Lifting device and transport vehicle

Abstract

The lifting device according to the application, in particular for a transport vehicle, comprises an upper frame, a lower frame and at least one main scissor lifting mechanism having a first main swing arm and a second main swing arm, which cross at a main scissor axis. The main scissor lifting mechanism is arranged in such a way that, by means of a swing of the first main swing arm relative to the second main swing arm about the main scissor axis, the distance between the upper and lower frames in the vertical direction changes. The lifting device further comprises at least one secondary scissor lifting mechanism having a first secondary swing arm and a second secondary swing arm, which cross at a secondary scissor axis. The secondary scissor lifting mechanism is configured in such a way that, by means of a swing of the first secondary swing arm relative to the second secondary swing arm about the secondary scissor axis, the distance between the upper and lower frames in the vertical direction changes. Here, the main scissor axis extends obliquely relative to the secondary scissor axis. The transport vehicle, in particular a driverless transport vehicle, comprises a drive device, an electrical energy accumulator for supplying the drive device, a control device for controlling the drive device and a lifting device.

Description

Technical Field

[0001] This invention relates to a lifting device, particularly a lifting device for a transport vehicle, comprising an upper frame, a lower frame, and at least one main scissor lifting mechanism having a first main swing arm and a second main swing arm that cross at a main scissor axis. The main scissor lifting mechanism is configured and arranged such that the vertical distance between the upper frame and the lower frame changes by the swinging of the first main swing arm relative to the second main swing arm about the main scissor axis. This invention relates to a transport vehicle including the lifting device according to the invention. Background Technology

[0002] According to DE 10 2021 004 855 A1, a lifting device for a transport vehicle is known, the lifting device having a scissor frame having a pair of first and second swing arms, an upper frame and a lower frame, the first and second swing arms crossing at a scissor axis and swinging about the scissor axis, and the scissor frame being configured such that the distance between the upper frame and the lower frame in the vertical direction changes by the swinging of the first swing arm relative to the second swing arm about the scissor axis.

[0003] A vehicle seat with a scissor frame is known from DE 10 2010 046 489 B3. The scissor frame has a pair of first and second swing arms, an upper frame, and a lower frame. The first and second swing arms cross at a scissor axis and are oscillating about the scissor axis. The vertical distance between the upper frame and the lower frame, and consequently the height of the scissor frame, changes due to the oscillation of the first swing arm relative to the second swing arm about the scissor axis.

[0004] A patient support table is known from DE 10 2021 207 173 A1, which has two scissor frames. The placement table connected to the scissor frames can be moved vertically by means of a lifting device.

[0005] A lifting platform with four scissor lift mechanisms is known from DE 10 2013 009 705 A1. The frame components mounted on the scissor lift mechanisms can move vertically using a linear drive.

[0006] A transport vehicle is known from DE 10 2013 113 729 A1. The transport vehicle includes two lifting devices configured as scissor lifts.

[0007] A strapping machine with a housing is known from EP 2 208 675 A1. The housing is arranged on a height-adjustable scissor lift platform. Summary of the Invention

[0008] The purpose of this invention is to improve lifting equipment, especially for transport vehicles, and transport vehicles, especially driverless transport vehicles.

[0009] According to the invention, this objective is achieved by a lifting device having the features described in claim 1. Advantageous designs and improvements are the subject of the dependent claims. This objective is also achieved by a transport vehicle having the features described in claim 11.

[0010] The lifting device according to the present invention, particularly a lifting device for a transport vehicle, includes an upper frame, a lower frame, and at least one main scissor lifting mechanism. The main scissor lifting mechanism has a first main swing arm and a second main swing arm, which cross at a main scissor axis. The main scissor lifting mechanism is configured and arranged such that the vertical distance between the upper frame and the lower frame changes by the swinging of the first main swing arm relative to the second main swing arm about the main scissor axis. The lifting device also includes at least one secondary scissor lifting mechanism, which has a first secondary swing arm and a second secondary swing arm, which cross at a secondary scissor axis. The secondary scissor lifting mechanism is configured and arranged such that the vertical distance between the upper frame and the lower frame changes by the swinging of the first secondary swing arm relative to the second secondary swing arm about the secondary scissor axis. Here, the main scissor axis extends obliquely relative to the secondary scissor axis.

