EP0319466B1 - Handling vehicle for manipulating heavy, cumbersome loads - Google Patents

Handling vehicle for manipulating heavy, cumbersome loads Download PDF

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Publication number
EP0319466B1
EP0319466B1 EP88810773A EP88810773A EP0319466B1 EP 0319466 B1 EP0319466 B1 EP 0319466B1 EP 88810773 A EP88810773 A EP 88810773A EP 88810773 A EP88810773 A EP 88810773A EP 0319466 B1 EP0319466 B1 EP 0319466B1
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EP
European Patent Office
Prior art keywords
handling vehicle
vehicle
vehicle according
handling
roll
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
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EP88810773A
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German (de)
French (fr)
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EP0319466A1 (en
Inventor
Werner Honegger
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IPT Weinfelden AG
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IPT Weinfelden AG
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Publication of EP0319466A1 publication Critical patent/EP0319466A1/en
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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
    • 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
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/18—Load gripping or retaining means
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S414/00—Material or article handling
    • Y10S414/124—Roll handlers

Definitions

  • the invention relates to a handling vehicle, in particular for manipulating and transporting large rolls of printed products in the printing industry, according to the preamble of claim 1.
  • transverse forklifts and four-way forklifts are known for transporting large, heavy loads.
  • Such cross forklifts are specially designed for the transport of elongated loads and make it possible, for example, to load pipes or rods onto a loading surface running lengthways to the direction of travel.
  • these vehicles are often designed with adjustable wheels so that the vehicle can be moved lengthways and transversely.
  • the arrangement of the loading area and lifting device, generally a lifting mast that can be moved transversely to the direction of travel, is provided for mere loading and unloading.
  • cross forklifts are not suitable for the manipulation of bulky bodies, such as large, round winding bodies. Since the corresponding loading device is designed for normal loading and unloading operations, the loads that occur when large bodies are manipulated can only be absorbed poorly and bulky bodies cannot be in because of the mutual arrangement of fork carriers or a lifting carriage carrying a tool and the lifting mast manipulated in the true sense, but only adjusted in height and moved across the vehicle together with the mast. For these reasons, these conventional cross forklifts can only be used for very one-sided storage concepts. If you want to store the objects to be manipulated, for example the mentioned printed product rolls, in a different position than they are to be recorded for transport, these vehicles can no longer be used.
  • the handling vehicle has an elongated floor plan and uses four-way drive technology with adjustable wheels.
  • the vehicle body has an essentially U-shaped outline, the wheels being adjustably attached to the two transverse legs.
  • the structure for the handling device is preferably offset on one side of the vehicle or slightly against the center of the vehicle, rigidly connected to the vehicle body or frame, or made in one piece with it.
  • the driver's seat, the steering and the operating elements are preferably provided on one leg of the vehicle body.
  • the structure mentioned for the handling device contains guide rails or other height adjustment elements for height adjustment of this device. Additional work devices or further manipulators can be provided on the side or at another point in the structure.
  • the handling device is preferably mounted on a support structure that can be adjusted transversely to the vehicle.
  • the load can be brought with its center of gravity over the wheels during transport, thus significantly improving driving behavior.
  • load support elements are provided on the cross legs of the vehicle body.
  • the possibility of adjusting the handling device across the vehicle and thus placing it at a distance from the load-bearing body makes it possible to detect even bulky loads and to manipulate them thanks to the space between the manipulator and the body.
  • the new handling vehicle can also optimize logistics in the warehouse and make it much more efficient.
  • a manipulator according to Swiss Patent Application No. 03 998 / 87-5 is preferably used to manipulate printed product coils. For example, it is possible to take wraps stacked flat on top of one another, bring them into a vertical position and load them onto the vehicle for transport.
  • Fig. 1 shows a handling vehicle with gripped print product winding.
  • Fig. 2 shows the vehicle frame in plan.
  • Fig. 3 shows schematically a supporting structure connected to the structure with a manipulator and a raised printed product roll.
  • FIG. 4 shows the handling vehicle according to FIG. 1 with an additional holding device for an empty winding core.
  • Fig. 6 shows a warehouse with printed product rolls in a vertical arrangement with access gorges in the plan.
  • Fig. 7 shows a warehouse with printed product rolls in a vertical arrangement with frontal access in the plan.
  • FIG. 1 shows a first exemplary embodiment of the handling vehicle with a vehicle frame 2 with two transverse legs 5, which contain the wheel suspension, and a longitudinal frame part 6.
  • a structure 1 with guide rails 10 is connected in one piece to the longitudinal frame part 6 and has a shape that is trapezoidal in view and tapers upwards. This structure leads to a high degree of stability, particularly when handling heavy loads, and enables exact manipulation of the load.
  • a printed product roll 8 is indicated by dashed lines and is held by a manipulation or gripping device, not shown here.
  • the handling vehicle according to the invention thus leaves the conventional concept of transverse forklifts with a movable lifting mast and opens up new possibilities for manipulating large and heavy loads.
  • the previous arrangement of the lifting mast and forks was designed with a view to merely lifting and lowering loads and just made it possible to deposit the load for transport on a loading area of these vehicles.
  • the storage streets and the type of storage of the objects had to be adapted accordingly, ie the storage objects had to be arranged in such a way that the vehicle could grasp them in the way they had to be oriented for transport.
  • the idea of the invention aims at a vehicle that simplifies and rationalizes the handling of heavy loads by simultaneously carrying out various tasks.
  • the aim is that the loads can be stacked, stored or used in different spatial positions without having to replace tools on the handling vehicle or even having to use different vehicles.
  • the vehicle according to the invention accordingly opens up the possibility of a handling device on a movable carrying device Height-adjustable to be installed so that, for example, lying printed product rolls are gripped, rotated with the handling device and can then be placed on the load support elements. For example, from a number of printed product rolls stacked on a pallet, roll by roll can be lifted and transported using the handling device or transported to the warehouse.
  • the high stability that is required for such manipulation processes is ensured by the structure 1 rigidly mounted on the chassis.
  • the arrangement of the body 1 means that when gripping heavy loads, both the weight of the vehicle and the body exert a torque counteracting the load.
  • the total weight distribution was adversely affected by moving the lifting mast, thereby reducing stability. For this reason, these loading devices were impractical for precise manipulation work.
  • the height of the body 1 is chosen so that the loads can be manipulated in the air without difficulty and that the handling vehicle interacts with the storage facilities or machines which are operated by the former without any problems.
  • the structure has a height of approximately 2 to 2.5 m, for example, for handling the printed product rolls mentioned.
  • the entire vehicle body and the structural elements are designed in such a way that the vehicle has a low center of gravity in small dimensions, which leads to high stability, and at the same time all heavy vehicle parts are arranged in such a way that they have a stabilizing effect during load manipulation.
  • the structure 1 and the cross legs 5 are designed so that the load is even if it is kept as low as possible.
  • the vehicle body is, for example, 1 m wide and 90 cm high.
  • Load support elements 7 for supporting the printed product roll are provided on the upper side of the cross legs 5 of the vehicle body. These can consist, for example, of a support surface or corresponding guide elements which prevent the load from being shifted during transport. These support elements 7 are preferably designed such that the load supported thereon is inclined against the structure 1. For the handling of particularly heavy loads, these load support elements can have additional auxiliary devices, e.g. Contain guide rails or gripping elements which support the handling device 3, 4 when gripping the load, in that the auxiliary devices are also extended and reach under the load.
  • additional auxiliary devices e.g. Contain guide rails or gripping elements which support the handling device 3, 4 when gripping the load, in that the auxiliary devices are also extended and reach under the load.
  • a driver's seat 15, preferably a cross seat, a steering wheel 16 and operating elements (not shown in detail) for the handling device are provided on a cross leg 5 for operation and steering by an operator.
  • This arrangement of the driver's cab enables a good overview during the manipulation of the loads, so that the driver can also operate the manipulation device without changing his position.
  • the fixed position of the body 1 is again advantageous since, contrary to the conventional cross forklifts, the lifting mast or the load to be manipulated is not moved out of the operator's field of vision.
  • Such a handling vehicle is shown in plan view in FIG.
  • the longitudinal frame part 6 and the transverse legs 5 of the frame 2 can be seen.
  • the handling is not shown here device held coil 8 is held so that it comes to rest on its periphery over the cross legs 5.
  • the shape of the vehicle is optimally adapted to the load to be manipulated, so that a short construction can also be achieved in the longitudinal direction. This makes use of the fact that the round shape of such coils allows the latter to be lowered so far that they come to lie in their lower region between the empty space between the two transverse legs 5.
