EP0221257B1 - 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
EP0221257B1
EP0221257B1 EP86110855A EP86110855A EP0221257B1 EP 0221257 B1 EP0221257 B1 EP 0221257B1 EP 86110855 A EP86110855 A EP 86110855A EP 86110855 A EP86110855 A EP 86110855A EP 0221257 B1 EP0221257 B1 EP 0221257B1
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EP
European Patent Office
Prior art keywords
support body
wheels
drive
rsi
vehicle
Prior art date
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Expired - Lifetime
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EP86110855A
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German (de)
French (fr)
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EP0221257A1 (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
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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 which is cross-divided in the direction of travel and has an integrated relaxation device, in particular for automatic guidance along a guideline.
  • Industrial trucks are generally applicable when it comes to integrating automatic transport and storage technology into flexible assembly systems and manufacturing systems, such as in the assembly of units in the automotive and electronics industry and the manufacture of a wide range of products.
  • DE-A 2 144 786 discloses an industrial truck, in particular a side loader with a height-adjustable load carrier, which is used to drive in the aisles between shelves and to stack and unload goods.
  • This truck consists of two individual vehicle parts connected by the load carrier, each with a guide mast. A special cross-connection between the two vehicle parts is therefore eliminated.
  • the connection between load carrier and guide masts is made in such a way that there is as little play as possible between the moving parts.
  • An industrial truck designed in this way has the disadvantage that the grip on the ground of at least one particularly steerable drive wheel can be reduced in the event of an uneven road surface.
  • the possibility of moving in the vertical direction to overcome unevenness in the floor between the two vehicle parts is structurally complex and tends to jam in the event of uneven wear of the impellers and drive wheels or in the case of inclined ground, particularly when the load carrier is fully extended.
  • this industrial truck does not have an integrated expansion device and is therefore used in e.g. a blocked drive wheel can only be pulled out of the rack aisles with the help of a specially designed relaxation vehicle.
  • the use of this industrial truck is therefore limited to those cases where the unhindered access of a relaxation vehicle is guaranteed at all times.
  • Most of the applications in flexible assembly systems and production systems are therefore omitted, since there is often a construction vehicle where a relaxation vehicle 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.
  • an off-road vehicle is known from FR-A 2 281 263 which has two vehicle parts which are pivotably arranged on a chassis located between them.
  • the vehicle parts can be pivoted individually by means of a hydraulic system about a transverse axis and about a longitudinal axis relative to the chassis.
  • the hydraulics When the hydraulics are actuated, the same liability problems arise on an uneven surface as already described above. If the hydraulics are depressurized, there are no liability problems, but the chassis no longer assumes a defined position in the longitudinal axis. If, for relaxation, a vehicle part is to be lifted by pivoting, this is only possible due to the position of the pivot axis by appropriately lifting (or lowering) a chassis end. Apart from the fact that the hydraulics must be in operation for this, the chassis experiences a considerable inclination. This is undesirable because the load can slip, a correspondingly high lifting energy has to be used and the ground clearance can be greatly reduced.
  • 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 when driving normally, regardless of unevenness in the ground, and should be able to make the truck, either individually or in combination, completely free of ground in order to relax the truck. 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 in more detail 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 picking area as well as for linking warehouses and machine centers in flexible production systems.
  • Fig. 1 shows schematically a possible embodiment of the industrial truck according to the invention, as it for automatic guidance along the Guideline 1 is provided, consisting of two separate driving cells 2, 2 ', which are mirror-symmetrically connected to a load-bearing support body 3.
  • Each driving cell 2, 2 ' essentially contains: a steerable drive wheel R A or R A ' with driving and steering servo, two trailing support wheels Rsi, Rs 2 or Rsi ', Rs2', and not shown in FIG. 1, 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 'on the underside of the industrial truck in a horizontally-axially rotatable manner in assigned wheel bearings or suspensions.
  • the steering axes 4 and 4 ' run through the axes of rotation 7 and 7 'of the associated drive wheels R A and R A ', respectively the support wheels Rsi, Rs 2 and Rsi ', Rs 2 ' are self-steering with steering axes 5, 6 and 5 ', 6' extending from the axes of rotation 8, 9 and 8 ', 9'.
  • the drive wheels R A , R A ' can be pivoted by means of a drive and steering control around the assigned steering axes 4 or 4 ' and driven by a motor about the axes of rotation 7 or 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 vehicle longitudinal sides 12, 13 and can be used, for example, as an assembly platform which can be moved along an assembly line for assembling motor vehicles.
  • connection of the two driving cells 2, 2 'to the support body 3 takes place on both sides by means of a swivel joint 16, 16' running transversely to the longitudinal center axis 15 of the vehicle and a pull-push spindle 17, 17 'to be explained in more detail later in FIG. 2.
  • the two swivel joints 16, 16 ' are located 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 Rsi, Rs2 or Rsi ', Rs2'.
  • the dimensions of the travel cells 2, 2 ' and the support body 3 in the transverse direction of the vehicle, ie their widths, are denoted by 18 and 19, respectively, the width 18 of the driving cells 2, 2 'determining their greatest 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 drive cells 2, 2 ' can be deflected about the corresponding axes 20, 20' of the transverse joints 16, 16 'independently of one another by means of the spindle drive 17, 17' 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.
  • Rsi, Rs 2 , Rsi ', Rs 2 ' 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 sections 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.
  • Fig. 3 five malfunctions are shown, as they arise when the drive and support wheels R A , R A ', Rsi, Rs 2 , Rsi', Rs2 'are defective or blocked.
  • the drive wheel R A or R A ' is blocked.
  • the blocked drive wheel is made groundless by means of the relaxation device.
  • the industrial truck can then be moved by motor on the support wheels Rsi, Rs2, Rsi ', Rs2' and the functional drive wheel R A or R A '.
  • Incident 111 includes the situation that both drive wheels R A , R A 'are blocked at the same time, for example if the battery pack fails.
  • 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 Rsi, Rs2, Rsi ', Rs2' can be moved manually in any direction.
  • the accidents IV and V are about blocked support wheels Rsi, Rs 2 , Rsi ', Rs2', which are made in pairs for relaxation, per vehicle 2, 2 'groundless.
  • the industrial truck can be moved by motor on a functional travel cell 2, 2 'and the drive wheel R A , R A ' of the defective travel cell 2, 2 ', 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)
  • Platform Screen Doors And Railroad Systems (AREA)
  • Breeding Of Plants And Reproduction By Means Of Culturing (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Separation, Recovery Or Treatment Of Waste Materials Containing Plastics (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 in Fahrtrichtung quergeteilten Flurförderwagen mit integrierter Entspannungsvorrichtung, insbesondere zur selbsttätigen Führung entlang einer Leitlinie.The present invention relates to an industrial truck which is cross-divided in the direction of travel and has an integrated relaxation device, in particular for automatic guidance along a guideline.