[0011] The arrangement of the scissor lift mechanism according to the present invention allows for uniform load distribution. Furthermore, the stability of the lifting equipment under lateral acceleration, which occurs, for example, when the transport vehicle brakes and when turning, is significantly improved.

[0012] According to a preferred embodiment of the invention, the main shear shaft extends longitudinally, and the auxiliary shear shaft extends laterally. Here, the laterally extends at a right angle to the vertical direction. The longitudinal direction extends at a right angle to both the vertical and laterally directions. The main shear shaft extends at a right angle to the auxiliary shear shaft. Therefore, the stability of the lifting device under lateral acceleration, especially during vehicle braking and when turning, is further improved.

[0013] According to an advantageous design of the invention, a first main swing arm is hinged at its lower end to a lower frame and is oscillating relative to the lower frame. Here, the first main swing arm is guided at its upper end by means of rollers in a manner that allows it to move laterally on an upper frame. A second main swing arm is hinged at its upper end to an upper frame and is oscillating relative to the upper frame.

[0014] According to an advantageous improvement of the invention, the main scissor lifting mechanism has a drive unit for oscillating the first main swing arm relative to the second main swing arm about the main scissor axis.

[0015] According to an advantageous design of the invention, the drive unit includes a motor that rotatably drives a lead screw, on which a lead screw nut is rotatably supported. Here, a second main swing arm is hinged to the lead screw nut at its lower end and can swing relative to the lead screw nut. Therefore, the drive unit requires relatively little structural space.

[0016] According to an advantageous design of the invention, the lead screw is rotatable relative to the lower frame about a lead screw axis, and the lead screw axis extends in the lateral direction. Through the rotation of the lead screw about the lead screw axis, the lead screw nut performs a translational motion along the lead screw axis. Therefore, the structural space required for the drive unit is relatively small.

[0017] According to an advantageous design of the invention, the drive unit includes at least one sensor for detecting the position of the lead screw nut relative to the lead screw. The position of the lead screw nut relative to the lead screw corresponds to the lifting height of the lifting device, i.e., the vertical distance between the upper frame and the lower frame. For example, the sensor is constructed as an inductive non-contact sensor. For example, the sensor is constructed as a rotary encoder that detects the number of revolutions of the motor of the drive unit and thereby calculates the lifting height.

[0018] According to an advantageous improvement of the invention, the drive unit includes: a front sensor for detecting the front end position of the lead screw nut relative to the lead screw, a rear sensor for detecting the rear end position of the lead screw nut relative to the lead screw, and a middle sensor for detecting the intermediate position of the lead screw nut relative to the lead screw. Therefore, the lower end position, upper end position, and intermediate position of the upper frame relative to the lower frame can all be detected.

[0019] According to an advantageous design of the invention, a first auxiliary swing arm is hinged to the lower frame at its lower end and is oscillating relative to the lower frame. Here, the first auxiliary swing arm is guided at its upper end by means of rollers in a manner that allows it to move longitudinally at the upper frame. A second auxiliary swing arm is hinged to the upper frame at its upper end and is oscillating relative to the upper frame. Here, the second auxiliary swing arm is guided at its lower end by means of rollers in a manner that allows it to move longitudinally at the lower frame. No additional drive unit is required for the auxiliary scissor lifting mechanism.

[0020] According to an advantageous improvement of the invention, the lifting device includes two main scissor-type lifting mechanisms, each having a first main swing arm and a second main swing arm, which intersect at the main scissor shaft. The lifting device also includes two auxiliary scissor-type lifting mechanisms, each having a first auxiliary swing arm and a second auxiliary swing arm, which intersect at the auxiliary scissor shaft. Preferably, the main scissor shafts extend in a parallel-offset or aligned manner. Preferably, the auxiliary scissor shafts extend in a parallel-offset or aligned manner.

