EP3640196B1 - Autonomous, ground-bound industrial truck and and method for loading and / or unloading a loading unit with such an industrial truck - Google Patents

Autonomous, ground-bound industrial truck and and method for loading and / or unloading a loading unit with such an industrial truck Download PDF

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Publication number
EP3640196B1
EP3640196B1 EP19199454.0A EP19199454A EP3640196B1 EP 3640196 B1 EP3640196 B1 EP 3640196B1 EP 19199454 A EP19199454 A EP 19199454A EP 3640196 B1 EP3640196 B1 EP 3640196B1
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EP
European Patent Office
Prior art keywords
load
industrial truck
receiving means
basic vehicle
ground
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.)
Active
Application number
EP19199454.0A
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German (de)
French (fr)
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EP3640196A1 (en
Inventor
Jonas Groh
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.)
Linde Material Handling GmbH
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Linde Material Handling GmbH
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Publication of EP3640196A1 publication Critical patent/EP3640196A1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—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
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/19—Additional means for facilitating unloading

Definitions

  • the invention relates to an autonomous, ground-based industrial truck, which comprises a base vehicle with a drive and a load platform on which a load can be positioned, the load platform being provided with a first horizontally conveying load conveyor which is designed to carry the load placed on the load platform to move in the horizontal direction.
  • the invention also relates to a method for loading or unloading a loading unit, in particular a loading area of a truck or a freight train wagon, with an autonomous, ground-based industrial truck.
  • Driverless transport vehicles have recently been used frequently to transport loads in logistical processes, e.g. when loading and unloading trucks.
  • Driverless transport vehicles are ground-based conveyor vehicles with their own drive, which are automatically controlled and guided without contact.
  • the driverless transport vehicles are loaded with the loads or pick up the loads independently.
  • the loads are mostly pallets loaded with goods.
  • the goods can be placed loose or in transport containers, e.g. boxes, on the pallets.
  • a classic pallet truck e.g. a pallet truck or a high-lift truck with a fork made of two forks, has to rotate 180 ° twice per cycle turn and thus turn.
  • the proportion of time it takes to turn the vehicle is already relatively high in manually operated vehicles. In the case of automated vehicles, the turning maneuver can take up most of the time in the process.
  • autonomous undercarriage vehicles with conveyor technology are automated, flat vehicles with a load platform, which e.g. carry a roller conveyor as a load conveyor to move the load on the vehicle.
  • a pallet can be picked up, for example, by a stationary roller conveyor on one side of the vehicle and set down again on another stationary roller conveyor from the opposite side of the vehicle. Since the load platform is at a fixed height on the vehicle, the load can only be set down at staging positions that are at the same height as the load platform.
  • the disadvantage here is that the pallet that has been picked up cannot be set down on the floor (e.g. in a truck).
  • self-propelled forks with driven wheels have also been proposed.
  • Such self-propelled forks can drive under a pallet standing on a floor, lift it and transport it.
  • the disadvantage here is that the self-propelled fork tines must, in principle, be lower than the pockets of a pallet into which the self-propelled fork tines move.
  • the driven wheels of the self-propelled forks can only be very small.
  • such self-propelled forks are not able to drive over the ledges of a typical loading ramp.
  • the field of vision of the sensors attached to the self-propelled forks is very limited, which means that free navigation without markings on the ground is hardly possible.
  • a ground-based industrial truck for handling paper products in which a fork carrier device is arranged on a mast so as to be adjustable in height.
  • the fork carrier device consists of a wider roller conveyor and a narrower roller conveyor, which is fixedly arranged at the front end of the wider roller conveyor.
  • the WO 2018/131007 A1 discloses an autonomous industrial truck with a displaceable lifting mast on which load forks can be raised and lowered by means of a scissor lifting device.
  • the U.S. 2,466,055 A discloses an industrial truck in which the load-carrying means has roller tracks arranged next to one another and conveyor belts running on the roller tracks, as a result of which a load can be picked up and deposited by means of the conveyor belts.
  • the present invention is based on the object of designing an industrial truck of the type mentioned and a method for loading a loading unit with the industrial truck so that, on the one hand, loading units with uneven access can also be loaded and, on the other hand, the load can also be placed on the ground and / or off Soil can be absorbed.
  • this object is achieved according to the invention in that at least one height-adjustable load handling device with a further horizontally conveying load handling device is attached to the base vehicle, the load handling device being designed in such a way that when the load handling device is lowered, the load picked up by the load handling device touches the ground, and in the raised state of the load handling device, the load handling device of the load handling device forms a common conveying level with the load handling device of the basic vehicle, on which the load can be moved horizontally to and fro between the load platform of the basic vehicle and the load handling device, the basic vehicle having an electronic control device that has a enables fully automatic control of the drive system as well as the load handling device and the load handling device.
  • the height-adjustable load handling device with horizontally conveying load conveyor which is provided in addition to the basic vehicle, means that the basic vehicle itself can build higher.
  • the height of the basic vehicle is no longer limited by the fact that it must be able to drive under the load on the ground.
  • Picking up and / or setting down the load is now carried out by the height-adjustable load handling device.
  • the horizontally conveying load conveyor shifts the load from the base vehicle to the load handling device or from the load handling device to the basic vehicle. Due to the possible greater height of the basic vehicle, larger wheels, in particular larger drive wheels, can be installed on the basic vehicle, which allow driving on uneven entrances to the loading unit, for example loading ramps with steps or lane edges. Despite the height of the base vehicle and thus the load platform arranged on it, the load can be picked up from the ground and / or set down on the ground due to the presence of the load-bearing means.
  • an industrial truck is made available which, for example, no longer has to turn when loading trucks, can also drive on uneven loading ramps as well as ledges and road edges due to the large driven wheels and pick up a pallet from the floor and / or onto the floor can settle.
  • the industrial truck according to the invention combines the advantages of an autonomous underride vehicle with conveyor technology, which consist in the fact that steps or road edges can be driven over, with the advantages of a pallet truck and the advantages of self-propelled forks, which consist in the fact that a load is picked up or removed from the ground. can be placed on the floor.
  • the industrial truck according to the invention comprises a basic vehicle which can be constructed in a similar way to a classic autonomous underride vehicle.
  • a load conveyor is installed on the base vehicle in order to be able to move the load, e.g. a pallet, on the load platform of the base vehicle in one dimension, in particular in the horizontal direction.
  • the invention is based on the idea of combining this basic vehicle with a height-adjustable load suspension device, in particular in the form of a fork system with a lift.
  • the fork prong system with a lift preferably comprises two fork prongs which are arranged at a distance from one another in the transverse direction of the vehicle and each have only horizontal sections which are designed in such a way that the two fork prongs can be inserted into the two pockets of a pallet.
  • the two fork prongs can be raised and lowered by means of a corresponding lifting device on the basic vehicle in order to achieve the lift.
  • pallets can be opened with the industrial truck according to the invention deposited on the ground and / or picked up from the ground.
  • the fork tines do not have a vertical fork tine back in order to enable the pallets to be pushed through from the base vehicle onto the fork tines or from the fork tines onto the base vehicle.
  • the fork tines with the other horizontally conveying load conveyor have their own conveyor technology in order to be able to take over the pallet from the basic vehicle.
  • the industrial truck according to the invention thus enables loading and / or unloading of trucks without turning.
  • the invention is based on the knowledge that the basic vehicle itself can be higher due to this additional fork system with a lift, whereby larger wheels, in particular larger drive wheels, can be installed on the basic vehicle. Due to the associated high transport position of the pallets, the industrial truck according to the invention has a good all-round view that can be used, for example, for navigation sensors and personal protection systems.
  • the load conveying means of the basic vehicle and the load handling means can be implemented in different ways.
  • the load conveyor comprises at least one roller conveyor, preferably a driven roller conveyor.
  • the load conveyor comprises at least one conveyor belt, preferably a driven conveyor belt.
  • the load platform and the load-bearing means are expediently designed for receiving pallets as a load.
  • the load platform and / or the load suspension means each have a length which corresponds at least to the length of a pallet.
  • the load platform and / or the load suspension means each have a length which corresponds at least to the length of a pallet.
  • the load platform and / or the load suspension means each have a length which corresponds at least to the length of a pallet.
  • a further advantageous embodiment provides that the load platform and / or the load suspension means each have a width that corresponds to the width of at least one pallet. If the load platform and / or the load suspension means each have a width that corresponds to the width of an individual pallet, the industrial truck is preferably designed such that it is at most the width of an individual pallet. As a result, the pallets that have been picked up can be set down on a loading area of the truck without a gap on the side wall.
  • the loading areas of trucks are usually so wide that there is space for two pallets across or three pallets side by side. If the industrial truck according to the invention is so wide that at least two or three pallets can be transported next to one another, at least two or three pallets can be loaded, transported and unloaded onto the floor at the same time.
  • the number of driving cycles for loading or unloading a truck can be further reduced, since a total of four or six pallets can be handled per driving cycle.
  • the load platform and / or the load handling device each have a width that corresponds to the width of two pallets or three pallets
  • the industrial truck is preferably designed in such a way that it has a maximum width of two pallets or three pallets received next to one another Has. As a result, the pallets that have been picked up can be set down on a loading area of the truck without a gap on the side wall.
  • the pallets are already made available today via an automated stationary roller conveyor, for example at a loading ramp. From this stationary roller conveyor, the pallets can be transferred directly to the load platform of the basic vehicle if the roller conveyor and load conveyor of the basic vehicle are the same height and can be conveyed on to the load handling device by means of the load conveyor. After transport to the staging position, For example, in the loading space of a truck, the pallet can be set down on the floor by means of the height-adjustable load handling device.
  • a further development of the invention provides that at least one height-adjustable load handling device with a horizontally conveying load conveyor is attached to at least two opposite sides of the basic vehicle, so that the load can be picked up from both sides of the floor and lowered onto the floor.
  • the industrial truck according to the invention can both pick up and set down the load from the ground on both sides. This means that a truck can also be loaded without having to turn around when there is no stationary roller conveyor on the loading ramp.
  • support rollers can be provided on the load suspension device, in particular support rollers that can be raised and lowered.
  • the support rollers can, for example, be attached so that they can be raised and lowered under the fork prongs in order to support the fork prongs on the ground.
