EP3272699A1 - Shelf stacker - Google Patents

Abstract

The invention relates to a rack stacker (1) with a liftable on a mast and lowered load receiving means, wherein the rack stacker (1) has a three-wheel chassis and with a steerable and driven by a traction drive wheel (9) and two non-steered load wheels (8) is supported on a roadway. The rack stacker (1) is provided with two lateral support means (20) each between a raised position of the roadway in which the support means (20) from the roadway have a ground clearance, and lowered to the roadway position in which the Supporting means (20) are in contact with the roadway, are adjustably arranged on the rack stacker (1). To adjust the support means (20) between the raised position and the lowered position, an actuator (21) is provided in each case and the actuators (21) of the support means (20) are driven by an electronic control device. The load-handling device of the rack stacker (1) by means of a shear drive in the vehicle transverse direction (Q) movable. The electronic control device (22) according to the invention is designed such that during vehicle standstill and / or during a Ausschubbewegung the load receiving means (6) the actuators (21) are controlled such that the support means (20) actuated from the raised position to the lowered position become.

Description

The invention relates to a rack stacker with a liftable on a mast and lowered load receiving means, wherein the rack stacker has a three-wheel chassis and is supported with a steerable and driven by a traction drive wheel and two non-steered load wheels on a roadway, the load wheels are spaced from the drive wheel in the vehicle longitudinal direction and laterally spaced in the vehicle transverse direction, wherein the rack stacker is provided with two lateral support means which are spaced from the load wheels in the vehicle longitudinal direction and laterally spaced from the drive wheel in the vehicle transverse direction, wherein the support means in each case between a lifted from the roadway position in which the support means from the roadway have a ground clearance, and lowered to the roadway position in which the support means are in contact with the roadway, adjustable on the rack stack are arranged to adjust the support means between the raised position and the lowered position, respectively, an actuator and the actuators of the support means are driven by an electronic control device, wherein the load-receiving means is movable by means of a shear drive in the vehicle transverse direction.

Such rack stackers, such as high-bay stacker, are used in racking systems, such as high-bay systems, for the storage and retrieval of pallets and loads in shelves of the shelf. The rack stacker moves in operation along a row of shelves in a corresponding aisle of a rack system. In this case, the shelves of the shelf located on the side of the rack stacker are operated with the load handling device in order to outsource or store a pallet or a load in a bearing clearance. For this purpose, the load-receiving means is arranged movably on the mast by means of a linear drive in the vehicle transverse direction in order to be able to move the load-receiving means in the vehicle transverse direction and thus in the horizontal lateral direction of the rack stacker for loading and unloading pallets or loads into a rack of the rack system. In general, the load-receiving means can be moved in this case by means of the thrust drive to both sides of the vehicle in the horizontal lateral direction of the rack stacker. The Load-receiving means can be designed as a swivel push or arranged in the vehicle transverse direction telescopic fork.

For stacking a pallet with a load thereon in a shelf of the shelf, the load receiving means with the load thereon in the horizontal vehicle transverse direction and thus pushed laterally into a shelf of the rack system by means of the thrust drive. The stacking of a pallet with a load thereon from a shelf of the shelf is carried out accordingly, by means of the thrust drive the load-carrying means is inserted in the vehicle transverse direction and thus pulled laterally out of the shelf of the rack system. Such rack stackers are used with masts, which may have a height of more than 15 meters in fully extended state.

Such rack stackers have a three-wheel chassis and are supported with a steerable and driven by a traction drive wheel and two non-driven and non-steered load wheels on the road. The steerable drive wheel is in this case usually arranged on the drive part side and arranged centrally in the vehicle transverse direction. The two load wheels are arranged on the load part side in the region of the mast and the load receiving means and arranged spaced from the central drive wheel in each case to a vehicle side in the vehicle transverse direction. With the drive wheel and the two load wheels thus results in a three-point support with a Aufstandsdreieck the rack stacker on a roadway, which is formed by the floor of a warehouse.

The execution of the chassis of such rack stacker with a centrally arranged steerable drive wheel allows a cost-effective design, as compared to a four-wheel chassis with a vehicle outside staggered arranged steerable drive wheel and laterally spaced from the drive wheel support roller on the opposite side of the vehicle or with two steerable drive wheels, which are laterally spaced, can be dispensed with a toe angle difference compensation when cornering and a differential coupling in accelerations and delays in driving.

Compared to a rack stacker with a four-wheel chassis, however, has a rack stacker with a three-wheel chassis - static - a deteriorated lateral stability. When stacking and unstacking a pallet with a load thereon in a shelf or a rack of the shelf, a rack truck with a three-wheel chassis by the lateral pushing out of the load from the side vehicle contour of the rack stacker out, i. from the vehicle side line of the vehicle frame, loaded. This leads to elastic deflections of the chassis, which increase through the mast by the geometric conditions in linear function to the lifting height of the lifted load-carrying means.

However, these elastic deflections are undesirable, since elastic vibrations can occur on the load-carrying means, which delay the stacking and unstacking of a pallet with the load and thus the bearing clearance. The lateral deflections of the chassis and thus the mast should be as low as possible in order to achieve a high stability of the rack stacker when stacking and destacking a pallet with the load in a shelf or from a shelf of the shelf and easier positioning of the pallet with the Achieve load on the shelf.

