EP1698584B1 - Industrial truck - Google Patents

Description

The invention relates to an industrial truck, in particular forklift truck, having a mobile base, a cab movable relative to the mobile base for an operator, a load receiving means and a device arranged on the mobile base for moving the load receiving means relative to the mobile base.

Industrial trucks of the type mentioned above have been realized in various embodiments, such as high-lift stacker or order picking / Dreiseitenstapler. A common design of such a conventional picking / tripartite stacker comprises a mobile base (base vehicle) with a mast, which is provided for lifting and lowering a platform with a driver's cab. At the driver's cab, an attachment is fastened on the front, which comprises a so-called swing-pushing device for a load-carrying means. The pivoting-pushing device has a load-receiving means holder which is vertically movable on an additional lifting frame and pivotable about a vertical pivot axis together with the additional lifting frame to vertically adjust the load-carrying means, such as a load-carrying fork, and in the straight-ahead driving direction of the mobile base or transversely thereto orientate. The additional lifting frame is attached to a side push carriage, which is displaceable on a linear guide transversely to the straight-ahead direction of travel of the base vehicle. The load-carrying means thus has several degrees of freedom of movement relative to the base vehicle, namely a vertical degree of freedom of movement (main lift and possibly additional lift), a horizontal degree of freedom of movement in the direction transverse to the straight-ahead direction of the base vehicle and a pivoting degree of freedom about the vertical pivot axis of the additional lift. The degrees of freedom of movement can, for example, be utilized in a high-bay narrow-aisle warehouse in order to accommodate pallets in shelves provided on both sides of the aisle traversed by the base vehicle. stack out and, if necessary, pick individual items from the shelf. Such vehicles usually have an electric motor as traction drive, which is powered by an on-board battery with electrical energy. A hydraulic system usually serves as a drive for the stroke, the side thrust and the pivoting movements of the load-carrying means. Such stacker vehicles have proven well in a variety of uses, especially in standard rack storage environment with aisles, which are adapted to the operating radii of the truck.

A generic embodiment is from the US-A-5 044 472 known. This has a Zusatzhubgerüst as described above, which allows an additional stroke and a shift, in particular transversely to the straight-ahead direction of travel of the lifting device.

That in the EP-A-0 949 190 disclosed, also generic truck discloses an industrial truck according to the preamble of claim 1 with a cabin which is relatively height adjustable both to its mobile base and to its attached to the front of the base mast. The load-handling device is moved in the vertical direction by means of the mast.

A non-generic, but relevant to the present invention apparatus for handling a load to be supported is in the US-A-5 599 155 described. The device comprises a multi-link articulated arm for moving the load-carrying means attached to one end of the arm. The mobility of the arm, which extends from a support plate to the load receiving means, results from its pivotally mounted about a vertical axis, connected in series with each other arm members, of which a proximal and distal member to the support plate and to the load receiving means also is mounted pivotably about a vertical axis. The load-handling device itself can be provided with a mast according to one embodiment. Consequently, the articulated arm can have all the above-mentioned degrees of freedom.

The present invention has for its object to provide an industrial truck, in particular a picking truck, which is suitable compared to conventional industrial trucks for an extended range of applications with a variety of options for load handling.

The object is achieved by an industrial truck with all features of claim 1.

The subject of the invention can thus be roughly outlined as an industrial truck of the type mentioned above with a multi-unit robotic arm as handling means for pallets or the like. Be designated, wherein the robot arm is arranged in an optimized in terms of space requirements. By arranging the base-side articulation point and thus the base-side Gelenkarmglieder in view along the basis defined by the base-side articulation point vertical pivot axis in alignment with the cabin below or above the cabin, it is possible to introduce the load-carrying means as needed very close to the cabin, so that a in-cab operator has convenient access to a pallet or the like carried by the load-handling means. In this case, depending on the embodiment of the truck according to the invention, at least one proximal articulated arm link can be moved below the car platform into a retracted position so that it does not take up any space between the car and the load handling device. This also applies to multi-link articulated arms with relatively long reach.

