EP2762439B1 - Industrial truck with a path sensor - Google Patents
Industrial truck with a path sensor Download PDFInfo
- Publication number
- EP2762439B1 EP2762439B1 EP14153076.6A EP14153076A EP2762439B1 EP 2762439 B1 EP2762439 B1 EP 2762439B1 EP 14153076 A EP14153076 A EP 14153076A EP 2762439 B1 EP2762439 B1 EP 2762439B1
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- Prior art keywords
- wheel
- industrial truck
- truck
- load
- pole
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- 238000005259 measurement Methods 0.000 description 4
- 239000000853 adhesive Substances 0.000 description 3
- 230000001070 adhesive effect Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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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
- B66F9/0755—Position control; Position detectors
Definitions
- the invention relates to an industrial truck, in particular order picking with a liftable and lowerable driver's station, the truck with a wheel that is designed as a steerable drive wheel or non-steered load wheel is supported on a road, the wheel a Wegmesssensor for detecting the distance traveled assigned.
- Picking conveyors such as vertical order picker, have designed as a car or driver's cab for an operator, raised and lowered driver's station.
- a load-receiving means is arranged, which may be configured for example by a arranged in the vehicle longitudinal direction and formed by forks fork, a platform or a load carrier.
- Such, designed as a vertical order picking picking trucks are used in racking systems for picking and picking of goods from higher shelves levels.
- the driver's cab can be provided with a standing platform for a standing operator or with a driver's seat, for example a folding seat, to allow operation by a seated operator or an optional operation while sitting or standing.
- Such trucks are supported with a steerable drive wheel and non-driven and non-steered load wheels as wheels on the road.
- a position sensor for example, an incremental position sensor, to arrange, with the traveled distance and thus the distance covered the truck can be detected.
- a navigation aid and navigation can be formed within a rack aisle on the truck operated in a rack system, in order to optimize the destination approach to a shelf position as a target position by the truck and the fork automatically at the horizontal and vertical target position is stopped.
- the position of the truck is determined via the incremental position sensor.
- the handling capacity of the truck can be increased and a relief of the operator of the truck can be achieved.
- trucks that are equipped with a mobile personal protection system equipped with a Wegmesssensor for detecting the distance covered.
- Known incremental distance measuring sensors on load wheels of industrial trucks are designed as measuring wheel encoders in which a measuring wheel connected to an encoder or designed as an encoder communicates with the circumferential running surface of the wheel of the industrial truck and is pressed against the running surface of the wheel by means of a spring To ensure contact of the measuring wheel with the running surface of the wheel of the truck and thus ensure a safe rolling of the measuring wheel on the wheel of the truck.
- Wegmesssensoren in which the measuring wheel touches the tread of the wheel of the truck, however, can occur in vibration when driving the truck or a decreasing spring force of the measuring wheel to the running surface of the wheel of the truck pressing spring measurement errors in the path measurement of the truck.
- known measuring wheel encoders require a large space and result in an increase in height in the vertical direction of the wheel of the truck by the arrangement of the tread of the wheel of the truck touching the measuring wheel, especially if the measuring wheel of the measuring wheel encoder above the wheel of the truck is arranged.
- the US 4,634,332 A1 discloses in Figures 16, 17 a generic truck with a speed / distance sensor on a wheel.
- the speed / distance sensor consists of a detector which electromagnetically scans a toothing on a measuring wheel.
- the measuring wheel is designed as a thin metal plate.
- the speed / distance sensor is designed as a gear encoder.
- the present invention has for its object to provide an industrial truck available that allows a distance measurement in a safe, interference-insensitive way and with low space requirements without increasing the height of the wheel of the truck.
- the Wegmesssensor is designed as non-contact magnetic sensor device, which consists of a magnetic sensor which is arranged on the truck, and a disc-shaped pole wheel, which is designed as a magnetic ring which is provided with a plurality of magnetic poles, and which is arranged and attached to the front side of the wheel.
- the design of the distance measuring sensor as non-contact magnetic sensor device enables a safe, wear-free and interference-insensitive measuring distance, which enables safe travel measurement of the path traveled by the truck without measuring errors even when jolting while driving.
- the arrangement of the magnet wheel of the magnetic sensor device on an end face of the wheel of the truck makes it possible to arrange the magnet wheel magnetically sensing magnet laterally on the wheel of the truck in a space-saving manner, so that the Wegmesssensor invention leads to any increase in the height of the wheel of the truck.
- Wegmesssensor In a trained as a vertical order picking picking truck with a liftable and lowerable driver's cab, in which the driver's cab is in the lowered state above the load wheels and a load wheel according to the invention Wegmesssensor can arranged, can thus by the space-saving arrangement of the magnetic sensor device trained Wegmesssensors laterally on the wheel, a reduction in the height of entry into the driver's cab and thus a corresponding low and ergonomically low entry height in the driver's seat for an operator can be achieved.
- the pole wheel is arranged and fixed on an outer side of a rim body of the wheel.
- the pole wheel provided with corresponding magnetic poles can be scanned in a simple and reliable manner by the magnetic sensor arranged on the industrial truck.
- the pole wheel is arranged and fixed in an end-side recess of the rim body of the wheel according to an embodiment of the invention.
- the pole wheel can be installed protected from damage within the contours of the wheel.
- the pole wheel is secured in the groove-shaped recess of the rim body by an adhesive bond.
- an adhesive connection by which the pole wheel is glued into the groove-shaped recess of the rim body, a fastening and securing the pole wheel against rotation on the rim body can be achieved in a simple manner.