From the DE 10 2013 105 299 A1 a generic rack stacker is known, which is provided with additional support means, each between a raised position of the roadway in which the support means from the roadway having a ground clearance, and a lowered position on the roadway, in which the supporting means with the road in Contact are adjustable, are arranged on the shelf stacker and in which an actuator is provided for adjusting the support means between the raised position and the lowered position. In the from the DE 10 2013 105 299 A1 known rack stacker is provided to the mast associated acceleration sensor, which detects lateral vehicle accelerations directed lateral acceleration. An electronic control device which is operatively connected to the acceleration sensor and the actuators of the support means, actuates the support means in response to the detected by the acceleration sensor lateral acceleration by appropriate control of the actuators from the raised position to the lowered position. In the lowered position of Supporting means an improved lateral, static stability of the rack stacker is achieved, which allows for the rack stacker a faster loading and Ausstapelvorgang a pallet in or out of a shelf of a shelf. By controlling the support means in response to the lateral acceleration occurring on the mast, however, results in a high construction cost, since an additional acceleration sensor is required, and it must be on the mast corresponding lateral accelerations occur and detected to lower the support means, so that at the beginning the bearing clearance corresponding lateral deflections of the chassis and thus the mast occur.

The present invention has for its object to provide a rack stacker of the type mentioned, with the support of the chassis at a low cost construction in a storage operation and a removal operation of a load in a shelf of a shelf is achieved and in during a storage process and a display operation of a load in a shelf of a shelf with low construction costs high lateral stability of the rack stacker is achieved.

This object is achieved in that the electronic control device is designed such that in vehicle standstill and / or during a Ausschubbewegung the lifting device, the actuators are controlled such that the support means are actuated from the raised position in the lowered position. With the additional two support means, which are lifted in the raised position of the road and in the lowered position in contact with the road, by lowering the two support means and thus bringing the support means with the roadway, the chassis of the shelf stacker according to the invention at Demand to be changed temporarily from a three-wheel suspension to a five-wheel suspension. In the lowered position of the two laterally spaced support means in the vehicle transverse direction, the rack stacker according to the invention has an improved lateral, static stability and rigidity, which in a rack stacker by a faster loading and Ausstapelvorgang a pallet in or out of a shelf of a shelf to increased throughput leads. According to the invention, the support means are activated during vehicle standstill and / or during an ejection movement of the load-receiving means and acted upon in the lowered position, in addition to the rack stacker To support on the road and to convert in vehicle standstill and / or in a Ausschubbewegung the load-carrying means of a three-wheel chassis in a five-wheel chassis. From the electronic control device thus the vehicle standstill and / or a Ausschubbewegung the lifting device is detected as a trigger signal or tripping criterion to control the actuators such that the support means are actuated from the raised position to the lowered position. For the activation of the support means thus no additional designed as an acceleration sensor sensor device is required, so that at low construction support of the landing gear in a storage operation and a retrieval process of a load in a shelf of a shelf is achieved. In addition, in the invention, even at the beginning of the bearing clearance and thus during the entire bearing clearance activation of the support means for additional support of the rack stacker on the roadway possible, so that the elastic deflections of the chassis during the entire bearing clearance in a storage operation or a display operation of a Load in a shelf of a shelf to be minimized and the rack stacker during the entire bearing clearance has a high stability.

According to an advantageous embodiment of the invention is detected by the electronic control device, the vehicle standstill by a drive motor located at a standstill of the drive, in particular the stoppage of the drive motor after a driving movement of the rack stacker. The activation of the support means in the lowered position thus takes place in a state when a stoppage of the drive motor occurs, preferably after a preceding travel movement. It can be provided with low construction costs, an activation signal for lowering the support means available, since after a travel movement of the rack stacker, in which a position travel of the rack stacker on the shelf, usually in vehicle standstill a bearing clearance is performed to a pallet with a load to outsource or store in a shelf.

According to an advantageous embodiment of the invention, the ejection movement of the load receiving means is detected by the electronic control device based on a drive signal of the thrust drive. A bearing clearance for retrieving or storing a load in a shelf always begins with a corresponding Ausschubbewegung the lifting device, with which the load-bearing means of the lateral vehicle contour of the vehicle frame of the rack truck is pushed out. The activation of the support means in the lowered position thus takes place in a state when a corresponding drive signal of the linear actuator for a Ausschubbewegung the lifting device is present, for example, an operator actuates a corresponding control element. From the drive signal of the thrust drive, with which a Ausschubbewegung the lifting device, an activation signal for lowering the support means can be provided with low construction costs, as a bearing clearance to outsource a pallet with a load in a shelf or store, with a corresponding Discharge movement of the load handler starts.

According to an advantageous embodiment of the invention, the ejection movement of the load-receiving means is detected by the electronic control device by means of a movement of the load-receiving means in the vehicle transverse direction sensing sensor device. A bearing clearance for retrieving or storing a load in a shelf always begins with a corresponding Ausschubbewegung the lifting device, with which the load-receiving means is ejected from the lateral contour of the vehicle frame of the rack truck. The activation of the support means in the lowered position thus takes place in a state when a corresponding ejection movement of the load-receiving means is detected, for example by means of an already existing sensor device. With a sensor device that detects a Ausschubbewegung the lifting device, an activation signal for lowering the support means can be provided with low construction costs, as a bearing clearance to outsource a pallet with a load in a shelf or store, with a corresponding Ausschubbewegung the lifting device starts.

According to an advantageous embodiment of the invention, the electronic control device is designed such that during a travel movement of the rack stacker up to a predetermined limit travel speed, the support means are kept in the lowered position. If during a bearing clearance a slow travel movement of the rack stacker is required to perform a fine positioning of the rack stacker to the shelf, thus the support means remain activated and lowered on the road.

Advantageously, the electronic control device is designed such that the support means are actuated from the raised position to the lowered position in dependence on the lifting height of the load receiving means. This makes it possible to activate the support means only in the lowered position when the load receiving means is raised to a corresponding lifting height, in which the elastic deflections of the chassis due to the lift disadvantageous to the stacking and unstacking a pallet with the load and thus the Bearing play.

