EP0221257A1 - Load-handling vehicle with an integrated recovery device - Google Patents

Load-handling vehicle with an integrated recovery device Download PDF

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Publication number
EP0221257A1
EP0221257A1 EP86110855A EP86110855A EP0221257A1 EP 0221257 A1 EP0221257 A1 EP 0221257A1 EP 86110855 A EP86110855 A EP 86110855A EP 86110855 A EP86110855 A EP 86110855A EP 0221257 A1 EP0221257 A1 EP 0221257A1
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EP
European Patent Office
Prior art keywords
wheels
support body
industrial truck
vehicle
relaxation device
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Granted
Application number
EP86110855A
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German (de)
French (fr)
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EP0221257B1 (en
Inventor
Max Brändli
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Digitron AG
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JD Technologie AG
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Priority to AT86110855T priority Critical patent/ATE49948T1/en
Publication of EP0221257A1 publication Critical patent/EP0221257A1/en
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    • 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
    • B66F9/063—Automatically guided
    • 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
    • B66F9/075—Constructional features or details
    • B66F9/07504—Accessories, e.g. for towing, charging, locking

Definitions

  • the present invention relates to an industrial truck with an integrated relaxation device, in particular for automatic guidance along a guideline, consisting of a support body having a height-adjustable platform, carried and guided on both ends by a driving cell with a steered and braked drive wheel, and self-steering, trailing support wheels and further comprising devices for receiving, processing and delivering signals relating to a device for transmitting the same along the road, for controlling the vehicle.
  • an integrated relaxation device in particular for automatic guidance along a guideline, consisting of a support body having a height-adjustable platform, carried and guided on both ends by a driving cell with a steered and braked drive wheel, and self-steering, trailing support wheels and further comprising devices for receiving, processing and delivering signals relating to a device for transmitting the same along the road, for controlling the vehicle.
  • Such industrial trucks are generally applicable when it comes to the integration of automatic transport and storage technology in flexible assembly systems and manufacturing systems, such as in the assembly of assemblies in the automotive and electronics industries and the manufacture of a wide range of products.
  • an industrial truck in particular side loader with a height-adjustable load carrier is known, which is used to drive in the aisles between shelves and to stack and unload goods.
  • This industrial truck consists of two individual vehicle parts connected by the load carrier, each with a guide mast, one of which has a drive motor and a driver's seat in a known manner. A special cross-connection between the two vehicle parts is therefore eliminated.
  • the connection between the load carrier and the guide masts is made by means of rollers with their axes lying approximately transversely to a connecting line of the travel parts and corresponding rails, side stops being provided for the load carrier.
  • the load carrier is constructed telescopically, in particular each telescopic part being designed and arranged as a connecting member.
  • this industrial truck does not have an integrated release device and can therefore only be pulled out of the rack aisles with a blocked drive wheel, for example, with the aid of a specially designed release vehicle.
  • the use of this industrial truck is therefore limited to those cases where the unimpeded access of a relaxation vehicle is guaranteed at all times.
  • Most of the applications in flexible assembly systems and production systems are therefore no longer required, since for structural reasons there is often a building vehicle that cannot be brought to the industrial truck quickly enough or not at all, and therefore complete autonomy of the industrial truck is required with regard to relaxation.
  • the invention seeks to remedy this.
  • the invention is based on the object of designing an industrial truck in such a way that its track width, which determines the lateral stability, and the width of its height-adjustable platform can be determined independently of one another. Furthermore, all running wheels should have sufficient traction during normal travel, regardless of uneven ground, and should be made completely ground-free, individually or in combination, to relax the industrial truck in the event of a defect.
  • This object is achieved with the invention described in the characterizing features of the independent claim.
  • Advantageous further developments are specified in the dependent claims.
  • the invention is explained below with reference to the description and the drawing in its application as a mobile work platform in flexible assembly systems, but the device shown here is generally applicable in automatic transport and storage technology, such as for error-free access to the stored goods and the transport of pallets in the distribution and order picking area as well as for linking warehouses and machine centers in flexible manufacturing systems.
  • Fig. 1 shows schematically a possible embodiment of the industrial truck according to the invention, as it is provided for automatic guidance along the guideline 1, consisting of two separate travel cells 2, 2 ', which are mirror-symmetrically connected to a load-bearing support body 3.
  • Each driving cell 2, 2 ' contains essentially: a steerable drive wheel R A or R A ' with driving and steering servo, two trailing support wheels R S1 , R S2 or R S1 ', R S2 ', and in Fig. 1st not shown, Safety devices and a driving cell microcomputer for controlling and monitoring the driving speed and steering angle.
  • All three wheels are each pivotable about a vertically extending steering axis 4, 5, 6 or 4 ', 5', 6 'pivoted on the underside of the industrial truck in a horizontal axis in assigned wheel bearings or suspensions.
  • the steering axes 4 and 4' through the axes of rotation 7 and 7 'of the associated drive wheels R A and R A ', while the support wheels R S1 , R S2 and R S1 ', R S2 ' self-steering with spacing from the axes of rotation 8, 9 and 8 ', 9' extending steering axes 5, 6 and 5 ', 6' are formed.
  • the drive wheels R A , R A ' are pivotable by means of a drive and steering control about the associated steering axes 4 and 4' and motor-driven about the axes of rotation 7 and 7 '.
  • the support body 3 carried and guided by the two driving cells 2, 2 ' has a height-adjustable platform 11 which can be reached from the two longitudinal sides of the vehicle 12, 13 and can be used, for example, as a mounting platform which can be moved along an assembly line for assembling motor vehicles.
  • the connection of the two driving cells 2, 2 'with the support body 3 is carried out on both sides by a transverse joint 16 to the longitudinal axis 15 of the vehicle 16, 16' and one in Fig. 2 to be explained in more detail laterally shock shaft 17, 17 '.
  • the two swivel joints 16, 16 ' are attached in the lower region of the industrial truck, in the direction of travel between the associated drive wheels R A or R A ' and the associated support wheels R S1 , R S2 or R S1 ', R S2 '.
  • the dimensions of the driving cells 2, 2 'and the support body 3 in the vehicle transverse direction, ie their widths, are designated 18 and 19, respectively, the width 18 of the driving cells 2, 2' determining the largest possible track width.
  • the height-adjustable platform 11 and the support body 3 are of the same width and narrower than the two travel cells 2, 2 '.
  • the resulting waist of the industrial truck is an essential feature of the invention.
  • the two driving cells 2, 2' about the corresponding axes 20, 20 'of the transverse joints 16, 16' independently of one another, can be deflected relative to the support body 3 in both directions of rotation.
  • the deflection of the two driving cells 2, 2 'around the transverse joints 16, 16' serves to relax the industrial truck, for example when the drive and support wheels R A , R A 'are blocked'.
  • R S1 , R S2 , R S1 ', R S2 ' and is explained in more detail in Fig. 2.
  • the industrial truck is in the normal driving position, which is why the relaxation device is not activated.
  • It consists of two square hollow profiles 23, 24, which can be rotated relative to one another in the vertical direction via the spindle drive 17.
  • the square hollow profile 23, which is in engagement with the spindle nut, is firmly connected to the driving cell 2 on the support body side, while the square hollow profile 24 connected to the pull-jack spindle can come to rest with its stops 25, 26 on the mandrel 27 of the support body 3.
  • the spindle drive 17 is in the central position, so that there is an upper game 28 and a lower game 29 between the stops 25, 26 and the mandrel 27.
  • both drive wheels R A , R A 'with the corresponding spindle drives 17, 17' are simultaneously made free of the ground, so that the industrial truck on the support wheels R S1 , R S2 , R S1 ', R S2 ' can be moved manually in any direction .
  • the industrial truck on a functional driving cell 2, 2 'and the drive wheel R A , R A ' of the defective driving cell 2, 2 ' is motorized, but with reduced lateral stability.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Civil Engineering (AREA)
  • Handcart (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Breeding Of Plants And Reproduction By Means Of Culturing (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)
  • Separation, Recovery Or Treatment Of Waste Materials Containing Plastics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The industrial truck or vehicle comprises a support body or member supporting an elevatable platform. The support body is supported and guided on both ends by a respective transverse pivot joint of a respective driving module or unit. The width of the support body and the platform is narrower than the width of the two driving units. This narrowing or reduction in width of the industrial vehicle ensures that the complete platform region on both longitudinal sides of the industrial vehicle is manually accessible despite providing good lateral vehicle stability. Furthermore, the torsional elasticity of the support body is increased such that the support body in combination with the transverse pivot joints provide sufficient travel surface adhesion or floor traction of all drive wheels and support or free-running wheels even over irregular or uneven travel surfaces. The industrial vehicle possesses an emergency recovery device so that it can be temporarily driven without auxiliary devices if up to two wheels become blocked. For this purpose the driving units are tilted individually or in combination about the still functional wheels by means of a respective drive spindle until the blocked wheels are free of the floor or ground surface and the industrial vehicle is rendered mobile. The reduction in width of the industrial vehicle and the autonomous capability of recovering from emergencies permits this industrial vehicle to be utilized in flexibly-organized assembly plants, especially in the automotive industry.

