EP4137439A1 - Chariot de manutention à guidage autonome à trois niveaux de structure - Google Patents

Chariot de manutention à guidage autonome à trois niveaux de structure Download PDF

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Publication number
EP4137439A1
EP4137439A1 EP22188526.2A EP22188526A EP4137439A1 EP 4137439 A1 EP4137439 A1 EP 4137439A1 EP 22188526 A EP22188526 A EP 22188526A EP 4137439 A1 EP4137439 A1 EP 4137439A1
Authority
EP
European Patent Office
Prior art keywords
industrial truck
level
vehicle frame
autonomously guided
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.)
Pending
Application number
EP22188526.2A
Other languages
German (de)
English (en)
Inventor
Michael Schüler
Helmut Lohmann
Holger Brunckhorst
Marcel Krenzin
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 EP4137439A1 publication Critical patent/EP4137439A1/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
    • B66F9/063—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
    • B66F9/07513—Details concerning the chassis
    • 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
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors

Definitions

  • the present invention relates to an autonomously guided industrial truck, comprising a vehicle frame which defines a vehicle outline in sections in a plan view of the industrial truck and at least one drive wheel which is assigned to the vehicle frame in order to stand up on a driving surface underneath it.
  • scanner units are to be provided in autonomously guided industrial trucks of this type, which can be used on the one hand as personal protection scanners and on the other hand as navigation scanners.
  • Such scanner units have to cover as large an angular range as possible around the industrial truck in order to be able to ensure both the safety of people in the vicinity and the ability of the industrial truck to navigate.
  • the scanner units are usually located outside of the frame geometry or the vehicle outline in the area of the vehicle frame, since components installed on the vehicle frame of the corresponding industrial truck, such as support rollers and the like, are located in the width direction of the vehicle are to be arranged as far outside as possible, otherwise the field of view of the corresponding scanner units could be restricted and the necessary all-round view impaired.
  • the scanner units are often arranged relatively high, since functional components thereof, such as the support wheels already mentioned, are arranged in lower lying areas of the corresponding vehicles, which for the reasons mentioned also carry out the function of the scanner could affect units.
  • an autonomously guided industrial truck of the type described above in which the vehicle frame comprises three structural levels with different contours arranged one above the other in the vertical direction, namely a lower structural level in which a basic structure is arranged, an upper structural level with a covering and a middle one Structural level comprising a frame structure for connecting the lower structural level and the upper structural level.
  • the outlines of the three structural levels mentioned refer to horizontal cross sections thereof.
  • the width direction and the longitudinal direction of the industrial truck are used here in the nomenclature commonly used in such a way that the longitudinal direction corresponds to a straight-ahead travel direction of the industrial truck, with any existing forks of a load part extending counter to the longitudinal direction and the width direction is horizontal and perpendicular to the longitudinal direction.
  • the industrial truck according to the invention also comprises at least one such scanner unit, preferably a pair of scanner units lying opposite one another in the width direction, which is/are arranged completely within the outline of the vehicle frame in such a way that its scanning plane is at least partially vertical in the area of the central structural level.
  • the scanning plane spanned by the at least one scanner unit can be aligned essentially horizontally or slightly inclined downwards in order to be able to achieve optimum detection of obstacles and landmarks in the area surrounding the industrial truck.
  • the lower structural level and the upper structural level can have essentially the same outline, at least in sections, which offers the advantage, among other things, that in this way the middle structural level can be seen in the corresponding areas both from above and from below the same way in width direction and/or longitudinally protruding vehicle frame parts, which in turn makes it more difficult for objects from the area surrounding the industrial truck to penetrate into the area of the middle structural level and thus protects the components located there, for example the scanner units already mentioned, from damage. Furthermore, a uniform silhouette of the industrial truck is created by this structural measure in a side and front view, which is also perceived as aesthetically pleasing in addition to the already mentioned function of protection against damage.
  • the industrial truck according to the invention could also be designed as a tricycle, for example, which comprises only a single steered drive wheel in the central area of the vehicle frame and two load wheels arranged at a distance from it, for example in the area of the load arms
  • the industrial truck according to the invention can also be configured in other embodiments four or five wheels and further comprising a pair of widthwise opposite supporting or driving rollers, which are associated with the vehicle frame and relative to the vertical direction are received entirely within the lower structural plane.
  • the support or drive rollers can be designed purely as support rollers and a single steered drive wheel can also be provided. which is based on the width direction of the truck centrally assigned to the vehicle frame to below it on the driving surface stand up, the basic structure having an opening for receiving the single central drive wheel.
  • the support rollers could be designed as part of support roller arrangements with a housing, which housing defines the outline of the lower structural level in sections.
  • corresponding recesses would have to be provided in the base plate in the area of its outline, in which the support roller arrangements are mounted in order to define part of the outline of the base plate arrangement formed in this way.
  • a maximum distance between the two support roller assemblies can be achieved with regard to the width direction of the industrial truck according to the invention, which leads to increased stability of the vehicle with regard to forces acting in the width direction when carrying larger loads and cornering quickly.
