EP3573919A1 - Verbessertes flurförderfahrzeug - Google Patents
Verbessertes flurförderfahrzeugInfo
- Publication number
- EP3573919A1 EP3573919A1 EP18700757.0A EP18700757A EP3573919A1 EP 3573919 A1 EP3573919 A1 EP 3573919A1 EP 18700757 A EP18700757 A EP 18700757A EP 3573919 A1 EP3573919 A1 EP 3573919A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- industrial truck
- chassis
- truck according
- pendulum frame
- pendulum
- 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.)
- Pending
Links
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
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/0625—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement with wheels for moving around the floor
-
- 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
-
- 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 invention relates to an improved industrial truck, in particular an autonomously operating industrial vehicle, which
- FIG. 1 shows schematically a structure of an industrial truck 1 according to the prior art. This has a first support wheel 31 at a front end of the industrial truck, a second support wheel 32 at a rear end of the industrial vehicle and a drive wheel 4, which is centered on a chassis 2 or
- Vehicle frame is arranged. In a gradient travel can thus occur a state in which the drive wheel 4 floats in the air and thus further travel of the industrial truck is not possible.
- the industrial truck according to the invention with the features of claim 1 has the opposite on the advantage that gradients and / or gradients and / or thresholds or the like can be easily traveled. This is possible both in the loaded condition of the industrial truck and in the unloaded condition of the industrial truck. this will
- the industrial vehicle comprises at least a first and a second support wheel and at least one drive wheel.
- the industrial vehicle further comprises a chassis (vehicle frame) and a pendulum frame, which is articulated to the chassis by means of a horizontal swing axle.
- the first support wheel is arranged on the chassis and the second support wheel is arranged together with the drive wheel on the pendulum frame.
- a drive and / or a transmission of the drive wheel is arranged on the pedal frame. This can be a compact construction of a
- Drive unit comprising the drive wheel and the drive in the
- Pendulum frame to be integrated. This also makes it possible for the
- the pendulum frame is preferably fixed to the chassis such that the
- Drive wheel in the axial direction of the industrial truck which corresponds to the direction of travel, is disposed between the first support wheel and the second support wheel.
- the industrial truck comprises exactly two drive wheels. This allows a simple and cost-effective maneuverability of
- Forklift can be realized by, for example, the two
- Drive wheels are driven differently fast or in different directions.
- the industrial truck comprises at least two support wheels, which are arranged on the vehicle frame. More preferably, the industrial vehicle additionally comprises at least two support wheels, which are arranged on the pendulum frame. In a particularly preferred The forklift truck comprises exactly two drive wheels on the pendulum frame, exactly two support wheels on the chassis and exactly two
- Support wheels on the pendulum frame are at least a first support wheel, which is arranged on the chassis, more preferably all arranged on the chassis first support wheels, designed such that the first support wheels are arranged rotatably about a vertical axis on the chassis.
- the rotatable about the vertical axis arranged first support wheels can act as castors. More preferred are all arranged on the pendulum frame second
- Support wheels arranged rotatably about a vertical axis. As a result, in particular maneuverability of the industrial vehicle is significantly simplified.
- the pendulum frame is square, in particular provided square.
- Two drive wheels are particularly preferably arranged on a first and second corner of the pendulum frame, and in each case a second support wheel is arranged on the other two corners of the pendulum frame.
- the chassis is preferably designed as a side member.
- the longitudinal member preferably extends in the direction of travel of the industrial truck.
- the pendulum axis is arranged for the pendulum frame in an opening in the side member.
- the industrial truck is particularly preferably an autonomously driving
- the vehicle preferably includes sensors for
- Environment detection and a control unit configured to control the vehicle based on the detected values of the environmental sensors.
- the industrial truck further comprises a vertical lifting mechanism, which is arranged on the chassis.
- the lifting mechanism is connected to a loading area of the industrial truck and is set up, the
- the material handling vehicle can transport as a cargo eg trolleys, which on a bottom Rollers have, on soft the trolleys stand.
- the rollers come out of engagement with a substrate and the industrial truck can transport the trolleys without restriction to any location.
- the lifting mechanism comprises a lifting cylinder and at least one toggle mechanism.
- the lifting mechanism is
- Lifting mechanism operated by means of a pull rod.
