', um den sich das Satellitenfahrzeug 20 bewegt, ergibt sich aus dem Schnittpunkt der verlängerten gedachten Antriebsradachse 40 und der Mittelachse 41 durch die Tragrollen 26.The trajectory to be traveled by the satellite vehicle 20 is predetermined by the angle a, which is set via the servomotor 39 with an integrated angle sensor. The angle a is determined by the longitudinal center plane through the vertical axis of rotation of the drive wheel 23 and by the center plane of the drive wheel in the respective position. The center of the circle M, or M ', around which the satellite vehicle 20 moves, results from the intersection of the extended imaginary drive wheel axis 40 and the center axis 41 through the support rollers 26.

Die Kontrolle der Bahnkurve wird über die ISTWerte der Winkel ß , y und s durchgeführt. Durch einen ständigen SOLL-IST-Vergleich mit entsprechendem Nachregeln des Fahrantriebes 22 über den Stellmotor 39 kann jeder gespeicherte Übergabepunkt eines Stückgutes 15 zielgenau angefahren werden.The path curve is checked using the ACTUAL values of the angles ß, y and s. By means of a constant TARGET-ACTUAL comparison with corresponding readjustment of the travel drive 22 via the servomotor 39, each stored transfer point of a piece good 15 can be approached precisely.

Der vollautomatische Bewegungsablauf eines Beladevorganges wird, wie folgt, durchgeführt:

  • - Zielfahrt
  • - Fahrzeugpositionierung an der Zielstelle
  • - Absetzen des Satellitenfahrzeuges 20
  • - Rückwärtsfahrt bis Hubgabel 28 aus dem Bereich der Speichereinrichtung 5 ausgefahren ist
  • - Anheben der Hubgabel 28 bis zur Höhe des auszulagernden Stückgutes 15 in der Speichereinrichtung 5
  • - Vorwärtsfahrt des Satellitenfahrzeuges 20 bis Hubgabel 28 Stückgut 15 unterfahren hat
  • - Anheben des Stückgutes 15 durch Hubgabel 28
  • - Rückwärtsfahrt des Satellitenfahrzeuges mit Stückgut 15 auf Hubgabel 28 bis zu einer Vorgegebenen Bahnstelle
  • - Drehen des Fahrantriebes 22 und Antriebsrades 23 des Satellitenfahrzeuges 20 um einen Winkel (x" wenn durch das Satellitenfahrzeug 20 ein Stückgut nach der rechten Seite abgestellt werden soll, und um einen Winkel (X2, wenn das Stückgut seitlich nach links abgestellt werden soll
  • - Fahren des Satellitenfahrzeuges 20 um den Schnittpunkt M' bzw. M
  • - Geradestellen des Fahrantriebes 22 und des Antriebsrades 23 nach Erreichen der gewünschten Winkelstellung des Satellitenfahrzeuges 20
  • - Geradefahrt bis zum Übergabepunkt des Stückgutes 15
  • - Absetzen der Stückgutlast 15
  • - Rückwärtsbewegung des Satellitenfahrzeuges 20, bis die Parkstellung im Förderfahrzeug 1 wieder erreicht ist.
The fully automatic movement of a loading process is carried out as follows:
  • - destination
  • - Vehicle positioning at the destination
  • - Deploying the satellite vehicle 20
  • - Reverse travel until lifting fork 28 is extended from the area of the storage device 5
  • - Lifting the lifting fork 28 up to the height of the piece goods 15 to be outsourced in the storage device 5
  • - Forward travel of the satellite vehicle 20 until the lifting fork 28 has passed the piece goods 15
  • - Lifting the piece goods 15 by lifting fork 28
  • - Reverse travel of the satellite vehicle with general cargo 15 on lifting fork 28 to one Specified train station
  • - Rotating the travel drive 22 and drive wheel 23 of the satellite vehicle 20 by an angle ( x " if a piece goods are to be parked to the right side by the satellite vehicle 20, and by an angle (X 2 if the piece goods are to be parked to the left to the side
  • - Driving the satellite vehicle 20 around the intersection M 'or M
  • - Straight line of the drive 22 and the drive wheel 23 after reaching the desired angular position of the satellite vehicle 20th
  • - Drive straight to the transfer point of the piece goods 15
  • - Setting off the general cargo load 15
  • - Backward movement of the satellite vehicle 20 until the parking position in the conveyor vehicle 1 is reached again.