According to a preferred embodiment of the invention, the electronic control device is designed such that during an insertion movement of the load receiving means, the actuators are driven such that the support means are actuated from the lowered position to the raised position. A bearing clearance for offloading or storing a load in a shelf always ends with a corresponding insertion movement of the load receiving means with which the load receiving means is retracted again into the lateral contour of the vehicle frame of the rack stacker. If the support means are actuated during the insertion movement of the load receiving means or at the end of the insertion movement of the load receiving means from the lowered position to the raised position, activation of the support means for additional support of the rack stacker on the roadway can thus be made possible in a simple manner throughout the entire bearing clearance. At the end of the bearing clearance, a safe driving operation of the rack stacker on the shelf to a new shelf is made possible by lifting the support elements in addition.

According to an advantageous embodiment of the invention, the insertion movement of the load receiving means is detected by the electronic control device based on a drive signal of the thrust drive. A bearing clearance for retrieving or storing a load in a shelf always ends with a corresponding insertion movement of the load receiving means with which the load-carrying means is retracted again into the lateral contour of the vehicle frame of the rack stacker. The activation of the support means in the raised position thus takes place in a state when a corresponding drive signal of the linear actuator for a push-in movement of the load receiving means is present or the insertion movement is terminated, for example, an operator a corresponding control element pressed or released after an operation. From the drive signal of the thrust drive, with which an insertion movement of the load receiving means, an activation signal for lifting the support means can be provided with little construction cost, as a bearing clearance to outsource a pallet with a load in a shelf or store with a corresponding Insertion movement of the lifting device ends.

According to an advantageous embodiment of the invention is detected by the electronic control device, the insertion movement of the load-receiving means by means of a movement of the load-receiving means in the vehicle transverse direction sensing sensor device. A bearing clearance for retrieving or storing a load in a shelf always ends with a corresponding insertion movement of the load receiving means with which the load-carrying means is retracted again into the lateral contour of the vehicle frame of the rack stacker. The activation of the support means in the raised position thus takes place in a state when a corresponding insertion movement of the load-receiving means is detected, for example by means of an already existing sensor device. With a sensor device which detects an insertion movement of the load receiving means, an activation signal for lifting the support means can be provided with little construction cost, as a bearing clearance to outsource a pallet with a load in a shelf or store, with a corresponding insertion movement of the load receiving means ends.

Preferably, according to an advantageous embodiment of the invention, the support means are arranged in the region of a battery compartment of the rack stacker. This results in the lowered position of the support means formed by the two support means and the two load wheels Aufstandsviereck that leads to a high lateral stability of the shelf stacker according to the invention in the lowered position of the support means.

With particular advantage, according to one embodiment of the invention, the support means are arranged in the region of the battery compartment below a traction battery arranged in the battery compartment. This leads to a protected and space-saving arrangement of the support means together with their actuators. With regard to a simple construction, there are advantages if, according to a preferred embodiment of the invention, the support means are each designed as a support roller which are each rotatably mounted in a roller holder about a rotation axis, the roller holder each pivotally mounted on a vehicle frame of the rack stacker about a horizontal pivot axis is. With support elements designed as support rollers, a travel movement of the rack stacker is made possible in a simple manner in the lowered position of the support rollers in order to carry out a fine positioning of the rack stacker to the shelf. With a roller holder in which the support roller is rotatably mounted and which is pivotally mounted on the vehicle frame of the rack stacker about a horizontal pivot axis, the support rollers can be operated in a simple manner by a corresponding pivoting movement of the roller holder in the lowered position and the raised position.

Advantageously, this is the axis of rotation of the support roller spaced from the pivot axis of the roller holder. This achieves in a simple manner that a pivoting movement of the roller holder about the pivot axis causes a vertical movement of the support roller between the lowered position and the raised position.

With regard to a low construction costs, there are advantages if the support rollers are each designed as non-steerable support rollers according to an advantageous embodiment of the invention, which are rotatably mounted in the roller holder about a horizontal axis of rotation arranged in the vehicle transverse direction. Since with lowered support rollers only a rectilinear travel of the rack stacker takes place in a rack aisle to perform a fine positioning of the rack stacker to the shelf, the support rollers can be designed as a simple structure non-steerable support rollers which are arranged around a vehicle transverse direction horizontal axis of rotation in the roll holder are rotatably mounted.

Conveniently, the actuator is attached to a vehicle frame of the rack stacker and is spaced from the pivot axis with the roller holder in operative connection. With actuators, which are attached to the vehicle frame of the rack truck, and with the roller holder spaced from the pivot axis, with which the roller holder is pivotally mounted on the vehicle frame, in Active connection, a pivotal movement of the roller holder and thus a movement of the support rollers between the raised position and the lowered position can be achieved with low construction costs.

According to an advantageous embodiment of the invention, the lowering movement of the respective support means is stopped from the raised position to the lowered position when the support means reaches a ground contact with the roadway. In this way, it is achieved that the lowering movement of the support means can each be stopped individually, when the actuated by the corresponding actuator support means touches when operating from the raised position in the lowered position on the road. From the electronic control device for this purpose, the two actuators, each actuate and lower a corresponding support means, are individually then stopped, for example, switched off or actively braked when the actuated by the corresponding actuator support means touches on the road. In this way, regardless of the road condition and any existing bumps always optimal support of the rack stacker can be achieved by means of the two lowered onto the roadway support means.

According to an advantageous embodiment of the invention for this purpose the actuators are stopped when operating the associated support means from the raised position to the lowered position when a ground contact of the support means is detected by a sensor device. With a sensor device which detects a ground contact of the support means and which is in communication with the electronic control device is possible with little additional construction effort that individually stopped by the electronic control device individually, for example, shut off or actively braked, if the actuated by the corresponding actuator support means touches on the road. In this way, regardless of the road condition and any existing bumps always optimal support of the rack stacker can be achieved by means of the two lowered onto the roadway support means.

