EP4136049B1 - Flurförderzeug mit lastaufnahmemitteln zur aufnahme von langgut - Google Patents

Flurförderzeug mit lastaufnahmemitteln zur aufnahme von langgut Download PDF

Info

Publication number
EP4136049B1
EP4136049B1 EP21713621.7A EP21713621A EP4136049B1 EP 4136049 B1 EP4136049 B1 EP 4136049B1 EP 21713621 A EP21713621 A EP 21713621A EP 4136049 B1 EP4136049 B1 EP 4136049B1
Authority
EP
European Patent Office
Prior art keywords
industrial truck
load
detection device
elongated goods
mast
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP21713621.7A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP4136049A1 (de
Inventor
Jürgen KELLER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hubtex Maschinenbau GmbH and Co KG
Original Assignee
Hubtex Maschinenbau GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hubtex Maschinenbau GmbH and Co KG filed Critical Hubtex Maschinenbau GmbH and Co KG
Publication of EP4136049A1 publication Critical patent/EP4136049A1/de
Application granted granted Critical
Publication of EP4136049B1 publication Critical patent/EP4136049B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/18—Load gripping or retaining means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems

Definitions

  • the invention relates to an industrial truck with load-carrying devices for picking up long goods.
  • the industrial truck includes a safety controller that has at least one monitoring sensor and forms at least one protective field using this monitoring sensor.
  • the disadvantage of this prior art is that the industrial truck with load-carrying devices for picking up long goods does not have a safety control that meets the special requirements of an industrial truck with load-carrying devices for picking up long goods to a desirable extent.
  • the invention therefore had the task of creating such an industrial truck without this disadvantage.
  • the industrial truck according to the invention has a long goods detection device for detecting long goods. It also has a safety controller, which in turn has at least one monitoring sensor and uses this monitoring sensor to form at least one protective field.
  • the safety control is operatively connected to the long goods detection device and is set up so that it influences the at least one protective field depending on long goods detected by the long goods detection device.
  • the protective field can also be referred to as a monitoring field. It prefers to move with the industrial truck.
  • the protective field is preferably part of the detection range of the monitoring sensor.
  • the safety control is preferably set up in such a way that when approaching vehicles or people are detected - preferably by means of the at least one monitoring sensor - the industrial truck is brought into a safe state as soon as the required minimum distances are not reached and/or as soon as vehicles or people approach reach the at least one protective field. Transferring the vehicle to a safe state can mean reducing the driving speed or stopping the truck. It can also mean that movement of the load-carrying means relative to the industrial truck is slowed down or stopped. Approaching vehicles or people can also be those who are standing still and to whom the industrial truck is approaching.
  • the safety control can be set up so that if non-moving objects, such as walls or shelves or parked goods, are detected, the industrial truck is brought into a safe state as soon as necessary Minimum distances are not exceeded and/or an object enters a protective field.
  • an industrial truck with load-carrying devices for picking up long goods can be created with a safety control that meets the special requirements for an industrial truck with load-carrying devices for picking up long goods to a desirable extent.
  • the protective field only needs to be as large as is actually required, depending on the long items being picked up. In this way, particularly smooth operations can be ensured while maintaining a high level of protection.
  • the monitoring sensor may include a personal protection scanner.
  • the load-carrying means can include, for example, a lifting fork or a loading platform.
  • the industrial truck can be designed as a forklift.
  • the industrial truck can therefore include a lifting mast and the load-carrying means of the industrial truck can include a lifting fork.
  • the lifting fork preferably has tines, particularly preferably two.
  • the tines are preferably spaced so far apart that they are arranged outside the wheel arms when viewed from above, or a distance adjustment device is provided for the tines which allows this arrangement. The large distance between the tines that is achieved or can be achieved in this way can result in a particular suitability for picking up long goods.
  • the industrial truck preferably has a chassis.
  • the chassis can be “U” shaped.
  • the two legs of the “U” shape can each be formed by a wheel arm.
  • the industrial truck can be designed as a reach truck.
  • the lifting mast of the industrial truck can therefore be extended and retracted again.
  • the push mast can be arranged between the wheel arms and pushing out and pushing in can take place parallel to the wheel arms.
  • the industrial truck is preferably a vehicle designed as a sideloader.
