EP3034452B9 - System comprising a fork shoe and at least two modules with different built-in device - Google Patents

Description

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.

Another problem is that the mounting location is often not optimal, for example in a camera system for optically monitoring the load bearing. Here would be a favorable location the tip of the fork tine, however In this case, the camera would have to be individually and costly protected against damage. Furthermore, it is also not possible to carry out a quick change or replacement of these ancillary facilities when very different tasks are performed during operation of the truck.

In the prior art, an arrangement of a camera in the tip of the fork tine is known. This shows, for example, the EP 2 468 678 A1 , However, it is unfavorable that the camera must be mechanically complicated and stably screwed or fixed in a supporting part of a special tine. It can therefore not be a standard fork tine used and there are significant additional costs through a special design.

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. Thus, for example, 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. For such purposes, 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. Especially with camera systems in the field of forks, the additional problem arises that an optically transparent window, in particular a glass pane behind which the camera is arranged, is very easily damaged.

From the DE 20 2008 006 63 9 U1 is known 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.

From the DE 297 08 980 U1 a fork is known, which has a recess at the tip of the fork into which a camera can be inserted.

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.

This object is achieved by a system comprising a fork shoe and at least two modules having the features of patent claim 1. Advantageous developments of the invention are specified in the subclaims.

By easily exchanging a module for another module with different built-in devices, there is the possibility of high flexibility. 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. Basically, 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. For example, 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.

In principle, it is also conceivable to provide the module with other deviating built-in appliances and to use any type of conceivable built-in appliances that are suitable for this purpose due to the geometric conditions and the location. Advantageously, 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. These 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. Despite the use of standard tines, 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.

By 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. For example, 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. In addition, it is also possible to arrange 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. By an environmental scanner, in particular a laser scanner, for example, the shape and size of a load can be measured. Through a corresponding evaluation, 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. In addition to recording your own recorded load, an environmental scanner can also be used for personal safety and possibly warehouse navigation.

Advantageously, 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. For this purpose, 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. However, since 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.

Advantageously, the insertion opening is arranged laterally on the fork shoe.

Both at the bottom and at the top of the fork shoe significant mechanical stresses and significant wear occur through contact with floor surfaces, shelves or a load to be absorbed. By a lateral arrangement of the insertion is located outside this area.

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.

This results inside the fork shoe around a front end wall on the fork shoe tip around on all four sides leading surfaces that guide and align the front end of the module, while this can be screwed laterally into the receiving space. By a corresponding formation or undercut in the side wall of the module, the screwing in and insertion can be facilitated by the undercut is attached to the front edge of the insertion and allows rotation into the mounting position.

It can lead lines for the module, in particular leads for a power supply and / or data connection, passed through the interior of the fork shoe.

Through this leadership of the 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. When inserting the module only 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.

In an advantageous development, the holding elements allow assembly and disassembly of the module without tools.

This is conceivable, for example, if the holding elements are formed by spring-loaded snapper or the like. This achieves an even faster interchangeability.

Advantageously, a replaceable transparent protective element, in particular a glass pane, is arranged on a front side in the mounting position.

This results in the advantages mentioned above, wherein the arrangement on the module, the replacement of the transparent protective element outside of the fork shoe can be made to the removed module.

In a further embodiment of the module, a cover for the insertion of the fork shoe is present.

It is possible that on the module by the cover member, a part of the lining is arranged, through which the insertion opening is closed in the fork shoe.

In a further embodiment of the module, an undercut in the outer wall of the module for attachment to a front edge of the insertion of the fork shoe is present.

As a result, 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.

In this case, 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.

This allows a related control of a truck to automatically detect the built-in devices and respond accordingly. For example, when a headlamp is connected via a module as a built-in device, a headlamp symbol can be displayed and a quick changeover of the desired brightness by pressing a button is enabled. Such a context-sensitive menu control, which is triggered by the detection of the built-in device, the user-friendliness is increased.

As sensor, a fork tilt sensor may be provided.

In the case of a defect, this makes it easy to replace. An arranged at this position fork tilt sensor also shows the true inclination of the load, as a deflection of the mast or a game in the guidance systems of the mast does not affect.

It can be provided as a transmitter, a remote control, in particular an opener for hall gates.

Automatic or semi-automatic opening of hall doors results in a performance improvement of the operational procedure. The installation location in the tip of the fork shoe is particularly economically favorable.

Advantageously, 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.