  • the support rollers enable heavy loads to be picked up even when the load handling equipment protrudes far.
  • the basic vehicle preferably has a chassis with wheels that have a diameter of at least 10 cm.
  • the basic vehicle has a ground clearance of at least 5 cm.
  • the basic vehicle has a height-adjustable, in particular a liftable and lowerable, chassis.
  • the ground clearance of the basic vehicle can be increased in a simple manner and, on the other hand, an improved all-round view for the Basic vehicle arranged sensors, for example navigation sensors and personal protection systems, can be achieved.
  • the basic vehicle expediently has at least one sensor for environmental monitoring.
  • the sensor can be designed as a laser scanner or as a camera.
  • Several sensors with different sensor technologies can also be attached at different points on the basic vehicle.
  • the height of the base vehicle gives the sensors a good overview of the surroundings.
  • the sensors can be used to navigate the truck freely without any markings on the floor.
  • the sensors can also be part of a personal protection system of the industrial truck according to the invention.
  • the basic vehicle has an electronic control device that enables fully automatic control of the drive system as well as the load handling equipment and the load handling equipment.
  • the basic vehicle can have a 2D or 3D laser scanner, a mono or stereo camera, or a 3D ToF (time of light) camera, as well as at least one data processing unit for evaluating the sensor data, to recognize the surroundings.
  • the sensor data is used for localization tasks, navigation, load handling and, if necessary, for other interaction with the environment.
  • the invention also relates to a method for loading and / or unloading a loading unit, in particular a loading area of a truck or a freight train wagon, with an autonomous, ground-based industrial truck of the type described.
  • the loads are preferably picked up and deposited on opposite sides of the truck in the direction of travel, the truck according to the invention being moved back and forth between the pickup position and the standby position without a turning process.
  • the loads are thus absorbed at a receiving position from one side of the basic vehicle.
  • the truck is then driven to the ready position.
  • the loads are set down by means of the height-adjustable load suspension device on the opposite side of the basic vehicle by lowering the load suspension device on the ground.
  • the loads can be conveyed further from the load platform of the basic vehicle to the load handling device by means of the load conveyor.
  • the loads are thus passed through from one side of the basic vehicle to the opposite side, which means that turning the industrial truck, for example when loading or unloading a truck, can be dispensed with.
  • the loads to be loaded can be picked up from a pick-up position at the same height as the load platform of the basic vehicle, in particular a stationary roller conveyor or a stationary conveyor belt.
  • an industrial truck is preferably used in which at least one height-adjustable load handling device with a horizontally conveying load conveyor is attached to opposite sides of the base vehicle in the direction of travel.
  • the loads to be loaded can be lowered by lowering one of the two load handling devices on one Can be picked up from the floor.
  • the industrial truck is then driven to a ready position. There, the load is set down on the ground by means of the opposite load suspension device by lowering this load suspension device.
  • the invention has a number of advantages:
  • the industrial truck according to the invention no longer has to turn around when loading and unloading a loading unit, for example a truck or a freight train wagon. This significantly reduces the time required for loading and unloading. This means that more loading units can be loaded at a loading dock or loading ramp and fewer industrial trucks are required for the same handling performance.
  • the industrial truck according to the invention can be used on loading docks or loading ramps with lane shoulders and lane edges that are customary today.
  • the industrial truck according to the invention Due to the high position of the load on the industrial truck according to the invention, the industrial truck according to the invention has a 360 ° all-round view for navigation and personal protection systems. As a result, the industrial truck according to the invention can travel relatively quickly and precisely and no markings are required on the floor for navigation.
  • FIG. 1 the loading of a truck 1 with a conventional, for example designed as a pallet truck or high-lift truck 2, industrial truck 2 at a loading dock is shown.
  • the load 3 to be loaded comprises pallets 8, 9 which are provided on a stationary roller conveyor 4.
  • the industrial truck 2 picks up the pallet 8 from the roller conveyor 4 with its fork prongs 5, moves back (arrow P1), turns 180 ° (arrows P2) and drives over the loading ramp 6 onto the loading area 7 of the truck 1 (arrow P3 ).
  • the industrial truck 2 sets the pallet 8 by lowering the fork prongs 5 on the floor.
  • the industrial truck 2 then moves backwards out of the truck 1 (arrow P4), turns again by 180 ° (arrow P5) and moves forward to the next pallet 9 provided on the roller conveyor 4 in order to pick it up from the roller conveyor 4 with the forks 5 (Arrow P6).
  • the Figure 2 shows a schematic representation of the vehicle structure of the autonomous, driverless industrial truck 20 according to the invention.
  • the industrial truck 20 comprises a basic vehicle 21 with a load platform 26, which is provided with a load conveyor 22 designed, for example, as a roller conveyor 22.
  • a pallet deposited on the load platform 26 can be moved in the horizontal direction.
  • the base vehicle 21 furthermore comprises a drive system comprising a travel drive and several wheels 25, at least one of which is designed as a drive wheel and with which the base vehicle 21 is supported on the ground.
  • a height-adjustable load handling device 23 in the form of a fork system with a stroke H is attached to the base vehicle 21.
  • the fork prong system with a lift preferably comprises two fork prongs which are arranged at a distance from one another in the transverse direction of the vehicle and each have only horizontal sections which are designed in such a way that the two fork prongs can be inserted into the two pockets of a pallet.
  • the two fork prongs can be raised and lowered by means of a corresponding lifting device 35 on the base vehicle 21 in order to achieve the stroke H.
  • the load handling device 23 has its own load conveyor 24, for example designed as a roller conveyor 24, with which the pallet can be moved back and forth between the base vehicle 21 and the load handling device 23 in cooperation with the load conveyor 22.
  • the load conveying means 22, 24 are preferably designed in such a way that they can dip into the two pockets of a pallet.
  • the pallets are preferably picked up longitudinally by the load conveying means 22, 24.
  • the pallets are preferably euro pallets.
  • a pallet deposited on the load platform 26 of the base vehicle 21 it is first conveyed to the raised load suspension device 23 by means of the load conveyor 22, 24 and then set down on the floor by lowering the load suspension device 23.
  • a pallet With the load handling device 23, a pallet can also be inserted into the pockets of a pallet standing on the floor and the pallet can be raised. With the load handling device 23 raised, the pallet can then be conveyed from the load handling device 23 onto the load platform 26 of the base vehicle 21 using the load conveying devices 22, 24.
  • the basic vehicle 21 itself does not have to drive under a pallet standing on the ground, it can be built comparatively high and have large drive wheels 25 which allow sufficient ground clearance to also be able to drive on loading ramps 6 with steps.
  • FIG. 3 a first phase of the loading process of a truck 1 at a loading dock with a loading ramp 6 with the industrial truck 20 according to the invention is illustrated.
  • the upper figure of the Figure 3 shows how the industrial truck 20 approaches a pick-up position A of a stationary roller conveyor 4 in order to pick up two pallets 8, 9.
  • the load suspension device 23 is raised.
  • the pallets 8, 9 can be moved at the same level from the stationary roller conveyor 4 onto the load platform 26 and onto the load suspension means 23.
  • the pick-up of the pallets 8, 9 at the pick-up position A takes place in such a way that first the first pallet 8 is loaded onto the load platform 26 of the basic vehicle 21 and is conveyed onward from the load platform 26 to the raised load pick-up device 23 by means of the load conveying means 22, 24, and then the second pallet 9 is loaded onto the load platform 26 of the base vehicle 21.
  • the truck 20 is shown in the loaded state.
  • the first pallet 8 is placed on the load handling device 23, while the second pallet 9 is positioned on the base vehicle 21.
  • the industrial truck 20 drives, preferably with the load handling device 23 raised, over the loading ramp 6 onto the loading area 7 of the truck 1 in order to deposit the pallets 8, 9 at a ready position B (arrow P10).
  • the Figure 4 shows a second phase of the charging process.
  • the upper figure of the Figure 4 shows how the industrial truck 20 has arrived on the loading area 7 of the truck 1 at the ready position B.
  • the load suspension means 23 By lowering the load suspension means 23, the first pallet 8 located on the load suspension means 23 can be lowered onto the loading surface 7 and thus the floor.
  • the pallet 8 is already placed on the loading area 7 of the truck 1.
  • the load handling device 23 was lowered so that the pallet 8 touches the floor.
  • the load handling device 23 was then pulled out of the pallet 8 by moving the industrial truck 20 back by one pallet length.
  • a third phase of the charging process is shown.
  • the second pallet 9 located on the base vehicle 21 is conveyed at the same level from the base vehicle 21 to the load handling device 23 by means of the load conveying devices 22 and 24.
  • the load handling device 23 is lowered again.
  • the second pallet 9 located on the load handling device 23 touches the loading area 7 and thus the floor, so that the second pallet 9 comes to lie behind the first pallet 8 on the loading area 7 of the truck 1.
  • the load handling device 23 can then be pulled out of the pallet 9 by moving the industrial truck 20 back and raised again.
  • the industrial truck 20 can drive out of the truck 1 again and drive back to the roller conveyor 4 (arrow P11 in FIG Figure 3 ) to pick up the next two pallets 18, 19.
  • the Figure 6 shows a variant of the industrial truck 20 according to the invention, which has two height-adjustable load handling devices 23a and 23b with corresponding load conveying devices (not shown in detail), which are arranged on the front side and on the opposite rear side of the basic vehicle 21.
  • This configuration enables floor-to-floor transport of pallets.
  • the pallet 8 can, for example, be picked up from the floor by the lowered load handling device 23a at a pickup position A, conveyed onto the load platform 26 of the base vehicle 21 after the load pickup device 23a has been lifted, transported to a ready position B, conveyed to the load pickup device 23b and lowered of the load suspension means 23b are deposited on the floor.
  • the different phases of the charging process are shown in the superimposed images on the left of the Figure 6 illustrated.
  • the industrial truck 20 of the Figure 6 also has height-adjustable support rollers 27 on the load suspension means 23a and 23b and thus liftable and lowerable support rollers 27 with which the load suspension means 23a and 23b can be supported on the floor. In this way, heavy loads can also be carried. It goes without saying that in the exemplary embodiment as well Figures 2 to 5 at least one liftable and lowerable support roller can be arranged on the load-bearing means 23 in order to be able to support the load-bearing means 23 with a picked-up load on the floor.
  • FIG. 6 shows yet another embodiment of the industrial truck 20 according to the invention, in which the basic vehicle 21 has a lifting mechanism HM with which the chassis of the basic vehicle 21 can be raised and lowered in order to enable the height of the entire basic vehicle 21 to be adjusted.
  • a lifting mechanism HM with which the chassis of the basic vehicle 21 can be raised and lowered in order to enable the height of the entire basic vehicle 21 to be adjusted.
  • the industrial truck 20 according to the invention can also be more than two plate lengths long, for example, in order to be able to transport three or four pallets one behind the other on the load platform 26 and on the load handling device 23. As a result, the number of driving cycles required for loading a truck 1 can be reduced.
  • the industrial truck 20 according to the invention can also be more than a plate width wide in order, for example, to be able to transport two or three pallets in each case on the load platform 26 and on the load handling device 23 next to one another. As a result, the number of driving cycles required for loading a truck 1 can be further reduced.
  • the industrial truck 20 according to the invention can also be used to unload a truck 1.
  • the industrial truck 20 according to the invention can also be used for other loading activities, for example the loading and unloading of stationary conveyor systems or the loading and unloading of tugger trains.

