TECHNICAL DATA (According to VDI 2198)
Characteristics
1.1
Manufacturer
Linde
Linde
Linde
Linde
1.2
Model
R 16 HD automated
config. 1
R 16 HD automated
config. 2
R 16 HD automated
config. 3
R 16 HD automated
config. 4
1.2a
Series
1120
1120
1120
1120
1.3
Power Unit
Battery
Battery
Battery
Battery
1.4
Operation
Automatic
Automatic
Automatic
Automatic
1.5
Load capacity/Load
Q (t)
1.6
1.6
1.6
1.6
1.6
Load centre
c (mm)
500 / 600
500 / 600
500 / 600
500 / 600
1.8
Axle Centre to fork face
x (mm)
342
342
342
170
1.9
Wheel base
y (mm)
1453
1453
1453
1453
Wheels / Tyres
3.1
Tyres rubber, SE, Pneumatic, Polyurethane
Polyurethane
Polyurethane
Polyurethane
Polyurethane
3.2
tyre size, front
(mm)
Ø 360 × 130
Ø 360 × 130
Ø 360 × 130
Ø 360 × 130
3.3
tyre size, rear
(mm)
Ø 285 × 100
Ø 285 × 100
Ø 285 × 100
Ø 285 × 100
3.5
Wheels, number front / rear (x = driven)
1x / 2
1x / 2
1x / 2
1x / 2
3.7
Track width, rear
b11 (mm)
1167
1167
1167
1167
Dimensions
4.1
Mast / fork carriage tilt, forward / backward
a / b(*)
0 / 0
0 / 0
0 / 0
0 / 0
4.2
Height of mast lowerded
h1 (mm)
2980
3530
3880
4930
4.3
free lift
h2 (mm)
1774
2324
2674
3725
4.4
Lift
h3 (mm)
6879
8479
9679
11379
4.5
Height of mast, extended
h4 (mm)
7965 / 8414
9565 / 10014
10765 / 11214
12465 / 12914
4.7
Height of overhead Guard (cabin or A-frame)
h6(mm)
2495
2495
2495
2495
4.8
Heigth of seat / stand on platform
h7 (mm)
910 – 1040
910 – 1040
910 – 1040
910 – 1040
4.10
Height of reach legs
h8 (mm)
307.5 – 348
307.5 – 348
307.5 – 348
307.5 – 348
4.19
Overal Length
l1 (mm)
2475
2475
2475
2647
4.20
Length to fork face
l2 (mm)
1370
1370
1370
1542
4.21
Overal width front
b1 / b2 (mm)
1290 / 1570
1290 / 1570
1290 / 1570
1290 / 1570
4.22
Fork dimensions DIN ISO 2331
s / e / l (mm)
45 × 100 × 1150
45 × 100 × 1150
45 × 100 × 1150
45 × 100 × 1150
4.23
Fork carriage to ISO 2328, class / type A, B
ISO 2B
ISO 2B
ISO 2B
ISO 2B
4.24
Width of fork carriage
b3 (mm)
937
937
937
937
4.25
Fork spread
b5 (mm)
471 / 710
471 / 710
471 / 710
471 / 710
4.26
Distance between wheel arms / loading surfaces
b4 (mm)
920
920
920
920
4.28
Reach Travel
l4 (mm)
537
537
537
365
4.31
Ground Clearance, below mast
m1 (mm)
40
40
40
40
4.32
Ground Clearance, centre of wheelbase
m2 (mm)
44
44
44
44
4.34.1
Aisle width for Pallets 1000 × 1200 crossways (AUTOMATIC) 1)
Ast (mm)
3100
3100
3100
3250
4.34.2
Aisle width for Pallets 800 × 1200 along forks (AUTOMATIC) 2)
Ast (mm)
3000
3000
3000
3200
4.35
front Turning Radius auto mode
Wa_auto (mm)
1808
1808
1808
1808
4.37
Length of Chassis
l7 (mm)
1872
1872
1872
1872
Performance
5.1
Travel Speed, (forward / backward)
(m / s)
1.95 / 0.75
1.95 / 0.75
1.95 / 0.75
1.95 / 0.75
5.2
Lifting speed, with / without load
(m / s)
0.52 / 0.66
0.52 / 0.66
0.52 / 0.66
0.52 / 0.66
5.3
Lowering speed with / without load
(m / s)
0.55 / 0.44
0.55 / 0.44
0.55 / 0.44
0.55 / 0.44
5.4
Reach speed, with / without load
(m / s)
0.2
0.2
0.2
0.2
5.8
Maximum Climbing ability, with / without load
44258
44258
44258
44258
5.10
Service brake
hydr. / mech.
hydr. / mech.
hydr. / mech.
hydr. / mech.