[0021] The transport vehicle according to the invention, especially the driverless transport vehicle, includes a drive unit, an electric energy storage device for supplying power to the drive unit, a control device for controlling the drive unit, and a lifting device according to the invention.

[0022] This invention is not limited to the combination of features described in the claims. For those skilled in the art, other reasonable combinations of the features of the claims and / or individual claims and / or the description and / or drawings will be apparent, particularly from the purpose set forth and / or from comparison with the prior art. Attached Figure Description

[0023] The invention will now be described in detail with reference to the accompanying drawings. The invention is not limited to the embodiments shown in the drawings. The drawings are merely schematic illustrations of the subject matter of the invention. Wherein: Figure 1 A perspective view of the lifting equipment is shown. Figure 2 This shows a view of the lifting device from below. Figure 3 This shows a first side view of the lifting device at its minimum lifting height. Figure 4 This shows a first side view of the lifting device at its maximum lifting height. Figure 5 A second side view of the lifting device is shown at its minimum lifting height. Figure 6 A second side view of the lifting device is shown at its maximum lifting height. Detailed Implementation

[0024] Figure 1 A perspective view of a lifting device for a transport vehicle is shown. The lifting device includes a lower frame 30 and an upper frame 40. The upper frame 40 is arranged above the lower frame 30 in the vertical direction Z and is movable relative to the lower frame 30 in the vertical direction Z. The upper frame 40 is used to receive goods to be transported.

[0025] In the illustration shown here, the lower frame 30 has multiple independently arranged components. Each component of the lower frame 30 is rigidly fixed to a transport vehicle (not shown). The components of the lower frame 30 are arranged in a fixed position relative to each other and thus always maintain their relative positions.

[0026] The lifting equipment includes two main scissor lift mechanisms 10. These two main scissor lift mechanisms 10 are arranged to be staggered from each other in the longitudinal direction X. The lifting equipment also includes two auxiliary scissor lift mechanisms 20. These two auxiliary scissor lift mechanisms 20 are arranged to be staggered from each other in the transverse direction Y.

[0027] The horizontal direction Y extends at a right angle to the vertical direction Z. The vertical direction X extends at a right angle to both the horizontal direction Y and the vertical direction Z.

[0028] The main scissor lifting mechanism 10 has a first main swing arm 11 and a second main swing arm 12. The first main swing arm 11 and the second main swing arm 12 cross at the main scissor shaft 15 and can swing relative to each other about the main scissor shaft 15. The main scissor shaft 15 of the main scissor lifting mechanism 10 extends in the longitudinal direction X. The main scissor shafts 15 extend either parallel to each other or aligned with each other.

[0029] The distance between the upper frame 40 and the lower frame 30 in the vertical direction Z changes as the first main swing arm 11 swings relative to the second main swing arm 12 around the main shear shaft 15. This distance between the upper frame 40 and the lower frame 30 in the vertical direction Z is also referred to as the lifting height of the lifting device.

[0030] The main scissor lifting mechanism 10 has a drive unit 50 for swinging the first main swing arm 11 relative to the second main swing arm 12 around the main scissor shaft 15. Therefore, the drive unit 50 of the main scissor lifting mechanism 10 is used to adjust the lifting height of the lifting device.

[0031] The drive unit 50 of the main scissor lift mechanism 10 includes a motor, a lead screw, and a lead screw nut. The lead screw nut is rotatably supported on the lead screw. The lead screw can rotate relative to the lower frame 30 about a lead screw axis. The lead screw axis extends in the lateral direction Y. The motor of the drive unit 50 is fixedly located at the lower frame 30.

[0032] The motor drives the lead screw to rotate. The lead screw nut translates along the lead screw axis as the lead screw rotates around it. The second main swing arm 12 is hinged at its lower end to one of the lead screw nuts and can swing relative to the lead screw nut about a swing axis extending in the longitudinal direction X.