Description

Die Erfindung betrifft ein autonomes, bodengebundenes Flurförderzeug, welches ein Grundfahrzeug mit einem Fahrantrieb und einer Lastplattform umfasst, auf der eine Last positionierbar ist, wobei die Lastplattform mit einem ersten horizontal fördernden Lastfördermittel versehen ist, das dazu ausgebildet ist, die auf der Lastplattform abgelegte Last in horizontaler Richtung zu bewegen.The invention relates to an autonomous, ground-based industrial truck, which comprises a base vehicle with a drive and a load platform on which a load can be positioned, the load platform being provided with a first horizontally conveying load conveyor which is designed to carry the load placed on the load platform to move in the horizontal direction.

Außerdem betrifft die Erfindung ein Verfahren zum Be- oder Entladen einer Ladeeinheit, insbesondere einer Ladefläche eines Lastkraftwagens oder eines Güterzugwagons, mit einem autonomen, bodengebundenen Flurförderzeug.The invention also relates to a method for loading or unloading a loading unit, in particular a loading area of a truck or a freight train wagon, with an autonomous, ground-based industrial truck.

Zum Transportieren von Lasten werden bei logistischen Prozessen, z.B. beim Be- und Entladen von Lastkraftwagen, in jüngster Zeit häufig fahrerlose Transportfahrzeuge verwendet. Unter fahrerlosen Transportfahrzeugen (FTF, englisch: Automated Guided Vehicle, AGV) versteht man bodengebundene Förderfahrzeuge mit eigenem Fahrantrieb, die automatisch gesteuert und berührungslos geführt werden. Die fahrerlosen Transportfahrzeuge werden mit den Lasten beladen oder nehmen die Lasten selbständig auf. Bei den Lasten handelt es sich meist um mit Waren beladene Paletten. Dabei können die Waren lose oder in Transportbehältnissen, z.B. Boxen, auf den Paletten abgelegt sein.Driverless transport vehicles have recently been used frequently to transport loads in logistical processes, e.g. when loading and unloading trucks. Driverless transport vehicles (AGV) are ground-based conveyor vehicles with their own drive, which are automatically controlled and guided without contact. The driverless transport vehicles are loaded with the loads or pick up the loads independently. The loads are mostly pallets loaded with goods. The goods can be placed loose or in transport containers, e.g. boxes, on the pallets.

Wenn Paletten über kurze Strecken transportiert werden, z.B. von einer Rollenbahn in einen Lastkraftwagen, oder aus einem Lastkraftwagen in eine Wareneingangszone, dann muss ein klassisches Palettenfahrzeug, beispielsweise ein Niederhubwagen oder ein Hochhubwagen mit einer von zwei Gabelzinken gebildeten Lastgabel, pro Zyklus zweimal um 180° drehen und somit wenden. Der Zeitanteil des Fahrzeugdrehens ist bei manuell betriebenen Fahrzeugen schon relativ hoch. Bei automatisierten Fahrzeugen kann das Wendemanöver der größte Zeitanteil im Prozess sein.If pallets are transported over short distances, e.g. from a roller conveyor to a truck, or from a truck to a goods receiving area, then a classic pallet truck, e.g. a pallet truck or a high-lift truck with a fork made of two forks, has to rotate 180 ° twice per cycle turn and thus turn. The proportion of time it takes to turn the vehicle is already relatively high in manually operated vehicles. In the case of automated vehicles, the turning maneuver can take up most of the time in the process.

Es sind zwei Fahrzeugtypen bekannt, die eine Palette auf der einen Seite aufnehmen und auf der anderen Seite wieder abgeben können.There are two known types of vehicle that can pick up a pallet on one side and return it on the other.

Zum einen gibt es so genannte autonome Unterfahrfahrzeuge mit Fördertechnik. Dabei handelt es sich um automatisierte, flache Fahrzeuge mit einer Lastplattform, welche z.B. eine Rollenbahn als Lastfördermittel zum Verschieben der Last auf dem Fahrzeug mit sich führen. Somit kann eine Palette beispielsweise von einer stationären Rollenbahn auf einer Seite des Fahrzeugs aufgenommen und an einer anderen stationären Rollenbahn von der gegenüberliegenden Seite des Fahrzeugs wieder abgesetzt werden. Da sich die Lastplattform in einer festen Höhe auf dem Fahrzeug befindet, kann die Last nur an Bereitstellungspositionen abgesetzt werden, die höhengleich mit der Lastplattform sind. Von Nachteil ist hierbei, dass die aufgenommene Palette nicht auf dem Boden (z.B. in einem Lastkraftwagen) abgesetzt werden kann.On the one hand, there are so-called autonomous undercarriage vehicles with conveyor technology. These are automated, flat vehicles with a load platform, which e.g. carry a roller conveyor as a load conveyor to move the load on the vehicle. Thus, a pallet can be picked up, for example, by a stationary roller conveyor on one side of the vehicle and set down again on another stationary roller conveyor from the opposite side of the vehicle. Since the load platform is at a fixed height on the vehicle, the load can only be set down at staging positions that are at the same height as the load platform. The disadvantage here is that the pallet that has been picked up cannot be set down on the floor (e.g. in a truck).

Zum anderen wurden auch schon selbstfahrende Gabelzinken mit angetriebenen Rädern vorgeschlagen. Solche selbstfahrenden Gabelzinken können unter eine auf einem Boden stehende Palette fahren, diese anheben und transportieren. Hierbei ist aber von Nachteil, dass die selbstfahrenden Gabelzinken prinzipbedingt niedriger als die Taschen einer Palette sein müssen, in die die selbstfahrende Gabelzinken einfahren. Dadurch können die angetriebenen Räder der selbstfahrende Gabelzinken auch nur sehr klein ausfallen. Somit sind derartige selbstfahrende Gabelzinken nicht in der Lage, über die Absätze einer typischen Laderampe zu fahren. Außerdem ist durch die komplette Positionierung der selbstfahrenden Gabelzinken innerhalb der Palette das Sichtfeld von an den selbstfahrenden Gabelzinken angebrachten Sensoren sehr eingeschränkt, wodurch eine freie Navigation, ohne Markierungen am Boden, kaum möglich ist.On the other hand, self-propelled forks with driven wheels have also been proposed. Such self-propelled forks can drive under a pallet standing on a floor, lift it and transport it. The disadvantage here, however, is that the self-propelled fork tines must, in principle, be lower than the pockets of a pallet into which the self-propelled fork tines move. As a result, the driven wheels of the self-propelled forks can only be very small. Thus, such self-propelled forks are not able to drive over the ledges of a typical loading ramp. In addition, due to the complete positioning of the self-propelled forks within the pallet, the field of vision of the sensors attached to the self-propelled forks is very limited, which means that free navigation without markings on the ground is hardly possible.

Aus der CN 204 873 728 U ist ein bodengebundenes Flurförderzeug zur Handhabung von Papierprodukten bekannt, bei dem an einem Mast eine Gabelträgereinrichtung höhenverstellbar angeordnet ist. Die Gabelträgereinrichtung besteht aus einer breiteren Rollenbahn und einer schmäleren Rollenbahn, die an dem vorderen Ende der breiteren Rollenbahn fest angeordnet ist.From the CN 204 873 728 U a ground-based industrial truck for handling paper products is known, in which a fork carrier device is arranged on a mast so as to be adjustable in height. The fork carrier device consists of a wider roller conveyor and a narrower roller conveyor, which is fixedly arranged at the front end of the wider roller conveyor.

Die WO 2018/131007 A1 offenbart ein autonomes Flurförderzeug mit einem verschiebbaren Hubmast, an dem Lastgabeln mittels einer Scherenhubeinrichtung anhebbar und absenkbar angeordnet sind.the WO 2018/131007 A1 discloses an autonomous industrial truck with a displaceable lifting mast on which load forks can be raised and lowered by means of a scissor lifting device.

Die US 2 466 055 A offenbart ein Flurförderzeug, bei dem das Lastaufnahmemittel nebeneinander angeordnete Rollenbahnen und auf den Rollenbahnen laufende Förderbänder aufweist, wodurch eine Last mittels der Förderbänder aufgenommen und abgesetzt werden kann.the U.S. 2,466,055 A discloses an industrial truck in which the load-carrying means has roller tracks arranged next to one another and conveyor belts running on the roller tracks, as a result of which a load can be picked up and deposited by means of the conveyor belts.

Der vorliegenden Erfindung liegt die Aufgabe zugrunde, ein Flurförderzeug der eingangs genannten Art sowie ein Verfahren zum Beladen einer Ladeeinheit mit dem Flurförderzeug so auszugestalten, dass einerseits auch Ladeeinheiten mit unebenem Zugang beladen werden können und andererseits die Last auch auf dem Boden abgesetzt und/oder vom Boden aufgenommen werden kann.The present invention is based on the object of designing an industrial truck of the type mentioned and a method for loading a loading unit with the industrial truck so that, on the one hand, loading units with uneven access can also be loaded and, on the other hand, the load can also be placed on the ground and / or off Soil can be absorbed.

Diese Aufgabe wird beim Flurförderzeug erfindungsgemäß dadurch gelöst, dass an dem Grundfahrzeug mindestens ein höhenverstellbares Lastaufnahmemittel mit einem weiteren horizontal fördernden Lastfördermittel angebracht ist, wobei das Lastaufnahmemittel derart ausgebildet ist, dass im abgesenkten Zustand des Lastaufnahmemittels die mit dem Lastaufnahmemittel aufgenommene Last auf dem Boden aufsetzt, und im angehobenen Zustand des Lastaufnahmemittels das Lastfördermittel des Lastaufnahmemittels mit dem Lastfördermittel des Grundfahrzeugs eine gemeinsame Förderebene bildet, auf der die Last zwischen der Lastplattform des Grundfahrzeugs und dem Lastaufnahmemittel horizontal hin- und herbewegbar ist, wobei das Grundfahrzeug über eine elektronische Steuerungseinrichtung verfügt, die eine vollautomatische Steuerung des Fahrantriebs sowie des Lastaufnahmemittels und der Lastfördermittel ermöglicht.In the case of the industrial truck, this object is achieved according to the invention in that at least one height-adjustable load handling device with a further horizontally conveying load handling device is attached to the base vehicle, the load handling device being designed in such a way that when the load handling device is lowered, the load picked up by the load handling device touches the ground, and in the raised state of the load handling device, the load handling device of the load handling device forms a common conveying level with the load handling device of the basic vehicle, on which the load can be moved horizontally to and fro between the load platform of the basic vehicle and the load handling device, the basic vehicle having an electronic control device that has a enables fully automatic control of the drive system as well as the load handling device and the load handling device.

Durch das zusätzlich zum Grundfahrzeug vorgesehene höhenverstellbare Lastaufnahmemittel mit horizontal förderndem Lastfördermittel wird erreicht, dass das Grundfahrzeug selbst höher bauen kann. Die Höhe des Grundfahrzeugs ist nicht mehr dadurch begrenzt, dass es die auf dem Boden stehende Last unterfahren können muss. Das Aufnehmen und/oder Absetzen der Last übernimmt nun das höhenverstellbare Lastaufnahmemittel. Dabei wird durch das horizontal fördernde Lastfördermittel ein Verschieben der Last vom Grundfahrzeug zum Lastaufnahmemittel bzw. vom Lastaufnahmemittel zum Grundfahrzeug ermöglicht. Aufgrund der möglichen größeren Höhe des Grundfahrzeugs können größere Räder, insbesondere größere Antriebsräder, am Grundfahrzeug verbaut werden, die das Befahren von unebenen Zugängen zur Ladeeinheit, z.B. von Laderampen mit Absätzen oder Fahrbahnkanten, erlauben. Trotz der Höhe des Grundfahrzeugs und somit der darauf angeordneten Lastplattform kann die Last aufgrund des Vorhandenseins des Lastaufnahmemittels vom Boden aufgenommen und/oder auf dem Boden abgesetzt werden.The height-adjustable load handling device with horizontally conveying load conveyor, which is provided in addition to the basic vehicle, means that the basic vehicle itself can build higher. The height of the basic vehicle is no longer limited by the fact that it must be able to drive under the load on the ground. Picking up and / or setting down the load is now carried out by the height-adjustable load handling device. The horizontally conveying load conveyor shifts the load from the base vehicle to the load handling device or from the load handling device to the basic vehicle. Due to the possible greater height of the basic vehicle, larger wheels, in particular larger drive wheels, can be installed on the basic vehicle, which allow driving on uneven entrances to the loading unit, for example loading ramps with steps or lane edges. Despite the height of the base vehicle and thus the load platform arranged on it, the load can be picked up from the ground and / or set down on the ground due to the presence of the load-bearing means.

