EP4136049A1 - Chariot de manutention doté de moyens de réception de charge destinés à recevoir des marchandises allongées - Google Patents

Chariot de manutention doté de moyens de réception de charge destinés à recevoir des marchandises allongées

Info

Publication number
EP4136049A1
EP4136049A1 EP21713621.7A EP21713621A EP4136049A1 EP 4136049 A1 EP4136049 A1 EP 4136049A1 EP 21713621 A EP21713621 A EP 21713621A EP 4136049 A1 EP4136049 A1 EP 4136049A1
Authority
EP
European Patent Office
Prior art keywords
industrial truck
mast
detection device
truck
load
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP21713621.7A
Other languages
German (de)
English (en)
Other versions
EP4136049B1 (fr
Inventor
Jürgen KELLER
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.)
Hubtex Maschinenbau GmbH and Co KG
Original Assignee
Hubtex Maschinenbau GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hubtex Maschinenbau GmbH and Co KG filed Critical Hubtex Maschinenbau GmbH and Co KG
Publication of EP4136049A1 publication Critical patent/EP4136049A1/fr
Application granted granted Critical
Publication of EP4136049B1 publication Critical patent/EP4136049B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • 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
    • B66F9/18—Load gripping or retaining means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • 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
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems

Definitions

  • the invention relates to an industrial truck with load handling devices for picking up long goods.
  • the industrial truck according to the invention has a long goods detection device for detecting long goods.
  • a safety controller which in turn has at least one monitoring sensor and, with the aid of this monitoring sensor, forms at least one protective field.
  • the safety control is operatively connected to the long goods detection device and is set up in such a way that it influences the at least one protective field as a function of the long goods detected with the long goods detection device.
  • the protective field can also be referred to as a monitoring field. It preferably moves with the industrial truck.
  • the protective field is preferably part of the detection area of the monitoring sensor.
  • the safety control is preferably set up in such a way that, if - preferably by means of the at least one monitoring sensor - approaching vehicles or people are detected, the industrial truck is put into a safe state as soon as the required minimum distances are not reached and / or as soon as approaching vehicles or people are in at least one protective field.
  • the transfer to a safe state can mean reducing the travel speed or stopping the industrial truck. It can also mean that a movement of the load handling device relative to the industrial truck is slowed down or stopped.
  • Approaching vehicles or people can also be those that are stationary themselves and that the industrial truck is approaching.
  • the safety control can be set up in such a way that if stationary objects such as walls or shelves or parked goods are detected, the truck is switched to a safe state as soon as the required minimum distances are not reached and / or an object is in a protective field got.
  • an industrial truck with load handling devices for picking up long goods can be created with a safety control which meets the special requirements of an industrial truck with load handling devices for picking up long goods to a desirable extent. Because the protective field only needs to be made as large as it actually is, depending on the taken long goods, is required. In this way, a particularly smooth operation can be ensured, with a high level of protection at the same time.
  • the monitoring sensor can comprise a personal protection scanner.
  • the load handling means can for example comprise a lifting fork or a loading platform.
  • the industrial truck can be designed as a forklift.
  • the industrial truck can thus comprise a mast and the load handling equipment of the industrial truck can comprise a lifting fork.
  • the lifting fork preferably has prongs, particularly preferably two.
  • the prongs are preferably spaced apart from one another to such an extent that, viewed from above, they are arranged outside the wheel arms, or a distance adjusting device is provided for the prongs which allows this arrangement.
  • the large spacing of the tines from one another which is achieved or can be achieved in this way can result in a particular suitability for receiving long goods.
  • the industrial truck preferably has a chassis.
  • the chassis can be designed "U" -shaped.
  • the two legs of the "U" -shape can each be formed by a wheel arm.
  • the industrial truck can be designed as a reach truck.
  • the lift mast of the industrial truck can therefore be extended and retracted again.
  • the push mast can be arranged between the wheel arms and the pushing out and pushing in can take place parallel to the wheel arms.
  • the industrial truck is preferably a vehicle designed as a sideloader.
  • the industrial truck preferably allows a journey running transversely to the fork prongs.
  • the industrial truck preferably allows a journey running transversely to a load receiving movement of the industrial truck and / or the lifting fork.
  • the floor conveyor preferably allows travel in the longitudinal direction of the load.
  • the truck is preferably in a transverse travel and in a longitudinal travel bar.
