AU9143798A - Unmanned, freely navigable transportation vehicle for handling loads - Google Patents

Unmanned, freely navigable transportation vehicle for handling loads Download PDF

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Publication number
AU9143798A
AU9143798A AU91437/98A AU9143798A AU9143798A AU 9143798 A AU9143798 A AU 9143798A AU 91437/98 A AU91437/98 A AU 91437/98A AU 9143798 A AU9143798 A AU 9143798A AU 9143798 A AU9143798 A AU 9143798A
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AU
Australia
Prior art keywords
load
vehicle
chassis
transportation vehicle
support structure
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.)
Abandoned
Application number
AU91437/98A
Inventor
Eckhard Fohr
Volker Schneider
Klaus Simmich
Horst Thorn
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.)
Siemag GmbH
Original Assignee
Siemag Transplan GmbH
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 Siemag Transplan GmbH filed Critical Siemag Transplan GmbH
Publication of AU9143798A publication Critical patent/AU9143798A/en
Abandoned legal-status Critical Current

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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
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L1/00—Supplying electric power to auxiliary equipment of vehicles
    • B60L1/003—Supplying electric power to auxiliary equipment of vehicles to auxiliary motors, e.g. for pumps, compressors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/51—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by AC-motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L55/00—Arrangements for supplying energy stored within a vehicle to a power network, i.e. vehicle-to-grid [V2G] arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B60L7/14—Dynamic electric regenerative braking for vehicles propelled by ac motors
    • 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
    • B66F9/08—Masts; Guides; Chains
    • B66F9/10—Masts; Guides; Chains movable in a horizontal direction relative to truck
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/26—Rail vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
    • Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S10/00—Systems supporting electrical power generation, transmission or distribution
    • Y04S10/12—Monitoring or controlling equipment for energy generation units, e.g. distributed energy generation [DER] or load-side generation
    • Y04S10/126—Monitoring or controlling equipment for energy generation units, e.g. distributed energy generation [DER] or load-side generation the energy generation units being or involving electric vehicles [EV] or hybrid vehicles [HEV], i.e. power aggregation of EV or HEV, vehicle to grid arrangements [V2G]

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Civil Engineering (AREA)
  • Geology (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Handcart (AREA)
  • Replacement Of Web Rolls (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Transition And Organic Metals Composition Catalysts For Addition Polymerization (AREA)
  • Pharmaceuticals Containing Other Organic And Inorganic Compounds (AREA)
  • Seal Device For Vehicle (AREA)
  • Vehicle Body Suspensions (AREA)
  • Vehicle Waterproofing, Decoration, And Sanitation Devices (AREA)
  • Loading Or Unloading Of Vehicles (AREA)

Abstract

The lifting bar (7) engages the center (8) of a coil or roll (5) and is hydraulically moved back and forth on rails (9) and vertically by a lifting system (10). The wheeled transporter is guided into position by sensors and a computer by signals.

