Autonomously guided industrial truck with three structural planes

Abstract

The present invention relates to an autonomously guided industrial truck (10) comprising a vehicle frame (12) which, in a top view of the industrial truck (10), defines a vehicle outline in sections, a load part (14) guided vertically on the vehicle frame (12) for receiving a load, and at least one drive wheel (26) which is assigned to the vehicle frame (12) in order to stand upright on a driving surface below it. The vehicle frame (12) comprises three structural levels (E1, E2, E3) arranged vertically one above the other with different outlines, namely a lower structural level (E1) in which a base structure (22) is arranged, an upper structural level (E3) with a cover (36), and a middle structural level (E2) which includes a frame structure (38) for connecting the lower structural level (E1) and the upper structural level (E3).

Description

[0001] The present invention relates to an autonomously guided industrial truck comprising a vehicle frame which, in a top view of the industrial truck, defines a vehicle outline section by section and at least one drive wheel which is assigned to the vehicle frame in order to stand up on a driving surface below it.

[0002] It is known that autonomously guided industrial trucks of this type must be equipped with scanner units that can be used both as personnel protection scanners and as navigation scanners. Such scanner units must cover as large an angular range as possible around the industrial truck to ensure both the safety of people in the vicinity and the truck's navigation capability.

[0003] For this purpose, in previously known autonomously guided industrial trucks, the scanner units are usually located outside the frame geometry or vehicle outline, within the area of ​​the vehicle frame. This is because components mounted on the vehicle frame, such as support rollers and similar items, which should be positioned as far outwards as possible in the width direction of the vehicle, could otherwise restrict the scanner units' field of view and impair the necessary all-around visibility. Furthermore, in known autonomously guided industrial trucks, the scanner units are often mounted relatively high, as functional components such as the aforementioned support wheels are located in lower areas of the vehicles. These components could also impair the scanner units' function for the reasons stated above.

[0004] The configuration of previously known autonomous guided vehicles (AGVs) described above makes it clear that they are not very flexible, both in terms of their vehicle width (due to the scanner units being positioned outside the frame geometry) and the vertical positioning of the scanner plane. Therefore, they are not suitable for all conceivable applications. In particular, for the reasons mentioned above, it appears extremely difficult to make this previously known configuration of autonomous guided vehicles suitable for use in logistics facilities with block storage, where standard pallets are stored side by side on the driving surface.This type of pallet storage requires, firstly, forklifts that are narrower than the pallets themselves in order to move freely between them, for example, narrower than about 800 mm in the case of Euro pallets, and secondly, a particularly low positioning of their horizontally oriented scanning plane in order to be able to detect empty pallets standing on the floor, which would be made impossible by a higher arrangement of the scanner units and could therefore pose a safety risk.

[0005] For similar reasons, industrial trucks with three or four driven wheels, which are also known from the prior art, are only inadequately suitable for this application, since such driven wheels generally also have an increased overall height and thus preclude the use of scanner units at the desired positions described above within the vehicle outline in the area of ​​the vehicle frame and at a low vertical height.

[0006] Accordingly, the object of the present invention is to further develop an autonomously guided industrial truck of the generic type described above in such a way that the aforementioned disadvantages of industrial trucks known from the prior art are eliminated and the possibility is created to achieve comparable performance with regard to the spatial angular coverage of the scanner units as well as the other mechanical and operational performance parameters of the industrial truck, despite a reduced vehicle width and an essentially arbitrarily selectable vertical height of a scan plane above the driving surface.

[0007] According to the invention, an autonomously guided industrial truck of the type described above is proposed, in which the vehicle frame comprises three structural levels arranged vertically one above the other with different outlines, namely a lower structural level in which a basic structure is arranged, an upper structural level with a covering, and a middle structural level which comprises a frame structure for connecting the lower structural level and the upper structural level.

