Industrial truck

Abstract

The invention relates to an industrial truck (1) with a stationary mast (20) arranged on a vehicle frame (15), on which a load-handling device (5) is arranged such that it can be raised and lowered by means of a lifting drive (80) comprising at least one linear actuator (81; 82). The linear actuator (81; 82) is arranged horizontally in the vehicle's longitudinal direction (L) and is operatively connected to a transmission device (83; 84), wherein the transmission device (83; 84) is designed to convert the linear movement of the linear actuator (81; 82) into a vertical lifting movement of the load-handling device (5).

Description

[0001] The invention relates to an industrial truck with a stationary mast arranged on a vehicle frame, on which a load-carrying device is arranged such that it can be raised and lowered by means of a lifting drive comprising at least one linear actuator.

[0002] In industrial trucks with a stationary mast on which a load-handling device is arranged so that it can be raised and lowered by means of a lifting drive comprising at least one linear actuator, it is known to arrange the linear actuator, for example a hydraulic cylinder, vertically and upright on the stationary mast. To raise and lower the load-handling device, known industrial trucks of this type provide a traction device, for example a lifting chain, which is attached at a first end to the stationary mast and at a second end to the load-handling device and is guided on the lifting cylinder via a deflection pulley.

[0003] However, the disadvantage of a standing and thus vertical arrangement of the linear actuator on the mast is that the linear actuator requires additional installation space in the longitudinal direction of the vehicle and, due to its length, the linear actuator stands in the way of a design of a compact mast with a low installation height.

[0004] The present invention is based on the object of providing an industrial truck of the type mentioned at the outset which is improved with regard to the disadvantages mentioned.

[0005] This object is achieved according to the invention in that the linear actuator is arranged horizontally in the longitudinal direction of the vehicle and the linear actuator is operatively connected to a transmission device, wherein the transmission device is designed to convert the linear movement of the linear actuator into a vertical lifting movement of the load-carrying device.

[0006] In the industrial truck according to the invention, the linear actuator is arranged horizontally in the vehicle's longitudinal direction and thus with its longitudinal extension in the horizontal longitudinal direction of the vehicle. In order to convert the linear movement generated by the linear actuator, which runs horizontally in the vehicle's longitudinal direction, into a vertical lifting or lowering movement of the load-handling device, the gear mechanism actuated by the linear actuator is provided.

[0007] The linear actuator's longitudinal arrangement allows it to be integrated into the existing space in the vehicle frame without increasing the overall length of the industrial truck. Furthermore, the linear actuator's longitudinal arrangement allows for a compact, low-profile mast design. Furthermore, this shifts the center of gravity of the industrial truck downwards, unlike a design with vertically arranged linear actuators, providing additional stability and tipping safety.

[0008] According to an advantageous embodiment of the invention, the transmission device comprises a bell crank pivotably mounted about a horizontal pivot axis, to which the linear actuator is articulated. The bell crank comprises an actuating element that is operatively connected to the load-bearing device. With such a bell crank, the horizontal linear movement of the horizontally arranged linear actuator can be converted into a lifting and lowering movement of the load-bearing device with minimal construction effort.

[0009] According to an advantageous embodiment of the invention, the actuating element is formed by a drive roller rotatably mounted on the deflection lever and guided in a guide recess of the load-handling device. With a drive roller running in a guide recess, low frictional forces can be achieved between the deflection lever and the load-handling device when raising and lowering the load-handling device.

[0010] According to an advantageous embodiment of the invention, the guide recess is designed as an elongated hole arranged in the longitudinal direction of the vehicle. The driver roller, which is rotatably mounted on the deflection lever, can be easily guided in such an elongated hole such that the horizontal linear movement of the linear actuator, via the support of the driver roller in the elongated hole, causes a lifting and lowering movement of the load-handling device when the deflection lever pivots about the pivot axis.

[0011] According to an advantageous embodiment of the invention, the linear actuator is hingedly attached to the vehicle frame on the side opposite the bell crank. This allows for a structurally simple support of the linear actuator on the vehicle frame.

[0012] According to an advantageous embodiment of the invention, the linear actuator is designed as an electric linear actuator or as a hydraulic cylinder.