Description

Die vorliegende Erfindung bezieht sich auf einen Flur­förderwagen mit integrierter Entpannungsvorrichtung, insbesondere zur selbsttätigen Führung entlang einer Leitlinie, bestehend aus einem, eine höhenverstellbare Plattform aufweisenden Stützkörper, beiderends getragen und geführt von je einer Fahrzelle mit gelenktem und gebremstem Antriebsrad, sowie selbstlenkenden, nachlaufen­den Stützrädern und weiter enthaltend Einrichtungen zur Aufnahme, Verarbeitung und Abgabe von Signalen bezüglich einer, dieselben entlang der Fahrbahn übertragenden Vorrichtung, zur Steuerung des Fahrzeuges.The present invention relates to an industrial truck with an integrated relaxation device, in particular for automatic guidance along a guideline, consisting of a support body having a height-adjustable platform, carried and guided on both ends by a driving cell with a steered and braked drive wheel, and self-steering, trailing support wheels and further comprising devices for receiving, processing and delivering signals relating to a device for transmitting the same along the road, for controlling the vehicle.

Solche Flurförderwagen sind allgemein anwendbar, wenn es um die Integration automatischer Transport- und Lager­technik in flexible Montageanlagen und Fertigungssysteme geht, wie z.B. bei der Montage von Aggregaten in der Automobil- und Elektronikindustrie und der Fertigung von breiten Produktesortimenten.Such industrial trucks are generally applicable when it comes to the integration of automatic transport and storage technology in flexible assembly systems and manufacturing systems, such as in the assembly of assemblies in the automotive and electronics industries and the manufacture of a wide range of products.