According to a preferred embodiment of the invention, the actuator is in each case designed as a linear drive, in particular electric linear drive, which is the Control is in operative connection with the electronic control device. With electric linear drives, the support means can be operated with low construction costs.

Advantageously, the linear drive in each case a standing with the roller holder in operative connection extendable and retractable actuating rod. By extending or retracting the actuating rod of the linear drive can thus be achieved in a simple manner, a corresponding pivoting movement of the roller holder for lowering and raising the support roller.

In order to achieve a stop, for example, a shutdown or deceleration, designed as a linear actuator actuator at ground contact of the support means, actuated according to an advantageous embodiment of the invention, the actuating rod of the linear actuator when operating the support means from the raised position to the lowered position the roll holder with the interposition of a Spring device, so that when a ground contact of the support means, a further movement of the actuating rod is made possible. With a arranged between the roller holder and the actuating rod spring means which is operatively connected during actuation of the support means from the raised position to the lowered position between the actuating rod of the linear drive and the roller holder, a clearance of the actuating rod of the linear drive relative to the roller holder can be achieved in a simple manner be, which allows a further movement of the actuating rod of the linear drive against the spring force of the spring means when placing the support means on the road and thus terminating the pivotal movement of the roller holder without causing further lowering movement of the support means.

If such a clearance of the actuating rod of the linear drive is provided relative to the roll holder, the sensor device may be formed according to an advantageous embodiment of the invention in operative connection with the roller holder position switch, which is actuated by means arranged on the actuating rod of the linear drive switching flag. After placing the support means on the roadway thus the clearance of the actuating rod of the linear drive relative to the roller holder and thus the further movement of the actuating rod of the linear drive can be used to that of Position switch on the reel holder is actuated by the control rod arranged on the switching flag to produce a signal to stop, for example, shutdown or deceleration, the actuator when the position switch is actuated. With such a position switch, a sensor device can be provided with low construction costs, which detects a ground contact of the support means.

In order to terminate the lowering of the respective support means from the raised position to the lowered position at ground contact and to stop the actuator at ground contact of the support means is provided according to an advantageous embodiment of the invention that of the electronic control device upon actuation of the associated support means from the raised position in the lowered position which is monitored by the actuator, in particular an electric actuator, recorded power. With a monitoring of the recorded by the respective actuators power is made possible with little additional construction costs that the two actuators individually then stopped, for example, switched off or actively braked, can be when the actuated by the corresponding actuator support means on the Road surface. In this way, regardless of the road condition and any existing bumps always optimal support of the rack stacker can be achieved by means of the two lowered onto the roadway support means.

Advantageously, the actuator is stopped by the electronic control device when the power absorbed by the actuator exceeds a predetermined limit. If the support means has reached ground contact upon actuation of the associated support means from the raised position to the lowered position, the power absorbed by the actuator increases since the support means is pressed onto the roadway when the actuator is actuated further. Appropriately, the predetermined limit is exceeded when the support means reaches the road. If a corresponding limit value for the power consumed by the actuator is specified in the electronic control device, the lowering movement of the respective support means from the raised position to the lowered position can thus be easily stopped and the actuator can be stopped individually when the support means contact the ground, for example, switched off or actively braked. In the lowered position of the corresponding support means in this case arises on the support means a supporting force which is dependent on the predetermined limit value for the absorbed power of the actuator. The predetermined limit value for the absorbed power of the actuator and thus the self-adjusting support force of the support means is preferably dimensioned such that a lifting of the drive wheel and / or the load wheels is prevented from the road.

In order to stop the lowering movement of the respective support means from the raised position to the lowered position when the support means reaches ground contact, it is provided according to an advantageous embodiment of the invention that the actuator is designed as a hydraulic actuator, wherein the hydraulic actuator upon actuation of the associated support means of the raised position is acted upon in the lowered position with a predetermined pressure. With an operation of the hydraulic actuators with a predetermined hydraulic pressure is possible with little additional construction effort, each individually to stop the lowering of the respective support means from the raised position to the lowered position when the corresponding support means reaches the ground contact with the road. In this way, regardless of the road condition and any existing bumps always optimal support of the rack stacker can be achieved by means of the two lowered onto the roadway support means. The predetermined pressure for the hydraulic actuator is preferably selected such that at the support means a given ground contact with the road surface support force is not exceeded. The predetermined pressure, which is applied to the hydraulic actuator, and thus the self-adjusting support force of the support means in contact with the road surface is preferably dimensioned such that a lifting of the drive wheel and / or the load wheels is prevented from the road.

In the rack stacker according to the invention, the load-receiving means may be formed as a pivoting thrust fork or as a telescopic fork, which has a fork arranged displaceably in the vehicle transverse direction.

Figur 1

einen erfindungsgemäßen Regalstapler in einer Seitenansicht,

Figur 2

den Regalstapler der Figur 1 in einer perspektivischen Darstellung mit nach oben ausgefahrenem Hubgerüst,

Figur 3

einen Ausschnitt der Figur 2 in einer vergrößerten Darstellung und einer auf dem Lastaufnahmemittel befindlichen Last,

Figur 4

den Fahrzeugrahmen des erfindungsgemäßen Regalstaplers in einer perspektivischen Darstellung und

Figur 5

einen Ausschnitt der Figur 4 in einer vergrößerten Darstellung und

Figur 6

eine Darstellung gemäß der Figur 5 mit einer Verdeutlichung des Aufbaus der Sensoreinrichtung.

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

a shelf stacker according to the invention in a side view,

FIG. 2

the rack stacker the FIG. 1 in a perspective view with upwardly extended mast,

FIG. 3

a section of the FIG. 2 in an enlarged view and a load located on the load receiving means,

FIG. 4

the vehicle frame of the shelf stacker according to the invention in a perspective view and

FIG. 5

a section of the FIG. 4 in an enlarged view and

FIG. 6

a representation according to the FIG. 5 with an explanation of the structure of the sensor device.

