EP4137440A1 - Plaque de base pour un chariot autonome de manutention - Google Patents

Plaque de base pour un chariot autonome de manutention Download PDF

Info

Publication number
EP4137440A1
EP4137440A1 EP22188530.4A EP22188530A EP4137440A1 EP 4137440 A1 EP4137440 A1 EP 4137440A1 EP 22188530 A EP22188530 A EP 22188530A EP 4137440 A1 EP4137440 A1 EP 4137440A1
Authority
EP
European Patent Office
Prior art keywords
base plate
industrial truck
width direction
arrangement
recess
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
EP22188530.4A
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 EP4137440A1 publication Critical patent/EP4137440A1/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
    • B66F9/07513—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
    • 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 base plate for an autonomously guided industrial truck with a longitudinal and a width direction, which is intended to form a base plate arrangement and to delimit a vehicle body of the industrial truck in sections at the bottom, and which includes a plate body which is intended for this purpose is to at least partially define an outline of the base plate arrangement.
  • a generic base plate for an autonomously guided industrial truck of the type mentioned at the outset should have an opening that is central with respect to the width direction, which is provided for to accommodate a drive wheel of the industrial truck, as well as at least one with respect to a longitudinal central axis recess offset in the width direction, which is intended to accommodate a support wheel arrangement of the industrial truck.
  • a base plate By providing a central opening in the base plate in this way, which can accommodate a drive wheel of the industrial truck in such a way that it protrudes through the central opening and, in particular, can be pivoted within the opening to steer the industrial truck, while outside the longitudinal central axis in the at least one recess and at least one support wheel arrangement can also be accommodated, a base plate can be created which, on the one hand, allows functional components of the industrial truck to be arranged at a low height above the driving surface, in particular the scanner unit already mentioned, while on the other hand a solid closure of the vehicle body is created downwards, which on the one hand protects all components of the industrial truck arranged there from impact and damage, while on the other hand it helps to keep the center of gravity of the industrial truck as low as possible.
  • the base plate according to the invention can in fact be formed in one piece as a solid monolithic metal part, it should not be ruled out at this point that such a one-piece base plate is also composed of several sub-units in a non-detachable manner, for example welded.
  • Such a base plate which has a central opening for a drive wheel and at least one staggered recess for a support wheel, with the latter preferably also being attached to the base plate, thus makes it possible on the one hand to positively influence the center of gravity of the industrial truck and on the other hand means an optimization of the Structure of the industrial truck with regard to sensors arranged on the industrial truck.
  • Known support wheel constructions are either fastened above the support wheel to a sheet metal frame construction or by means of a swing arm, which is usually arranged on the side of the frame.
  • the base plate according to the invention comprises two recesses for receiving a support wheel arrangement, which are arranged symmetrically with respect to the longitudinal center axis.
  • the at least one recess can be provided on the base plate according to the invention in such a way that it defines part of the outline of the plate body.
  • the respective jockey wheel assembly in a condition received on the plate body, itself partially forms part of the outline of this assembly and thus constitutes a termination at an edge thereof.
  • the largest possible track width of the support wheel arrangement can be achieved, whereby stable driving behavior can be achieved even at high cornering speeds of the industrial truck, particularly in embodiments with a symmetrically arranged pair of support wheel arrangements.
  • the at least one recess in a front corner area in relation to the longitudinal direction and outer corner area in relation to the width direction of the plate body defines the outline thereof, so that the respective support wheel arrangement in its mounted state the corresponding corner of the base plate arrangement forms.
  • the base plate according to the invention can also have at least one further recess which is intended to accommodate a scanner unit in sections. While such scanner units must be arranged in an operating state of the operational industrial truck in such a way that their scan plane extends above the base plate, some types of scanner units available on the market have an increased overall height, which may make it desirable to embed them partially in the base plate in order to reduce the effective overall height above the base plate for the Minimize scanner unit.
  • the at least one further recess for a scanner unit is located completely within the outline of the base plate, so that material of the plate body is always located outside of it, especially in the width direction, which protects the sensitive scanner unit from side impacts or other potential hazards.
  • the base plate according to the invention can have a contact surface in its rear area in relation to the longitudinal direction and central area in relation to the width direction, which is provided to support a lifting cylinder of the industrial truck.
  • the base plate according to the invention also offers an optimal interface point for the attachment of this lifting cylinder, since its design enables it to easily absorb and support the corresponding forces.
  • the base plate has a maximum extension in the width direction of about 800mm or less. These dimensions correspond exactly to the width of a Euro pallet, so that the corresponding industrial truck can be maneuvered without any problems between Euro pallets parked next to one another on the driving surface. Of course, however, variants of the base plate according to the invention with larger dimensions are also conceivable for corresponding other application purposes.