[0013] According to an advantageous embodiment of the invention, the stationary mast comprises two stationary mast profiles arranged at a distance from one another in the transverse direction of the vehicle, on which the load-bearing device is guided by means of guide rollers. With such a stationary mast formed by vertical stationary mast profiles, in which the load-bearing device is guided by means of guide rollers, a stable, heavy-load-bearing construction of the stationary mast and the load-bearing device can be achieved with minimal construction effort.

[0014] According to an advantageous embodiment of the invention, the load-handling device is designed as a load fork with a fork carrier on which two fork tines are arranged in the vehicle's longitudinal direction. The guide rollers are rotatably attached to the fork carrier and the fork carrier is provided with a guide recess on a side opposite the fork tines. With such a load-handling device designed as a load fork with fork tines arranged in the vehicle's longitudinal direction, common load-carrying devices, such as pallets, can be easily picked up and set down with the industrial truck. The arrangement of the guide recess on the side of the fork carrier opposite the fork tines enables an effective and short flow of the lifting forces.

[0015] According to an advantageous embodiment of the invention, two linear actuators are provided, spaced apart from one another in the transverse direction of the vehicle, each of which is operatively connected to a transmission device. This allows high lifting forces to be achieved with simply constructed linear actuators. In a further advantageous embodiment of the invention, the two linear actuators, spaced apart from one another in the transverse direction of the vehicle, are arranged parallel to one another.

[0016] According to an advantageous embodiment of the invention, the stationary mast is arranged in the rear area of ​​the industrial truck, and the load-handling device is arranged in a cantilevered manner. The load-handling device is arranged in a cantilevered manner, i.e., outside the wheel base of the industrial truck, which is formed, for example, by a drive wheel and two load wheels. The cantilevered and thus projecting arrangement of the load-handling device, in conjunction with the horizontal arrangement of the linear actuator, makes it possible to provide an industrial truck that is compact in the longitudinal direction of the vehicle and has a short wheelbase between the drive wheel and the load wheels, enabling high maneuverability and a small turning circle.

[0017] According to an advantageous embodiment of the invention, the vehicle frame comprises two wheel arms arranged at a distance from one another in the transverse direction of the vehicle and designed as longitudinal beams, each of which houses a load wheel. The at least one linear actuator is arranged in the area of ​​the wheel arms. The load wheels are preferably arranged in the rear area of ​​the wheel arms, where the stationary mast is also arranged or attached to the wheel arms. This easily enables a stable and low-profile vehicle frame for the industrial truck.

[0018] According to an advantageous embodiment of the invention, the industrial truck is designed as a manually operated industrial truck, for example a tiller-guided industrial truck.

[0019] According to an alternative and equally advantageous embodiment of the invention, the industrial truck is designed as a mobile order-picking robot comprising a load-handling manipulator. Mobile order-picking robots are used for the fully automatic order-picking of objects, such as goods. The objects are picked by the load-handling manipulator from a source location located laterally next to the order-picking robot, such as a source pallet, and placed on a load-carrying device carried on the order-picking robot's load-handling device, such as a pallet forming a target pallet.

[0020] According to an advantageous embodiment of the invention, the load handling manipulator comprises a vertically arranged lifting column on which a robot arm is arranged so as to be able to be raised and lowered, wherein the area in the vertical direction above the support arms designed as longitudinal beams is designed as the working space of the robot arm. In the mobile order picking robot according to the invention, the horizontal arrangement of the linear actuator and the design of the vehicle frame with longitudinal beams designed as support arms allow the vehicle frame to be designed with a low construction in the area of ​​the support arms, iewith a low overall height above the roadway, and the mast with a compact and therefore low overall height, so that even small-volume goods can be easily removed from the lowest level of a source pallet with the robot arm and placed on the lowest level of the target pallet with short picking paths of the robot arm, thus achieving a high picking performance of the mobile picking robot.

[0021] According to an advantageous embodiment of the invention, at least one environmental sensor is arranged on the stationary mast. According to a first variant, a single environmental sensor arranged centrally in the vehicle's transverse direction can be arranged on the stationary mast, or according to a second variant, two environmental sensors arranged spaced apart from one another in the vehicle's transverse direction.

