Load part for autonomously guided industrial truck

Abstract

The present invention relates to a load part (10) for an autonomously guided industrial truck having a longitudinal direction and a width direction (B), comprising a pair of substantially horizontally extending fork tines (12a, 12b) arranged side by side in the width direction (B) or a substantially horizontally extending monofork having two extension sections and a connecting section, and a load stop (14) connected to the pair of fork tines (12a, 12b) or the extension sections and extending substantially vertically above the fork tines (12a, 12b) or the monofork. According to the invention, the load stop (14) has a cutout (22a, 22b) on at least one of its outer sides in the width direction (B), adjacent to the corresponding fork tine (12a, 12b) or extension section.Furthermore, the present invention relates to an industrial truck equipped with such a load part.

Description

[0001] The present invention relates to a load part for an autonomously guided industrial truck with a longitudinal direction and a width direction, comprising a pair of fork tines extending substantially horizontally and arranged next to one another in the width direction or a monofork extending substantially horizontally and having two extension sections and a connecting section and a load stop connected to the fork tine or the two extension sections and extending substantially vertically above the fork tines or the monofork.

[0002] Load carriages with forks or monoforks and vertical load stops are familiar from various types of industrial trucks. In the case of versions with forks, the fork shape is usually selected such that an inner and an outer bar of the same thickness are connected to each other via a cover plate, with both bars having a connection to a supporting frame structure in the fork root area, for example a direct connection to a load stop plate or a connection of the outer fork bars to roller bars. Depending on the design of the industrial truck to be equipped with them, the dimensions of the two bars can allow the forks to be lowered via the truck's load arms, which in turn carry load wheels. So that when the load section is lowered, the load arms lie between the fork bar, reducing the height of the forks above the driving surface in this state.

[0003] Similarly, load carriages are known in which the outer fork web is thicker or stronger than the inner one and both webs are connected either to the load stop plate or to roller webs, which contribute to the connection or guidance of the load part in a vertically displaceable manner to the vehicle body of the corresponding industrial truck.

[0004] Designs with monoforks are generally used when objects such as wire mesh trolleys or roll containers need to be transported instead of pallets, for example in supermarkets or similar establishments.

[0005] However, in autonomously guided industrial trucks (often referred to as AGVs - automated guided vehicles), load sections designed in this way have the disadvantage that scanner units placed in front of the respective load section in the corresponding vertical section of the industrial truck can only monitor a scan area past the load stop and the forks or monofork when the load section is lowered, but not over them. In order to be able to detect load-side areas in industrial trucks equipped with the load sections described above, which are known from the state of the art, the load section must be raised so that the corresponding scan plane of the scanner units runs below the forks or monofork.

[0006] However, this has two major disadvantages. Firstly, it requires time-consuming lifting and lowering of the load section when entering and exiting pallets or other objects to be transported, which leads to a deterioration in the performance and operational efficiency of the corresponding industrial truck. Secondly, there is also an increased risk of accidents and injuries from such equipped industrial trucks, as such autonomously driven vehicles are often used in logistics facilities with mixed operations and therefore cross the paths of other autonomous vehicles and warehouse employees.

[0007] If an autonomously controlled industrial truck comes to an abrupt stop in such a logistics environment and, for example, a manually operated device with a driver's platform is following behind it at the same time, this has already resulted in numerous cases in the past of rear-end collisions and serious injuries to the operators in the area of ​​their shins or knees due to the raised forks, whereas this risk would be significantly reduced if the forks were lowered further.

[0008] It is therefore the object of the present invention to further develop a generic load part for an autonomously guided industrial truck in such a way that it eliminates the disadvantages of the prior art described above and can be used in particular for logistics facilities with block storage, in which pallets or other objects are placed at minimal distances on the driving surface of the facility and industrial trucks move between them.