Aus der DE-OS Nr. 2′144′786 ist ein Flurförderzeug, ins­besondere Seitenstapler mit einem höhenverstellbaren Lastträger bekannt, der dazu dient, in den Gängen zwischen Regalen zu fahren und Waren auf- und abzustapeln. Dieses Flurförderzeug besteht aus zwei einzelnen, durch den Lastträger verbundenen Fahrzeugteilen mit je einem Führungsmast, von denen eines in bekannter Weise einen Antriebsmotor und einen Fahrerplatz aufweist. Eine beson­dere Querverbindung zwischen den beiden Fahrzeugteilen entfällt somit. Die Verbindung zwischen Lastträger und Führungsmasten erfolgt über mit ihrer Achse etwa quer zu einer Verbindungslinie der Fahrteile liegende Rollen und entsprechende Schienen, wobei Seitenanschläge für den Lastträger vorgesehen sind. Um möglichst wenig Spiel zwischen den Fahrteilen zuzulassen, werden zweckmässig Doppelrollen und Zentralschienen zur Verbindung zwischen den Führungsmasten und dem Lastträger verwendet. Der Last­träger ist teleskopartig aufgebaut, wobei insbesondere jedes Teleskopteil als Verbindungsglied ausgebildet und angeordent ist.From DE-OS No. 2'144'786 an industrial truck, in particular side loader with a height-adjustable load carrier is known, which is used to drive in the aisles between shelves and to stack and unload goods. This industrial truck consists of two individual vehicle parts connected by the load carrier, each with a guide mast, one of which has a drive motor and a driver's seat in a known manner. A special cross-connection between the two vehicle parts is therefore eliminated. The connection between the load carrier and the guide masts is made by means of rollers with their axes lying approximately transversely to a connecting line of the travel parts and corresponding rails, side stops being provided for the load carrier. In order to allow as little play as possible between the moving parts, double rollers and central rails are expediently used to connect the guide masts and the load carrier. The load carrier is constructed telescopically, in particular each telescopic part being designed and arranged as a connecting member.

Obwohl bei einem derart gestaltenen Flurförderzeug durch die Last in Fahrtrichtung kein Kippmoment erzeugt wird, haftet ihm doch der Nachteil an, dass bei unebener Fahr­bahn die Bodenhaftung wenigstens eines, insbesondere lenkbaren Antriebsrades vermindert sein kann. Die zur Überwindung von Bodenunebenheiten zwischen den beiden Fahrzeugteilen bestehende Bewegungsmöglichkeit in verti­ kaler Richtung ist baulich aufwendig und neigt bei un­gleicher Abnützung der Lauf- und Antriebsräder oder bei Bodenschrägwelligkeit, insbesondere bei voll ausgefahrenem Lastträger, zum Verklemmen. Im weiteren sind die beiden Fahrzeugteile einzig durch den höhenverstellbaren Last­träger verbunden, so dass auch keine Möglichkeit besteht, die Rahmenkonstruktion des Fahrzeuges so abzustimmen, dass sie einerseits im Hinblick auf die gewünschte Kippstabili­tät ausreichend steif, andererseits elastisch insoweit verformbar ist, dass allen Rollen bzw. Rädern bleibender Bodenkontakt verschafft wird.
Als nachteilig hat sich auch erwiesen, dass dieses Flur­förderzeug keine integrierte Entpannungsvorrichtung be­sitzt und deshalb bei z.B. einem blockierten Antriebsrad nur mit Hilfe eines speziell hiefür vorgesehenen Ent­pannungsfahrzeuges aus den Regalgängen gezogen werden kann. Der Einsatz dieses Flurförderzeuges ist demnach auf jene Fälle beschränkt, wo der ungehinderte Zugang eines Entpannungsfahrzeuges jederzeit gewährleistet ist. Es entfallen somit die meisten Anwendungen in flexiblen Montageanlagen und Fertigungssystemen, da dort ein Ent­pannungsfahrzeug aus baulichen Gründen oft nicht rasch genug oder überhaupt nicht zum Flurförderzeug gebracht werden kann und deshalb bezüglich Entpannung vollständige Autonomie des Flurförderzeuges gefordert ist.Although no tilting moment is generated by the load in the direction of travel in an industrial truck of this type, it has the disadvantage that the grip of at least one, in particular steerable, drive wheel can be reduced when the road is uneven. The possibility of moving vertically to overcome unevenness in the floor between the two vehicle parts The caliber direction is structurally complex and tends to jam if the impellers and drive wheels are worn unevenly or if there is inclined ground, particularly when the load carrier is fully extended. Furthermore, the two vehicle parts are only connected by the height-adjustable load carrier, so that there is also no possibility of coordinating the frame structure of the vehicle so that it is sufficiently rigid on the one hand with regard to the desired tipping stability, and on the other hand is elastically deformable to the extent that all rollers or Permanent contact with the ground is provided.
It has also proven to be disadvantageous that this industrial truck does not have an integrated release device and can therefore only be pulled out of the rack aisles with a blocked drive wheel, for example, with the aid of a specially designed release vehicle. The use of this industrial truck is therefore limited to those cases where the unimpeded access of a relaxation vehicle is guaranteed at all times. Most of the applications in flexible assembly systems and production systems are therefore no longer required, since for structural reasons there is often a building vehicle that cannot be brought to the industrial truck quickly enough or not at all, and therefore complete autonomy of the industrial truck is required with regard to relaxation.

Hier will die Erfindung Abhilfe schaffen.The invention seeks to remedy this.