[0022] With one or more of these environmental sensors, such as a laser scanner or a camera, arranged on the industrial truck designed as a mobile order picking robot, the environment of the order picking robot at the rear of the vehicle can be easily recorded and monitored in order to safeguard the operation of the mobile order picking robot.

[0023] Further advantages and details of the invention will be explained in more detail with reference to the embodiment shown in the schematic figures. Figure 1 shows an industrial truck according to the invention designed as a mobile order picking robot in a perspective view, Figure 2 shows the mobile order picking robot of the Figure 1 in an exploded view Figure 3 a section of the Figure 1 in an enlarged view, Figure 4 a section of the Figure 3 , Figure 5 a representation according to the Figure 4in an exploded view, Figure 6 a side view of the industrial truck with the mast and the lifting drive with a load handling device in the lowered position in an enlarged view, Figure 7 a view according to the Figure 6 with a load-carrying device in a partially raised position, Figure 8 shows a representation according to Figure 6 with a load-carrying device in the fully raised position, Figure 9 a representation according to the Figure 8 with a load-carrying device in the raised position and Figure 10 a representation according to the Figure 9 with an explanation of the picking operation.

[0024] In the Figures 1 to 10An industrial truck 1 according to the invention is shown. In the illustrated embodiment, the industrial truck 1 is shown as a mobile order picking robot 1a for the fully automatic order picking of objects 2 in a warehouse.

[0025] The following information used, front area, rear area, front, rear, left, right, refer to a Figure 1 Main direction of travel HF of industrial truck 1 shown.

[0026] The industrial truck 1 comprises a chassis with which the industrial truck 1 is supported on a roadway and can move freely on the roadway.

[0027] The industrial truck 1 comprises a load-handling device 5 with which a load-carrying device 6, for example a pallet 7, can be picked up.

[0028] The industrial truck 1 has a vehicle frame 15 on which a mast 20 is arranged in the rear area, on which the load-carrying device 5 can be raised and lowered.

[0029] A drive wheel 16, in particular a steerable drive wheel, is arranged on the vehicle frame 15 in a front area and two load wheels 17a, 17b arranged spaced apart from one another in the vehicle transverse direction Q are arranged as a chassis in the rear area.

[0030] A traction drive, for example an electric traction drive, and a steering drive, for example an electric steering drive, for the drive wheel 16 are arranged in the front area of ​​the vehicle frame 15. The traction drive, the steering drive, and the drive wheel 16 are preferably arranged on a drive part 18, which is arranged or formed on the vehicle frame 15 in the front area. A steering drawbar 19 can be provided on the drive part 18 for manual operation of the industrial truck 1.

[0031] The load-carrying device 5 is arranged - viewed in the vehicle longitudinal direction L - outside the wheel base, i.e. the distance in the vehicle longitudinal direction L between the drive wheel 16 and the axis of the load wheels 17a, 17b, and is thus arranged in a cantilever manner.

[0032] In the illustrated embodiment, the load-handling device 5 is designed as a load fork with two fork tines 5a, 5b arranged in the vehicle's longitudinal direction L, which are arranged on a fork carrier 5c or formed integrally. In the illustrated embodiment, the stationary mast 20 has two stationary mast profiles 20a, 20b arranged vertically at the rear of the vehicle, which are spaced apart from one another in the vehicle's transverse direction Q and on which the load-handling device 5 designed as a load fork is guided. For this purpose, two vertical flange plates 5d, 5e are arranged on the fork carrier 5c on a side opposite the fork tines 5a, 5b, on each of which a lower guide roller 21a and an upper guide roller 21b are rotatably arranged.The load-bearing device 5 is guided on the mast profile 20a by means of the guide rollers 21a, 21b arranged on the vertical flange plate 5d and on the mast profile 20b by means of the guide rollers 21a, 21b arranged on the vertical flange plate 5e.

[0033] A battery compartment 30 is formed on the vehicle frame 15, in which a power supply unit 31 is arranged. The power supply unit 31 can be designed, for example, as a traction battery or as a fuel cell system.

[0034] The vehicle frame 15 is formed between the battery compartment 30 and the mast 20 arranged at the rear of the vehicle by two wheel arms 15a, 15b arranged at a distance from one another in the vehicle transverse direction Q and designed as longitudinal beams, at the rear end region of which one of the two load wheels 17a and 17b is arranged.