- the drawbar is connected to the lifting cylinder, wherein the lifting cylinder preferably by means of a
- Electric motor is actuated.
- the toggle mechanism which is connected to the drawbar, then the lifting movement of the lifting cylinder can be converted into a vertical upward movement and / or downward movement.
- a direction of movement of the lifting cylinder is preferably arranged at an angle of 90 ° to a vertical axis. The lifting movement takes place in
- the lifting cylinder is arranged between a first bearing and a second bearing. This makes it possible that the lifting cylinder executes a pitching movement during a lifting movement, whereby an actuation of the
- Toggle mechanism is simplified. More preferably, a sensor, in particular a potentiometer, is provided which continuously monitors a lifting height of the loading surface.
- the industrial truck further comprises a
- the force generating device comprises a leg spring having a first and a second leg.
- a spring travel limiter is provided which limits a spring travel of one of the two legs.
- One of the two legs of the leg spring is preferably connected via a support plate with the pendulum frame.
- Pendulum frame is.
- the first leg of the leg spring is set to come into contact with the pendulum frame and exert an additional force on the pendulum frame.
- a support plate is preferably provided, which depends on a
- a second support plate is preferably provided on the chassis.
- the second support plate is preferably an opening through which a
- End portion of the second leg of the leg spring is passed to ensure a precise position of the leg spring relative to the chassis.
- the end region is preferably bent by 90 ° relative to the second leg.
- the present invention relates to an industrial conveyor system comprising at least one industrial truck according to the present invention and at least one trolley, which is movable by means of the industrial truck.
- the conveyor system comprises a plurality of
- the conveyor system also includes a variety of industrial trucks.
- the industrial trucks preferably drive autonomously.
- At the parking spaces for the trolleys are preferably rails or
- Stops or the like provided by means of which the trolleys can be placed exactly in a designated position.
- FIG. 1 shows a schematic representation of an industrial truck according to the prior art
- FIG. 2 shows a schematic illustration of an industrial truck according to a first exemplary embodiment of the invention
- Figure 3 is a schematic, perspective view of the
- Figure 4 is a schematic representation of a bottom view of the industrial truck of the first embodiment
- Figure 5 is a schematic side view of the
- FIG. 6 is a schematic sectional view of the industrial truck of FIG. 4;
- FIG. 7 is a perspective view of a pendulum frame of the industrial truck of FIG. 4;
- Figure 8 is a schematic, perspective view of a
- Figure 9 is a schematic representation of a bottom view of
- Figure 10 is a schematic sectional side view of
- Figure 1 1 is a schematic representation of a
- FIG. 12 shows a schematic illustration of a drive unit of the industrial truck of the second exemplary embodiment
- Figure 13 is a schematic perspective view of the
- FIGS. 14 and 15 are schematic representations of the function of
- Figures 16 and 1 are schematic representations of a
- the industrial truck 1 comprises a first support wheel 31, a second support wheel 32 and a drive wheel 4.
- the industrial vehicle comprises a chassis 2, on which the first support wheel 31 is arranged.
- the industrial truck 1 further comprises a pendulum frame 10, on which the second support wheel 32 and the drive wheel 4 is arranged.
- Pendulum frame 10 is pivotally mounted on the chassis 2 of the industrial truck about a pendulum axis 30.
- the pendulum axis 30 extends in
- the industrial truck can thereby easily pass over slopes and / or gradients, with the drive unit having
- Pendulum frame 10 by pivoting about the pendulum axis 30 always in contact with the roadway 100 remains.
- the drive wheel 4 is arranged in the axial direction XX of the industrial truck 1 between the first support wheel 31 and the second support wheel 32.
- FIGS. 3 to 7 illustrate the basic structure of the industrial truck 1.
- the pendulum frame 4 is rectangular and has a quadrangular cross section.
- two drive wheels 4 and two drives 3 are arranged on pendulum frame 10.
- two second support wheels 32 are arranged on the pendulum frame 10.
- the two support wheels 32 are each arranged in corners of the pendulum frame 10.
- the drive wheels 4 are arranged in the other corners of the pendulum frame 10.
- a pendulum axis 30 is provided centrally on the pendulum frame 10.
