EP1698584B1 - Chariot de manutention - Google Patents

Chariot de manutention Download PDF

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Publication number
EP1698584B1
EP1698584B1 EP06003988A EP06003988A EP1698584B1 EP 1698584 B1 EP1698584 B1 EP 1698584B1 EP 06003988 A EP06003988 A EP 06003988A EP 06003988 A EP06003988 A EP 06003988A EP 1698584 B1 EP1698584 B1 EP 1698584B1
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EP
European Patent Office
Prior art keywords
load
articulated arm
industrial truck
receiving means
truck according
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Application number
EP06003988A
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German (de)
English (en)
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EP1698584A1 (fr
Inventor
Carsten Dipl.-Ing. Schöttke
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Jungheinrich AG
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Jungheinrich AG
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Publication of EP1698584A1 publication Critical patent/EP1698584A1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/08—Masts; Guides; Chains
    • B66F9/10—Masts; Guides; Chains movable in a horizontal direction relative to truck
    • 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
    • B66F9/07545—Overhead guards

Definitions

  • 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.
  • 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 soirhubgerüst 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the joints of the articulated arm interconnecting pivot bearing have substantially vertical pivot axes.
  • at least one articulated arm member is pivotally mounted upwards and downwards.
  • 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.
  • 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.
  • 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.
  • a movement is e.g. for the lateral stacking or unstacking of pallets or the like. Usable.
  • 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.
  • 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.
  • the pivot arm moves the load-receiving means obliquely to the straight-ahead direction of travel of the mobile base or longitudinally curved webs.
  • the movement of the load-receiving means with an actuating element 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.
  • 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.
  • drive means for moving the Schwenkarmglieder are in particular hydraulic motors and / or electric motors used.
  • the articulated arm can be folded as needed to save space, so that its members lie almost parallel to each other.
  • 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.
  • 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 differs significantly from conventional attachments for order picking / three-way forklift trucks.
  • 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.
  • 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.
  • Fig. 1 denotes the pivot bearing of relievehubmastes 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.
  • a symbolic load 30 is shown with broken lines.
  • 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.
  • elements of the base vehicle are in the Fig. 2a - 2c not drawn.
  • the straight-ahead direction is indicated by an arrow X.
  • 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.
  • the load-receiving means 12 is brought close to the base vehicle.
  • 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.
  • 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.
  • 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.
  • the truck according to the invention is particularly suitable for picking or sorting tasks in non-standard rack storage environment.
  • 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.
  • 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 Ausschubgna 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 soirhubgerüst and / or without Kleinhubgerüst.

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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)
  • Jib Cranes (AREA)

Claims (20)

