EP3034452B1 - Systeme comprenant un godet a fourche et au moins deux modules avec appareil encastré different - Google Patents

Systeme comprenant un godet a fourche et au moins deux modules avec appareil encastré different Download PDF

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Publication number
EP3034452B1
EP3034452B1 EP15197947.3A EP15197947A EP3034452B1 EP 3034452 B1 EP3034452 B1 EP 3034452B1 EP 15197947 A EP15197947 A EP 15197947A EP 3034452 B1 EP3034452 B1 EP 3034452B1
Authority
EP
European Patent Office
Prior art keywords
module
fork
fork shoe
shoe
built
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP15197947.3A
Other languages
German (de)
English (en)
Other versions
EP3034452B9 (fr
EP3034452A1 (fr
Inventor
Dr. Kai Haake
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
STILL GmbH
Original Assignee
STILL GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from DE102015118634.9A external-priority patent/DE102015118634A1/de
Application filed by STILL GmbH filed Critical STILL GmbH
Publication of EP3034452A1 publication Critical patent/EP3034452A1/fr
Publication of EP3034452B1 publication Critical patent/EP3034452B1/fr
Application granted granted Critical
Publication of EP3034452B9 publication Critical patent/EP3034452B9/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • 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 a system of a fork shoe for a fork prong and at least one module according to the preamble of patent claim 1.
  • Industrial trucks often have a load fork with two forks as load-carrying means for transporting goods stored on pallets and load carriers.
  • Examples of such trucks are counterbalanced forklifts, reach trucks, but also warehouse equipment such as pallet trucks and order pickers.
  • Such trucks typically use equipment that provides assistance functions to an operator or driver and supports their work.
  • Example of this are camera systems, auxiliary devices for aligning a fork on a range to be approached, but also sensor devices and distance sensors that serve a driver, for example, on a monitor or display visually the orientation and distances of the fork to be accommodated charge carriers or possibly a storage space in one Shelf display.
  • a disadvantage of this prior art is that the devices must be mounted as accessories individually independently of each other on the truck. This means a certain effort and in particular requires in each case an individual structural design of the truck, in which the installation space, the installation location and also connection lines as well as other required connections must be provided. In addition, the accessories often have to be protected against mechanical damage, moisture as well as dirt.
  • a similar embodiment of a modified fork with a screwed to the top or protective housing with an integrated camera, such as a time-of-fight camera, is also known in the art.
  • a disadvantage of the above-described prior art is that it is difficult to provide support for an operator or a driver different facilities for assistance systems that optimally support the respective work situation in the load handling.
  • trucks can be unloaded on a forklift truck in the morning, and in the afternoon only internal transport in the area of a warehouse or, more generally, of a factory site can be carried out.
  • the previously described prior art disadvantageously does not provide any cost-effective assistance systems which can be independently and quickly adapted by an operator or a driver by exchanging elements.
  • an optically transparent window in particular a glass pane behind which the camera is arranged, is very easily damaged.
  • an extension prong or a fork shoe which is open at the bottom and in which from below a tip distance sensor is attached to a housing.
  • the housing of the tip distance sensor may be secured to the extension tine by welding or by screws.
  • the JP 2000 191293 A discloses in Figure 12 a placed on a fork tine fork shoe at the top of which an opening is provided at the bottom, in which a light-emitting plate can be used.
  • the present invention is therefore an object of the invention to provide a system of the type mentioned, which can avoid the aforementioned drawbacks and with which it is possible that an operator independently and quickly and easily adjust the assistance devices to the labor input of the truck can.
  • the proposed solution is also very cost effective in that the module is integrated in a mechanically less stressed overall device, namely the fork shoe in contrast to a direct arrangement of built-in appliances in a fork tine.
  • the module can be advantageously optimized for protection requirements in terms of protection against contamination as well as moisture or moisture, while high protection requirements in terms of mechanical loads and protection against damage can be ensured by the fork shoe.
  • any built-in devices can be integrated into the modules, as far as this is possible by the position of the arrangement at the tip of a fork shoe and also in relation to the available space for the module.