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.Industrial trucks are generally applicable when it comes to integrating automatic transport and storage technology into flexible assembly systems and manufacturing systems, such as in the assembly of units in the automotive and electronics industry and the manufacture of a wide range of products.

Aus der DE-A 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. Eine besondere Querverbindung zwischen den beiden Fahrzeugteilen entfällt somit. Die Verbindung zwischen Lastträger und Führungsmasten erfolgt derart, dass möglichst wenig Spiel zwischen den Fahrteilen besteht.DE-A 2 144 786 discloses an industrial truck, in particular a side loader with a height-adjustable load carrier, which is used to drive in the aisles between shelves and to stack and unload goods. This truck consists of two individual vehicle parts connected by the load carrier, each with a guide mast. A special cross-connection between the two vehicle parts is therefore eliminated. The connection between load carrier and guide masts is made in such a way that there is as little play as possible between the moving parts.

Einem derart gestaltenen Flurförderzeug haftet 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 vertikaler Richtung ist baulich aufwendig und neigt bei ungleicher Abnützung der Lauf- und Antriebsräder oder bei Bodenschrägwelligkeit, insbesondere bei voll ausgefahrenem Lastträger, zum Verklemmen.An industrial truck designed in this way has the disadvantage that the grip on the ground of at least one particularly steerable drive wheel can be reduced in the event of an uneven road surface. The possibility of moving in the vertical direction to overcome unevenness in the floor between the two vehicle parts is structurally complex and tends to jam in the event of uneven wear of the impellers and drive wheels or in the case of inclined ground, particularly when the load carrier is fully extended.

