EP4137438A1 - Partie de chargement pour chariot de manutention autonome - Google Patents

Partie de chargement pour chariot de manutention autonome Download PDF

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Publication number
EP4137438A1
EP4137438A1 EP22188521.3A EP22188521A EP4137438A1 EP 4137438 A1 EP4137438 A1 EP 4137438A1 EP 22188521 A EP22188521 A EP 22188521A EP 4137438 A1 EP4137438 A1 EP 4137438A1
Authority
EP
European Patent Office
Prior art keywords
load
load part
industrial truck
fork
width direction
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP22188521.3A
Other languages
German (de)
English (en)
Inventor
Michael Schüler
Marcel Krenzin
Arne Roth
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.)
Jungheinrich AG
Original Assignee
Jungheinrich AG
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 Jungheinrich AG filed Critical Jungheinrich AG
Publication of EP4137438A1 publication Critical patent/EP4137438A1/fr
Pending legal-status Critical Current

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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
    • B66F9/075—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
    • B66F9/12—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
    • B66F9/063—Automatically guided

Definitions

  • the present invention relates to a load part for an autonomously guided industrial truck with a longitudinal direction and a width direction, comprising a pair of essentially horizontally extending forks arranged next to one another in the width direction or an essentially horizontally extending monofork and having two extension sections and a connecting section and a load stop connected to the fork arms or the two extension sections and extending essentially in the vertical direction above the fork arms or the mono-fork.
  • Load carriages with forks or mono forks and vertical load attachment are known from various types of industrial trucks.
  • the fork shape is generally selected in such a way that an inner and an outer web of the same thickness are connected to one another via a cover plate, with both webs having a connection to a supporting frame structure in the fork root area, for example a direct connection to a load stop plate or a connection of the outer fork webs to roller webs.
  • the dimensions of the two webs can allow the forks to be lowered over the truck's load arms, which in turn carry load wheels, so that when the load section is lowered, the load arms lie between the webs of the fork arms in order to increase the height of the fork arms the driving surface in this state.
  • load carriages are known in which the outer fork web is thicker or stronger than the inner one and both webs are connected either to the load stop plate or to roller webs which are used to connect or guide the load part in a vertically displaceable manner on the vehicle body of the corresponding industrial truck.
  • Embodiments with monoforks are generally used when objects such as lattice trolleys or mobile containers are to be transported instead of pallets, for example in supermarkets or similar facilities.
  • load parts designed in this way have the disadvantage that scanner units placed in the corresponding vertical section of the industrial truck in front of the respective load part only show a scan area when the load part is lowered can monitor past the load stop and the forks or the mono fork, but not across them.
  • the load part In order to be able to detect areas on the load side in industrial trucks that are equipped with the load parts just described and known from the prior art, the load part must therefore be raised so that the corresponding scan plane of the scanner units is below the forks or the mono fork runs.
  • a corresponding vehicle should not exceed the width of a Euro pallet of approx. 800mm, and a particularly narrow design of the resulting industrial truck is desired.
  • a key measure to achieve this compact design is to arrange all scanner units that are relatively close to the ground on the vehicle, if possible within the contour or outline of the vehicle in a plan view, so as not to protrude or widen at this point.
  • the personal protection scanners already in use are also to be used as navigation scanners, it has proven to be practicable in this context to set the essentially horizontal scanning plane to one height of approx. 100 mm above the driving surface, so that the autonomously guided industrial truck equipped in this way can also detect unloaded pallets without any problems.
  • the load stop of the present load part has a cutout on at least one of its outer sides in the width direction adjacent to the corresponding fork.
  • This at least one cutout makes it possible for scanner units arranged in the width direction of the corresponding industrial truck within the vehicle contour to expand their field of view, which was previously restricted by typical load parts, in such a way that the fork tines or the monofork itself can be at least partially covered by the scan area .
  • the load stop of the load part according to the invention since such types of autonomously guided industrial trucks usually have a pair of scanner units lying symmetrically opposite one another in the width direction, it is also possible for the load stop of the load part according to the invention to have symmetrically designed cutouts on its two outer sides.
  • these forks extending in the longitudinal direction can comprise an inner and an outer web as well as a cover plate connecting the two webs, with the respective inner web having a larger cross section is than the respective outer web.
  • the inner web can essentially assume the entire load-bearing function of the forks, since the provision of at least one cutout in the load stop in the area of the outer web would no longer ensure suitable force absorption by connecting this web to the load stop.
  • the fork tines can each comprise a web which is arranged on the inside in relation to the width direction and an “L”-shaped cover plate.
  • the outer web can be integrated into the L-shaped cover plate or it can be dispensed with entirely, since it does not have to be connected to the load stop, but can only be connected to the cover plate, and consequently its supporting part in this embodiment is very high is low.
  • connection between the load stop and the two forks can only be present in the area of the respective inner web, so that in such embodiments the outer web can only contribute to the internal reinforcement of the corresponding fork.
  • the extension sections thereof can each be designed at least in sections as a web connected to the load stop, the two webs being connected by means of a cover plate which forms the connection section.
  • the cover plate can have different shapes, for example it can initially continue to extend a certain distance in the direction of the extension sections and then form the connecting section running perpendicularly thereto. Transition areas can also be provided here, in which the cover plate runs at a respective angle to the corresponding extension section.
  • the vertical extension of the at least one section can accordingly also be around 50mm, so that the entire width of the scan field is covered by this can be free.
  • the present invention relates to an autonomously guided industrial truck, comprising a vehicle body with at least one steered drive wheel, and a vertically displaceably arranged load part of the type according to the invention described above.