  • the industrial truck preferably allows travel across the forks.
  • the industrial truck preferably allows travel transverse to a load-carrying movement of the industrial truck and/or the lifting fork.
  • the industrial truck preferably allows travel in the longitudinal direction of the load.
  • the industrial truck can preferably be moved in a transverse journey and in a longitudinal journey.
  • the industrial truck is preferably a multi-way vehicle which, in addition to transverse travel and longitudinal travel, can preferably be driven in a circular drive, also known as a carousel drive, and/or a diagonal drive. All wheels of the industrial truck can preferably be steered through at least 90°.
  • Transverse travel preferably differs from longitudinal travel in that, when driving straight ahead and viewed relative to the chassis, the wheels are rotated by 90°.
  • the long goods can be a load that is longer than a normal pallet.
  • the long goods can be a load that is longer than 1200 mm.
  • the long goods can be a load which, when picked up on the load-carrying means and in the ready-to-drive state of the industrial truck (in the case of a reach truck, preferably with the reach truck pushed in), stands beyond the contour of the industrial truck, so that there is an overall contour of the industrial truck and load that is greater than the contour of the truck without load.
  • the term “long goods detection device” refers to a device for detecting long goods.
  • the device preferably detects whether long goods are arranged on the load-carrying means of the industrial truck.
  • the long goods detection device is preferably an automatic long goods detection device.
  • the long goods detection device is preferably set up so that it works automatically.
  • the long goods detection device preferably detects whether and/or to what extent and/or at what point a load arranged on the load-carrying means protrudes beyond the contour of the industrial truck.
  • the industrial truck is preferably a driverless transport vehicle. It therefore preferably has a device for its automatic control and/or contactless guidance.
  • the safety control is preferably set up in such a way that it adapts the at least one protective field or one of the protective fields to the overall contour that results from the industrial truck and the load picked up.
  • the at least one protective field or one of the protective fields can be formed in front of the industrial truck in the direction of travel.
  • the width of the at least one protective field or one of the protective fields i.e. its extent perpendicular to the direction of travel, can correspond at least approximately to the width, i.e. the extent perpendicular to the direction of travel, of the vehicle contour or the overall contour.
  • the safety control is preferably set up in such a way that, depending on long goods detected by the long goods detection device, it switches between protective fields that differ in size and/or shape and/or position relative to the industrial truck.
  • the safety control influences the size and/or shape and/or position relative to the industrial truck of the at least one protective field or one of the protective fields depending on long goods detected with the long goods detection device. This can result in a continuous adjustment of the protective field.
  • the safety control is preferably set up so that it forms a larger protective field in the direction of travel when the overall contour is enlarged at the front in the direction of travel than when the contour or overall contour is not enlarged at the front in the direction of travel.
  • the safety control is preferably set up in such a way that, with an overall contour that is enlarged transversely to the direction of travel, it forms a larger protective field transversely to the direction of travel than with a contour or overall contour that is not enlarged transversely to the direction of travel.
  • the industrial truck preferably has a lifting mast with an upper area.
  • the long goods detection device preferably comprises a laser scanner with a scanner detection area.
  • the scanner detection area is preferably directed towards the load-carrying means.
  • the laser scanner is preferably arranged on the upper area of the lifting mast and its scanner detection area is directed obliquely downwards towards the lifting fork.
  • the scanner detection area of the laser scanner can be designed two-dimensionally, for example by means of exactly one integrated rotating mirror.
  • the first dimension can be designed in the direction of the laser beam and the second dimension - for example by deflection of the rotating mirror - perpendicular to it.
  • the laser scanner can be arranged so that the second dimension runs perpendicular to the tines of the lifting fork.
  • the scanner detection area preferably extends in the second dimension over at least 1.5 times or twice or three times the maximum distance between the tines when the lifting fork is in the lowered state. In this way, even long items can be safely captured and measured correctly.
  • the scanner detection area preferably extends in the second dimension over less than 10 times or 5 times the maximum distance between the tines when the lifting fork is in the lowered state.