Description

0
AUSTRALIA
Patents Act 1990 SIEMAG TRANSPLAN GMBH
ORIGINAL
COMPLETE SPECIFICATION STANDARD PATENT Invention Title: Unmanned, freely navigable transportation vehicle for handling loads The following statement is a full description of this invention including the best method of performing it known to us:- 1. Field of the Invention The present invention relates to an unmanned, e.g., freely navigable, transportation vehicle for handling loads, in particular, for transporting bundles such as coils of rolled metal bands, heavy paper rolls and the like which are supported on a vertically displaceable load-carrying element.
2. Description of the Prior Art \o Transportation vehicles of the above-described type meet different logistic demands for handling stocks in warehouses and storeyards and are used in steel industry for transporting coils having weight from 30 to about 60 ton.
They are used as automatically operating units and are equipped with different navigation systems. with an aid of a laser-based navigation system, a transportation vehicle can move, independent of ground marks or strictly predetermined paths, along a virtual route which can be freely ao selected on the vehicle master computer. The changes in the route can be easily effected. For a proper orientation of the vehicle, the laser-based navigation system uses reflectors arranged along the route.
Conventional unmanned transportation vehicles for automatic handling of coils, which should be picked-up from a transition station without a crane or a similar transferring
S.
device, are provided with a carrier mandrel which is inserted into the coil opening for taking up the coil. Here, it is required that the coil be positioned relatively free so that l vehicle can overrun the coil position, without disturbing adjacent products or structure. The interference edges are defined here by the vehicle dimensions. In many cases, the necessary displacement space is not available, or the load need be picked-up directly from the ground. In another case, ir the load pick-up point cannot be overrun by the vehicle, e.g., during a pick-up from a chain conveyor. During the pick-up of the load by overrunning the pick-up point, maximum ground loading should not be exceeded which, in a steel mill amounts to maximum 10 t/m 2 The load pick-up by overrunning do the pick-up point becomes, particularly critical when the work area has a basement facility.
Accordingly, an object of the present invention is to provide a compact unmanned transportation vehicle with a -3reduced weight and, thereby, a reduced energy consumption and which is capable of meeting the necessary requirement to such a vehicle, without the drawbacks which characterize the conventional vehicle.
Another object of the present invention is to provide an unmanned transportation vehicle which would insure retaining of a predetermined maximum ground loading in the load application point.
IO
SUMMARY OF THE INVENTION These and other objects of the present invention, which will become apparent hereinafter, are achieved by providing an unmanned transportation vehicle of the above-described type which includes a support structure displaceable on the chassis of the transportation vehicle, load-carrying means supported on the support structure, and means for lifting and lowering the load-carrying means relative to the support structure, ao with the load-carrying means movable, during pick-up or laying-down of a load by the support structure, into a position in which it projects beyond the chassis.
-4- With the present invention, it is achieved that the transportation vehicle need not any more overrun the point of the load pick-up. Rather the load-carrying element, a carrier mandrel is inserted into the coil opening or fork prongs engage the coil circumference, with the load-carrying V element being advanced into its coil-receiving position by 0 moving horizontally relative to the vehicle chassis. The movement of the load-carrying element, advantageously, is effected in direction opposite to the direction of the vehicle Io movement. However, alternatively, the load-carrying element can be driven out sidewise. In both cases, under no circumstances, the ground in the region of the load pick-up is additionally loaded by the weight of the transportation vehicle. Furthermore, handling of a load by the inventive \G transportation vehicle is also possible when the width of the to-be-picked-up load is so wide that the load pick-up by overrunning is impossible.
In accordance with preferred embodiments of the 2o invention, there is provided support means for supporting the vehicle during lifting of or laying down of a load. The support means is arranged in the side girders of the vehicle chassis and is displaced either vertically up and down or -4- With the present invention, it is achieved that the transportation vehicle need not any more overrun the point of the load pick-up. Rather the load-carrying element, a carrier mandrel is inserted into the coil opening or fork prongs engage the coil circumference, with the load-carrying element being advanced into its coil-receiving position by moving horizontally relative to the vehicle chassis. The movement of the load-carrying element, advantageously, is effected in direction opposite to the direction of the vehicle movement. However, alternatively, the load-carrying element can be driven out sidewise. In both cases, under no circumstances, the ground in the region of the load pick-up is additionally loaded by the weight of the transportation vehicle. Furthermore, handling of a load by the inventive \G transportation vehicle is also possible when the width of the to-be-picked-up load is so wide that the load pick-up by overrunning is impossible.
In accordance with preferred embodiments of the Zo invention, there is provided support means for supporting the vehicle during lifting of or laying down of a load. The support means is arranged in the side girders of the vehicle chassis and is displaced either vertically up and down or horizontally in and out. If necessary, the displacement of the support means can be force-controlled.
The support means provides not only for an adequate lilt resistance or the stability of the vehicle but also, in addition, permits to reduce the weight of the transportation vehicle to a most possible extent, insuring a reduced energy consumption and, thus, the associated energy costs.
toWithout such support means, a transportation vehicle would have had a greater weight to provide a proper counterweight to the load, and a greater weight is always accompanied by an increased energy consumption. A greater weight would have required a more expensive concrete work for forming the mill ground. The pressurization of the support means can be advantageously controlled taking into account the actual weight and the ever changing position of the extendable load-carrying element. This permits to retain the axle load within limits, which do not exceed the maximum value of the gO axle load during movement of the vehicle with a load, when the load-carrying element is in its completely extended position.