- the pole wheel is formed by a plurality of magnetic poles bearing, preferably elastic plastic carrier.
- a rotor has low production costs. If such a flywheel on the plastic side formed by the plastic carrier is arranged facing outwardly on the rim body of the wheel, a protected arrangement of the metallic side formed by the magnetic poles can be achieved.
- the magnetic sensor is arranged according to an advantageous embodiment of the invention within the wheel diameter of the wheel on the truck.
- the displacement sensor according to the invention therefore requires no additional space on the wheel of the truck in the vertical direction, so that in a vertical order picking a reduction in the height of entry into the driver's cab and thus a low and ergonomically low entry height can be achieved in the driver's cab for an operator.
- the magnetic sensor of the distance measuring sensor according to the invention is arranged and fixed according to a preferred embodiment of the invention on a wheel housing receiving the wheel. At one of the wheel-receiving wheel house of the magnetic sensor can be easily attached to the truck. With regard to an arrangement protected from damage, special advantages result if the magnetic sensor according to an embodiment of the invention is arranged on the side of the wheel arch facing the vehicle center of the industrial truck. The magnetic sensor and guided to the magnetic sensor electrical connection line is thus protected from mechanical damage within the truck.
- the magnetic sensor device is associated with a load wheel of the truck and the liftable and lowerable driver's station of the truck is arranged above the load wheel.
- the distance traveled by the truck safely and slip-free can be determined and the space-saving design and arrangement of the magnetic sensor device according to the invention a reduction in the height of entry into the driver's cab and thus a corresponding low and ergonomic entry height into the driver's cab for a Operator.
- FIG. 1 is an inventive, designed for example as a vertical order picking picking in a side view as an example of a truck 1 according to the invention shown.
- Trained as a vertical order picking picking 1 has a vehicle body with a frame 2, in which a battery compartment for receiving a trained example as a drive battery power supply unit 3 of a battery-electric drive system of the truck is formed.
- the picking 1 has a lifting frame 4 formed by a lifting frame on which a trained as a car or driver's cab 5, which forms a driver's seat F for an operator, by means of a Hubantriebs not shown up and down is arranged.
- a load-receiving means 6 is fastened in the illustrated picking truck 1, which is arranged in the illustrated embodiment as a vehicle longitudinal direction and formed by forks fork, which is arranged liftable and lowered to a arranged on the operator's cab 5 mast.
- control and operating elements required for the operation of the picking truck 1 are arranged, for example in the form of an operating device B designed as a control panel.
- the picking truck 1 is supported by means of non-steered and non-driven load wheels 8, which is arranged at a load-part-side end of the frame 2, and a steerable drive wheel 9, which is arranged at a drive part-side end of the frame 2, on a carriageway FB from.
- a non-illustrated electrical drive system is further arranged comprising an electric traction motor and a steering drive, such as an electric steering motor for the steerable drive wheel 9 and an electrically operated hydraulic pump unit, which is provided to supply the working hydraulics are formed by the lifting drive of the hoist 4 and a lifting drive of the mast 7 and optionally existing auxiliary drives for the load-carrying means 6.
- the liftable and lowerable driver's platform 5 of the truck 1 is located above the load wheels 8.
- the load wheels 8 are - as in the FIG. 2 is shown in more detail, in which the frame 2 of the truck 1 is shown in a plan view - each arranged at the ends of spaced in the vehicle transverse direction of the wheel arms 10a, 10b.
- a wheel house 11 is formed for this purpose in the illustrated embodiment, each comprising two in the vehicle transverse direction and thus laterally spaced side plates 11a, 11b, in which a load wheel 8 is rotatably arranged.
- the side plate 11 a of the corresponding wheel housing 11 is disposed on the vehicle outer side and forms an outer side of the respective wheel housing 11.
- the side plate 11 b of the corresponding wheel housing 11 is the vehicle center of the truck 1 facing and thus disposed within the truck 1 and forms an inside of the respective Wheelhouse 11.
- a load wheel 8 is associated with a distance measuring sensor 15 for detecting the distance traveled by the industrial truck 1, which according to the invention is designed as a non-contact magnetic sensor device 16.
- the magnetic sensor device 16 according to the invention is arranged on the side of the load wheel 8 facing the vehicle center of the industrial truck 1 and thus on the inside of the wheel housing 11.
- FIGS. 4 to 6 is a wheel house 11 with the side plates 11 a, 11 b, between which the provided with the magnetic sensor means 16 load wheel 8 is arranged rotatably about a rotation axis D, shown in more detail.
- the magnetic sensor device 16 consists of a magnetic sensor 17, which is arranged on the truck 1, and a disk-shaped pole wheel 18, which is arranged on the end face of the load wheel 8. Between the magnetic sensor 17 and arranged on the load wheel 8 pole 18, an axial air gap is formed.
- the disc-shaped pole wheel 18 is - as in the FIG. 11 is shown in more detail - formed as a magnetic ring, which is provided with a plurality of magnetic poles 19.
- the pole wheel 18 consists of a disc-shaped plastic carrier 20 which carries the magnetic poles 19 on one end face.
- the load wheel 8 provided with the magnetic sensor device 16 is shown in a longitudinal section.
- the load wheel 8 consists of a rim body 25, on the outer circumference of which is in contact with the roadway FB in contact layer 26 is applied.
- the rim body 25 is rotatably supported by means of a two bearings 27a, 27b comprehensive wheel bearing, which are arranged on the Radau volau volau on a support pin, not shown, which is fixed in the side plates 11a, 11b of the corresponding wheel housing 11. Shown are further bearing mounting rings 28a, 28b for the corresponding bearing 27a, 27b, which are each provided with a receiving bore for the trunnion.