  • the scanner detection area of the laser scanner can be designed to be three-dimensional.
  • the laser scanner can be arranged so that the third dimension runs in the direction of the tines of the lifting fork.
  • the scanner detection area in the third dimension extends at least over the entire length of the tines when the lifting fork is in the lowered state. In this way, the length of the load can be recorded and measured over the entire fork length.
  • the scanner detection area is preferably dimensioned such that the detection of non-homogeneous long goods, such as profiles of different lengths, can be detected by the laser scanner.
  • the laser scanner can be pivotably arranged on the industrial truck - such as the lifting mast.
  • a mirror is deflected in two directions for the three-dimensional formation of the scanner detection area, or two orthogonally standing rotatable mirrors can be arranged close to one another, via which the laser beam is reflected.
  • the laser scanner is preferred safety certified. It preferably has a performance level of at least d.
  • the long goods detection device can have a camera with a camera detection area instead of or in addition to the laser scanner.
  • the camera detection area is preferably aimed at the load-carrying devices.
  • the camera detection area is preferably dimensioned such that the detection of non-homogeneous long goods, such as profiles of different lengths, can be recognized by the camera.
  • the camera is preferably safety certified. It preferably has a performance level of at least d. This camera is preferably a 3D camera.
  • the camera is preferably arranged at the upper area of the lifting mast.
  • the camera detection area is further preferably directed obliquely downwards towards the lifting fork.
  • the camera detection area preferably extends in a first dimension at least over the entire length of the tines when the lifting fork is in the lowered state.
  • the camera detection area preferably extends in a second dimension, preferably transversely to the forks, over at least 1.5 times or twice or three times the maximum distance between the tines when the lifting fork is in the lowered state. In this way, even long items can be safely captured and measured correctly.
  • the camera detection area in the second dimension preferably extends over less than 10 times or 5 times the maximum distance between the tines when the lifting fork is in the lowered state.
  • the lowered state of the lifting fork preferably corresponds to the state that the lifting fork assumes to pick up the load.
  • the camera and/or the laser scanner are preferably arranged in such a way that they do not move when load-carrying devices move vertically.
  • the safety controller can have two monitoring sensors.
  • the monitoring sensors can be arranged at diagonally opposite sensor positions on the industrial truck and they can each have a monitoring sensor detection area which extends over 270° - preferably in the horizontal direction.
  • An industrial truck with such a safety control can also be carried out independently, independent of the previously mentioned features.
  • the safety control can form the at least one protective field or one of the protective fields as a rear area protective field.
  • An industrial truck with such a safety control can also be designed to be autonomous, independent of the aforementioned features.
  • the rear area protection field is preferably arranged behind the reach mast, preferably on the side of the reach mast facing away from the load-carrying means or the lifting fork.
  • the rear area protection field preferably covers the rear area at least almost completely.
  • the rear area protection field is preferably arranged between the wheel arms.
  • the safety control can form the at least one protective field or one of the protective fields as a rear protection field, the size of which depends on the respective mast extension position.
  • the safety control preferably forms the rear area protection field as soon as the reach mast is extended.
  • the rear area protection field can ensure that it is detected if someone enters the area behind the reach mast, for example between the extended reach mast and the wheel arms, when the reach mast is extended. In this way, the rear area is preferably protected from people getting trapped.
  • a device such as a reach mast sensor, can be provided which detects whether and to what extent the reach mast is extended.
  • the safety control is preferably operatively connected to this device.
  • the safety control preferably influences the size and shape of the at least one rear protection field depending on the extent to which the reach mast is extended or switches between protective fields that differ in size and shape depending on the extent to which the reach mast is extended . What is preferably achieved in this way is that the rear area protection field always at least almost completely covers the rear area in every possible push position of the push mast.
  • the monitoring sensor with the help of which the safety control forms the rear area protection field, is also referred to as the rear area sensor can be, preferably arranged on the area of the industrial truck connecting the two wheel arms.