In the FIGS. 1 and 2 an inventive stacker 1 is shown.

The rack stacker 1 has a vehicle body with a vehicle frame 2, in which a battery compartment for receiving a traction battery 3 of a battery electric drive system of the rack stacker 1 is formed. The rack stacker 1 has a lifting device 4 formed by a hoist on which a trained as a car or driver's cab 5, which forms a driver's workplace F for an operator, by means of a Hubantriebs not shown up and down is arranged. On the liftable and lowerable operator's platform 5, a load-receiving means 6 for operating shelves located on the side of the rack-stacker 1 is arranged in the illustrated stacker 1.

The load-receiving means 6 is formed in the illustrated embodiment as a pivoting thrust fork, which is arranged on a driver's stand 5 Zusatzhubmast 7 is arranged raised and lowered. Alternatively, the load-receiving means can be formed by a telescopic fork arranged displaceably in the vehicle transverse direction Q, which is arranged on the driver's station 5.

The rack stacker 1 has a three-wheel chassis and is supported by means of two non-steered and non-driven load wheels 8, which is arranged at a load part side end of the vehicle frame 2, and a steerable and by means of a drive not shown, for example an electric Driving motor, driven drive wheel 9, which is arranged on a drive part-side end of the vehicle frame 2, on a roadway FB from. The load wheels 8 are thus spaced in the vehicle longitudinal direction L of the drive wheel 9. The drive wheel 9 is in this case arranged centrally in the vehicle transverse direction Q seen. The two load wheels 8 are each of the centrally arranged drive wheel 9 - as in connection with the FIG. 2 is apparent - spaced in the vehicle transverse direction Q and are located on the corresponding vehicle outer sides.

In the drive part-side end of the frame 2, a non-illustrated electrical drive system is further arranged, comprising the 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, the are formed by the lifting drive of the hoist 4 and a lifting drive of Zusatzhubmastes 7 and drives for the provided in the illustrated embodiment pivoting thrust fork as a load-bearing means 6.

The drive part of the rack stacker 1 is located in front of the battery compartment in the vehicle longitudinal direction. The drive part is covered by a hood 10. The load part of the rack stacker 1 is located in the vehicle longitudinal direction behind the battery compartment and includes the load-receiving means. 6

In the driver's station 5, the control and operating elements required for the operation of the rack stacker 1 are arranged, for example in the form of an operating device designed as a control panel B. The control panel B is to control the traction drive and the load handling functions of the rack stacker 1 with appropriate controls and a steering actuator to control the steering provided.

The load-receiving means 6 is - as in the FIG. 3 is more apparent - arranged movable by means of a side thruster 15 in the vehicle transverse direction Q on the operator's cab 5. The lateral thrust device 15 has a carrier 11 arranged on the front side of the driver's station 5, on which a traversing carriage 12 provided with the load receiving means 6 is displaceably arranged in the vehicle transverse direction Q in the horizontal direction. The slide carriage 12 is movable by means of a thrust drive 13 on the carrier 11 in the vehicle transverse direction Q.

In the case of the load-receiving means 6 designed as a swiveling thrust fork, the auxiliary lifting mast 7 is pivotable about a vertical axis V relative to the sliding carriage 12 on the sliding carriage 12 displaceable in the vehicle transverse direction Q by means of a swiveling device. At the Zusatzhubmast 7 a fork with two forks liftable and lowered.

With the swivel push fork can be generated as a movement of the load receiving means 6, a horizontal thrust movement in the vehicle transverse direction Q and a pivoting movement about the vertical axis V, so that can be operated with the swivel push shelves on both sides of the rack stacker.

The thrust drive 13 of the side thruster 15 includes, for example, a hydraulic motor, not shown, which is arranged on the thrust slide 12. The hydraulic motor drives a pinion, which meshes with racks 18 which are arranged on the front side of the carrier 11. By a drive of the hydraulic motor thus the thrust slide 12 can be moved in the vehicle transverse direction Q along the carrier 11.

The mast 4 of the stacker 1 according to the invention is designed as mehrschüssiges mast. In the illustrated embodiment and according to the FIG. 2 is the mast 4 as a so-called triplex mast running with a arranged on the vehicle frame 2 stand mast 4a, in the stationary mast 4a upwardly extendable first Ausfahrmast 4a and a first Ausfahrmast 4a upwardly extendable second Ausfahrmast 4b, in which the driver's cab 5 after above is arranged extendable. In the FIG. 2 the rack stacker 1 is shown with fully raised mast 4 and fully raised driver's cab 5. In the FIG. 2 is the side thruster 15 is actuated such that the thrust slide 12 is retracted and the load-carrying means 6 is located within the lateral vehicle of the vehicle frame 2.

For stacking or unstacking a load 20 in a not-shown shelf, the load-carrying means 6 is moved with the optionally thereon load 20 by means of the thrust drive 13 of the side thruster 15 in the horizontal vehicle transverse direction Q. In the FIG. 3 the side thruster 15 is shown in a position in which the thrust slide 12 is pushed in the vehicle transverse direction Q and the load-receiving means 6 is in a laterally pushed-out position in the shelf. In the pushed-out position, the load-receiving means 6 with the load 20 is located outside the lateral vehicle contour of the vehicle frame 2.

For a bearing clearance for stacking a load 20 located on the load receiving means 20 in a shelf of the shelf is based on the FIG. 2 by appropriate actuation of the thrust drive 13 and a Ausschubbewegung the load-receiving means 6 in the vehicle transverse direction Q in the FIG. 3 pushed out position shown. After discontinuation of the load in the shelf is by appropriate actuation of the thrust drive 13 and a slide-in the load-carrying means 6 in the vehicle transverse direction Q back into the in the FIG. 2 inserted position inserted.

