EP0221257B1 - Chariot de manutention avec dispositif de dépannage intégré - Google Patents

Chariot de manutention avec dispositif de dépannage intégré 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
Authority
EP
European Patent Office
Prior art keywords
support body
wheels
drive
rsi
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 - Lifetime
Application number
EP86110855A
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German (de)
English (en)
Other versions
EP0221257A1 (fr
Inventor
Max Brändli
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Digitron AG
Original Assignee
JD Technologie AG
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 JD Technologie AG filed Critical JD Technologie AG
Priority to AT86110855T priority Critical patent/ATE49948T1/de
Publication of EP0221257A1 publication Critical patent/EP0221257A1/fr
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Publication of EP0221257B1 publication Critical patent/EP0221257B1/fr
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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
    • B66F9/063—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.

Landscapes

  • 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)

Claims (7)

1. Véhicule de manutention divisé perpendiculairement à la direction de déplacement, à dispositif de dépannage intégré, conçu en particulier pour le guidage automatique le long d'une ligne de guidage (1), comprenant un corps porteur (3) qui comprend une plate-forme (11) réglable en hauteur et qui peut subir des torsions autour de son axe médian parallèle à la direction du déplacement et est porté et guidé à l'avant et à l'arrière respectivement dans la direction du déplacement par une cellule de roulement (2, 2') possédant chacune une roue motrice, directrice et pouvant être freinée (RA, RA'), ainsi que des roues porteuses menées (Rsi, Rs2, Rsi', Rs2') s'orientant automatiquement dans le sens de marche, le véhicule contenant en outre des appareils pour recevoir, traiter et délivrer des signaux en relation avec un dispositif qui les transmet le long de la piste de roulement pour commander le véhicule, le corps porteur (3) ayant une largeur plus faible que celle des deux cellules de roulement (2, 2') et étant articulé sur chacune de celles-ci par une articulation transversale (16, 16') facilement détachable, les axes de rotation (20, 20') des articulations transversales (16, 16') étant perpendiculaires à la direction du déplacement et placés entre les axes de rotation (7, 7') des roues motrices (RA, RA') et les axes de rotation (8, 9, 8', 9') des roues porteuses (Rsi, RS2, Rsi', Rs2') des cellules de roulement correspondantes, et le corps de support (3) et les cellules de roulement (2, 2') étant respectivement reliées par un actionneur à broche orientable (17, 17') et par lequel ils peuvent être décalés les uns par rapport aux autres autour de l'articulation (16, 16') correspondante, pour une première position active de l'actionneur à broche (17, 17'), la roue motrice (RA, RA,) de la cellule de roulement correspondante (2, 2') étant décollée de la piste de roulement d'une première distance (31) et, pour une seconde position active, les roues porteuses (Rsi, Rs2, Rsi', Rs2') de la cellule de roulement correspondant (2, 2') étant décollée d'une seconde distance (33), alors que, dans une position médiane de l'actionneur à broche (17, 17'), le corps porteur (3) et les cellules de roulement (2, 2') peuvent se décaler automatiquement mutuellement dans la grandeur de jeux supérieur et inférieur (28, 29).
2. Véhicule de manutention à dispositif de dépannage intégré selon la revendication 1, caractérisé en ce que la largeur minimale (18) des cellules de roulement (2, 2') est fixée de manière que la stabilité latérale dynamique du véhicule soit assurée également lorsque la plate-forme (11) est remontée et lorsque le véhicule roule à sa vitesse maximale.
3. Véhicule de manutention à dispositif de dépannage selon la revendication 1, caractérisé en ce que la largeur maximale (19) du corps de support (3) est fixée de manière que toute l'étendue de la plate-forme (11), réglable en hauteur, soit accessible manuellement des deux côtés longitudinaux (12, 13) du véhicule et de manière que la souplesse en torsion nécessaire au corps de support (3) soit garantie pour que toutes les roues (RA, RA', Rsi, Rs2, Rsi', Rs2') aient une adhérence suffisante au sol.
4. Véhicule de manutention à dispositif de dépannage intégré selon la revendication 1, caractérisé en ce que le corps de support (3) et la plate-forme (11), réglable en hauteur, possèdent la même largeur (19).
5. Véhicule de manutention à dispositif de dépannage intégré selon la revendication 1, caractérisé en ce que les articulations (16, 16'), transversales à l'axe longitudinal (15) passant par le milieu du véhicule sont des articulations virtuelles.
6. Véhicule de manutention à dispositif de dépannage intégré selon la revendication 1, caractérisé en ce que, avec l'inclinaison automatique entre le corps porteur (3) et les cellules de roulement (2, 2') respectivement dans la plage des jeux supérieur et inférieur (28, 29) et la faiblesse de torsion du corps porteur (3) sur une piste de roulement inégale, l'adhérence importante des deux roues motrices (RA, RA') et de toutes les roues porteuses (RS1, Rs2, Rsi', Rs2') est garantie.
7. Véhicule de manutention à dispositif de dépannage intégré selon la revendication 1, caractérisé en ce que, les plus grandes inclinaisons possibles entre les cellules de roulement (2, 2') et le corps porteur (3) sont si déterminées que l'on a, sur une piste de roulement inégale, une garde au sol parfaite (31, 33) pour les roues motrices (RA, RA') et les roues porteuses (Rsi, RS2, Rsi, Rs2').
EP86110855A 1985-10-25 1986-08-06 Chariot de manutention avec dispositif de dépannage intégré Expired - Lifetime EP0221257B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT86110855T ATE49948T1 (de) 1985-10-25 1986-08-06 Flurfoerderwagen mit integrierter entpannungsvorrichtung.

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

Family

ID=4279178

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Application Number Title Priority Date Filing Date
EP86110855A Expired - Lifetime EP0221257B1 (fr) 1985-10-25 1986-08-06 Chariot de manutention avec dispositif de dépannage intégré

Country Status (8)

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

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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 (ja) * 2006-05-22 2007-11-29 Ihi Corp 走行装置
US7824725B2 (en) 2007-03-30 2010-11-02 The Coca-Cola Company Methods for extending the shelf life of partially solidified flowable compositions
CN114475401B (zh) * 2022-01-06 2023-04-07 国网浙江省电力有限公司湖州供电公司 一种电力抢修工具车

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FR750688A (fr) * 1933-08-16
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Also Published As

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

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