Es versteht sich, daß statt der Verbindungseinrichtung 30 auch jegliche andere Einrichtung zur Bestimmung der jeweiligen Lage des Satellitenfahrzeuges 20 und der Hubgabel 28 möglich ist. Statt einer, wie hier dargestellt, mechanischen Verbindungseinrichtung kann auch das Satellitenfahrzeug durch irgendeine andere, z. B. vollelektrische Einrichtung, in die jeweilige Position geführt werden. Zum Beispiel ist es auch möglich, voll vorprogrammierte Bewegungen des Satellitenfahrzeuges, ähnlich der Schlittenbewegungen bei Werkzeugmaschinen oder dergleichen, durchzuführen. Es ist keinesfalls eine mechanische Führungseinrichtung notwendig. Auch die Verbindungseinrichtung 30 erfüllt lediglich die Funktion einer IST-Wert-Geber-Einrichtung und nicht die Funktion einer mechanischen Führung.It goes without saying that, instead of the connecting device 30, any other device for determining the respective position of the satellite vehicle 20 and the lifting fork 28 is also possible. Instead of a mechanical connection device, as shown here, the satellite vehicle can also be replaced by any other, e.g. B. fully electrical device in the respective position. For example, it is also possible to carry out fully preprogrammed movements of the satellite vehicle, similar to the carriage movements in machine tools or the like. Under no circumstances is a mechanical guide device necessary. The connecting device 30 also only fulfills the function of an actual value transmitter device and not the function of a mechanical guide.

Befindet sich das Satellitenfahrzeug 20 in der Parkstellung, in welcher es in das Förderfahrzeug 1 eingefahren ist, kann eine lösbare Halteeinrichtung das Satellitenfahrzeug 20 mit dem Förderfahrzeug 1 verbinden, so daß es bei der Bewegung des Förderfahrzeuges 1 von diesem mitgenommen wird.If the satellite vehicle 20 is in the parking position, in which it has entered the conveyor vehicle 1, a releasable holding device can connect the satellite vehicle 20 to the conveyor vehicle 1, so that it is carried along by the conveyor vehicle 1 when it moves.

Vorzugsweise wird aber die Hubgabel 28 des Satellitenfahrzeuges 20 in Parkstellung gegen die unterste Speicherplatzauflage in Anlage gebracht. Der Gabelhubantrieb wird dann weiter betätigt, worauf sich das Satellitenfahrzeug 20 vom Boden abhebt. Es stützt sich dann nur über die Hubgabel 28 auf das Förderfahrzeug 1 ab.However, the lifting fork 28 of the satellite vehicle 20 is preferably brought into the parking position against the lowest storage space support. The fork lift drive is then operated further, whereupon the satellite vehicle 20 lifts off the ground. It is then only supported on the conveyor vehicle 1 via the lifting fork 28.

Das in Fig. 1 bis 3 dargestellte Förderfahrzeug erlaubt es, Stückgüter links oder rechts der Fahrtrasse in beliebigem Winkel und variablem Fahrzeugabstand nach Bedarf aufzunehmen, im Fahrzeug zu speichern und am Zielort wieder abzugeben.The conveyor vehicle shown in FIGS. 1 to 3 allows piece goods to be taken up to the left or right of the route at any angle and variable vehicle distance as required, stored in the vehicle and returned to the destination.

Das in den Fig. 4 bis 6 dargestellte, vereinfachte Förderfahrzeug ist insbesondere für übergroße Stückgutabmessungen, z. B. Langgut geeignet und ermöglicht es, Stückgüter nur links oder nur rechts der Fahrtrasse in einem variablen Fahrzeugabstand aufzunehmen, auf das Fahrzeug abzustellen und am Zielort wieder abzugeben.The simplified conveyor vehicle shown in FIGS. 4 to 6 is particularly suitable for oversized general cargo dimensions, e.g. B. Long goods suitable and makes it possible to pick up general cargo only to the left or only to the right of the route in a variable vehicle distance, to park it on the vehicle and to return it to the destination.

