EP4137442A1 - Chariot de manutention à guidage autonome doté d'une paire d'unités de balayeurs - Google Patents

Chariot de manutention à guidage autonome doté d'une paire d'unités de balayeurs Download PDF

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Publication number
EP4137442A1
EP4137442A1 EP22188534.6A EP22188534A EP4137442A1 EP 4137442 A1 EP4137442 A1 EP 4137442A1 EP 22188534 A EP22188534 A EP 22188534A EP 4137442 A1 EP4137442 A1 EP 4137442A1
Authority
EP
European Patent Office
Prior art keywords
industrial truck
vehicle body
autonomously guided
scanner units
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
EP22188534.6A
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 EP4137442A1 publication Critical patent/EP4137442A1/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
    • B66F9/063—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
    • 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
    • B66F9/07559—Stabilizing 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
    • 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
    • B66F9/07586—Suspension or mounting of wheels on chassis

Definitions

  • the present invention relates to an autonomously guided industrial truck with a vehicle body, which defines a longitudinal direction and a width direction of the industrial truck and, in sections, an outline thereof in a plan view of the industrial truck.
  • AGV Automated Guided Vehicles
  • a scanner arrangement for three-wheeled vehicles is known, in which two scanner units are each positioned laterally next to a drive device. This allows for full 360° coverage of the area with overlaps between the scan areas of each scanner unit.
  • vehicles with wheel arms can be made lighter and more compact, but as already mentioned above, the wheel arms with a suitable load carriage in the direction of the load restrict the view or the achievable scan area of the scanner units used.
  • the autonomously guided industrial truck comprises a vehicle body, which defines a longitudinal direction and a width direction of the industrial truck and, in sections, an outline thereof in a plan view of the industrial truck, a pair of wheel arms extending from the vehicle body, each with at least one load wheel, a pair of supporting or driving wheels standing on a running ground below the vehicle body, which are opposite to each other in the width direction, and a pair of scanner units arranged vertically above the supporting wheels, which define a scanning plane with their respective scanning areas and are located within the outline of the Vehicle body symmetrically opposite in the width direction of the truck.
  • the support or drive wheels according to the invention act as drive wheels
  • the support wheels or drive wheels act as pure support wheels
  • the industrial truck also comprises a steered drive wheel that is arranged centrally with respect to the width direction and stands up on the driving surface below the vehicle body.
  • the arrangement of the scanner units above the support or drive wheels is related to the fact that the actual scan plane is above these support or drive wheels, while individual components or sections of the scanner Units can also overlap with the support or drive wheels in the vertical direction, for example if brackets or housing sections of the scanner units extend vertically below the spanned scan plane, which, however, are irrelevant for the actual scan function of the scanner units.
  • the respective scanning areas of the individual scanner units are defined both by the specific design of the scanner units used in the industrial truck according to the invention and by possible shadowing areas which result from components of the industrial truck lying within the scanning plane or Attachments can result from it. It should always be noted that due to the relatively low vertical arrangement of the scanner units in the industrial truck according to the invention, frame elements are inevitably used to connect components located below and above the scan plane, for example sections of the vehicle body or something similar must be present.
  • the pair of scanner units can be advantageous if these are arranged behind the support wheels or drive wheels with respect to the longitudinal direction of the industrial truck.
  • the scanner units are placed in front of or also directly above the support wheels or drive wheels in the longitudinal direction of the industrial truck.
  • scanner units in particular can be used which each have a scan angle of about 270°.
  • the vehicle body could be formed in the vertical area of the scan plane in such a way that the scanner units with the respective scan areas can sweep over or cover the entire area around the industrial truck, for example by connecting the above and below the Frame elements lying in the scanning planes are arranged as centrally as possible with respect to the width direction of the industrial truck, or by being formed in a tapering manner in their frontmost area with respect to the longitudinal direction. This could then only result in a narrow dead zone directly in front of the industrial truck in a central area, but from a certain distance from the vehicle body in this direction the scanning plane would also be covered over the entire angular range.
  • the wheel arms of the industrial truck can also be arranged completely below the scanning plane. This makes it possible that the corresponding scan areas can extend over the wheel arms and accordingly these wheel arms can be “scanned over”.
  • a pair of fork arms and a load stop connecting the fork arms can be used to ensure that the fork arms are also arranged completely below the scan plane in a maximum lowered state of the load part. In this way, these forks can also be scanned in their maximally lowered state in the manner just described.
