EP0151624B1 - Vehicule de transport - Google Patents

Vehicule de transport Download PDF

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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
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German (de)
English (en)
Other versions
EP0151624A1 (fr
Inventor
Eduard Angele
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Individual
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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/fr
Application granted granted Critical
Publication of EP0151624B1 publication Critical patent/EP0151624B1/fr
Expired legal-status Critical Current

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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.

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  • 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

Le véhicule de transport (1) possède une installation de rangement pour marchandises de détail (15), en forme d'entrepôt (5) avec au moins une place d'entreposage, ainsi qu'une installation de chargement et de déchargement pour mettre la marchandise de détail (15) dans chaque place d'entreposage et pour l'en retirer. L'installation de chargement et de déchargement est un véhicule satellite (20). Celui-ci est remorqué pour prendre la marchandise de détail (15) par le véhicule de transport (1). Le véhicule satellite (20) peut alors se diriger de manière autonome au moins vers une direction pour prendre ou déposer la marchandise de détail.

Claims (6)

1. Véhicule de transport comprennant un moyen mobile (5; 50) de réception de marchandises (15; 106) et un moyen de chargement et de déchargement (20; 80) commandé en mouvement qui peut s'éloigner dudit moyen de réception et comprend un chariot de levage à fourche de levage (28; 86) mobile verticalement et guidé sur une structure de support (27; 85) et permettant le transfert des marchandises vers le moyen de réception, caractérisé en ce que le moyen de chargement et de déchargement (20; 80) est réalisé de façon à être dirigeable indépendamment d'une piste de guidage, que le bâti de base (21; 81) du moyen de chargement et de déchargement s'étend sur la longueur de la fourche de levage et que le moyen de réception (5; 50) et le moyen de chargement et de déchargement (20; 80) comportent chacun un bâti réalisé de telle façon que ces deux moyens peuvent s'emboîter l'un dans l'autre.
2. Véhicule de transport selon la revendication 1, caractérisé en ce que le bâti de base (51) du moyen de réception (50) des marchandises est réalisé en forme d'un "U" s'étendant transversalement au sens longitudinal dudit moyen de réception et que le moyen de chargement et de déchargement (80), dont la fourche de levage (86) a ses extrémités libres dirigées vers l'extérieur transversalement au sens longitudinal du moyen de réception, comporte seulement un mécanisme de commande (93, 94, 91, 92) pouvant effectuer un mouvement de va-et- vient.
3. Véhicule de transport selon la revendication 1 ou 2, caractérisé en ce que le moyen de chargement et de déchargement (20; 80) comporte des capteur (33, 34, 35, 39) pour des mouvements de translation et/ou de rotation par rapport à la position de repos.
4. Véhicule de transport selon la revendications 3, caractérisé en ce que le moyen de chargement et de déchargement (20) est lié au magasin à rayons (5) par un moyen de liaison (30, 100) comportant des bras (31, 32; 101, 102,103) à plusieurs articulations et que lesdites articulations ainsi que l'axe de commande du moyen de chargement et de déchargement (20) sont munis de capteurs d'angle (33, 34, 35, 29).
5. Véhicule de transport selon la revendications 2, caractérisé en ce que le bâti de base (51) est muni de bras d'appui (69, 70) permettant de mettre le moyen de chargement et de déchargement (20) dans une position de repos dégagée du sol (108) et que la fourche de levage (86) comporte une pièce transversale (71) pouvant être déposée sur lesdits bras d'appui.
6. Véhicule de transport selon une ou plusieurs des revendications 1 à 5, caractérisé en ce que le moyen de chargement et de déchargement (20; 80) est muni de galets porteurs (26; 88, 89).
EP84903054A 1983-08-04 1984-08-02 Vehicule de transport Expired EP0151624B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3328241 1983-08-04
DE19833328241 DE3328241C2 (de) 1983-08-04 1983-08-04 Förderfahrzeug

Publications (2)

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

Family

ID=6205820

Family Applications (1)

Application Number Title Priority Date Filing Date
EP84903054A Expired EP0151624B1 (fr) 1983-08-04 1984-08-02 Vehicule de transport

Country Status (6)

Country Link
EP (1) EP0151624B1 (fr)
JP (1) JPS60501949A (fr)
DE (1) DE3328241C2 (fr)
DK (1) DK130085D0 (fr)
NO (1) NO851328L (fr)
WO (1) WO1985000796A1 (fr)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3531444A1 (de) * 1985-08-14 1987-02-26 Ohra Regalanlagen Gmbh Vorrichtung zur ein- oder auslagerung von guetern in oder aus einem wabenregal
DE3725896C2 (de) * 1987-08-05 2001-03-08 Frank Sinn Verfahren und Vorrichtung zur Bestimmung der Position eines Fahrzeugs
AT396586B (de) * 1989-07-19 1993-10-25 Lager Technik Gmbh Schienengeführtes fahrzeug zur bedienung von hochregalen
AT501062B1 (de) * 2004-06-04 2007-06-15 Katt Transp Gmbh Verfahren zum fördern von gütern und anlage zur verwirklichung des verfahrens
DE102004031581B4 (de) * 2004-06-29 2015-02-05 Sew-Eurodrive Gmbh & Co Kg Spurgeführtes Transportsystem
AT509305B1 (de) * 2009-12-15 2012-03-15 Amx Automation Technologies Gmbh Fahrerlose transporteinrichtung
AT519463B1 (de) 2017-01-28 2018-07-15 Fahrwerk
DE102022104012A1 (de) 2022-02-21 2023-08-24 Lippert Gmbh & Co. Kg Ladeeinrichtung für einen Ofenwagen

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1428891A (fr) * 1965-03-24 1966-02-18 Lansing Bagnall Ltd Chariot de manutention industrielle
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 (de) * 1970-10-21 1972-05-04 Robert Bosch Gmbh, 7000 Stuttgart Seitenhublader
US3841503A (en) * 1971-07-08 1974-10-15 Drexel Ind Inc Material handling system
AU4759272A (en) * 1971-10-11 1974-04-26 Robson Shipley John Loading machine
GB1429785A (en) * 1972-04-19 1976-03-24 Miller D M Lifting and loading device
DE2914404C2 (de) * 1979-04-10 1983-09-08 psb GmbH Förderanlagen und Lagertechnik, 6780 Pirmasens Regalbedieneinrichtung für ein Hochregal
DE2945052C2 (de) * 1979-11-08 1984-06-14 Rheinisch-Westfälisches Elektrizitätswerk AG, 4300 Essen Umgebungsluft-Wärmetauscher für eine Wärmepumpen-Heizungsanlage
GB2063839A (en) * 1979-11-29 1981-06-10 Idc Group Ltd Apparatus for loading goods into storage racks and for unloading goods therefrom
DE3017456C2 (de) * 1980-05-07 1986-08-28 Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg Frei verfahrbarer Hochregalstapler
GB2080265A (en) * 1980-07-03 1982-02-03 Farr Kenneth Warehousing
DE3247960C2 (de) * 1982-12-23 1986-02-13 Eduard 7502 Malsch Angele Förderfahrzeug

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1428891A (fr) * 1965-03-24 1966-02-18 Lansing Bagnall Ltd Chariot de manutention industrielle
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
JPS60501949A (ja) 1985-11-14
DK130085A (da) 1985-03-22
DE3328241A1 (de) 1985-02-21
WO1985000796A1 (fr) 1985-02-28
EP0151624A1 (fr) 1985-08-21
NO851328L (no) 1985-04-01
DK130085D0 (da) 1985-03-22
DE3328241C2 (de) 1986-04-30

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