[0009] In such scenarios, a suitable vehicle should not exceed the width of a Euro pallet of approximately 800 mm, for example, and a particularly narrow design of the resulting industrial truck is desired. A key measure to achieve this compact design is to position all scanner units, which are located relatively close to the ground, within the contour or outline of the vehicle in a top view, if possible, to avoid any protrusions or widening at this point.

[0010] Since, according to new developments in the field of autonomously guided industrial trucks, the personal protection scanners already in use are also to be used as navigation scanners, it has proven practical in this context to set the essentially horizontal scanning plane at a height of approximately 100 mm above the driving surface so that the autonomously guided industrial truck equipped in this way can also easily detect unloaded pallets.

[0011] In order to achieve the greatest possible angular coverage of the scan plane around the industrial truck to be equipped in this way with scanner units arranged within the vehicle's outline at this height above the driving surface, the invention proposes that the load stop of the load part in question has a cutout on at least one of its outer sides in the width direction adjacent to the corresponding fork tines or extension section. This at least one cutout enables the scanner units arranged in the width direction of the corresponding industrial truck within the vehicle contour to expand their field of view, previously restricted by typical load parts, in such a way that the fork tines or the monofork themselves can be at least partially covered by the scan area.

[0012] Since such types of autonomously guided industrial trucks usually have a pair of scanner units that are symmetrically opposite one another in the width direction, it is also possible for the load stop of the load part according to the invention to have symmetrically formed cutouts on its two outer sides.

[0013] Furthermore, in the load part according to the invention, in embodiments with two fork tines arranged side by side, these fork tines extending in the longitudinal direction can each comprise, with respect to the width direction, an inner and an outer web as well as a cover plate connecting the two webs, wherein the respective inner web is designed with a larger cross-section than the respective outer web. In this way, the inner web can essentially assume the entire load-bearing function of the fork tines, since the provision of at least one cutout in the load stop in the region of the outer web would no longer ensure suitable force absorption by connecting this web to the load stop.

[0014] In particular, in the load part according to the invention, the fork tines can each comprise a web arranged inwardly relative to the width direction and an "L"-shaped cover plate. The outer web can be integrated into the L-shaped cover plate or can be omitted entirely, since it does not need to be connected to the load stop but can simply be connected to the cover plate, and consequently, its load-bearing contribution is very small in this embodiment.

[0015] In principle, even the provision of a cover plate would not be urgently necessary, at least from a strength perspective. However, due to its widthwise extension, it offers the advantage of better filling the chamber dimensions of the pallets to be transported, thus reducing the risk of the pallets slipping laterally. Even if the fork tines could therefore consist only of the mandatory inner webs, this could potentially lead to the pallets tipping, so the provision of a cover plate is preferable in any case.

[0016] In particular, as already mentioned, the connection between the load stop and the two fork tines can only be present in the area of ​​the respective inner web, so that in such embodiments the outer web can only contribute to the internal stiffening of the corresponding fork tine.

[0017] In embodiments with a monofork, the extension sections thereof can each be designed, at least in sections, as a web connected to the load stop, wherein the two webs are connected by a cover plate that forms the connecting section. The cover plate can have different shapes; for example, it can initially extend a certain distance in the direction of the extension sections and then form the connecting section running perpendicular to this. Transition regions can also be provided in which the cover plate extends at a respective angle to the corresponding extension section.

[0018] Since the vertical scan field width of the types of scanner units commonly used for this purpose is approximately + / - 25mm around a central plane, the vertical extent of the at least one section can accordingly also be approximately 50mm, so that the entire width of the scan field can be exposed.

[0019] Furthermore, the present invention relates to an autonomously guided industrial truck, comprising a vehicle body with at least one steered drive wheel, and a vertically displaceably arranged load part of the type according to the invention described above.

[0020] In this case, the industrial truck may further comprise a pair of wheel arms extending longitudinally from the vehicle body, each carrying at least one load wheel, the load part being arranged above the load arms.