  • enlarged contact surfaces or special structures can be provided on the cross legs, for example to deposit, support or stabilize the loads for transport.
  • FIG. 3 now shows schematically a manipulator 3 and the corresponding support structure 4.
  • the support structure allows, for example.
  • a hydraulic adjustment device not shown, the horizontal adjustment of the holding device or the manipulator 3 relative to the structure 1.
  • the support structure 4 is, for example, designed as a scissor structure or by means one or two hydraulic cylinders. If the manipulator is completely retracted or contracted, the printed product roll 8 comes to rest completely on the structure 1. If, on the other hand, the holding device 3 is fully extended, the manipulator 3 is at a distance from the body 1 on the side next to the vehicle and a roll of printed products can be lifted off a stand, for example.
  • the possible distance between manipulator 3 and body 1 is unlimited or only dependent on the load-bearing capacity of the supporting structure 4. This makes it possible to move the manipulator from the body 1 at such a distance that the loads can be manipulated in the air, ie rotated, for example.
  • FIG. 4 shows the handling vehicle according to the invention with an additional working device 12 attached to the body 1, which is designed here as a holding device for loading an empty winding core.
  • a holding device for loading an empty winding core.
  • Such an empty winding core 9 is indicated schematically by a broken line.
  • This holding device can also contain an adjusting device, so that such a winding core can be gripped in a similar manner to the printed product winding, for example from a stand.
  • This holding device 12 can also be attached to the body 1 in a height-adjustable manner and additional loading areas can be provided on the vehicle, so that a large number of empty winding cores can be carried simultaneously in one transport operation.
  • the handling vehicle according to the invention offers great advantages in particular when objects are to be exchanged on one and the same holder, that is to say, for example, a winding on a winding machine is to be replaced by a winding core. With a small movement of the vehicle or with appropriate work equipment even without such, the loads can be exchanged in a time-saving manner.
  • the handling vehicle is roughly positioned on the freely accessible side surface of a printed product winding 8 or winding core, the longitudinal side of the vehicle being parallel to this side surface.
  • the manipulator 3 is extended by means of the supporting structure 4 and the gripping device of the manipulator is finely positioned.
  • the printed product roll 8 is brought into the desired position in the air and withdrawn together with the manipulator 3 over the load support elements.
  • the handling vehicle is then roughly positioned again, with the additional working device 12 being aligned with the holding device or machine.
  • the implement 12 is extended laterally and the winding core that is also transported is transferred to the holding device or machine.
  • the implement 12 is withdrawn from the area of the holding device or machine and the vehicle is ready for further operations.
  • the working device 12 can also be arranged and designed so that it can perform independent functions or interact with the handling device 3, 4. If the working device is designed to be adjustable, the loads can be gripped from a greater distance by the handling device and only then taken over by the working device 12, or the working device 12 is operated by the handling device 3, 4.
  • FIGS. 5A to 5C A further exemplary embodiment of the invention is shown in FIGS. 5A to 5C.
  • the structure 1 here consists of a stable supporting structure, which at the same time takes over the function of the guide rails for height adjustment of the handling device.
  • a hydraulic height adjustment device 19 is shown schematically in FIG. 5A.
  • a mounting device 18 for the manipulator is guided in the guide rails 10 so as to be adjustable in height.
  • the mounting device 18 is preferably designed such that various manipulators can be attached to it, depending on the application requirement. This means that the same vehicle can be used for different applications. It is possible, for example, to mount a manipulator according to Swiss Patent Application No. 03 998 / 87-5 on this mounting device 18 for a spatial movement of the mentioned printed product reels or even a simple lifting fork device.
  • the handling vehicle according to FIGS. 5A to 5C has, on the inner sides of the transverse legs 5, inclined support elements 7 onto which the schematically indicated print product roll 8 is applied can be supported. If the holding device or the manipulator for the winding 8 has sufficient stability, it is not necessary to support it on these contact surfaces 7. Nevertheless, these bevels have the advantage that a transport position of the winding that is favorable with respect to the height of the vehicle is achieved. For example, a wrap can be lifted directly from a stand with a support arm, and the manipulator can be withdrawn by means of the support structure 4 (FIG. 5C) for transport against the body 1, without a height adjustment being necessary for this. This enables a short manipulation time to be achieved. During transport, the winding 8 is held on the support arm by its own weight, so that the support on the support surfaces 7 is unnecessary.
  • the arrangement of the battery 20 for the electrically powered drive is shown schematically in FIG. 5B.
  • the body 1 is not arranged on the outside of the longitudinal frame part 6, but is slightly shifted towards the center of the vehicle frame.
  • This arrangement of the battery supports the stability of the vehicle in terms of weight when handling heavy loads.
  • the inner sides of the transverse limbs 5 are also beveled with respect to the longitudinal direction of the vehicle, so that the vehicle is as close as possible to a horizontally lying coil 8 which, for example — as shown schematically — lies on a pallet 22, can be driven. It is thereby achieved that the holding device or the manipulator has to be guided as little as possible beyond the longitudinal side of the vehicle when gripping such a winding, and an undesirably large leverage force on the body 1 can thus be avoided.
  • the swivel castors 14 are arranged as far as possible in the outer areas of the vehicle frame 2.
  • the adjustable drive wheels 17, which allow the handling vehicle to travel in the longitudinal and transverse directions, are likewise arranged on the transverse legs 5.
  • FIG. 6 shows a possible storage concept for printed product coils 8 from the view from above.
  • the windings are loosely strung together or stored in parallel planes in stand devices (not shown).
  • these gorges 23 can be easily driven and one wrap can be gripped from the front rows. If the handling vehicle is used between the winding station and the warehouse, the situation regularly occurs that, for example, coming from the winding station, an empty winding core is also transported on the additional working device 12 on the body 1 of the vehicle. This can be deposited at its destination in the same operation, which is particularly important in tight storage conditions and correspondingly complex driving maneuvers.
  • FIG. 8 Another storage concept is shown in FIG.
  • the windings 8 are arranged here so that the handling vehicle has frontal access to the windings.
  • the length of the vehicle is important in this type of storage, so that windings of the rear levels can also be reached without the neighboring rows being a hindrance. Therefore, an inductively controlled vehicle is preferably used here, in which the driver's cab is omitted, so that the overall length of the vehicle frame depends only on the longitudinal frame part 6 and the width of the cross legs 5. For the same reason, the cross legs 5 must be as narrow as possible.
  • the inductive control enables a largely automated storage concept.
  • the vehicle frame preferably contains safety means, for example crumple zones. Of course, other or additional electronic auxiliary devices for controlling the vehicle and / or the handling device 3, 4 can be provided.
  • One advantage already highlighted of the arrangement of the body and handling device according to the invention is that the person operating the vehicle always has the object to be manipulated in view, which is essential, above all, for exact manipulation of the load.
  • the deep arrangement of the driver's cab also means that the handling of large, bulky loads is not hindered by a high cabin.
  • the operator has the eye level at the level at which the load is manipulated, which is of great advantage for exact positioning, since there is hardly any spatial parallax.
  • the field of vision was also considerably restricted by moving the mast on conventional cross-lift trucks.
  • the weight to be moved is reduced to a minimum. This makes it possible to carry out precision movements of the load with the handling vehicle according to the invention. First the vehicle is roughly positioned and then the handling device 3, 4 manipulates the load in the desired manner.
  • the supporting structure 4 contains a slide which can be moved horizontally and transversely to the vehicle and to which the manipulator is attached.
  • a working device or a manipulator can also be arranged on both sides of the bodywork, for example in order to prevent the vehicle from turning in narrow bearings.
  • the body 1 can be offset in the middle of the vehicle and the vehicle frame can have a double-T-shaped outline.
  • the handling device can also be mounted on the side of the body 1, i.e. on the sides of the superstructure 1, which are transverse to the direction of travel, to be height-adjustable.
  • a suitable handling device e.g. rotation around an axis in the direction of travel allows the load to be moved from one side of the vehicle to the other, e.g. to move from one side to the other in a narrow warehouse street without turning the vehicle.
  • the body 1 is preferably arranged in the middle of the vehicle.
  • the handling vehicle with corresponding adjustments to the handling device, the structure, the additional work equipment, etc. can also be used in areas other than the printing industry with the same advantages.
  • the height adjustment for special applications can also be achieved by means of a device which can be pivoted in a vertical plane.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Replacement Of Web Rolls (AREA)

Description

Die Erfindung betrifft ein Handlingfahrzeug, insbesondere zum Manipulieren und Transportieren von grossen Druckprodukte-Wickeln in der Druckereibranche, gemäss dem Oberbegriff des Patentanspruchs 1.The invention relates to a handling vehicle, in particular for manipulating and transporting large rolls of printed products in the printing industry, according to the preamble of claim 1.

