EP3543201A1 - Gabelstapler mit hilfsrad und verfahren zur stabilisierung solch eines gabelstaplers - Google Patents

Gabelstapler mit hilfsrad und verfahren zur stabilisierung solch eines gabelstaplers Download PDF

Info

Publication number
EP3543201A1
EP3543201A1 EP18163122.7A EP18163122A EP3543201A1 EP 3543201 A1 EP3543201 A1 EP 3543201A1 EP 18163122 A EP18163122 A EP 18163122A EP 3543201 A1 EP3543201 A1 EP 3543201A1
Authority
EP
European Patent Office
Prior art keywords
forklift
auxiliary wheel
load carrier
wheel
floor surface
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.)
Granted
Application number
EP18163122.7A
Other languages
English (en)
French (fr)
Other versions
EP3543201B1 (de
Inventor
Magnus Alveteg
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.)
Toyota Material Handling Manufacturing Sweden AB
Original Assignee
Toyota Material Handling Manufacturing Sweden AB
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
Application filed by Toyota Material Handling Manufacturing Sweden AB filed Critical Toyota Material Handling Manufacturing Sweden AB
Priority to EP18163122.7A priority Critical patent/EP3543201B1/de
Publication of EP3543201A1 publication Critical patent/EP3543201A1/de
Application granted granted Critical
Publication of EP3543201B1 publication Critical patent/EP3543201B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • B66F9/07559—Stabilizing means
    • 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
    • B66F9/063—Automatically guided
    • 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
    • B66F9/07586—Suspension or mounting of wheels on chassis