  • the industrial truck is preferably a multi-way vehicle which, in addition to the transverse travel and the longitudinal travel, can preferably be driven in a circular travel, also called a carousel travel, and / or a diagonal travel. All wheels of the Flurför derzeugs are preferably steerable by at least 90 °.
  • the transverse travel differs from the longitudinal travel in that, viewed in each case when traveling straight ahead and viewed relative to the chassis, the wheels are rotated by 90 °.
  • the long goods can be a load that is longer than a normal pallet.
  • the long goods can be a load that is longer than 1200 mm.
  • the long item can be a load which, when it is picked up on the load handling device and when the truck is ready to drive (in the case of a reach truck, preferably with the reach truck retracted) protrudes beyond the contour of the truck so that there is an overall contour of the truck and results in a load that is greater than the contour of the truck without a load.
  • the term "long goods detection device” denotes a device for detecting long goods.
  • the device preferably detects whether long goods are arranged on the load handling device of the industrial truck.
  • the long goods detection device is preferably an automatic long goods detection device.
  • the long goods detection device preferably detects whether and / or to what extent and / or at which point a load arranged on the load handling means protrudes beyond the contour of the industrial truck.
  • the industrial truck is preferably a driverless transport vehicle. It therefore preferably has a device for its automatic control and / or contactless guidance.
  • the safety controller is preferably set up in such a way that it adapts the at least one protective field or one of the protective fields to the overall contour that results from the industrial truck and the load picked up.
  • the at least one protective field or one of the protective fields can be formed in front of the industrial truck in the direction of travel.
  • the width of the at least one protective field or one of the protective fields, that is, its extension perpendicular to the direction of travel, can correspond at least approximately to the width, that is, the extension perpendicular to the direction of travel, the vehicle contour or the overall contour.
  • the safety control is preferably set up in such a way that, depending on the long goods detected by the long goods detection device, it switches between protective fields which differ in size and / or shape and / or position relative to the industrial truck.
  • the safety control influences the size and / or shape and / or position relative to the industrial truck of the at least one protective field or one of the protective fields as a function of long goods detected with the long goods detection device. This can result in a stepless adaptation of the protective field.
  • the safety control is preferably set up in such a way that it forms a protective field that is larger in the direction of travel when the overall contour is enlarged at the front in the direction of travel than when the contour or overall contour is not enlarged at the front in the direction of travel.
  • the safety control is preferably set up in such a way that it forms a protective field that is larger transversely to the direction of travel when the overall contour is enlarged transversely to the direction of travel than when the contour or overall contour is not enlarged transversely to the direction of travel.
  • the industrial truck preferably has a lifting mast with an upper area.
  • the long goods detection device preferably comprises a laser scanner with a scanner detection area.
  • the scanner detection area is preferably directed towards the load handling equipment.
  • the laser scanner is preferably arranged on the upper region of the lifting mast and its scanner detection area is directed obliquely downwards onto the lifting fork.
  • the scanner detection area of the laser scanner can be designed two-dimensionally, for example by means of precisely one integrated rotating mirror.
  • the first dimension can thereby in the direction of the laser beam and the second dimension - be formed perpendicular to this - for example by the deflection of the rotating mirror.
  • the laser scanner can be arranged so that the second dimension runs perpendicular to the prongs of the lifting fork.
  • the scanner detection area extends in the second dimension preferably over at least 1.5 times or twice or three times the maximum distance between the prongs when the lifting fork is in the lowered state. In this way, long, long goods can also be reliably detected and correctly measured.
  • the scanner detection area extends in the second dimension preferably over less than 10 times or 5 times the maximum distance between the prongs when the lifting fork is in the lowered state.
  • the scanner detection area of the laser scanner can be designed three-dimensionally.
  • the laser scanner can be arranged so that the third dimension runs in the direction of the prongs of the lifting fork.
  • the scanner detection area preferably extends in the third dimension at least over the entire length of the prongs when the lifting fork is in the lowered state. In this way, the length of the load can be recorded and measured over the entire length of the fork.
  • the scanner detection area is preferably dimensioned in such a way that the detection of non-homogeneous long goods, such as profiles of different lengths, can be recognized by the laser scanner.