- the pendulum axis 30 is a central axis of a pendulum shaft 34 (see Figure 3), which through two openings 33 in
- Pendulum frame 10 is passed.
- the second support wheels 32 on the pendulum frame 10 and the first support wheels 31 on the chassis 2 are each designed as rollers pivotable about a vertical axis 23.
- the vertical axis 23 is offset from a central axis of the support wheels 31, 32nd
- each drive wheel 4 has a separate drive 3. This makes it possible that the drive wheels 4 in a simple manner by controlling the individual drives 3 with
- Industrial truck 1 steerable without a steering or the like is provided. This allows a very simple and inexpensive construction of the industrial truck. As can be seen from FIG. 4, the lanes of the first support wheels 31 are farther from the central axis X-X of the industrial truck than the lanes
- Lanes of the second support wheels 32 As further seen in Figures 5 and 6, a wheel diameter of the first support wheels 31 is greater than a wheel diameter of the second support wheels 32. A wheel diameter of the second support wheels 32 is also the same as a wheel diameter of the drive wheels
- Embodiment is not shown) are provided. Furthermore, a not shown lifting mechanism can be arranged on the chassis 2 to the loading surface vertically, d. H. perpendicular to the axial direction X-X raise and lower.
- the industrial truck 1 of the first embodiment is preferably designed for autonomous driving and has corresponding sensors and control units.
- the chassis 2 is provided as a rectangle, wherein the first support wheels 31 are arranged on two lying in the direction of travel corners of the chassis 2.
- the pendulum frame 10 is arranged on the chassis 2 such that the second support wheels 32 under the other corner regions of the quadrangular
- Chassis 2 are.
- pendulum shaft 34 is divided and that two pendulum frames are provided, wherein a respective drive wheel 4 and a second support wheel 32 is arranged on each pendulum frame.
- This variant has the additional advantage that the drive wheels of the respective vehicle side can act independently of each other, for example, if on only one side of the industrial truck 1 an obstacle such. B. a bump or the like is present.
- Figures 8 to 17 show a material handling vehicle 1 according to a second
- the chassis 2 of this industrial truck 1 is a side member 1 1.
- the longitudinal member 1 1 extends in the axial direction XX of the industrial truck.
- the industrial truck 1 is used for lifting and transporting trolleys, which can be loaded, for example, with boxes for material supply of a production.
- the industrial truck can drive between the rollers of the trolley, lift the trolley and transport. At a predetermined location of the trolley is then discontinued and the
- a pendulum axis 30 is arranged in the form of a pendulum shaft 34.
- Pendulum shaft 34 two separate drive units 20 are provided. Each drive unit 20 comprises a drive 3 and a drive wheel 4. In the drive
- the drive 3 and the drive wheel 4 are mounted in a pendulum axle 21.
- the pendulum support 21 is in turn mounted on a bore 22 by means of the pendulum shaft 34 on the longitudinal member 1 1 (see Figure 12).
- the second support wheel 32 is also arranged on the pendulum axle carrier 21. This can be seen in detail from FIGS. 8 and 12.
- first support wheels 31 on the longitudinal beam 1 1 by means of a first plate 12 and a second plate 13 are fixed.
- the industrial truck 1 further comprises a lifting mechanism 50, which in detail from the figures 10, 1 1, 13, 14 and 15 can be seen.
- a lifting mechanism 50 which in detail from the figures 10, 1 1, 13, 14 and 15 can be seen.
- Lifting mechanism 50 includes a lift cylinder 51 and a
- Knee lever mechanism 40 which is twice present due to the size of the loading area 5 (see Figure 1 1).
- a toggle mechanism 40 is arranged at each one axial end of the loading surface 5.
- the toggle mechanism comprises a first axis 41, a second axis 42 and a third axis 43.
- the first axis 41 is in each case mounted in the longitudinal member 1 1.
- the second axle 42 is connected to an actuating rod 44, which in turn is connected to the lifting cylinder 51.
- the lifting cylinder 51 is rotatably mounted on a first bearing 52 and a second bearing 53.
- the third axis 43 of Toggle mechanism 40 is connected to the loading surface 5, respectively.
- the pendulum frame 10 is not shown in Figure 13 but only the pendulum shaft 34 which is mounted on the side member 1 1.