Die in modernen Fertigungs- und Produktionsabläufen erwünschte Reduktion von Arbeitsschritten und Rationalisierung führt dazu, dass vermehrt Transport- und Manipulationsprobleme von schweren und zu grossen Einheiten zusammengefassten, prozessspezifischen Zwischenprodukten anfallen. Durch dieses Zusammenfassen einer Vielzahl von Einzelstücken zu wenigen Einheiten können arbeitsintensive Prozessschritte rationalisiert und der Bedarf an Arbeitskräften reduziert werden.The reduction in work steps and rationalization desired in modern manufacturing and production processes means that transport and manipulation problems of heavy and process-specific intermediate products combined into large units arise. By combining a large number of individual pieces into a few units, labor-intensive process steps can be rationalized and the need for labor can be reduced.

In der Druckereibranche werden in neuerer Zeit Druckereierzeugnisse auf einen Wickelkern aufgewickelt, was sehr schnelle Arbeitsabläufe ermöglicht und bspw. die Zwischenlagerung von solchen Druckereierzeugnissen ermöglicht, ohne dass dabei die sequentielle Anordnung dieser Erzeugnisse verändert werden muss. Der Anzahl von Druckereierzeugnissen, die auf einen Wickelkern aufgewickelt sind, ist dabei grundsätzlich nur durch die notwendige Festigkeit des fertigen Wickels limitiert. Da das Auswechseln von solchen Wickeln, der Transport ins Lager oder von einer Prozessstrasse zur andern im allgemeinen manuell - selbstverständlich unter Verwendung von Hilfsvorrichtungen - erfolgt, ist man bestrebt, möglichst grosse Wickel zu manipulieren, um die Anzahl Arbeitsschritte zu reduzieren. Dabei werden heute bereits Wickel mit Durchmessern von bis zu ca. 2,5 m verwendet. Bei der Manipulation von solchen sperrigen Lasten, die zudem ein grosses Gewicht aufweisen, treten grosse Probleme bei der Stabilität des Handlingfahrzeugs sowie wegen der schwierigen Handhabung der grossen Wickel auch beim Stapeln, Lagern und Transportieren auf. Wegen der gewünschten, platzsparenden Lagerweise der Druckprodukte-Wickel soll ausserdem eine Manipulation der Lasten möglich sein. Wo wegen der erforderlichen Festigkeit solcher Wickel deren Grösse beschränkt ist, sollte das Manipulationsfahrzeug einen möglichst schnellen Arbeitsablauf bzw. eine hohe Manipulationsfrequenz ermöglichen.In the printing industry, printed products have recently been wound onto a winding core, which enables very fast work processes and, for example, enables the intermediate storage of such printed products without the sequential Arrangement of these products must be changed. The number of printed products that are wound onto a winding core is in principle only limited by the necessary strength of the finished winding. Since the exchange of such coils, the transport to the warehouse or from one process line to another is generally carried out manually, of course using auxiliary devices, efforts are made to manipulate the largest possible coils in order to reduce the number of work steps. Coils with diameters of up to approx. 2.5 m are already used today. When handling such bulky loads, which are also heavy in weight, major problems arise with the stability of the handling vehicle and, because of the difficult handling of the large windings, also when stacking, storing and transporting. Because of the desired, space-saving way of storing the printed products, it should also be possible to manipulate the loads. Where the size of such coils is limited due to the required strength, the manipulation vehicle should enable the fastest possible workflow or a high manipulation frequency.

Zum Transport von grossen, schweren Lasten sind verschiedene Quergabelstapler und Vierweggabelstapler bekannt. Solche Quergabelstapler sind speziell für Transport von länglichen Lasten ausgebildet und ermöglichen es, beispielsweise Rohre oder Stangen auf eine längs zur Fahrtrichtung verlaufende Ladefläche aufzuladen. Um die beladenen Fahrzeuge, die mit der gestapelten Last eine grosse Gesamtlänge aufweisen, manövrieren zu können, sind diese Fahrzeuge oft mit verstellbaren Rädern ausgeführt, so dass das Fahrzeug längs und quer bewegt werden kann. Dabei ist die Anordnung von Ladefläche und Hubvorrichtung, im allgemeinen ein quer zur Fahrtrichtung bewegbarer Hubmast, für ein blosses Be- und Entladen vorgesehen.Various transverse forklifts and four-way forklifts are known for transporting large, heavy loads. Such cross forklifts are specially designed for the transport of elongated loads and make it possible, for example, to load pipes or rods onto a loading surface running lengthways to the direction of travel. In order to be able to maneuver the loaded vehicles, which have a large overall length with the stacked load, these vehicles are often designed with adjustable wheels so that the vehicle can be moved lengthways and transversely. The arrangement of the loading area and lifting device, generally a lifting mast that can be moved transversely to the direction of travel, is provided for mere loading and unloading.

Diese Quergabelstapler sind für die Manipulation von sperrigen Körpern, wie sie bspw. grosse, runde Wickelkörper darstellen, nicht geeignet. Da die entsprechende Ladevorrichtung für gewöhnliche Belade- und Entladevorgänge konzipiert ist, können die Belastungen, die bei der Manipulation von grossen Körpern auftreten nur schlecht aufgenommen werden und sperrige Körper können wegen der gegenseitigen Anordnung von Gabelträger oder einem ein Werkzeug tragenden Hebeschlitten und dem Hubmast nicht im eigentlichen Sinne manipuliert, sondern nur in der Höhe verstellt und zusammen mit dem Hubmast quer zum Fahrzeug bewegt werden. Aus diesen Gründen können diese herkömmlichen Quergabelstapler nur für sehr einseitige Lagerkonzepte eingesetzt werden. Will man die zu manipulierenden Objekte, bspw. die genannten Druckproduktewickel, in einer anderen Position lagern als sie für den Transport erfasst werden sollen, so können diese Fahrzeuge nicht mehr eingesetzt werden.These cross forklifts are not suitable for the manipulation of bulky bodies, such as large, round winding bodies. Since the corresponding loading device is designed for normal loading and unloading operations, the loads that occur when large bodies are manipulated can only be absorbed poorly and bulky bodies cannot be in because of the mutual arrangement of fork carriers or a lifting carriage carrying a tool and the lifting mast manipulated in the true sense, but only adjusted in height and moved across the vehicle together with the mast. For these reasons, these conventional cross forklifts can only be used for very one-sided storage concepts. If you want to store the objects to be manipulated, for example the mentioned printed product rolls, in a different position than they are to be recorded for transport, these vehicles can no longer be used.

Ausserdem führt die Übernahme des herkömmlichen Konzepts von Gabelstaplern für solche Quergabelstapler bzw. Vierwegfahzeuge dazu, dass wegen der notwendigen Querbewegung des Hubmastes eine relativ breite Bauweise des Fahrzeugs erforderlich ist. Diese Tatsache hat einen unmittelbaren Einfluss auf die Lagerorganisation und Logistik.In addition, the adoption of the conventional concept of forklifts for such cross forklifts or four-way vehicles means that a relatively wide construction of the vehicle is required because of the necessary transverse movement of the lifting mast. This fact has a direct impact on warehouse organization and logistics.

Diese Aufgabe wird durch die im Kennzeichen des Patentanspruches 1 genannten Merkmale gelöst.This object is achieved by the features mentioned in the characterizing part of patent claim 1.