  • the laser scanner can be arranged pivotably on the industrial truck - for example the lifting mast.
  • a mirror is deflected in two directions for the three-dimensional formation of the scanner detection area or two orthogonally rotating mirrors can be arranged close to one another, via which the laser beam is reflected.
  • the laser scanner is preferably safety certified. It preferably has a performance level of at least d.
  • the long goods detection device can have a camera with a camera detection area instead of or in addition to the laser scanner.
  • the camera detection area is preferably aimed at the load suspension means.
  • the camera detection area is preferably dimensioned in such a way that the detection of non-homogeneous long goods, such as profiles of different lengths, recognized by the camera.
  • the camera is preferably security certified. It preferably has a performance level of at least d. This camera is preferably a 3D camera.
  • the camera is preferably arranged on the upper area of the lifting mast.
  • the camera detection area is more preferably directed obliquely downward onto the lifting fork.
  • the camera detection area preferably extends in a first dimension at least over the entire length of the prongs when the lifting fork is in the lowered position.
  • the camera detection area preferably extends in a second dimension, preferably transversely to the fork prongs, over at least 1.5 times or twice or three times the maximum distance between the prongs when the lifting fork is in the lowered state. In this way, long, long goods can also be reliably detected and correctly measured.
  • the camera detection area preferably extends in the second dimension over less than 10 times or 5 times the maximum distance between the prongs when the lifting fork is in the lowered state.
  • the lowered state of the lifting fork preferably corresponds to the state that the lifting fork assumes for receiving the load.
  • the camera and / or the laser scanner are preferably arranged in such a way that they do not move with a vertical movement of load handling devices.
  • the safety controller can have two monitoring sensors.
  • the monitoring sensors can be arranged at diagonally opposite sensor positions on the industrial truck and they can each have a monitoring sensor detection area that extends - preferably in the horizontal direction - over 270 °.
  • An industrial truck with such a safety control can also be designed independently, independently of the features mentioned above.
  • the safety control can form the at least one protective field or one of the protective fields as a rear protective field.
  • An industrial truck with such a safety control can also paint independently, regardless of the aforementioned features, be executed.
  • the rear area protection field is preferably arranged behind the push mast, that is to say preferably on the side of the push mast facing away from the load handling means or the lifting fork.
  • the rear area protection field preferably covers the rear area at least almost completely.
  • the rear area protection field is preferably arranged between the wheel arms.
  • the safety controller can form the at least one protective field or one of the protective fields as a rear area protective field, the size of which depends on the respective mast extension position.
  • the safety control preferably forms the rear area protection field as soon as the reach mast is extended.
  • the rear area protection field can ensure that it is recognized if someone intrudes into the area behind the reach mast, for example between the extended reach mast and the wheel arms, when the reach mast is extended. In this way, the rear area is preferably secured against trapping people.
  • a device for example a reach mast sensor, can be provided which detects whether and to what extent the reach mast has been extended.
  • the safety control is preferably operatively connected to this device.
  • the safety controller preferably influences the size and shape of the at least one rear area protection field depending on the extent to which the reach mast is extended or switches between protection fields which vary in size and shape depending on the extent to which the reach mast is extended differentiate. In this way it is preferably achieved that the rear area protection field always at least almost completely covers the rear area in every possible push position of the push mast. If the truck has a "U" -shaped chassis, in which the legs of the "U" shape are each formed by a wheel arm, then the monitoring sensor, with the help of which the safety controller forms the rear area protection field, is also used as Rear area sensor can be referred to, preferably arranged on the area of the Flurför derzeugs connecting the two wheel arms.
  • rear area refers to the area on the side of the reach mast facing away from the load handling equipment. If the industrial truck has wheel arms, the rear area is preferably also delimited by the wheel arms Radar arms interconnecting the area of the forklift truck limited.
  • the industrial truck can have a load carrier recognition device which is set up in such a way that it recognizes and / or measures load carriers, so that the industrial truck can clearly measure and / or identify and / or pick up the load carriers.
  • An industrial truck with such a load carrier detection device can also be designed independently, independently of the aforementioned features.