[0035] To raise and lower the load-handling device 5 on the mast 20, a lifting drive 80 is provided, which has at least one linear actuator 81, 82 arranged horizontally in the vehicle's longitudinal direction L. In the illustrated embodiment, two linear actuators 81, 82 are provided, spaced apart from one another in the vehicle's transverse direction Q. The linear actuators 81, 82 are preferably each designed as an electric linear actuator or as a hydraulic cylinder.

[0036] The linear actuators 81, 82 are each operatively connected to a gear device 83, 84 which is designed to convert the linear movement of the corresponding linear actuator 81, 82 into a vertical lifting movement of the load-carrying device 5 on the mast 20.

[0037] The transmission device 83, 84 each has a bell crank 85 pivotably mounted about a horizontal pivot axis S1 extending in the vehicle transverse direction Q, to which the linear actuator 81 or 82 is pivotally attached at a pivot point P1. The bell crank 85 is pivotally mounted on the vehicle frame 15 or the mast 20 by means of the pivot axis S1.

[0038] The deflection lever 85 comprises an actuating element 86 which is operatively connected to the load-bearing device 5.

[0039] In the illustrated embodiment, the actuating element 86 is formed by a driving roller 87 which is rotatably mounted on the respective deflection lever 85 and which is guided in a guide recess 88 of the load-bearing device 5.

[0040] In the illustrated embodiment, the guide recess 88 is formed as an elongated hole 89 arranged in the vehicle's longitudinal direction L. The elongated hole 89 is formed in a flange plate 90, which is arranged on the fork carrier 5c on the side opposite the fork tines 5a, 5b.

[0041] The linear actuator 81, 82 is each articulated to the vehicle frame 15 at a pivot point P2 on the side opposite the reversing lever 85.

[0042] In the illustrated embodiment, the linear actuator 81 or 82 each has an actuator housing 91 which is articulated to the vehicle frame 15 at the articulation point P2, and an actuator rod 92 which can be extended or retracted linearly relative to the actuator housing 91 and which is articulated to the bell crank 85 at the articulation point P1.

[0043] In the illustrated embodiment, the deflection lever 85 is designed as a triangular lever, wherein the pivot axis S1, the articulation point P1 and the rotation axis of the driver roller 87 are arranged in the shape of a triangle.

[0044] As from the Figure 3 As can be seen, the linear actuators 81, 82 are arranged in the region of the wheel arms 15a, 15b, wherein the linear actuator 81 is arranged vertically above the wheel arm 15a and the linear actuator 82 is arranged vertically above the wheel arm 15b.

[0045] The function of the lifting drive 80 is described in the Figures 6 to 8 clarified.

[0046] In the Figure 6the linear actuators 81, 82 are retracted and the load-carrying device 5 is in the lowered position. The drive rollers 87 arranged on the deflection levers 85 are located at a front end of the corresponding elongated hole 89. By extending the actuator rods 92 of the linear actuators 81, 82, the deflection levers 85 are pivoted counterclockwise about the pivot axis S1, whereby the drive rollers 87 of the deflection levers 85, guided in the elongated holes 89 of the load-carrying device 5, push the load-carrying device 5 upwards in the mast 20 and lift it. Figure 7 the load-carrying device 5 is in a mid-stroke position, with the drive rollers 87 arranged on the deflection levers 85 being located at a rear end of the corresponding slot 89. In the Figure 8The actuator rods 92 are fully extended and the load-carrying device 5 is in the fully raised position. In the fully raised position, the drive rollers 87 arranged on the deflection levers 85 are again located at a front end of the corresponding elongated hole 89.

[0047] The industrial truck 1, which in the illustrated embodiment is designed as a mobile order-picking robot 1a, further comprises a load handling manipulator 10, with which, during order-picking operation of the mobile order-picking robot 1, objects 2 can be picked up from a pallet 8 forming a source pallet QP located to the side of the mobile order-picking robot 1 and can be placed on a pallet 7 located on the load-handling device 5.