  • the term “rear space” refers to the area arranged on the side of the reach mast facing away from the load-carrying means. If the industrial truck has wheel arms, then the rear space is preferably also limited by the wheel arms. The rear space is then preferably also delimited by the area of the industrial truck that connects the wheel arms.
  • the industrial truck can have a load carrier recognition device that is set up so that it recognizes and/or measures load carriers, so that the industrial truck can clearly measure and/or identify and/or pick up the load carriers.
  • An industrial truck with such a load carrier detection device can also be designed independently, regardless of the aforementioned features.
  • load carrier means devices on or in which loads, for example long goods, can be arranged, such as Euro pallets, long goods pallets, workpiece carriers and/or containers, for example mesh boxes.
  • the charge carrier detection device preferably comprises a charge carrier detection camera. This is preferably a 3D camera.
  • the load carrier detection device is preferably arranged so that it moves with the load-carrying means or the lifting fork during a vertical movement and is further preferably arranged between the tines of the lifting fork.
  • the industrial truck can have a fork carriage.
  • the fork carrier preferably connects the lifting fork to the lifting mast.
  • the load carrier detection device can be arranged centrally below the fork carriage.
  • the load carrier detection device preferably has a load carrier detection area which runs at least parallel to the tines of the lifting fork.
  • the load carrier detection device is designed as a load carrier detection camera, it preferably has a viewing direction parallel to the load or to the load-picking movement that the industrial truck and/or the reach mast carries out when picking up the load in order to detect and/or measure the load carriers.
  • Exactly one, two or more or all of the truck's wheels can be driven.
  • a separate drive motor can be provided for each driven wheel.
  • Exactly one, two or more or all of the truck's wheels can be steerable.
  • a separate steering motor can be provided for each steerable wheel.
  • the first exemplary embodiment of the industrial truck according to the invention shown and designated 100 (hereinafter industrial truck 100) relates to an industrial truck with load-carrying devices 1 for receiving long goods L.
  • the industrial truck 100 is designed as a forklift truck. It therefore includes a lifting mast 8 and the load-carrying means 1 of the industrial truck include a lifting fork 10.
  • the lifting fork has two tines 21, 21 '.
  • a distance adjustment device for the tines 21, 21' is provided, which allows the tines 21, 21' to be arranged so that they are spaced so far apart that, when viewed from above, they are arranged outside the wheel arms 20, 20' ( please refer Fig. 3 ).
  • the truck is in longitudinal travel LF ( Fig. 3 ) mobile. It can also be driven in a cross-travel QF, like it Fig. 5 for the second exemplary embodiment 200 shows.
  • the industrial truck 100 is designed as a reach truck, with an extendable and retractable lifting mast 8 designed as a reach mast 15.
  • the industrial truck 100 has a "U"-shaped chassis, the two legs of the "U" shape each being supported by a wheel arm 20, 20' are formed.
  • the long goods L is a load which, when picked up on the load-carrying means and in the ready-to-drive state of the industrial truck 100, i.e. even when the reach mast 15 is pushed in, stands beyond the contour of the industrial truck 100, so that there is an overall contour G, which is larger than the contour of the truck without load.
  • the industrial truck is a sideloader, so it allows a direction of travel (F) that runs transversely to the fork arms 21, 21' ( Fig. 3 ).
  • the industrial truck 100 is a driverless transport vehicle and has a long goods detection device 2 for detecting long goods running.
  • a safety control 3 which is in Fig. 1 is symbolically represented with a square and which in turn has at least one monitoring sensor 4, 4 'and uses this or these monitoring sensors 4, 4' to form at least one protective field 5, 5'.
  • the safety controller 3 is operatively connected to the long goods detection device 2 and is set up so that it influences the at least one protective field 5, 5 'depending on long goods L detected with the long goods detection device 2.
  • the safety controller 3 is set up so that the industrial truck 100 is stopped when vehicles or people are detected in the protective field 5, 5' by means of the at least one monitoring sensor 4, 4'.
  • the safety controller 3 adapts the protective field 5, 5' to the overall contour, which results from the industrial truck and the long goods picked up, by switching between protective fields 5, 5' depending on the long goods detected with the long goods detection device 2, which vary in size and/or or shape and/or position relative to the industrial truck.
  • Fig. 3 This is exemplified in Fig. 3 shown:
  • the industrial truck 100 is traveling longitudinally LF to the left at a certain speed.
  • the load picked up increases the overall contour G of the industrial truck 100 and the load, since the load protrudes beyond the contour of the industrial truck 100 at the front in the direction of travel F, among other things.