Mit der Erfindung wird also insbesondere ein Flurförderzeug zur Verfügung gestellt, welches beispielsweise bei der Beladung von Lastkraftwagen nicht mehr wenden muss, aufgrund der großen angetriebenen Räder auch unebene Laderampen sowie Absätze und Fahrbahnkanten befahren kann und eine Palette vom Boden aufnehmen und/oder auf den Boden absetzen kann.With the invention, in particular, an industrial truck is made available which, for example, no longer has to turn when loading trucks, can also drive on uneven loading ramps as well as ledges and road edges due to the large driven wheels and pick up a pallet from the floor and / or onto the floor can settle.

Dabei kombiniert das erfindungsgemäße Flurförderzeug die Vorteile eines autonomen Unterfahrfahrzeugs mit Fördertechnik, die darin bestehen, dass Absätze oder Fahrbahnkanten überfahren werden können, mit den Vorteilen eines Niederhubwagens und den Vorteilen von selbst fahrenden Gabelzinken, die darin bestehen, dass eine Last vom Boden aufgenommen bzw. auf den Boden abgesetzt werden kann.The industrial truck according to the invention combines the advantages of an autonomous underride vehicle with conveyor technology, which consist in the fact that steps or road edges can be driven over, with the advantages of a pallet truck and the advantages of self-propelled forks, which consist in the fact that a load is picked up or removed from the ground. can be placed on the floor.

Das erfindungsgemäße Flurförderzeug umfasst ein Grundfahrzeug, welches ähnlich wie ein klassisches autonomes Unterfahrfahrzeug aufgebaut sein kann. Wie bei autonomen Unterfahrfahrzeugen ist auf dem Grundfahrzeug ein Lastfördermittel installiert, um die Last, z.B. eine Palette, auf der Lastplattform des Grundfahrzeugs in einer Dimension, insbesondere in horizontaler Richtung, bewegen zu können.The industrial truck according to the invention comprises a basic vehicle which can be constructed in a similar way to a classic autonomous underride vehicle. As with autonomous undercarriage vehicles, a load conveyor is installed on the base vehicle in order to be able to move the load, e.g. a pallet, on the load platform of the base vehicle in one dimension, in particular in the horizontal direction.

Der Erfindung liegt nun die Überlegung zu Grunde, dieses Grundfahrzeug mit einem höhenverstellbaren Lastaufnahmemittel, insbesondere in Form eines Gabelzinkensystems mit Hub, zu kombinieren. Das Gabelzinkensystem mit Hub umfasst bevorzugt zwei in Fahrzeugquerrichtung voneinander beabstandet angeordnete Gabelzinken, die jeweils nur horizontale Abschnitte aufweisen, die derart ausgebildet sind, dass die beiden Gabelzinken in die beiden Taschen einer Palette eingeführt werden können. Die beiden Gabelzinken sind mittels einer entsprechenden Hubeinrichtung am Grundfahrzeug anhebbar und absenkbar angeordnet, um den Hub zu erzielen. Dadurch können Paletten mit dem erfindungsgemäßen Flurförderzeug auf dem Boden abgesetzt und/oder vom Boden aufgenommen werden. Teil der Überlegung ist auch, dass die Gabelzinken über keinen vertikalen Gabelzinkenrücken verfügen, um ein Durchschieben der Paletten vom Grundfahrzeug auf die Gabelzinken bzw. von den Gabelzinken auf das Grundfahrzeug zu ermöglichen. Darüber hinaus verfügen die Gabelzinken mit dem weiteren horizontal fördernden Lastfördermittel über eine eigene Fördertechnik, um die Palette vom Grundfahrzeug übernehmen zu können. Das erfindungsgemäße Flurförderzeug ermöglicht somit ein Beladen und/oder Entladen von Lastkraftwagen ohne Wenden.The invention is based on the idea of combining this basic vehicle with a height-adjustable load suspension device, in particular in the form of a fork system with a lift. The fork prong system with a lift preferably comprises two fork prongs which are arranged at a distance from one another in the transverse direction of the vehicle and each have only horizontal sections which are designed in such a way that the two fork prongs can be inserted into the two pockets of a pallet. The two fork prongs can be raised and lowered by means of a corresponding lifting device on the basic vehicle in order to achieve the lift. As a result, pallets can be opened with the industrial truck according to the invention deposited on the ground and / or picked up from the ground. Part of the consideration is also that the fork tines do not have a vertical fork tine back in order to enable the pallets to be pushed through from the base vehicle onto the fork tines or from the fork tines onto the base vehicle. In addition, the fork tines with the other horizontally conveying load conveyor have their own conveyor technology in order to be able to take over the pallet from the basic vehicle. The industrial truck according to the invention thus enables loading and / or unloading of trucks without turning.

Weiterhin liegt der Erfindung die Erkenntnis zu Grunde, dass durch dieses zusätzliche Gabelzinkensystem mit Hub das Grundfahrzeug selbst höher sein kann, wodurch größere Räder, insbesondere größere Antriebsräder, am Grundfahrzeug verbaut werden können. Durch die damit verbundene hohe Transportposition der Paletten hat das erfindungsgemäße Flurförderzeug eine gute Rundumsicht, die beispielsweise für Navigationssensoren und Personenschutzanlagen genutzt werden kann.Furthermore, the invention is based on the knowledge that the basic vehicle itself can be higher due to this additional fork system with a lift, whereby larger wheels, in particular larger drive wheels, can be installed on the basic vehicle. Due to the associated high transport position of the pallets, the industrial truck according to the invention has a good all-round view that can be used, for example, for navigation sensors and personal protection systems.

Die Lastfördermittel des Grundfahrzeugs und des Lastaufnahmemittels können auf verschiedene Weisen realisiert sein. In einer bevorzugten Ausgestaltung umfasst das Lastfördermittel mindestens eine Rollenbahn, bevorzugt eine angetriebene Rollenbahn.The load conveying means of the basic vehicle and the load handling means can be implemented in different ways. In a preferred embodiment, the load conveyor comprises at least one roller conveyor, preferably a driven roller conveyor.

Eine andere Ausgestaltung sieht vor, dass das Lastfördermittel mindestens ein Transportband umfasst, bevorzugt ein angetriebenes Transportband.Another embodiment provides that the load conveyor comprises at least one conveyor belt, preferably a driven conveyor belt.

Zweckmäßigerweise sind die Lastplattform und das Lastaufnahmemittel für eine Aufnahme von Paletten als Last ausgebildet.The load platform and the load-bearing means are expediently designed for receiving pallets as a load.

In einer besonders bevorzugten Ausführungsform weisen die Lastplattform und/oder das Lastaufnahmemittel jeweils eine Länge auf, die mindestens der Länge von einer Palette entspricht. Dadurch können mit dem erfindungsgemäßen Flurförderzeug mindestens zwei Paletten hintereinander aufgenommen werden. Eine Palette kann auf dem höhenverstellbaren Lastaufnahmemittel, z.B. auf den Gabelzinken, positioniert werden und eine weitere Palette auf der Lastplattform des Grundfahrzeugs. Beim Abladen der Paletten kann zunächst die auf dem Lastaufnahmemittel positionierte Palette auf den Boden abgesetzt werden. Danach kann das Fahrzeug soweit zurückfahren, dass sich das Lastaufnahmemittel außerhalb der Palette befindet. Nun kann die zweite, auf der Lastplattform des Grundfahrzeugs befindliche Palette auf das Lastaufnahmemittel gefördert und auf dem Boden abgesetzt werden. Sofern das erfindungsgemäße Flurförderzeug mindestens zwei Palettenlängen lang ist und somit mindestens zwei Paletten hintereinander transportieren kann, kann die Anzahl der Fahrzyklen zum Beladen bzw. Entladen eines Lastkraftwagens verringert werden.In a particularly preferred embodiment, the load platform and / or the load suspension means each have a length which corresponds at least to the length of a pallet. As a result, at least two pallets can be picked up one behind the other with the industrial truck according to the invention. One pallet can be positioned on the height-adjustable load handling device, for example on the forks, and another pallet on the load platform of the basic vehicle. When unloading the pallets, the pallet positioned on the load handling device can first be set down on the floor. The vehicle can then move back so far that the load handling device is outside the pallet. so the second pallet located on the load platform of the basic vehicle can be conveyed onto the load handling device and placed on the ground. If the industrial truck according to the invention is at least two pallet lengths long and can thus transport at least two pallets one behind the other, the number of driving cycles for loading or unloading a truck can be reduced.

Eine weitere vorteilhafte Ausgestaltung sieht vor, dass die Lastplattform und/oder das Lastaufnahmemittel jeweils eine Breite aufweisen, die der Breite von mindestens einer Palette entspricht. Sofern die Lastplattform und/oder das Lastaufnahmemittel jeweils eine Breite aufweisen, die der Breite von einer einzelnen Palette entspricht, ist das Flurförderzeug bevorzugt derart ausgeführt, dass es maximal die Breite einer einzelnen aufgenommene Palette hat. Dadurch können die aufgenommenen Paletten ohne Abstand an die Seitenwand auf einer Ladefläche des Lastkraftwagens abgesetzt werden. Üblicherweise sind die Ladeflächen von Lastkraftwagen so breit, dass zwei Paletten quer bzw. drei Paletten längs nebeneinander Platz finden. Sofern das erfindungsgemäße Flurförderzeug so breit ist, dass mindestens zwei bzw. drei Paletten nebeneinander transportieren werden können, können somit mindestens zwei bzw. drei Paletten nebeneinander gleichzeitig geladen, transportiert und auf den Boden abgeladen werden. Dadurch kann die Anzahl der Fahrzyklen zum Beladen bzw. Entladen eines Lastkraftwagens weiter verringert werden, da pro Fahrzyklus insgesamt vier bzw. sechs Paletten gehandhabt werden können. Sofern die Lastplattform und/oder das Lastaufnahmemittel jeweils eine Breite aufweisen, die der Breite von zwei Paletten bzw. drei Paletten entspricht, ist das Flurförderzeug bevorzugt derart ausgeführt, dass es maximal die Breite von zwei nebeneinander aufgenommenen Paletten bzw. von drei drei nebeneinander aufgenommenen Paletten hat. Dadurch können die aufgenommenen Paletten ohne Abstand an die Seitenwand auf einer Ladefläche des Lastkraftwagens abgesetzt werden.A further advantageous embodiment provides that the load platform and / or the load suspension means each have a width that corresponds to the width of at least one pallet. If the load platform and / or the load suspension means each have a width that corresponds to the width of an individual pallet, the industrial truck is preferably designed such that it is at most the width of an individual pallet. As a result, the pallets that have been picked up can be set down on a loading area of the truck without a gap on the side wall. The loading areas of trucks are usually so wide that there is space for two pallets across or three pallets side by side. If the industrial truck according to the invention is so wide that at least two or three pallets can be transported next to one another, at least two or three pallets can be loaded, transported and unloaded onto the floor at the same time. As a result, the number of driving cycles for loading or unloading a truck can be further reduced, since a total of four or six pallets can be handled per driving cycle. If the load platform and / or the load handling device each have a width that corresponds to the width of two pallets or three pallets, the industrial truck is preferably designed in such a way that it has a maximum width of two pallets or three pallets received next to one another Has. As a result, the pallets that have been picked up can be set down on a loading area of the truck without a gap on the side wall.