Definitions

  • the present disclosure relates to a forklift, to a method for stabilizing such a forklift and software for such a method according to the appended claims.
  • VNA-forklift very narrow aisle forklift
  • Such forklifts may also be provided with a fork and a mast structure so as to be able to rotate the fork perpendicular to the driving direction of the forklift and place and/or retrieve objects at such an angle relative to the forklift.
  • auxiliary supports in the form of downwards directed pegs arranged at a lower portion of the chassis of said forklift.
  • the auxiliary supports are arranged so as to be elevated from an underlying ground surface when the forklift is driven in a balanced manner.
  • the forklift may then tilt slightly until the auxiliary supports engage the surface below and balance is achieved. This may not always be very pleasant for a user as the initial tipping motion may be frightening when it occurs.
  • auxiliary supports may thus also impair the speed and efficiency of such a forklift.
  • support systems which attempt to solve these issues, wherein they may comprise movable auxiliary supports auxiliary supports and/or wheels in various shapes.
  • movable auxiliary supports auxiliary supports and/or wheels in various shapes.
  • such systems are often slow and cumbersome to use.
  • An object of the invention is thus to provide an improved forklift which is safe and comfortable to use with regards to material handling operations. Another object is respectively to provide such a forklift which is fast and efficient to use for a plurality of material handling operations. An even further object is to provide a method for stabilizing such a forklift prior to performing material handling operations.
  • a forklift may comprise a load carrier, coupled to a mast.
  • the forklift may further comprise a control unit, at least one drive wheel, at least one support wheel, and at least one sensor device for detection of a guiding device.
  • the forklift may further be operated in a free-range mode and at least a semi-automatic mode where the guiding device provides for at least partly controlling of the forklift.
  • the forklift may even further comprise at least one auxiliary wheel, selectively movable between a lower position in which a resilient contact between an underlying floor surface and said at least one wheel is established, and an elevated position in which said at least one wheel is elevated from said floor surface.
  • control unit is arranged to receive an indication that a load carrier operation is initiated, wherein said load carrier operation is a vertical movement of the load carrier and detect that the at least one auxiliary wheel is in resilient contact with the underlying floor surface, wherein the control unit controls the at least one auxiliary wheel to shift from a resilient contact to a rigid contact with the underlying floor surface.
  • resilient contact and “rigid contact” are to be viewed respectively as; a flexible contact where a vertical movement of such a wheel does not translate movement to the forklift, and a non-flexible contact which may be perceived as a rigid extending element protruding from the forklift.
  • resilient contact provides a sort of automatic alignment system for such a wheel, as such a wheel may conform to any potential irregular geometry of a floor or such on which it is in abutment with.
  • the rigid contact in turn provides the same effect as an auxiliary support or similar, which thus may counteract tilting of the forklift if the centre of gravity of the forklift and potential added load to the load carrier is moved in such a way that enough support is not provided to the truck by means of its regular wheels (the at least one support wheel and the at least one drive wheel).
  • a forklift may thus exhibit an improved stability for material handling operations, while still have excellent handling capabilities when being driven and having the at least one auxiliary wheel in the elevated position.
  • the load carrier is arranged so as to be able to operate transversal to a driving direction of said forklift, and wherein a load carrier operation further comprises a transversal operation of the load carrier.
  • transversal operations may be performed in a much safer manner due to the increased stability of the forklift provided by the at least one auxiliary wheel.
  • This is beneficial as transversal movements may shift the centre of gravity to a large extent wherein the at least one auxiliary wheel thus provides an increased stability in situations where it may be highly desirable.
  • the at least one auxiliary wheel is arranged to the forklift by means of a wheel suspension comprising a lifting device for moving the at least one auxiliary wheel between the lower position and the elevated position, a spring element, and a locking device for locking the at least one wheel in position.
  • a wheel suspension may be provided, which suspension may provide the various functions to the at least one auxiliary wheel by means of distinct individual components, specially designed and modified for their specific usages.
  • the at least one auxiliary wheel may be automatically movable to the lower position by means of the lifting device when the at least one sensor device detects a specific predetermined guiding device.
  • the at least one auxiliary wheel may be moved to its intended correct position prior to being utilized as a stabilizing wheel for a material handling operation.
  • forklifts are commonly used for material handling operations in combination with objects positioned at shelfs or similar, and wherein such shelfs may be arranged in aisles or the like
  • the at least one sensor device may detect such shelves and/or aisles when the forklift approaches such structures. The presence of such shelves and/or aisles may thus be perceived as specific guiding devices, wherein the at least one auxiliary wheel may be moved to the lower position when such a forklift approaches such structures.
  • the locking device may comprise a piston having a cylinder in which a shaft is arranged and protrude therefrom, wherein the protrusion of the shaft can be locked relative the cylinder.