  • the industrial truck can also be designed in such a way that when it is ready to drive, the load part is always raised so far that the forks and all other components are located completely above the scan level, so that there is no need to switch off individual areas of the truck scan level to worry about.
  • an industrial truck according to the invention equipped in this way may have a somewhat Reduced operating efficiency, since the load part must always be lowered separately before driving into a pallet or the like, since permanent travel with the load part lowered to the maximum is not possible for the reasons just mentioned.
  • permanently raised load forks pose an increased risk of injury for people located there.
  • the load stop can have cutouts in its vertical area, which is at the height of the scan plane when the load part is in the maximum lowered state exhibit.
  • these cutouts may correspond to the intended vertical dimensions of the scan plane and protrude widthways into the body of the load part to such an extent that the desired angular coverage is achieved without unduly weakening its structure or unduly complicating the connection of the corresponding forks.
  • the scanner units can be arranged in such a way that the scanning plane is at a vertical height of approximately 100 mm above the driving surface and/or has a vertical width of +/-25 mm.
  • the value of 100 mm is to be interpreted accordingly as the mean value of the height of the scan plane in its vertical extension and it goes without saying that the concept of the scan plane is not to be understood in the strictly geometric sense as a two-dimensional object, since this plane is at a practical consideration always has a vertical width.
  • the industrial truck can be designed in such a way that the extent of its outline in relation to the width direction is less than 800 mm, which should enable use in logistic facilities with block storage.
  • an autonomously guided industrial truck is shown in an isometric oblique view from the front and is generally denoted by the reference numeral 10 .
  • the industrial truck 10 includes a vehicle body 12, which includes a base plate 14 and an upper section 16, which accommodates components necessary for operating the industrial truck, for example an energy store, a control unit and the like.
  • a longitudinal direction L and a width direction B are defined by the vehicle body.
  • the vehicle body 12 is also defined in sections in plan view and of course also in the view from below 2 of the industrial truck 10 an outline thereof, wherein in the specific embodiment shown in the figures the outline of the base plate 14 essentially corresponds to that of the upper part 16, which could also be solved differently in other embodiments of the present invention, in that the base plate 14 or the upper part 16 protrudes beyond the other of these two components.
  • the industrial truck 10 as even better in 2 1, a pair of wheel arms 18a and 18b extending from the vehicle body 12 each have a load wheel 20a and 20b mounted thereon. Since the industrial truck 10 is designed as a five-wheeled vehicle, the figures also show a steered drive wheel 22 that is arranged centrally with respect to the width direction B Way protrudes in order to be able to accomplish the steerability of it.
  • two support wheels 26a and 26b can be seen in the figures as parts of support wheel arrangements 28a and 28b, which are integrated in the front corner regions of the vehicle body 12 and do not extend beyond the base plate 14 in the vertical direction, so that the base plate 14 and the support wheel assemblies 28a and 28b form a common vertical plane at their tops or alternatively the base plate 14 even protrudes beyond the support wheel assemblies 28a and 28b.
  • the support wheels 26a and 26b are at a maximum distance from one another in the width direction B of the industrial truck 10 within the framework of the given external dimensions of the industrial truck 10 in order to enable increased stability or maximum cornering speeds of the industrial truck 10 even when loaded.
  • two scanner units 30a and 30b are also located opposite one another in the width direction B within the outline of the vehicle body 12 in plan view, which can be used both for personal safety and for navigating the industrial truck 10 and which are arranged with respect to the vertical direction such that their scanning plane E lies in the height range between the base plate 14 with the support wheel assemblies 28a and 28b embedded therein on the one hand and the upper part 16 of the vehicle body 12 on the other hand.
  • the scanner units 30a and 30b also extend vertically into the area of the base plate 14 or the upper part 16 of the vehicle body 12 due to their design, their scanning plane corresponds exactly to an intermediate area in terms of both their vertical position and their vertical extent 32 between these two components of the vehicle body 12, in which only one frame element 34 tapering forward in the longitudinal direction L is provided for the outer lining of the steered drive wheel 22 and for connecting the base plate 14 and the upper part 16.
  • both the wheel arms 18a and 18b and those also arranged vertically above them and in 1 Fork tines 36a and 36b, shown in a maximally lowered state, of a load part, not shown, are designed so flat with respect to the vertical direction that in 1 The state shown, the scan plane E is completely above these components and thus an over-scanning of them is possible, which thus allows a total of 360 ° coverage of the area around the industrial truck 10 around.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
EP22188534.6A 2021-08-16 2022-08-03 Chariot de manutention à guidage autonome doté d'une paire d'unités de balayeurs Pending EP4137442A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102021121222.7A DE102021121222A1 (de) 2021-08-16 2021-08-16 Autonom geführtes Flurförderzeug mit einem Paar von Scanner-Einheiten