  • newer built-in appliances can be retrofitted simply by inserting a module equipped with these into the fork shoe. Since the forks have two forks and therefore usually two fork shoes are used, it is also conceivable to use different modules with different built-in devices in the two shoes.
  • the Retaining elements can already be realized by inner wall surfaces of the fork shoe, where the module comes into abutment. Overall, assistance functions can be optimally used due to the high degree of flexibility in the selection of built-in appliances.
  • Each module contains one or more of the following built-in devices: a headlight, in particular an LED headlight, a camera, in particular a 3-dimensional camera such as a time-of-flight camera, an optical code scanner, in particular barcode or QR code Code scanner, a flashing light, signal lights, projection lights, in particular a laser, sensors, in particular distance sensors and / or distance sensors, transmitting antennas, receiving antennas, transmitters, receivers, electronic controls and / or an environmental scanner, in particular a laser scanner.
  • a headlight in particular an LED headlight
  • a camera in particular a 3-dimensional camera such as a time-of-flight camera
  • an optical code scanner in particular barcode or QR code Code scanner
  • a flashing light signal lights
  • projection lights in particular a laser
  • sensors in particular distance sensors and / or distance sensors
  • transmitting antennas receiving antennas, transmitters, receivers, electronic controls and / or an environmental scanner, in particular a laser scanner.
  • a headlight for illuminating the load handling can be used, wherein a charge carrier space is also illuminated above the vehicle upper edge and the headlight can not be covered by a recorded load.
  • a camera that also captures distances provides data to assist with the picking up of pallets or load carriers. This data can be evaluated by appropriate software or control electronics of the truck and used for assistance systems. Turn signals and signal lights can be used as a warning, for example, when a fork is raised.
  • the camera can be used with the fork to monitor the space in front of the fork, which is particularly prone to damage objects. Also, a damaged camera can be easily changed.
  • An optical code scanner especially a barcode or QR code scanner, enables high-performance scans to be performed even at high altitudes.
  • projection lights it is conceivable, for example, color and by the shape, such as an arrow to represent a direction indicator. It can also at two forks differ in appearance between right and left.
  • a laser as a projection lamp may emit a crosshair or the like to facilitate piercing into a pallet with the forks.
  • Distance sensors and laterally aligned distance sensors can be used to determine how far a load fork is immersed in a pallet and if too much puncturing is indicated in the load carrier or pallet. This prevents "piercing" through the pallet and damage to underlying objects such as truck shelves or tail lifts.
  • An arranged in the fork tip module is also a suitable place to arrange a Transponderlese- and receiving device and associated control electronics, for example, for communication with RFID tags.
  • An example of other sensors could also be tilt sensors.
  • the control electronics for sensors used elsewhere for example, a load sensor for resting on the fork weights, which is integrated in the fork shoe, in a module as a built-in device or in addition to other built-in appliances.
  • an environmental scanner in particular a laser scanner, for example, the shape and size of a load can be measured.
  • a type of navigation laser can be created with which persons and also objects with more complex shape can be detected, in which pure distance sensors fail, for example, when a load has a perforated grid as edge.
  • an environmental scanner can also be used for personal safety and possibly warehouse navigation.
  • a window opening is arranged on the front side of the fork shoe tip.
  • a variety of conceivable built-in devices, such as sensors or lights of all kinds require an optically transparent opening at the tip of the fork shoe.
  • the window opening can be covered by an exchangeable transparent protective element, in particular a glass pane.
  • the sensors or lights in an open window opening which is aligned at the front of the tip of a fork shoe, are highly mechanical Damage endangered.
  • a transparent protective element such as a transparent plastic plate or a correspondingly designed glass, for example, a suitably designed laminated safety glass pane can be used.
  • damage can not be completely avoided and even if the sensors or underlying elements of the module remain undamaged, it can still cause damage or scratching of the plastic plate or glass, a possibility of easy interchangeability is advantageous.
  • the insertion opening is arranged laterally on the fork shoe.
  • the insertion opening may have a distance to the fork shoe tip, so that a module can be inserted obliquely and spent by screwing in its mounting position.
  • connecting cables which are data lines, power supply lines, but also to other supply lines can act as a current or voltage
  • damage to the connecting cables can be avoided.