In preferred embodiments, the entire articulated arm extends at height level below the cab or at height level above the cab, so that it can not form a lateral interference contour between load and cab for an operator in the cabin.

In a special design, an industrial truck according to the invention could have an articulated arm articulated below the cabin and an articulated arm articulated above the cabin, which preferably has a common articulated arm Hold load handler at its distal ends.

Preferably, the multi-articulated articulated arm is arranged substantially vertically movable on a mast, so that it can be positioned by means of a lifting device on the mast in different stroke positions, preferably together with the driver's cab, the e.g. can be arranged directly above the articulated arm or directly below the articulated arm.

According to a preferred embodiment of the invention, the articulated arm is articulated by means of a main pivot bearing assembly about a normally vertical pivot axis pivotally mounted on the lifting device so that it can perform pivotal movements in the horizontal plane of its respective Hubstelfung. The pivotal movements of the articulated arm members are controlled and coordinated by means of a control device, for example, to realize substantially rectilinear displacement movements of the lifting device, such as a load bearing fork. In particular, uniform and quiet movements are achieved. A major advantage of such a truck according to the invention is that the multi-link articulated allows a greater reach of the load-carrying means during its movement relative to the mobile base, wherein the load-receiving means can be positioned by appropriate pivoting of the multi-articulated articulated arm also more flexible than picking - / Three-way stackers conventional design of the case.

According to one embodiment of the invention, it is provided that a load-carrying means carrying the load-receiving means is pivotally mounted at the free end of the articulated arm by means of an outer pivot bearing arrangement, wherein the outer pivot bearing arrangement allows pivoting of the load-receiving means holder about a normally vertical pivot axis. The load-carrying means holder may have an additional lifting frame on which the load-receiving means is guided vertically verchiebbar. Such Zusatzhubfunktion is already known from conventional picking / Dreiseitenstaplern ago.

Preferably, the joints of the articulated arm interconnecting pivot bearing have substantially vertical pivot axes. In modified embodiments of the invention, it can also be provided that at least one articulated arm member is pivotally mounted upwards and downwards.

To avoid a complicated structure, it is proposed that the articulated arm has only two articulated arm members. It can be provided that at least one of the articulated arm members is arranged longitudinally displaceable relative to the pivotally supporting pivot bearing on this pivot bearing or telescopic. Preferably, the articulated arm member arranged directly on the lifting device by means of the main pivot bearing arrangement is guided so as to be longitudinally displaceable relative to the main pivot bearing arrangement, so that it overlaps superimposed movements of the main pivot bearing arrangement Can perform pivoting about the pivot axis and the displacement transverse to the pivot axis of the main pivot bearing assembly. In this way, it is possible to perform superimposed movements of the pivoting and shifting in order to produce a specific, in particular linear movement sequence for the load-carrying means.

Preferably, the load-receiving means in the respective stroke position can be positioned in a lateral alignment position in which at most minimally protrudes laterally outwardly from the mobile base transversely to its straight-ahead direction and is brought close to it in an orientation transverse to the straight-ahead direction of travel of the mobile base , wherein the articulated arm is activated to move the load receiving means along an at least approximately straight line from the alignment position out laterally outward and back to move back to the alignment position. Such a movement is e.g. for the lateral stacking or unstacking of pallets or the like. Usable.

On the other hand, it can also be provided that the load-receiving means in the respective stroke position can be positioned in a straight alignment position, in which it at most minimally protrudes laterally outwards from the mobile base transversely to its straight-ahead direction of travel, is oriented in a straight-ahead direction and is close is brought to the mobile base. Preferably, the pivot arm can be activated to move the load-carrying means along an at least approximately straight line out of the straight-ahead alignment position and back into the straight alignment position.