[0048] In the illustrated embodiment, the load handling manipulator 10 comprises a vertically arranged lifting column 50 on which a robot arm 51 is arranged so that it can be raised and lowered. In the illustrated embodiment, the robot arm 51 is designed as a SCARA robot arm, which has several arm elements 51a, 51b, 51c, 51d arranged vertically one above the other and coupled to one another by means of vertical axes of rotation. The lowest arm element 51a is arranged so that it can be raised and lowered on the lifting column 50. The uppermost arm element 51d is provided with a picking tool 52, for example a suction gripper, a roll-on gripper, or an adhesion gripper, with which the objects 2 can be picked up.

[0049] In the illustrated embodiment, control and / or drive components 55 of the load handling manipulator 10 are arranged vertically above the battery compartment 30 on the front side of the lifting column 50. A cover 56, for example a plastic cover, may be provided to cover the control and / or drive components 55, within which the control and / or drive components 55 are arranged in a protected manner.

[0050] The battery compartment 30 is arranged in the front area of ​​the order-picking robot 1, adjacent to the drive wheel 16 or the drive part 18. The load handling manipulator 10 is arranged on the vehicle frame 15 in the vehicle's longitudinal direction L between the battery compartment 30 and the load wheels 17a, 17b or the stationary mast 20 arranged at the rear of the vehicle.

[0051] The area in the vertical direction above the wheel arms 15a, 15b designed as longitudinal beams is designed as the working space AR of the robot arm 51. The working space AR is in the Figure 9 For illustration purposes, this is shown with dashed lines.

[0052] In the front area, the vehicle frame 15 is provided with a robotics controller 60, which enables autonomous or automated operation of the mobile picking robot 1 together with the load handling manipulator 10. For this purpose, a bracket-like support 61 can be arranged on the drive part 18, on which the sensors and electrical or electronic control components required for the autonomous or automated operation of the mobile picking robot 1 and the load handling manipulator 10 are arranged.

[0053] In the illustrated embodiment, a support device 70 is arranged on the vehicle frame 15 in the vehicle's longitudinal direction L between the battery compartment 30 and the load wheels 17a, 17b. The support device 70 has two support means 71, 72, for example support feet, which can be extended laterally in the vehicle's transverse direction Q and thus laterally. In an extended state, the order-picking robot 1 can additionally support itself on the roadway in order to increase the lateral support base and the stability of the order-picking robot 1a during order-picking operation, in particular in an operating state in which a heavy object 2 is picked up from the source pallet QP using the load handling manipulator 10. The support means 71, 72 can be actuated between the retracted position and the extended position by means of actuators (not shown in detail), for example electric or hydraulic actuators.

[0054] In the illustrated embodiment, the support means 71, 72 are arranged in the vehicle longitudinal direction L adjacent to the lifting column 50 of the load handling manipulator 10 and are placed on the upper side of the wheel arms 15a, 15b designed as longitudinal beams.

[0055] In the illustrated embodiment, the linear actuators 81, 82 are arranged in the vehicle longitudinal direction L adjacent to the support means 71, 72 in the region of the wheel arms 15a, 15b designed as longitudinal members.

[0056] To protect the surroundings of the mobile picking robot 1, the mobile picking robot 1 is provided in the front area with two surrounding sensors 100a, 100b arranged at a distance in the vehicle transverse direction Q. In the illustrated embodiment, the surrounding sensors 100a, 100b are arranged on the bracket-like support 61 in its lower area in the front left corner area and in the front right corner area of ​​the picking robot 1a.

[0057] To secure the surroundings of the mobile picking robot 1a, the rear of the mobile picking robot 1 can be provided with an environment sensor arranged centrally in the vehicle transverse direction Q or, alternatively, with two environment sensors 100c arranged laterally spaced apart in the vehicle transverse direction Q. In the illustrated embodiment, the mast 20 is provided with corresponding fastening flanges 105a and 105b, on which either the one centrally arranged environment sensor 100c or the two environment sensors 100c can be arranged. If two environment sensors 100c arranged laterally spaced apart in the vehicle transverse direction Q are provided, one of the two environment sensors 100c is preferably arranged in the rear left corner area and one of the two environment sensors 100c in the rear right corner area of ​​the picking robot 1a on the mast 20.