Der Erfindung, wie sie in den Ansprüchen gekennzeichnet ist, liegt die Aufgabe zugrunde, einen Flurförderwagen so zu gestalten, dass seine, die Seitenstabilität bestim­mende Spurweite, sowie die Breite seiner höhenverstell­baren Plattform unabhängig voneinander festlegbar sind. Im weiteren sollen alle Laufräder bei Normalfahrt, unab­hängig von Bodenunebenheiten, ausreichende Bodenhaftung aufweisen und bei Defekt, zur Entpannung des Flurförder­wagens, einzeln oder in Kombination vollständig bodenfrei gemacht werden können. Diese Aufgabe wird mit der in den kennzeichnenden Merkmalen des unabhängigen Anspruches beschriebenen Erfindung gelöst. Vorteilhafte Weiter­bildungen sind in den abhängigen Ansprüchen angegeben.The invention, as characterized in the claims, is based on the object of designing an industrial truck in such a way that its track width, which determines the lateral stability, and the width of its height-adjustable platform can be determined independently of one another. Furthermore, all running wheels should have sufficient traction during normal travel, regardless of uneven ground, and should be made completely ground-free, individually or in combination, to relax the industrial truck in the event of a defect. This object is achieved with the invention described in the characterizing features of the independent claim. Advantageous further developments are specified in the dependent claims.

Die Erfindung ist im folgenden anhand der Beschreibung sowie der Zeichnung in ihrer Anwendung als fahrbare Arbeitsplattform in flexiblen Montageanlagen näher erläutert, doch ist die hier gezeigte Einrichtung allge­mein in der automatischen Transport- und Lagertechnik anwendbar, wie z.B. für den fehlerfreien Zugriff zur eingelagerten Ware und den Transport von Paletten im Verteil- und Kommissionierbereich sowie für die Ver­knüpfung von Lager und Maschinenzentren in flexiblen Fertigungssystemen.The invention is explained below with reference to the description and the drawing in its application as a mobile work platform in flexible assembly systems, but the device shown here is generally applicable in automatic transport and storage technology, such as for error-free access to the stored goods and the transport of pallets in the distribution and order picking area as well as for linking warehouses and machine centers in flexible manufacturing systems.

In der lediglich dieses Anwendungsbeispiel der Erfindung darstellenden Zeichnung zeigen:

  • Fig. 1 schematisch, eine perspektivische Darstellung der erfindungsgemässen Flurförderwagens mit Taillierung und Entpannungsvorrichtung,
  • Fig. 2a im Aufriss eine Darstellung der konstruktiven Ausbildung sowie der Funktion der Entpannungs­vorrichtung mit der Zug-Stossspindel in Mittelstellung,
  • Fig. 2b eine Darstellung gemäss Fig. 2a, aber mit der Zug-Stossspindel in Zugstellung,
  • Fig. 2c eine Darstellung gemäss Fig. 2a, aber mit der Zug-Stossspindel in Stossstellung,
  • Fig. 3 eine schematische Darstellung möglicher Störfälle mit den entsprechenden Entpannungsmöglichkeiten.
In the drawing illustrating only this application example of the invention:
  • 1 schematically, a perspective view of the industrial truck according to the invention with a waist and relaxation device,
  • 2a is an elevation of the structural design and the function of the relaxation device with the pull-push spindle in the central position,
  • 2b shows a representation according to FIG. 2a, but with the pull-push spindle in the pull position,
  • 2c shows a representation according to FIG. 2a, but with the pull / push spindle in the pushing position,
  • Fig. 3 is a schematic representation of possible accidents with the corresponding relaxation options.