Das Förderfahrzeug 50 besitzt wiederum einen verhältnismäßig tief liegenden Grundrahmen 51. Dieser besitzt die Form eines quer zur Fahrzeuglängsrichtung liegenden U. Wie aus Fig. 5 ersichtlich, weist die offene U-Seite nach rechts. Die Oberseiten der quer zur Fahrzeuglängs richtung liegenden Schenkel 52, 53 sind eben ausgebildet.The conveyor vehicle 50 in turn has a relatively low-lying base frame 51. This has the shape of a U lying transversely to the longitudinal direction of the vehicle. As can be seen from FIG. 5, the open U-side points to the right. The upper sides of the legs 52, 53 lying transversely to the longitudinal direction of the vehicle are flat.

Diese bilden die Ablagefläche 54, insbesondere für ein Langstückgut. Die beiden Schenkel 52, 53 sind über einen Jochträger 55 verwindungssteif miteinander verbunden.These form the storage surface 54, in particular for long items. The two legs 52, 53 are connected to one another via a yoke carrier 55 in a torsionally rigid manner.

Am vorderen Ende des Schenkels 52 ist eine Lenkeinrichtung 56 mit dem Grundrahmen 51 über einen hochgezoge nen Träger 57 verbunden. Die Schenklager 58, 59 am Träger 57 nehmen eine Lenkstange 60 auf. Diese ist mit einem Führungswagen 61 verbunden, der in überkopf verlaufenden Führungsschienen 62 geführt ist.At the front end of the leg 52, a steering device 56 is connected to the base frame 51 via a hoisted support 57. The leg bearings 58, 59 on the carrier 57 accommodate a handlebar 60. This is connected to a guide carriage 61 which is guided in guide rails 62 running overhead.

Die schwenkbare Lenkstange 60 besitzt eine Antriebsrolle 63, die über einen Antriebsmotor 64 angetrieben wird. Ferner sind nach ruckwarts verlegte schwenkbare Rollen 65 mit dem Träger 57 verbunden.The pivotable handlebar 60 has a drive roller 63 which is driven by a drive motor 64. Furthermore, swiveling rollers 65, which are laid backwards, are connected to the carrier 57.

Der Grundrahmen 51 besitzt am ruckwartigen Ende zwei, parallele Rollen 66.The base frame 51 has two parallel rollers 66 at the rear end.

Wie schon bei dem in den Fig. 1 bis 3 dargestellten Förderfahrzeug kann auch hier eine andere Art und Ausbildung der Lenkung des Förderfahrzeuges vorgesehen sein.As with the conveyor vehicle shown in FIGS. 1 to 3, a different type and design of the steering of the conveyor vehicle can also be provided here.

Mit dem Grundrahmen 51 fest verbunden sind die vertikalen Stützen 69, 70.The vertical supports 69, 70 are firmly connected to the base frame 51.

Die querliegende U-Öffnung 67 dient zur Aufnahme eines Satellitenfahrzeuges 80. Dieses besitzt einen tiefliegenden Fahrrahmen 81, der vorzugsweise zwei parallele, gabelformige Tragrahmenteile 82, 83 besitzt. Mit dem Jochteil 84 ist ein rahmenformiger Mast 85 fest verbunden. An diesem Mast ist eine üblich ausgebildete Hubgabel 86 höhenbeweglich angeordnet und wird über einen Hubgabelantrieb 87 auf- und abbewegt. An den freien Enden der Tragrahmenteile 82, 83 sind jeweils Tandemrollen 88, 89 angeordnet. Mit der Hubgabel 86 ist ein Querteil 71 fest verbunden, welches sich auf den Stützen 69, 70 abstützen kann.The transverse U-opening 67 serves to receive a satellite vehicle 80. This has a low-lying traveling frame 81, which preferably has two parallel, fork-shaped support frame parts 82, 83. A frame-shaped mast 85 is fixedly connected to the yoke part 84. On this mast, a commonly designed lifting fork 86 is arranged such that it can move in height and is moved up and down by means of a lifting fork drive 87. Tandem rollers 88, 89 are arranged at the free ends of the support frame parts 82, 83, respectively. A cross member 71 is firmly connected to the lifting fork 86 and can be supported on the supports 69, 70.

An dem Jochteil 84 ist eine zum Satellitenfahrzeug 80 querverlaufende Antriebswelle 90 gelagert, die die seitlichen Antriebsräder 91, 92 trägt. Diese Welle 90 wird vom Antriebsmotor 93 über einen Kettentrieb 94 angetrieben.A drive shaft 90, which runs transverse to the satellite vehicle 80 and carries the side drive wheels 91, 92, is mounted on the yoke part 84. This shaft 90 is driven by the drive motor 93 via a chain drive 94.