  • a plug connection must be connected. This can be implemented particularly advantageously in the case of a forked shoe which has elements or modules with line connections already used in a region located further back, for example a transponder transmission and reading unit, for example for RFID tags. In this case, a mechanical passage of lines through the fork shoe already exists.
  • the holding elements allow assembly and disassembly of the module without tools.
  • the holding elements are formed by spring-loaded snapper or the like. This achieves an even faster interchangeability.
  • a replaceable transparent protective element in particular a glass pane, is arranged on a front side in the mounting position.
  • a cover for the insertion of the fork shoe is present.
  • an undercut in the outer wall of the module for attachment to a front edge of the insertion of the fork shoe is present.
  • the module can be placed obliquely in the receiving space by the undercut abuts the front edge of the insertion and without a corresponding width of the receiving space must be present by turning in the Recording room to be moved.
  • the cover member may correspond to the contour of the fork shoe and be arranged laterally in the mounting position on the module.
  • the cover can be supported directly by overlapping the fork shoe and with appropriate design, such as a sheet of appropriate strength, the module is not mechanically loaded in shocks.
  • An electronic control can provide identification data for the built-in appliances via a data interface, in particular a plug and play protocol.
  • a fork tilt sensor may be provided.
  • a remote control in particular an opener for hall gates.
  • a laser is provided as a projection lamp, which projects a laser cross forward in the longitudinal direction of the fork shoe.
  • Such a projected laser cross is especially advantageous in the alternative combination with a camera through which a person operating can observe this. But even independently of a camera, a driver can no longer see the pallet openings when entering at high altitude. A camera system tends here to optical distortions.
  • the projection of a corresponding laser cross results in an advantageous help for a driver. Especially with the use of a red laser near the infrared range, this is very easy to detect with the additional use of a corresponding camera in infrared mode and the combined use of a laser cross with a camera thus well independent of the other lighting situation, the piercing of the tips of the fork shoes well monitored become.
  • the Fig. 1 schematically shows a module 1 of a system according to the invention, for example, a non-illustrated headlight in combination with a Camera may have as built-in devices. Alternatively, however, all other, previously mentioned built-in appliances are conceivable.
  • a transparent protective element 3 configured as glass pane 4 is arranged, by which the headlight and an optic of the camera are protected.
  • the transparent protective element 3 is arranged on the module 1.
  • the transparent protective element 3 can be easily replaced in case of damage.
  • the module 1 still on a cover 5, that rests in the mounting position of the module 1 in a fork shoe on an insertion and closes it.
  • the Fig. 2 schematically shows an inventive system 17 of a fork shoe 6 and the module 1 of Fig. 1 ,
  • a fork tine 7 can be introduced.
  • a receiving space 9 in which the module 1 is just used in the illustration.
  • an undercut 10 which is attached to a front edge 11 of an insertion opening 12, it is possible to rotate the module 1 into the receiving space 9, without colliding with the insertion opening 12 opposite wall of the fork shoe 6.
  • the transparent protective element 3 is moved in front of a window opening 13 on the fork shoe tip 8.
  • connection line 14 with a connector 15 and a corresponding connector 16 of the module 1, the built-in devices of the module 1 can be connected electrically or in any other required manner.
  • the connecting line 14 is guided in the interior of the fork shoe 6, as shown.
  • the insertion opening 12 is in this case on the side of the fork shoe 6.
  • the module 1 is easily replaceable in the system 17 against at least one further module.
  • the Fig. 3 shows the system 17 of Fig. 2 with inserted module 1 in the mounting position.
  • the in the fork shoe 6 in front of the fork tine 7 in the Receiving space 9 located module 1 closes with its transparent protective element 3, the window opening 13.
  • the insertion opening 12 is closed by the cover 5.
  • the connection line 14 is protected against damage, since it is completely guided inside the fork shoe 6.
  • the Fig. 4 shows a perspective view of the module 1 with the cover 5. Further shown is the connector 16 of the module.
  • the Fig. 5 shows a module 1 with an optical code scanner, which is read a QR code 18,
  • the Fig. 6 shows a module 1 with a remote control transmitter, which can operate via a radio signal 19, for example, a hall gate.
  • the Fig. 7 shows a module 1 with a laser cross 21, through the observation of which a driver or a person operating the truck can monitor the exact alignment of the fork shoe on the openings of a pallet.