  • the locking device may provide a fast and efficient locking mechanism, wherein the same mechanism may be incorporated into additional features of the wheel suspension as well, such as being used as a shock absorber or similar due to the piston cylinder interaction being a commonly used mechanism for such devices as wheel suspensions.
  • the at least one auxiliary wheel may be manually operated between the lower position and the elevated position by means of the control unit.
  • the forklift may be able to utilize the stabilizing effect of the at least one auxiliary wheel at any given location, regardless of a presence of a guiding device.
  • the forklift may hence be used in a semi-automatic, or fully automatic, manner when the at least one sensor device detects said specific guiding devices, but also be used at other separate locations which may not be provided with said specific guiding devices. An operator of the forklift may thus utilize the increased stability of such a forklift in a wider range of operational conditions.
  • the at least one auxiliary wheel may be laterally moved by means of the wheel suspension and the control unit when being positioned in the elevated position.
  • the stabilizing system implemented by means of the at least one auxiliary wheel may be modified during use of such as forklift, which may increase the stabilizing effect provided to said forklift.
  • a material handling operation which requires a long transversal movement of the load carrier (for a forklift also comprising such capabilities), and/or the load applied to said load carrier during operation is considered to be a heavy load
  • an operator of the forklift may prior to such an operation move the at least one auxiliary wheel laterally, outwards from a centre of the forklift.
  • the contact points between the forklift and the underlying floor surface may be modified to be wider, which in turn allows for a larger transversal movement of the centre of gravity.
  • the forklift may comprise a warning system which may provide a warning signal by means of a warning device if the at least one auxiliary wheel is not in contact with the underlying floor surface and a load carrier operation is initiated.
  • warning system further being arranged to restrict load carrier operations.
  • the restriction may comprise a full stop of the load carrier, wherein a potentially dangerous operation is impossible to perform.
  • the forklift may comprise two auxiliary wheels, arranged symmetrically about a centre line of said forklift, the centre line being parallel with a direction the forklift is directed when driving straight ahead.
  • each individual auxiliary wheel may be utilized to increase stability for material handling operations on one side each of the forklift.
  • a forklift may perform a transversal material handling operation to either side without any sort of input or pre-setting of a stabilizing system prior to said operation.
  • a method is provided, which method is utilized for performing a material handling operation with a forklift, wherein the method provides an improved stability to said forklift.
  • the forklift may comprise a load carrier, coupled to a mast, a control unit, at least one drive wheel, at least one support wheel, and at least one sensor device for detection of a guiding device.
  • the forklift may be operated in a free-range mode and a semi-automatic mode.
  • the forklift may further comprise at least one auxiliary wheel, selectively movable between a lower position in which a resilient contact between an underlying floor surface and said at least one wheel is established, and an elevated position in which said at least one wheel is elevated from said floor surface.
  • the method comprising the steps of: a) driving the forklift to a position where the a load carrier operation is to be performed, b) lowering the at least one auxiliary wheel to the lower position, c) shifting the contact between the at least one auxiliary wheel and the floor surface from a resilient contact to a rigid contact, and d) performing the load carrier operation by means of the load carrier.
  • the method further provides the added advantage of not being reliant on auxiliary supports or similar which may cause a non-comfortable experience to an operator if said operator is positioned on the forklift when a load carrier operation is taking place.
  • the method further comprises a step e) monitoring the surroundings around the forklift by means of the at least one sensor device, said step e) being performed simultaneously as step a), and f) initiate step b) by means of the control unit when the at least one sensor device detects a specific predetermined guiding device.
  • step f) and thus also step b) by means of the control unit the method may be used in a semi- or fully automatic mode, wherein an operator needs to perform less steps and operations him/her-self, which provides a fast and reliable method which at the same time is easy to perform.
  • the method may be comprised in pre-programmed software which may be implemented into any forklift suitable for utilizing such a method.
  • a forklift which forklift may comprise a load carrier, coupled to a mast.
  • the forklift may further comprise a control unit, at least one drive wheel, at least one support wheel, and at least one sensor device for detection of a guiding device.
  • the total number of wheels used for such a forklift may vary, and different combinations of drive wheels and support wheels are possible without deviating from the scope of protection.
  • forklift having three wheels total and four wheels total are both common in the arts, wherein both such examples may provide different advantages for different types of material handling operations.
  • the disclosure herein is mostly focused at a forklift having a total of three wheels for its driving operations; however any number of wheels may be used in combination with the inventive concept described herein.
  • the forklift may further be operated in a free-range mode and at least a semi-automatic mode.
  • the forklift may be operated by means of a user interface, which may be provided to the forklift as part of an operator cabin, or a remote control, or a combination of the two.
  • the forklift may further comprise docking means for docking to a guide system or similar, wherein the forklift may be either semi-automatically controlled when driven on such a guide system, where the guiding device in the form of a guide system provides for at least partly controlling of the forklift. Fully automatic operation may of course also be possible.