Furthermore, it is possible if necessary, that the pivot arm moves the load-receiving means obliquely to the straight-ahead direction of travel of the mobile base or longitudinally curved webs. These examples already show that the multi-link articulated arm allows a very flexible handling of the load-carrying means and a load thereon.

According to a variant of the invention, it is provided that the movement of the load-receiving means with an actuating element, such as a rotatable joystick or the like, can be freely controlled in the respective horizontal plane. A programmed control device coordinates the movements of the Gelenkarmglieder. According to another variant, it is provided that only certain, controlled by the control device movement profiles are possible.

According to a further embodiment of the invention, the main pivot bearing assembly of the articulated arm is arranged transversely to the stroke direction displaceable on the lifting device in order to perform compensating movements of the articulated arm can.

A particular feature of an embodiment of the invention is that the articulated arm is activated to position the load-carrying means laterally next to the mobile base, in such a way that in side view, the load-receiving means and the mobile base overlap each other.

As drive means for moving the Schwenkarmglieder are in particular hydraulic motors and / or electric motors used.

According to a preferred embodiment, the articulated arm can be folded as needed to save space, so that its members lie almost parallel to each other.

Fig. 1

zeigt in einer perspektivischen Darstellung ein erstes Ausführungsbeispiel eines Flurförderzeugs nach der Erfindung, welches z.B. als Hochregalstapler verwendbar ist.

Fig. 2a - 2c

zeigen in einer schematischen Draufsichtsdarstellung das Anbaugerät des Flurförderzeugs aus Fig. 1 mit verschiedenen Stellungen des Gelenkarmes.

Fig. 3

zeigt in einer der Fig. 1 ähnlichen Perspektive das Anbaugerät eines zweiten Ausführungsbeispiels der Erfindung.

Fig. 4a - 4d

zeigen das Anbaugerät aus Fig. 3 in einer Draufsichtsdarstellung mit verschiedenen Stellungen des Gelenkarmes.

Fig. 5

zeigt in einer schematischen Draufsichtsdarstellung das Anbaugerät eines dritten Ausführungsbeispiels eines Flurförderzeugs nach der Erfindung.

Embodiments of the invention are explained below with reference to the drawings.

Fig. 1

shows a perspective view of a first embodiment of an industrial truck according to the invention, which can be used, for example, as a high-rack forklift.

Fig. 2a - 2c

show in a schematic plan view of the attachment of the truck Fig. 1 with different positions of the articulated arm.

Fig. 3

shows in one of the Fig. 1 similar perspective, the attachment of a second embodiment of the invention.

Fig. 4a - 4d

show the attachment Fig. 3 in a plan view with different positions of the articulated arm.

Fig. 5

shows in a schematic plan view of the attachment of a third embodiment of an industrial truck according to the invention.

Fig. 1 shows in a perspective view with a view of the front area of an industrial truck according to the invention, which can be used as a high-shelf forklift. The industrial truck has a base vehicle 2, which is essentially of conventional design and has an electric motor drive.

In the rear of the vehicle 2 are under the hood 4 batteries for the electrical supply of the vehicle, hydraulic units, parts of the steering device, electronic or electrical components, etc. On the base vehicle 2, a mast 6 (partially shown) is provided, which in a known Way has a rigid lower mast element and a telescopically vertically displaceable upper mast scaffold element on which a platform with a driver's cab 8 is guided vertically movable. The lifting drive takes place hydraulically in the example, as is common in forklift vehicles of the type considered here.

The attachment 10 of the truck after Fig. 1 However, it differs significantly from conventional attachments for order picking / three-way forklift trucks. As a handling device for the load-bearing fork formed as a load-carrying means 12 is in the truck after Fig. 1 an articulated arm 14 is provided with the articulated arm members 14a, 14b and 14c. The distal articulating arm member 14a carries at its outer end a load receiving means holder 16 having an auxiliary lifting mast 18 and a fork holder 20 movable up and down thereon. At the fork holder 20, the forks of the load supporting fork 12 are arranged. The additional lifting mast 18 is pivotable about a vertical pivot axis, so that the fork tines of the load bearing fork 12 can be oriented in different directions relative to the straight-ahead direction of travel of the base vehicle 2.