  • the safety control 3 has switched from a protective field 5 (cross-hatched), which it forms when traveling in this direction and at this speed without long goods L, to a protective field 5 'that is larger in the direction of travel.
  • the safety control 3 forms in Fig. 3 Therefore, due to the overall contour G being enlarged at the front in the direction of travel F, a protective field 5' that is larger in the direction of travel F.
  • Fig. 5 The situation is shown with long goods L picked up in transverse travel.
  • the safety control 3 has switched from a protective field 5, which it forms during such a journey without long goods L (cross-hatched), to a wider protective field 5 '.
  • the safety control 3 forms in Fig. 5 i.e. a larger protective field 5′ due to an overall contour G that is enlarged transversely to the direction of travel F.
  • the protective field 5, 5' is formed in front of the industrial truck 100, 200 in the direction of travel F and its width, i.e. the extent transverse to the direction of travel F, corresponds at least approximately to the width of the overall contour G.
  • the long goods detection device 2 comprises a laser scanner 6 arranged on the upper region 9 of the lifting mast 8 with a scanner detection area 7 directed obliquely downwards towards the lifting fork 10.
  • the scanner detection area 7 of the laser scanner 6 itself is initially designed to be two-dimensional.
  • the first dimension is designed in the direction of the laser beam and the second dimension is perpendicular to it.
  • the laser scanner 6 is like that arranged so that the second dimension runs perpendicular to the tines 21, 21 'of the lifting fork 10.
  • the scanner detection area 7 extends in the second dimension over approximately three times the maximum distance between the tines 21, 21 'from one another when the lifting fork 10 is in the lowered state (this state is not shown in the figures).
  • the scanner detection area 7 of the laser scanner 6 (in Fig. 1 shown by dashed lines) is designed three-dimensionally, in which the laser scanner 6 is pivotably arranged on the lifting mast 8. This is in Fig. 1 represented by a double arrow P.
  • the third dimension of the scanner detection area runs in the direction of the tines 21, 21 'of the lifting fork 10.
  • the scanner detection area 7 extends in the third dimension over the entire length of the tines when the lifting fork is in
  • FIG. 4 to 10 Further exemplary embodiments are shown.
  • the same reference numbers designate the same components. In this respect, reference is made to the description above.
  • the second exemplary embodiment of the industrial truck according to the invention (industrial truck 200) is shown, designated 200. It differs from the first exemplary embodiment 100 in that the long goods detection device 2 comprises a camera 11 with a camera detection area 12 instead of a laser scanner 6 ( Fig. 5 ).
  • the safety controller 3 has exactly two monitoring sensors 4, 4 ', which are arranged at diagonally opposite sensor positions 13, 13' on the industrial truck 300 and which each have a monitoring sensor detection area 14, 14 ', which extends - preferably in the horizontal direction - over an angle ⁇ , ⁇ 'of 270 °. This ensures an all-round view around the industrial truck 300 in a particularly suitable manner.
  • the at least one monitoring sensor 4, 4' can be designed in this way in all of the exemplary embodiments shown in the figures.
  • the safety controller 3 forms one of the protective fields 5 as a rear protection field 16, the size of which depends on the respective mast extension position and that in Fig. 8 is shown hatched.
  • a device namely a reach mast sensor 23, is provided which detects whether and to what extent the reach mast 15 is extended.
  • the safety control 3 is operatively connected to the reach mast sensor 23 and, depending on the extent to which the reach mast 15 is extended, switches between protective fields that differ in size and shape in such a way that the rear area protection field 16 covers the rear area at every possible thrust. Position of the reach mast 15 always at least almost completely covers.
  • the rear space sensor 22, with the help of which the safety controller 3 forms the rear space protection field 16, is arranged on the area of the industrial truck 400 connecting the two wheel arms 20, 20 '.
  • the industrial truck 500 comprises a load carrier recognition device 17, which is set up in such a way that it recognizes and measures load carriers such as Euro pallets or grid boxes, so that the industrial truck 500 clearly measures and identifies the load carriers and can accommodate.
  • the load carrier detection device 17 includes a load carrier detection camera 18, which is designed as a 3D camera and is arranged between the tines 21, 21 'of the lifting fork 10, centrally below the fork carriage 19.
  • the charge carrier detection camera 18 has a charge carrier detection area 24, which, among other things, runs parallel to the tines 21, 21 of the lifting fork 10.
  • the load carrier detection camera 18 has a viewing direction parallel to the load-picking movement that the industrial truck 500 and/or the reach mast 15 carries out when picking up the load in order to detect and measure the load carriers.