  • load carrier in the context of this publication means devices on or in which load, for example long goods, can be arranged, such as euro pallets, long goods pallets, workpiece carriers and / or containers, for example lattice boxes.
  • the charge carrier detection device preferably comprises a charge carrier detection camera. This is preferably a 3D camera.
  • the load carrier detection device is preferably arranged in such a way that it moves along with the load suspension means or the lifting fork during a vertical movement of the latter and is more preferably arranged between the prongs of the lifting fork.
  • the industrial truck can have a fork carriage.
  • the fork carriage preferably connects the lifting fork to the lifting mast.
  • the charge carrier identification device can be arranged centrally below the fork carrier.
  • the charge carrier detection device preferably has a charge carrier detection solution area that runs at least also parallel to the prongs of the lifting fork ver.
  • the load carrier detection device is designed as a load carrier detection camera, it preferably has a viewing direction parallel to the load or to the load pick-up movement that the industrial truck and / or the reach mast executes when picking up the load in order to recognize and / or measure the load carriers.
  • Exactly one, two or more or all of the truck's wheels can be driven ben.
  • a separate drive motor can be provided for each driven wheel.
  • Exactly one, two or more or all of the truck's wheels can be steerable.
  • a separate steering motor can be provided for each steerable wheel.
  • FIG. 1 shows a side view of the first exemplary embodiment of an industrial truck according to the invention with long goods picked up;
  • FIG. 2 the truck shown in Figure 1 in a perspective Dar position
  • FIG. 3 shows a view of the industrial truck shown in FIG. 1 from above, with protective fields;
  • Fig. 4 is a perspective view of the secondraresbei game of the industrial truck according to the invention, with a camera instead of a laser scanner as a long goods detection device;
  • FIG. 5 shows a view from above of the floor conveyor shown in FIG. 4 with recorded long goods and protective field
  • FIG. 6 shows a view from above of the third exemplary embodiment of an industrial truck according to the invention
  • Fig. 7 is a perspective view of the fourth gamethesbei of the industrial truck according to the invention
  • FIG. 8 shows the industrial truck shown in FIG. 7 with extended reach mast and reduced tine spacing, viewed from above;
  • Fig. 10 the truck shown in Fig. 9 in perspective Dar position.
  • the illustrated in Figs. 1 to 3 and designated 100 first embodiment example of the industrial truck according to the invention (hereinafter industrial truck 100) relates to an industrial truck with load handling means 1 for receiving long goods L.
  • the industrial truck 100 is designed as a forklift. It thus comprises a lifting mast 8 and the load handling device 1 of the industrial truck comprise a lifting fork 10.
  • the lifting fork has two prongs 21, 21 ' .
  • a distance adjustment device is provided for the prongs 21, 21 ' , which allows the prongs 21, 21 ' to be arranged in such a way that they are so far apart that, viewed from above, they are arranged outside the wheel arms 20, 20 '( see Fig. 3).
  • the industrial truck can be driven in a longitudinal travel LF (FIG. 3). It is also drivable in a transverse travel QF, as shown in FIG. 5 for the second embodiment example 200 shows.
  • the industrial truck 100 is designed as a reach truck, with an extendable and again a sliding mast 8 designed as a reach mast 15 20, 20 'are formed.
  • the long item L is a load that moves over the contour of the industrial truck 100 when the truck 100 is in the state of being picked up on the load handling means and when the truck 100 is ready to drive, i.e. even when the reach mast 15 is pushed in is also, so that there is an overall contour G that is larger than the Kon structure of the truck without load.
  • the industrial truck is a sideloader, so it allows a direction of travel (F) running transversely to the fork prongs 21, 21 '(FIG. 3).
  • the industrial truck 100 is a driverless transport vehicle and has a long goods detection device 2 for detecting long goods L.
  • a safety controller 3 which is shown symbolically in Fig. 1 with a square and which in turn has at least one monitoring sensor 4, 4 ' and with the help of this or these monitoring sensors 4, 4 ' forms at least one protective field 5, 5 ' .
  • the safety control 3 is operatively connected to the long goods detection device 2 and is set up in such a way that it influences the at least one protective field 5, 5 ′ as a function of the long goods L detected with the long goods detection device 2.
  • the safety controller 3 is set up in such a way that the industrial truck 100 is stopped when the at least one monitoring sensor 4, 4 ' detects vehicles or people in the protective field 5, 5 '.
  • the safety controller 3 adapts the protective field 5, 5 ' to the overall contour that results from the industrial truck and the long goods picked up by switching between protective fields 5, 5 ' depending on the long goods detected with the long goods detection device 2, which are in size and / or differentiate shape and / or position relative to the industrial truck.
  • the industrial truck 100 is there in a longitudinal travel LF to the left, at a certain speed.