[0008] It is understood that the outlines of the three aforementioned structural planes refer to their horizontal cross-sections. The width and longitudinal directions of the industrial truck are used here in the commonly employed nomenclature such that the longitudinal direction corresponds to a straight-ahead travel direction of the industrial truck, with any fork tines of a load extending against the longitudinal direction and the width direction being horizontally perpendicular to the longitudinal direction. Furthermore, the industrial truck according to the invention also comprises at least one such scanner unit, preferably a pair of scanner units opposite each other in the width direction, which are arranged completely within the outline of the vehicle frame such that their scan plane lies at least partially vertically in the region of the central structural plane.The scan plane established by means of at least one scanner unit can be essentially horizontal or slightly inclined downwards in order to achieve optimal detection of obstacles and waymarks in the vicinity of the industrial truck.

[0009] In preferred embodiments of the present invention, the lower and upper structural planes can have essentially the same outline, at least partially. This offers the advantage that, in the corresponding areas, the middle structural plane is surrounded both from above and below by vehicle frame components projecting in the same way in the width and / or length direction. This, in turn, makes it more difficult for objects from the vicinity of the industrial truck to penetrate the area of ​​the middle structural plane and thus protects the components located there, such as the aforementioned scanner units, from damage. Furthermore, this structural measure creates a uniform silhouette of the industrial truck in side and front views, which, in addition to the aforementioned function of protection against damage, is also perceived as aesthetically pleasing.

[0010] The industrial truck according to the invention further comprises a pair of support or drive rollers positioned opposite each other in the lateral direction, which are assigned to the vehicle frame and are completely enclosed within the lower structural plane with respect to the vertical direction. In this way, by providing such support or drive rollers, which are particularly flat and therefore do not extend from below beyond the lower structural plane, it can be ensured that the middle structural plane at the position of these support or drive rollers is free of components that could negatively affect the field of view or the function of the aforementioned scanner units.

[0011] In this case, the support or drive rollers are designed purely as support rollers, and a single steered drive wheel is provided, which is centrally assigned to the vehicle frame with respect to the width direction of the industrial truck, in order to stand on the driving surface below it, the basic structure having an opening to accommodate the single central drive wheel.

[0012] In particular, the support rollers could be designed as part of support roller assemblies with a housing, the housing of which defines the outline of the lower structural plane in sections. In such a case, corresponding recesses would be provided in the base plate in the area of ​​its outline, in which the support roller assemblies are mounted in order to define part of the outline of the base plate assembly thus formed. In this way, a maximum distance between the two support roller assemblies with respect to the lateral direction of the industrial truck according to the invention can be achieved, which leads to increased stability of the vehicle with respect to forces acting in the lateral direction when carrying heavier loads and during fast cornering.

[0013] While the basic structure in the lower structural plane could, for example, be formed by an assembly consisting of several welded frame parts or bolted components, embodiments can also be considered in which the basic structure comprises or is formed by a base plate, which may be formed in one piece and / or which, in five-wheeled designs of the vehicle, may have an opening to accommodate the single central drive wheel.

[0014] Should even greater forces acting in the lateral direction be expected in certain embodiments of the vehicle according to the invention, for example in high-lift industrial trucks, the corresponding support rollers or support roller arrangements can also project beyond other parts of the vehicle outline in this area, which, however, can in turn lead to an increased width of the vehicle and may make it unsuitable for certain applications, such as the logistics facilities with block storage already mentioned above.

[0015] As already mentioned, the industrial truck according to the invention can also further comprise two wheel arms, each of which is assigned at least one load wheel and which are rigidly connected to the vehicle frame in the area of ​​the lower structural plane and extend rearward from it in a longitudinal direction of the industrial truck. Since the wheel arms are also completely assigned to the lower structural plane in this way, they do not pose an obstacle for the scanner units mentioned and thus do not create any angular areas that cannot be covered by the scanner units.

[0016] Furthermore, at least one scanner unit can have a design-related scan angle of approximately 270° and / or a vertical scan field width of approximately 50 mm. Such scanner units are readily available on the market and generally use laser technology for personnel protection and the navigation of the industrial trucks equipped with them. It should be understood that the term "plane" is not to be interpreted in a strictly geometric sense, but rather that the scan plane in question has a finite extent in the vertical direction.