The greater is the extension of the load-carrying element, the greater becomes the support force provided by the support means.
BRIEF DESCRIPTION OF THE DRAWINGS The features and objects of the present invention will become more apparent, and the invention itself will be best understood from the following detailed description of the preferred embodiments when read with reference to the accompanying drawings, wherein: Fig. 1 shows a perspective view of a unmanned transportation vehicle according to the present invention with a support structure for a liftable and lowerable load carrying element, with the support structure being displaceable on
I
the vehicle chassis; Fig. 2 shows a side view of the unmanned transportation vehicle shown in Fig. 1; Figs. 3a-3i show schematically different consecutive operational positions of the unmanned transportation vehicle during laying down of a load.
-7- DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A movable unmanned transportation vehicle 2 according to the present invention, which is shown in the drawings and which is displaceable on wheels 1 (see Fig. includes a position sensor 3 and a transmitter 4 (see Figs. 3a-3i) which communicate with a higher ranking master computer-of the vehicle. For handling heavy loads, a coil 5, there is provided a support structure 10 equipped with load-carrying |o means 7 which is formed as a carrying mandrel and engages into the coil opening 8. The support structure 10 is horizontally displaceable in the U-shaped rails 9 mounted on the vehicle chassis 6. For lifting and lowering of the load-carrying means 7, a lift cylinder 11 is provided. For effecting the horizontal displacement of the support structure 10, a rack and pinion gear drive can, be provided.
At the front end of the vehicle, there is provided a superstructure 12 for housing batteries and control boxes (not ZO shown) as well as for housing a vehicle drive (13) and a steering gear (14) for the steerable wheels 1. The front wheel sets are mounted on a swing axle, a floating axle The rear wheel axle 16 is steered in the same way. In this way, an increased movement resistance and wear of tires is prevented, and a turning circle is reduced. The vehicle drive 13, the steering gear 14, and electrical drives for the lift hydraulics are all controlled by converter means.
Thereby, it is advantageously achieved that apart from acceleration, the electromotive deceleration is accompanied with current recuperation. This insures that both the acceleration process and the deceleration process are characterized by identical parameters.
1 In order to insure that the transportation vehicle exactly follows the prescribed path, the transportation vehicle 2 can be provided with both pressure-sensitive bumpers 17 and virtual bumpers 18 (see Fig. 3a-3i) which further include means for determining the ambient conditions, e.g., 16 ultrasound, infrared or laser sensors. The obstacles, which prevent further movement of the vehicle 2, actuate the virtual bumpers 18 which provide for controlled deceleration of the vehicle 2 to a lower speed. The sensitivity of the virtual bumper 18 With respect to a distance to an obstacle and in 0 accordance with safety requirements, can be adjusted. If the mechanical bumpers 17 come in contact with an obstacle, an emergency braking takes immediately place.
The operation of laying down of a coil 5 by the vehicle 2 will now be described with reference to Figs. 3a-3i in which the load-carrying means 7 comprises, instead of a carrier mandrel, two fork prongs 19 engaging the coil circumference.
In addition, in the vehicle 2, which is shown in Figs. 3a-3i, there are provided horizontal telescopic support bars 20 at Sr the front end of which hydraulic stays 21 are provided. It is to be noted that in the vehicle 2 shown in Fig. 2, there are provided support posts 23 which are lifted and lowered in side girders 22 of the chassis 6. A common feature of the support bars 22 and the posts 23 consists in that simultaneously with the laying down of a load, the coil 5, they are also lowered, insuring an adequate stability against tilting. The pressurization of the support bars 20 by the hydraulic stays S21 or of the vertically displaceable posts 23 can be controlled, dependent on an actual weight of the load and on a changing position of the load-carrying means 7 (carrier mandrel or the fork prongs). The pressurization is controlled in order tQ limit the axle load so that even during the Qo extension of the support structure 10 with the coil supported thereon, the maximum value thereof, which occurs during transportation of the coil 5 when the load is completely supported on the chassis of the vehicle 2, as shown in Fig. 3a, is not exceeded.
As soon as the transportation vehicle 2 reaches the position in which the coil 5 is to be laid down (Fig. 3b), the support bars 20 are horizontally extended and the hydraulic stays 21 are lowered to the ground (Fig. 3c). Then, the support structure 10 is extended until the coil 5 occupies a position in which it is located outside of the vehicle (Fig.
3d). Thereafter, it becomes possible to lay down the coil on the ground (Fig. 3e). As soon as the coil 5 is laid down onto the ground, the hydraulic stays 21 are returned into lo their initial position (Fig. 3f), and the support bars together with hydraulic stays 21, are withdrawn into the chassis 6 (Fig. 3g). After the vehicle 2 moves away from the laid-down coil 5(Fig. 3h), the free fork prongs 19 are lifted and withdrawn, and the support structure 10, together with the fork prongs 19, is withdrawn in its initial position (Fig.
3i), lifting of a load is effected in reverse order.
It is to be noted that the arrangement of the vertically displaceable support posts 23 on the chassis 6, as aQr shown in Fig. 2, has a certain advantage in comparison with horizontally displaceable support means (support bars 20 with support stays 21). This advantage consists in that the stability of the vehicle does not depend on the width of the coil-receiving surface, whereas in the embodiment of the ~iijiL_~ -11vehicle shown in Fig. 3a-31, the width of the coil-receiving surface is limited to the width between the two horizontally extendable support bars SThough the present invention was shown and described Vo with references to the preferred embodiments, various modifications there will be apparent to those skilled in the art and, therefore, it is not intended that the invention be limited to the disclosed embodiments or details thereof, and '0 departure can be made therefrom within the spirit and scope of the appended claims.