Das erfindungsgemässe Handlingfahrzeug besitzt einen langgestreckten Grundriss und verwendet eine Vierwegantriebstechnik mit verstellbaren Rädern. Der Fahrzeugkörper weist einen im wesentlichen U-förmigen Grundriss auf, wobei die Räder an den beiden Querschenkeln verstellbar befestigt sind. Der Aufbau für die Handlingvorrichtung ist vorzugsweise an einer Fahrzeuglängsseite oder leicht gegen die Mitte des Fahrzeugs versetzt, starr mit dem Fahrzeugkörper bzw. Rahmen verbunden oder einteilig mit diesem ausgeführt. Der Führersitz, die Lenkung und die Bedienungselemente sind vorzugsweise an einem Schenkel des Fahrzeugaufbaus vorgesehen. Der genannte Aufbau für die Handlingvorrichtung enthält Führungsschienen oder andere Höhenverstellelemente zur Höhenverstellung dieser Vorrichtung. Seitlich oder an einer anderen Stelle des Aufbaus können zusätzliche Arbeitsvorrichtungen oder weitere Manipulatoren vorgesehen sein. Damit das Handlingfahrzeug während der Transportphase eine möglichst geringe Breite aufweist ist die Handlingvorrichtung vorzugsweise an einer quer zum Fahrzeug verstellbaren Tragkonstruktion angebaut. Ausserdem kann die Last während dem Transport mit ihrem Schwerpunkt über die Räder gebracht und damit das Fahrverhalten erheblich verbessert werden. Zum Abstützen der Last sind Lastauflage-Elemente an den Querschenkeln des Fahrzeugkörpers vorgesehen.The handling vehicle according to the invention has an elongated floor plan and uses four-way drive technology with adjustable wheels. The vehicle body has an essentially U-shaped outline, the wheels being adjustably attached to the two transverse legs. The structure for the handling device is preferably offset on one side of the vehicle or slightly against the center of the vehicle, rigidly connected to the vehicle body or frame, or made in one piece with it. The driver's seat, the steering and the operating elements are preferably provided on one leg of the vehicle body. The structure mentioned for the handling device contains guide rails or other height adjustment elements for height adjustment of this device. Additional work devices or further manipulators can be provided on the side or at another point in the structure. So that the handling vehicle has the smallest possible width during the transport phase, the handling device is preferably mounted on a support structure that can be adjusted transversely to the vehicle. In addition, the load can be brought with its center of gravity over the wheels during transport, thus significantly improving driving behavior. To support the load, load support elements are provided on the cross legs of the vehicle body.

Durch die Möglichkeit, die Handlingvorrichtung quer zum Fahrzeug zu verstellen und damit in einen Abstand vom tragenden Aufbau zu bringen wird es möglich, auch sperrige Lasten zu erfassen und dank dem Freiraum zwischen Manipulator und Aufbau zu manipulieren. Mithin kann durch das neuartige Handlingfahrzeug auch die Logistik im Lager optimiert und wesentlich rationeller gestaltet werden.The possibility of adjusting the handling device across the vehicle and thus placing it at a distance from the load-bearing body makes it possible to detect even bulky loads and to manipulate them thanks to the space between the manipulator and the body. As a result, the new handling vehicle can also optimize logistics in the warehouse and make it much more efficient.

Es ist die Aufgabe der Erfindung, ein Handlingfahrzeug zu schaffen, welches bei schmaler, platzsparender und kippstabiler Bauweise präzise Manipulationsvorgänge von Druckproduktewickeln erlaubt und unter gleichzeitiger Verwendung von mehr als einem Arbeitsgerät einen Austausch von Druckproduktewickeln und leeren Wickelkernen ermöglicht, wodurch das Handlingfahrzeug nur einen minimalen Arbeitsweg zurücklegen muss.It is the object of the invention to create a handling vehicle which, with a narrow, space-saving and tilt-stable construction, allows precise manipulation processes of printed product windings and, with the use of more than one working device, enables an exchange of printed product windings and empty winding cores, as a result of which the handling vehicle only has a minimal travel distance must cover.

Die schmale Bauweise des Handlingfahrzeugs ermöglicht ausserdem eine sehr hohe Lagerdichte. Vorzugsweise wird zur Manipulation von Druckprodukte-Wickeln ein Manipulator gemäss der CH-Patentanmeldung Nr. 03 998/87-5 verwendet. So ist es bspw. möglich, flach aufeinander gestapelte Wickel zu ergreifen, diese in eine vertikale Lage zu bringen und für den Transport auf das Fahrzeug zu laden.The narrow design of the handling vehicle also enables a very high storage density. A manipulator according to Swiss Patent Application No. 03 998 / 87-5 is preferably used to manipulate printed product coils. For example, it is possible to take wraps stacked flat on top of one another, bring them into a vertical position and load them onto the vehicle for transport.

Anhand nachfolgender Figuren sind Ausführungsbeispiele der Erfindung näher erläutert.Exemplary embodiments of the invention are explained in more detail with reference to the following figures.

Fig. 1 zeigt ein Handlingfahrzeug mit ergriffenem Druckproduktewickel.Fig. 1 shows a handling vehicle with gripped print product winding.

Fig. 2 zeigt den Fahrzeugrahmen im Grundriss.Fig. 2 shows the vehicle frame in plan.

Fig. 3 zeigt schematisch eine mit dem Aufbau verbundene Tragkonstruktion mit einem Manipulator und einem angehobenen Druckproduktewickel.Fig. 3 shows schematically a supporting structure connected to the structure with a manipulator and a raised printed product roll.

Fig. 4 zeigt das Handlingfahrzeug gemäss Figur 1 mit einer zusätzlichen Haltevorrichtung für einen leeren Wickelkern.FIG. 4 shows the handling vehicle according to FIG. 1 with an additional holding device for an empty winding core.

Fig. 5A - 5C zeigen ein weiteres Ausführungsbeispiel der Erfindung in verschiedenen Ansichten5A-5C show a further embodiment of the invention in different views

Fig. 6 zeigt ein Lager mit Druckproduktewickeln in senkrechter Anordnung mit Zugangsschluchten im Grundriss.Fig. 6 shows a warehouse with printed product rolls in a vertical arrangement with access gorges in the plan.

Fig. 7 zeigt ein Lager mit Druckproduktewickeln in senkrechter Anordnung mit frontalem Zugang im Grundriss.Fig. 7 shows a warehouse with printed product rolls in a vertical arrangement with frontal access in the plan.

In Fig. 1 ist ein erstes Ausführungsbeispiel des Handlingfahrzeuges mit einem Fahrzeugrahmen 2 mit zwei Querschenkeln 5, welche die Radaufhängung enthalten, und einem Längsrahmenteil 6 dargestellt. Im dargestellten Beispiel ist ein Aufbau 1 mit Führungsschienen 10 einteilig mit dem Längsrahmenteil 6 verbunden und weist eine in der Ansicht trapezförmige, sich nach oben verjüngende Form auf. Dieser Aufbau führt insbesondere bei der Manipulation von schweren Lasten zu einer hohen Stabilität und ermöglicht ein exaktes Manipulieren der Last. Durch gestrichelte Linien ist ein Druckproduktewickel 8 angedeutet, welcher durch eine hier nicht näher dargestellte Manipulations- oder Greifvorrichtung gehalten wird.1 shows a first exemplary embodiment of the handling vehicle with a vehicle frame 2 with two transverse legs 5, which contain the wheel suspension, and a longitudinal frame part 6. In the example shown, a structure 1 with guide rails 10 is connected in one piece to the longitudinal frame part 6 and has a shape that is trapezoidal in view and tapers upwards. This structure leads to a high degree of stability, particularly when handling heavy loads, and enables exact manipulation of the load. A printed product roll 8 is indicated by dashed lines and is held by a manipulation or gripping device, not shown here.

Damit verlässt das erfindungsgemässe Handlingfahrzeug das herkömmliche Konzept von Quergabelstaplern mit einem bewegbaren Hubmast und eröffnet neue Möglichkeiten der Manipulation von grossen und schweren Lasten. Die bisherige Anordnung von Hubmast und Gabeln war im Hinblick auf ein blosses Heben und Senken von Lasten konzipiert und ermöglichte es gerade noch, die Last für den Transport auf eine Ladefläche dieser Fahrzeuge zu deponieren. Wegen der eingeschränkten Einsatzmöglichkeit dieser Fahrzeuge mussten Lagerstrassen und die Lagerart der Objekte entsprechend angepasst sein, d.h. die Lagerobjekte derart angeordnet werden, dass sie durch das Fahrzeug so ergriffen werden konnten, wie sie zum Transport orientiert sein mussten. Der Erfindungsgedanke bezweckt ein Fahrzeug, das durch gleichzeitiges Ausführen verschiedener Aufgaben das Handling von schweren Lasten vereinfacht und rationalisiert. Des weiteren wird angestrebt, dass die Lasten in verschieden räumlichen Lagen gestapelt, gelagert oder zum Einsatz gebracht werden können, ohne dass am Handlingfahrzeug Arbeitsgeräte ausgewechselt werden müssten oder gar verschiedene Fahrzeuge zum Einsatz kommen müssten. Das erfindungsgemässe Fahrzeug eröffnet demgemäss die Möglichkeit, eine Handlingvorrichtung an einer beweglichen Tragvorrichtung höhenverstellbar anzubauen, so dass bspw. liegende Druckproduktewickel ergriffen, mit der Handlingvorrichtung gedreht werden und anschliessend auf den Lastauflage-Elementen abgestellt werden können. So kann z.B. von mehreren, auf eine Palette gestapelten Druckproduktewickeln Wickel für Wickel mittels der Handlingvorrichtung abgehoben und transportiert bzw. ins Lager gebracht werden.The handling vehicle according to the invention thus leaves the conventional concept of transverse forklifts with a movable lifting mast and opens up new possibilities for manipulating large and heavy loads. The previous arrangement of the lifting mast and forks was designed with a view to merely lifting and lowering loads and just made it possible to deposit the load for transport on a loading area of these vehicles. Because of the restricted use of these vehicles, the storage streets and the type of storage of the objects had to be adapted accordingly, ie the storage objects had to be arranged in such a way that the vehicle could grasp them in the way they had to be oriented for transport. The idea of the invention aims at a vehicle that simplifies and rationalizes the handling of heavy loads by simultaneously carrying out various tasks. Furthermore, the aim is that the loads can be stacked, stored or used in different spatial positions without having to replace tools on the handling vehicle or even having to use different vehicles. The vehicle according to the invention accordingly opens up the possibility of a handling device on a movable carrying device Height-adjustable to be installed so that, for example, lying printed product rolls are gripped, rotated with the handling device and can then be placed on the load support elements. For example, from a number of printed product rolls stacked on a pallet, roll by roll can be lifted and transported using the handling device or transported to the warehouse.