- On the longitudinal member 1 1 also a guide member 45 is further arranged, which is connected to the third axis 43 of the toggle mechanism 40, which is further removed from the lifting cylinder 51.
- the lifting mechanism 50 and the two toggle mechanisms 40 are shown again in section in FIG. 10 and in side view in FIG. 11.
- For connecting the three axes connecting elements 70 are provided.
- FIGS. 14 and 15 show the function of the lifting mechanism 50.
- FIG. 14 shows the state of the lowered loading area 5
- FIG. 15 shows the state of the raised loading area 5. If the loading area is to be raised starting from the lowered state illustrated in FIG. 14, the lifting cylinder 51 is actuated, for example by means of an electric motor, ie retracted in this embodiment, so that the actuating rod 44 is moved in the direction of arrow A. This will be the two
- Knee lever mechanisms 40 spread over the actuating rod 44 and the second axis 42. As a result, the loading area 5, as indicated by the arrow B in FIG. 15, lifts.
- the trolley when the industrial truck has been placed under a trolley, the trolley can be raised by activating the lifting mechanism 50 so that the trolley is lifted and the rollers of the trolley come out of contact with the road. As a result, the trolley of the industrial truck 1 can be moved autonomously.
- the loading surface 5 is lowered again by the lifting cylinder 51 is moved in the opposite direction and the toggle mechanism 40, the loading area 5 is lowered again. During the raising and lowering of the loading area 5, the loading area 5 thereby executes a circular movement.
- the illustrated lifting mechanism 50 is designed so that only tensile forces act in the operating rod 44. Accordingly, this can be provided very slim and slim, since there is no risk of buckling. It should also be noted that the cargo bed 5 may have folded and lowered edges to increase the rigidity of the cargo bed.
- a spindle is preferably integrated, which is preferably designed self-locking. This can be a simple way
- Toggle mechanism 40 also acts as a translator, the forces acting on the lifting cylinder 51 forces are reduced.
- a sensor such as a potentiometer, can be arranged to continuously monitor a lifting height.
- the lifting cylinder 51 can perform a pitching motion during retraction and extension.
- Force generating device 80 shown which can be used in both described embodiments.
- the force-generating device 80 is provided which comprises a leg spring 8.
- the leg spring 8 has a first leg 81 and a second leg 82.
- a spring travel limiter 83 is provided.
- the second leg 82 is connected to the loading surface 5.
- an opening 55 is provided in the loading area 5, which receives a bent by 90 ° end of the second leg 82 of the leg spring.
- FIG. 17 shows the state in which the loading surface is lowered.
- the first leg 81 on Federwegbegrenzer 83 As a result, the first leg 81 is disengaged from a support plate 84 which, for example, on the chassis or on another drive side Component is arranged.
- the first leg 81 comes into contact with the support plate 84.
- the leg spring 8 generates the additional force F, which acts on the drive wheels 4.
Landscapes
- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Handcart (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102017201108.4A DE102017201108A1 (de) | 2017-01-24 | 2017-01-24 | Verbessertes Flurförderfahrzeug |
PCT/EP2018/051067 WO2018137981A1 (de) | 2017-01-24 | 2018-01-17 | Verbessertes flurförderfahrzeug |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3573919A1 true EP3573919A1 (de) | 2019-12-04 |
Family
ID=61005827