[0017] The outline of the central structural plane, as described above, allows the pair of scanner units to be arranged such that the scan plane can be completely covered by the two scanner units in a 360° radius around the vehicle. However, a narrow, triangular blind spot may occur in front of the vehicle, not monitored by the scanner units. The extent of this blind spot is determined by the precise design of the tapered shape of the frame structure at the front of the industrial truck. Apart from this potentially very small blind spot, the entire area surrounding the industrial truck according to the invention can be completely monitored by the two scanner units. Furthermore, redundant sections or angular areas in front of and behind the vehicle are conceivable, which are covered by both scanner units.

[0018] The exact position of the at least one scanner unit with respect to the longitudinal or lateral direction of the industrial truck according to the invention is initially freely selectable within certain limits; however, it can be advantageous if it is arranged longitudinally behind the support or drive rollers of the industrial truck. This ensures, in particular, that optimal coverage is achieved in the rear area around the industrial truck by the corresponding scanner unit, although embodiments are also conceivable in which the at least one scanner unit is arranged longitudinally in front of or above the support rollers of the industrial truck.

[0019] Furthermore, the industrial truck according to the invention can comprise a load-bearing element guided vertically on the vehicle frame for receiving a load, and preferably lifting profiles for guiding the load-bearing element, which extend vertically only in the area of ​​the upper structural plane. Since the lifting profiles do not project into the area of ​​the middle structural plane in this way, they also cannot form obstacles for the scanner unit and consequently cannot cause dead zones in the scan plane or other adverse effects. Alternatively, instead of a load-bearing element, the industrial truck according to the invention could also be designed as a towing vehicle and then, for example, include a coupling or an interface for load-handling devices.

[0020] Similarly, the load-bearing section of the industrial truck according to the invention can have two fork tines and a load stop connecting the fork tines, or a mono-fork with a load stop, wherein the load stop can have two recesses opposite each other in the width direction, which are aligned with the central structural plane in a maximally lowered state of the load-bearing section. A mono-fork is typically defined as a load-handling device in which two sections extending horizontally from the load stop are connected by a connecting section, so that entry into a conventional pallet is no longer possible, but roll cages, roll containers, and similar objects can be transported safely.

[0021] The measure described above creates viewing windows in the area of ​​the middle structural plane, which also contribute to opening up the largest possible angular range for monitoring by the scanner units and, for example, to ensuring that the fork tines can be partially overscanned in their maximum lowered state, i.e., that the effective scan plane extends over the fork tines.

[0022] The structural measure of providing recesses in the load stop of the load-bearing element may necessitate that the attachment of the fork tines or the extension sections of the mono-fork to the load stop is only carried out at central positions, since corresponding attachment points may no longer exist in the outer areas due to the recesses. The necessary rigidity of the load-bearing element in such embodiments can be achieved, for example, by reinforcing a strut of the fork tines located further inward in the width direction, thus absorbing a large proportion of the forces exerted by the load to be carried.

[0023] Regarding the frame structure of the middle structural plane, it is conceivable to design it so that, in the lateral direction, it lies completely within and spaced away from the outline of the vehicle frame and / or surrounds the opening of the base plate and / or has a tapered shape in a forward section in relation to the longitudinal direction and / or limits a scan area of ​​at least one of the scanner units at least section by section.

[0024] By implementing these measures in the design of the middle structural level, either individually or in any combination thereof, a 360° view of the scanner units within an angular range around the entire vehicle, free from blind spots not detectable by the scanner units, can be achieved with a corresponding arrangement of the pair of scanner units.

[0025] Furthermore, the frame structure connecting the lower and upper structural planes can comprise at least two substantially longitudinal connecting struts, which extend between a front and a rear section of the vehicle frame and, in sections, into both the middle and upper structural planes, but only into the upper structural plane in the longitudinal region of the tapered shape of the frame structure. These connecting struts ensure sufficient reinforcement of the connection between the lower and upper structural planes and the components contained therein, in particular the base plate and the bodywork, by enabling a suitable force-fit connection between the lower and upper structural planes.

[0026] In this case, two of these connecting struts can limit the frame structure section by section in the width direction to the outside, thus forming side walls of this frame structure.

[0027] As already mentioned above in the specific application case for logistics facilities with block storage, the industrial truck according to the invention can have a width dimension of approximately 800 mm or less in order to fall below the external dimensions of Euro pallets.