Landscapes

  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Chain Conveyers (AREA)
EP21713621.7A 2020-04-14 2021-03-17 Flurförderzeug mit lastaufnahmemitteln zur aufnahme von langgut Active EP4136049B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020110180.5A DE102020110180A1 (de) 2020-04-14 2020-04-14 Flurförderzeug mit Lastaufnahmemitteln zur Aufnahme von Langgut
PCT/EP2021/056842 WO2021209219A1 (de) 2020-04-14 2021-03-17 Flurförderzeug mit lastaufnahmemitteln zur aufnahme von langgut

Publications (2)

Publication Number Publication Date
EP4136049A1 EP4136049A1 (de) 2023-02-22
EP4136049B1 true EP4136049B1 (de) 2024-03-06

Family

ID=75143621

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21713621.7A Active EP4136049B1 (de) 2020-04-14 2021-03-17 Flurförderzeug mit lastaufnahmemitteln zur aufnahme von langgut

Country Status (8)

Country Link
US (1) US20230135834A1 (pl)
EP (1) EP4136049B1 (pl)
JP (1) JP7752129B2 (pl)
AU (1) AU2021256271A1 (pl)
DE (1) DE102020110180A1 (pl)
ES (1) ES2981355T3 (pl)
PL (1) PL4136049T3 (pl)
WO (1) WO2021209219A1 (pl)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BR112023004232A2 (pt) * 2020-10-30 2023-05-09 Nestle Sa Composições contendo nicotinamida e vitamina b6 e métodos de uso de tais composições para tratar sarcopenia e debilidade
JP7468503B2 (ja) * 2021-12-28 2024-04-16 トヨタ自動車株式会社 搬送ロボット
EP4499356A4 (en) * 2022-03-28 2025-12-31 Seegrid Corp TERMINAL EFFECTOR CONDITION-BASED SAFETY FIELD SWITCHING IN VEHICLES
AU2024201613A1 (en) * 2023-03-16 2024-10-03 The Raymond Corporation Load handling sensors for a material handling vehicle
DE102023119488A1 (de) * 2023-07-24 2025-01-30 Jungheinrich Aktiengesellschaft Flurförderzeug mit einer Auswerteeinheit und einer Kamera, Logistikeinrichtung sowie Verfahren zum Betreiben eines solchen Flurförderzeugs
US12528682B1 (en) 2025-05-28 2026-01-20 Visionnav Robotics Usa Inc. Handling equipment, handling equipment control method, and controller