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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)

Claims (15)

  1. Système composé d'un sabot de fourche (6) pour une dent de fourche (7) d'un chariot de manutention, le sabot de fourche (6) contenant un espace d'accueil (9) pour des appareils intégrés, lequel est disposé à la pointe du sabot de fourche (8), ainsi qu'une ouverture d'insertion (12) pour un module (1) qui est prévue dans la zone de la pointe du sabot de fourche (8), lequel contient les appareils intégrés, le système contenant au moins un module (1) qui peut être inséré dans l'espace d'accueil (9) du sabot de fourche (6), le module (1) contenant un ou plusieurs des appareils intégrés suivants :
    - un projecteur, notamment un projecteur à LED,
    - une caméra, notamment une caméra à enregistrement tridimensionnel comme, par exemple, une caméra à temps de vol,
    - un lecteur de code optique, notamment un lecteur de code à barres ou de QR-code,
    - une lampe clignotante,
    - des lampes de signalisation,
    - des lampes de projection, notamment un laser,
    - des capteurs, notamment un palpeur d'écart et/ou des capteurs d'écart,
    - des antennes d'émission,
    - des antennes de réception,
    - des émetteurs,
    - des récepteurs,
    - des commandes électroniques,
    - un système de balayage de l'environnement, notamment un scanner à laser,
    caractérisé en ce que le système contient au moins deux modules (1), lesquels peuvent respectivement être insérés dans l'espace d'accueil (9) du sabot de fourche (6), au moins deux modules (1) qui contiennent des appareils intégrés différents pouvant être échangés entre eux, des éléments de maintien uniformes étant présents pour une pluralité de modules (1).
  2. Système selon la revendication 1, caractérisé en ce qu'une ouverture de fenêtre (13) est disposée sur le côté avant de la pointe du sabot de fourche (8).
  3. Système selon la revendication 2, caractérisé en ce que l'ouverture de fenêtre (13) est recouverte par un élément de protection (3) transparent remplaçable, notamment une plaque en verre (4).
  4. Système selon l'une des revendications 1 à 3, caractérisé en ce que l'ouverture d'insertion (12) est disposée latéralement sur le sabot de fourche (6).
  5. Système selon la revendication 4, caractérisé en ce que l'ouverture d'insertion (12) présente un écart par rapport à la pointe du sabot de fourche (8), de sorte qu'un module (1) peut être inséré en biais et peut être amené dans sa position de montage par une rotation d'introduction.
  6. Système selon l'une des revendications 1 à 5, caractérisé en ce que des lignes de raccordement (14) pur le module (1), notamment des lignes de raccordement (14) pour une alimentation électrique et/ou une liaison de données sont passées à l'intérieur du sabot de fourche (6).
  7. Système selon l'une des revendications 1 à 6, caractérisé en ce que les éléments de maintien permettent un montage et un démontage du module (1) sans outil.
  8. Système selon l'une des revendications 1 à 7, caractérisé en ce qu'un élément de protection (3) transparent remplaçable, notamment une plaque en verre (4), est disposé sur un côté avant du module (1) dans la position de montage.
  9. Système selon l'une des revendications 1 à 8, caractérisé en ce que le module (1) possède un élément de recouvrement (5) pour l'ouverture d'insertion (12) du sabot de fourche (6).
  10. Système selon la revendication 9, caractérisé en ce que l'élément de recouvrement (5) correspond au contour du sabot de fourche (6) et il est disposé latéralement sur le module (1) dans la position de montage.
  11. Système selon l'une des revendications 1 à 10, caractérisé en ce qu'une contre-dépouille (10) est présente dans la paroi extérieure du module (1), servant à être appliquée sur une arête avant (11) de l'ouverture d'insertion (12) du sabot de fourche (6).
  12. Système selon l'une des revendications 1 à 11, caractérisé en ce qu'une commande électronique met à disposition, par le biais d'une interface de données, des données d'identification pour les appareils intégrés, notamment un protocole de type « Plug and Play ».
  13. Système selon l'une des revendications 1 à 12, caractérisé en ce qu'un capteur d'inclinaison de fourche est prévu en tant que capteur.
  14. Système selon l'une des revendications 1 à 13, caractérisé en ce qu'une commande à distance est prévue en tant qu'émetteur, notamment un dispositif d'ouverture pour des portes de hangar.
  15. Système selon l'une des revendications 1 à 14, caractérisé en ce qu'un laser est prévu en tant que lampe de projection, lequel projette une croix laser vers l'avant dans le sens longitudinal du sabot de fourche.
EP15197947.3A 2014-12-15 2015-12-04 Systeme comprenant un godet a fourche et au moins deux modules avec appareil encastré different Not-in-force EP3034452B9 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014118647 2014-12-15
DE102015118634.9A DE102015118634A1 (de) 2014-12-15 2015-10-30 Gabelschuh, Modul sowie zugehöriges System für ein Flurförderzeug