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18700757.0A Pending EP3573919A1 (de) | 2017-01-24 | 2018-01-17 | Verbessertes flurförderfahrzeug |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP3573919A1 (de) |
CN (1) | CN110177754B (de) |
DE (1) | DE102017201108A1 (de) |
WO (1) | WO2018137981A1 (de) |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2575213B (en) * | 2017-04-19 | 2021-12-01 | Newell Australia Pty Ltd | Closed food processor or blender with a mechanism to open the container to atmosphere |
DE102019113637A1 (de) * | 2019-05-22 | 2020-11-26 | Eisenmann Se | Freifahrender Transportwagen, Fördersystem und Behandlungsanlage |
PT3770046T (pt) | 2019-07-23 | 2022-12-16 | Magna Steyr Fahrzeugtechnik Ag & Co Kg | Sistema de transporte sem condutor |
CN110626984A (zh) * | 2019-11-06 | 2019-12-31 | 北京旷视机器人技术有限公司 | 举升装置及搬运车 |
AU2020426864B2 (en) * | 2020-01-28 | 2024-07-04 | Sew-Eurodrive Gmbh & Co. Kg | Mobile transport system |
CN115243914A (zh) | 2020-03-09 | 2022-10-25 | 索尤若驱动有限及两合公司 | 移动运输系统 |
EP4118025B1 (de) | 2020-03-09 | 2024-04-10 | SEW-EURODRIVE GmbH & Co. KG | Mobiles transportsystem |
CN111204203A (zh) * | 2020-03-16 | 2020-05-29 | 三一机器人科技有限公司 | 驱动机构和自动导引运输车 |
DE102020002676B3 (de) | 2020-05-05 | 2021-03-25 | Sew-Eurodrive Gmbh & Co Kg | Mobiles Transportsystem |
WO2022238005A1 (de) | 2021-05-14 | 2022-11-17 | Sew-Eurodrive Gmbh & Co. Kg | Mobiles transportsystem |
EP4337593A1 (de) | 2021-05-14 | 2024-03-20 | Sew-Eurodrive GmbH & Co. KG | Mobiles transportsystem |
WO2023167951A1 (en) * | 2022-03-03 | 2023-09-07 | Moog Inc. | Lift vehicle drive system |
JP7343244B1 (ja) * | 2023-05-10 | 2023-09-12 | 佳一 米山 | 車輪機構および車輪機構を備える車両 |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB1135210A (en) * | 1966-11-23 | 1968-12-04 | Lansing Bagnall Ltd | Improvements in or relating to industrial lift trucks |
GB1578742A (en) * | 1976-02-24 | 1980-11-12 | Nat Res Dev | Peripatetic vehicles |
DE3106027C2 (de) | 1981-02-19 | 1985-11-28 | Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg | Hublader mit einem höhenausgleichbaren Radnabenantrieb |
SE449091B (sv) * | 1984-11-19 | 1987-04-06 | Hadar Jansson | Kombinationstruck av typen grensletruck |
DE19613762A1 (de) * | 1996-04-06 | 1997-10-09 | Eisenberg Hans Jochen | Podestbock |
JPH10291478A (ja) | 1997-04-18 | 1998-11-04 | Misaki Kiki Kaihatsu Kk | 中心軸駆動台車 |
TWM244070U (en) * | 2003-08-13 | 2004-09-21 | Pihsiang Machinery Mfg Co Ltd | Suspending structure for a wheelchair |
DE202004004973U1 (de) * | 2004-01-24 | 2004-07-08 | Stahl- Und Containerbau Gmbh | Transportwagen |
JP2005306178A (ja) | 2004-04-21 | 2005-11-04 | Symtec Hozumi:Kk | 無人搬送車 |
JP2007308095A (ja) | 2006-05-22 | 2007-11-29 | Ihi Corp | 走行装置 |
AU2014234950A1 (en) * | 2013-03-20 | 2015-10-01 | Schults, Tommy MR | A straddle carrier |
CH708357B1 (de) * | 2013-07-18 | 2017-11-15 | Sbb Ag Recht & Compliance | Transportwagen. |
DE202013007279U1 (de) | 2013-08-12 | 2013-11-27 | Grenzebach Maschinenbau Gmbh | Vorrichtung zum Befördern von Lastregalen mittels eines Transportfahrzeugs auf unebener Bodenfläche |
FR3028848B1 (fr) * | 2014-11-25 | 2017-10-06 | Cofely Endel | Dispositif automatise de manutention et de transport de toles entre l'interieur et l'exterieur d'un reservoir. |
-
2017
- 2017-01-24 DE DE102017201108.4A patent/DE102017201108A1/de active Pending
-
2018
- 2018-01-17 CN CN201880008044.5A patent/CN110177754B/zh active Active
- 2018-01-17 EP EP18700757.0A patent/EP3573919A1/de active Pending
- 2018-01-17 WO PCT/EP2018/051067 patent/WO2018137981A1/de unknown
Also Published As
Publication number | Publication date |
---|---|
DE102017201108A1 (de) | 2018-07-26 |
CN110177754A (zh) | 2019-08-27 |
CN110177754B (zh) | 2021-09-03 |
WO2018137981A1 (de) | 2018-08-02 |
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