Die hohe Stabilität, die für solche Manipulationsvorgänge erfordert wird, ist durch den starr am Fahrgestell montierten Aufbau 1 gewährleistet. Die Anordnung des Aufbaus 1 führt dazu, dass beim Ergreifen von schweren Lasten sowohl das Gewicht des Fahrzeugs als auch des Aufbaus ein der Last entgegenwirkendes Drehmoment ausüben. Bei herkömmlichen Quergabelstaplern wurde durch das Verschieben des Hubmastes die Gesamtgewichtverteilung ungünstig beeinflusst und dadurch die Stabilität vermindert. Für exakte Manipulationsarbeiten waren diese Ladevorrichtungen schon aus diesem Grunde unpraktikabel.The high stability that is required for such manipulation processes is ensured by the structure 1 rigidly mounted on the chassis. The arrangement of the body 1 means that when gripping heavy loads, both the weight of the vehicle and the body exert a torque counteracting the load. In conventional cross-lift trucks, the total weight distribution was adversely affected by moving the lifting mast, thereby reducing stability. For this reason, these loading devices were impractical for precise manipulation work.

Die Höhe des Aufbaus 1 wird so gewählt, dass die Lasten ohne Schwierigkeiten in der Luft manipuliert werden können und dass das Handlingfahrzeug mit den Lagereinrichtungen bzw. Maschinen, die durch ersteres bedient werden, problemlos zusammenwirkt. Für die Handhabung der erwähnten Druckproduktewickel besitzt der Aufbau bspw. eine Höhe von ca. 2 bis 2,5 m. Der gesamte Fahrzeugkörper und die Aufbauelemente sind so ausgebildet, dass das Fahrzeug bei kleinen Dimensionen einen tiefliegenden Schwerpunkt aufweist, was zu hoher Stabilität führt, und gleichzeitig alle schweren Fahrzeugteile so angeordnet sind, dass sie bei der Lastmanipulation stabilisierend wirken. Aus dem gleichen Grunde sind auch der Aufbau 1 sowie die Querschenkel 5 so gestaltet, dass die Last eben falls möglichst tief gehalten wird. Der Fahrzeugkörper ist bspw. 1 m breit und 90 cm hoch.The height of the body 1 is chosen so that the loads can be manipulated in the air without difficulty and that the handling vehicle interacts with the storage facilities or machines which are operated by the former without any problems. The structure has a height of approximately 2 to 2.5 m, for example, for handling the printed product rolls mentioned. The entire vehicle body and the structural elements are designed in such a way that the vehicle has a low center of gravity in small dimensions, which leads to high stability, and at the same time all heavy vehicle parts are arranged in such a way that they have a stabilizing effect during load manipulation. For the same reason, the structure 1 and the cross legs 5 are designed so that the load is even if it is kept as low as possible. The vehicle body is, for example, 1 m wide and 90 cm high.

An der Oberseite der Querschenkel 5 des Fahrzeugkörpers sind Lastauflage-Elemente 7 zum Abstützen des Druckproduktewickels vorgesehen. Diese können beispielsweise in einer Auflagefläche oder entsprechenden Führungselementen bestehen, welche ein Verschieben der Last während des Transportes verhindern. Vorzugsweise sind diese Auflage-Elemente 7 so ausgeführt, dass die darauf abgestützte Last gegen den Aufbau 1 geneigt ist. Für die Handhabung von besonders schweren Lasten können diese Lastauflage-Elemente zusätzliche Hilfsvorrichtungen, z.B. Führungsschienen oder Greifelemente enthalten, welche die Handlingvorrichtung 3, 4 beim Ergreifen der Last unterstützen, indem die Hilfsvorrichtungen ebenfalls ausgefahren werden und die Last untergreifen.Load support elements 7 for supporting the printed product roll are provided on the upper side of the cross legs 5 of the vehicle body. These can consist, for example, of a support surface or corresponding guide elements which prevent the load from being shifted during transport. These support elements 7 are preferably designed such that the load supported thereon is inclined against the structure 1. For the handling of particularly heavy loads, these load support elements can have additional auxiliary devices, e.g. Contain guide rails or gripping elements which support the handling device 3, 4 when gripping the load, in that the auxiliary devices are also extended and reach under the load.

Für die Bedienung und Lenkung durch eine Bedienungsperson sind an einem Querschenkel 5 ein Führersitz 15, vorzugsweise ein Quersitz, ein Lenkrad 16 und nicht näher dargestellte Bedienungselemente für die Handlingeinrichtung vorgesehen. Diese Anordnung des Führerstandes ermöglicht ein gute Übersicht während der Manipulation der Lasten, so dass der Fahrzeuglenker, ohne seine Position zu verändern, auch die Bedienung der Manipulationsvorrichtung übernehmen kann. Dabei ist wiederum die feste Position des Aufbaus 1 von Vorteil, da entgegen den herkömmlichen Quergabelstaplern der Hubmast bzw. die zu manipulierende Last nicht aus dem Sichtbereich der Bedienungsperson gefahren wird.A driver's seat 15, preferably a cross seat, a steering wheel 16 and operating elements (not shown in detail) for the handling device are provided on a cross leg 5 for operation and steering by an operator. This arrangement of the driver's cab enables a good overview during the manipulation of the loads, so that the driver can also operate the manipulation device without changing his position. The fixed position of the body 1 is again advantageous since, contrary to the conventional cross forklifts, the lifting mast or the load to be manipulated is not moved out of the operator's field of vision.

In Figur 2 ist ein solches Handlingfahrzeug im Grundriss dargestellt. Erkennbar ist der Längsrahmenteil 6 und die Querschenkel 5 des Rahmens 2. Der an der hier nicht näher dargestellten Handling vorrichtung gehaltene Wickel 8 ist so festgehalten, dass er an seiner Peripherie über die Querschenkel 5 zu liegen kommt. Die Form des Fahrzeugs ist optimal an die zu manipulierende Last angepasst, so dass auch in Längsrichtung eine kurze Bauweise erzielt werden kann. Dabei wird die Tatsache ausgenutzt, dass es die runde Form solcher Wickel erlaubt, letztere so weit abzusenken, dass sie in ihrem unteren Bereich zwischen den Leerraum zwischen den beiden Querschenkeln 5 zu liegen kommen. Selbstverständlich kann es für weitere Anwendungen, bei denen andere Lasten zu manipulieren sind, vorteilhaft sein, den Fahrzeugaufbau entsprechend anzupassen. So können beispielsweise vergrösserte Auflageflächen oder an den Querschenkeln spezielle Aufbauten vorgesehen werden, um bspw. die Lasten abzulegen, abzustützen oder für den Transport zu stabilisieren.Such a handling vehicle is shown in plan view in FIG. The longitudinal frame part 6 and the transverse legs 5 of the frame 2 can be seen. The handling is not shown here device held coil 8 is held so that it comes to rest on its periphery over the cross legs 5. The shape of the vehicle is optimally adapted to the load to be manipulated, so that a short construction can also be achieved in the longitudinal direction. This makes use of the fact that the round shape of such coils allows the latter to be lowered so far that they come to lie in their lower region between the empty space between the two transverse legs 5. Of course, it can be advantageous for other applications in which other loads are to be manipulated to adapt the vehicle body accordingly. For example, enlarged contact surfaces or special structures can be provided on the cross legs, for example to deposit, support or stabilize the loads for transport.