[0021] In the manner already indicated, such an industrial truck according to the invention can comprise a scanner unit with a substantially horizontally oriented scanning plane on at least one side and preferably in a symmetrical arrangement on both sides in the width direction, wherein, in a fully lowered state of the load section, at least one section thereof lies at the vertical height of the scanning plane. This also ensures that, in this fully lowered state, the load forks of the load section lie below the scanning plane, thus achieving an enlarged monitoring area of ​​the scanner unit by allowing the scanner units to "overscan" the forks.

[0022] For example, in an embodiment in which the scanning plane is at a vertical height of approximately 100 mm above the ground, the fork height in the fully lowered state can be approximately 75 mm. This horizontal arrangement of the cutouts of the load section and the fork tines allows the above-mentioned detection of pallets in the lowered state of the load section to be carried out in the desired manner.

[0023] Furthermore, the industrial truck according to the invention can comprise a control unit configured to control a vertical displacement of the load section such that, when the industrial truck is in motion with the load section raised, the load section is always located at least a predetermined height difference above the scanning plane. Thus, even when the industrial truck is in a ready-to-drive and loaded state, in which it is carrying, for example, a pallet on the raised load section, it is ensured that the scanning plane is below the forks and the pallet, and that the detection of the surroundings of the industrial truck can also take place in the desired and problem-free manner below the load section and the load carried by it.

[0024] Further features and advantages of the present invention will become more apparent from the following description of an embodiment thereof, when considered together with the accompanying figures. These show in detail: Fig. 1 an inventive load part for an autonomously guided industrial truck in an isometric view; Fig. 2 the load part Fig. 1 in a front view, Fig. 3 a simplified view of an industrial truck equipped with such a load section in an isometric view, and Fig. 4 an alternative embodiment of a load part according to the invention in an isometric view obliquely from below.

[0025] In Fig. 1A load part according to the invention for an autonomously guided industrial truck is initially shown in an isometric view and generally designated by the reference numeral 10. The load part 10 comprises a pair of fork tines 12a and 12b extending substantially horizontally in a longitudinal direction L and arranged side by side in a width direction B, as well as a load stop 14 connected to the pair of fork tines 12a and 12b and extending substantially vertically above the fork tines 12, 12b.

[0026] The load stop 14 is provided on both sides in the width direction B with respective profiles 14a and 14b, which enable a coupling to a Fig. 3 illustrated vehicle body 102 of an industrial truck 100 to be equipped with the load part 10 in the manner of roller webs.

[0027] As can be seen from the rear view Fig. 2As can be seen, the two fork tines 12a and 12b are each formed with an inner web 16, which is connected to the load stop 14 in the area of ​​the fork root of the respective fork 12a, 12b. Furthermore, an "L"-shaped cover plate 18 extends from the respective inner web 16, initially outwards in the width direction B and then vertically downwards, with the vertically extending part thereof forming an outer web 20. In this way, by coupling the inner web 16 with a larger cross-section to the load stop 14, sufficient rigidity of the connection between the fork tines 12a, 12b and the load stop 14 is achieved, while the cover plate 18 serves to ensure non-slip and tipping-free carrying of pallets and the outer web 20 merely provides internal stiffening of the respective fork tine 12a, 12b.Furthermore, this design of the two forks 12a and 12b makes it possible to lower the forks via load arms of a corresponding industrial truck, so that when the load part is lowered, the load arms lie between the webs of the forks in order to reduce the height of the forks above the driving surface in this state.

[0028] As in both the Fig. 1 as well as in the Fig. 2 As can be seen, the load stop 14 has two cutouts 22a and 22b on its two outer sides in the width direction B, adjacent to the corresponding fork tines 12a and 12b, the function of which is explained below with reference to Fig. 3 will be explained in more detail below. In one embodiment, the two cutouts 22a and 22b can, for example, have a vertical extension of 50 mm and an extension in the width direction B of 50 to 150 mm.