Fig. 1 zeigt schematisch eine mögliche Ausführungsform des erfindungsgemässen Flurförderwagens, wie er zur selbst­tätigen Führung entlang der Leitlinie 1 vorgesehen ist, bestehend aus zwei separaten Fahrzellen 2, 2′, die spie­gelsymmetrisch mit einem lastaufnehmenden Stützkörper 3 verbunden sind. Jede Fahrzelle 2, 2′, enthält im wesent­lichen: ein lenkbares Antriebsrad RA bzw. RA′ mit Fahr- ­und Lenkservo, zwei nachlaufende Stützräder RS1, RS2 bzw. RS1′, RS2′, sowie in Fig. 1 nicht dargestellt, Sicherheitsvorrichtungen und einen Fahrzellen-Mikrocom­puter zur Steuerung und Uberwachung von Fahrgeschwindig­keit und Lenkwinkel. Alle drei Räder sind jeweils um eine vertikal verlaufende Lenkachse 4, 5, 6 bzw. 4′, 5′, 6′ verschwenkbar an der Unterseite des Flurförderwagens horizontalachsig in zugeordneten Radlagern bzw. Aufhängun­gen drehbar gelagert. Von den im gegenseitigen Abstand angeordneten Lenkachsen 4, 5, 6 bzw. 4′, 5′, 6′ verlaufen die Lenkachsen 4 bzw. 4′ durch die Drehachsen 7 bzw. 7′ der zugeordneten Antriebsräder RA bzw. RA′, während die Stützräder RS1, RS2 bzw. RS1′, RS2′ selbstlenkend mit abständlich von den Drehachsen 8, 9 bzw. 8′, 9′ verlaufen­den Lenkachsen 5, 6 bzw. 5′, 6′ ausgebildet sind. Die Antriebsräder RA, RA′ sind mittels einer Antriebs- und Lenksteuerung um die zugeordneten Lenkachsen 4 bzw. 4′ motorisch verschwenkbar und um die Drehachsen 7 bzw. 7′ motorisch antreibbar. Der von den beiden Fahrzellen 2, 2′ getragene und geführte Stützkörper 3 besitzt eine höhenverstellbare Plattform 11, die von den beiden Fahrzeuglängsseiten 12, 13 erreichbar ist und z.B. als entlang einer Montagestrasse verschiebbare Montageplatt­form zum Zusammenbau von Kraftfahrzeugen verwendet werden kann.Fig. 1 shows schematically a possible embodiment of the industrial truck according to the invention, as it is provided for automatic guidance along the guideline 1, consisting of two separate travel cells 2, 2 ', which are mirror-symmetrically connected to a load-bearing support body 3. Each driving cell 2, 2 ', contains essentially: a steerable drive wheel R A or R A ' with driving and steering servo, two trailing support wheels R S1 , R S2 or R S1 ', R S2 ', and in Fig. 1st not shown, Safety devices and a driving cell microcomputer for controlling and monitoring the driving speed and steering angle. All three wheels are each pivotable about a vertically extending steering axis 4, 5, 6 or 4 ', 5', 6 'pivoted on the underside of the industrial truck in a horizontal axis in assigned wheel bearings or suspensions. Of the mutually spaced steering axes 4, 5, 6 and 4 ', 5', 6 ', the steering axes 4 and 4' through the axes of rotation 7 and 7 'of the associated drive wheels R A and R A ', while the support wheels R S1 , R S2 and R S1 ', R S2 ' self-steering with spacing from the axes of rotation 8, 9 and 8 ', 9' extending steering axes 5, 6 and 5 ', 6' are formed. The drive wheels R A , R A 'are pivotable by means of a drive and steering control about the associated steering axes 4 and 4' and motor-driven about the axes of rotation 7 and 7 '. The support body 3 carried and guided by the two driving cells 2, 2 'has a height-adjustable platform 11 which can be reached from the two longitudinal sides of the vehicle 12, 13 and can be used, for example, as a mounting platform which can be moved along an assembly line for assembling motor vehicles.

Die Verbindung der beiden Fahrzellen 2, 2′ mit dem Stütz­körper 3 erfolgt beidseits durch je ein quer zur Fahrzeug­längsmittelachse 15 verlaufendes Drehgelenk 16, 16′ und eine in Fig. 2 später noch näher zu erläuternde Zug-Stoss­spindel 17, 17′. Die beiden Drehgelenke 16, 16′ sind im unteren Bereich des Flurförderwagens, in Fahrtrichtung zwischen den zugehörigen Antriebsrädern RA bzw. RA′ und den zugehörigen Stützrädern RS1, RS2 bzw. RS1′, RS2′ angebracht. Die Abmessungen der Fahrzellen 2, 2′ und des Stützkörpers 3 in Fahrzeugquerrichtung, d.h. deren Breiten, sind mit 18 bzw. 19 bezeichnet, wobei die Breite 18 der Fahrzellen 2, 2′ deren grösstmögliche Spurbreite bestimmt. Im vorliegenden Beispiel sind die höhenverstell­bare Plattform 11 und der Stützkörper 3 gleich breit und schmäler als die beiden Fahrzellen 2, 2′ ausgebildet. Die sich daraus ergebende Taillierung des Flurförderwagens ist wesentliches Merkmal der Erfindung.The connection of the two driving cells 2, 2 'with the support body 3 is carried out on both sides by a transverse joint 16 to the longitudinal axis 15 of the vehicle 16, 16' and one in Fig. 2 to be explained in more detail laterally shock shaft 17, 17 '. The two swivel joints 16, 16 'are attached in the lower region of the industrial truck, in the direction of travel between the associated drive wheels R A or R A ' and the associated support wheels R S1 , R S2 or R S1 ', R S2 '. The dimensions of the driving cells 2, 2 'and the support body 3 in the vehicle transverse direction, ie their widths, are designated 18 and 19, respectively, the width 18 of the driving cells 2, 2' determining the largest possible track width. In the present example, the height-adjustable platform 11 and the support body 3 are of the same width and narrower than the two travel cells 2, 2 '. The resulting waist of the industrial truck is an essential feature of the invention.

Mittels des Spindeltriebes 17, 17′ sind die beiden Fahr­zellen 2, 2′ um die entsprechenden Achsen 20, 20′ der Quergelenke 16, 16′ unabhängig voneinander, gegenüber dem Stützkörper 3 in beiden Drehrichtungen auslenkbar. Die Auslenkung der beiden Fahrzellen 2, 2′ um die Quer­gelenke 16, 16′ dient der Entpannung des Flurförderwagens z.B. bei blockierten Antriebs- und Stützrädern RA, RA′. RS1, RS2, RS1′, RS2′, und ist in Fig. 2 näher erläutert.By means of the spindle drive 17, 17 ', the two driving cells 2, 2' about the corresponding axes 20, 20 'of the transverse joints 16, 16' independently of one another, can be deflected relative to the support body 3 in both directions of rotation. The deflection of the two driving cells 2, 2 'around the transverse joints 16, 16' serves to relax the industrial truck, for example when the drive and support wheels R A , R A 'are blocked'. R S1 , R S2 , R S1 ', R S2 ', and is explained in more detail in Fig. 2.