  • the forklift may even further comprise at least one auxiliary wheel, selectively movable between a lower position in which a resilient contact between an underlying floor surface and said at least one wheel is established, and an elevated position in which said at least one wheel is elevated from said floor surface.
  • the control unit is arranged to receive an indication that a load carrier operation is initiated, wherein said load carrier operation is a vertical movement of the load carrier, and detect that the at least one auxiliary wheel is in resilient contact with the underlying floor surface, wherein the control unit controls the at least one auxiliary wheel to shift from a resilient contact to a rigid contact with the underlying floor surface.
  • the elevated position provides clearance for driving operations wherein said at least one auxiliary wheel is not being in contact with the underlying floor surface.
  • the at least one auxiliary wheel is thus also protected from damage and wear as it is not being used for driving and/or support when driving.
  • an auxiliary wheel may initiate contact without providing support to the forklift by means of said contact. If such a wheel would be positioned at portion of an underlying floor surface, which portion is not perfectly aligned horizontally with the rest of the floor surface, the resilient contact may be kept without affecting the horizontal orientation of the forklift itself.
  • the initiation of such an operation will first shift the resilient contact into a rigid contact, wherein said rigid contact may be viewed as a load bearing and non-resilient contact with the underlying floor surface. This may be performed by means of the control unit being arranged to first shift said positions when an operation command is given, which command comprises a transversal direction.
  • the at least one auxiliary wheel being in the rigid position may thus provide an increased stability to the forklift when performing such operations.
  • the load carrier is arranged so as to be able to operate transversal to a driving direction of said forklift, and wherein a load carrier operation further comprises a transversal operation of the load carrier.
  • the load carrier is thus to be viewed as pivotally coupled to the forklift wherein a pivoting of said load carrier provides the possibility of material handling operations in a wide range of angles between two pivoted end positions. Such an angled operation may most commonly be at a right angle relative a driving direction of the forklift, but lower angles may of course also be possible within the disclosure, and may also benefit from the added stability of the forklift described herein.
  • the term transversal operation is thus to be viewed as an operation which is performed with any amount of a transversal direction relative the driving direction of the forklift
  • the at least one auxiliary wheel is arranged to the forklift by means of a wheel suspension comprising a lifting device for moving the at least one auxiliary wheel between the lower position and the elevated position, a spring element, and a locking device for locking the at least one wheel in position.
  • the spring element comprises a low spring force so as to provide the resilient contact when the at least one auxiliary wheel is in its lower position.
  • the spring element may be a mechanical spring, a gas spring, or any other flexible type of element or device known in the arts.
  • the lifting device and the locking device may be individual devices or incorporated into each other as a single device, and may also be any known devices known in the arts. Hence, it should be understood that the lifting device and the locking device may be provided to a forklift using a variety of commonly used devices such as mechanical link arm arrangements, hydraulics, pneumatics or a combination of such.
  • the at least one auxiliary wheel may be automatically movable to the lower position by means of the lifting device, when the at least one sensor device detects a specific predetermined guiding device.
  • a specific predetermined guiding device may be parts of an aisle between shelves, wherein the sensor device may detect the structure of the construction of shelves positioned at sides of such an aisle.
  • the specific predetermined guiding device may also be specifically positioned objects and/or materials arranged to be detected by the sensor device so as to indicate that the forklift at or in the vicinity of a position where material handling operations are to be performed, such as indication wires, a guide rail or similar.
  • magnetic material may be arranged at predetermined positions within and next to such an aisle, a shelf, a shelf arrangement or similar, wherein the sensor device is arranged to detect such magnetic material.
  • the specific predetermined guiding device may even further be a guide system, or parts thereof, wherein when the forklift is used in combination of such a guide system the at least one auxiliary wheel may be lowered to the lower position automatically.
  • the locking device may comprise a piston having a cylinder in which a shaft is arranged and protrude therefrom, wherein the protrusion of the shaft can be locked relative the cylinder.
  • a piston may be a hydraulic cylinder comprising controllable valves, wherein opening and closing of such valves may lock the shaft into position within the cylinder of said piston.
  • Such a piston may further also provide a lifting mechanism and thus function as a lifting device as well.
  • By means of controlling the amount of fluid within the piston it may be used to control the protrusion of the shaft from the cylinder, wherein the flow of fluid from and to the cylinder may be controlled by means of a control valve, wherein the relative position of the piston may be locked in place.
  • Such a piston may thus be utilized to lock the at least one auxiliary wheel both in the elevated position and the lower position, wherein the fluid flowing within the cylinder may be allowed to flow freely from and to the cylinder when the at least one auxiliary wheel is in the lower position and in resilient contact with an underlying floor surface.
  • the at least one auxiliary wheel may be manually operated between the lower position and the elevated position by means of the control unit.