- the pole wheel 18 is arranged on the front-side outer side 25a of the rim body 25 of the load wheel 8.
- annular groove-shaped recess 30 is arranged, in which the pole wheel 18 is arranged and received.
- the annular groove-shaped recess 30 is in this case arranged concentrically to the axis of rotation D.
- the groove width and the groove depth of the recess 30 are adapted to the width and the thickness of the pole wheel 18, so that the pole wheel 18 is flush or recessed in the recess 30 and thus arranged in the rim body 25.
- pole wheel 18 with the plastic carrier 20 and thus the plastic side facing outwardly disposed in the recess 30 so that the provided with the poles 19 metallic magnet side of the pole wheel 18 is protected at the groove bottom of the recess 30.
- the pole wheel 18 is fixed in the groove-shaped recess 30 of the rim body 25 by an adhesive bond and glued into the groove-shaped recess 30.
- FIGS. 4 to 6 is the center of the vehicle facing inner side plate 11 b of the wheel housing 11 is provided with a recess 35 through which extends the aligned on the flywheel 18 magnetic sensor 17.
- a holder 40 is attached to the vehicle center side facing the side plate 11 b, for example by means of fastening screws 41 to which the magnetic sensor 17 is attached, for example by means of fastening screws 42.
- an electrical connecting line 43 of the magnetic sensor 17 is shown.
- the magnetic sensor 17 has a box-shaped housing and the recess 35 in the side plate 11 b of the wheel arch 11 is cuboidal.
- the electrical connection cable 43 is preferably led out parallel to the side plate 11 b from the housing of the magnetic sensor 17.
- FIGS. 7 to 9 shows a second embodiment of the invention is shown, wherein like components are provided with the same reference numerals.
- the embodiment of the FIGS. 7 to 9 differs from the embodiment of the FIGS. 4 to 6 by the configuration of the magnetic sensor 17th
- the arranged on the in the rim body 25 of the load roller 8 pole 18 aligned magnetic sensor 17 of FIGS. 7 to 9 is formed as a cylindrical pin which is provided with an external thread and is screwed into a receiving bore 50 of the inner side plate 11 b of the wheel housing 11.
- a lock nut 51 To secure the magnetic sensor 17 is a lock nut 51.
- the electrical connection cable 43 is preferably led out parallel to the axis of rotation D from the magnetic sensor 17.
- the magnetic sensor 17 is arranged in the vertically upper region of the wheel housing 11.
- the magnetic sensor 17 is disposed within the wheel diameter of the load wheel 8 on the wheel housing 11 and thus the truck 1, so that the magnetic sensor 17 and thus the non-contact magnetic sensor device 16 according to the invention does not lead to an increase in the height of the load wheel 8 in the vertical direction.
- the magnetic sensor device 16 thus allows due to the small space a reduction in the required entry height in the arranged above the load wheels 8 raisable and lowerable driver's seat 5 at a run as a vertical order picker truck 1, for the additional functions navigation in the aisle and / or mobile personal protection system with a Wegmesssensors 15 is provided for detecting the distance traveled.
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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)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Warehouses Or Storage Devices (AREA)
Description
Die Erfindung betrifft ein Flurförderzeug, insbesondere Kommissionierflurförderzeug mit einem anhebbaren und absenkbaren Fahrerstand, wobei das Flurförderzeug mit einem Rad, das als lenkbares Antriebsrad oder nicht-gelenktes Lastrad ausgebildet ist, auf einer Fahrbahn abgestützt ist, wobei dem Rad ein Wegmesssensor zur Erfassung der zurückgelegten Fahrstrecke zugeordnet ist.The invention relates to an industrial truck, in particular order picking with a liftable and lowerable driver's station, the truck with a wheel that is designed as a steerable drive wheel or non-steered load wheel is supported on a road, the wheel a Wegmesssensor for detecting the distance traveled assigned.
Kommissionierflurförderzeuge, beispielsweise Vertikalkommissionierer, weisen einen als Fahrkorb oder Fahrerkabine für eine Bedienperson ausgebildeten, anhebbaren und absenkbaren Fahrerstand auf. An dem Fahrerstand ist hierbei ein Lastaufnahmemittel angeordnet, das beispielsweise von einer in Fahrzeuglängsrichtung angeordneten und von Gabelzinken gebildeten Lastgabel, einer Plattform oder einem Lastträger ausgeführt sein kann. Derartige, als Vertikalkommissionierer ausgebildete Kommissionierflurförderzeuge werden in Regalanlagen für einen Kommissionierbetrieb und Kommissionierarbeiten von Waren aus höheren Regalebenen eingesetzt. Der Fahrerstand kann mit einer Standplattform für eine stehende Bedienperson versehen sein oder mit einem Fahrersitz, beispielsweise einem Klappsitz, um eine Bedienung durch eine sitzende Bedienperson oder einer wahlweise Bedienung im Sitzen oder Stehen zu ermöglichen.Picking conveyors, such as vertical order picker, have designed as a car or driver's cab for an operator, raised and lowered driver's station. At the driver's station in this case a load-receiving means is arranged, which may be configured for example by a arranged in the vehicle longitudinal direction and formed by forks fork, a platform or a load carrier. Such, designed as a vertical order picking picking trucks are used in racking systems for picking and picking of goods from higher shelves levels. The driver's cab can be provided with a standing platform for a standing operator or with a driver's seat, for example a folding seat, to allow operation by a seated operator or an optional operation while sitting or standing.