In Fig. 2a befindet sich der Flurförderwagen in normaler Fahrstellung, weshalb die Entpannungsvorrichtung nicht aktiviert ist. Sie besteht aus zwei Vierkant-Hohlprofilen 23, 24, die über den Spindeltrieb 17 in vertikaler Richtung drehfest gegeneinander verschiebbar sind. Das mit der Spindelmutter im Eingriff stehende Vierkant-Hohlprofil 23 ist stützkörperseitig fest mit der Fahrzelle 2 verbunden, während das mit der Zug-Stossspindel verbundene Vierkant-­Hohlprofil 24 mit seinen Anschlägen 25, 26 am Dorn 27 des Stützkörpers 3 zur Anlage kommen kann. In Fig. 2a befindet sich der Spindeltrieb 17 in Mittelstellung, so dass zwischen den Anschlägen 25, 26 und dem Dorn 27 ein oberes Spiel 28 und ein unteres Spiel 29 besteht.2a, the industrial truck is in the normal driving position, which is why the relaxation device is not activated. It consists of two square hollow profiles 23, 24, which can be rotated relative to one another in the vertical direction via the spindle drive 17. The square hollow profile 23, which is in engagement with the spindle nut, is firmly connected to the driving cell 2 on the support body side, while the square hollow profile 24 connected to the pull-jack spindle can come to rest with its stops 25, 26 on the mandrel 27 of the support body 3. In Fig. 2a, the spindle drive 17 is in the central position, so that there is an upper game 28 and a lower game 29 between the stops 25, 26 and the mandrel 27.

Die Fig. 2b und 2c zeigen den Flurförderwagen in Ent­pannungsstellung mit in beiden Fällen aktivierter Entpannungsvorrichtung.2b and 2c show the industrial truck in the release position with the release device activated in both cases.

In Fig. 2b befindet sich die Zug-Stossspindel in Zug­stellung, so dass der Anschlag 26 gegen den Dorn 27 zur Anlage kommt. Dadurch ist die Fahrzelle 2 im Uhrzeiger­sinn um das Quergelenk 16 gegen den Stützkörper 3 ausge­lenkt und auf den Stützrädern RS1, RS2 um den Winkel 30 gegen die Fahrbahn gekippt. Dadurch ist das Antriebsrad RA um die Distanz 31 vom Boden abgehoben.In Fig. 2b, the pull-push spindle is in the pull position, so that the stop 26 comes to rest against the mandrel 27. As a result, the travel cell 2 is deflected clockwise around the transverse joint 16 against the support body 3 and is tilted on the support wheels R S1 , R S2 by the angle 30 against the roadway. As a result, the drive wheel R A is lifted from the ground by the distance 31.

Fig. 2c zeigt die Zug-Stossspindel in Stossstellung, weshalb der Anschlag 25 auf dem Dorn 27 aufliegt. In diesem Falle ist die Fahrzelle 2 im Gegenuhrzeigersinn um das Quergelenk 16 gegen den Stützkörper 3 ausgelenkt und auf dem Antriebsrad RA um den Winkel 32 gegen die Fahrbahn gekippt. Die beiden Stützräder RS1 und RS2 sind dabei um die Distanz 33 vom Boden abgehoben.2c shows the pull / push spindle in the push position, which is why the stop 25 rests on the mandrel 27. In this case, the driving cell 2 is deflected counterclockwise around the transverse joint 16 against the support body 3 and tilted on the drive wheel R A by the angle 32 against the road. The two support wheels R S1 and R S2 are lifted from the ground by the distance 33.

In Fig. 3 sind fünf Störfälle dargestellt, wie sie sich bei Defekt oder Blockierung der Antriebs- und Stützräder RA, RA′, RS1, RS2, RS1′, RS2′, ergeben. In den Störfällen I und II ist das Antriebsrad RA bzw. RA′ blockiert. In beiden Fällen ist mittels der Entpannungsvorrichtung das blockierte Antriebsrad bodenfrei gemacht. Der Flurförder­wagen ist dann auf den Stützrädern RS1, RS2, RS1′, RS2′ und dem funktionstüchtigen Antriebsrad RA bzw. RA′ motorisch verfahrbar. Der Störfall III beinhaltet die Situtation, dass beide Antriebsräder RA, RA′ gleichzeitig blockiert sind, z.B. bei Ausfall des Batteriesatzes. Zur Entpannung sind beide Antriebsräder RA, RA′ mit den entsprechenden Spindeltrieben 17, 17′ gleichzeitig bodenfrei gemacht, so dass der Flurförderwagen auf den Stützrädern RS1, RS2, RS1′, RS2′ manuell in beliebigen Richtungen verfahren werden kann. Bei den Störfällen IV und V geht es um blockierte Stützräder RS1, RS2, RS1′, RS2′, welche zur Entpannung paarweise, pro Fahrzelle 2, 2′ bodenfrei gemacht sind. In beiden Fällen ist der Flur­förderwagen auf einer funktionstüchtigen Fahrzelle 2, 2′ und dem Antriebsrad RA, RA′ der defekten Fahrzelle 2, 2′ motorisch verfahrbar, allerdings mit reduzierter Seiten­stabilität.In Fig. 3 five accidents are shown, as they result from a defect or blocking the drive and support wheels R A , R A ', R S1 , R S2 , R S1 ', R S2 '. In the accidents I and II, the drive wheel R A or R A 'is blocked. In both cases, the blocked drive wheel is made groundless by means of the relaxation device. The industrial truck is then motorized on the support wheels R S1 , R S2 , R S1 ', R S2 ' and the functional drive wheel R A or R A '. Incident III includes the situation that both drive wheels R A , R A 'are blocked at the same time, for example if the battery pack fails. To relax, both drive wheels R A , R A 'with the corresponding spindle drives 17, 17' are simultaneously made free of the ground, so that the industrial truck on the support wheels R S1 , R S2 , R S1 ', R S2 ' can be moved manually in any direction . In the event of accidents IV and V it is about blocked support wheels R S1 , R S2 , R S1 ', R S2 ', which are made in pairs for relaxation, per travel cell 2, 2 'groundless. In both cases, the industrial truck on a functional driving cell 2, 2 'and the drive wheel R A , R A ' of the defective driving cell 2, 2 'is motorized, but with reduced lateral stability.