Die Verbindungseinrichtung 100 zwischen Förderfahrzeug 1 und Satellitenfahrzeug 80 besteht aus Gelenkstangen 101 und 102, sowie einer Teleskopstange 103, die gelenkig mit dem Satellitenfahrzeug 80, z. B. an der Gelenkstelle 104, an einem Arm 105 des Mastes 85 angelenkt ist.The connecting device 100 between the conveyor vehicle 1 and the satellite vehicle 80 consists of articulated rods 101 and 102, and a telescopic rod 103 which is articulated with the satellite vehicle 80, for. B. at the articulation point 104, is articulated on an arm 105 of the mast 85.

Die Verbindungseinrichtung 100 dient auch zur Halterung für die Energie und Informationskabel sowie den Endschalter für die Endbegrenzung des Verfahrweges.The connecting device 100 also serves as a holder for the energy and information cables and the limit switch for the end limitation of the travel path.

Bei dem dargestellten Ausführungsbeispiel ist nur ein seitliches Aus- und Einfahren des Satellitenfahrzeuges 80 nach rechts möglich. Die Fig. 6 zeigt strichliert die Ausfahrstellung des Satellitenfahrzeuges mit Stückgut 106.In the illustrated embodiment only a lateral extension and retraction of the satellite vehicle 80 to the right possible. 6 shows the extended position of the satellite vehicle with general cargo 106 in dashed lines.

In der in Fig. 4 dargestellten Parkstellung wird das Satellitenfahrzeug 80 vom Förderfahrzeug 1 übernommen. Die Hubgabel 86 des Satellitenfahrzeuges 80 fährt hoch, bis das Hubgabelquerteil 71 über den Stützen 69, 70 sich befindet.In the parking position shown in FIG. 4, the satellite vehicle 80 is taken over by the conveyor vehicle 1. The lifting fork 86 of the satellite vehicle 80 moves up until the lifting fork cross part 71 is above the supports 69, 70.

Danach wird das Satellitenfahrzeug 80 bis zur Endlage in das Förderfahrzeug eingefahren und die Hubgabel bis zur Auflage des Hubgabelquerteiles 71 auf den Stützen 69, 70 abgesenkt.The satellite vehicle 80 is then retracted into the conveyor vehicle to the end position and the lifting fork is lowered until the lifting fork cross part 71 rests on the supports 69, 70.

Bei weiterer Betätigung des Hubgabelantriebes in Richtung des Absenkens wird der Fahrrahmen 81 bis zur vorgegebenen Endstellung, wie aus Fig. 4 ersichtlich, angehoben. Damit sind die Rollen 88, 89 und die Antriebsräder 91, 92 frei vom Boden 108.Upon further actuation of the lifting fork drive in the direction of lowering, the travel frame 81 is raised to the predetermined end position, as can be seen in FIG. 4. The rollers 88, 89 and the drive wheels 91, 92 are thus free from the ground 108.

Die Steuerung des Satellitenfahrzeuges für das Ein- und Ausfahren erfolgt ähnlich wie bei dem Förderfahrzeug 1 nach den Fig. 1 bis 3 mittels entsprechender Geber oder aber auf sonstige Weise. Zum Beispiel kann die Ein-und Ausfahrbewegung des Satellitenfahrzeuges 80 aus dem Förderfahrzeug 50 in den Antrieben für Fahrbewegung und Hubgabelbewegung vorprogrammiert sein. In einem solchen Falle könnte auch dann die Verbindungseinrichtung 100 entfallen.The control of the satellite vehicle for entering and exiting is carried out similarly to that of the conveyor vehicle 1 according to FIGS. 1 to 3 by means of appropriate sensors or in some other way. For example, the entry and exit movement of the satellite vehicle 80 from the conveyor vehicle 50 can be preprogrammed in the drives for the travel movement and lifting fork movement. In such a case, the connecting device 100 could also be omitted.