For a bearing clearance for unstacking a located in a shelf of the shelf load 20 is starting from the FIG. 2 by appropriate actuation of the thrust drive 13 and a Ausschubbewegung the load-receiving means 6 in the vehicle transverse direction Q in the FIG. 3 pushed out position shown. After receiving the load from the shelf, the load-receiving means 6 in the vehicle transverse direction Q back into the in the. By corresponding actuation of the thrust drive 13 and an insertion movement FIG. 2 inserted position inserted.

The rack stacker according to the invention 1 - as in connection with the FIGS. 4 to 6 is shown in more detail - provided with two lateral support means 20 which are spaced from the load wheels 8 in the vehicle longitudinal direction L and laterally spaced from the drive wheel 9 in the vehicle transverse direction Q. In the FIGS. 2 to 4 the arranged on a vehicle side support means 20 is shown, on which the structure of the two support means 20 is described in more detail. On the opposite side of the vehicle, a support means 20 analogous to the illustrated support means 20 is arranged.

The support means 20 are arranged in the region of the battery compartment of the rack stacker 1 below the arranged in the battery compartment traction battery 3. In the FIG. 4 For simplicity, the traction battery is not shown.

The support means 20 are each arranged on the inside of a frame longitudinal member 2a, 2b of the vehicle frame 2, so that the support means 20 - seen in the vehicle transverse direction Q - are within the vehicle frame 2. Seen in the vehicle longitudinal direction L, the support means are adjacent to the drive wheel. 9

The support means 20 are each between a raised position of the road FB, in which the support means 20 are lifted from the roadway FB and have a ground clearance, and a lowered position on the road FB, in which the support means 20 are lowered to the road FB and are in contact with the roadway FB, vertically adjustable arranged on the rack stacker 1.

For adjusting the support means 20 between the raised position and the lowered position, an actuator 21 is provided in each case, which are operatively connected to the operation with an electronic control device 22 of the rack stacker 1. The actuator 21 is attached to the vehicle frame 2 of the rack stacker 1 and supported and is in operative connection with the support means 20 for its actuation between the raised position and the lowered position.

The support means 20 each comprise a non-steerable support roller 25 which is rotatably mounted about a horizontal axis of rotation D arranged in the vehicle transverse direction Q in a roller holder 26. The roll holder 26 is respectively on the Vehicle frame 2 of the rack stacker 1 is arranged pivotably about a arranged in the vehicle transverse direction Q horizontal pivot axis S.

The axis of rotation D of the support roller 25 is in this case arranged at a distance from the pivot axis S of the roller holder 26.

The roller holder 26 is formed in the illustrated embodiment of two laterally spaced levers 27a, 27b, between which the support roller 25 is arranged and rotatably supported about the rotation axis D. Each lever 27a, 27b is pivotally mounted in a housing plate 29a, 29b of the support means 20 by means of a bearing pin 28 forming the pivot axis S. Between the two housing plates 29a, 29b of the roller holder 26 and the actuator 21 of the support means 20 is arranged. The housing plates 29 a, 29 b are attached to the vehicle frame 2 of the rack stacker 1. In the Figures 5 and 6 the inner housing plate 29b is not shown.

The actuator 21 is in each case attached to the vehicle frame 2 of the rack stacker 1 and communicates with the roller holder 26 at a distance from the pivot axis S in operative connection.

The actuator 21 is in each case designed as a linear drive 23, for example, electric linear drive, which is operatively connected to the control with the electronic control device 22.

The linear drive 23 is attached to a housing plate 30 which is fixed to the vehicle frame 2, and has an extendable and retractable actuating rod 31, which is the roller holder 26 at a distance from the pivot axis S in operative connection.

The actuating rod 31 is in this case oriented in the vehicle longitudinal direction L, so that by extending the actuating rod 31 and corresponding pivoting of the roller holder 26, the support roller 25 is actuated from a raised position to a lowered position and by retracting the actuating rod 31 and corresponding pivoting of the roller holder 26 the Support roller 25 is operable from a lowered position to a raised position.

The actuating rod 31 is in operative connection with a spring housing 35 of a spring device 36. The spring housing 35 is pivotally mounted about a pivot axis S2 via a bearing pin 37 on the two levers 27a, 27b of the roller holder 26. The actuating rod 31 protrudes into the interior of the spring housing 35 via an opening in a front side 35a of the spring housing 35 and rests with the end projecting in the spring housing 35 against a first end of the spring device 36. The second end of the spring device is supported on a rear side 35b of the spring housing 35.

The actuating rod 31 of the linear drive 23 has a longitudinally extending slot 38, through which the bearing pin 37 extends.

The actuators 21 are stopped upon actuation of the associated support roller 25 from the raised position to the lowered position, for example, switched off or actively braked when a ground contact of the support roller 25 is detected by means of a sensor device 40.

The sensor device 40 has a position switch 41 operatively connected to the roller holder 26, which can be actuated by means of a switching lug 42 arranged on the actuating rod 31 of the linear drive 23. The position switch 41 is attached to the spring housing 35 for this purpose. The position switch 41 is in communication with the electronic control device 22.

When extending the actuating rod 31 of the linear actuator 23 and thus upon actuation of the support roller 25 from the raised position to the lowered position thus actuates the actuating rod 31, the roller holder 26 with the interposition of the spring means 36 until the support roller 25 comes into contact with the carriageway FB and Thus, the roller holder 26 can not pivot further. The switching lug 42 is hereby spaced from the position switch 41, so that the position switch 41 is not actuated. If the support roller 25 when extending the actuating rod 31 in ground contact with the roadway FB, the actuating rod 31 by means of the bearing pin 37 receiving slot 36th continue to extend and dip into the spring housing 35 which is attached to the roller holder 26. Here, the spring means 36 is compressed, so that the further extending actuating rod 31 by means of the switching lug 42 can actuate the arranged on the spring housing 35 position switch 41. When the position switch 41 is actuated, the linear drive 23 is stopped by the electronic control device, for example switched off or actively braked.