Drive
6.1
Drive motor rating S2 60 min
(kW)
6.5
6.5
6.5
6.5
6.2
Lift Motor Rating at S3 15 %
(kW)
14
14
14
14
6.3
Battery according to DIN 43531 / 35 / 36 / A, B, Cn no
3 / 3
3 / 3
3 / 3
3 / 3
6.4
Battery voltage / rated capacity
(V / Ah)
48 / 560
48 / 560
48 / 560
48 / 700
6.5
Battery weight (± 5 %)
(kg)
896
896
896
939
6.6
Power consumption in relation to VDI Cycle (15 cycles / 1 h)
(kWh / h)
1.59
1.59
1.59
1.59
1) Depends on customer project conditions
2) Max. 25 mm overhang included
TECHNICAL DATA (According to VDI 2198)
Manufacturer
Linde
Linde
Linde
Linde
Model
R 16 HD automated con-
fig. 1
R 16 HD automated
config. 2
R 16 HD automated
config. 3
R 16 HD automated
config. 4
Dimensions AGV
Power Unit Compartment size
4 PZS
4 PZS
4 PZS
5 PZS
Mast
6955 / 2980 / 1850
8555 / 3530 / 2400
9755 / 3880 / 2750
11455 / 4930 / 3800
Maximum forks height
h310 (mm)
6924
8524
9724
11424
Backrest Height
h900 (mm)
1041 / 1490
1041 / 1490
1041 / 1490
1041 / 1490
Maximum drop height
(mm)
6524
8124
9324
11024
Maximum pick height
(mm)
6774
8374
9574
11274
Localisation sensor scan height
h610 (mm)
2476
2476
2476
2476
Front Safety Scan height
h810 (mm)
195
195
195
195
Lateral Safety Scan height
h820 (mm)
195
195
195
195
Rear Safety Scan height
h840 (mm)
103
103
103
103
Rear Turning Radius (800 / 1000 / 1200 load width)
auto mode
Wb_auto (mm)
1002 / 1065 / 1065
1002 / 1065 / 1065
1002 / 1065 / 1065
1137 / 1184 / 1184
Front Turning Radius auto mode
Wa_auto (mm)
1808
1808
1808
1808
Overall length manual
l1 (mm)
2476
2476
2476
2476
Length to fork face
l2 (mm)
1370
1370
1370
1542
Reach travel
l4 (mm)
537
537
537
365
Ground clearance, below mast
m1 (mm)
40
40
40
40
Ground clearance, centre of wheelbase
m2 (mm)
44
44
44
44
Side shift actuator stroke
± mm
80
80
80
80
Accuracy AGV
Lift control accuracy
± mm
10
10
10
10
Sideshift control accuracy
± mm
Truck longitudinal positionning precision at standstill
± mm
20
20
20
20
Truck lateral positionning precision at standstill
± mm
20
20
20
20
Speed AGV
Sideshifting speed
(m / s)
0.1
0.1
0.1
0.1
Maximal Lateral Speed, with / without load
(m / s)
0.45 / 0.45
0.45 / 0.45
0.45 / 0.45
0.45 / 0.45
Detection devices AGV
Distance 3D camera to median plan
c1 (mm)
63
63
63
63
Distance 3D camera to the backrest
c100 (mm)
26
26
26
26
Distance 3D camera to the top of the forks
c110 (mm)
190
190
190
190
Distance overhang sensors to the top of the forks
c2 (mm)
1432
1432
1432
1432
Overhang sensors centerline distance
c200 (mm)
907
907
907
907
Overhang sensors projection distance
c210 (mm)
1150
1150
1150
1150
Distance rangefinder to median plan
c3 (mm)
11 (0…31)
11 (0…31)
11 (0…31)
11 (0…31)
Distance rangefinder to median plan
c300 (mm)
20
20
20
20
Distance vertical rangefinder to top of the forks
c4 (mm)
370
370
370
370
Distance vertical rangefinder to median plan
c400 (mm)
56
56
56
56
Curtain laser height
c5 (mm)
2272
2272
2272
2272
Curtain laser projection distance
c500 (mm)
2530
2530
2530
2530
BluespotTM height
c6 (mm)
2361
2361
2361
2361
BluespotTM projection distance
c600 (mm)
4000
4000
4000
4000
Inductive sensor "high" height
c7 (mm)
682
682
682
682
Barcode reader 1D / 2D, position 1
c9 / c900 (mm)
80 / 876
80 / 876
80 / 876
80 / 876
Barcode reader 1D / 2D, position 2
c9 / c900 (mm)
80 / 932
80 / 932
80 / 932
80 / 932
Barcode reader 1D / 2D, position 3
c9 / c900 (mm)
788 / 876
788 / 876
788 / 876
788 / 876
Barcode reader 1D / 2D, position 4
c9 / c900 (mm)
788 / 932
788 / 932
788 / 932
788 / 932
b1
56.7
600
921
1117
1564.7
Wa
h2
h3
h310
h4
h6
h1
l2
l1
l7
h13
m1 / m2
l4
c2
c210
c100
Detail A
Detail B
h840
c110
c1
c3