Als nachteilig hat sich auch erwiesen, dass dieses Flurförderzeug keine integrierte Entspannungsvorrichtung besitzt und deshalb bei z.B. einem blockierten Antriebsrad nur mit Hilfe eines speziell hierfür vorgesehenen Entspannungsfahrzeuges aus den Regalgängen gezogen werden kann. Der Einsatz dieses Flurförderzeuges ist demnach auf jene Fälle beschränkt, wo der ungehinderte Zugang eines Entspannungsfahrzeuges jederzeit gewährleistet ist. Es entfallen somit die meisten Anwendungen in flexiblen Montageanlagen und Fertigungssystem, da dort ein Entspannungsfahrzeug aus baulichen Gründen oft nicht rasch genug oder überhaupt nicht zum Flurförderzeug gebracht werden kann und deshalb bezüglich Entspannung vollständige Autonomie des Flurförderzeuges gefordert ist.It has also proven to be disadvantageous that this industrial truck does not have an integrated expansion device and is therefore used in e.g. a blocked drive wheel can only be pulled out of the rack aisles with the help of a specially designed relaxation vehicle. The use of this industrial truck is therefore limited to those cases where the unhindered access of a relaxation vehicle is guaranteed at all times. Most of the applications in flexible assembly systems and production systems are therefore omitted, since there is often a construction vehicle where a relaxation vehicle 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.

Dieselben Nachteile ergeben sich bei einem Regalförderzeug gemäss DE-A 2 437 208. Die beiden Fahrzeugteile sind mittels Distanzstangen untereinander im Betrieb starr verbunden, so dass ein Verkehr auf unebener Fahrbahn kaum möglich ist. Massnahmen für eine Entspannung sind nicht vorgesehen.The same disadvantages arise with a rack conveyor according to DE-A 2 437 208. The two vehicle parts are rigidly connected to one another during operation by means of spacer bars, so that traffic on uneven roads is hardly possible. Measures for relaxation are not planned.

Aus der FR-A 2 281 263 ist schliesslich ein Geländefahrzeug bekannt, das zwei Fahrzeugteile besitzt, die schwenkbar an einem dazwischen liegenden Chassis angeordnet sind. Mittels einer Hydraulik können die Fahrzeugteile einzeln um eine Querachse und um eine Längsachse gegenüber dem Chassis verschwenkt werden. Bei betätigter Hydraulik ergeben sich dabei dieselben Haftungsprobleme bei unebener Unterlage, wie bereits vorstehend geschildert. Ist die Hydraulik drucklos, so bestehen zwar keine Haftungsprobleme, doch das Chassis nimmt keine definierte Lage in der Längsachse mehr ein. Soll zur Entspannung ein Fahrzeugteil durch Verschwenken angehoben werden, so ist dies wegen der Lage der Verschwenkachse nur unter entsprechendem Anheben (bzw. Senken) eines Chassisendes möglich. Abgesehen davon, dass hierzu die Hydraulik in Betrieb sein muss, erfährt das Chassis dabei eine erhebliche Neigung. Dies ist unerwünscht, weil dabei die Ladung verrutschen kann, eine entsprechende hohe Hubenergie aufgewendet werden muss und die Bodenfreiheit stark reduziert werden kann.Finally, an off-road vehicle is known from FR-A 2 281 263 which has two vehicle parts which are pivotably arranged on a chassis located between them. The vehicle parts can be pivoted individually by means of a hydraulic system about a transverse axis and about a longitudinal axis relative to the chassis. When the hydraulics are actuated, the same liability problems arise on an uneven surface as already described above. If the hydraulics are depressurized, there are no liability problems, but the chassis no longer assumes a defined position in the longitudinal axis. If, for relaxation, a vehicle part is to be lifted by pivoting, this is only possible due to the position of the pivot axis by appropriately lifting (or lowering) a chassis end. Apart from the fact that the hydraulics must be in operation for this, the chassis experiences a considerable inclination. This is undesirable because the load can slip, a correspondingly high lifting energy has to be used and the ground clearance can be greatly reduced.