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6327398A (ja) * 1986-07-22 1988-02-05 株式会社豊田自動織機製作所 無人フオ−クリフトの安全装置
GB9707158D0 (en) 1997-04-08 1997-05-28 Boss Group Ltd Two directional industrial sidelift truck with rotatable cab
DE102004047209B4 (de) 2004-09-27 2009-04-23 Daimler Ag Verfahren und Vorrichtung zur Sicherheitsüberwachung für Transportfahrzeuge
US20120191272A1 (en) 2011-01-24 2012-07-26 Sky-Trax, Inc. Inferential load tracking
JP6139375B2 (ja) * 2013-10-25 2017-05-31 ユーピーアール株式会社 パレット管理システム、パレット管理装置およびフォークリフト
EP3000773B1 (en) * 2014-09-25 2017-04-12 Toyota Material Handling Manufacturing Sweden AB Method in forklift truck for determining a load position in a load rack
DE102016113312A1 (de) * 2016-07-19 2018-01-25 Comnovo Gmbh Fahrzeugsicherheitsvorrichtung mit Warnzonen
EP3504084B1 (en) 2016-08-24 2021-12-01 Volvo Construction Equipment AB A warning system for a working machine
CN114756031B (zh) * 2016-08-26 2025-05-27 克朗设备公司 物料搬运车辆和关于物料搬运车辆执行路径确认逻辑的方法
WO2018098025A1 (en) * 2016-11-22 2018-05-31 Crown Equipment Corporation User interface device for industrial vehicle
DE102018109298A1 (de) 2018-01-10 2019-07-11 Still Gmbh Verfahren und System zur Personen- und/oder Fahrzeugerkennung beim Kommissionieren mittels Funkortung
DE102018104986A1 (de) * 2018-03-05 2019-09-05 Jungheinrich Aktiengesellschaft Verfahren zum Betreiben eines Flurförderzeugs
DE102019201598A1 (de) * 2019-02-07 2020-08-13 Bhs Intralogistics Gmbh Anliefersystem
JP7215394B2 (ja) * 2019-10-25 2023-01-31 株式会社豊田自動織機 荷役車両の操作支援装置
CN115136091B (zh) * 2020-02-27 2025-07-29 三菱重工业株式会社 控制装置、移动体、移动控制系统、控制方法及存储介质
EP4226229A1 (en) * 2020-10-05 2023-08-16 Crown Equipment Corporation Systems and methods for relative pose sensing and field enforcement of materials handling vehicles using ultra-wideband radio technology
AU2022203598A1 (en) * 2021-05-31 2022-12-15 The Raymond Corporation Systems and methods for material handling vehicle travel control based on object detection systems
US12497276B2 (en) * 2021-06-28 2025-12-16 Moog Inc. Autonomous load moving electric vehicle

Also Published As

Publication number Publication date
DE102020110180A1 (de) 2021-10-14
WO2021209219A1 (de) 2021-10-21
AU2021256271A1 (en) 2022-11-03
PL4136049T3 (pl) 2024-08-05
EP4136049A1 (de) 2023-02-22
US20230135834A1 (en) 2023-05-04
ES2981355T3 (es) 2024-10-08
JP7752129B2 (ja) 2025-10-09
JP2023523556A (ja) 2023-06-06