Figur 3 zeigt nun schematisch einen Manipulator 3 und die entsprechende Tragkonstruktion 4. Die Tragkonstruktion ermöglicht bspw. durch eine nicht näher gezeigte hydraulische Verstellvorrichtung die horizontale Verstellung der Haltevorrichtung oder des Manipulators 3 gegenüber dem Aufbau 1. Die Tragkonstruktion 4 ist z.B. als Scherenkonstruktion ausgebildet oder mittels einem oder zwei Hydraulikzylindern ausgeführt. Ist der Manipulator vollständig zurück- bzw. zusammengezogen, so kommt der Druckproduktewickel 8 ganz an den Aufbau 1 zu liegen. Ist die Haltevorrichtung 3 dagegen voll ausgefahren, so befindet sich der Manipulator 3 im Abstand vom Aufbau 1 seitlich neben dem Fahrzeug und ein Druckproduktewickel kann z.B. von einem Ständer abgehoben werden. Grundsätzlich ist die mögliche Distanz zwischen Manipulator 3 und Aufbau 1 unbeschränkt bzw. nur von der Tragfähigkeit der Tragkonstruktion 4 abhängig. Damit wird es möglich, den Manipulator in einen solchen Abstand vom Aufbau 1 zu bringen, dass die Lasten in der Luft manipuliert, d.h. zum Beispiel gedreht werden können.Figure 3 now shows schematically a manipulator 3 and the corresponding support structure 4. The support structure allows, for example. By a hydraulic adjustment device, not shown, the horizontal adjustment of the holding device or the manipulator 3 relative to the structure 1. The support structure 4 is, for example, designed as a scissor structure or by means one or two hydraulic cylinders. If the manipulator is completely retracted or contracted, the printed product roll 8 comes to rest completely on the structure 1. If, on the other hand, the holding device 3 is fully extended, the manipulator 3 is at a distance from the body 1 on the side next to the vehicle and a roll of printed products can be lifted off a stand, for example. In principle, the possible distance between manipulator 3 and body 1 is unlimited or only dependent on the load-bearing capacity of the supporting structure 4. This makes it possible to move the manipulator from the body 1 at such a distance that the loads can be manipulated in the air, ie rotated, for example.

In Figur 4 ist das erfindungsgemässe Handlingfahrzeug mit einer zusätzlichen, am Aufbau 1 angebauten Arbeitsvorrichtung 12 dargestellt, die hier als Halteeinrichtung für die Beschickung mit einem leeren Wickelkern ausgebildet ist. Ein solcher leerer Wickelkern 9 ist schematisch durch eine gestrichelte Linie angedeutet. Diese Haltevorrichtung kann ebenfalls eine Verstelleinrichtung enthalten, so dass ein solcher Wickelkern in ähnlicher Weise wie der Druckproduktewickel bspw. ab einem Ständer ergriffen werden kann. Diese Halteeinrichtung 12 kann ebenfalls höhenverstellbar am Aufbau 1 angebracht und es können zusätzliche Ladebereiche am Fahrzeug vorgesehen sein, so dass eine Vielzahl von leeren Wickelkernen in einem Transportvorgang gleichzeitig mitgeführt werden können. Durch die Möglichkeit, zwei oder mehr Arbeitsgeräte am Aufbau 1 vorzusehen, bietet das erfindungsgemässe Handlingfahrzeug insbesondere dann grosse Vorteile, wenn Objekte an ein und derselben Halterung ausgetauscht werden sollen, also z.B. ein Wickel an einer Wickelmaschine durch einen Wickelkern ersetzt werden soll. Durch eine kleine Bewegung des Fahrzeugsoder bei entsprechenden Arbeitsgeräten sogar ohne eine solchekönnen die Lasten zeitsparend ausgetauscht werden. Zum Auswechseln von Druckproduktewickeln und leeren Wickelkernen an einer Haltevorrichtung oder einer Maschine wird bspw. das Handlingfahrzeug an der frei zugänglichen Seitenfläche eines Druckproduktewickels 8 oder Wickelkernes grobpositioniert, wobei das Fahrzeug mit seiner Längsseite parallel zu dieser Seitenfläche steht. Der Manipulator 3 wird mittels der Tragkonstruktion 4 ausgefahren und die Greifeinrichtung des Manipulators feinpositioniert. Der Druckproduktewickels 8 wird in der Luft in die gewünschten Lage gebracht und zusammen mit dem Manipulator 3 über die Lastauflageelemente zurückgezogen. Danach wird das Handlingfahrzeug erneut grobpositioniert wobei das zusätzliche Arbeitsgerät 12 auf die Halteeinrichtung bzw. Maschine ausgerichtet wird. Das Arbeitsgerät 12 wird seitlich ausgefahren und der mittransportierte Wickelkern an die Halteeinrichtung bzw. Maschine übergeben. Das Arbeitsgeräte 12 wird aus dem Bereich der Halteeinrichtung bzw. Maschine zurückgezogen und das Fahrzeug ist für weitere Arbeitsgänge bereit.FIG. 4 shows the handling vehicle according to the invention with an additional working device 12 attached to the body 1, which is designed here as a holding device for loading an empty winding core. Such an empty winding core 9 is indicated schematically by a broken line. This holding device can also contain an adjusting device, so that such a winding core can be gripped in a similar manner to the printed product winding, for example from a stand. This holding device 12 can also be attached to the body 1 in a height-adjustable manner and additional loading areas can be provided on the vehicle, so that a large number of empty winding cores can be carried simultaneously in one transport operation. Due to the possibility of providing two or more implements on the body 1, the handling vehicle according to the invention offers great advantages in particular when objects are to be exchanged on one and the same holder, that is to say, for example, a winding on a winding machine is to be replaced by a winding core. With a small movement of the vehicle or with appropriate work equipment even without such, the loads can be exchanged in a time-saving manner. To replace printed product coils and empty winding cores on a holding device or a machine, for example, the handling vehicle is roughly positioned on the freely accessible side surface of a printed product winding 8 or winding core, the longitudinal side of the vehicle being parallel to this side surface. The manipulator 3 is extended by means of the supporting structure 4 and the gripping device of the manipulator is finely positioned. The printed product roll 8 is brought into the desired position in the air and withdrawn together with the manipulator 3 over the load support elements. The handling vehicle is then roughly positioned again, with the additional working device 12 being aligned with the holding device or machine. The implement 12 is extended laterally and the winding core that is also transported is transferred to the holding device or machine. The implement 12 is withdrawn from the area of the holding device or machine and the vehicle is ready for further operations.

Die Arbeitsvorrichtung 12 kann ausserdem so angeordnet und ausgeführt sein, dass sie selbständige Funktionen ausüben kann oder aber mit der Handlingvorrichtung 3, 4 zusammenwirkt. Wird die Arbeitsvorrichtung verstellbar ausgebildet, so können die Lasten mittels der Handlingvorrichtung aus einer grösseren Entfernung ergriffen und erst anschliessend von der Arbeitseinrichtung 12 übernommen werden oder es wird die Arbeitseinrichtung 12 durch die Handlingvorrichtung 3, 4 bedient.The working device 12 can also be arranged and designed so that it can perform independent functions or interact with the handling device 3, 4. If the working device is designed to be adjustable, the loads can be gripped from a greater distance by the handling device and only then taken over by the working device 12, or the working device 12 is operated by the handling device 3, 4.

In den Figuren 5A bis 5C ist ein weiteres Ausführungsbeispiel der Erfindung dargestellt. Der Aufbau 1 besteht hier aus einer stabilen Tragkonstruktion, welche gleichzeitig die Funktion der Führungsschienen zur Höhenverstellung der Handlingeinrichtung übernimmt. In Figur 5A ist eine hydraulische Höhenverstellvorrichtung 19 schematisch dargestellt. Mittels dieser wird eine Montageeinrichtung 18 für den Manipulator höhenverstellbar in den Führungsschienen 10 geführt. Vorzugsweise ist die Montageeinrichtung 18 so ausgestaltet, dass verschiedene Manipulatoren, je nach Anwendungsbedarf, an dieser befestigt werden können. Dadurch kann dasselbe Fahrzeug für verschiedene Anwendungen eingesetzt werden. Es ist bspw. möglich, einen Manipulator gemäss der CH-Patentanmeldung Nr. 03 998/87-5 für ein räumliches Bewegen der genannten Druckproduktewickel oder auch nur eine einfache Hubgabeleinrichtung an dieser Montageeinrichtung 18 zu montieren.A further exemplary embodiment of the invention is shown in FIGS. 5A to 5C. The structure 1 here consists of a stable supporting structure, which at the same time takes over the function of the guide rails for height adjustment of the handling device. A hydraulic height adjustment device 19 is shown schematically in FIG. 5A. By means of this, a mounting device 18 for the manipulator is guided in the guide rails 10 so as to be adjustable in height. The mounting device 18 is preferably designed such that various manipulators can be attached to it, depending on the application requirement. This means that the same vehicle can be used for different applications. It is possible, for example, to mount a manipulator according to Swiss Patent Application No. 03 998 / 87-5 on this mounting device 18 for a spatial movement of the mentioned printed product reels or even a simple lifting fork device.