[0028] Alternatively or additionally, for optimal vertical positioning of the scan plane relative to such pallets, the lower structural plane can extend vertically to a height of approximately 75 mm above the vehicle surface, the middle structural plane can extend from a height of approximately 75 mm to a height of approximately 125 mm, and the upper structural plane can extend upwards from a height of approximately 125 mm. Thus, the scan plane can be positioned at an average height of approximately 100 mm relative to the driving surface, and its width of + / - 25 mm in the vertical direction can be completely covered by the middle structural plane.

[0029] Further features and advantages of the present invention will become even clearer from the following description of one embodiment thereof, when viewed together with the accompanying figures. These show, in detail, schematic representations of: Fig. 1A and 1Ban autonomously guided industrial truck according to the invention in top and bottom views; Fig. 2 the industrial truck according to the invention in a front view; Fig. 3 the industrial truck according to the invention in a side view; and Fig. 4A and 4B The industrial truck according to the invention in isometric views from oblique front and oblique rear.

[0030] In the Figs. 1A to 4B An embodiment of an autonomously guided industrial truck according to the invention is shown schematically in different views, with some of the components of the industrial truck being omitted in some of the illustrations for the sake of clarity.

[0031] The industrial truck shown in the figures is generally designated by reference numeral 10 and comprises a vehicle frame 12 and a load part 14 which is vertically displaceable on the vehicle frame 12 and has two fork tines 14a and 14b and a load stop 14c connecting the fork tines 14a, 14b for receiving a load, which is guided by means of lifting profiles 16, which will be discussed in more detail below.

[0032] In the Fig. 1A and 1B It can also be seen that the industrial truck 10 comprises two wheel arms 18a and 18b, which only schematically depict load wheels 20a, 20b in the area of ​​their ends facing away from the vehicle body 12. Furthermore, in the Fig. 1A and 1B Each longitudinal and a transverse axis L and B respectively are drawn, which in the usual way represent the corresponding directions in the industrial truck 10 and span a horizontal plane.

[0033] Especially in the view from Fig. 1B From below, it can also be seen that the vehicle body 12 has a base plate 22 on its underside, the outline of which corresponds at least partially to the outline of the vehicle frame 12 and which has a central opening 24 for receiving, for example, a Fig. 3 The drive wheel 26 is recognizable. Furthermore, in Fig. 1B to recognize that the base plate 22 further has two recesses 28a and 28b in its front lateral corner areas, in which, for example, the Fig. 4A The support roller arrangements 30a and 30b, which are clearly visible, can be mounted and therefore also form part of the outline of the base plate arrangement and are spaced as far apart as possible with respect to the width direction B in order to ensure a secure stand for the industrial truck 10 even when cornering at high speed and with a high load.

[0034] Furthermore, in the Fig. 1A and 1BFurther recesses 32a and 32b can be seen in the base plate 22, which are intended to accommodate lower sections of, for example, the Figs. 2 and 3 to accommodate the easily recognizable scanner units 34a and 34b, which extend upwards from the further recesses 32a and 32b over the base plate 22.

[0035] In contrast, the top view shows Fig. 1A A cladding 36 and a frame structure 38 can be seen, both of which extend above the base plate 22 and are described below by reference to the Figs. 2 and 3 will be described in more detail.

[0036] These figures show the vehicle 10 in a front view and a side view, respectively, and it can be clearly seen that the vehicle frame or vehicle body 12 has three vertically arranged structural planes, namely a lower structural plane E1, which includes, among other things, the base plate 22 and the support roller arrangements 30a and 30b, and in this vertical height area corresponds to the outline of the vehicle frame in the top view. Fig. 1A This corresponds to a middle structural plane E2 in which the frame structure 38 and the scanner units 34a and 34b are arranged section by section, wherein the frame structure 38 is completely within and spaced apart from the outline of the vehicle frame in the top view in the lateral direction B. Fig. 1Blies, as well as an upper structural level E3 in which the cladding 36 is arranged and which accommodates other components of the industrial truck 10 not shown, for example a battery arrangement, a control unit, a communication unit, electrical and / or hydraulic drive units and similar functional elements which are responsible for the operation of the industrial truck 10.