Similar Documents

Publication Publication Date Title
EP4136049B1 (de) Flurförderzeug mit lastaufnahmemitteln zur aufnahme von langgut
EP3875990B1 (de) System zur inspektion eines lagers
EP2100831B1 (de) Transportwagen für Paletten und Transportsystem
EP3132859B1 (de) Fördereinrichtung mit kollisionsdetektion
EP3634901B1 (de) Automatisch geführtes portalhubgerät für container und verfahren zum betrieb eines solchen portalhubgeräts
EP3312131B1 (de) Flurförderzeug mit einer sensoreinrichtung zur überwachung eines umgebungsbereiches
EP3529193B1 (de) Verfahren zum automatischen positionieren eines portalhubstaplers für container und portalhubstapler dafür
DE102006039382A1 (de) Stückgut-Transportvorrichtung für ein Stückgut-Lagersystem, und Verfahren zum Betreiben der Vorrichtung
EP2805911B1 (de) Flurförderzeug, insbesondere Kommissionierflurförderzeug mit einem anhebbaren und absenkbaren Fahrerstand
AT526006B1 (de) Transporteinrichtung
EP3800158B1 (de) Flurförderzeug, eingerichtet für den fahrerlosen, autonom agierenden betrieb für eine zu transportierende last
DE19749900A1 (de) Fahrerloses, z. B. frei navigierendes Transportfahrzeug zum Handhaben von Lasten
DE102018112566A1 (de) Flurförderzeug mit ausfahrbarer Struktur
DE102013100191A1 (de) Verfahren zur Erfassung von Hubvorrichtungsschwingungen
EP3924291B1 (de) Fördereinrichtung für ladungsträger
DE102008008922B4 (de) Flurförderzeug mit Umgebungssensor
EP3549901B1 (de) Schubmaststapler
EP4137442B1 (de) Autonom geführtes flurförderzeug mit einem paar von scanner-einheiten
DE102016125157A1 (de) Flurförderzeug zum Drehen von Paletten
DE102020108116A1 (de) Autonomes, bodengebundenes Flurförderzeug und Verfahren zum Be- und/oder Entladen einer Ladeeinheit mit einem solchen Flurförderzeug
DE4104347A1 (de) Lagenkommissionierstapler mit zwei separat steuerbaren, hoehenbeweglichen lasttraegern
DE102019215169A1 (de) Flurförderzeug, eingerichtet für den fahrerlosen, autonom agierenden Betrieb
DE4218416C2 (de) Anbaugerät für Flurförderzeuge
EP4137439B1 (de) Autonom geführtes flurförderzeug mit drei strukturebenen
WO2021190865A1 (de) Transportsystem zum kommissionieren

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20221114

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230904

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20231115

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502021002915

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: SE

Ref legal event code: TRGR

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240306

REG Reference to a national code

Ref country code: NL

Ref legal event code: FP

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240607

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240606

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240306

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240606

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240606

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240306

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240306

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240607

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240306

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240306

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240706

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2981355

Country of ref document: ES

Kind code of ref document: T3

Effective date: 20241008

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240708

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240306

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240306

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240306

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240306

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240306

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240708

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240706

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240306

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20240317

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20240317

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502021002915

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240306

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240306

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240306

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240306

26N No opposition filed

Effective date: 20241209

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: SE

Payment date: 20250311

Year of fee payment: 5

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: RO

Payment date: 20250311

Year of fee payment: 5

Ref country code: NL

Payment date: 20250324

Year of fee payment: 5

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: BG

Payment date: 20250318

Year of fee payment: 5

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240306

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: BE

Payment date: 20250320

Year of fee payment: 5

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20250324

Year of fee payment: 5

Ref country code: PL

Payment date: 20250304

Year of fee payment: 5

Ref country code: CZ

Payment date: 20250306

Year of fee payment: 5

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: TR

Payment date: 20250310

Year of fee payment: 5

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: ES

Payment date: 20250416

Year of fee payment: 5

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20250331

Year of fee payment: 5

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: CH

Payment date: 20250401

Year of fee payment: 5

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20210317

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20210317

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20260327

Year of fee payment: 6

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IE

Payment date: 20260330

Year of fee payment: 6

Ref country code: DE

Payment date: 20260324

Year of fee payment: 6

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: AT

Payment date: 20260330

Year of fee payment: 6