[0033] If the motor drives the lead screw, the lead screw rotates about the lead screw axis relative to the lower frame 30. This causes the lead screw nut to translate along the lead screw axis. At this time, the second main swing arm 12 swings relative to the lead screw nut. Consequently, the first main swing arm 11 swings about the main shear shaft 15 relative to the second main swing arm 12. This causes a change in the lifting height of the lifting device.

[0034] Figure 2 The diagram shows a view of the lifting device from below in the vertical direction Z. The secondary scissor lifting mechanism 20 has a first secondary swing arm 21 and a second secondary swing arm 22. The first secondary swing arm 21 and the second secondary swing arm 22 cross at the secondary scissor axis 25 and can swing relative to each other about the secondary scissor axis 25.

[0035] The secondary scissor shaft 25 of the secondary scissor lifting mechanism 20 extends in the lateral direction Y. The secondary scissor shafts 25 extend either parallel to each other or aligned with each other. Therefore, the main scissor shaft 15 extends at a right angle to the secondary scissor shaft 25.

[0036] As the first auxiliary swing arm 21 swings relative to the second auxiliary swing arm 22 around the auxiliary scissor shaft 25, the distance between the upper frame 40 and the lower frame 30 in the vertical direction Z also changes, thus changing the lifting height of the lifting device. Similarly, the change in the lifting height of the lifting device causes the first auxiliary swing arm 21 to swing relative to the second auxiliary swing arm 22 around the auxiliary scissor shaft 25.

[0037] Figure 3 This is a first side view of the lifting device in the longitudinal direction X at its minimum lifting height. The upper frame 40 is in the lower end position, that is, close to the lower frame 30 in the vertical direction Z. At this time, the lead screw nut is in the front end position.

[0038] The first main swing arm 11 is hinged at its lower end to the lower frame 30 and is oscillating relative to the lower frame 30. The first main swing arm 11 is guided at its upper end by means of rollers in a manner that allows it to move in the lateral direction Y at the upper frame 40. The second main swing arm 12 is hinged at its upper end to the upper frame 40 and is oscillating relative to the upper frame 40.

[0039] Figure 4 This is a first side view of the lifting device in the longitudinal direction X at its maximum lifting height. The upper frame 40 is in the upper end position, that is, it is furthest from the lower frame 30 in the vertical direction Z. At this time, the lead screw nut is in the rear end position.

[0040] Figure 5 A second side view of the lifting device in the lateral direction Y is shown at the minimum lifting height. The upper frame 40 is located in the lower end position, that is, close to the lower frame 30 in the vertical direction Z.

[0041] Figure 6 This is a second side view of the lifting device in the lateral direction Y at its maximum lifting height. The upper frame 40 is located at the upper end position, that is, it is furthest from the lower frame 30 in the vertical direction Z.

[0042] The first secondary swing arm 21 is hinged to the lower frame 30 at its lower end and can swing relative to the lower frame 30. The first secondary swing arm 21 is guided at its upper end by means of rollers in a manner that allows it to move in the longitudinal direction X on the upper frame 40.

[0043] The second swing arm 22 is hinged at its upper end to the upper frame 40 and is swayable relative to the upper frame 40. The second swing arm 22 is guided at its lower end by means of rollers in a manner that allows it to move in the lateral direction Y at the lower frame 40.

[0044] List of reference numerals

[0045] 10 Main scissor lifting mechanism

[0046] 11 First main swing arm

[0047] 12 Second main swing arm

[0048] 15 main shear shafts

[0049] 20 pairs of scissor lift mechanisms

[0050] 21 First Swing Arm

[0051] 22 Second Swing Arm

[0052] 25 pairs of shear shafts

[0053] 30 Lower Frame

[0054] 40 upper frame

[0055] 50 drive units

[0056] X longitudinal direction

[0057] Y-direction

[0058] Z is the vertical direction.