  • the basic structure in the lower structural level could be formed, for example, by an assembly formed from several welded frame parts or screwed components, embodiments can also be thought of in which the basic structure comprises a base plate or is formed by it, which can be designed in one piece and and /or which, in five-wheel designs of the vehicle, may have an opening to accommodate the single central drive wheel.
  • the corresponding support rollers or support roller arrangements can also protrude over other parts of the vehicle outline in this area, which in turn leads to a increased width of the vehicle and could make it unsuitable for certain applications, such as the logistics facilities with block storage already mentioned above.
  • the industrial truck according to the invention can also further comprise two wheel arms, each of which is assigned at least one load wheel and which are firmly connected to the vehicle frame in the area of the lower structural level and extend backwards from it in a longitudinal direction of the industrial truck. Since the wheel arms are also completely assigned to the lower structural level in this way, they also do not represent an obstacle for the scanner units in question and thus also do not generate any angular ranges that cannot be covered by the scanner units.
  • the at least one scanner unit can have a design-related scan angle of approximately 270° and/or a scan field width in the vertical direction of approximately 50 mm.
  • Such scanner units are readily available on the market and generally use laser technology for personal protection and for navigating the industrial trucks equipped with them. It goes without saying that the concept of plane is not to be interpreted strictly geometrically, but rather the relevant scan plane has a finite extension in the vertical direction.
  • the design of the outline of the central structure level already described above allows the pair of scanner units to be arranged in such a way that the scan level can be covered by the two scanner units completely in the range of 360° around the vehicle.
  • a narrow, triangular dead zone that is not monitored by the scanner units can occur in front of the vehicle, the extent of which is determined by the precise design of the tapering shape of the frame structure at the front end of the industrial truck.
  • the entire area surrounding the industrial truck according to the invention can be completely monitored by the two scanner units, with redundant sections or angular areas in front of and behind the vehicle being conceivable, which are covered by both scanner units .
  • the exact position of the at least one scanner unit with regard to the longitudinal or width direction of the industrial truck according to the invention can initially be freely selected within certain limits, but it can be advantageous if it is arranged in the longitudinal direction of the industrial truck behind the support or drive rollers. In this way, it can be ensured in particular that in the rear area around the industrial truck, optimal coverage is achieved by the corresponding scanner unit, although embodiments are also conceivable in which the at least one scanner unit is arranged in front of or above the support rollers in the longitudinal direction of the industrial truck is.
  • the industrial truck according to the invention can include a vertically displaceably guided load part on the vehicle frame for receiving a load and preferably lifting profiles for guiding the load part, which extend in the vertical direction only in the area of the upper structural level. Since the stroke profiles also do not protrude into the area of the middle structure level in this way, they cannot form any obstacles for the scanner unit and consequently cannot cause any dead areas in the scan level or other disadvantageous effects.
  • the industrial truck according to the invention could also be designed as a tractor vehicle and then, for example, include a coupling or an interface for load handling devices.
  • the load part of the industrial truck according to the invention can have two forks and a load stop connecting the fork tines or a monofork with a load stop, with the load stop having two recesses lying opposite one another in the width direction, which are aligned with the central structural plane when the load part is in a maximum lowered state are.
  • Load handling devices are usually referred to as mono forks, in which two sections extending horizontally from the load stop are connected by a connecting section, so that it is no longer possible to drive into a conventional pallet, but grid trolleys, roll containers and similar objects can be transported safely.
  • the measure just described creates visual windows in the area of the middle structural level, which also contribute to opening up the largest possible angular range for monitoring by the scanner units and, for example, to ensuring that the fork tines are partially scanned over when they are in their maximum lowered state i.e. the effective scan plane extends beyond the forks.
  • the structural measure of providing recesses on the load stop of the load part may require that the fork tines or the extension sections of the mono fork are only attached to the load stop at central positions, since there are no corresponding attachment points in the outer areas due to the provision of the recesses more may exist.
  • the necessary rigidity of the load part can be achieved in such embodiments, for example, in that a strut of the fork prongs lying further inward in the width direction is reinforced and in this way absorbs a large part of the forces exerted by a load to be carried.
  • the frame structure of the middle structural level it is conceivable to design it so that it lies completely within and at a distance from the outline of the vehicle frame with regard to the width direction and/or surrounds the opening in the base plate and/or has a tapering shape in a front section with regard to the longitudinal direction and/or delimits a scan area of at least one of the scanner units at least in sections.
  • the frame structure for connecting the lower structural level and the upper structural level can comprise at least two connecting struts running essentially in the longitudinal direction, which extend between a front and a rear section of the vehicle frame and in sections both in the middle and in the upper structural level, in the longitudinal area of the tapering shape of the frame structure, however, only in the upper structural level.
  • connecting struts ensure that a sufficient reinforcement of the connection between the lower and upper structural level and the components contained therein, in particular the base plate and the paneling, can be ensured, since they ensure that a frictional connection between the lower and the upper structural level in one can take place in an appropriate manner.