  • the base plate according to the invention Since both the steerability of the drive wheel of the industrial truck and the commonly used support wheel arrangements and some types of scanner units each require circular symmetry for their assembly, it can be advantageous in the base plate according to the invention if the central opening and/or at least one of the Recesses and / or at least one of the other recesses is formed substantially circular.
  • the at least one recess defines part of the outline of the panel body, this feature is to be understood in such a way that the section of the corresponding recess which adjoins the outline of the panel body forms a section of a circle, while the support wheel -Arrangement itself can define the circular shape over the rest of the section.
  • the present invention relates to a base plate arrangement for an autonomously guided industrial truck, comprising a base plate according to the invention of the type just described and at least one support wheel arrangement accommodated in the recess or one of the recesses.
  • the at least one support wheel arrangement is fastened, there are initially no restrictions; for example, it could be bolted in one piece to the base plate arrangement at corresponding interfaces or otherwise detachably attached.
  • the type of construction and the external dimensions of the corresponding support wheel arrangement must be adapted to the respective recess, with the at least one support wheel arrangement and the base plate also being on their upper sides can be designed essentially flush with one another or the base plate can extend upwards beyond the at least one support wheel arrangement.
  • the interaction of the configurations of base plate and support wheel arrangement in this way can ensure that the scan plane of a scanner unit arranged above the base plate also lies completely over the at least one support wheel arrangement and is not impaired by this or by the base plate itself becomes.
  • the base plate arrangement according to the invention can also include at least one scanner unit, which is arranged such that its scanning plane lies above the base plate, with the at least one scanner unit optionally being accommodated in sections in the or one of the further recesses.
  • at least one scanner unit which is arranged such that its scanning plane lies above the base plate, with the at least one scanner unit optionally being accommodated in sections in the or one of the further recesses.
  • the base plate protects the at least one scanner unit from objects below the scan plane .
  • two load arms for carrying load wheels can be firmly attached to it, in particular welded, with the load arms possibly extending on both sides of the contact area and being arranged flush with it, for example. Accordingly, a force-conducting interface for the load arms can also be created at this point, so that the transmission of forces and moments from this point of view in the industrial truck is possible in an operationally reliable manner.
  • the present invention relates to a vehicle body of an autonomously guided industrial truck, which comprises a base plate arrangement of the type just described and a vehicle frame arranged above the base plate, with an interface for connecting the base plate arrangement and the vehicle frame being positioned in such a way that it is arranged outside of the central opening but spaced apart in the width direction from the outline of the base plate. Sufficient space is thus created in the area between this interface and the outer outline of the base plate in the width direction to arrange the at least one scanner unit in this area and thus enable it to have an enlarged field of view of more than 180°.
  • the at least one recess and possibly the at least one further recess can be arranged in the width direction outside of the interface in relation to the longitudinal central axis.
  • the present invention relates to an autonomously guided industrial truck that includes such a vehicle body. Accordingly, any further functional units of the industrial truck can be arranged within the vehicle frame of this vehicle body, for example control and communication units, further sensor units and energy stores, which are required for the operation of the industrial truck.
  • FIGS. 1A and 1B 10 first show two variants of base plates according to the invention for autonomously guided industrial trucks, which are denoted by the reference symbols 10 and 10'. It should be noted that elements identical or equivalent to the variant Figure 1B each with the same reference numerals as the corresponding elements Figure 1A , additionally marked with an apostrophe.
  • the base plates 10 and 10′ each have a longitudinal direction or longitudinal central axis L and a width direction B perpendicular thereto, which are oriented in the same way as the corresponding directions are usually designated in industrial trucks equipped with such base plates.
  • the base plates 10 and 10' are each intended to form a base plate arrangement of an industrial truck and to delimit a vehicle body of this industrial truck in sections at the bottom.
  • they each comprise a plate body 12 or 12', which in particular can be made solid from a single metal part.
  • the base plates 12 and 12' now in turn each have a central opening 14 or 14' with respect to the width direction B, which is provided for an in Figures 1A and 1B not yet shown steered drive wheel of the industrial truck in such a way that the wheel extends both above and below the plane of the base plates 10 and 10'.
  • the two base plates 10 and 10' have offset recesses 16a, 16b or 16a', 16b' in the width direction B with respect to the longitudinal central axis L, which are arranged in the front outer corner region of the respective base plate 10 or 10' and have a Define part of the outline of the plate body 12 or 12'.
  • both the central opening 14, 14' and the recesses 16a, 16b, 16a' and 16b' are essentially circular in shape, with the recesses 16a, 16b, 16a' and 16b' only forming the outline Part of it is designed as a circle section.