  1. Chariot de manutention, en particulier chariot élévateur, comportant une base de roulement (2) apte à être déplacée et une cabine (8) pour une personne de service, mobile par rapport à la base de roulement (2), un moyen de réception de charge (12) et un dispositif, qui est agencé sur la base de roulement (2) et est destiné à déplacer le moyen de réception de charge (12) par rapport à la base de roulement (2), caractérisé en ce que le dispositif destiné à déplacer le moyen de réception de charge (12) comporte un bras articulé (14) à éléments multiples formant un support, pouvant être commandé en déplacement, pour le moyen de réception de charge (12), et en ce que le bras articulé (14) s'étend à partir d'un point d'articulation (32) du côté de la base vers le moyen de réception de charge (12), ledit point d'articulation (32) étant disposé au-dessus ou au-dessous de la cabine (8) en vue le long d'un axe de pivotement vertical, défini par le point d'articulation (32) et en alignement avec la cabine (8), et les éléments (14a, 14b, 14c) du bras articulé (14) sont reliés entre eux par des paliers de pivotement (22, 24) - et peuvent être déplacés les uns par rapport aux autres pour manoeuvrer le moyen de réception de charge (12).
  2. Chariot de manutention selon la revendication 1, caractérisé en ce que le dispositif destiné à déplacer le moyen de réception de charge (12) comporte un système de levage avec un châssis de levage (6), sur lequel le bras articulé (14) à éléments multiples est monté mobile verticalement.
  3. Chariot de manutention selon la revendication 1 ou 2, caractérisé en ce que le bras articulé (14) s'étend dans sa totalité à un niveau de hauteur soit au-dessus de la cabine (8), soit au-dessous de la cabine.
  4. Chariot de manutention selon l'une quelconque des revendications 1 à 3, caractérisé en ce que la cabine (8) est montée sur le châssis de levage (6) de manière mobile verticalement.
  5. Chariot de manutention selon l'une quelconque des revendications précédentes, caractérisé en ce que la cabine (8) est couplée au bras articulé (14) pour le mouvement vertical conjoint.
  6. Chariot de manutention selon l'une quelconque des revendications 2 à 5, caractérisé en ce que le bras articulé (14) est articulé sur le système de levage au moyen d'un système de palier de pivotement principal (32) de manière à pouvoir pivoter autour d'un axe de pivotement normalement vertical.
  7. Chariot de manutention selon l'une quelconque des revendications précédentes, caractérisé en ce qu'un support portant le moyen de réception de charge (12) est monté pivotant sur l'extrémité libre du bras articulé (14) au moyen d'un système de palier de pivotement (26) extérieur.
  8. Chariot de manutention selon la revendication 7, caractérisé en ce que le système de palier de pivotement (26) extérieur permet au support du moyen de réception de charge de pivoter autour d'un axe de pivotement normalement vertical.
  9. Chariot de manutention selon la revendication 7 ou 8, caractérisé en ce que le support du moyen de réception de charge comporte un châssis de levage supplémentaire (18), sur lequel le moyen de réception de charge (12) est monté de manière mobile verticalement.
  10. Chariot de manutention selon l'une quelconque des revendications précédentes, caractérisé en ce que les paliers de pivotement, par lesquels les éléments (14a, 14b) du bras articulé (14) sont reliés entre eux, ont des axes de pivotement sensiblement verticaux.
  11. Chariot de manutention selon l'une quelconque des revendications précédentes, caractérisé en ce que le bras articulé (14) comporte deux éléments (14a, 14b).
  12. Chariot de manutention selon l'une quelconque des revendications précédentes, caractérisé en ce qu'au moins l'un des éléments (14a, 14b) du bras articulé est monté, de manière mobile longitudinalement par rapport au palier de pivotement (32) qui le supporte de manière pivotante, sur ledit palier de pivotement (32) au moyen d'un guidage coulissant (36).
  13. Chariot de manutention selon la revendication 6 et la revendication 12, caractérisé en ce que l'élément (14a) du bras articulé, agencé sur le système de palier de pivotement principal (32), est monté de manière mobile longitudinalement par rapport au système de palier de pivotement principal (32), de telle sorte qu'il peut exécuter des mouvements de pivotement autour de l'axe de pivotement et de coulissement transversalement à l'axe de pivotement du système de palier de pivotement principal (32), qui se superposent les uns aux autres.
  14. Chariot de manutention selon l'une quelconque des revendications précédentes, caractérisé en ce que le moyen de réception de charge (12), dans chaque position de levage, peut être positionné dans une position d'alignement latérale, dans laquelle il s'avance, à la rigueur, quelque peu latéralement vers l'extérieur depuis la base de roulement (2) transversalement à la direction de roulement en ligne droite de celle-ci, et est amené dans un alignement transversal à la direction de roulement en ligne droite de la base de roulement (2) à proximité de celle-ci, sachant que le bras articulé (14) peut être activé pour faire coulisser latéralement vers l'extérieur le moyen de réception de charge (12) le long d'une ligne au moins approximativement droite hors de la position d'alignement et le ramener à nouveau dans la position d'alignement.
  15. Chariot de manutention selon l'une quelconque des revendications précédentes, caractérisé en ce que le moyen de réception de charge (12), dans chaque position de levage, peut être positionné dans une position d'alignement droite, dans laquelle il s'avance, à la rigueur, quelque peu latéralement vers l'extérieur depuis la base de roulement (2) transversalement à la direction de roulement en ligne droite de celle-ci, est orienté dans la direction de roulement en ligne droite et est amené à proximité de la base de roulement (2).
  16. Chariot de manutention selon la revendication 15, caractérisé en ce que le bras articulé peut être activé pour déplacer le moyen de réception de charge (12) le long d'une ligne au moins approximativement droite hors de la position d'alignement droite - et le ramener à nouveau dans la position d'alignement droite.
  17. Chariot de manutention selon la revendication 6 ou selon une revendication se référant à celle-ci, caractérisé en ce que le système de palier de pivotement principal (32) est disposé sur le système de levage de manière mobile transversalement à la direction de levage.
  18. Chariot de manutention selon l'une quelconque des revendications précédentes, caractérisé en ce que le bras articulé (14) peut être activé pour positionner le moyen de réception de charge (12) latéralement à côté de la base de roulement (2).
  19. Chariot de manutention selon l'une quelconque des revendications précédentes, caractérisé en ce qu'il est prévu des moteurs hydrauliques, en particulier des groupes hydrauliques à cylindre et piston, en tant que moyens d'entraînement pour le déplacement des éléments (14a, 14b, 14c) du bras articulé.
  20. Chariot de manutention selon l'une quelconque des revendications précédentes, caractérisé en ce qu'il est prévu des moteurs électriques en tant que moyens d'entraînement pour le déplacement des éléments (14a, 14b, 14c) du bras articulé.
EP06003988A 2005-03-01 2006-02-27 Chariot de manutention Active EP1698584B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102005009361A DE102005009361A1 (de) 2005-03-01 2005-03-01 Flurförderzeug

Publications (2)

Publication Number Publication Date
EP1698584A1 EP1698584A1 (fr) 2006-09-06
EP1698584B1 true EP1698584B1 (fr) 2010-10-13

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US (1) US7648325B2 (fr)
EP (1) EP1698584B1 (fr)
CN (1) CN1827520B (fr)
DE (2) DE102005009361A1 (fr)

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US7648325B2 (en) 2010-01-19
CN1827520A (zh) 2006-09-06
CN1827520B (zh) 2011-01-26
EP1698584A1 (fr) 2006-09-06
US20060245893A1 (en) 2006-11-02
DE102005009361A1 (de) 2006-09-07
DE502006008056D1 (de) 2010-11-25

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