In der Regel werden die Paletten heute schon über eine automatisierte stationäre Rollenbahn, beispielsweise an einer Laderampe, bereitgestellt. Von dieser stationären Rollenbahn können die Paletten bei Höhengleichheit von Rollenbahn und Lastfördermittel des Grundfahrzeugs direkt auf die Lastplattform des Grundfahrzeugs übergeben werden und mittels der Lastfördermittel auf das Lastaufnahmemittel weitergefördert werden. Nach dem Transport zur Bereitstellungsposition, beispielsweise im Laderaum eines Lastkraftwagens, kann die Palette mittels des höhenverstellbaren Lastaufnahmemittels auf dem Boden abgesetzt werden.As a rule, the pallets are already made available today via an automated stationary roller conveyor, for example at a loading ramp. From this stationary roller conveyor, the pallets can be transferred directly to the load platform of the basic vehicle if the roller conveyor and load conveyor of the basic vehicle are the same height and can be conveyed on to the load handling device by means of the load conveyor. After transport to the staging position, For example, in the loading space of a truck, the pallet can be set down on the floor by means of the height-adjustable load handling device.

Um einen Boden-Boden-Transport von Paletten mit einem erfindungsgemäßen Flurförderzeug ohne Wenden durchführen zu können, ist gemäß einer Weiterentwicklung der Erfindung vorgesehen, dass an mindestens zwei gegenüberliegenden Seiten des Grundfahrzeugs jeweils mindestens ein höhenverstellbares Lastaufnahmemittel mit einem horizontal fördernden Lastfördermittel angebracht ist, so dass die Last von beiden Seiten vom Boden aufnehmbar und auf den Boden absetzbar ist. Auf diese Weise kann das erfindungsgemäße Flurförderzeug beidseitig die Last vom Boden sowohl aufnehmen als auch absetzen. Damit ist also eine Beladung eines Lastkraftwagens auch dann, ohne wenden zu müssen, möglich, wenn keine stationäre Rollenbahn an der Laderampe vorhanden ist.In order to be able to carry out a floor-to-floor transport of pallets with an industrial truck according to the invention without turning, a further development of the invention provides that at least one height-adjustable load handling device with a horizontally conveying load conveyor is attached to at least two opposite sides of the basic vehicle, so that the load can be picked up from both sides of the floor and lowered onto the floor. In this way, the industrial truck according to the invention can both pick up and set down the load from the ground on both sides. This means that a truck can also be loaded without having to turn around when there is no stationary roller conveyor on the loading ramp.

Zur Reduzierung des Gesamtfahrzeuggewichts können am Lastaufnahmemittel Stützrollen vorgesehen sein, insbesondere anhebbare und absenkbare Stützrollen. Die Stützrollen können beispielsweise unter den Gabelzinken anhebbar und absenkbar angebracht sein, um die Gabelzinken auf dem Boden abzustützen. Die Stützrollen ermöglichen auch bei weit ausragenden Lastaufnahmemitteln die Aufnahme schwerer Lasten.To reduce the total vehicle weight, support rollers can be provided on the load suspension device, in particular support rollers that can be raised and lowered. The support rollers can, for example, be attached so that they can be raised and lowered under the fork prongs in order to support the fork prongs on the ground. The support rollers enable heavy loads to be picked up even when the load handling equipment protrudes far.

Um auch besonders unebene Zugänge zu Ladeeinheiten, z.B. Laderampen mit hohen Absätzen oder Fahrbahnkanten, bewältigen zu können, verfügt das Grundfahrzeug vorzugsweise über ein Fahrwerk mit Rädern, die einen Durchmesser von mindestens 10 cm aufweisen.In order to be able to cope with particularly uneven entrances to loading units, e.g. loading ramps with high steps or lane edges, the basic vehicle preferably has a chassis with wheels that have a diameter of at least 10 cm.

Von Vorteil ist es in diesem Zusammenhang auch, wenn das Grundfahrzeug eine Bodenfreiheit von mindestens 5 cm aufweist.In this context, it is also advantageous if the basic vehicle has a ground clearance of at least 5 cm.

Gemäß einer vorteilhaften Weiterbildung der Erfindung weist das Grundfahrzeug ein höhenverstellbares, insbesondere ein anhebbares und absenkbares, Chassis auf. Dadurch kann einerseits die Bodenfreiheit des Grundfahrzeugs auf einfache Weise erhöht werden und anderseits eine verbesserte Rundumsicht für an dem Grundfahrzeug angeordnete Sensoren, beispielsweise Navigationssensoren und Personenschutzanlagen, erzielt werden.According to an advantageous development of the invention, the basic vehicle has a height-adjustable, in particular a liftable and lowerable, chassis. As a result, on the one hand, the ground clearance of the basic vehicle can be increased in a simple manner and, on the other hand, an improved all-round view for the Basic vehicle arranged sensors, for example navigation sensors and personal protection systems, can be achieved.

Um einen autonomen Betrieb des Flurförderzeugs zu ermöglichen verfügt das Grundfahrzeug zweckmäßigerweise über mindestens einen Sensor zur Umgebungsüberwachung. Dabei kann der Sensor als Laserscanner oder als Kamera ausgebildet sein. Auch mehrere Sensoren mit unterschiedlichen Sensortechniken können an verschiedenen Stellen des Grundfahrzeugs angebracht sein. Dabei ermöglicht die Höhe des Grundfahrzeugs den Sensoren einen guten Überblick über die Umgebung. Mit den Sensoren kann eine freie Navigation des Flurförderzeugs ohne Markierungen am Boden erzielt werden. Die Sensoren können weiterhin Bestandteil einer Personenschutzanlage des erfindungsgemäßen Flurförderzeugs sein.In order to enable autonomous operation of the industrial truck, the basic vehicle expediently has at least one sensor for environmental monitoring. The sensor can be designed as a laser scanner or as a camera. Several sensors with different sensor technologies can also be attached at different points on the basic vehicle. The height of the base vehicle gives the sensors a good overview of the surroundings. The sensors can be used to navigate the truck freely without any markings on the floor. The sensors can also be part of a personal protection system of the industrial truck according to the invention.

Das Grundfahrzeug verfügt über eine elektronische Steuerungseinrichtung, die eine vollautomatische Steuerung des Fahrantriebs sowie des Lastaufnahmemittels und der Lastfördermittel ermöglicht.The basic vehicle has an electronic control device that enables fully automatic control of the drive system as well as the load handling equipment and the load handling equipment.

Beispielsweise kann das Grundfahrzeug zur Umgebungserkennung einen 2D- oder 3D-Laserscanner, eine Mono- oder Stereokamera, oder eine 3D ToF (time of light) - Kamera, sowie mindestens eine Datenverarbeitungseinheit zur Auswertung der Sensordaten aufweisen. Je nach Fähigkeit des Flurförderzeugs werden die Sensordaten für Aufgaben in der Lokalisation, Navigation, Lasthandhabung und gegebenenfalls zur sonstigen Interaktion mit der Umgebung genutzt.For example, the basic vehicle can have a 2D or 3D laser scanner, a mono or stereo camera, or a 3D ToF (time of light) camera, as well as at least one data processing unit for evaluating the sensor data, to recognize the surroundings. Depending on the truck's capabilities, the sensor data is used for localization tasks, navigation, load handling and, if necessary, for other interaction with the environment.

Die Erfindung betrifft ferner ein Verfahren zum Be- und/oder Entladen einer Ladeeinheit, insbesondere einer Ladefläche eines Lastkraftwagens oder eines Güterzugwagons, mit einem autonomen, bodengebundenen Flurförderzeug nach der beschriebenen Art.The invention also relates to a method for loading and / or unloading a loading unit, in particular a loading area of a truck or a freight train wagon, with an autonomous, ground-based industrial truck of the type described.

Bei dem Verfahren wird die gestellte Aufgabe dadurch gelöst, dass nacheinander die folgenden Schritte durchgeführt werden, wobei

  1. a) das Flurförderzeug (20) zu einer Aufnahmeposition (A) gefahren wird,
  2. b) eine erste Last (8) auf die Lastplattform (26) des Grundfahrzeugs (21) aufgeladen wird und mittels der Lastfördermittel (22, 24) von der Lastplattform (26) auf das angehobene Lastaufnahmemittel (23) weitergefördert wird,
  3. c) eine zweite Last (9) auf die Lastplattform (26) des Grundfahrzeugs (21) aufgeladen wird,
  4. d) das Flurförderzeug (20) zu einer Bereitstellungsposition (B) gefahren wird,
  5. e) das Lastaufnahmemittel (23) soweit abgesenkt wird, dass die auf dem Lastaufnahmemittel (23) befindliche erste Last (8) auf dem Boden aufsetzt,
  6. f) das Flurförderzeug (20) soweit zurückgefahren wird, dass die erste Last (8) freisteht,
  7. g) das Lastaufnahmemittel (23) angehoben wird,
  8. h) die zweite Last (9) mittels der Lastfördermittel (22, 24) von der Lastplattform (26) auf das angehobene Lastaufnahmemittel (23) weitergefördert wird,
  9. i) das Lastaufnahmemittel (23) soweit abgesenkt wird, dass die die auf dem Lastaufnahmemittel (23) befindliche zweite Last (9) auf dem Boden aufsetzt,
  10. j) das Flurförderzeug (20) wieder zur Aufnahmeposition (A) gefahren wird,
  11. k) die Schritte b) bis j) solange wiederholt werden, bis alle zu ladenden Lasten geladen sind.
In the case of the method, the object set is achieved in that the following steps are carried out one after the other, wherein
  1. a) the industrial truck (20) is driven to a pick-up position (A),
  2. b) a first load (8) is loaded onto the load platform (26) of the basic vehicle (21) and is conveyed onward from the load platform (26) to the raised load handling means (23) by means of the load conveyor (22, 24),
  3. c) a second load (9) is loaded onto the load platform (26) of the base vehicle (21),
  4. d) the industrial truck (20) is driven to a readiness position (B),
  5. e) the load handling device (23) is lowered so far that the first load (8) located on the load handling device (23) touches the ground,
  6. f) the industrial truck (20) is driven back so far that the first load (8) is free,
  7. g) the load handling device (23) is raised,
  8. h) the second load (9) is conveyed onward from the load platform (26) to the raised load handling device (23) by means of the load conveying means (22, 24),
  9. i) the load handling device (23) is lowered so far that the second load (9) located on the load handling device (23) touches the ground,
  10. j) the industrial truck (20) is driven back to the pick-up position (A),
  11. k) steps b) to j) are repeated until all loads to be charged have been charged.

Vorzugsweise werden die Lasten an in Fahrtrichtung gegenüberliegenden Seiten des Flurförderzeugs aufgenommen und abgesetzt, wobei das erfindungsgemäße Flurförderzeug ohne Wendevorgang zwischen der Aufnahmeposition und der Bereitstellungsposition hin- und hergefahren wird. Die Lasten werden dabei also an einer Aufnahmeposition von einer Seite des Grundfahrzeugs aufgenommen. Anschließend wird das Flurförderzeug zur Bereitstellungsposition gefahren. Dort werden die Lasten mittels des höhenverstellbaren Lastaufnahmemittels auf der gegenüberliegenden Seite des Grundfahrzeugs durch Absenken des Lastaufnahmemittels auf dem Boden abgesetzt. Die Lasten können hierbei mittels der Lastfördermittel von der Lastplattform des Grundfahrzeugs auf das Lastaufnahmemittel weitergefördert werden. Die Lasten werden somit von einer Seite des Grundfahrzeugs zur gegenüberliegenden Seite durchgereicht, wodurch ein Wenden des Flurförderzeugs, beispielsweise beim Beladen oder Entladen eines Lastkraftwagens, entfallen kann.The loads are preferably picked up and deposited on opposite sides of the truck in the direction of travel, the truck according to the invention being moved back and forth between the pickup position and the standby position without a turning process. The loads are thus absorbed at a receiving position from one side of the basic vehicle. The truck is then driven to the ready position. There, the loads are set down by means of the height-adjustable load suspension device on the opposite side of the basic vehicle by lowering the load suspension device on the ground. The loads can be conveyed further from the load platform of the basic vehicle to the load handling device by means of the load conveyor. The loads are thus passed through from one side of the basic vehicle to the opposite side, which means that turning the industrial truck, for example when loading or unloading a truck, can be dispensed with.