c7
c9
c900
c700
c300
h8
c500
c600
c5
h820
c6
h160
MAST TABLES
h1: Height of mast, lowered
h2: Free lift
h3: Lift
h4: Height of mast, extended
Standard equipment
Optional equipment
Series
1502
Lift
h3: 6879
h3: 8479
h3: 9679
h3: 11379
Height measurements
h1: 2980
h2: 1774
h3: 6879
h4: 7965
h1: 3530
h2: 2324
h3: 8479
h4: 9565
h1: 3880
h2: 2674
h3: 9679
h4:10765
h1: 4930
h2: 3725
h3: 11379
h4: 12465
Model
R16 HD
TRIPLEX MAST (in mm)
STANDARD AND OPTIONAL EQUIPMENT
Standard equipment
Optional equipment
Model / Equipment
R16 HD
Off Board Software
Advanced routing algorithm
Editor for integration of different rack types
Smart AGV charging logic
Interfaces to existing WMS, ERP, …
Interfaces with infrastructure: doors, conveyors, …
Linde WMS system
Mail infomation on AGV performance
On Board
Software
Load detection via 3D point cloud analysis
SLAM navigation
User friendly Log-file analysis
Self-calibration algorithm
Safety
Anti-drag or push detection of load unit
2D Curtain laser in front direction
BlueSpotTM for visual warning
Additional emergency buttons on Mast
Safety edges to detect load tiping in curves
Acoustic warning indicators
Load
Handling
3D camera perception for load detection
2D Barcode reader
Overhang sensors
Modular Backrest heights
Environment
Wifi Communication
HMI – User Monitor in cabin
Communication Box (ComBox)
Mast /
Forks
4 × Standard Triplex mast
ISO forks
Other masts and forks as customer option
Energy
Lead Acid battery for manual charging
TPPL battery for automated charging
Presented by:
Linde Material Handling GmbH
Carl-von-Linde-Platz | 63743 Aschaffenburg | Germany
Phone + 49 6021 99 0 | Fax + 49 6021 99 1570
www.linde-mh.com | info@linde-mh.com
Printed in Germany | DS_R16_HD_Automated_1120_en_A_0621
Subject to modification in the interest of progress. Illustrations and technical details could include options and
not binding for actual construc tions. All dimensions subject to usual tolerances.
CHARACTERISTICS
Sales and Realization
→ Project specific concept design of the automated solution including dynamic
simulation and proof of concept on site if necessary
→ Combination of manual handling processes and degree of automation can be
optimized to fit the customer needs
→ One face to the customer for the whole process from first contact to the lifecycle phase
→ Intelligent, scalable software solutions to provide customers best control on
their processes
→ Project Management and Commissioning according to Linde standards with unified
tools and templates in the entire network
→ Realization expertise for project steering since 2015 with more than 600 installed AGV´s
Handling
→ Multiple loads type handling through innovative 3D camera perception
→ Proven reliability for application up to 24 / 7
→ Optimized pick and drop processes
→ Speed adjustments according to environmental situations
→ Touch screen with easy user interface
→ Overall control software for task, traffic and energy management
Safety
→ 360° safety concept for personal protection all around the vehicle
→ 2D curtain laser in front of the vehicle to detect higher obstacles
→ Real time speed-adaptive detection fields
→ Mixed environment with operators and other trucks
Service
→ AGVs based on robust and well known LMH base trucks
→ Service coverage by existing LMH network supplemented by central hotline support
→ Mostly use of standard (customer / AGV independent) spare parts
→ Improved stocking concept, reduced costs (compared to other AGV solutions)
Customer process focus as a standard
360 degree safety
Unique 3D load-perception
Low maintance design