  • two of these connecting struts can delimit the frame structure outwards in sections in the width direction and thus form side walls of this frame structure.
  • the industrial truck according to the invention can have an extension of about 800 mm or less in the width direction in order to fall below the external dimensions of Euro pallets.
  • the lower structural plane can extend in the vertical direction and up to a height of about 75 mm above the vehicle floor
  • the middle structural plane can extend from a height of about 75 mm to extend to a height of about 125 mm
  • the upper structure level extend upwards from a height of about 125 mm.
  • the scanning plane can be at a mean height of about 100 mm in relation to a driving surface, and its width of +/- 25 mm in the vertical direction can be completely covered by the mean structure plane.
  • the industrial truck shown in the figures is denoted in general by the reference numeral 10 and comprises a vehicle frame 12 and a load part 14, which is guided vertically displaceably on the vehicle frame 12 and has two fork arms 14a and 14b and a load stop 14c connecting the fork arms 14a, 14b for picking up a load , which is guided by means of lifting profiles 16, which will be discussed in more detail below.
  • the industrial truck 10 comprises two wheel arms 18a and 18b, which have load wheels 20a, 20b, shown only schematically, in the region of their ends facing away from the vehicle body 12. Furthermore, in the Figures 1A and 1B each have a longitudinal and a width axis L and B drawn, which in the usual way the corresponding directions map in the industrial truck 10 and span a horizontal plane.
  • the vehicle body 12 has a base plate 22 on its underside, the outline of which corresponds at least in sections to the outline of the vehicle frame 12 and which has a central opening 24 for receiving, for example, a 3 has to be recognized drive wheel 26.
  • the base plate 22 also has two recesses 28a and 28b in its front lateral corner areas, in which the example in the Figure 4A easily recognizable support roller arrangements 30a and 30b can be mounted, which consequently also form part of the outline of the base plate arrangement and are maximally spaced apart from one another with respect to the width direction B in order to ensure that the industrial truck 10 stands securely even when cornering at high speed and with a heavy load to ensure.
  • a lower structural level E1 which includes, among other things, the base plate 22 and the Includes support roller assemblies 30a and 30b and in this vertical height range from the outline of the vehicle frame in plan view Figure 1A corresponds to a middle structure level E2, in which the frame structure 38 and sections of the scanner units 34a and 34b are arranged, the frame structure 38 in the width direction B completely inside and at a distance from the outline of the vehicle frame in the plan view Figure 1B is located, as well as an upper structural level E3, in which the paneling 36 is arranged and which accommodates other components of the industrial truck 10 that are not shown, for example a battery arrangement, a control unit, a communication unit, electric and/or hydraulic drive units and similar functional elements, which are required for the Operation of the truck 10 are responsible.
  • the steered drive wheel 26 extends over all three structural planes E1 to E3 in the vertical direction and is partially surrounded by the frame structure 38 in the width direction.
  • the frame structure 38 also runs towards one another in a front section with respect to the longitudinal direction L with two side walls 40a and 40b which are at an angle to one another.
  • the scanning plane S spanned by the scanner units 34a and 34b and which is essentially vertically aligned is in terms of its height position, namely centered on the middle structural plane E2, with the vertical extent of the middle structural plane E2 being exactly the same as the corresponding width of the scan plane should correspond to S.
  • the frame structure 38 in addition to the two tapering walls 40a and 40b, also includes two connecting struts 42a and 42b running essentially in the longitudinal direction L, which on the one hand represent a lateral boundary, i.e. lateral walls, of the frame structure 38 and are connected to this in sections extend both in the middle E2 and the upper structural level E3, while they are present in the longitudinal region of the tapering walls 40a and 40b only in the upper structural level E3.
  • the structural strength of the connection between the lower structural level E1 and the upper structural level E3 can be ensured, as well as the flow of forces from the base plate 22 into the cladding 36 or other components arranged in the upper structural level E3, for example one that is not shown in the figure Sheet metal construction, which can carry other elements in the area of the upper structural level E3.
  • connecting struts 42a and 42b in the area of the tapering walls 40a and 40b are only provided above the central structure level E2 ensures that these do not create any obstacles to the scanning level S being set up by the two scanner units 34a and form 34b.
  • these scanner units 34a and 34b are each provided with a design-related scan angle of 270°, the angle overlap of the individual scan areas S1 and S2 indicated in the figures can be achieved by the two scanner units 34a and 34b.
  • the frame structure 38 which is provided centrally in the width direction B, and additionally the two tapering walls 40a and 40b in the surrounding area in front of the vehicle 10 in relation to the longitudinal direction L, there is only a very small triangular dead area T, while in rear area of the industrial truck 10 due to the flat design of the wheel arms 38a and 38b as well as the forks 14a and 14b of the load part 14, which are also located completely in the area of the lower structural level E1 in the fully lowered state, it is possible to cover these forks 14a and 14b in such a way, that the scan level S runs above it and thus the load forks 14a and 14b are scanned.
  • Another measure that contributes to the complete angular coverage of the scan plane E is the provision of recesses 14d opposite one another in the width direction B in the load stop 14c of the load part 14 and the arrangement of the lifting profiles 16 only in the area of the upper structural level E3.
  • a respective window is created, which enables a further enlargement of the angular coverage of the respective scan areas S1 and S2, as for example in FIGS Figures 4A and 4B can be seen, so that they already intersect in the area of the forks 14a and 14b and thus behind the industrial truck 10 there is an overlap of the scan areas S1 and S2, which overall enables and causes a complete coverage of the scan plane S by 360° .