  • the load picked up increases the overall contour G made up of the industrial truck 100 and the load, since the load protrudes beyond the contour of the industrial truck 100 at the front in the direction of travel F, among other things.
  • the safety control 3 has switched from a protective field 5 (cross-hatched), which it forms when driving in this direction and at this speed without long goods L, to a protective field 5 ' larger in the direction of travel.
  • the control 3 forms a protective field 5 'which is larger in the direction of travel F due to the overall contour G which is enlarged at the front in the direction of travel F.
  • Fig. 5 the situation is shown with the long goods L picked up in transverse travel.
  • the safety control 3 has switched from a protective field 5, which it forms (cross-hatched) to a wider protective field 5 'during such a journey without long goods L.
  • the safety controller 3 in FIG. 5 thus forms a protective field 5 ′ that is larger transversely to the direction of travel F due to an overall contour G that is enlarged transversely to the direction of travel F.
  • the protective field 5, 5 ' is formed in the direction of travel F in front of the Flurför derzeug 100, 200 and its width, that is, the extent transverse to the direction of travel F corresponds at least approximately to the width of the overall contour G.
  • the long goods detection device 2 comprises a laser scanner 6 arranged on the upper area 9 of the lifting mast 8 with a scanner detection area 7 directed obliquely downward onto the lifting fork 10.
  • the scanner detection area 7 of the laser scanner 6 itself is initially two-dimensional.
  • the first dimension is formed in the direction of the laser beam and the second dimension perpendicular to it.
  • the laser scanner 6 is arranged in such a way that the second dimension runs perpendicular to the prongs 21, 21 ′ of the lifting fork 10.
  • the scanner detection area 7 extends in the second dimension over about three times the maximum distance between the prongs 21, 21 ' when the lifting fork 10 is in the lowered state (this state is not shown in the figure).
  • the scanner detection area 7 of the laser scanner 6 (shown in Fig. 1 by dashed lines) is three-dimensional in which the laser scanner 6 is arranged pivotably on the mast 8 to. This is shown in FIG. 1 by a double arrow P.
  • the third Dimension of the scanner detection area runs in the direction of the prongs 21, 21 'of the lifting fork 10.
  • the scanner detection area 7 extends in the third dimension over the entire length of the prongs when the lifting fork is in the lowered
  • FIGS. 4 to 10 further exemplary embodiments are shown.
  • the same reference characters denote the same components. In this respect, reference is made to the description above. Only the differences from the first exemplary embodiment shown in FIGS. 1 to 3 are shown below:
  • the second exemplary embodiment, designated by 200, of the industrial truck according to the invention (industrial truck 200) is shown. It differs from the first exemplary embodiment 100 in that the length detection device 2 comprises a camera 11 with a camera detection area 12 instead of a laser scanner 6 (FIG. 5).
  • the safety control 3 has exactly two monitoring sensors 4, 4 ' , which are arranged at diagonally opposite sensor positions 13, 13 ' on the industrial truck 300 and each of which has a monitoring sensor detection area 14, 14 ' which extends - preferably in the horizontal direction - over an angle a, a of 270 °.
  • the at least one monitoring sensor 4, 4 ' can be designed in this way in all of the exemplary embodiments shown in the figures.
  • the safety control 3 forms one of the protective fields 5 as a rear area protective field 16, the size of which depends on the respective mast extension position and is shown in FIG. 8 is shown hatched.
  • a device namely a push mast sensor 23, is provided which detects whether and to what extent the push mast 15 is extended.
  • the safety control 3 is operatively connected to the reach sensor 23 and switches depending on the extent to which the push mast 15 is extended, between protective fields that differ in size and shape, in such a way that the rear area protective field 16 always at least almost completely covers the rear area in every possible push position of the push mast 15.
  • the rear area sensor 22, with the help of which the safety control 3 forms the rear area protective field 16, is arranged in the area of the industrial truck 400 connecting the wheel arms 20, 20 '.
  • the industrial truck 500 comprises a load carrier recognition device 17 which is set up so that it recognizes and measures load carriers such as Euro pallets or lattice boxes, so that the industrial truck 500 can uniquely measure, identify and pick up the load carriers.
  • the load carrier recognition device 17 comprises a load carrier recognition camera 18, which is designed as a 3D camera and is arranged between the prongs 21, 21 ′ of the lifting fork 10, centrally below the fork carrier 19.
  • the charge carrier detection camera 18 has a charge carrier detection area 24 which, among other things, runs parallel to the prongs 21, 21 of the lifting fork 10.
  • the load carrier recognition camera 18 has a viewing direction parallel to the load pick-up movement that the industrial truck 500 and / or the reach mast 15 carries out when picking up the load in order to recognize and measure the load carriers.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Chain Conveyers (AREA)