[0037] Furthermore, it can be seen that the steered drive wheel 26 extends vertically across all three structural levels E1 to E3 and is partially surrounded in the lateral direction by the frame structure 38. The frame structure 38 also extends into a forward section (with respect to the longitudinal direction L) with two side walls 40a and 40b that meet at an angle to each other.

[0038] Also in the Fig. 3It can be seen how the scan plane S, spanned by the scanner units 34a and 34b and essentially vertically oriented, is positioned with respect to its height, namely centered on the middle structural plane E2, whereby the vertical extent of the middle structural plane E2 should correspond exactly to the corresponding width of the scan plane S.

[0039] Especially in the partially openwork isometric oblique front view from Fig. 4AIt can also be seen that the frame structure 38, in addition to the two converging walls 40a and 40b, also includes two connecting struts 42a and 42b extending essentially in the longitudinal direction L, which on the one hand represent a lateral boundary, i.e., side walls, of the frame structure 38 and extend section by section into both the middle E2 and the upper structural plane E3, while in the longitudinal area of ​​the converging walls 40a and 40b they are only present in the upper structural plane E3.

[0040] This ensures both the structural strength of the connection between the lower structural level E1 and the upper structural level E3, and the force flow from the base plate 22 into the cladding 36 or other components arranged in the upper structural level E3, for example a sheet metal construction not shown in the figure, which can support further elements in the area of ​​the upper structural level E3.

[0041] Furthermore, the fact that the connecting struts 42a and 42b are only provided above the middle structural plane E2 in the area of ​​the tapered walls 40a and 40b ensures that they do not form any obstacles for the spanning of the scan plane S by the two scanner units 34a and 34b.

[0042] By providing these scanner units 34a and 34b with a design-related scan angle of 270°, the angular overlap of the individual scan areas S1 and S2 indicated in the figures can be achieved by the two scanner units 34a and 34b.It is evident that by providing the frame structure 38 centrally located in the width direction B and additionally the two tapered walls 40a and 40b, only a very small triangular dead zone T exists in the area in front of the vehicle 10 with respect to the longitudinal direction L, while in the rear area of ​​the industrial truck 10, the flat design of the wheel arms 38a and 38b and the forks 14a and 14b of the load part 14, which in their maximum lowered state are also completely located in the area of ​​the lower structural plane E1, makes it possible to overlap these forks 14a and 14b in such a way that the scan plane S runs above them and thus the load forks 14a and 14b are overscanned.

[0043] A further measure contributing to the complete angular coverage of the scan plane E is the provision of recesses 14d opposite each other in the width direction B in the load stop 14c of the load part 14, as well as the arrangement of the lifting profiles 16 only in the area of ​​the upper structural plane E3. In this way, a window is created in the area of ​​the middle structural plane E2 by the recesses 14d, which allows for a further increase in the angular coverage of the respective scan areas S1 and S2, as for example in the Fig. 4A and 4B It can be seen that they already cross in the area of ​​the fork tines 14a and 14b, and thus there is an overlap of the scan areas S1 and S2 behind the industrial truck 10, which enables and results in a complete 360° coverage of the scan plane S.

Claims

1. Autonomously guided industrial truck (10), comprising: - a vehicle frame (12) which, in a top view of the industrial truck (10), defines a vehicle outline in sections; and - at least one drive wheel (26) which is assigned to the vehicle frame (12) in order to stand on a driving surface below it; wherein the vehicle frame (12) comprises three structural levels (E1, E2, E3) arranged one above the other in a vertical direction with different outlines: - a lower structural level (E1) in which a basic structure is arranged; - an upper structural level (E3) with a cover (36);and - a middle structural level (E2) comprising a frame structure (38) for connecting the lower structural level (E1) and the upper structural level (E3), further comprising at least one scanner unit (34a, 34b), preferably a pair of scanner units (34a, 34b) opposite each other in the width direction, which is arranged completely within the outline of the vehicle frame (12) such that its scan plane (S) lies at least sectionally vertically in the area of ​​the middle structural level (E2), the industrial truck further comprising a pair of support or drive rollers opposite each other in the width direction, which are assigned to the vehicle frame (12) and are completely contained within the lower structural level (E1) with respect to the vertical direction, ; characterized by the fact thatthe support or drive rollers are designed as support rollers and furthermore a single steered drive wheel (26) is provided which is centrally assigned to the vehicle frame (12) with respect to the width direction (B) of the industrial truck (10) in order to stand on a driving surface below it, wherein the basic structure has an opening for receiving the single central drive wheel (26).