  • the industrial truck can also comprise a pair of wheel arms which extend longitudinally from the vehicle body and which each carry at least one load wheel, with the load part being arranged above the load arms.
  • such an industrial truck can comprise a scanner unit with a substantially horizontally aligned scanning plane on at least one side and preferably in a symmetrical arrangement on both sides in the width direction, with the at least one section of which lies at the vertical level of the scan plane.
  • This also ensures that the load forks of the load part are below the scanning level in this fully lowered state, and thus an enlarged monitoring area of the scanner unit is achieved in that the fork tines can be "scanned over" by the scanner units.
  • a fully lowered fork height may be about 75mm.
  • This horizontal arrangement of the cutouts of the load part and the fork arms allows the pallets to be picked up, as already indicated above, in the desired manner when the load part is in the lowered state.
  • the industrial truck according to the invention can comprise a control unit which is set up to control a vertical displacement of the load part in such a way that when the industrial truck is in a state of motion with the load part raised, the load part is always at least a predetermined height difference above the scanning plane.
  • a control unit which is set up to control a vertical displacement of the load part in such a way that when the industrial truck is in a state of motion with the load part raised, the load part is always at least a predetermined height difference above the scanning plane.
  • a load part according to the invention for an autonomously guided industrial truck is first shown in an isometric view and is generally denoted by the reference numeral 10 .
  • the load part 10 here comprises a pair of forks 12a and 12b which extend essentially horizontally in a longitudinal direction L and are arranged next to one another in a width direction B, as well as a pair of forks 12a and 12b connected and located essentially in the vertical direction above the forks 12 , 12b extending load stop 14.
  • the load stop 14 is provided on its two sides in the width direction B with respective profiles 14a and 14b, which enable a coupling to a first in 3 shown vehicle body 102 of an industrial truck 100 to be equipped with the load part 10 in the manner of roller webs.
  • the two forks 12a and 12b are each formed with an inner web 16, which is connected to the load stop 14 in the region of the fork root of the respective fork 12a, 12b.
  • an "L"-shaped cover plate 18 extends from the respective inner web 16 first outwards in the width direction B and then vertically downwards, the vertically extending part of which forming an outer web 20 .
  • the connection between the fork arms 12a, 12b and the load stop 14 is sufficiently rigid by coupling the inner web 16 with a larger cross section to the load stop 14, while the cover plate 18 is used to carry pallets without slipping and tipping and the outer web 20 causes only an inner reinforcement of the respective fork tines 12a, 12b.
  • this design of the two forks 12a and 12b creates the possibility of lowering the forks via the load arms of a corresponding industrial truck, so that when the load part is in the lowered state, the load arms lie between the webs of the forks in order to reduce the height of the forks above the driving surface in this reduce condition.
  • the load stop 14 has two cutouts 22a and 22b on its two outer sides in the width direction B, each adjacent to the corresponding fork prongs 12a and 12b, the function of which is explained further below with reference to FIG 3 will be explained in more detail.
  • the two cutouts 22a and 22b can, for example, have a vertical extent of 50 mm and an extent in the width direction B of 50 to 150 mm.
  • the industrial truck 100 On its outer sides in the width direction B, the industrial truck 100 comprises scanner units 108 lying symmetrically opposite one another, of which 3 also only one can be seen while the other is covered. Together, the respective scan areas S1 and S2 of the two scanner units 108 form a scan plane E that is aligned essentially horizontally.
  • the scanning plane E lies above the two forks 12a and 12b and in the area of the cutouts 22a and 22b of the load part 10 when the load part 10 is in the fully lowered state 3 can be clearly recognized from the outlines of the scan areas S1 and S2, at least partial coverage of the area above the two forks 12a and 12b and an almost complete all-round view outside the outer contours of the industrial truck 100 can be achieved by the scanner units 108.
  • the vertical extensions of the two sections 22a and 22b are matched to the vertical width of the scan plane E and can be approximately 50 mm, for example.
  • the tops of the forks 12a and 12b are at a fork height of approximately 75 mm above the driving surface, so that the scanner units 108 in the vicinity of the industrial truck 100 can also detect standard Euro pallets.
  • the industrial truck 100 can be set up, in a loaded state, in particular when a pallet is gripped and lifted by the load part 10, to always lift it to such an extent that the scan plane E is completely extends below the load part and the carried pallet and thus again enables a problem-free all-round view, since the two scan fields S1 and S2 work in the same way as in the off state 3 cover the area around the industrial truck 100.
  • Last shows the 4 an alternative embodiment of a load part according to the invention in an isometric view obliquely from below, which is generally designated by the reference numeral 200 and which is similar to the load part 10 of FIGS Figures 1 and 2 could be used in the industrial truck 100 .
  • components of the load part 200 which those from the embodiment of the Figures 1 and 2 correspond or fulfill an equivalent function, each denoted by the same reference number increased by 200, and their explanation will be given below with reference to the above explanation of the corresponding components in FIGS Figures 1 and 2 be partially dispensed with.
  • the load part 200 comprises a mono-fork 212 with two extension sections 212a and 212b and a connecting section 212c connecting the extension sections 212a and 212b at a front end thereof. Due to this design, an industrial truck with the load part 200 is usually used when objects such as cage trolleys or roll containers are to be transported, for example in supermarkets or similar facilities.
  • the extension sections 212a and 212b of the mono-fork 212 are each section-wise than with the load stop 214 connected web formed, the two webs are connected by means of a cover plate 218, which in turn forms the connecting portion 212c.
  • the cover plate 218 extends, starting from the extension sections 212a and 212b, initially by a distance in the same direction as these, before the connecting section 212c finally follows after a respective slightly angled transition area.
  • cutouts 222a and 222b satisfy the embodiment of FIG 4 same function as cutouts 22a and 22b in the embodiment of FIGS 1 and 2 , so that the improvements described above with regard to a scanning area to be covered can also be achieved with the load part 200 in an industrial truck equipped with it.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP22188521.3A 2021-08-16 2022-08-03 Partie de chargement pour chariot de manutention autonome Pending EP4137438A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102021121224.3A DE102021121224A1 (de) 2021-08-16 2021-08-16 Lastteil für autonom geführtes Flurförderzeug