Publications (1)

Publication Number Publication Date
EP4137442A1 true EP4137442A1 (fr) 2023-02-22

Family

ID=82786668

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22188534.6A Pending EP4137442A1 (fr) 2021-08-16 2022-08-03 Chariot de manutention à guidage autonome doté d'une paire d'unités de balayeurs

Country Status (4)

Country Link
US (1) US20230047525A1 (fr)
EP (1) EP4137442A1 (fr)
CN (1) CN115893267A (fr)
DE (1) DE102021121222A1 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2157436A (en) * 1984-04-06 1985-10-23 Bygg Och Transportekonomie Ab Detecting obstacles in the operation of remote-controlled machines
EP3251918A1 (fr) * 2016-06-02 2017-12-06 Toyota Material Handling Manufacturing Sweden AB Chariot élévateur à fonction d'escalade automatisé
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
DE102019213942A1 (de) 2018-09-19 2020-03-19 Kabushiki Kaisha Kawai Gakki Seisakusho Tastatur-Vorrichtung, die einen Lenker-Mechanismus beinhaltet
DE202020103181U1 (de) * 2020-06-03 2020-07-07 Bogumil Zieba Ein autonomer Gabelstapler
WO2021069674A1 (fr) * 2019-10-09 2021-04-15 Metralabs Gmbh Neue Technologien Und Systeme Chariot de manutention autonome

Family Cites Families (2)

* 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
DE102019213922A1 (de) 2019-09-12 2021-03-18 Jungheinrich Aktiengesellschaft Fahrzeug mit Umfeldüberwachungseinrichtung

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2157436A (en) * 1984-04-06 1985-10-23 Bygg Och Transportekonomie Ab Detecting obstacles in the operation of remote-controlled machines
EP3251918A1 (fr) * 2016-06-02 2017-12-06 Toyota Material Handling Manufacturing Sweden AB Chariot élévateur à fonction d'escalade automatisé
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
DE102019213942A1 (de) 2018-09-19 2020-03-19 Kabushiki Kaisha Kawai Gakki Seisakusho Tastatur-Vorrichtung, die einen Lenker-Mechanismus beinhaltet
WO2021069674A1 (fr) * 2019-10-09 2021-04-15 Metralabs Gmbh Neue Technologien Und Systeme Chariot de manutention autonome
DE202020103181U1 (de) * 2020-06-03 2020-07-07 Bogumil Zieba Ein autonomer Gabelstapler

Also Published As

Publication number Publication date
US20230047525A1 (en) 2023-02-16
DE102021121222A1 (de) 2023-02-16
CN115893267A (zh) 2023-04-04

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