  • a feature may simply be a feature presented in a user interface for direct operative input to the control unit which may lower and elevate the at least one auxiliary wheel when deemed desirable by an operator.
  • the forklift may be provided with the option of manually shifting the at least one auxiliary wheel between resilient contact and rigid contact so as to provide the forklift with a larger variety of option with regards to its usage. An operator may thus always have the added feature or manually shifting between all possible positions and states for such wheels, wherein the forklift may be used for a large plurality of different types of operations regardless of the surroundings.
  • the at least one auxiliary wheel may be laterally moved by means of the wheel suspension and the control unit when being positioned in the elevated position.
  • the at least one auxiliary wheel may thus be arranged underneath the forklift in such a manner that it may be moved around when not in contact with an underlying surface. This may provide the possibility to enhance the stabilizing effect of such a wheel even further by moving it away from a centre of the forklift.
  • the at least one auxiliary wheel may even be arranged in such a way that it may be moved out and extending past the chassis of the forklift. Such an arrangement may thus provide a paramount increase to stability of the forklift as the area defined by the contact points between the forklift and the underlying surface may be increased by a large portion.
  • the forklift may comprise a warning system which may provide a warning signal by means of a warning device if the at least one auxiliary wheel is not in contact with the underlying floor surface and a load carrier operation.
  • a warning system which may provide a warning signal by means of a warning device if the at least one auxiliary wheel is not in contact with the underlying floor surface and a load carrier operation.
  • a pressure sensor coupled to the at least one auxiliary wheel, which sensor may detect if contact is initiated or not.
  • Other types of sensor devices known in the arts may also be used.
  • the warning system may then comprise a warning device which gives at least one warning signal, indicating to an operator of the forklift that no contact between the at least one auxiliary wheel and the underlying floor surface is achieved.
  • Such a signal may be in the form of a blinking light, a warning sound, a vibration, or a combination of such warning signals.
  • the operator will then immediately know that no additional support will be given by the at least one auxiliary wheel, wherein transversal operations may be deemed as unsafe to perform.
  • Such a warning system may further be modified to include additional warning signals if the at least one auxiliary wheel is in contact with an underlying floor surface but the shift to a rigid contact for some reason fails. This may even further enhance the safety of using such a forklift.
  • the warning system further being arranged to restrict load carrier operations.
  • the warning system may hence be arranged to enforce such a restriction by means of the control unit.
  • a restriction may be in the form of reduced movement speed of the load carrier, wherein an operation will be safer to perform as the momentum generated by such a movement may cause a tipping motion is not performed in a controlled manner.
  • Such a restriction may also be in the form of a full stop of the load carrier making operations temporarily not possible to perform at all.
  • the forklift may comprise two auxiliary wheels, arranged symmetrically about a centre line of said forklift, the centre line being parallel with a direction the forklift is directed when driving straight ahead. Having the forklift comprising two such wheels may thus provide the same added stability to the forklift in both side directions without any sort of movement or alteration of the forklift.
  • the two auxiliary wheels may be operated simultaneously but individually so as to provide the same function to the forklift but not be dependent on each other.
  • both wheels may individually align with a portion of said floor surface underneath each wheel, wherein rigid contact may be initiated without changing the horizontal orientation of the forklift, but still provide an added stability in all directions around said forklift.
  • the forklift may be provided with any number of auxiliary wheels deemed necessary, wherein the total number of wheels may be modified depending on a specific usage which such a forklift is designed to perform.
  • a method is provided, which method is utilized for performing a material handling operation with a forklift, wherein the method provides an improved stability to said forklift.
  • the forklift may comprise a load carrier, coupled to a, a control unit, at least one drive wheel, at least one support wheel, and at least one sensor device for detection of a guiding device.
  • the forklift may be operated in a free-range mode and a semi-automatic mode.
  • the forklift may further comprise at least one auxiliary wheel, selectively movable between a lower position in which a resilient contact between an underlying floor surface and said at least one wheel is established, and an elevated position in which said at least one wheel is elevated from said floor surface.
  • the method comprising the steps of: a) driving the forklift to a position where the load carrier operation is to be performed, b) lowering the at least one auxiliary wheel to the lower position, c) shifting the contact between the at least one auxiliary wheel and the floor surface from a resilient contact to a rigid contact, and d) performing the load carrier operation by means of the load carrier.
  • the method further comprises a step e) monitoring the surroundings around the forklift by means of the at least one sensor device, said step e) being performed simultaneously as step a), and f) initiate step b) by means of the control unit when the at least one sensor device detects a specific predetermined guiding device.
  • the control unit may thus activate at least parts of the steps of the method in an automatic manner.
  • the forklift used for performing the different embodiments of the method as described above may be modified and exhibit any possible combination of the different features described with reference to the forklift and its different features as presented within the disclosure.