Das Handlingfahrzeug gemäss den Figuren 5A bis 5C weist an den Innenseiten der Querschenkel 5 schräge Auflageelemente 7 auf, auf welche der schematisch angedeutete Druckproduktewickel 8 abge stützt werden kann. Sofern die Haltevorrichtung bzw. der Manipulator für den Wickel 8 eine genügende Stabilität aufweisen, ist das Abstützen auf diesen Auflageflächen 7 nicht nötig. Dennoch haben diese Abschrägungen den Vorteil, dass eine bezüglich der Höhe des Fahrzeugs günstige Transportposition des Wickels erreicht wird. So kann ein Wickel bspw. mit einem Tragarm direkt von einem Ständer abgehoben werden, der Manipulator mittels der Tragkonstruktion 4 (Fig. 5C) für den Transport gegen den Aufbau 1 zurückgezogen werden, ohne dass dafür eine Höhenverstellung notwendig wäre. Dadurch kann eine kurze Manipulationszeit erreicht werden. Während dem Transport wird der Wickel 8 durch sein Eigengewicht auf dem Tragarm festgehalten, so dass das Abstützen auf den Auflageflächen 7 überflüssig ist.The handling vehicle according to FIGS. 5A to 5C has, on the inner sides of the transverse legs 5, inclined support elements 7 onto which the schematically indicated print product roll 8 is applied can be supported. If the holding device or the manipulator for the winding 8 has sufficient stability, it is not necessary to support it on these contact surfaces 7. Nevertheless, these bevels have the advantage that a transport position of the winding that is favorable with respect to the height of the vehicle is achieved. For example, a wrap can be lifted directly from a stand with a support arm, and the manipulator can be withdrawn by means of the support structure 4 (FIG. 5C) for transport against the body 1, without a height adjustment being necessary for this. This enables a short manipulation time to be achieved. During transport, the winding 8 is held on the support arm by its own weight, so that the support on the support surfaces 7 is unnecessary.

In Figur 5B ist schematisch die Anordnung der Batterie 20 für den elektrisch versorgten Antrieb dargestellt. Der Aufbau 1 ist dabei nicht an der Aussenseite des Längsrahmenteils 6, sondern leicht gegen die Mitte des Fahrzeugrahmens verschoben angeordnet. Diese Anordnung der Batterie unterstützt gewichtsmässig die Stabilität des Fahrzeugs bei der Manipulation von schweren Lasten. Wie ebenfalls aus dieser Figur ersichtlich ist, sind die Innenseiten der Querschenkel 5 auch bezüglich der Längsrichtung des Fahrzeugs abgeschrägt, so dass mit dem Fahrzeug möglichst nahe an einen horizontal liegenden Wickel 8, der beispielsweise - wie schematisch dargestellt ist - auf einer Palette 22 liegt, gefahren werden kann. Dadurch wird erreicht, dass die Haltevorrichtung bzw. der Manipulator beim Ergreifen eines solchen Wickels möglichst wenig über die Längsseite des Fahrzeugs hinausgeführt werden muss und damit eine unerwünscht grosse Hebelkraft auf den Aufbau 1 vermieden werden kann.The arrangement of the battery 20 for the electrically powered drive is shown schematically in FIG. 5B. The body 1 is not arranged on the outside of the longitudinal frame part 6, but is slightly shifted towards the center of the vehicle frame. This arrangement of the battery supports the stability of the vehicle in terms of weight when handling heavy loads. As can also be seen from this figure, the inner sides of the transverse limbs 5 are also beveled with respect to the longitudinal direction of the vehicle, so that the vehicle is as close as possible to a horizontally lying coil 8 which, for example — as shown schematically — lies on a pallet 22, can be driven. It is thereby achieved that the holding device or the manipulator has to be guided as little as possible beyond the longitudinal side of the vehicle when gripping such a winding, and an undesirably large leverage force on the body 1 can thus be avoided.

Da wegen der aus Gründen der Stabilität nach aussen verschobenen Gewichte bzw. der Last z.T. hohe Quermomente auf das Fahrzeug wirken können, sind die Schwenkrollen 14 möglichst in den äusseren Bereichen des Fahrzeugrahmens 2 angeordnet. Die verstellbaren Antriebsräder 17, welche eine Fahrt des Handlingfahrzeugs in Längs- und Querrichtung erlauben, sind ebenfalls an den Querschenkeln 5 angeordnet.Because of the weights shifted outwards for reasons of stability or the load, high transverse moments can act on the vehicle, the swivel castors 14 are arranged as far as possible in the outer areas of the vehicle frame 2. The adjustable drive wheels 17, which allow the handling vehicle to travel in the longitudinal and transverse directions, are likewise arranged on the transverse legs 5.

In Figur 6 ist ein mögliches Lagerkonzept von Druckproduktewickeln 8 aus der Sicht von oben dargestellt. Dabei sind die Wickel lose aneinandergereiht oder in nicht näher dargestellten Ständervorrichtungen in parallelen Ebenen gelagert. Um Platz zu sparen sind nur sehr schmale Zugangsschluchten 23 vorgesehen. Mit dem erfindungsgemässen Handlingfahrzeug kann, dank dem Vierwegantrieb problemlos in diese Schluchten 23 gefahren werden und jeweils ein Wickel aus den Frontreihen ergriffen werden. Wenn das Handlingfahrzeug zwischen Wickelstation und Lager eingesetzt wird, tritt regelmässig die Situation auf, dass bspw. von der Wickelstation kommend an der zusätzlichen Arbeitsvorrichtung 12 am Aufbau 1 des Fahrzeugs ein leerer Wickelkern mittransportiert wird. Dieser kann im gleichen Arbeitsgang an seinem Bestimmungsort deponiert werden, was insbesondere bei engen Lagerverhältnissen und dementsprechend aufwendigen Fahrmanövern von Bedeutung ist.FIG. 6 shows a possible storage concept for printed product coils 8 from the view from above. The windings are loosely strung together or stored in parallel planes in stand devices (not shown). In order to save space, only very narrow access gorges 23 are provided. With the handling vehicle according to the invention, thanks to the four-way drive, these gorges 23 can be easily driven and one wrap can be gripped from the front rows. If the handling vehicle is used between the winding station and the warehouse, the situation regularly occurs that, for example, coming from the winding station, an empty winding core is also transported on the additional working device 12 on the body 1 of the vehicle. This can be deposited at its destination in the same operation, which is particularly important in tight storage conditions and correspondingly complex driving maneuvers.

In Figur 7 ist ein weiteres Lagerkonzept dargestellt. Die Wickel 8 sind hier so angeordnet, dass das Handlingfahrzeug frontalen Zugriff zu den Wickeln hat. Wie aus der schematisch dargestellten Position P des Fahrzeugs erkennbar wird, ist bei dieser Lagerweise die Länge des Fahrzeugs von Bedeutung, damit auch Wickel der hinteren Ebenen erreicht werden können, ohne dass die Nachbarreihen hinderlich sind. Deshalb wird hier vorzugsweise ein induktiv gesteuertes Fahrzeug eingesetzt, bei welchem der Führerstand entfällt, so dass die gesamte Baulänge des Fahrzeugrahmens nur vom Längsrahmenteil 6 und der Breite der Querschenkel 5 abhängt. Aus dem gleichen Grunde müssen die Querschenkel 5 möglichst schmal sein. Gleichzeitig ermöglicht die induktive Steuerung ein weitgehend automatisiertes Lagerkonzept. Der Fahrzeugrahmen enthält dabei vorzugsweise Sicherheitsmittel, bspw. Knautschzonen. Selbstverständlich können andere oder zusätzliche elektronische Hilfseinrichtungen zur Steuerung des Fahrzeugs und/oder der Handlingvorrichtung 3, 4 vorgesehen sein.Another storage concept is shown in FIG. The windings 8 are arranged here so that the handling vehicle has frontal access to the windings. As can be seen from the schematically represented position P of the vehicle, the length of the vehicle is important in this type of storage, so that windings of the rear levels can also be reached without the neighboring rows being a hindrance. Therefore, an inductively controlled vehicle is preferably used here, in which the driver's cab is omitted, so that the overall length of the vehicle frame depends only on the longitudinal frame part 6 and the width of the cross legs 5. For the same reason, the cross legs 5 must be as narrow as possible. At the same time, the inductive control enables a largely automated storage concept. The vehicle frame preferably contains safety means, for example crumple zones. Of course, other or additional electronic auxiliary devices for controlling the vehicle and / or the handling device 3, 4 can be provided.