Claims (9)

1. Flurförderwagen mit integrierter Entpannungsvorrich­tung, insbesondere zur selbsttätigen Führung entlang einer Leitlinie (1), bestehend aus einem, eine höhen­verstellbare Plattform (11) aufweisenden Stützkörper (3), beiderends getragen und geführt von je einer Fahr­zelle (2, 2′) mit gelenktem und gebremstem Antriebsrad (RA,RA′), sowie selbstlenkenden, nachlaufenden Stütz­rädern (RS1, RS2, RS1′, RS2′) und weiter enthaltend Einrichtungen zur Aufnahme, Verarbeitung und Abgabe von Signalen bezüglich einer, dieselben entlang der Fahrbahn übertragenden Vorrichtung, zur Steuerung des Fahrzeuges,
dadurch gekennzeichnet,
dass der Stützkörper (3) eine geringere Breite aufweist als die beiden Fahrzellen (2, 2′) und an denselben über je ein leichtlösbares Quergelenk (16, 16′) ange­lenkt ist und dass Stützteil (3) und Fahrzellen (2, 2′) durch je einen Spindeltrieb (17, 17′) verbunden sind, wobei sie in dessen Zugstellung um den Winkel +α und in dessen Stossstellung um den Winkel -β gegenseitig ausgelenkt sind und in dessen Mittelstellung im Be­reiche von +α bis -β selbsttätig gegenseitig auslenkbar sind.1. Industrial truck with integrated relaxation device, in particular for automatic guidance along a guideline (1), consisting of a, a height-adjustable platform (11) having support body (3), carried on both ends and guided by a driving cell (2, 2 ') each with a steered and braked drive wheel (R A , R A '), and self-steering, trailing support wheels (R S1 , R S2 , R S1 ', R S2 ') and further containing facilities for receiving, processing and delivering signals with respect to one, the same along the Road-transmitting device, for controlling the vehicle,
characterized by
that the support body (3) has a smaller width than the two travel cells (2, 2 ') and is articulated to the same via an easily releasable transverse joint (16, 16') and that the support part (3) and travel cells (2, 2 ') are each connected by a spindle drive (17, 17 '), wherein they are mutually deflected by the angle + α in their pull position and -β in their abutting position and can be mutually deflected automatically in the middle position in the range from + α to -β are. 2. Flurförderwagen mit integrierter Entpannungsvorrichtung nach Anspruch 1,
dadurch gekennzeichnet,
dass die minimale Breite (18) der Fahrzellen (2, 2′) so festgelegt ist, dass die dynamische Fahrzeugseiten­stabilität auch bei ausgefahrener Plattform (11) und maximaler Fahrzeuggeschwindigkeit gewährleistet ist.2. industrial truck with integrated relaxation device according to claim 1,
characterized by
that the minimum width (18) of the driving cells (2, 2 ') is set so that the dynamic vehicle side stability is guaranteed even when the platform (11) is extended and the maximum vehicle speed. 3. Flurförderwagen mit integrierter Entpannungsvorrichtung nach Anspruch 1,
dadurch gekennzeichnet
dass die maximale Breite (19) des Stützkörpers (3) so festgelegt ist, dass der volle Bereich der höhenver­stellbaren Plattform (11) von den beiden Fahrzeug-­Längsseiten (12, 13) aus manuell erreichbar ist und die für ausreichende Bodenhaftung aller Räder (RA, RA′, RS1, RS2, RS1′ RS2′) erforderliche Torsionsweichheit des Stützkörpers (3) gewährleistet ist.3. industrial truck with integrated relaxation device according to claim 1,
characterized
that the maximum width (19) of the support body (3) is set so that the full area of the height-adjustable platform (11) can be reached manually from the two sides of the vehicle (12, 13) and that all the wheels (R A , R A ', R S1 , R S2 , R S1 ' R S2 ') required torsional softness of the support body (3) is guaranteed. 4. Flurförderwagen mit integrierter Entpannungsvorrichtung nach Anspruch 1,
dadurch gekennzeichnet,
dass der Stützkörper (3) und die höhenverstellbare Plattform (11) die gleiche Breite (19) aufweisen.4. industrial truck with integrated relaxation device according to claim 1,
characterized by
that the support body (3) and the height-adjustable platform (11) have the same width (19). 5. Flurförderwagen mit integrierter Entpannungsvorrichtung nach Anspruch 1,
dadurch gekennzeichnet
, dass die Achsen (20, 20′) der Quergelenke (16, 16′) in Fahrzeuglängsrichtung zwischen den Drehachsen (7, 7′) der Antriebsräder (RA, RA′) und den Drehachsen (8, 9, 8′, 9′) der nachlaufenden Stützräder (RS1, RS2, RS1′, RS2′) angeordnet sind.5. industrial truck with integrated relaxation device according to claim 1,
characterized
that the axes (20, 20 ') of the transverse joints (16, 16') in the vehicle longitudinal direction between the axes of rotation (7, 7 ') of the drive wheels (R A , R A ') and the axes of rotation (8, 9, 8 ', 9 ') of the trailing support wheels (R S1 , R S2 , R S1 ', R S2 ') are arranged. 6. Flurförderwagen mit integrierter Entpannungsvorrichtung nach Anspruch 1,
dadurch gekennzeichnet,
dass es sich bei den quer zur Fahrzeuglängsmittelachse (15) verlaufenden Drehgelenken (16, 16′) um virtuelle Drehgelenke handelt.6. industrial truck with integrated relaxation device according to claim 1,
characterized by
that the swivel joints (16, 16 ') running transversely to the vehicle longitudinal center axis (15) are virtual swivel joints. 7. Flurförderwagen mit integrierter Entpannungsvorrichtung nach Anspruch 1,
dadurch gekennzeichnet
dass die Quergelenke (16, 16′) in ihren Endauslenkungen +α, -β gegen an den Fahrzellen (2, 2′) angebrachte elastische Begrenzungsanschläge (21, 22) zur Anlage kommen.7. industrial truck with integrated relaxation device according to claim 1,
characterized
that the transverse joints (16, 16 ') come into contact in their final deflections + α, -β against elastic limit stops (21, 22) attached to the driving cells (2, 2'). 8. Flurförderwagen mit integrierter Entpannungsvorrichtung nach Anspruch 1,
dadurch gekennzeichnet,
dass mit der selbsttätigen gegenseitigen Auslenkung von Stützkörper (3) und Fahrzellen (2, 2′) im Bereiche von +α bis -β und der Torsionsweichheit des Stützkörpers (3) auch bei unebener Fahrbahn ausreichende Bodenhaf­tung beider Antriebsräder (RA, RA′) und aller Stütz­räder (RS1, RS2, RS1′, RS2′) gewährleistet ist.8. industrial truck with integrated relaxation device according to claim 1,
characterized by
that with the automatic mutual deflection of the supporting body (3) and driving cells (2, 2 ′) in the range from + α to -β and the torsional softness of the supporting body (3), even on uneven road surfaces, sufficient traction of both drive wheels (R A , R A ′ ) and all support wheels (R S1 , R S2 , R S1 ', R S2 ') is guaranteed. 9. Flurförderwagen mit integrierter Entpannungsvorrichtung nach Anspruch 1,
dadurch gekennzeichnet,
dass die grösstmöglichen Auslenkungen +α, -β zwischen den Fahrzellen (2, 2′) und dem Stützkörper (3) so fest­gelegt sind, dass sich daraus bei ebener Fahrbahn für die Antriebsräder (RA, RA′) und die Stützräder (RS1, RS2, RS1′, RS2′,) vollkommene Bodenfreiheit ergibt.9. industrial truck with integrated relaxation device according to claim 1,
characterized by
that the greatest possible deflections + α, -β between the driving cells (2, 2 ') and the support body (3) are set so that the driving wheels (R A , R A ') and the support wheels (R S1 , R S2 , R S1 ', R S2 ',) gives complete ground clearance.
EP86110855A 1985-10-25 1986-08-06 Load-handling vehicle with an integrated recovery device Expired - Lifetime EP0221257B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT86110855T ATE49948T1 (en) 1985-10-25 1986-08-06 FORKLIFT TRUCK WITH INTEGRATED RELEASE DEVICE.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH4603/85 1985-10-25
CH460385 1985-10-25