  • the method may thus be performed manually, semi-automatically or fully automatically, with respect to the method in part or the entirety of the method, depending on the forklift and the type of operation to be performed.
  • software that when stored in a control unit of a forklift and is executed performs the method provided.
  • Such software may be stored on a computer readable storage medium which may be provided to the control unit of the forklift. It may also be provided directly to the control unit and/or an external user interface such as a tablet, a remote control or similar.
  • Such software may thus be run to perform the entirety of, or parts of, the method when the method is performed in a semi-automatic or fully automatic manner.
  • Fig. 1 shows a forklift 1 in a top down view according to an embodiment.
  • the forklift 1 is shown to be operated in an aisle 3 intermediate two rows of pallets 5 placed on shelf arrangements 7. As is seen said aisle 3 is narrow, wherein the forklift 1 may not turn so as to face a pallet 5 for a retrieval operation.
  • the forklift 1 may thus be perceived as a "VNA-forklift".
  • the forklift 1 may perform transversal operations by means of the load carrier 9 being arranged to pivot and perform transversal operation, and thus be operated in directions separate from a driving direction 11 of the forklift 1.
  • the forklift 1 shown in fig. 1 comprises two support wheels 13, arranged at a front portion 15 of a chassis of the forklift 1.
  • the forklift further comprises a drive wheel 17, arranged at a back portion 19 of the chassis, arranged as a swivel wheel and being coupled to a drive motor (not shown).
  • Such a combination of wheels 13, 17 provides a very responsive and versatile manoeuvrability for the forklift 1 when operated in a free-range mode.
  • the forklift 1 When operated in a narrow aisle 3 as shown in fig. 1 , the forklift 1 may be operated in various manners. It may be operated fully manually in free-range mode, however this may not always be practical and/or desirable. More common, and being the case herein, it may be operated in a semi-automatic mode in which as an example the drive wheel 17 is locked to driving straight ahead and an operator may control the moving speed.
  • the forklift 1 comprises a plurality of sensor devices 21, wherein said sensor devices 21 may detect a guiding device 23.
  • a guiding device23 may be an object such as parts 23' of the shelf system in the aisle 3, or be a specific element arranged for the purpose of being detected by the sensor devices 21 of the forklift 1.
  • a plurality of detection elements 23" are shown, which elements 23" may be of a specific material, such as a magnetic or a ferromagnetic material, wherein the sensor device 21 may detect such a material.
  • the sensor devices 21 may also comprise optical sensors for detection of parts 23' of the shelf system for example.
  • the forklift 1 may thus be driven to the aisle 3 and when at least one sensor device 21 detects specific a guiding device 23, the control unit (not shown) may engage a semi-automatic or a fully automatic mode for operation within the aisle 3.
  • the forklift as shown in fig. 1 further comprises two auxiliary wheels 35, arranged at the back portion 19 of the chassis of the forklift 1. These two auxiliary wheels 25 are elevated from the floor when the forklift 1 is operated in its free-range mode. When the forklift 1 enter the aisle 3 as shown, and engages a semi-automatic mode, the auxiliary wheels 25 will be lowered so as to engage the underlying floor surface 27 in a resilient contact with said floor surface 27. The resilient contact allows the auxiliary wheels 25 to establish a contact with said underlying floor surface 27 without affecting the horizontal orientation of the forklift 1. When the forklift 1 reaches a destination where a material handling operation is to be performed, the auxiliary wheels 25 are already in their correct position and no time is wasted aligning them.
  • the control unit When a command is given to initiate a load carrier operation, the control unit will first shift the resilient contact of the auxiliary wheels 25 to a rigid contact, in which rigid contact the auxiliary wheels 25 may assist in take up load from the forklift 2 and potential load at the load carrier 9, which thus adds stability to the forklift 1. If the load carrier 9 is moved in a transversal direction (in fig. 1 forklift is set up to move the load carrier 9 left in the picture), the centre of gravity of the forklift with or without load will naturally also be moved left. If the centre of gravity would move outside of a base area defined by the contact points between the forklift 1 and the underlying floor surface 27, the forklift 1 would tip over, which of course is not desirable.
  • fig. 1 Said base area without the auxiliary wheels 25 in rigid contact is shown in fig. 1 by a triangle 29 drawn with dashed lines.
  • An increased base area, achieved by using the auxiliary wheels 25 is shown in fig. 1 drawn as a rectangle 31 with dotted lines.
  • the usage of the auxiliary wheels 25 adds stability to the forklift wherein it may be used for transversal operations reaching further out from a centre line 33 of the forklift 1, in its driving direction 11.
  • the detection of specific a guiding device 23 may also be utilized for automatic lowering of the auxiliary wheels 25, even if the forklift 1 would be operated in free-range mode within the aisle 3.
  • Fig. 2 shows parts of a forklift 1 in a side view from behind according to an embodiment.
  • the wheel suspension 35 comprises a lifting device for moving each auxiliary wheel 25 between their elevated position and the lower position 37.
  • the wheel suspension 35 further comprises a spring element 39 and a locking device 41 for locking the auxiliary wheels 25 in their current positions.
  • the locking device 41 is in the form of a piston 43, having a cylinder in which a shaft is arranged and protrude therefrom, wherein the protrusion of the shaft may be locked relative the cylinder.
  • the auxiliary wheel 25 may thus move up and down freely, and be flexibly in contact with the underlying floor surface 27 by means of the spring element 39.