Ein bereits angetönter Vorteil der erfindungsgemässen Anordnung von Aufbau und Handlingvorrichtung liegt darin, dass die das Fahrzeug bedienende Person das zu manipulierende Objekt jederzeit im Blickfeld hat, was vor allem für exakte Manipulationen der Last unerlässlich ist. Die tiefe Anordnung des Führerstandes ermöglicht es zudem, dass das Handhaben grosser, sperriger Lasten nicht durch eine hohe Kabine behindert wird. Zudem hat die Bedienungsperson die Augenhöhe auf dem Niveau, auf welchem die Last manipuliert wird, was für ein exaktes Positionieren von grossem Vorteil ist, da kaum eine räumliche Parallaxe auftritt. Durch das Verschieben des Hubmastes bei herkömmlichen Quergabelstaplern wurde das Blickfeld zudem erheblich eingeschränkt.One advantage already highlighted of the arrangement of the body and handling device according to the invention is that the person operating the vehicle always has the object to be manipulated in view, which is essential, above all, for exact manipulation of the load. The deep arrangement of the driver's cab also means that the handling of large, bulky loads is not hindered by a high cabin. In addition, the operator has the eye level at the level at which the load is manipulated, which is of great advantage for exact positioning, since there is hardly any spatial parallax. The field of vision was also considerably restricted by moving the mast on conventional cross-lift trucks.

Da zur Manipulation der Last nicht der ganze Hubmast mitverstellt wird, ist das zu bewegende Gewicht auf ein Minimum reduziert. Dies ermöglicht es, mit dem erfindungsgemässen Handlingfahrzeug auch Präzisionsbewegungen der Last auszuführen. Dabei wird zuerst das Fahrzeug grob positioniert und anschliessend mit der Handlingvorrichtung 3, 4 die Last in der gewünschten Weise manipuliert.Since the entire lifting mast is not adjusted to manipulate the load, the weight to be moved is reduced to a minimum. This makes it possible to carry out precision movements of the load with the handling vehicle according to the invention. First the vehicle is roughly positioned and then the handling device 3, 4 manipulates the load in the desired manner.

Denkbar ist auch, dass die Tragkonstruktion 4 einen horizontal, quer zum Fahrzeug bewegbaren Schlitten enthält, an welchem der Manipulator befestigt ist. Des weiteren kann auch beidseits des Aufbaus eine Arbeitsvorrichtung bzw. ein Manipulator angeordnet sein um beispielsweise in engen Lagern ein Wenden des Fahrzeugs zu vermeiden. Dabei kann, bei einer zwar etwas breiteren Bauweise des Handlingfahrzeugs, der Aufbau 1 in die Mitte des Fahrzeugs versetzt sein und der Fahrzeugrahmen einen Doppel-T-förmigen Grundriss aufweisen.It is also conceivable that the supporting structure 4 contains a slide which can be moved horizontally and transversely to the vehicle and to which the manipulator is attached. Furthermore, a working device or a manipulator can also be arranged on both sides of the bodywork, for example in order to prevent the vehicle from turning in narrow bearings. With a somewhat wider construction of the handling vehicle, the body 1 can be offset in the middle of the vehicle and the vehicle frame can have a double-T-shaped outline.

Für besondere Anwendungen kann die Handlingvorrichtung auch seitlich am Aufbau 1, d.h. an den quer zur Fahrtrichtung stehenden Seiten des Aufbaus 1, höhenverstellbar angebracht sein. Dadurch wird es möglich mit einem geeigneten Handlinggerät, das z.B. eine Rotation um eine Achse in Fahrtrichtung erlaubt, die Last von einer Fahrzeugseite auf die andere zu bewegen, und sie so z.B. in einer engen Lagerstrasse von der einen auf die andere Seite zu bringen, ohne das Fahrzeug zu wenden. Auch in dieser Ausführung ist der Aufbau 1 vorzugsweise in der Mitte des Fahrzeugs angeordnet.For special applications, the handling device can also be mounted on the side of the body 1, i.e. on the sides of the superstructure 1, which are transverse to the direction of travel, to be height-adjustable. This makes it possible with a suitable handling device, e.g. rotation around an axis in the direction of travel allows the load to be moved from one side of the vehicle to the other, e.g. to move from one side to the other in a narrow warehouse street without turning the vehicle. In this embodiment too, the body 1 is preferably arranged in the middle of the vehicle.

Selbstverständlich ist das Handlingfahrzeug mit entsprechenden Anpassungen der Handlingvorrichtung, des Aufbaus, der zusätzlichen Arbeitseinrichtung etc. mit denselben Vorteilen auch in anderen Bereichen als der Druckereibranche einsetzbar. So kann die Höhenverstellung für spezielle Anwendungen bspw. auch mittels einem in einer Vertikalebene schwenkbaren Vorrichtung erzielt werden.Of course, the handling vehicle with corresponding adjustments to the handling device, the structure, the additional work equipment, etc. can also be used in areas other than the printing industry with the same advantages. For example, the height adjustment for special applications can also be achieved by means of a device which can be pivoted in a vertical plane.

Claims (12)

1. Handling vehicle for printed product rolls with a U-shaped frame (2) and a vertically adjustable manipulating mechanism, which is fitted to a structure (1) rigidly fired to the frame, characterized in that the manipulating mechanism has a manipulator (3) for manipulating a printed product roll, said manipulator being fired to a support structure (4) movable at right angles to the vehicle longitudinal axis and that at a distance from said manipulating mechanism is provided a further working implement (12) movable in the same direction, a second manipulator for manipulating empty roll cores is positioned in such a way that, in cooperating manner in a single operation, a empty roll core can be replaced by a printed product roll or a printed product roll can be replaced by an empty roll core, so that the handling vehicle operating travel and time are minimized.
2. Handling vehicle according to claim 1, characterized in that the manipulating mechanism (3,4) has devices for the spatial position change of the roll.
3. Handling vehicle according to claims 1 or 2, characterized in that in its completely extended position the support structure (4) projects over and beyond the vehicle side facing the structure (1).
4. Handling vehicle according to claim 3, characterized in that the support structure (4) is a shear structure or has a horizontally movable sliding carriage.
5. Handling vehicle according to one of the claims 1 to 4, characterized in that the lateral legs of the U-shaped vehicle frame are so shaped by bevelling that the opening of the U-shaped frame widens towards the outside.
6. Handling vehicle according to one of the claims 1 to 5, characterized in that the vehicle frame has bearing members (7) for supporting a roll.
7. Handling vehicle according to claim 6, characterized in that the bearing members (7) comprise bearing surfaces, which are lowered against the interior of the U-shaped vehicle frame.
8. Handling vehicle according to claim 7, characterized in that the load bearing members (7) have additional, extendable auxiliary devices for guiding and/or supporting the roll.
9. Handling vehicle according to one of the preceding claims, characterized in that in the working area of the working implement (12), the vehicle has a loading surface.
10. Handling vehicle according to one of the preceding claims, characterized in that on a lateral member (5) of the U-shaped vehicle frame is provided a lateral seat (15) with a steering mechanism (16) and controls for the manipulating mechanism and the working implement (12).
11. Handling vehicle according to one of the claims 1 to 6, characterized in that it has inductive control means.
12. Handling vehicle according to one of the preceding claims, characterized in that the vehicle frame has a width of less than 1 m and a height of 0.9m.
EP88810773A 1987-11-30 1988-11-10 Handling vehicle for manipulating heavy, cumbersome loads Expired - Lifetime EP0319466B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH4713/87 1987-11-30
CH4713/87A CH675117A5 (en) 1987-11-30 1987-11-30

Publications (2)

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EP0319466A1 EP0319466A1 (en) 1989-06-07
EP0319466B1 true EP0319466B1 (en) 1992-06-17

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US (1) US5087166A (en)
EP (1) EP0319466B1 (en)
JP (1) JP2683925B2 (en)
CH (1) CH675117A5 (en)
DE (1) DE3872189D1 (en)

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Also Published As

Publication number Publication date
JP2683925B2 (en) 1997-12-03
JPH01308398A (en) 1989-12-13
US5087166A (en) 1992-02-11
EP0319466A1 (en) 1989-06-07
DE3872189D1 (en) 1992-07-23
CH675117A5 (en) 1990-08-31

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