Claims (6)

1. A transport vehicle, comprising a mobile storage rack (5; 50) for parcelled goods (15; 106) and a mobile powered detachable loading and unloading device (20; 80) with a mobile powered lifting carriage having a lift fork (28, 86), being liftably powered and guided in a supporting frame (27, 85), said carriage being designed to transport parcelled goods to the storage rack,
characterized in that the loading and unloading device (20; 80) can be steered independently of the path of the vehicle, that a base frame (21; 81) of the loading and unloading device extends beyond the length of the lift fork and that the storage rack (5; 50) and the loading and unloading device (20; 80) have a frame designed to allow this device to be berthed inside the storage rack.
2. A transport vehicle according to claim 1, characterized in that the base frame (51) of the storage rack (50) is in the shape of a transverse U perpendicular to the longitudinal direction of the storage rack and that the loading and unloading device (80) is provided with only a forward and reverse drive unit (93, 94, 91, 92), the free ends of the lift fork (86) extending ourwardly and being disposed perpendicular to the longitudinal direction of the storage rack.
3. A transport vehicle according to claim 1 or 2, characterized in that the loading and unloading device (20; 80) is provided with a sensor (33, 34, 35, 39) allowing it to execute lateral and/or turning movements from its parking position.
4. A transport vehicle according to claim 3, characterized in that the loading and unloading device (20) is connected to the storage rack (5) by means of a linkage (30, 100) with multiple articulated arms (31, 32; 101,102,103) and the arm joints and drive shaft of the loading and unloading device (20) are provided with angle sensors (33, 34, 35, 39).
5. A transport vehicle according to claim 2, characterized in that the base frame (51) is provided with supports (69, 70) allowing the loading and unloading device (20) to be berthed in a raised position above the floor (108) and that its lift fork (86) is provided with a cross-member (71) which locates on these supports.
6. A transport vehicle according to one or several of the above claims, characterized in that the loading and unloading device (20; 80) is equipped with drive rollers (23; 91, 92) as well as trailer rollers (26; 88, 89).
EP84903054A 1983-08-04 1984-08-02 Transport vehicles Expired EP0151624B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3328241 1983-08-04
DE19833328241 DE3328241C2 (en) 1983-08-04 1983-08-04 Conveyor vehicle

Publications (2)

Publication Number Publication Date
EP0151624A1 EP0151624A1 (en) 1985-08-21
EP0151624B1 true EP0151624B1 (en) 1988-09-21

Family

ID=6205820

Family Applications (1)

Application Number Title Priority Date Filing Date
EP84903054A Expired EP0151624B1 (en) 1983-08-04 1984-08-02 Transport vehicles

Country Status (6)

Country Link
EP (1) EP0151624B1 (en)
JP (1) JPS60501949A (en)
DE (1) DE3328241C2 (en)
DK (1) DK130085A (en)
NO (1) NO851328L (en)
WO (1) WO1985000796A1 (en)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3531444A1 (en) * 1985-08-14 1987-02-26 Ohra Regalanlagen Gmbh DEVICE FOR STORING OR EXHAUSTING GOODS IN OR FROM A HONEYCOMB RACK
DE3725896C2 (en) * 1987-08-05 2001-03-08 Frank Sinn Method and device for determining the position of a vehicle
AT396586B (en) * 1989-07-19 1993-10-25 Lager Technik Gmbh RAIL-DRIVEN VEHICLE FOR THE OPERATION OF HIGH RACKS
AT501062B1 (en) 2004-06-04 2007-06-15 Katt Transp Gmbh METHOD FOR PROMOTING GOODS AND PLANT FOR IMPLEMENTING THE PROCESS
DE102004031581B4 (en) * 2004-06-29 2015-02-05 Sew-Eurodrive Gmbh & Co Kg Track-guided transport system
AT509305B1 (en) * 2009-12-15 2012-03-15 Amx Automation Technologies Gmbh DRIVER-FREE TRANSPORT DEVICE
AT519463B1 (en) 2017-01-28 2018-07-15 LANDING GEAR
DE102022104012A1 (en) 2022-02-21 2023-08-24 Lippert Gmbh & Co. Kg Loading device for a kiln car

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1428891A (en) * 1965-03-24 1966-02-18 Lansing Bagnall Ltd Industrial handling trolley
GB1453387A (en) * 1974-12-16 1976-10-20 Miller D M Lifting and loading device for use in combination with a power driven lift truck