Publications (1)

Publication Number Publication Date
EP4137438A1 true EP4137438A1 (fr) 2023-02-22

Family

ID=82786699

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22188521.3A Pending EP4137438A1 (fr) 2021-08-16 2022-08-03 Partie de chargement pour chariot de manutention autonome

Country Status (4)

Country Link
US (1) US20230046303A1 (fr)
EP (1) EP4137438A1 (fr)
CN (1) CN115892286A (fr)
DE (1) DE102021121224A1 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5011358A (en) * 1988-10-25 1991-04-30 Andersen Eric T Height indicator for a fork lift truck
DE29806980U1 (de) * 1998-04-17 1998-06-25 Pfleiderer AG, 92318 Neumarkt Warnsystem
EP1764340A2 (fr) * 2005-09-14 2007-03-21 Still Gmbh Chariot élévateur avec capteur environnemental positionné à proximité du mât de levage
DE102008054085A1 (de) * 2008-10-31 2010-05-06 Still Sas Flurförderzeug
CN109502513A (zh) * 2018-12-26 2019-03-22 苏州罗伯特木牛流马物流技术有限公司 叉车式agv货叉距离自动调整装置及方法
DE202020103181U1 (de) * 2020-06-03 2020-07-07 Bogumil Zieba Ein autonomer Gabelstapler

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4209861A1 (de) 1992-03-26 1993-09-30 Linde Ag Gabelhubwagen
DE10323641A1 (de) 2003-05-26 2005-01-05 Daimlerchrysler Ag Bewegliche Sensoreinrichtung am Lastmittel eines Gabelstaplers
DE102009056419B4 (de) 2009-12-01 2022-01-20 Jungheinrich Aktiengesellschaft Lastteil für ein Flurförderzeug
DE102018117242A1 (de) 2018-07-17 2020-01-23 Jungheinrich Aktiengesellschaft Flurförderzeug mit einer Kamera
CN110877876B (zh) 2019-11-04 2021-06-15 浙江华睿科技有限公司 栈板位置自动识别叉车

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5011358A (en) * 1988-10-25 1991-04-30 Andersen Eric T Height indicator for a fork lift truck
DE29806980U1 (de) * 1998-04-17 1998-06-25 Pfleiderer AG, 92318 Neumarkt Warnsystem
EP1764340A2 (fr) * 2005-09-14 2007-03-21 Still Gmbh Chariot élévateur avec capteur environnemental positionné à proximité du mât de levage
DE102008054085A1 (de) * 2008-10-31 2010-05-06 Still Sas Flurförderzeug
CN109502513A (zh) * 2018-12-26 2019-03-22 苏州罗伯特木牛流马物流技术有限公司 叉车式agv货叉距离自动调整装置及方法
DE202020103181U1 (de) * 2020-06-03 2020-07-07 Bogumil Zieba Ein autonomer Gabelstapler

Also Published As

Publication number Publication date
CN115892286A (zh) 2023-04-04
DE102021121224A1 (de) 2023-02-16
US20230046303A1 (en) 2023-02-16

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