Publications (3)

Publication Number Publication Date
EP3034452A1 EP3034452A1 (fr) 2016-06-22
EP3034452B1 true EP3034452B1 (fr) 2017-08-16
EP3034452B9 EP3034452B9 (fr) 2017-11-08

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EP15197947.3A Not-in-force EP3034452B9 (fr) 2014-12-15 2015-12-04 Systeme comprenant un godet a fourche et au moins deux modules avec appareil encastré different

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Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018110915A1 (de) * 2018-05-07 2019-11-07 Jungheinrich Ag Lastgabel, Flurförderzeug und Verfahren zum Betreiben eines Flurförderzeugs und eines Linienlasers
DE102018122752A1 (de) * 2018-09-17 2020-03-19 Jungheinrich Aktiengesellschaft Flurförderzeug mit Initialhub
DE102021103799A1 (de) 2021-02-18 2022-08-18 Jungheinrich Aktiengesellschaft Flurförderzeug mit erfassungseinrichtungen an gabelzinken
CZ35380U1 (cs) * 2021-06-08 2021-09-07 Marek Ing. Zábrodský Zařízení pro optimalizaci procesu manipulace s obaly paletového typu

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US3672470A (en) * 1969-11-26 1972-06-27 Eaton Yale & Towne Photoelectric control for load handling device
DE19609007A1 (de) * 1996-03-08 1997-09-11 Wada Foerdertechnik Entwicklun Steuereinrichtung zum Stoppen der Vorschubbewegung der Lastaufnahmegabel von Gabelstaplern mit Teleskopmast bei Annäherung an ein Hindernis
DE29708980U1 (de) * 1997-05-22 1997-07-17 Gräf, Ferdinand, 65589 Hadamar Überwachungsvorrichtung für Flurförderfahrzeuge
JP2000191293A (ja) * 1998-12-25 2000-07-11 Nippon Yusoki Co Ltd フォ―クリフト
FI20075376A0 (fi) * 2007-05-25 2007-05-25 Jyri Vaherto Järjestelmä trukin haarukan paikoittamiseksi esteisiin verrattuna, menetelmä trukin haarukan sijainnin paikoittamiseksi esteisiin verrattuna ja jatkopiikki sijoitettavaksi trukin haarukoiden piikkienyhteyteen
DE102010055774A1 (de) 2010-12-23 2012-06-28 Jungheinrich Aktiengesellschaft Flurförderzeug mit einem Sensor zur Erfassung einer räumlichen Umgebung und Verfahren zum Betreiben eines solchen Flurförderzeugs

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Publication number Publication date
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