Publications (2)

Publication Number Publication Date
EP0221257A1 true EP0221257A1 (en) 1987-05-13
EP0221257B1 EP0221257B1 (en) 1990-01-31

Family

ID=4279178

Family Applications (1)

Application Number Title Priority Date Filing Date
EP86110855A Expired - Lifetime EP0221257B1 (en) 1985-10-25 1986-08-06 Load-handling vehicle with an integrated recovery device

Country Status (8)

Country Link
US (1) US4759421A (en)
EP (1) EP0221257B1 (en)
JP (1) JPS62103255A (en)
AT (1) ATE49948T1 (en)
CA (1) CA1273299A (en)
DE (1) DE3668606D1 (en)
ES (1) ES2002499A6 (en)
FI (1) FI85132C (en)

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US5816354A (en) * 1990-11-28 1998-10-06 Watkins; Jonathan Single track vehicle
US6021860A (en) * 1998-06-09 2000-02-08 Bernard C. Jones Vehicle dislodging system
JP2007308095A (en) * 2006-05-22 2007-11-29 Ihi Corp Traveling device
US7824725B2 (en) 2007-03-30 2010-11-02 The Coca-Cola Company Methods for extending the shelf life of partially solidified flowable compositions
CN114475401B (en) * 2022-01-06 2023-04-07 国网浙江省电力有限公司湖州供电公司 Power line repair tool car

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GB1272338A (en) * 1969-12-08 1972-04-26 Eaton Yale & Towne Improvements relating to stackers
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Also Published As

Publication number Publication date
DE3668606D1 (en) 1990-03-08
CA1273299A (en) 1990-08-28
ES2002499A6 (en) 1988-08-16
FI864092A0 (en) 1986-10-10
FI85132B (en) 1991-11-29
ATE49948T1 (en) 1990-02-15
EP0221257B1 (en) 1990-01-31
US4759421A (en) 1988-07-26
FI864092A (en) 1987-04-26
JPS62103255A (en) 1987-05-13
FI85132C (en) 1992-03-10

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