  • the two base plates 10 and 10' each include a pair of further recesses 18a, 18b or 18a', 18b', which are also placed symmetrically offset in the width direction B thereof with respect to the longitudinal central axis L.
  • the further recesses 18a, 18b, 18a', 18b' are provided completely within the outline of the plate body 12 or 12', so that in the width direction B outside the further recesses 18a , 18b, 18a′, 18b′ there is still material of the plate body 12 or 12′, which acts as an impact protection for the scanner units described below.
  • a contact surface 20 is provided in the central area in the width direction B behind the central opening 14', which can serve as a contact surface for a lifting cylinder for actuating a load carriage when the industrial truck is in the assembled state.
  • a footprint is in the variant from Figure 1A not intended, so that it can be used in low-lift industrial trucks, for example.
  • the variant is off Figure 1B to see that this is widened in the width direction B in the area of the recesses 16a', 16b', so that the track width of the support wheel arrangements to be attached at this point, which are shown in the following with reference to FIG Figures 2A, 2B and 3 will be explained in more detail, is maximized.
  • the support wheel arrangements can, for example, sit at least partially outside of the rest of the vehicle geometry, which can be advantageous, for example, in the case of high-lift vehicles, in order to increase their tipping stability, while the particularly narrow external dimensions of the variant Figure 1A can no longer be complied with.
  • FIGS. 2A and 2B now show in a plan view and a side view schematically an autonomously guided industrial truck 100, in which a base plate similar to that of FIG Figure 1A is used and which is correspondingly also denoted by the reference numeral 10.
  • this base plate 10 is also in contrast to that of Figure 1A is provided with a footprint 20.
  • This contact area 20 lies centrally and flush between two load arms 22a and 22b of the industrial truck 100, which each carry a load wheel 24a and 24b in the region of their ends remote from the base plate 10.
  • a steered drive wheel 26 of the industrial truck 100 is accommodated in the area of the central opening 14 in the base plate 10, the hub of which extends above the base plate 10, so that the steered drive wheel 26 is partially below and partially above the level of the base plate 10 lies.
  • the essentially circular design of the central opening 14 also allows the drive wheel 26 to pivot about its vertical axis, which enables it to be steered.
  • two support wheel arrangements 28a and 28b accommodated in the recesses 16a and 16b, can be seen, which are also essentially circular in shape and are mounted in the recesses 16a and 16b in such a way that they themselves, with their respective housing, form part of the Outline of the base plate assembly 102 formed in this way form in the front outer corner regions.
  • the support wheel arrangements 28a and 28b are characterized in that their respective support wheels 30a and 30b can also be pivoted about a vertical axis to enable cornering, but the arrangements 28a and 28b have an extremely low overall height, which essentially corresponds to the thickness of the plate body 12 corresponds, as can be seen in particular in Figure 2B can be recognized well.
  • the jockey wheel assemblies 28a and 28b are flush at their tops with the corresponding top of the panel body 12 and allow installation of two of each other also with respect to the longitudinal central axis at this point symmetrically opposite scanner units 32a and 32b in the further recesses 18a and 18b.
  • These scanner units 32a and 32b have, as in Figure 2B can be seen, a scan plane E with respective scan areas S1 and S2, which runs horizontally above the base plate 10 and the load arms 22a and 22b.
  • the scanner units 32a and 32b are protected on their sides by the walls of the plate body 12 against impacts that occur at this point, but are arranged in a suitable position in order to be able to cover the largest possible angular ranges of the scan plane E, as shown in Figure 2A indicated areas S1 and S2 can be understood. In variants of the embodiment shown here, however, scanner units with a different geometry could also be used, which could possibly make the provision of the further recesses 18a and 18b superfluous.
  • this interface 34 for connecting the base plate 10 to the vehicle frame 36 to form the vehicle body 104, in which further components of the industrial truck 100 can be accommodated.
  • the specific shape of this interface 34 which is placed in such a way that it is arranged outside of the central opening 14, but spaced apart from the outline of the base plate 10 in the width direction B and also designed to taper forward at an angle, allows the advantageous positioning of the scanners already discussed above -Units 32a and 32b as well as the increased angular coverage of the scan areas S1 and S2, which has also been mentioned.
  • the goal has been pursued of designing the industrial truck 100 particularly narrow in the width direction B, for example with a maximum width of 800 mm, while at the same time the scanner units 32a and 32b and the support wheel arrangements 28a and 28b are arranged as far outwards as possible in the width direction , so in the further variant of an industrial truck 100' shown in FIG. 3A in an isometric rear view, the base plate 10' is off Figure 1B with their broadening in the area of the recesses 16a' and 16b' were used, so that a somewhat modified base plate assembly 102' and correspondingly modified vehicle body 104'.
  • the support wheel arrangements 28a and 28b are partially arranged outside of the rest of the vehicle geometry and their spacing in the width direction B has been maximized.
  • This measure can be taken, for example, in the case of high-lift vehicles in order to increase the tipping stability of these vehicles in applications in which the widening of the corresponding industrial truck 100' is not a problem at this point.
  • the industrial truck 100' can be identical to the industrial truck 100 from FIGS Figures 2A and 2B be formed and a more detailed description should be omitted here with reference to this figure.