  • the lifting device may be incorporated in the piston 43, wherein movement up and down may be performed by means of controlling the displacement of the shaft so as to achieve said movement, and then lock the piston 43 in the respective positions.
  • the lifting device may also be arranged as an angular movement of an arm element 45 arranged between the auxiliary wheels 25 and the chassis of the forklift 1.
  • Fig. 3a-c shows an auxiliary wheel 25 of a forklift 1 in different positions and states, according to an embodiment.
  • Fig. 3a shows the auxiliary wheel in its elevated position 47, wherein it is locked thereto by means of the piston 43 being prevented from displacing the shaft by means of a control valve 49 comprised in the piston 43, which control valve 49 may allow or prevent a hydraulic fluid to flow from and to the cylinder of the piston 43.
  • Fig. 3b shows the auxiliary wheel 25 being in the lower position 37 and in resilient contact with the underlying floor surface 27. This is achieved by means of having the control valve 49 being completely open wherein the displacement of the shaft relative the cylinder of the piston 43 is un-restricted.
  • the resilient contact is thus achieved by means of the spring element 39 biasing the auxiliary wheel 25 towards said floor surface 27.
  • the auxiliary wheel 25 also is in the lower position 37, but is here shown to be locked in rigid contact with the underlying floor surface 27. This is again achieved by means of closing the control valve 49 which restricts relative movement of the shaft and the cylinder.
  • the embodiment shown in fig. 3a-3c is to be viewed as an example, and it should be noted that the described features and functions may be achieved in alternate designs as well.
  • the lifting device and the locking device may also be achieved by means of strictly mechanical means as well without deviating from the disclosure.
  • Fig. 4 shows parts of a forklift 1 with an auxiliary wheel 25 in a side view from behind according to an embodiment.
  • the auxiliary wheel 25 is shown together with part of a forklift 1 and its drive wheel 17.
  • the focus of fig. 4 is to exhibit the feature of the auxiliary wheel 25 being movable laterally when being in the elevated position as shown in the figure.
  • the auxiliary wheel 25 drawn with solid lines may be perceived as an example of a default position, wherein the auxiliary wheel 25' drawn with dotted lines are present to represent a possible lateral movement of the same. This feature may be performed manually by an operator if he/she knows additional support and stability may be needed for a specific operation.
  • Lateral movement for an increased stability may also be programmed into the control unit as part of a semi-automatic or a fully automatic operation of such a forklift, wherein the at least one the auxiliary wheel 25 may be moved outwards automatically for certain specific material handling operations in need of additional stability due to factors such as an extra heavy load, a need for a longer than normal reach of the load carrier or similar.
  • any type of wheel suspension by which the auxiliary wheel is arranged to the chassis of the forklift 1 may be arranged to accommodate for this specific feature when desired. This may be solved by hydraulics, pneumatics, mechanical devices or other known constructions known in the arts.
  • Fig. 5 shows a forklift 1 in a side view according to an embodiment.
  • the forklift 1 according to this embodiment comprises a warning system as previously described.
  • the forklift 1 is perceived to be in a situation in which an operational command for the load carrier 9 have been given, but for some reason the auxiliary wheel 25 is its elevated position 47. This may in such a case be detected by means of an additional sensor arrangement (not shown) wherein the control unit restricts the movement of the load carrier 9 and provides a warning signal 51 by means of a warning device 53.
  • the warning device 53 is herein shown in a simple schematic form wherein the warning signal 51 may be perceived as a light, a sound, a vibration or any combination of such signals.
  • the control unit may also send a wireless signal to additional warning devices, provided to a remote control, a facility in which the forklift is used or other.
  • Fig. 6 shows a flowchart of a method for stabilizing a forklift according to an embodiment.
  • the method may be performed at least in part in both a manual and a semi or fully automatic manner.
  • the at least one auxiliary wheel may be lowered to the lower position and be in resilient contact with an underlying floor surface ahead of being shifted to a rigid contact in which a stabilizing support is provided to the forklift.
  • Step a) comprises driving the forklift to a position where the load carrier operation is to be performed. This step may thus be either a manual operation in a free-range mode, or be a semi or fully automatic driving of the forklift to said position.
  • Step b) comprises lowering the at least one auxiliary wheel to the lower position.
  • This step may be performed manually at any point if deemed suitable to an operator operating the forklift, but is to be understood to be performed well ahead in time prior to the following material handling operation. As the forklift most commonly have a better manoeuvrability in free-range mode without the at least one auxiliary wheel lowered, it may be suitable to lower said wheel or wheels when the forklift when the forklift is moving straight towards the intended position.
  • Step c) comprises shifting the contact between the at least one auxiliary wheel and the floor surface from a resilient contact to a rigid contact. This may be performed by means of the control unit of the forklift being configured to perform said shift when a load carrier command comprising a transversal portion of movement is given by an operator, wherein step d) comprises performing the material handling operation by means of the load carrier.
  • step e) comprises monitoring the surroundings around the forklift by means of the at least one sensor device, wherein step e) may be performed continuously so as to guarantee that it is performed during any sort of driving operation of the forklift.
  • step f) then comprises to initiate step b) when the at least one sensor device detects a specific predetermined guiding device.