[0058] In the picking robot 1 according to the invention, viewed in the vehicle longitudinal direction L - as shown in the Figure 1As can be seen, in the front area, the drive part 18 forming the front of the vehicle, with the drive wheel 16 and with the carrier 61 and the robotic controller 60, is arranged on the vehicle frame 15. Adjacent to the drive part 18, the battery compartment 30 is arranged on the vehicle frame 15. Adjacent to the battery compartment 30, the load handling manipulator 10 with the lifting column 50 and the robot arm 51 is arranged on the vehicle frame 15. Adjacent to the lifting column 50, the optionally provided support device 70 is arranged on the vehicle frame 15. Adjacent to the lifting column 50 and the optionally provided support device 70 are the linear actuators 81, 82 of the lifting drive 80. At the rear of the vehicle, the load wheels 17a, 17b and the mast 20 are arranged on the vehicle frame 15, on which the self-supporting and thus cantilevered load-carrying device 5 is arranged.The lifting column 50 with the robot arm 51 of the load handling manipulator 10 is thus arranged on the vehicle frame 15 - viewed in the vehicle longitudinal direction L - between the battery compartment 30 and the mast 20.

[0059] By forming the vehicle frame 15 between the battery compartment 30 or the lifting column 50 and the mast 20 by the two wheel arms 15a, 15b designed as longitudinal beams, the vehicle frame 15 can be designed in the area of ​​the wheel arms 15a, 15b with a low overall height of, for example, a maximum of 25 cm above the roadway level, and thus the lower limit of the working space AR of the robot arm 51 designed above the wheel arms 15a, 15b can be designed with a low height of, for example, a maximum of 25 cm above the roadway level. In the working space AR, which is formed vertically above the wheel arms 15a, 15b designed as longitudinal beams, the robot arm 51 can thus be lowered so far that, in the lowered position, even small-volume objects 2 can be picked up from the lowest packing level of a source pallet QP placed on the roadway.

[0060] Due to the lying and thus horizontal arrangement of the linear actuators 81, 82 of the lifting drive 80 of the load-carrying device 5, the stationary mast 20 can be designed to be short in the vehicle longitudinal direction L and with a low vertical height of, for example, a maximum of 60 cm above the roadway level.

[0061] Preferably, the mast 20 has a height such that, on the one hand, in the fully lowered position of the robot arm 51, the arm element 51d of the robot arm 51 provided with the receiving tool 52 can be pivoted over the mast 20 to the rear above the load-carrying device 5, as shown in the Figures 1 and 9 is shown, and on the other hand the load-carrying device 5 can be raised in such a way that the rear-side environment sensors 100c - as in the Figure 10- when the load-carrying device 5 is fully raised, have a clear field of vision below the pallet 7 located on the load-carrying device 5. The field of vision of the rear-side environmental sensors 100c is shown in the Figure 10 indicated by the dashed line 110.

[0062] In the mobile picking robot 1 according to the invention, in the fully lowered position of the robot arm 51 - as shown in the Figure 10is clarified - objects 2 are picked up from the lowest packing level of a source pallet QP placed on the track with the robot arm 51 and - without having to lift the robot arm 51 on the lifting column 50 - are placed as the lowest level on the pallet 7 located on the load-handling device 5, whereby short picking paths of the object 2 to be carried out with the robot arm 51 between the source pallet QP and the pallet 7 located on the load-handling device 5 can be achieved and thus a high picking performance of the picking robot 1a can be achieved.

[0063] The lowest packing level of a source pallet QP placed on the roadway represents the packing level at which the objects 2 are placed directly on the top side of the source pallet QP. Accordingly, the lowest level of the pallet 7 located on the load-carrying device 5 represents the level at which the objects 2 are placed directly on the top side of the pallet 7 located on the load-carrying device 5, as shown in the Figure 10 is shown.

[0064] Due to the cantilevered arrangement of the load-handling device 5, a wide variety of load-carrying devices 6, for example Euro pallets or plastic pallets, can be easily accommodated and a short wheelbase of the industrial truck 1 between the drive wheel 16 and the load wheels 17a, 7b can be achieved, which enables high maneuverability and a small turning circle of the industrial truck 1.