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3189205A (en) * 1962-11-08 1965-06-15 Yale & Towne Inc Stacking mechanism
DE2051585A1 (en) * 1970-10-21 1972-05-04 Robert Bosch Gmbh, 7000 Stuttgart Side loader
US3841503A (en) * 1971-07-08 1974-10-15 Drexel Ind Inc Material handling system
DE2249622A1 (en) * 1971-10-11 1973-04-19 John Robson Shipley CHARGING DEVICE
GB1429785A (en) * 1972-04-19 1976-03-24 Miller D M Lifting and loading device
DE2914404C2 (en) * 1979-04-10 1983-09-08 psb GmbH Förderanlagen und Lagertechnik, 6780 Pirmasens Storage and retrieval system for a high rack
DE2945052C2 (en) * 1979-11-08 1984-06-14 Rheinisch-Westfälisches Elektrizitätswerk AG, 4300 Essen Ambient air heat exchanger for a heat pump heating system
EP0030111A1 (en) * 1979-11-29 1981-06-10 I.D.C. Group Limited Apparatus for loading goods into storage racks and for unloading goods therefrom
DE3017456C2 (en) * 1980-05-07 1986-08-28 Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg Freely movable high-bay stacker
GB2080265A (en) * 1980-07-03 1982-02-03 Farr Kenneth Warehousing
DE3247960C2 (en) * 1982-12-23 1986-02-13 Eduard 7502 Malsch Angele Conveyor vehicle

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1428891A (en) * 1965-03-24 1966-02-18 Lansing Bagnall Ltd Industrial handling trolley
GB1453387A (en) * 1974-12-16 1976-10-20 Miller D M Lifting and loading device for use in combination with a power driven lift truck

Also Published As

Publication number Publication date
WO1985000796A1 (en) 1985-02-28
DE3328241C2 (en) 1986-04-30
DK130085D0 (en) 1985-03-22
JPS60501949A (en) 1985-11-14
DE3328241A1 (en) 1985-02-21
NO851328L (en) 1985-04-01
DK130085A (en) 1985-03-22
EP0151624A1 (en) 1985-08-21

Similar Documents

Publication Publication Date Title
DE3017456C2 (en) Freely movable high-bay stacker
EP0916615B1 (en) Driverless , e.g. free navigating transport vehicle for handling loads
EP1803679A2 (en) Method and system for rotating pallets
EP0151624B1 (en) Transport vehicles
WO1993000281A1 (en) Unit loads transloading device
DE3046027C2 (en)
DE3247960A1 (en) Conveying vehicle
EP0499251B1 (en) Warehouse-stacker with two liftable load supports which are separately controlled
DE102018112566A1 (en) Truck with extendable structure
EP0319466B1 (en) Handling vehicle for manipulating heavy, cumbersome loads
DE60310619T2 (en) Self-propelled vehicle for handling and transporting boxes
DE102016125157A1 (en) Industrial truck for turning pallets
WO2018018061A1 (en) Self-driving floor conveyor device
EP2518005B1 (en) Industrial truck
EP3543096B1 (en) Industrial truck with a load frame for mobile load carrier
DE102020108116A1 (en) Autonomous, ground-based industrial truck and method for loading and / or unloading a loading unit with such an industrial truck
DE102005035614B4 (en) Industrial truck, in particular a portal-type industrial truck
DE2159488A1 (en) TRANSPORT OF SHIPPING GOODS
DE2936160A1 (en) Heavy weight lorry loading installation - uses loading machine equipped with conveyor consisting of load carriers and auxiliary sliders
DE2300430A1 (en) SELF-DRIVEN LIFTING VEHICLE
DE3206270A1 (en) Rack-loading device movable in an alley of a rack store
DE447603C (en) Electric lifting and hand trucks with a loading platform that can be raised and lowered using parallel link pairs
EP0672611B1 (en) Retrieval machine for pallets and containers
AT526006A1 (en) TRANSPORTATION FACILITY
DE1037368B (en) Truck with a lifting mast that can be moved on a slide in a horizontal plane

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Designated state(s): FR GB SE

17P Request for examination filed

Effective date: 19850828

17Q First examination report despatched

Effective date: 19860603

D17Q First examination report despatched (deleted)
GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): FR GB SE

ET Fr: translation filed
GBT Gb: translation of ep patent filed (gb section 77(6)(a)/1977)
PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed
PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: SE

Payment date: 19900820

Year of fee payment: 7

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Effective date: 19910803

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 19910814

Year of fee payment: 8

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Effective date: 19920802

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 19920818

Year of fee payment: 9

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 19920802

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Effective date: 19940429

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

EUG Se: european patent has lapsed

Ref document number: 84903054.9

Effective date: 19920306