Abstract

L'invention concerne un chariot de manutention (100, 200, 300, 400, 500, 500) comprenant des moyens de réception de charge (1) destinés à recevoir des marchandises allongées (L) et un dispositif de détection de marchandises allongées (2) destiné à détecter des marchandises allongées (L) et comprenant un dispositif de commande de sécurité (3) qui présente au moins un capteur de surveillance (4, 4') et qui forme au moins un champ de protection (5, 5') à l'aide dudit capteur de surveillance (4, 4'), le dispositif de commande de sécurité (3) coopérant avec le dispositif de détection de marchandises allongées (2) et étant conçu pour influencer ledit champ de protection (5, 5') sur la base de marchandises allongées (L) détectées par le dispositif de détection de marchandises allongées (2).
EP21713621.7A 2020-04-14 2021-03-17 Chariot de manutention doté de moyens de réception de charge destinés à recevoir des marchandises allongées Active EP4136049B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020110180.5A DE102020110180A1 (de) 2020-04-14 2020-04-14 Flurförderzeug mit Lastaufnahmemitteln zur Aufnahme von Langgut
PCT/EP2021/056842 WO2021209219A1 (fr) 2020-04-14 2021-03-17 Chariot de manutention doté de moyens de réception de charge destinés à recevoir des marchandises allongées

Publications (2)

Publication Number Publication Date
EP4136049A1 true EP4136049A1 (fr) 2023-02-22
EP4136049B1 EP4136049B1 (fr) 2024-03-06

Family

ID=75143621

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21713621.7A Active EP4136049B1 (fr) 2020-04-14 2021-03-17 Chariot de manutention doté de moyens de réception de charge destinés à recevoir des marchandises allongées

Country Status (6)

Country Link
US (1) US20230135834A1 (fr)
EP (1) EP4136049B1 (fr)
JP (1) JP2023523556A (fr)
AU (1) AU2021256271A1 (fr)
DE (1) DE102020110180A1 (fr)
WO (1) WO2021209219A1 (fr)

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EP4136049B1 (fr) 2024-03-06
WO2021209219A1 (fr) 2021-10-21
AU2021256271A1 (en) 2022-11-03
US20230135834A1 (en) 2023-05-04
DE102020110180A1 (de) 2021-10-14

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