Not visible in the figures are hydraulic cylinder-piston assemblies acting between the articulated arm members 14a, 14b and articulated arm members 14b, 14c for pivoting the articulated arm members relative to each other about the vertical pivot axes of the pivot bearings 22, 24 in accordance with the desired motion profile. At 26 is in Fig. 1 denotes the pivot bearing of Zusatzhubmastes 18, whose rotation about the vertical pivot axis of the pivot bearing 26 preferably also takes place by means of hydraulic drive means. This also applies to the lifting movements the fork holder 20.

In Fig. 1 a symbolic load 30 is shown with broken lines.

In the Fig. 2a - 2c is in a schematic plan view of the attachment of the truck Fig. 1 shown in various snapshots during a page shift operation. To simplify the illustration, elements of the base vehicle are in the Fig. 2a - 2c not drawn. To recognize but is the bottom platform 7 of the cab. The straight-ahead direction is indicated by an arrow X. In the Fig. 2a For example, the load handling device 12 is positioned in a lateral alignment position in which it is positioned in front of the base vehicle so that it protrudes outwardly only minimally laterally beyond the contour of the base vehicle. Furthermore, the load-receiving means 12 is brought close to the base vehicle. By moving the articulated arm 14, the load receiving means 12 from the position according to Fig. 2a are pushed out laterally along a substantially straight line, about to stack the load 30 in a shelf. Fig. 2b shows an intermediate step of such a side thrust.

The main pivot bearing 32 holds the articulated arm 14 on the lifting device (in Fig. 2a - 2c not shown) and defines the vertical pivot axis for the articulated arm member 14c. The angular adjustments of the articulated arm members 14a, 14b, 14c relative to each other and relative to the base vehicle are controlled by appropriate control of the hydraulic actuators (not shown) in accordance with the movement profile selected by the operator by means of an actuator. The actuating device and the control device provided for controlling the movements of the load receiving means are not shown in the drawings.

As in particular in Fig. 2c recognizable, the articulated arm 14 has a relatively large range viewed from the stationary base vehicle. He can thus the load handler when needed comparatively deep in a lateral Insert shelf.

However, the articulated arm 14 not only allows lateral thrust movements of the load receiving means 12, but a variety of other movements and alignments of the lifting device 12. Thus, the truck according to the invention is particularly suitable for picking or sorting tasks in non-standard rack storage environment.

In Fig. 3 is shown in a perspective view of the attachment of a second embodiment of the invention. Elements in Fig. 3 , the elements in Fig. 1 respectively. Fig. 2a - 2c correspond structurally or in terms of effect, are each marked with corresponding reference numerals, so that the following explanations may be limited essentially to the differences of the second embodiment to the first embodiment.

The articulated arm 14 comprises according to the second embodiment Fig. 3 two articulated arm members 14a, 14b. The articulated arm 14 b is by means of a linear guide of the lifting device by means of the main pivot bearing rotatably mounted guide cage 36 relative to this longitudinally displaceable and pivotable together with the guide cage 36 about the vertical pivot axis of the main pivot bearing 32. The drive for the longitudinal displacement of the Gelenkarmgliedes 14b relative to the guide cage 36 may be, for example, a hydraulic and / or an electric drive.

In the Fig. 4a - 4d are shown in plan views snapshots different movements of the load-receiving device 12. As in the Fig. 2a - 2c are in the Fig. 4a - 4d Elements of the base vehicle not shown.

Fig. 4a shows the load receiving means 12 in a position corresponding to the position of the load receiving means 12 in Fig. 2a equivalent. The Gelenkarmglieder 14a and 14b are approximately orthogonal to each other, wherein the Gelenkarmglied 14b in its maximum Ausschubstellung based on the guide cage 36.