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 when driving normally, regardless of unevenness in the ground, and should be able to make the truck, either individually or in combination, completely free of ground in order to relax the truck. 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 in more detail 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 picking area as well as for linking warehouses and machine centers in flexible production 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 Rsi, Rs2 bzw. Rsi', 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 Rsi, Rs2 bzw. Rsi', 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 for automatic guidance along the Guideline 1 is provided, consisting of two separate driving cells 2, 2 ', which are mirror-symmetrically connected to a load-bearing support body 3. Each driving cell 2, 2 'essentially contains: a steerable drive wheel R A or R A ' with driving and steering servo, two trailing support wheels Rsi, Rs 2 or Rsi ', Rs2', and not shown in FIG. 1, 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 'on the underside of the industrial truck in a horizontally-axially rotatable manner in assigned wheel bearings or suspensions. Of the steering axes 4, 5, 6 and 4 ', 5', 6 'arranged at a mutual distance, the steering axes 4 and 4 ' run through the axes of rotation 7 and 7 'of the associated drive wheels R A and R A ', respectively the support wheels Rsi, Rs 2 and Rsi ', Rs 2 ' are self-steering with steering axes 5, 6 and 5 ', 6' extending from the axes of rotation 8, 9 and 8 ', 9'. The drive wheels R A , R A 'can be pivoted by means of a drive and steering control around the assigned steering axes 4 or 4 ' and driven by a motor about the axes of rotation 7 or 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 vehicle longitudinal sides 12, 13 and can be used, for example, as an assembly 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 Rsi, Rs2 bzw. Rsi', 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 'to the support body 3 takes place on both sides by means of a swivel joint 16, 16' running transversely to the longitudinal center axis 15 of the vehicle and a pull-push spindle 17, 17 'to be explained in more detail later in FIG. 2. The two swivel joints 16, 16 ' are located 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 Rsi, Rs2 or Rsi ', Rs2'. The dimensions of the travel cells 2, 2 ' and the support body 3 in the transverse direction of the vehicle, ie their widths, are denoted by 18 and 19, respectively, the width 18 of the driving cells 2, 2 'determining their greatest 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'. Rsi, Rs2, Rsi', Rs2', und ist in Fig. 2 näher erläutert.The two drive cells 2, 2 'can be deflected about the corresponding axes 20, 20' of the transverse joints 16, 16 'independently of one another by means of the spindle drive 17, 17' 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. Rsi, Rs 2 , Rsi ', Rs 2 ', 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 sections 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 Stützrädem Rsi, 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 Rsi, Rs2 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 Rsi 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 an angle 32 against the road. The two support wheels Rsi and Rs 2 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', Rsi, Rs2, Rsi', 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 Rsi, Rs2, Rsi', Rs2' und dem funktionstüchtigen Antriebsrad RA bzw. RA' motorisch verfahrbar. Der Störfall 111 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 Rsi, Rs2, Rsi', Rs2' manuell in beliebigen Richtungen verfahren werden kann. Bei den Störfällen IV und V geht es um blockierte Stützräder Rsi, Rs2, Rsi', 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 malfunctions are shown, as they arise when the drive and support wheels R A , R A ', Rsi, Rs 2 , Rsi', Rs2 'are defective or blocked. In 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 can then be moved by motor on the support wheels Rsi, Rs2, Rsi ', Rs2' and the functional drive wheel R A or R A '. Incident 111 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 Rsi, Rs2, Rsi ', Rs2' can be moved manually in any direction. The accidents IV and V are about blocked support wheels Rsi, Rs 2 , Rsi ', Rs2', which are made in pairs for relaxation, per vehicle 2, 2 'groundless. In both cases, the industrial truck can be moved by motor on a functional travel cell 2, 2 'and the drive wheel R A , R A ' of the defective travel cell 2, 2 ', but with reduced lateral stability.