Derartige Flurförderzeuge sind mit einem lenkbaren Antriebsrad sowie nicht-angetriebenen und nicht-gelenkten Lasträdern als Räder auf der Fahrbahn abgestützt.Such trucks are supported with a steerable drive wheel and non-driven and non-steered load wheels as wheels on the road.
Bei derartigen Flurförderzeugen ist es bereits bekannt, an einem Rad, in der Regel einem nicht-angetriebenen Lastrad, einen Wegmesssensor, beispielsweise einen inkrementalen Wegmesssensor, anzuordnen, mit dem die zurückgelegten Fahrstrecke und somit der zurückgelegte Weg des Flurförderzeugs erfasst werden kann. Mit einem derartigen Wegmesssensor kann an dem in einer Regalanlage betriebenen Flurförderzeug eine Navigationshilfe und Navigation innerhalb eines Regalganges gebildet werden, um die Zielanfahrt an einer Regalposition als Zielposition zu optimieren, indem das Flurförderzeug und die Lastgabel automatisch an der horizontalen und vertikalen Zielposition angehalten wird. Die Position des Flurförderzeugs wird hierbei über den inkrementalen Wegmesssensor ermittelt. Mit einer derartigen Navigationshilfe kann die Umschlagsleistung des Flurförderzeugs erhöht werden und eine Entlastung der Bedienperson des Flurförderzeugs erzielt werden. Zudem sind neben derartigen Flurförderzeugen, die für die Zusatzfunktion einer Navigationshilfe in einem Regalgang einen Wegmesssensor aufweisen, Flurförderzeuge, die mit einer mobilen Personenschutzanlage versehen sind, mit einem Wegmesssensor zur Erfassung des zurückgelegten Wegs ausgerüstet.In such industrial trucks, it is already known, on a wheel, usually a non-driven load wheel, a position sensor, for example, an incremental position sensor, to arrange, with the traveled distance and thus the distance covered the truck can be detected. With such a distance measuring sensor, a navigation aid and navigation can be formed within a rack aisle on the truck operated in a rack system, in order to optimize the destination approach to a shelf position as a target position by the truck and the fork automatically at the horizontal and vertical target position is stopped. The position of the truck is determined via the incremental position sensor. With such a navigation aid, the handling capacity of the truck can be increased and a relief of the operator of the truck can be achieved. In addition to such trucks, which have a Wegmesssensor for the additional function of a navigation aid in a rack aisle, trucks that are equipped with a mobile personal protection system, equipped with a Wegmesssensor for detecting the distance covered.
Bekannte inkrementale Wegmesssensoren an Lasträdern von Flurförderzeugen sind als Messrad-Encoder ausgebildet, bei denen ein mit einem Encoder verbundenes oder als Encoder ausgebildetes Messrad mit der umfangsseitigen Lauffläche des Rades des Flurförderzeugs in Verbindung steht und an die Lauffläche des Rades mittels einer Feder angepresst wird, um ein Berührung des Messrades mit der Lauffläche des Rades des Flurförderzeugs sicherzustellen und somit ein sicheres Abrollen des Messrades an dem Rad des Flurförderzeugs sicherzustellen. Bei derartigen Wegmesssensoren, bei denen das Messrad die Lauffläche des Rades des Flurförderzeugs berührt, können jedoch bei Erschütterungen im Fahrbetrieb des Flurförderzeugs oder einer nachlassenden Federkraft der das Messrad an die Lauffläche des Rades des Flurförderzeugs anpressenden Feder Messfehler bei der Wegmessung des Flurförderzeugs auftreten.Known incremental distance measuring sensors on load wheels of industrial trucks are designed as measuring wheel encoders in which a measuring wheel connected to an encoder or designed as an encoder communicates with the circumferential running surface of the wheel of the industrial truck and is pressed against the running surface of the wheel by means of a spring To ensure contact of the measuring wheel with the running surface of the wheel of the truck and thus ensure a safe rolling of the measuring wheel on the wheel of the truck. In such Wegmesssensoren in which the measuring wheel touches the tread of the wheel of the truck, however, can occur in vibration when driving the truck or a decreasing spring force of the measuring wheel to the running surface of the wheel of the truck pressing spring measurement errors in the path measurement of the truck.
Zudem benötigen bekannte Messrad-Encoder durch die Anordnung des die Lauffläche des Rades des Flurförderzeugs berührenden Messrades einen großen Bauraum und führen zu einer Zunahme der Bauhöhe in vertikaler Richtung an dem Rad des Flurförderzeugs, insbesondere wenn das Messrad des Messrad-Encoders oberhalb des Rades des Flurförderzeugs angeordnet ist.In addition, known measuring wheel encoders require a large space and result in an increase in height in the vertical direction of the wheel of the truck by the arrangement of the tread of the wheel of the truck touching the measuring wheel, especially if the measuring wheel of the measuring wheel encoder above the wheel of the truck is arranged.
Bei als Vertikalkommissionierern ausgebildeten Kommissionierflurförderzeugen mit einem anhebbaren und absenkbaren Fahrerstand, bei dem sich der Fahrerstand im abgesenkten Zustand oberhalb der Lasträder befindet, führt somit die Anordnung eines Messrad-Encoders an dem Lastrad durch die Erhöhung der Bauhöhe zu einer Erhöhung der Einstiegshöhe in den Fahrerstand und somit einer entsprechend hohen und ergonomisch ungünstigen Einstiegshöhe in den Fahrerstand für eine Bedienperson.When trained as a vertical order picking picking with a raised and lowered driver's cab, where the driver is in the lowered state above the load wheels, thus arranging a measuring wheel encoder on the load wheel by increasing the height leads to an increase in the height of the driver's seat and thus a correspondingly high and ergonomically unfavorable entry height into the driver's cab for an operator.