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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)
  • Handcart (AREA)
EP22188530.4A 2021-08-16 2022-08-03 Plaque de base pour un chariot autonome de manutention Pending EP4137440A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102021121217.0A DE102021121217A1 (de) 2021-08-16 2021-08-16 Grundplatte für ein autonom geführtes Flurförderzeug

Publications (1)

Publication Number Publication Date
EP4137440A1 true EP4137440A1 (fr) 2023-02-22

Family

ID=82786571

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22188530.4A Pending EP4137440A1 (fr) 2021-08-16 2022-08-03 Plaque de base pour un chariot autonome de manutention

Country Status (4)

Country Link
US (1) US20230050260A1 (fr)
EP (1) EP4137440A1 (fr)
CN (1) CN115703625A (fr)
DE (1) DE102021121217A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0670256A1 (fr) 1994-03-04 1995-09-06 M I C, Société Anonyme Chariot de manutention avec roues stabilisatrices
CN206606990U (zh) * 2017-03-10 2017-11-03 诺力机械股份有限公司 一种小转弯半径工业车辆
CN108946586A (zh) * 2018-09-14 2018-12-07 浙江斐尔德智能设备有限公司 多功能型自动导引运输车
CN111717844A (zh) * 2020-06-09 2020-09-29 安徽意欧斯物流机器人有限公司 一种工业安全型激光slam导航托盘堆垛式agv
DE102020006337A1 (de) * 2019-10-09 2021-04-15 Metralabs Gmbh Neue Technologien Und Systeme Autonomes Flurförderzeug

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10022400C5 (de) 2000-04-20 2008-11-06 Jungheinrich Ag Gabelhubwagen mit einem Fünfradfahrwerk
DE102010012749A1 (de) 2010-03-25 2011-09-29 Kuka Laboratories Gmbh Verfahren zum Betreiben eines autonomen Flurförderfahrzeugs
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
DE202018104885U1 (de) 2018-08-24 2019-11-26 Blickle Räder + Rollen GmbH & Co. KG Transportfahrzeug
DE202019103019U1 (de) 2019-05-28 2019-10-08 August Schneider Lippstädter Schausteller Betriebe UG Hinterradanordnung für ein Autoscooter-Fahrzeug

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0670256A1 (fr) 1994-03-04 1995-09-06 M I C, Société Anonyme Chariot de manutention avec roues stabilisatrices
CN206606990U (zh) * 2017-03-10 2017-11-03 诺力机械股份有限公司 一种小转弯半径工业车辆
CN108946586A (zh) * 2018-09-14 2018-12-07 浙江斐尔德智能设备有限公司 多功能型自动导引运输车
DE102020006337A1 (de) * 2019-10-09 2021-04-15 Metralabs Gmbh Neue Technologien Und Systeme Autonomes Flurförderzeug
CN111717844A (zh) * 2020-06-09 2020-09-29 安徽意欧斯物流机器人有限公司 一种工业安全型激光slam导航托盘堆垛式agv

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Publication number Publication date
US20230050260A1 (en) 2023-02-16
CN115703625A (zh) 2023-02-17
DE102021121217A1 (de) 2023-02-16

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