Claims (3)

1. An unmanned transportation vehicle for handling loads, comprising: a chassis; a support structure displaceable on the chassis; load-carrying means supported on the support structure; and means for lifting and lowering the load-carrying means, with respect to the support structure, wherein the load-carrying means moves, during pick-up or laying-down of a load by the support structure, into a position in which the load-carrying means projects beyond the chassis.
2. A transportation vehicle set forth in claim i, further comprising support posts supported in side girders of the chassis for vertical displacement therein. -13-
3. A transportation vehicle as set forth in claim 1, further comprising support means mounted in side girders of the chassis for a horizontal telescopic movement relative to the chassis. DATED THIS 10 DAY OF NOVEMBER 1998 SIEMAG TRANSPLAN GmbH Patent Attorneys for the Applicant:- F B RICE CO
AU91437/98A 1997-11-12 1998-11-10 Unmanned, freely navigable transportation vehicle for handling loads Abandoned AU9143798A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19749900 1997-11-12
DE19749900A DE19749900A1 (en) 1997-11-12 1997-11-12 Driverless, e.g. B. freely navigating transport vehicle for handling loads

Publications (1)

Publication Number Publication Date
AU9143798A true AU9143798A (en) 1999-06-03

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ID=7848352

Family Applications (1)

Application Number Title Priority Date Filing Date
AU91437/98A Abandoned AU9143798A (en) 1997-11-12 1998-11-10 Unmanned, freely navigable transportation vehicle for handling loads

Country Status (11)

Country Link
EP (1) EP0916615B1 (en)
JP (1) JPH11217196A (en)
KR (1) KR100320486B1 (en)
CN (1) CN1286709C (en)
AT (1) ATE306458T1 (en)
AU (1) AU9143798A (en)
BR (1) BR9804210A (en)
DE (2) DE19749900A1 (en)
ES (1) ES2253802T3 (en)
TW (1) TW476731B (en)
ZA (1) ZA9810195B (en)

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FR3012387B1 (en) * 2013-10-25 2015-10-30 Rio Tinto Alcan Int Ltd HANDLING VEHICLE AND ELECTROLYSIS FACTORY COMPRISING THIS VEHICLE
US9896316B2 (en) 2016-06-30 2018-02-20 The Procter & Gamble Company End effector for a transport device for the movement of parent rolls of convolutely wound web materials
CN108238570B (en) * 2018-01-21 2019-08-27 上海百蒂凯农业科技有限公司 A kind of agricultural bag cargo handling device
DE102018105778B4 (en) * 2018-03-13 2020-11-05 Adrian Siegler Method for delivering goods by means of a delivery vehicle and a mobile distribution device
GR20180100396A (en) * 2018-08-27 2020-04-15 Θεοδωρος Γεωργιου Δεσσος Lightweight small-sized load elevator-transporter
KR102132170B1 (en) * 2019-01-22 2020-07-10 주식회사 원익홀딩스 pallet type jig, automatic driving system
CN110588482B (en) * 2019-10-17 2024-01-19 马鞍山市华宇环保设备制造有限公司 Special vehicle for assembling and disassembling container transportation steel coil
CN110683388A (en) * 2019-11-19 2020-01-14 邵阳市祥佳塑胶科技有限公司 Feeding machine for sealing adhesive tape production
KR102189316B1 (en) * 2020-03-10 2020-12-09 우영산업(주) Cutting device with feed function of ring type material
CN112061659B (en) * 2020-09-28 2021-11-19 安徽佳洁面业股份有限公司 A delivery equipment for warehouse in flour mill
CN114933131B (en) * 2022-06-06 2024-05-24 阿特拉斯叉车(杭州)有限公司 Coiled material transferring method and system
KR102547863B1 (en) * 2022-07-05 2023-06-28 주식회사 와트 Unmanned Delivery Robot
CN116080511A (en) * 2023-01-16 2023-05-09 三一机器人科技有限公司 Cantilever axle device and AGV

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Publication number Publication date
TW476731B (en) 2002-02-21
EP0916615B1 (en) 2005-10-12
ATE306458T1 (en) 2005-10-15
CN1286709C (en) 2006-11-29
CN1221689A (en) 1999-07-07
BR9804210A (en) 1999-12-14
ES2253802T3 (en) 2006-06-01
DE19749900A1 (en) 1999-06-02
DE59813100D1 (en) 2006-02-23
JPH11217196A (en) 1999-08-10
EP0916615A3 (en) 2002-01-02
KR19990045168A (en) 1999-06-25
KR100320486B1 (en) 2002-02-19
EP0916615A2 (en) 1999-05-19
ZA9810195B (en) 1999-04-13

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