The actuation of the support roller 25 from the lowered position to the raised position by retracting the actuating rod 31 of the linear drive 23. The actuating rod 31 is for this purpose provided with a driver 45, for example a screw extending through an opening in the back 35b of the spring housing 35th extends. A protruding on the back of the spring housing 35 head of the driver 45 is larger than the opening in the back 35 b of the spring housing 35, so that the head of the driver 45 comes into contact with the back 35 b of the spring housing 35 and thus by retracting the actuating rod 31 of Roller holder 26 can be pivoted about the fixed thereto spring housing 35.

In the rack stacker 1 according to the invention, the electronic control device 22 is designed such that in vehicle standstill and / or during a Ausschubbewegung of the load receiving means 6, the actuators 21 are driven such that the support means 20 are actuated from the raised position to the lowered position. With the lowered on the road FB support means 20 thus the chassis during a bearing clearance when outsourcing or storing a load on a shelf in addition to the roadway FB is supported by the temporary three-wheel suspension is a five-wheeled chassis. With the actuation of the actuators 21 according to the invention during vehicle standstill and / or during an ejection movement of the load-receiving means 6, it is achieved that the support means 20 are lowered onto the roadway FB when the load-bearing means 6 are moved out of the lateral vehicle contour of the rack stacker 1, i. from the vehicle side line of the vehicle frame 2, is pushed out.

From the electronic control device 22, the vehicle standstill can be detected by a drive motor located at a standstill, for example, the standstill of the drive motor after a travel movement of the rack stacker 1, with a one Position travel of the rack stacker 1 is done on the shelf. The ejection movement of the load receiving means 6 can be detected by the electronic control device 22 on the basis of a drive signal of the thrust drive 13, with which a Ausschubbewegung the thrust drive 13 and thus a Ausschubbewegung the sliding carriage 12 is performed. Activating the support of the chassis by lowering the support means 20 on the road FB is thus carried out by the Ausschubsignal for the thrust drive 13 of the slide carriage 12. The drive signal may be a signal by the operation of a corresponding, the linear actuator 13th triggering control element is generated by the operator of the rack stacker 1. Alternatively or additionally, the ejection movement of the load-receiving means 6 can be detected by the electronic control device 22 by means of a movement of the load-receiving means 6 in the vehicle transverse direction Q detected sensor device.

The electronic control device 22 is further designed such that during a travel movement of the rack stacker 1 up to a predetermined limit travel speed, the support means 20 are held in the lowered position. In conjunction with the support means 20 designed as support rollers 25, for example as polyamide support rollers, a possibly required fine positioning movement during the bearing clearance can thus be made possible.

The electronic control device 22 is also designed such that during an insertion movement of the load receiving means 6, the actuators 21 are driven such that the support means 20 are actuated from the lowered position to the raised position. During the pushing back of the sliding carriage 12 in the lateral contour of the vehicle at the end of the bearing clearance thus the support means 20 are raised again from the carriageway FB to drive to the next storage location with the rack stacker 1.

The insertion movement of the load receiving means 6 can be detected by the electronic control device 22 on the basis of a drive signal of the thrust drive 13, with which an insertion movement of the thrust drive 13 and thus an insertion movement of the sliding carriage 12 is performed. The termination of the activation of the support of the chassis by lifting the support means 20 on the road FB is thus effected by the insertion signal for the linear actuator 13th of the slide carriage 12. The drive signal may be a signal which is generated by the operator of the rack stacker 1 by the actuation of a corresponding control element driving the push drive 13. Alternatively or additionally, the insertion movement of the load-receiving means 6 can be detected by the electronic control device 22 by means of a movement of the load-receiving means 6 in the vehicle transverse direction sensing sensor device.

The shelf stacker 1 according to the invention has by means of the actuators 21 vertically adjustable support means 20 additional with the road FB engageable lateral support rollers 25 to the stacker 1 of the two load wheels 8 and the drive wheel 9 existing three-wheel chassis if necessary, in pairs to change a five-wheeled suspension.

By lowering the support means 20, the shelf stacker 1 according to the invention has an increased lateral static stability and increased stability, which is advantageous in the case of loading and unloading operations of a load in or out of a rack of a rack. During loading and unloading operations of a load in or out of a shelf of a shelf, wherein the load-receiving means 6 is moved in the vehicle transverse direction Q and moved out of the lateral contour of the vehicle to stack the load in a shelf of the shelf or stack out of the shelf of the shelf, can be accelerated by lowering the support means 20 of the input or Ausstapelvorgang, whereby the shelf stacker 1 according to the invention has an increased Umschlagsleitung. With the support means 20, the remaining load capacities of the rack stacker 1 are increased because the lateral deflections are reduced. In addition, occur when lowered to the road FB support means 20 in a bearing clearance for storage or retrieval of a load reduced vibrations, whereby the input and Ausstapelvorgänge can be performed faster.

The support means 20 are each provided with the sensor devices 40 formed by the position switches 41, which limit the displacement of the two actuators 21 individually depending on the ground clearance and lock the position now occupied. As a result, an independent of the road conditions and uneven ground, always correct support of the chassis of the rack truck 1 can be achieved.