[0029] In Fig. 3Finally, an autonomously guided industrial truck 100 according to the invention is shown in a simplified manner, which transports the load part 10 from the Fig. 1 and 2 arranged in a vertically displaceable manner by means of roller webs 104, which in turn are assigned to the vehicle body 102 of the industrial truck 100. In the Fig. 3 In the state shown, the load part 10 is completely lowered vertically and rests directly on a pair of wheel arms 106 extending from the vehicle body 102, which in the illustration Fig. 3 are largely hidden. The load wheels carried by the wheel arms 106, as well as the at least one steered drive wheel and any support wheels that may be provided, are shown in the simplified illustration from Fig. 3 omitted for reasons of clarity.

[0030] On its outer sides in the width direction B, the industrial truck 100 comprises scanner units 108 symmetrically opposite one another, of which Fig. 3 only one is visible, while the other is obscured. Together, the respective scanning areas S1 and S2 of the two scanner units 108 form a substantially horizontally oriented scanning plane E.

[0031] In the Fig. 3 In the embodiment of an autonomously guided industrial truck according to the invention shown, the scanning plane E in the fully lowered state of the load part 10 lies above the two forks 12a and 12b and in the area of ​​the cutouts 22a and 22b of the load part 10. Thus, as in Fig. 3As can be clearly seen from the outlines of the scanning areas S1 and S2, at least partial coverage of the area above the two forks 12a and 12b as well as an almost complete all-round view outside the outer contours of the industrial truck 100 can be achieved by the scanner units 108. For this purpose, the vertical extensions of the two cutouts 22a and 22b are matched to the vertical width of the scanning plane E and can, for example, be approximately 50 mm. Accordingly, the upper sides of the forks 12a and 12b are at a fork height of approximately 75 mm above the driving surface, so that even conventional Euro pallets can be detected by the scanner units 108 in the vicinity of the industrial truck 100.

[0032] Furthermore, the industrial truck 100 can be configured to always raise a pallet in a loaded state, particularly when the load part 10 grips and lifts it, to such an extent that the scanning plane E extends completely below the load part and the carried pallet, thus again enabling a problem-free all-round view, since the two scanning fields S1 and S2 are arranged in the same way as in the state from Fig. 3 cover the area around the industrial truck 100.

[0033] Furthermore, by lowering the forks 12a and 12b to the aforementioned fork height of approximately 75mm in the unloaded state, a further source of danger can be minimized, since the forks in this state no longer extend to a height at which human employees could injure their shins or knees in the event of a collision.

[0034] Finally, the Fig. 4an alternative embodiment of a load part according to the invention in an isometric view obliquely from below, which is generally designated by the reference numeral 200 and which is similar to the load part 10 from the Fig. 1 and 2 could be used in the industrial truck 100. Here, components of the load section 200 which are similar to those in the embodiment of the Fig. 1 and 2 or perform an equivalent function, are each designated by the same reference numeral increased by 200, and their explanation will be referred to below with reference to the above explanation of the corresponding components in the Fig. 1 and 2 be partially waived.

[0035] In contrast to the Fig. 1 and 2In the embodiment shown with the two forks 12a and 12b, the load part 200 comprises a monofork 212 with two extension sections 212a and 212b and a connecting section 212c connecting the extension sections 212a and 212b at a front end thereof. Due to this design, an industrial truck with the load part 200 will generally be used when objects such as mesh trolleys or roll containers are to be transported, for example in supermarkets or similar facilities.

[0036] In the Fig. 4In the embodiment shown, the extension sections 212a and 212b of the monofork 212 are each formed in sections as a web connected to the load stop 214, wherein the two webs are connected by means of a cover plate 218, which in turn forms the connecting section 212c. However, starting from the extension sections 212a and 212b, the cover plate 218 initially extends a distance in the same direction as these, before finally connecting the connecting section 212c after a respective slightly angled transition region.