Häufig ist an einem Ladedock bzw. einer Laderampe bereits eine erhöhte Aufnahmeposition vorhanden. In diesem Fall können die zu ladenden Lasten von einer zur Lastplattform des Grundfahrzeugs höhengleichen Aufnahmeposition, insbesondere einer stationären Rollenbahn oder einem stationären Transportband, aufgenommen werden.Often there is already an elevated receiving position at a loading dock or a loading ramp. In this case, the loads to be loaded can be picked up from a pick-up position at the same height as the load platform of the basic vehicle, in particular a stationary roller conveyor or a stationary conveyor belt.

Um auch einen Boden-Boden-Transport der Lasten zu ermöglichen, wird vorzugsweise ein Flurförderzeug verwendet, bei dem an in Fahrtrichtung gegenüberliegenden Seiten des Grundfahrzeugs jeweils mindestens ein höhenverstellbares Lastaufnahmemittel mit einem horizontal fördernden Lastfördermittel angebracht ist. Dadurch können die zu ladenden Lasten durch Absenken eines der beiden Lastaufnahmemittels an einer Aufnahmeposition vom Boden aufgenommen werden. Das Flurförderzeug wird anschließend zu einer Bereitstellungsposition gefahren. Dort werden die Last mittels des gegenüberliegenden Lastaufnahmemittels durch Absenken dieses Lastaufnahmemittels auf dem Boden abgesetzt.In order to enable floor-to-floor transport of the loads, an industrial truck is preferably used in which at least one height-adjustable load handling device with a horizontally conveying load conveyor is attached to opposite sides of the base vehicle in the direction of travel. As a result, the loads to be loaded can be lowered by lowering one of the two load handling devices on one Can be picked up from the floor. The industrial truck is then driven to a ready position. There, the load is set down on the ground by means of the opposite load suspension device by lowering this load suspension device.

Die Erfindung weist eine ganze Reihe von Vorteilen auf:
Das erfindungsgemäße Flurförderzeug muss beim Be- und Entladen einer Ladeeinheit, z.B. eines Lastkraftwagens oder eines Güterzugwagons, nicht mehr wenden. Dadurch wird die Zeit zum Be- und Entladen deutlich verkürzt. Somit können mehr Ladeeinheiten an einem Ladedock bzw. einer Laderampe beladen werden und es werden weniger Flurförderzeug für die gleiche Umschlagleistung benötigt.The invention has a number of advantages:
The industrial truck according to the invention no longer has to turn around when loading and unloading a loading unit, for example a truck or a freight train wagon. This significantly reduces the time required for loading and unloading. This means that more loading units can be loaded at a loading dock or loading ramp and fewer industrial trucks are required for the same handling performance.

Durch die großen Antriebsräder kann das erfindungsgemäße Flurförderzeug an heute üblichen Ladedocks bzw. Laderampen mit Fahrbahnabsätzen und Fahrbahnkanten verwendet werden.Due to the large drive wheels, the industrial truck according to the invention can be used on loading docks or loading ramps with lane shoulders and lane edges that are customary today.

Aufgrund der hohen Position der Last auf dem erfindungsgemäßen Flurförderzeug hat das erfindungsgemäße Flurförderzeug einen 360°- Rundumblick für Navigations- und Personenschutzsysteme. Dadurch kann das erfindungsgemäße Flurförderzeug relativ schnell und präzise fahren und es werden zur Navigation keine Markierungen auf dem Boden benötigt.Due to the high position of the load on the industrial truck according to the invention, the industrial truck according to the invention has a 360 ° all-round view for navigation and personal protection systems. As a result, the industrial truck according to the invention can travel relatively quickly and precisely and no markings are required on the floor for navigation.

Weitere Vorteile und Einzelheiten der Erfindung werden anhand der in den schematischen Figuren dargestellten Ausführungsbeispiele näher erläutert. Hierbei zeigen

Figur 1
eine Prinzipskizze des Ladevorgangs beim Beladen eines Lastkraftwagens nach dem Stand der Technik,
Figur 2
eine schematische Darstellung des Fahrzeugaufbaus des erfindungsgemäßen Flurförderzeugs,
Figur 3
eine Prinzipskizze einer ersten Phase des erfindungsgemäßen Ladevorgangs, die die Aufnahme der Paletten und den Transport zum Lastkraftwagen umfasst,
Figur 4
eine Prinzipskizze einer zweiten Phase des erfindungsgemäßen Ladevorgangs, die das Absetzen der ersten Palette umfasst,
Figur 5
eine Prinzipskizze einer dritten Phase des erfindungsgemäßen Ladevorgangs, die das Absetzen der zweiten Palette umfasst und
Figur 6
eine schematische Darstellung einer Variante des Fahrzeugaufbaus des erfindungsgemäßen Flurförderzeugs mit Stützrollen.
Further advantages and details of the invention are explained in more detail with reference to the exemplary embodiments shown in the schematic figures. Show here
Figure 1
a schematic diagram of the loading process when loading a truck according to the state of the art,
Figure 2
a schematic representation of the vehicle structure of the industrial truck according to the invention,
Figure 3
a schematic diagram of a first phase of the loading process according to the invention, which includes picking up the pallets and transporting them to the truck,
Figure 4
a schematic diagram of a second phase of the loading process according to the invention, which includes the setting down of the first pallet,
Figure 5
a schematic diagram of a third phase of the loading process according to the invention, which includes the depositing of the second pallet and
Figure 6
a schematic representation of a variant of the vehicle structure of the industrial truck according to the invention with support rollers.

In den Figuren sind jeweils dieselben Merkmale mit denselben Bezugsziffern bezeichnet.In the figures, the same features are denoted by the same reference numerals.

In der Figur 1 ist das Beladen eines Lastkraftwagens 1 mit einem herkömmlichen, beispielsweise als Niederhubwagen oder Hochhubwagen 2 ausgebildeten, Flurförderzeug 2 an einem Ladedock dargestellt. Die zu ladende Last 3 umfasst Paletten 8, 9, die auf einer stationären Rollenbahn 4 bereitgestellt werden. Beim Ladevorgang nimmt das Flurförderzeug 2 die Palette 8 von der Rollenbahn 4 mit seinen Gabelzinken 5 auf, fährt zurück (Pfeil P1), wendet um 180° (Pfeile P2) und fährt über die Laderampe 6 auf die Ladefläche 7 des Lastkraftwagens 1 (Pfeil P3). Dort setzt das Flurförderzeug 2 die Palette 8 durch Absenken der Gabelzinken 5 auf dem Boden ab. Danach fährt das Flurförderzeug 2 rückwärts aus dem Lastkraftwagen 1 heraus (Pfeil P4), wendet wieder um 180° (Pfeil P5) und fährt vorwärts zur nächsten, an der Rollenbahn 4 bereitgestellten Palette 9, um diese mit den Gabelzinken 5 von der Rollenbahn 4 aufzunehmen (Pfeil P6).In the Figure 1 the loading of a truck 1 with a conventional, for example designed as a pallet truck or high-lift truck 2, industrial truck 2 at a loading dock is shown. The load 3 to be loaded comprises pallets 8, 9 which are provided on a stationary roller conveyor 4. During the loading process, the industrial truck 2 picks up the pallet 8 from the roller conveyor 4 with its fork prongs 5, moves back (arrow P1), turns 180 ° (arrows P2) and drives over the loading ramp 6 onto the loading area 7 of the truck 1 (arrow P3 ). There, the industrial truck 2 sets the pallet 8 by lowering the fork prongs 5 on the floor. The industrial truck 2 then moves backwards out of the truck 1 (arrow P4), turns again by 180 ° (arrow P5) and moves forward to the next pallet 9 provided on the roller conveyor 4 in order to pick it up from the roller conveyor 4 with the forks 5 (Arrow P6).

Im unteren Teil der Figur 1 ist der von den Pfeilen P1 bis P6 gebildete Fahrweg des Flurförderzeugs 2 in der Draufsicht veranschaulicht. Hieraus wird deutlich, dass das Flurförderzeug 2 pro Ladezyklus zweimal um 180° wenden muss (Pfeile P2 und P5).In the lower part of the Figure 1 the travel path of the industrial truck 2 formed by the arrows P1 to P6 is illustrated in a top view. It is clear from this that the industrial truck 2 has to turn through 180 ° twice per loading cycle (arrows P2 and P5).

Die Figur 2 zeigt eine schematische Darstellung des Fahrzeugaufbaus des erfindungsgemäßen autonomen, fahrerlosen Flurförderzeugs 20. Das Flurförderzeug 20 umfasst ein Grundfahrzeug 21 mit einer Lastplattform 26, die mit einer beispielsweise als Rollenbahn 22 ausgebildetes Lastfördermittel 22 versehen ist. Mittels dem Lastfördermittel 22 kann eine auf der Lastplattform 26 abgelegte Palette in horizontaler Richtung bewegt werden. Das Grundfahrzeug 21 umfasst weiterhin ein Antriebssystem umfassend einen Fahrantrieb und mehrere Räder 25, von denen mindestens eines als Antriebsrad ausgebildet ist und mit denen sich das Grundfahrzeug 21 auf dem Boden abstützt. Am Grundfahrzeug 21 ist ein höhenverstellbares Lastaufnahmemittel 23 in Form eines Gabelzinkensystems mit Hub H angebracht. Das Gabelzinkensystem mit Hub umfasst bevorzugt zwei in Fahrzeugquerrichtung voneinander beabstandet angeordnete Gabelzinken, die jeweils nur horizontale Abschnitte aufweisen, die derart ausgebildet sind, dass die beiden Gabelzinken in die beiden Taschen einer Palette eingeführt werden können. Die beiden Gabelzinken sind mittels einer entsprechenden Hubeinrichtung 35 am Grundfahrzeug 21 anhebbar und absenkbar angeordnet, um den Hub H zu erzielen.the Figure 2 shows a schematic representation of the vehicle structure of the autonomous, driverless industrial truck 20 according to the invention. The industrial truck 20 comprises a basic vehicle 21 with a load platform 26, which is provided with a load conveyor 22 designed, for example, as a roller conveyor 22. By means of the load conveyor 22, a pallet deposited on the load platform 26 can be moved in the horizontal direction. The base vehicle 21 furthermore comprises a drive system comprising a travel drive and several wheels 25, at least one of which is designed as a drive wheel and with which the base vehicle 21 is supported on the ground. A height-adjustable load handling device 23 in the form of a fork system with a stroke H is attached to the base vehicle 21. The fork prong system with a lift preferably comprises two fork prongs which are arranged at a distance from one another in the transverse direction of the vehicle and each have only horizontal sections which are designed in such a way that the two fork prongs can be inserted into the two pockets of a pallet. The two fork prongs can be raised and lowered by means of a corresponding lifting device 35 on the base vehicle 21 in order to achieve the stroke H.

Das Lastaufnahmemittel 23 verfügt über ein eigenes, beispielsweise als Rollenbahn 24 ausgebildetes Lastfördermittel 24, mit dem die Palette in Zusammenwirken mit dem Lastfördermittel 22 zwischen dem Grundfahrzeug 21 und dem Lastaufnahmemittel 23 hin- und herbewegt werden kann.The load handling device 23 has its own load conveyor 24, for example designed as a roller conveyor 24, with which the pallet can be moved back and forth between the base vehicle 21 and the load handling device 23 in cooperation with the load conveyor 22.