Die
Die
Der vorliegenden Erfindung liegt die Aufgabe zugrunde, ein Flurförderzeug zur Verfügung zu stellen, das eine Wegmessung in sicherer, störungsunempfindlicher Weise und bei geringem Bauraumbedarf ohne Zunahme der Bauhöhe an dem Rad des Flurförderzeugs ermöglicht.The present invention has for its object to provide an industrial truck available that allows a distance measurement in a safe, interference-insensitive way and with low space requirements without increasing the height of the wheel of the truck.
Diese Aufgabe wird erfindungsgemäß dadurch gelöst, dass der Wegmesssensor als berührungslose Magnetsensoreinrichtung ausgebildet ist, die aus einem Magnetsensor, der am Flurförderzeug angeordnet ist, und einem scheibenförmigen Polrad besteht, das als Magnetring ausgebildet ist, das mit einer Mehrzahl von magnetischen Polen versehen ist, und das an der Stirnseite des Rades angeordnet und befestigt ist. Die Ausführung des Wegmesssensors als berührungslose Magnetsensoreinrichtung ermöglicht eine sichere, verschleißfreie und störungsunempfindliche Wegmessung, die auch bei Erschütterungen im Fahrbetrieb eine sichere Wegmessung des zurückgelegten Weges des Flurförderzeugs ohne Messfehler ermöglicht. Die Anordnung des Polrades der Magnetsensoreinrichtung an einer Stirnseite des Rades des Flurförderzeugs ermöglicht es, den das Polrad magnetisch abtastenden Magnetsensor seitlich an dem Rad des Flurförderzeugs in bauraumsparender Weise anzuordnen, so dass der erfindungsgemäße Wegmesssensor zu keiner Zunahme der Bauhöhe an dem Rad des Flurförderzeugs führt. Bei einem als Vertikalkommissionierer ausgebildeten Kommissionierflurförderzeug mit einem anhebbaren und absenkbaren Fahrerstand, bei dem sich der Fahrerstand im abgesenkten Zustand oberhalb der Lasträder befindet und an einem Lastrad ein erfindungsgemäßer Wegmesssensor angeordnet kann, kann somit durch die bauraumsparende Anordnung des als Magnetsensoreinrichtung ausgebildeten Wegmesssensors seitlich an dem Rad eine Verringerung der Einstiegshöhe in den Fahrerstand und somit eine entsprechende niedrige und ergonomisch günstige Einstiegshöhe in den Fahrerstand für eine Bedienperson erzielt werden.This object is achieved in that the Wegmesssensor is designed as non-contact magnetic sensor device, which consists of a magnetic sensor which is arranged on the truck, and a disc-shaped pole wheel, which is designed as a magnetic ring which is provided with a plurality of magnetic poles, and which is arranged and attached to the front side of the wheel. The design of the distance measuring sensor as non-contact magnetic sensor device enables a safe, wear-free and interference-insensitive measuring distance, which enables safe travel measurement of the path traveled by the truck without measuring errors even when jolting while driving. The arrangement of the magnet wheel of the magnetic sensor device on an end face of the wheel of the truck makes it possible to arrange the magnet wheel magnetically sensing magnet laterally on the wheel of the truck in a space-saving manner, so that the Wegmesssensor invention leads to any increase in the height of the wheel of the truck. In a trained as a vertical order picking picking truck with a liftable and lowerable driver's cab, in which the driver's cab is in the lowered state above the load wheels and a load wheel according to the invention Wegmesssensor can arranged, can thus by the space-saving arrangement of the magnetic sensor device trained Wegmesssensors laterally on the wheel, a reduction in the height of entry into the driver's cab and thus a corresponding low and ergonomically low entry height in the driver's seat for an operator can be achieved.
Gemäß einer vorteilhaften Ausführungsform der Erfindung ist das Polrad an einer Außenseite eines Felgenkörpers des Rades angeordnet und befestigt. Hierdurch kann das mit entsprechenden magnetischen Polen versehene Polrad auf einfache und sichere Weise von dem am Flurförderzeug angeordneten Magnetsensor abgetastet werden.According to an advantageous embodiment of the invention, the pole wheel is arranged and fixed on an outer side of a rim body of the wheel. As a result, the pole wheel provided with corresponding magnetic poles can be scanned in a simple and reliable manner by the magnetic sensor arranged on the industrial truck.
Mit besonderem Vorteil ist gemäß einer Ausgestaltungsform der Erfindung das Polrad in einer stirnseitigen Ausnehmung des Felgenkörpers des Rades angeordnet und befestigt. In einer bevorzugt nutförmigen Ausnehmung an der stirnseitigen Außenseite des Felgenkörpers des Rades kann das Polrad vor Beschädigungen geschützt innerhalb der Umrisse des Rades eingebaut werden.With particular advantage, the pole wheel is arranged and fixed in an end-side recess of the rim body of the wheel according to an embodiment of the invention. In a preferably groove-shaped recess on the front-side outer side of the rim body of the wheel, the pole wheel can be installed protected from damage within the contours of the wheel.