Fig. 1

schematisch ein Modul,

Fig. 2

schematisch ein System aus einem Gabelschuh sowie einem Modul,

Fig. 3

das System der Fig. 2 mit eingesetztem Modul,

Fig. 4

eine Perspektivansicht des Moduls,

Fig. 5

ein Modul mit einem optischen Code-Scanner,

Fig. 6

ein Modul mit einem Fernbedienungssender und

Fig. 7

ein Modul mit einem Laserfadenkreuz,

Further advantages and details of the invention will be explained in more detail with reference to the embodiment shown in the schematic figures. This shows

Fig. 1

schematically a module,

Fig. 2

schematically a system of a fork shoe and a module,

Fig. 3

the system of Fig. 2 with inserted module,

Fig. 4

a perspective view of the module,

Fig. 5

a module with an optical code scanner,

Fig. 6

a module with a remote control transmitter and

Fig. 7

a module with a laser cross hair,

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. On a front side 2 of the module 1, a transparent protective element 3 configured as glass pane 4 is arranged, by which the headlight and an optic of the camera are protected. In the present embodiment, the transparent protective element 3 is arranged on the module 1. However, it is equally conceivable to provide this in a fork shoe. The transparent protective element 3 can be easily replaced in case of damage. Next, 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 , In the fork shoe, a fork tine 7 can be introduced. Before the fork tine 7 is located on a fork shoe tip 8 a receiving space 9, in which the module 1 is just used in the illustration. By 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. In this case, the transparent protective element 3 is moved in front of a window opening 13 on the fork shoe tip 8. About a 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. At the same time, the insertion opening 12 is closed by the cover 5. Also, 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.

Claims (15)

1. System comprising a fork shoe (6) for a fork prong (7) of an industrial truck, wherein the fork shoe (6) contains a receptacle space (9) for built-in devices, which receptacle space (9) is arranged at the tip (8) of the fork shoe, and an insertion opening (12) for a module (1) is provided in the region of the tip (8) of the fork shoe, which module (1) contains the built-in devices, wherein the system contains at least one module (1) which can be inserted into the receptacle space (9) of the fork shoe (6), wherein the module (1) contains one or more of the following built-in devices:

   - a headlight, in particular an LED headlight,

   - a camera, in particular a camera which records in a 3-dimensional fashion, such as for example a time-of-flight camera,

   - an optical code scanner, in particular barcode or QR code scanner,

   - a flashing indicator light,

   - signalling lights,

   - projection lights, in particular a laser,

   - sensors, in particular distance probes and/or distance sensors,

   - transmission antennas,

   - reception antennas,

   - transmitters,

   - receivers,

   - electronic controllers,

   - a surroundings scanner, in particular a laser scanner;

   characterized
   in that the system contains at least two modules (1) which can each be inserted into the receptacle space (9) of the fork shoe (6), wherein at least two modules (1) which contain the differing built-in devices can be interchanged one for the other, wherein uniform mounting elements are provided for a multiplicity of modules (1).
2. System according to Claim 1,
   characterized
   in that a window opening (13) is arranged on the front side of the tip (8) of the fork shoe.
3. System according to Claim 2,
   characterized
   in that the window opening (13) is covered by a replaceable transparent protective element (3), in particular a glass pane (4).
4. System according to one of Claims 1 to 3,
   characterized
   in that the insertion opening (12) is arranged laterally on the fork shoe (6).
5. System according to Claim 4,
   characterized
   in that the insertion opening (12) is at a distance from the tip (8) of the fork shoe, with the result that a module (1) can be inserted obliquely and moved into its mounting position by turning in.
6. System according to one of Claims 1 to 5,
   characterized
   in that connecting lines (14) for the module (1), in particular connecting lines (14) for a power supply and/or data connection, are guided through the interior of the fork shoe (6).
7. System according to one of Claims 1 to 6,
   characterized
   in that the mounting elements permit the module (1) to be mounted and dismounted without a tool.
8. System according to one of Claims 1 to 7,
   characterized
   in that a exchangeable transparent protective element (3), in particular a glass pane (4), is arranged on the front side of the module (1) in the mounting position.
9. System according to one of Claims 1 to 8,
   
   characterized
   in that the module (1) has a cover element (5) for the insertion opening (12) of the fork shoe (6).
10. System according to Claim 9,
    characterized
    in that the cover element (5) corresponds to the contour of the fork shoe (6) and in the mounting position is arranged laterally on the module (1).
11. System according to one of Claims 1 to 10,
    characterized
    in that an undercut (10) is present in the external wall of the module (1) for fitting onto a front edge (11) of the insertion opening (12) of the fork shoe (6).
12. System according to one of Claims 1 to 11,
    characterized
    in that an electronic controller makes available identification data for the built-in devices, in particular a plug and play protocol, via a data interface.
13. System according to one of Claims 1 to 12,
    characterized
    in that a fork inclination sensor is provided as a sensor.
14. System according to one of Claims 1 to 13,
    characterized
    in that a remote control, in particular an opener for hall doors, is provided as a a transmitter.
15. System according to one of Claims 1 to 14,
    characterized
    in that a laser is provided as a projection light, which laser projects a laser cross forwards in the longitudinal direction of the fork shoe.

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