Fig. 4b shows the load receiving means 12b during a side thrust operation along a substantially straight line, based on the situation according to FIG Fig. 4a , The articulated arm 14 has the transition from the situation according to Fig. 4a according to the situation Fig. 4b experience a pivoting movement about the vertical pivot axis of the main pivot bearing 32. In addition, the articulated arm member 14b has been retracted with respect to the guide cage 36. The displacement of the Gelenkarmgliedes 14b relative to the guide cage 36 by means of a crank 38 which is rotatably mounted at 40 about a vertical axis of rotation.

Also in the second embodiment, the respective angular adjustment of the Gelenkarmglieder 14a, 14b relative to each other or relative to the base vehicle under control of a control device and in accordance with the pre-selected by the driver by means of an actuator movement profile of the load receiving means.

In Fig. 4c is shown an operating situation of the truck according to the invention, which is not feasible with conventional trucks of the type considered here. According to the operating situation shown in Fig. 4c the load-carrying means 12 has been positioned laterally next to the truck, for example to settle or pick up a load.

Fig. 4d shows an operating situation in which the load-carrying means is oriented in the forward direction of travel of the base vehicle and brought close to the base vehicle. Based on the situation according to Fig. 4d For example, the load handler 12 may now be moved forward (and, if desired, also on curved tracks) forward and back to handle a load. Also, the long range of the articulated arm 14 can be advantageously exploited.

Fig. 5 shows a schematic plan view of an attachment of a third embodiment of the invention. The attachment after Fig. 5 has an articulated arm 14 with two Gelenkarmgliedern 14a and 14b. The peculiarity of the embodiment Fig. 5 is that the main pivot bearing 32 is displaceable in a respective XY-Hubebene to perform compensating movements of the articulated arm 14 can. As a displacement drive are two cylinder-piston units 42, 44 which are articulated to the respective lifting device and are articulated with their piston rod sides at 46 to the main pivot bearing. Depending on the Ausschubstellung the piston rods of the cylinder-piston assemblies 42, 44 results in a certain position of the main pivot bearing 32 in the XY plane.

In the embodiments explained above with reference to the drawings, the articulated arm members 14a, 14b are arranged in planes below or above the car platform 7. An operator in the cabin can thus conveniently access the load 30 as needed without being obstructed by troublesome structures.

The truck according to the invention can be realized with a comparatively favorable weight distribution and allows a relatively large cabin depth.

Embodiments of the invention in which the articulated arm can also be pivoted in vertical planes in order to carry out load lifting operations have not been explained in detail. Variants of such embodiments are without Zusatzhubgerüst and / or without Haupthubgerüst.

Claims (20)