Landscapes

  • 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)
EP18163122.7A 2018-03-21 2018-03-21 Gabelstapler mit hilfsrad und verfahren zur stabilisierung solch eines gabelstaplers Active EP3543201B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP18163122.7A EP3543201B1 (de) 2018-03-21 2018-03-21 Gabelstapler mit hilfsrad und verfahren zur stabilisierung solch eines gabelstaplers

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP18163122.7A EP3543201B1 (de) 2018-03-21 2018-03-21 Gabelstapler mit hilfsrad und verfahren zur stabilisierung solch eines gabelstaplers

Publications (2)

Publication Number Publication Date
EP3543201A1 true EP3543201A1 (de) 2019-09-25
EP3543201B1 EP3543201B1 (de) 2023-06-07

Family

ID=61731709

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18163122.7A Active EP3543201B1 (de) 2018-03-21 2018-03-21 Gabelstapler mit hilfsrad und verfahren zur stabilisierung solch eines gabelstaplers

Country Status (1)

Country Link
EP (1) EP3543201B1 (de)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2530570A (en) * 2014-09-29 2016-03-30 Edward Wainwright Materials handling system and equipment for use in a warehousing installation
US20160340162A1 (en) * 2014-04-01 2016-11-24 The Raymond Corporation Caster wheels with torsion spring assembly
EP3222491A1 (de) * 2016-03-15 2017-09-27 Linde Material Handling GmbH Stützrolle eines flurförderzeugs
EP3272699A1 (de) * 2016-07-12 2018-01-24 KION Warehouse Systems GmbH Regalstapler

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160340162A1 (en) * 2014-04-01 2016-11-24 The Raymond Corporation Caster wheels with torsion spring assembly
GB2530570A (en) * 2014-09-29 2016-03-30 Edward Wainwright Materials handling system and equipment for use in a warehousing installation
EP3222491A1 (de) * 2016-03-15 2017-09-27 Linde Material Handling GmbH Stützrolle eines flurförderzeugs
EP3272699A1 (de) * 2016-07-12 2018-01-24 KION Warehouse Systems GmbH Regalstapler

Also Published As

Publication number Publication date
EP3543201B1 (de) 2023-06-07

Similar Documents

Publication Publication Date Title
CN100408468C (zh) 用于负载处理设备中的控制系统
KR102300161B1 (ko) 광학적 적재물 감지 구조물을 구비한 리프트 트럭
USRE49025E1 (en) Side-shift limiter
US7599777B2 (en) Adjustable pantograph configuration for an industrial vehicle
EP2998266B1 (de) Vorrichtung zur steuerung einer lasthandhabungsvorrichtung
EP2520536A1 (de) Hubfahrzeug
JPH04303395A (ja) フォークリフトの制御装置
US8096386B2 (en) Actively regulated electromechanical controller for fork lift truck
EP3543201B1 (de) Gabelstapler mit hilfsrad und verfahren zur stabilisierung solch eines gabelstaplers
KR20190105370A (ko) 자세제어 기능을 가지는 지게차
US10850962B2 (en) Clamping device for a forklift and a forklift having such a clamping device
KR20150114842A (ko) 지게차의 포크 수평유지시스템 및 그 제어방법
JP5125145B2 (ja) 産業車両の荷役制御装置
US11420852B2 (en) Crane for lifting and transporting loads, equipped with a drive system
JP2008195519A (ja) 産業車両の走行制御装置
WO2020095602A1 (ja) フォークリフトの遠隔操作システム
JP6614054B2 (ja) 産業車両
JP6559504B2 (ja) フォークリフト
JP3258471B2 (ja) クレーンまたはタワークレーンの過負荷防止装置
JP3787056B2 (ja) 高所作業装置の安全装置
JP4847025B2 (ja) 高所作業車
JPH0592895A (ja) リフト操作用バルブレバーの操作装置
JP2020040816A (ja) フォークリフト
JPH04256696A (ja) フォークリフトの制御装置
JPH04272097A (ja) フォークリフトの制御装置

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20200108

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20221201

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

Ref country code: AT

Ref legal event code: REF

Ref document number: 1574533

Country of ref document: AT

Kind code of ref document: T

Effective date: 20230615

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602018050675

Country of ref document: DE

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230526

REG Reference to a national code

Ref country code: SE

Ref legal event code: TRGR

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20230607

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230907

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230607

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 1574533

Country of ref document: AT

Kind code of ref document: T

Effective date: 20230607

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230607

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230607

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230607

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230607

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230607

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230908

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230607

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230607

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231007

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230607

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230607

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230607

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231009

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231007

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230607

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230607

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230607

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230607

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602018050675

Country of ref document: DE

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230607

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20240328

Year of fee payment: 7

Ref country code: GB

Payment date: 20240319

Year of fee payment: 7

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230607

26N No opposition filed

Effective date: 20240308

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230607

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: SE

Payment date: 20240322

Year of fee payment: 7

Ref country code: IT

Payment date: 20240321

Year of fee payment: 7

Ref country code: FR

Payment date: 20240327

Year of fee payment: 7