2. Autonomously guided industrial truck (10) according to claim 1, characterized by the fact that the lower structural level (E1) and the upper structural level (E3) have at least partially essentially the same outline.

3. Autonomously guided industrial truck (10) according to claim 1 or 2, wherein the support rollers are formed as part of support roller arrangements (30a, 30b) with a housing which housing sectionally defines the outline of the lower structural plane (E1).

4. Autonomously guided industrial truck (10) according to one of the preceding claims, characterized by the fact that the basic structure comprises or is formed by a base plate (22) which may have an opening (24) for receiving the single central drive wheel (26).

5. Autonomously guided industrial truck (10) according to one of the preceding claims, characterized by the fact that it further comprises two wheel arms (18a, 18b), each of which is assigned at least one load wheel (20a, 20b) and which are firmly connected to the vehicle frame (12) in the area of ​​the lower structural plane (E1) in order to extend from it to the rear in a longitudinal direction (L) of the industrial truck (10).

6. Autonomously guided industrial truck (10) according to one of the preceding claims, characterized by the fact that which at least one scanner unit (34a, 34b) has a scan angle of approximately 270° and / or a scan field width in the vertical direction of approximately 50 mm.

7. Autonomously guided industrial truck (10) according to one of the preceding claims, characterized by the fact thatthe pair of scanner units (34a, 34b) is arranged such that the scan plane (S) is completely covered by the two scanner units (34a, 34b) in a range of 360°.

8. Autonomously guided industrial truck (10) according to one of the preceding claims, characterized by the fact that which at least one scanner unit (34a, 34b) is arranged in the longitudinal direction (L) of the industrial truck (10) behind the support or drive rollers.

9. Autonomously guided industrial truck (10) according to one of the preceding claims, characterized by the fact that it further comprises a load part (14) which is vertically displaceable on the vehicle frame (12) for receiving a load, and preferably lifting profiles (16) for guiding the load part (14), which extend in the vertical direction only in the area of ​​the upper structural plane (E3).

10. Autonomously guided industrial truck (10) according to one of the preceding claims, characterized by the fact thatthe load part (14) has two fork tines (14a, 14b) and a load stop (14c) connecting the fork tines or a monofork with a load stop, wherein the load stop (14c) has two recesses (14d) opposite each other in the width direction, which are aligned with the middle structural plane (E2) in a maximally lowered state of the load part (14).

11. Autonomously guided industrial truck (10) according to one of the preceding claims, characterized by the fact that the frame structure (38) of the middle structural plane (E2): - lies completely within and spaced apart from the outline of the vehicle frame (12) with respect to the width direction (B); and / or - surrounds the opening (24) of the base plate (22); and / or - has a tapered shape in a front section with respect to the longitudinal direction (L); and / or - at least partially limits a scan area (S1, S2) of at least one of the scanner units (34a, 34b).

12. Autonomously guided industrial truck (10) according to one of the preceding claims, characterized by the fact that the frame structure (38) comprises at least two connecting struts (42a, 42b) extending substantially in the longitudinal direction between a front and a rear section of the vehicle frame (12) and section by section in both the middle (E2) and the upper (E3) structural plane, but in the longitudinal area of ​​the tapered shape of the frame structure only in the upper structural plane (E3), wherein preferably two of the connecting struts (42a, 42b) limit the frame structure (38) section by section in the width direction (B) to the outside.

13. Autonomously guided industrial truck (10) according to one of the preceding claims, characterized by the fact that it has a width (B) dimension of approximately 800 mm or less.

14. Autonomously guided industrial truck (10) according to one of the preceding claims, characterized by the fact thatextending vertically: - the lower structural plane (E1) to a height of approximately 75 mm above the road surface; - the middle structural plane (E2) from a height of approximately 75 mm to a height of approximately 125 mm; and - the upper structural plane (E3) from a height of approximately 125 mm.

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