1. Industrial truck, in particular a stacker vehicle, having a mobile base (2), a cab (8), which can be moved in relation to the mobile base (2), for an operator, a load-receiving means (12) and a device, which is arranged on the mobile base, for moving the load-receiving means (12) in relation to the mobile base (2), characterised in that the device for moving the load-receiving means (12) has a multiple-element articulated arm (14) as a support, which can be moved in a controllable manner, for the load-receiving means (12), and in that the articulated arm (14) extends from a base-side articulation point (32) to the load-receiving means (12), wherein the articulation point (32) is arranged in view along a vertical pivot axis defined by the articulation point (32) in alignment with the cab (8) beneath or above the cab (8) and the elements (14a, 14b, 14c) of the articulated arm (14) are connected to one another by means of pivot bearings (22, 24) - and can be moved in relation to one another in order to manipulate the load-receiving means (12).
2. Industrial truck according to claim 1, characterised in that the device for moving the load-receiving means (12) comprises a lifting device with a mast (6), on which the multiple-element articulated arm (14) is arranged such that it can move vertically.
3. Industrial truck according to claim 1 or 2, characterised in that the articulated arm (14) extends overall at one height level either beneath the cab (8) or above the cab.
4. Industrial truck according to any one of claims 1 to 3, characterised in that the cab (8) is guided such that it can move vertically on the mast (6).
5. Industrial truck according to any one of the preceding claims, characterised in that the cab (8) is coupled to the articulated arm (14) so as to move vertically in common with it.
6. Industrial truck according to any one of claims 2 to 5, characterised in that the articulated arm (14) is articulated onto the lifting device such that it can be pivoted about a normally vertical pivot axis by means of a main pivot bearing arrangement (32).
7. Industrial truck according to one of the preceding claims, characterised in that a load-receiving means holder which supports the load-receiving means (12) is arranged such that it can pivot by means of an outer pivot bearing arrangement (26) at the free end of the articulated arm (14).
8. Industrial truck according to claim 7, characterised in that the outer pivot bearing arrangement (26) makes it possible for the load-receiving means holder to be pivoted about a normally vertical pivot axis.
9. Industrial truck according to one of claims 7 or 8, characterised in that the load-receiving means holder has an additional mast (18), on which the load-receiving means (12) is guided such that it can be displaced vertically.
10. Industrial truck according to one of the preceding claims, characterised in that the pivot bearings which connect the elements (14a, 14b) of the articulated arm (14) to one another, have essentially vertical pivot axes.
11. Industrial truck according to one of the preceding claims, characterised in that the articulated arm (14) comprises two elements (14a, 14b).
12. Industrial truck according to one of the preceding claims, characterised in that at least one of the articulated arm elements (14, 14b) is arranged such that it can be longitudinally displaced in relation to the pivot bearing (32), which holds it such that it can pivot, on said pivot bearing (32) by means of a displacement guide (36).
13. Industrial truck according to claim 6 and claim 12, characterised in that the articulated arm element (14a) arranged on the main pivot bearing arrangement (32) is guided such that it can be longitudinally displaced in relation to the main pivot bearing arrangement (32), with the result that it can carry out mutually overriding movements of pivoting about the pivot axis and displacement perpendicular to the pivot axis of the main pivot bearing arrangement (32).
14. Industrial truck according to one of the preceding claims, characterised in that in the respective lifting position, the load-receiving means (12) can be positioned in a lateral alignment position, in which it in any case protrudes laterally outwards to a minimum extent from the mobile base (2) transversely with respect to the straight-on direction of travel of said mobile base (2) and is moved up close to the mobile base (2) with an alignment perpendicular to the straight-on direction of travel of said mobile base (2), it being possible for the articulated arm (14) to be activated so as to displace the load-receiving means (12) laterally outwards from the alignment position along an at least approximately straight line and so as to move it back into the alignment position again.
15. Industrial truck according to one of the preceding claims, characterised in that in the respective lifting position the load-receiving means (12) can be positioned in a straight-on alignment position, in which it in any case protrudes laterally outwards to a minimum extent from the mobile base (2) perpendicularly with respect to the straight-on direction of travel of said mobile base (2), is oriented in the straight-on direction of travel and is moved up close to the mobile base (2).
16. Industrial truck according to claim 15, characterised in that the articulated arm can be activated so as to move the load-receiving means (12) forwards out of the straight-on alignment position along an at least approximately straight line - and so as to move it back into the straight-on alignment position again.
17. Industrial truck according to claim 6 or according to a claim referring back thereto, characterised in that the main pivot bearing arrangement (32) is arranged on the lifting device such that it can be displaced transversely with respect to the lifting direction.
18. Industrial truck according to one of the preceding claims, characterised in that the articulated arm (14) can be activated so as to position the load-receiving means (12) to the side of the mobile base (2).
19. Industrial truck according to one of the preceding claims, characterised in that hydraulic motors, in particular hydraulic cylinder/piston assemblies, are provided as the drive means for the purpose of moving the articulated arm elements (14a, 14b, 14c).
20. Industrial truck according to one of the preceding claims, characterised in that electric motors are provided as drive means for the purpose of moving the articulated arm elements (14a, 14b, 14c).

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