Gemäß einer vorteilhaften Weiterbildung ist das Polrad in der nutförmigen Ausnehmung des Felgenkörpers durch eine Klebeverbindung befestigt. Mit einer Klebeverbindung, durch die das Polrad in die nutförmige Ausnehmung des Felgenkörpers eingeklebt ist, kann auf einfache Weise eine Befestigung und Sicherung des Polrades gegen Verdrehen an dem Felgenkörper erzielt werden.According to an advantageous development, the pole wheel is secured in the groove-shaped recess of the rim body by an adhesive bond. With an adhesive connection, by which the pole wheel is glued into the groove-shaped recess of the rim body, a fastening and securing the pole wheel against rotation on the rim body can be achieved in a simple manner.
Gemäß einer vorteilhaften Ausgestaltungsform der Erfindung ist das Polrad von einem eine Mehrzahl von magnetischen Polen tragenden, bevorzugt elastischen Kunststoffträger gebildet. Ein derartiges Polrad weist geringe Herstellkosten auf. Sofern ein derartiges Polrad an dem mit der von dem Kunststoffträger gebildeten Kunststoffseite nach Außen gewandt an dem Felgenkörper des Rades angeordnet ist, kann weiterhin eine geschützte Anordnung der von den magnetischen Polen gebildeten metallischen Seite erzielt werden.According to an advantageous embodiment of the invention, the pole wheel is formed by a plurality of magnetic poles bearing, preferably elastic plastic carrier. Such a rotor has low production costs. If such a flywheel on the plastic side formed by the plastic carrier is arranged facing outwardly on the rim body of the wheel, a protected arrangement of the metallic side formed by the magnetic poles can be achieved.
Hinsichtlich eines geringen Bauraumbedarfs des erfindungsgemäßen Wegmesssensors ergeben sich besondere Vorteile, wenn der Magnetsensor gemäß einer vorteilhaften Ausgestaltungsform der Erfindung innerhalb des Raddurchmessers des Rades am Flurförderzeug angeordnet ist. Der erfindungsgemäße Wegmesssensor benötigt daher keinen zusätzlichen Bauraum an dem Rad des Flurförderzeugs in vertikaler Richtung, so dass bei einem Vertikalkommissionierer eine Verringerung der Einstiegshöhe in den Fahrerstand und somit eine niedrige und ergonomisch günstige Einstiegshöhe in den Fahrerstand für eine Bedienperson erzielt werden kann.With regard to a small space requirement of the displacement sensor according to the invention, there are particular advantages when the magnetic sensor is arranged according to an advantageous embodiment of the invention within the wheel diameter of the wheel on the truck. The displacement sensor according to the invention therefore requires no additional space on the wheel of the truck in the vertical direction, so that in a vertical order picking a reduction in the height of entry into the driver's cab and thus a low and ergonomically low entry height can be achieved in the driver's cab for an operator.
Der Magnetsensor des erfindungsgemäßen Wegmesssensors ist gemäß einer bevorzugten Ausgestaltungsform der Erfindung an einem das Rad aufnehmenden Radhaus angeordnet und befestigt. An einem des Rad aufnehmenden Radhaus kann der Magnetsensor auf einfache Weise an dem Flurförderzeug befestigt werden. Hinsichtlich einer vor Beschädigungen geschützten Anordnung ergeben sich besondere Vorteile, wenn der Magnetsensor gemäß einer Ausgestaltungsform der Erfindung an der der Fahrzeugmitte des Flurförderzeugs zugewandten Seite des Radhauses angeordnet ist. Der Magnetsensor und die zu dem Magnetsensor geführte elektrische Verbindungsleitung ist somit vor mechanischen Beschädigungen geschützt innerhalb des Flurförderzeugs angeordnet.The magnetic sensor of the distance measuring sensor according to the invention is arranged and fixed according to a preferred embodiment of the invention on a wheel housing receiving the wheel. At one of the wheel-receiving wheel house of the magnetic sensor can be easily attached to the truck. With regard to an arrangement protected from damage, special advantages result if the magnetic sensor according to an embodiment of the invention is arranged on the side of the wheel arch facing the vehicle center of the industrial truck. The magnetic sensor and guided to the magnetic sensor electrical connection line is thus protected from mechanical damage within the truck.
Gemäß einer zweckmäßigen Ausgestaltungsform der Erfindung ist die Magnetsensoreinrichtung einem Lastrad des Flurförderzeugs zugeordnet und ist der anhebbare und absenkbare Fahrerstand des Flurförderzeugs oberhalb des Lastrades angeordnet. An einem nicht-angetriebenen Lastrad des Flurförderzeugs kann die zurückgelegte Wegstrecke des Flurförderzeugs sicher und schlupffrei ermittelt werden und durch die bauraumsparende Bauweise und Anordnung der erfindungsgemäßen Magnetsensoreinrichtung eine Verringerung der Einstiegshöhe in den Fahrerstand und somit eine entsprechende niedrige und ergonomisch günstige Einstiegshöhe in den Fahrerstand für eine Bedienperson erzielt werden.According to an expedient embodiment of the invention, the magnetic sensor device is associated with a load wheel of the truck and the liftable and lowerable driver's station of the truck is arranged above the load wheel. On a non-driven load wheel of the truck, the distance traveled by the truck safely and slip-free can be determined and the space-saving design and arrangement of the magnetic sensor device according to the invention a reduction in the height of entry into the driver's cab and thus a corresponding low and ergonomic entry height into the driver's cab for a Operator.