Die Lastfördermittel 22, 24 sind bevorzugt derart ausgeführt, dass diese in die beiden Taschen einer Palette eintauchen können. Die Paletten werden bevorzugt längs mit den Lastfördermitteln 22, 24 aufgenommen. Bei den Paletten handelt es sich vorzugsweise um Europaletten.The load conveying means 22, 24 are preferably designed in such a way that they can dip into the two pockets of a pallet. The pallets are preferably picked up longitudinally by the load conveying means 22, 24. The pallets are preferably euro pallets.

Zum Abladen einer auf der Lastplattform 26 des Grundfahrzeugs 21 abgelegten Palette wird diese mittels der Lastfördermittel 22, 24 zunächst auf das angehobene Lastaufnahmemittel 23 gefördert und danach durch Absenken des Lastaufnahmemittels 23 auf dem Boden abgesetzt. Mit dem Lastaufnahmemittel 23 kann zudem zum Aufladen einer Palette in die Taschen einer auf dem Boden stehenden Palette eingefahren werden und diese angehoben werden. Bei angehobenem Lastaufnahmemittel 23 kann mit den Lastfördermitteln 22, 24 die Palette anschließend von dem Lastaufnahmemittel 23 auf die Lastplattform 26 des Grundfahrzeugs 21 gefördert werden.To unload a pallet deposited on the load platform 26 of the base vehicle 21, it is first conveyed to the raised load suspension device 23 by means of the load conveyor 22, 24 and then set down on the floor by lowering the load suspension device 23. With the load handling device 23, a pallet can also be inserted into the pockets of a pallet standing on the floor and the pallet can be raised. With the load handling device 23 raised, the pallet can then be conveyed from the load handling device 23 onto the load platform 26 of the base vehicle 21 using the load conveying devices 22, 24.

Da das Grundfahrzeug 21 selbst eine auf dem Boden stehende Palette nicht unterfahren muss, kann es vergleichsweise hoch bauen und große Antriebsräder 25 aufweisen, die eine ausreichende Bodenfreiheit ermöglichen, um auch Laderampen 6 mit Absätzen befahren zu können.Since the basic vehicle 21 itself does not have to drive under a pallet standing on the ground, it can be built comparatively high and have large drive wheels 25 which allow sufficient ground clearance to also be able to drive on loading ramps 6 with steps.

In der Figur 3 ist eine erste Phase des Ladevorgangs eines Lastkraftwagens 1 an einem Ladedock mit einer Laderampe 6 mit dem erfindungsgemäßen Flurförderzeug 20 veranschaulicht. Die obere Abbildung der Figur 3 zeigt, wie das Flurförderzeug 20 an eine Aufnahmeposition A einer stationären Rollenbahn 4 heranfährt, um zwei Paletten 8, 9 aufzunehmen. Das Lastaufnahmemittel 23 ist angehoben. Die Paletten 8, 9 können niveaugleich von der stationären Rollenbahn 4 auf die Lastplattform 26 und auf das Lastaufnahmemittel 23 bewegt werden. Die Aufnahme der Paletten 8, 9 an der Aufnahmeposition A läuft hierbei derart ab, dass zuerst die erste Palette 8 auf die Lastplattform 26 des Grundfahrzeugs 21 aufgeladen wird und mittels der Lastfördermittel 22, 24 von der Lastplattform 26 auf das angehobene Lastaufnahmemittel 23 weitergefördert wird, und anschließend die zweite Palette 9 auf die Lastplattform 26 des Grundfahrzeugs 21 aufgeladen wird.In the Figure 3 a first phase of the loading process of a truck 1 at a loading dock with a loading ramp 6 with the industrial truck 20 according to the invention is illustrated. The upper figure of the Figure 3 shows how the industrial truck 20 approaches a pick-up position A of a stationary roller conveyor 4 in order to pick up two pallets 8, 9. The load suspension device 23 is raised. The pallets 8, 9 can be moved at the same level from the stationary roller conveyor 4 onto the load platform 26 and onto the load suspension means 23. The pick-up of the pallets 8, 9 at the pick-up position A takes place in such a way that first the first pallet 8 is loaded onto the load platform 26 of the basic vehicle 21 and is conveyed onward from the load platform 26 to the raised load pick-up device 23 by means of the load conveying means 22, 24, and then the second pallet 9 is loaded onto the load platform 26 of the base vehicle 21.

In der unteren Abbildung der Figur 3 ist das Flurförderzeug 20 im beladenen Zustand gezeigt. Die erste Palette 8 ist auf dem Lastaufnahmemittel 23 abgelegt, während die zweite Palette 9 auf dem Grundfahrzeug 21 positioniert ist. Das Flurförderzeug 20 fährt, bevorzugt mit angehobenem Lastaufnahmemittel 23 über die Laderampe 6 auf die Ladefläche 7 des Lastkraftwagens 1, um die Paletten 8, 9 an einer Bereitstellungsposition B abzulegen (Pfeil P10).In the figure below the Figure 3 the truck 20 is shown in the loaded state. The first pallet 8 is placed on the load handling device 23, while the second pallet 9 is positioned on the base vehicle 21. The industrial truck 20 drives, preferably with the load handling device 23 raised, over the loading ramp 6 onto the loading area 7 of the truck 1 in order to deposit the pallets 8, 9 at a ready position B (arrow P10).

Die Figur 4 zeigt eine zweite Phase des Ladevorgangs. In der oberen Abbildung der Figur 4 ist dargestellt, wie das Flurförderzeug 20 auf der Ladefläche 7 des Lastkraftwagens 1 an der Bereitstellungsposition B angekommen ist. Durch Absenken des Lastaufnahmemittels 23 kann die auf dem Lastaufnahmemittel 23 befindliche erste Palette 8 auf die Ladefläche 7 und somit den Boden abgesenkt werden. In der unteren Abbildung der Figur 4 ist die Palette 8 bereits auf der Ladefläche 7 des Lastkraftwagens 1 abgelegt. Hierzu wurde das Lastaufnahmemittel 23 abgesenkt, so dass die Palette 8 auf dem Boden aufsetzt. Anschließend wurde das Lastaufnahmemittel 23 durch Zurückfahren des Flurförderzeugs 20 um eine Palettenlänge aus der Palette 8 herausgezogen.the Figure 4 shows a second phase of the charging process. In the upper figure of the Figure 4 shows how the industrial truck 20 has arrived on the loading area 7 of the truck 1 at the ready position B. By lowering the load suspension means 23, the first pallet 8 located on the load suspension means 23 can be lowered onto the loading surface 7 and thus the floor. In the figure below the Figure 4 the pallet 8 is already placed on the loading area 7 of the truck 1. For this purpose, the load handling device 23 was lowered so that the pallet 8 touches the floor. The load handling device 23 was then pulled out of the pallet 8 by moving the industrial truck 20 back by one pallet length.

In der Figur 5 ist eine dritte Phase des Ladevorgangs dargestellt. In der oberen Abbildung der Figur 5 ist gezeigt, wie nach dem anschließenden Anheben des Lastaufnahmemittels 23 die auf dem Grundfahrzeug 21 befindliche zweite Palette 9 mittels der Lastfördermittel 22 und 24 vom Grundfahrzeug 21 niveaugleich auf das Lastaufnahmemittel 23 gefördert wird. In der unteren Abbildung der Figur 5 ist das Lastaufnahmemittel 23 wieder abgesenkt. Dabei setzt die auf dem Lastaufnahmemittel 23 befindliche zweite Palette 9 auf der Ladefläche 7 und somit dem Boden auf, so dass die zweite Palette 9 hinter der ersten Palette 8 auf der Ladefläche 7 des Lastkraftwagens 1 zu liegen kommt. Anschließend kann das Lastaufnahmemittel 23 durch Zurückfahren des Flurförderzeugs 20 aus der Palette 9 herausgezogen und wieder angehoben werden. Das Flurförderzeug 20 kann wieder aus dem Lastkraftwagen 1 herausfahren und zur Rollenbahn 4 zurückfahren (Pfeil P11 in der Figur 3), um die nächsten beiden Paletten 18, 19 aufzunehmen.In the Figure 5 a third phase of the charging process is shown. In the upper figure of the Figure 5 it is shown how, after the subsequent lifting of the load handling device 23, the second pallet 9 located on the base vehicle 21 is conveyed at the same level from the base vehicle 21 to the load handling device 23 by means of the load conveying devices 22 and 24. In the figure below the Figure 5 the load handling device 23 is lowered again. The second pallet 9 located on the load handling device 23 touches the loading area 7 and thus the floor, so that the second pallet 9 comes to lie behind the first pallet 8 on the loading area 7 of the truck 1. The load handling device 23 can then be pulled out of the pallet 9 by moving the industrial truck 20 back and raised again. The industrial truck 20 can drive out of the truck 1 again and drive back to the roller conveyor 4 (arrow P11 in FIG Figure 3 ) to pick up the next two pallets 18, 19.

Unter der oberen Abbildung der Figur 3 ist hierbei der aus den Pfeilen P10, P11 bestehende Fahrweg des erfindungsgemäßen Flurförderzeugs 20 dargestellt, wobei erkennbar ist, dass das Beladen des Lastkraftwagens 1 ohne Wendevorgänge des Flurförderzeugs 1 ermöglicht wird.Below the upper figure of the Figure 3 the route of the industrial truck 20 according to the invention consisting of the arrows P10, P11 is shown, it being possible to see that the truck 1 can be loaded without turning the truck 1.

Die Figur 6 zeigt eine Variante des erfindungsgemäßen Flurförderzeugs 20, das über zwei höhenverstellbare Lastaufnahmemittel 23a und 23b mit entsprechenden nicht näher dargestellten Lastfördermitteln verfügt, die an der Frontseite und an der gegenüberliegenden Heckseite des Grundfahrzeugs 21 angeordnet sind. Mit dieser Ausgestaltung wird ein Boden-Boden-Transport von Paletten ermöglicht. Die Palette 8 kann beispielsweise an einer Aufnahmeposition A von dem abgesenkten Lastaufnahmemittel 23a vom Boden aufgenommen werden, nach Anheben des Lastaufnahmemittels 23a auf die Lastplattform 26 des Grundfahrzeugs 21 gefördert werden, zu einer Bereitstellungsposition B transportiert werden, auf das Lastaufnahmemittel 23b gefördert werden und durch Absenken des Lastaufnahmemittels 23b auf dem Boden abgesetzt werden. Die verschiedenen Phasen des Ladevorgangs sind in den übereinander angeordneten Abbildungen auf der linken Seite der Figur 6 veranschaulicht.the Figure 6 shows a variant of the industrial truck 20 according to the invention, which has two height-adjustable load handling devices 23a and 23b with corresponding load conveying devices (not shown in detail), which are arranged on the front side and on the opposite rear side of the basic vehicle 21. This configuration enables floor-to-floor transport of pallets. The pallet 8 can, for example, be picked up from the floor by the lowered load handling device 23a at a pickup position A, conveyed onto the load platform 26 of the base vehicle 21 after the load pickup device 23a has been lifted, transported to a ready position B, conveyed to the load pickup device 23b and lowered of the load suspension means 23b are deposited on the floor. The different phases of the charging process are shown in the superimposed images on the left of the Figure 6 illustrated.