Claims (25)

Rack stacker (1) with a lifting device (4) liftable and lowerable load-carrying means (6), wherein the rack stacker (1) has a three-wheel chassis and with a steerable and driven by a traction drive (9) and two non-drive steered load wheels (8) on a roadway (FB) is supported, wherein the load wheels (8) from the drive wheel (9) in the vehicle longitudinal direction (L) are spaced and laterally spaced in the vehicle transverse direction (Q), wherein the rack stacker (1) is provided with two lateral support means (20) which are spaced from the load wheels (8) in the vehicle longitudinal direction (L) and laterally spaced from the drive wheel (9) in the vehicle transverse direction (Q), wherein the support means (20) in each case between a lifted from the roadway position in which the support means (20) from the roadway (FB) have a ground clearance, and a lowered position on the carriageway (FB), in which the support means ( 20) are in contact with the roadway (FB), are adjustably arranged on the rack stacker (1), wherein an actuator (21) is provided for adjusting the support means (20) between the raised position and the lowered position and the actuators (21 ) of the support means (20) are controlled by an electronic control device (22), wherein the load receiving means (6) by means of a linear actuator (13) in the vehicle transverse direction (Q) is movable, characterized in that the electronic control device (22) is designed such in the vehicle standstill and / or during an ejection movement of the load receiving means (6), the actuators (21) are controlled in such a way that the support means (20) are actuated from the raised position to the lowered position. Shelf stacker according to claim 1, characterized in that of the electronic control device (22) of the vehicle standstill is detected by a stationary drive motor of the traction drive, in particular the stoppage of the traction motor after a travel movement of the rack stacker (1). Rack stacker according to claim 1 or 2, characterized in that of the electronic control device (22) the Ausschubbewegung of the Lifting means (6) is detected by means of a drive signal of the thrust drive (13). Rack stacker according to one of claims 1 to 3, characterized in that by the electronic control device (22) the ejection movement of the load receiving means (6) by means of a movement of the load receiving means (6) in the vehicle transverse direction (Q) detecting sensor device is detected. Rack stacker according to one of claims 1 to 4, characterized in that the electronic control device (22) is designed such that during a travel movement of the rack stacker (1) up to a predetermined Grenzfahrgeschwindigkeit the support means (20) are held in the lowered position. Rack stacker according to one of claims 1 to 5, characterized in that the electronic control device (22) is designed such that the support means (22) are actuated from the raised position to the lowered position in dependence on the lifting height of the load receiving means (6). Racking truck according to one of claims 1 to 6, characterized in that the electronic control means (22) is configured such that the actuators (21) are driven in such a way with a push-in movement of the load receiving means (6), that the supporting means (22) from the lowered Position can be actuated in the raised position. Rack-type stacker according to claim 7, characterized in that the insertion movement of the load-receiving means (6) is detected by the electronic control device (22) on the basis of a drive signal of the linear drive (13). Rack stacker according to claim 7 or 8, characterized in that the electronic control device (22) the insertion movement of the load receiving means (6) by means of a movement of the load receiving means (6) in the vehicle transverse direction (Q) detecting sensor device is detected. Rack stacker according to one of claims 1 to 9, characterized in that the support means (20) in the region of a battery compartment of the rack stacker (1) are arranged. Rack stacker according to claim 10, characterized in that the support means (20) are arranged in the region of the battery compartment below a traction battery (3) arranged in the battery compartment. Rack stacker according to one of claims 1 to 11, characterized in that the support means (20) are each formed as a support roller (25) which are each rotatably mounted in a roller holder (26) about an axis of rotation (D), wherein the roller holder (26 ) is arranged in each case on a vehicle frame (2) of the rack stacker (1) about a horizontal pivot axis (S) pivotally. Racking truck according to claim 12, characterized in that the rotational axis (D) of the support roller (25) from the pivot axis (S) of the roller holder (26) is spaced apart. Rack stacker according to claim 12 or 13, characterized in that the support rollers (25) are each formed as non-steerable support rollers which are rotatably mounted about a vehicle transverse direction (Q) horizontal axis of rotation (D) in the roll holder (26). Rack stacker according to one of claims 12 to 14, characterized in that the actuator (21) in each case to a vehicle frame (2) of the rack stacker (1) is fixed and with the roller holder (26) spaced from the pivot axis (S) is in operative connection. Rack stacker according to one of claims 1 to 15, characterized in that the lowering movement of the respective supporting means (20) is stopped from the raised position to the lowered position when the supporting means (20) reaches a ground contact with the roadway (FB). Rack stacker according to one of claims 1 to 16, characterized in that the actuators (21) upon actuation of the associated support means (20) of the raised position are stopped in the lowered position when by means of a sensor device (40) a ground contact of the support means (20) is detected. Rack stacker according to one of claims 1 to 17, characterized in that the actuator (21) in each case as a linear drive (23), in particular electric linear drive, is formed, which is for driving with the electronic control device (22) in operative connection. Rack stacker according to claim 18, characterized in that the linear drive (23) in each case one with the roller holder (26) operatively connected actuating rod (31). Rack stacker according to one of claims 16 to 19, characterized in that the actuating rod (31) of the linear drive (23) upon actuation of the support means (20) from the raised position to the lowered position, the roller holder (26) with the interposition of a spring means (36) operated, so that when a ground contact of the support means (20) further movement of the actuating rod (31) is made possible. Rack stacker according to one of Claims 17 to 20, characterized in that the sensor device (40) has a position switch (41) which is in operative connection with the roller holder (26) and which has a switching lug arranged on the actuating rod (31) of the linear drive (23) (42) is operable. Rack stacker according to claim 16, characterized in that by the electronic control device (22) upon actuation of the associated support means (20) from the raised position to the lowered position of the actuator (21), in particular an electric actuator, recorded power is monitored. Rack stacker according to claim 22, characterized in that the actuator (21) by the electronic control device (22) is stopped when the power of the actuator (21) exceeds a predetermined limit. Rack stacker according to claim 16, characterized in that the actuator (21) is designed as a hydraulic actuator, wherein the hydraulic actuator (21) upon actuation of the associated support means (20) is acted upon by the raised position in the lowered position with a predetermined pressure. Rack stacker according to one of claims 1 to 24, characterized in that the load-receiving means (6) is designed as a pivoting thrust fork or as a telescopic fork.

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