Weitere Vorteile und Einzelheiten der Erfindung werden anhand der in den schematischen Figuren dargestellten Ausführungsbeispiele näher erläutert. Hierbei zeigt
Figur 1- ein erfindungsgemäßes Flurförderzeug in einer Seitenansicht,
Figur 2- den Rahmen des Flurförderzeugs der
in einer Draufsicht,Figur 1 Figur 3- einen Schnitt entlang der Linie A-A der
,Figur 2 - Figur 4
- eine erste Ausführungsform eines Lastrades mit einer erfindungsgemäßen Magnetsensoreinrichtung,
Figur 5- eine Seitenansicht der
Figur 4 , - Figur 6
- die Einzelheit A der
Figur 4 in einer vergrößerten Darstellung, Figur 7- eine zweite Ausführungsform eines Lastrades mit einer erfindungsgemäßen Magnetsensoreinrichtung,
Figur 8- eine Seitenansicht der
,Figur 7 - Figur 9
- die Einzelheit A der
in einer vergrößerten Darstellung,Figur 7 Figur 10- einen Längsschnitt eines Lastrades und
Figur 11- ein Polrad der erfindungsgemäßen Magnetsensoreinrichtung in einer Draufsicht.
- FIG. 1
- an inventive truck in a side view,
- FIG. 2
- the frame of the truck
FIG. 1 in a plan view, - FIG. 3
- a section along the line AA the
FIG. 2 . - FIG. 4
- A first embodiment of a load wheel with a magnetic sensor device according to the invention,
- FIG. 5
- a side view of
FIG. 4 . - FIG. 6
- the detail A the
FIG. 4 in an enlarged view, - FIG. 7
- a second embodiment of a load wheel with a magnetic sensor device according to the invention,
- FIG. 8
- a side view of
FIG. 7 . - FIG. 9
- the detail A the
FIG. 7 in an enlarged view, - FIG. 10
- a longitudinal section of a load wheel and
- FIG. 11
- a pole of the magnetic sensor device according to the invention in a plan view.
In der
Das als Vertikalkommissionierer ausgebildete Kommissionierflurförderzeug 1 weist einen Fahrzeugkörper mit einem Rahmen 2 auf, in dem ein Batteriefach zur Aufnahme einer beispielsweise als Antriebsbatterie ausgebildeten Energieversorgungseinheit 3 eines batterie-elektrischen Antriebssystems des Flurförderzeugs ausgebildet ist. Das Kommissionierflurförderzeug 1 weist ein von einem Hubgerüst gebildetes Hubwerk 4 auf, an dem ein als Fahrkorb bzw. Fahrerkabine ausgebildeter Fahrerstand 5, der einen Fahrerarbeitsplatz F für eine Bedienperson bildet, mittels eines nicht näher dargestellten Hubantriebs auf- und abbewegbar angeordnet ist. An dem Fahrerstand 5 ist bei dem dargestellten Kommissionierflurförderzeug 1 ein Lastaufnahmemittel 6 befestigt, das im dargestellten Ausführungsbeispiel als Fahrzeuglängsrichtung angeordneten und von Gabelzinken gebildeten Lastgabel ausgebildet ist, die an einen am Fahrerstand 5 angeordneten Hubmast 7 anhebbar und absenkbar angeordnet ist.Trained as a vertical order picking picking 1 has a vehicle body with a
In dem anhebbaren und absenkbaren Fahrerstand 5 sind die für die Bedienung des Kommissionierflurförderzeugs 1 erforderlichen Steuer- und Bedienelemente angeordnet, beispielsweise in Form einer als Bedienpult ausgebildeten Bedieneinrichtung B.In the liftable and lowerable driver's
Das Kommissionierflurförderzeug 1 stützt sich mittels nicht-gelenkter und nicht-angetriebener Lasträder 8, die an einem lastteilseitigen Ende des Rahmens 2 angeordnet ist, und einem lenkbaren Antriebsrad 9, das an einem antriebsteilseitigen Ende des Rahmens 2 angeordnet ist, auf einer Fahrbahn FB ab. Im antriebsteilseitigen Ende des Rahmens 2 ist weiterhin ein nicht näher dargestelltes elektrisches Antriebssystem angeordnet, das einen elektrischen Fahrmotor und einen Lenkantrieb, beispielsweise einen elektrischen Lenkmotor, für das lenkbare Antriebsrad 9 sowie ein elektrisch betriebenes Hydraulikpumpenaggregat umfasst, das zur Versorgung der Arbeitshydraulik vorgesehen ist, die von dem Hubantrieb des Hubwerkes 4 sowie einem Hubantrieb des Hubmastes 7 sowie gegebenenfalls vorhandenen Zusatzantrieben für das Lastaufnahmemittel 6 gebildet sind.The picking
Bei dem erfindungsgemäßen Flurförderzeug 1 befindet sich der anhebbare und absenkbare Fahrerstand 5 des Flurförderzeugs 1 oberhalb der Lasträder 8 angeordnet.In the
Die Lasträder 8 sind - wie in der
Einem Lastrad 8 ist ein Wegmesssensor 15 zur Erfassung der zurückgelegten Fahrstrecke des Flurförderzeugs 1 zugeordnet, die erfindungsgemäß als berührungslose Magnetsensoreinrichtung 16 ausgebildet ist.A
Die erfindungsgemäße Magnetsensoreinrichtung 16 ist an der der Fahrzeugmitte des Flurförderzeugs 1 zugewandten Seite des Lastrades 8 und somit an der Innenseite des Radhauses 11 angeordnet.The magnetic sensor device 16 according to the invention is arranged on the side of the
In den
Die Magnetsensoreinrichtung 16 besteht aus einem Magnetsensor 17, der am Flurförderzeug 1 angeordnet ist, und einem scheibenförmigen Polrad 18, das an der Stirnseite des Lastrades 8 angeordnet ist. Zwischen dem Magnetsensor 17 und dem an dem Lastrad 8 angeordneten Polrad 18 ist ein axialer Luftspalt ausgebildet.The magnetic sensor device 16 consists of a
Das scheibenförmige Polrad 18 ist - wie in der
In der
Wie aus der