Claims

1. A lifting device, particularly a lifting device for a transport vehicle, the lifting device comprising an upper frame (40), a lower frame (30), and at least one main scissor lifting mechanism (10), the main scissor lifting mechanism having a first main swing arm (11) and a second main swing arm (12), the first and second main swing arms crossing at a main scissor shaft (15), wherein, The main scissor lifting mechanism (10) is constructed and arranged such that the distance between the upper frame (40) and the lower frame (30) in the vertical direction (Z) changes by the swing of the first main swing arm (11) relative to the second main swing arm (12) about the main scissor shaft (15). The lifting device includes at least one auxiliary scissor lifting mechanism (20) having a first auxiliary swing arm (21) and a second auxiliary swing arm (22) that cross at the auxiliary scissor shaft (25). The auxiliary scissor lifting mechanism (20) is constructed and arranged such that the distance between the upper frame (40) and the lower frame (30) in the vertical direction (Z) changes by the swing of the first auxiliary swing arm (21) relative to the second auxiliary swing arm (22) about the auxiliary scissor shaft (25), and the main scissor shaft (15) extends obliquely relative to the auxiliary scissor shaft (25).

2. The lifting device according to claim 1, characterized in that, The main shear shaft (15) extends in the longitudinal direction (X), and the secondary shear shaft (25) extends in the transverse direction (Y).

3. The lifting device according to any one of the preceding claims, characterized in that, The first main swing arm (11) is hinged to the lower frame (30) at its lower end and can swing relative to the lower frame (30). The first main swing arm (11) is guided by rollers at its upper end in such a way that it can move in the lateral direction (Y) on the upper frame (40). The second main swing arm (12) is hinged to the upper frame (40) at its upper end and can swing relative to the upper frame (40).

4. The lifting device according to any one of the preceding claims, characterized in that, The main scissor lifting mechanism (10) has a drive unit (50) for swinging the first main swing arm (11) relative to the second main swing arm (12) about the main scissor shaft (15).

5. The lifting device according to claim 4, characterized in that, The drive unit (50) includes a motor that rotatably drives a lead screw, a lead screw nut that is rotatably supported on the lead screw, and a second main swing arm (12) that is hinged to the lead screw nut at its lower end and is swayable relative to the lead screw nut.

6. The lifting device according to claim 5, characterized in that, The lead screw can rotate relative to the lower frame (30) around the lead screw axis, which extends in the transverse direction (Y). Through the rotation of the lead screw around the lead screw axis, the lead screw nut moves in translation along the lead screw axis.

7. The lifting device according to any one of claims 5 to 6, characterized in that, The drive unit (50) includes at least one sensor for detecting the position of the lead screw nut relative to the lead screw.

8. The lifting device according to any one of claims 5 to 7, characterized in that, The drive unit (50) includes: a front sensor for detecting the position of the lead screw nut relative to the front end of the lead screw, a rear sensor for detecting the position of the lead screw nut relative to the rear end of the lead screw, and a middle sensor for detecting the position of the lead screw nut relative to the middle of the lead screw.

9. The lifting device according to any one of the preceding claims, characterized in that, The first swing arm (21) is hinged to the lower frame (30) at its lower end and can swing relative to the lower frame (30). The first swing arm (21) is guided at its upper end by means of rollers in a manner that allows it to move in the longitudinal direction (X) on the upper frame (40). The second swing arm (22) is hinged to the upper frame (40) at its upper end and can swing relative to the upper frame (40). The second swing arm (22) is guided at its lower end by means of rollers in a manner that allows it to move in the longitudinal direction (X) on the lower frame (30).

10. The lifting device according to any one of the preceding claims, characterized in that, The lifting device includes two main scissor lifting mechanisms (10), each having a first main swing arm (11) and a second main swing arm (12), which cross at the main scissor shaft (15). The lifting device also includes two auxiliary scissor lifting mechanisms (20), each having a first auxiliary swing arm (21) and a second auxiliary swing arm (22), which cross at the auxiliary scissor shaft (25).

11. A transport vehicle, particularly an unmanned transport vehicle, comprising a drive unit, an electric energy storage device for supplying power to the drive unit, a control device for controlling the drive unit, and a lifting device according to any one of the preceding claims.

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