Das Flurförderzeug 20 der Figur 6 weist zudem höhenverstellbare Stützrollen 27 an den Lastaufnahmemittel 23a und 23b und somit anhebbare und absenkbare Stützrollen 27 auf, mit denen sich die die Lastaufnahmemittel 23a und 23b auf dem Boden abstützen können. Auf diese Weise können auch schwere Lasten aufgenommen werden. Es versteht sich, dass auch bei dem Ausführungsbeispiel der Figuren 2 bis 5 mindestens eine anhebbare und absenkbare Stützrollen an dem Lastaufnahmemittel 23 angeordnet werden kann, um das Lastaufnahmemittel 23 mit einer aufgenommenen Last auf dem Boden abstützen zu können.The industrial truck 20 of the Figure 6 also has height-adjustable support rollers 27 on the load suspension means 23a and 23b and thus liftable and lowerable support rollers 27 with which the load suspension means 23a and 23b can be supported on the floor. In this way, heavy loads can also be carried. It goes without saying that in the exemplary embodiment as well Figures 2 to 5 at least one liftable and lowerable support roller can be arranged on the load-bearing means 23 in order to be able to support the load-bearing means 23 with a picked-up load on the floor.

Die Abbildung auf der rechten Seite der Figur 6 zeigt noch eine weitere Ausgestaltung des erfindungsgemäßen Flurförderzeugs 20, bei der das Grundfahrzeug 21 über einen Hubmechanismus HM verfügt, mit dem das Chassis des Grundfahrzeugs 21 angehoben und abgesenkt werden kann, um eine Höhenverstellung des gesamten Grundfahrzeugs 21 zu ermöglichen. Dadurch wird eine weitere Verbesserung der Bodenfreiheit des Flurförderzeugs 20 erreicht, so dass auch besonders unebene Fahrbahnen befahren werden können. Weiterhin ermöglicht das Anheben des Chassis eine verbesserte Sicht für an dem Chassis angebrachte Sensoren 30 eines Navigationssystems oder einer Personenschutzanlage. Es versteht sich, dass auch bei dem Ausführungsbeispiel der Figuren 2 bis 5 das Chassis des Grundfahrzeugs 21 mittels des Hubmechanismus HM angehoben und abgesenkt werden kann.The figure to the right of the Figure 6 shows yet another embodiment of the industrial truck 20 according to the invention, in which the basic vehicle 21 has a lifting mechanism HM with which the chassis of the basic vehicle 21 can be raised and lowered in order to enable the height of the entire basic vehicle 21 to be adjusted. As a result, a further improvement in the ground clearance of the industrial truck 20 is achieved, so that particularly uneven roadways can also be used. Furthermore, the raising of the chassis enables an improved view for sensors 30 of a navigation system or a personal protection system attached to the chassis. It goes without saying that in the exemplary embodiment as well Figures 2 to 5 the chassis of the base vehicle 21 can be raised and lowered by means of the lifting mechanism HM.

Die Erfindung ist nicht auf die dargestellten Ausführungsbeispiele beschränkt.The invention is not restricted to the exemplary embodiments shown.

Das erfindungsgemäße Flurförderzeug 20 kann auch mehr als zwei Plattenlängen lang sein, um beispielsweise drei oder vier Paletten auf der Lastplattform 26 und auf dem Lastaufnahmemittel 23 hintereinander transportieren zu können. Dadurch kann die Anzahl der benötigten Fahrzyklen für das Beladen eines Lastkraftwagens 1 verringert werden.The industrial truck 20 according to the invention can also be more than two plate lengths long, for example, in order to be able to transport three or four pallets one behind the other on the load platform 26 and on the load handling device 23. As a result, the number of driving cycles required for loading a truck 1 can be reduced.

Das erfindungsgemäße Flurförderzeug 20 kann auch mehr als eine Plattenbreite breit sein, um beispielsweise jeweils zwei oder drei Paletten auf der Lastplattform 26 und auf dem Lastaufnahmemittel 23 nebeneinander transportieren zu können. Dadurch kann die Anzahl der benötigten Fahrzyklen für das Beladen eines Lastkraftwagens 1 weiter verringert werden.The industrial truck 20 according to the invention can also be more than a plate width wide in order, for example, to be able to transport two or three pallets in each case on the load platform 26 and on the load handling device 23 next to one another. As a result, the number of driving cycles required for loading a truck 1 can be further reduced.

Es versteht sich, dass mit dem erfindungsgemäßen Flurförderzeug 20 auch ein Entladen eines Lastkraftwagens 1 möglich ist.It goes without saying that the industrial truck 20 according to the invention can also be used to unload a truck 1.

Zudem kann das erfindungsgemäße Flurförderzeug 20 auch für andere Ladetätigkeiten eingesetzt werden, beispielswiese das Be- und Entladen von stationären Förderanlagen oder das Be- und Entladen von Routenzügen.In addition, the industrial truck 20 according to the invention can also be used for other loading activities, for example the loading and unloading of stationary conveyor systems or the loading and unloading of tugger trains.

Claims (18)

  1. Autonomous, ground-based industrial truck (20) which comprises a basic vehicle (21) with a propulsion drive and a load platform (26), on which a load (8, 9) can be positioned, wherein the load platform (26) is provided with a first horizontally conveying load conveying means (22) which is configured to move the load (8, 9) which is deposited on the load platform (26) in the horizontal direction, characterized in that at least one adjustable-height load receiving means (23) with a further horizontally conveying load conveying means (24) is attached to the basic vehicle (21), wherein the load receiving means (23) is configured in such a way that, in the lowered state of the load receiving means (23), the load (8, 9) which is received on the load receiving means (23) sits on the ground and, in the raised state of the load receiving means (23), the load conveying means (24) of the load receiving means (23) forms a common conveying plane with the load conveying means (22) of the basic vehicle (21), on which common conveying plane the load (8, 9) can be moved to and fro horizontally between the load platform (26) of the basic vehicle (21) and the load receiving means (23), wherein the basic vehicle (21) has an electronic control device which makes fully automatic control of the propulsion drive and of the load receiving means (23) and of the load conveying means (22, 24) possible.
  2. Industrial truck according to Claim 1, characterized in that the adjustable-height load receiving means (23) is configured as a fork arm system with a lift, which fork arms system comprises two fork arms which in each case have only horizontal sections.
  3. Industrial truck according to Claim 1 or 2, characterized in that the load conveying means (22, 24) comprises at least one roller track.
  4. Industrial truck according to Claim 1 or 2, characterized in that the load conveying means (22, 24) comprises at least one transport belt.
  5. Industrial truck according to one of Claims 1 to 4, characterized in that the load platform (26) and the load receiving means (23) are configured for receiving pallets (8, 9) as load (8, 9).
  6. Industrial truck according to Claim 5, characterized in that the load platform (26) and/or the load receiving means (23) in each case have/has a length which corresponds at least to the length of one pallets (8, 9).
  7. Industrial truck according to Claim 5 or 6, characterized in that the load platform (26) and/or the load receiving means (23) in each case have/has a width which corresponds to the width of at least one pallet (8, 9) .
  8. Industrial truck according to one of Claims 1 to 7, characterized in that in each case at least one adjustable-height load receiving means (23a, 23b) with a horizontally conveying load conveying means (24) is attached on at least two opposite sides of the basic vehicle (21), with the result that the load (8, 9) can be received from the ground and can be deposited onto the ground by both sides.
  9. Industrial truck according to one of Claims 1 to 8, characterized in that supporting rollers (27), in particular supporting rollers (27) which can be raised and lowered, are provided on the load receiving means (23) .
  10. Industrial truck according to one of Claims 1 to 9, characterized in that the basic vehicle (21) has a running gear with wheels (25) which have a diameter of at least 10 cm.
  11. Industrial truck according to one of Claims 1 to 10, characterized in that the basic vehicle (21) has an adjustable-height chassis.
  12. Industrial truck according to one of Claims 1 to 11, characterized in that the basic vehicle (21) has at least one sensor (30) for monitoring the surrounding area.
  13. Industrial truck according to Claim 12, characterized in that the sensor is configured as a laser scanner.
  14. Industrial truck according to Claim 12, characterized in that the sensor is configured as a camera.
  15. Method for loading and/or unloading a loading unit, in particular a loading bed (7) of a lorry (1) or a freight car, with an autonomous, ground-based industrial truck (20) according to one of Claims 1 to 14, characterized in that
    a) the industrial truck (20) is moved to a receiving position (A),
    b) a first load (8) is loaded onto the load platform (26) of the basic vehicle (21), and is conveyed further by means of the load conveying means (22, 24) from the load platform (26) to the raised load receiving means (23),
    c) a second load (9) is loaded onto the load platform (26) of the basic vehicle (21),
    d) the industrial truck (20) is moved to a delivery position (B),
    e) the load receiving means (23) is lowered to such an extent that the first load (8) which is situated on the load receiving means (23) is placed on the ground,
    f) the industrial truck (20) is moved back to such an extent that the first load (8) is freestanding,
    g) the load receiving means (23) is raised,
    h) the second load (9) is conveyed further by means of the load conveying means (22, 24) from the load platform (26) onto the raised load receiving means (23),
    i) the load receiving means (23) is lowered to such an extent that the second load (9) which is situated on the load receiving means (23) is placed on the ground,
    j) the industrial truck (20) is moved again to the receiving position (A),
    k) steps b) to j) are repeated until all the loads (8, 9) to be loaded are loaded.
  16. Method according to Claim 15, characterized in that the loads (8, 9) are received and deposited on opposite sides (in the driving direction) of the industrial truck (20), the industrial truck (20) being moved to and fro between the receiving position (A) and the delivery position (B) without a turning operation.
  17. Method according to Claim 15 or 16, characterized in that the loads (8, 9) to be loaded are received from a receiving position (A) at the same height as the load platform (26) of the basic vehicle (21), in particular a roller track (4) or a transport belt.
  18. Method according to Claim 15 or 16, characterized in that an industrial truck (20) is used, in the case of which in each case at least one adjustable-height load receiving means (23a, 23b) with a horizontally conveying load conveying means (24) is attached on opposite sides (in the driving direction) of the basic vehicle (21), and the loads (8, 9) to be loaded are received from the ground at a receiving position (A) by way of lowering of the load receiving means (23a), and the loads (8, 9) are placed on the ground at the delivery position (B) by way of lowering of the opposite load receiving means (23b), wherein the loads are conveyed further by means of the load conveying means (22, 24) from the load receiving means (23a) to the opposite load receiving means (23b).
EP19199454.0A 2018-10-18 2019-09-25 Autonomous, ground-bound industrial truck and and method for loading and / or unloading a loading unit with such an industrial truck Active EP3640196B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102018125916.6A DE102018125916A1 (en) 2018-10-18 2018-10-18 Autonomous, ground-based industrial truck and method for loading and / or unloading a loading unit with such an industrial truck

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EP3640196A1 EP3640196A1 (en) 2020-04-22
EP3640196B1 true EP3640196B1 (en) 2021-11-10

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DE (1) DE102018125916A1 (en)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2468055A (en) * 1945-11-28 1949-04-26 John W Gibler Load-dumping pallet
CN204873728U (en) * 2015-07-17 2015-12-16 天津市端择纸制品有限公司 Novel high car is piled with storage to processing of multi -functional paper products
JP6748919B2 (en) * 2017-01-13 2020-09-02 清水建設株式会社 Horizontal carrier
CN107055409A (en) * 2017-03-27 2017-08-18 太仓爱致递机器人自动化有限公司 A kind of both arms are double to stretch a pellet fork device

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DE102018125916A1 (en) 2020-04-23

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