Zur Aufnahme des Polrades 18 ist in der stirnseitigen Außenseite 25a des Felgenkörpers 25 - wie in der
Bei der Ausführungsform der
Bei der Ausführungsform der
In den
Der auf das in dem Felgenkörper 25 der Lastrolle 8 angeordnete Polrad 18 ausgerichtete Magnetsensor 17 der
In der Ausführungsform der
Die erfindungsgemäße Magnetsensoreinrichtung 16 ermöglicht somit aufgrund des geringen Bauraums eine Verringerung der nötigen Einstiegshöhe in den oberhalb der Lasträder 8 angeordneten anhebbaren und absenkbaren Fahrerstand 5 bei einem als Vertikalkommissionierer ausgeführten Flurförderzeug 1, das für die Zusatzfunktionen Navigation im Regalgang und/oder mobile Personenschutzanlage mit einem Wegmesssensors 15 zur Erfassung des zurückgelegten Wegs versehen ist.The magnetic sensor device 16 according to the invention thus allows due to the small space a reduction in the required entry height in the arranged above the
Claims (9)
- Industrial truck (1), in particular order picking industrial truck having a raisable and lowerable driver's cab (5), wherein the industrial truck (1) is supported with a wheel (8; 9), which is embodied as a steerable drive wheel (9) or non-steered load wheel (8), on an underlying surface (FB), wherein a travel-measuring sensor (15) for measuring the distance travelled is assigned to the wheel (8;9),
characterized in that the travel-measuring sensor (15) is embodied as a contactless magnet sensor device (16) which is composed of a magnet sensor (17), which is arranged on the industrial truck (1), and of a disc-shaped pole wheel (18) which is embodied as a magnet ring which is provided with a multiplicity of magnetic poles (19) and which is arranged on the end side of the wheel (8; 9). - Industrial truck according to Claim 1, characterized in that the pole wheel (18) is arranged on an outer side (25a) of a rim body (25) of the wheel (8; 9).
- Industrial truck according to Claim 1 or 2, characterized in that the pole wheel (18) is arranged in an end-side cutout (30) in the rim body (25) of the wheel (8; 9).
- Industrial truck according to Claim 3, characterized in that the pole wheel (18) is attached in the cutout (30) of the rim body (25) by means of a bonded connection.
- Industrial truck according to one of Claims 1 to 4, characterized in that the pole wheel (18) is formed by a plastic carrier (20) which has a plurality of magnetic poles (19).
- Industrial truck according to one of Claims 1 to 5, characterized in that the magnet sensor (17) is arranged inside the wheel diameter of the wheel (8; 9) on the industrial truck (1).
- Industrial truck according to one of Claims 1 to 6, characterized in that the magnet sensor (17) is arranged and attached to a wheel housing (11) which accommodates the wheel (8; 9).
- Industrial truck according to Claim 7, characterized in that the magnet sensor (17) is arranged on the side of the wheel housing (11) facing the vehicle centre of the industrial truck (1).
- Industrial truck according to one of Claims 1 to 8, characterized in that the magnet sensor device (16) is assigned to a load wheel (8), and the raisable and lowerable driver's cab (5) of the industrial truck (1) is arranged above the load wheel (8).
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE201310101091 DE102013101091A1 (en) | 2013-02-04 | 2013-02-04 | Truck with a position sensor |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2762439A1 EP2762439A1 (en) | 2014-08-06 |
EP2762439B1 true EP2762439B1 (en) | 2015-12-23 |
Family
ID=50030084
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP14153076.6A Active EP2762439B1 (en) | 2013-02-04 | 2014-01-29 | Industrial truck with a path sensor |
Country Status (2)
Country | Link |
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EP (1) | EP2762439B1 (en) |
DE (1) | DE102013101091A1 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102022108478B4 (en) | 2022-04-07 | 2023-11-09 | ABP-Antriebstechnik Gesellschaft mit beschränkter Haftung | Measuring wheel arrangement |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6052079B2 (en) * | 1975-10-15 | 1985-11-16 | 株式会社小松製作所 | Unmanned cargo handling equipment |
JP3785897B2 (en) * | 2000-04-25 | 2006-06-14 | 株式会社豊田自動織機 | Front wheel rotation detection device for reach type cargo handling vehicle |
JP3976309B2 (en) * | 2002-01-25 | 2007-09-19 | 日本輸送機株式会社 | Unmanned vehicle |
GB2385044B (en) * | 2002-02-12 | 2005-03-09 | Nippon Yusoki Co Ltd | Reach type forklift truck |
DE102005022451A1 (en) * | 2005-05-14 | 2006-11-16 | Carl Freudenberg Kg | Multipole encoder and method for its production |
DE102007043221A1 (en) * | 2007-09-11 | 2009-03-12 | Schaeffler Kg | Method for producing a multipole encoder |
-
2013
- 2013-02-04 DE DE201310101091 patent/DE102013101091A1/en not_active Withdrawn
-
2014
- 2014-01-29 EP EP14153076.6A patent/EP2762439B1/en active Active
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DE102013101091A1 (en) | 2014-08-07 |
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