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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)
  • Forklifts And Lifting Vehicles (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)
EP22188526.2A 2021-08-16 2022-08-03 Chariot de manutention à guidage autonome à trois niveaux de structure Pending EP4137439A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102021121218.9A DE102021121218A1 (de) 2021-08-16 2021-08-16 Autonom geführtes Flurförderzeug mit drei Strukturebenen

Publications (1)

Publication Number Publication Date
EP4137439A1 true EP4137439A1 (fr) 2023-02-22

Family

ID=82786834

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22188526.2A Pending EP4137439A1 (fr) 2021-08-16 2022-08-03 Chariot de manutention à guidage autonome à trois niveaux de structure

Country Status (4)

Country Link
US (1) US20230047245A1 (fr)
EP (1) EP4137439A1 (fr)
CN (1) CN115703517A (fr)
DE (1) DE102021121218A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103482535A (zh) * 2013-10-10 2014-01-01 袁培江 一种轻负载智能叉车
CN209668702U (zh) * 2018-12-29 2019-11-22 江苏科瑞恩自动化科技有限公司 一种agv无人防撞物流车
WO2021069674A1 (fr) * 2019-10-09 2021-04-15 Metralabs Gmbh Neue Technologien Und Systeme Chariot de manutention autonome
EP3815852A1 (fr) * 2019-10-29 2021-05-05 IMS Gear SE & Co. KGaA Dispositif de transport sans conducteur et système de transport sans conducteur permettant de transporter des objets

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3005932B1 (fr) 2013-05-21 2015-05-01 France Reducteurs Ensemble electromecanique pour engin roulant, ainsi qu'un engin roulant equipe d'un tel ensemble electromecanique
DE202013011144U1 (de) 2013-12-12 2014-02-28 Grenzebach Maschinenbau Gmbh Fahrerloses Transportfahrzeug für den Transport schwerer Lasten auf Lafetten
EP3704037A4 (fr) 2017-11-03 2020-12-09 Labrador Systems, Inc. Systèmes robotiques domestiques autonomes pour la récupération et le transport d'articles
ES2934144T3 (es) 2019-03-20 2023-02-17 Asti Mobile Robotics S A U Vehículo autónomo omnidireccional
DE202020103181U1 (de) 2020-06-03 2020-07-07 Bogumil Zieba Ein autonomer Gabelstapler

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103482535A (zh) * 2013-10-10 2014-01-01 袁培江 一种轻负载智能叉车
CN209668702U (zh) * 2018-12-29 2019-11-22 江苏科瑞恩自动化科技有限公司 一种agv无人防撞物流车
WO2021069674A1 (fr) * 2019-10-09 2021-04-15 Metralabs Gmbh Neue Technologien Und Systeme Chariot de manutention autonome
EP3815852A1 (fr) * 2019-10-29 2021-05-05 IMS Gear SE & Co. KGaA Dispositif de transport sans conducteur et système de transport sans conducteur permettant de transporter des objets

Also Published As

Publication number Publication date
US20230047245A1 (en) 2023-02-16
DE102021121218A1 (de) 2023-02-16
CN115703517A (zh) 2023-02-17

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