[0065] The invention is not limited to the Figures 1 to 10illustrated embodiment of the picking robot 1a with the support device 70. Alternatively, the picking robot 1a can be designed without the support device 70, whereby the length of the wheel arms 15a, 15b and thus the vehicle length of the mobile picking robot 1 can be reduced if necessary.

[0066] Furthermore, the invention is not limited to the design of the industrial truck 1 as a mobile order-picking robot 1a. The industrial truck 1 according to the invention can also be designed as a manually operated industrial truck 1 (without load handling manipulator 10).

Claims

1. Industrial truck (1) with a stationary mast (20) arranged on a vehicle frame (15), on which a load-carrying device (5) is arranged such that it can be raised and lowered by means of a lifting drive (80) comprising at least one linear actuator (81; 82), characterized in that the linear actuator (81; 82) is arranged horizontally in the vehicle longitudinal direction (L) and the linear actuator (81; 82) is operatively connected to a transmission device (83; 84), wherein the transmission device (83; 84) is designed to convert the linear movement of the linear actuator (81; 82) into a vertical lifting movement of the load-carrying device (5).

2. Industrial truck according to claim 1, characterized in that the transmission device (83; 84) comprises a deflection lever (85) which is pivotably mounted about a horizontal pivot axis (S1) and to which the linear actuator (81; 82) is articulated, wherein the deflection lever (85) comprises an actuating element (86) which is operatively connected to the load-bearing device (5).

3. Industrial truck according to claim 2, characterized in that the actuating element (86) is formed by a driver roller (87) rotatably mounted on the deflection lever (85) and guided in a guide recess (88) of the load-bearing device (5).

4. Industrial truck according to claim 3, characterized in that the guide recess (88) is designed as an elongated hole (89) arranged in the vehicle longitudinal direction (L).

5. Industrial truck according to one of claims 1 to 4, characterized in that the linear actuator (81; 82) is articulated to the vehicle frame (15) on the side opposite the reversing lever (85).

6. Industrial truck according to one of claims 1 to 5, characterized in that the linear actuator (81; 82) is designed as an electric linear actuator or as a hydraulic cylinder.

7. Industrial truck according to one of claims 1 to 6, characterized in thatthe mast (20) has two mast profiles (20a; 20b) arranged at a distance from one another in the transverse direction (Q) of the vehicle, on which the load-bearing device is guided by means of guide rollers (21a, 21b).

8. Industrial truck according to claim 7, characterized in that the load-carrying device (5) is designed as a load fork with a fork carrier (5c) on which two fork tines (5a, 5b) arranged in the vehicle longitudinal direction (L) are arranged, wherein the guide rollers (21) are rotatably fastened to the fork carrier (5c) and the fork carrier (5c) is provided with the guide recess (88) on a side opposite the fork tines (5a; 5b).

9. Industrial truck according to one of claims 1 to 8, characterized in that two linear actuators (81, 82) arranged at a distance from one another in the transverse direction (Q) of the vehicle are provided, each of which is operatively connected to a transmission device (83, 84).

10. Industrial truck according to one of claims 1 to 9, characterized in that the mast (20) is arranged in the rear area of ​​the industrial truck (1) and the load-carrying device (5) is arranged in a cantilever manner.

11. Industrial truck according to one of claims 1 to 10, characterized in that the vehicle frame (15) comprises two wheel arms (15a, 15b) arranged at a distance from one another in the vehicle transverse direction (Q) and designed as longitudinal members, on each of which a load wheel (17a, 17b) is arranged, wherein the at least one linear actuator (81; 82) is arranged in the region of the wheel arms (15a, 15b).

12. Industrial truck according to one of claims 1 to 11, characterized in that the industrial truck (1) is designed as a mobile order picking robot (1a) which comprises a load handling manipulator (10).

13. Industrial truck according to claim 12, characterized in thatthe load handling manipulator (10) comprises a vertically arranged lifting column (50) on which a robot arm (51) is arranged so as to be able to be raised and lowered, wherein the region in the vertical direction above the wheel arms (15a; 15b) designed as longitudinal beams is designed as a working space (AR) of the robot arm (51).

14. Industrial truck according to one of claims 1 to 13, characterized in that at least one environment sensor (100c) is arranged on the mast (20).

Images