Claims (7)

1. A load-handling vehicle with an integrated recovery device, which vehicle is divided transversely relative to its running direction, specifically for an automatic guiding along a guide path (1), consisting of a support body (3) having a height adjustable platform (11) and being torsionable around its centre axis extending parallel to its running direction, supported at the front and at the rear and guided by respective drive cells (2, 2') having a steerable and brakeable drive wheel (RA, RA') and self- steering support wheels (Rsi, Rs2, Rsi', Rs2'), comprising further means for a receiving, processing and emitting of signals relating to a device for steering the vehicle and transmitting same along the roadway, which support body (3) is of a smaller width (19) than the two-drive cells (2, 2') and is pivotably joined thereto by a respective easily releasable pivot joint (16, 16'), the axes of rotation (20, 20') of the pivot joints (16, 16') extending laterally relative to the running direction and located between the axes of rotation (7, 7') of the drive wheels (RA, RA') and the axes of rotation (8, 9, 8', 9') of the support wheels (Rsi, Rs2, Rsi', Rs2') of the corresponding drive cell (2, 2'), which support body (3) and drive cells (2, 2') are pivotably interconnected by respective spindle drives (17,17') and deflectably by same mutually around the associated pivot joint (16, 16'), which respective drive wheels (RA, RA') of the respective associated drive cell (2, 2') are lifted off the roadway by a first distance (31) at a first operative position of the spindle drive (17, 17') and which support wheels (Rsi, Rs2, Rsi', Rs2') of the respective drive cell (2, 2') are lifted off the roadway by a second distance (33) at a second operating position, while the support body (3) and the drive cells (2, 2') are mutually deflectable automatically in a measure of an upper and a lower clearance (28, 29) at an intermediate position of the spindle drive (17, 17').
2. A load handling vehicle with an integrated recovery device according to claim 1, characterized in that the minimal width (18) of the drive cells (2, 2') is selected such that the dynamic lateral stability of the vehicle is provided even when the platform (11) is extended and at the maximal speed of the vehicle.
3. A load handling vehicle with an integrated recovery device according to claim 1, characterized in that the maximal width (19) of the support body (3) is selected such that the complete region of the height adjustable platform (11) is manually accessible from both longitudinal sides (12, 13) of the vehicle and in that the torsional elasticity of the support body (3) required for a sufficient floor traction of all wheels (RA, RA', Rsi, Rs2, Rsi', Rs2') is assured.
4. A load handling vehicle with an integrated recovery device according to claim 1, characterized in that the support body (3) and the height adjustable platform (11) have the same width (19).
5. A load handling vehicle with an integrated recovery device according to claim 1, characterized in that the pivot joints (16, 16') extending transversely to the centre longitudinal axis (15) of the vehicle define virtual pivot joints.
6. A load handling vehicle with an integrated recovery device according to claim 1, characterized in that by means of the automatic mutual deflection of the support body (3) and the drive cells (2, 2') a sufficient floor traction of both drive wheels (RA, RA') and of all support wheels (Rsi, Rs2, Rsi', Rs2') is assured even over irregular roadways within the range of the upper and lower clearance (28, 29) and the torsional elasticity of the support body (3).
7. A load handling vehicle with an integrated recovery device according to claim 1, characterized in that the largest possible deflections between the drive cells (2, 2') and the support body (3) are set such that a complete ground clearance (31, 33) is provided for the drive wheels (RA, RA') and the support wheels (Rsl, Rs2, Rsi', Rs2') in case of a completely flat roadway.
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
CH460385 1985-10-25
CH4603/85 1985-10-25

Publications (2)

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

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ID=4279178

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EP86110855A Expired - Lifetime EP0221257B1 (en) 1985-10-25 1986-08-06 Load-handling vehicle with an integrated recovery device

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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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Also Published As

Publication number Publication date
CA1273299A (en) 1990-08-28
FI85132B (en) 1991-11-29
FI85132C (en) 1992-03-10
ATE49948T1 (en) 1990-02-15
US4759421A (en) 1988-07-26
DE3668606D1 (en) 1990-03-08
FI864092A0 (en) 1986-10-10
FI864092A (en) 1987-04-26
JPS62103255A (en) 1987-05-13
EP0221257A1 (en) 1987-05-13
ES2002499A6 (en) 1988-08-16

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