[0037] Also in the area of ​​the load stop 214, compared to the embodiment from the Fig. 1 and 2A slight modification has been made, which results from the cover plate 218 not extending outward beyond the webs in the width direction B. Instead, extensions 214c are provided outside the webs in the width direction B, which delimit the cutouts 222a and 222b and extend vertically to the underside of the webs. Thus, in this embodiment, the two extension sections 212a and 212b do not directly border the cutouts 222a and 222b, but are still considered adjacent to them within the meaning of the present invention.

[0038] These cutouts 222a and 222b fulfill in the embodiment of Fig. 4 the same function as the cutouts 22a and 22b in the embodiment of the Fig. 1 and Fig. 2, so that the improvements described above with regard to a scanning area to be covered in an industrial truck equipped therewith can also be achieved with the load part 200.

Claims

1. A load part (10; 200) for an autonomously guided industrial truck (100) having a longitudinal direction (L) and a width direction (B), comprising: - a pair of fork tines (12a, 12b) extending substantially horizontally and arranged next to one another in the width direction (B); or - a monofork (212) extending substantially horizontally and having two extension sections (212a, 212b) and a connecting section (212c), and - a load stop (14; 214) connected to the pair of fork tines (12a, 12b) or the two extension sections (212a, 212b) and extending substantially vertically above the fork tines (12a, 12b) or the monofork (212), characterized in that the load stop (14; 214) has a cutout (22a, 22b; 222a, 222b) on at least one of its outer sides in the width direction (B) adjacent to the corresponding fork tine (12a, 12b) or extension section (212a, 212b).

2. Load part (10; 200) according to claim 1, characterized in that the load stop (14; 214) has cutouts (22a, 22b; 222a, 222b) symmetrically formed on its two outer sides in the width direction (B).

3. Load part (10) according to one of the preceding claims, characterized in that the fork tines (12a, 12b) each comprise, with respect to the width direction (B), an inner (16) and an outer (20) web and a cover plate (18) connecting the two webs (16, 20), wherein the respective inner web (16) is designed with a larger cross-section than the respective outer web (20).

4. Load part (10) according to one of the preceding claims, characterized in that the fork tines (12a, 12b) each comprise a web (16) arranged inwardly with respect to the width direction (B) and an "L"-shaped cover plate (18).

5. Load part (10) according to one of claims 3 and 4, characterized in thatthe connection between the load stop (14) and the fork tines (12a, 12b) is only present in the area of the respective inner web (16).

6. Load part (200) according to one of claims 1 and 2, characterized in that the extension sections (212a, 212b) of the monofork (212) are each formed at least in sections as a web connected to the load stop (214), wherein the two webs are connected by means of a cover plate (218) which forms the connecting section (212c).

7. Load part (10; 200) according to one of the preceding claims, characterized in that the vertical extent of the at least one cutout (22a, 22b; 222a, 222b) is approximately 50 mm.

8. An autonomously guided industrial truck (100), comprising: - a vehicle body (102) with at least one steered drive wheel; and - a vertically displaceable load section (10; 200) according to one of the preceding claims.

9. Industrial truck (100) according to the preceding claim, characterized in that it further comprises a pair of wheel arms (106) extending from the vehicle body (102), each carrying at least one load wheel; and the load part (10; 200) is arranged above the load arms (106) 10. Industrial truck (100) according to one of claims 8 and 9, characterized in that it comprises on at least one side and preferably in a symmetrical arrangement on both sides in the width direction (B) a scanner unit (108) with a substantially horizontally oriented scanning plane (E), wherein in a fully lowered state of the load part (10; 200) at least one section thereof lies at the vertical height of the scanning plane (E).

11. Industrial truck (100) according to the preceding claim, characterized in that the scanning plane (E) is at a vertical height of approximately 100 mm above a driving surface and a fork height in the fully lowered state is approximately 75 mm.

12. Industrial truck (100) according to one of claims 10 and 11, characterized in that it further comprises a control unit which is designed to control the vertical displacement of the load part (10; 200) in such a way that, in a moving state of the industrial truck (100) with the load part (10; 200) raised, the load part is always located at least a predetermined height difference above the scanning plane (E).

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