EP2955149B1 - Procédé d'exploitation d'un chariot élévateur à fourche, chariot élévateur à fourche, produit de programme informatique et procédé de modification de chariot élévateur à fourche - Google Patents

Procédé d'exploitation d'un chariot élévateur à fourche, chariot élévateur à fourche, produit de programme informatique et procédé de modification de chariot élévateur à fourche Download PDF

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Publication number
EP2955149B1
EP2955149B1 EP14172090.4A EP14172090A EP2955149B1 EP 2955149 B1 EP2955149 B1 EP 2955149B1 EP 14172090 A EP14172090 A EP 14172090A EP 2955149 B1 EP2955149 B1 EP 2955149B1
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EP
European Patent Office
Prior art keywords
fork
lift truck
mast
lifting device
support arms
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
EP14172090.4A
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German (de)
English (en)
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EP2955149A1 (fr
Inventor
Michael Strand
Daniel Nåbo
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.)
Toyota Material Handling Manufacturing Sweden AB
Original Assignee
Toyota Material Handling Manufacturing Sweden AB
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Priority to EP14172090.4A priority Critical patent/EP2955149B1/fr
Publication of EP2955149A1 publication Critical patent/EP2955149A1/fr
Application granted granted Critical
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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
    • B66F9/0755—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
    • 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
    • B66F9/07559—Stabilizing 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
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems

Definitions

  • the present disclosure relates to a method of operating a fork-lift truck to provide a constant maximum lifting height independent of the position of its support arms, a fork-lift truck with support arms and a mast structure arranged to provide a constant maximum lifting height independent of the position of the support arms
  • the disclosure also relates to a computer-readable storage medium, having stored thereon a computer program and a method of modifying a fork-lift truck, with support arms and a mast structure, such that the fork-lift truck is able to provide a constant maximum lifting height independent of the position of the support arms.
  • the fork-lift truck When operating fork-lift trucks, the fork-lift truck is handled by an operator that either rides with the fork-lift truck or walks along the fork-lift truck.
  • a lifting device in general it is a pair of forks that enters in two slots of a pallet and then the forks are lifted and the pallet is lifted together with the forks. Then the fork-lift truck can travel a distance and the operator maneuvers the fork-lift truck to lower its forks and then place the pallet and leave this position without a load.
  • the fork-lift truck is then driven by the operator without any pallet and/or goods, to a new location. During travel, the operator generally needs to raise/lift the load carrier/forks a small distance, in order to avoid unnecessary wear or damages to the forks by touching the ground.
  • tiller arm trucks have a platform on which the operator can stand while operating the truck.
  • Some fork-lift trucks are provided with protective side guards that protect the operator.
  • the protective side guards can be in their protective position in which they protect the operator.
  • the protective side guards can also be in their non-protective position in which the protective side guards do not protect the operator.
  • the lifting device is limited to a maximum lifting height when the protective side guards are in their protective position.
  • On fork-lift trucks which has movable support arms this means that the lifting device only can provide the maximum lifting height minus the lifting height of the support arms. This is a problem for operators that want to reach the maximum lifting height without having to raise the support arms.
  • the disclosure presents a fork-lift truck with support arms and a mast structure, arranged to provide a constant maximum lifting height independent of the position of the support arms, wherein the fork-lift truck further comprises, a lifting device, carried by the mast structure and movable along the mast structure.
  • the fork-lift truck further comprises an elongated element comprising a magnetic or ferromagnetic material arranged on the lifting device.
  • a sensor arranged on the mast structure is configured to sense a presence/absence of the elongated element; wherein the fork-lift truck is operative to stop an upward movement of the lifting device when the senor sense the presence of the elongated element in a case where the support arms are in an upright position, to provide the constant maximum lifting height, or ramp down the speed of the upward movement of the lifting device in a case where the support arms are in a lowered position and stop the movement of the lifting device when the lifting device has moved upwards a predetermined distance wherein the sensor sense the absence of the elongated element, to provide the constant maximum lifting height.
  • the present disclosure also relates to embodiments of a method of operating a fork-lift truck to provide a constant maximum lifting height independent of the position of the support arms, wherein the fork-lift truck comprises a lifting device, carried by a mast structure and movable along the mast structure.
  • the method comprising the steps of: sensing the presence/absence of an elongated element comprising a magnetic or ferromagnetic material arranged on the lifting device.
  • the present disclosure also relates to embodiments of a method of modifying a fork-lift truck, with support arms and a mast structure, such that the fork-lift truck is able to provide a constant maximum lifting height independent of the position of the support arms, wherein the method comprising the steps of: providing a lifting device carried by the mast structure and movable along the mast structure with an elongated element comprising a magnetic or ferromagnetic material.
  • An advantage with embodiments of the present disclosure is that a maximum lifting height can be provided even if the support arms are in lowered position.
  • Another advantage with embodiments of the present disclosure is that a fork-lift truck is provided where the maximum lifting height will not vary depending on the load on the lifting device.
  • the present disclosure also presents a computer program, comprising computer readable code which, when run in a fork-lift truck causes the fork-lift truck to perform the disclosed method.
  • the method of operating the fork-lift truck, and the computer program each display advantages corresponding to the advantages already described in relation to the method performed in the fork-lift truck.
  • Figure 1 schematically illustrates a fork-lift truck 1 according to an embodiment of the present disclosure, arranged to provide a constant maximum lifting height independent of the position of support arms 5.
  • the fork-lift truck has a mast structure 2 and is thus able to fetch and leave a cargo on a shelf.
  • a lifting device 4 is carried by the mast structure 2 and is movable along the mast structure 2.
  • the fork-lift truck 1 comprises a tiller arm 8.
  • the fork-lift truck 1 is controlled by an operator.
  • the operator travels with the fork-lift truck, for example by means of a pivotable platform 3.
  • the fork-lift truck 1 is preferably an electrically powered fork-lift truck 1 that has an electrical drive motor (not shown) and an electrical pump motor (not shown) for pumping hydraulic fluid.
  • the lifting device 4 is preferably as seen in the Figures 1 , a pair of forks.
  • the lifting device 4 can comprise more than two forks and fewer than two forks if desired.
  • the fork-lift truck 1 further comprises support arms 5.
  • the support arms 5 can be in an upright position or in a lowered position. In figure 1 the support arms 5 are in an upright position. When the support arms 5 are in a lowered position, as shown in figure 2 , it is possible to lower the lifting device 4 to the ground. In order to be able to lift a pallet, the support arms 5 have to be in the lowered position, or close to the ground, so it is possible to move the lifting device 4 close to the ground.
  • the lifting device 4 has to be close to ground in order to make it possible to position the lifting device 4 in the slots of the pallet.
  • the position of the support arms 5 is in an exemplary embodiment of the present disclosure senses by a support arm position sensor (not shown).
  • the support arm position sensor gives information to the processor 110, shown in figure 4 , if the support arms 5 are in an upright position, in a lowered position or in a position in between.
  • the lifting device 4 comprises an elongated element 6.
  • the elongated element 6 according to one exemplary embodiment of the present disclosure comprises a magnetic or ferromagnetic material.
  • the elongated element 6 can be position on many different positions on the lifting device 4.
  • the elongated element 6 is preferably positioned close to the mast structure 2, so that the elongated element 6 can be sensed by a senor 7 on the mast structure 2, as will be described next.
  • the sensor 7 is as described above positioned on the mast structure 2 and configured to sense a presence/absence of the elongated element 6.
  • the fork-lift truck 1 is operative to stop an upward movement of the lifting device 4 when the senor 7 sense the presence of the elongated element 6 in a case where the support arms 5 are in an upright position.
  • This enables the fork-lift truck 1 to always provide a constant maximum lifting height.
  • the fork-lift truck is therefore, in this case operative to stop an upward movement of the lifting device 4 when the sensor 7 senses the presence of the elongated measuring 6 element.
  • the position of the elongated element 6 on the lifting device 4 and the position of the sensor 7 on the mast structure 2 can according to embodiments of the present disclosure be changed. Depending on the position of the elongated element 6 on the lifting device 4 and the sensor 7 on the mast structure 2 different constant maximum lifting heights can be provided.
  • the constant maximum lifting height is a maximum lifting height according to the International Standard for safety requirements of Industrial trucks, i.e. EN ISO 3691-1:2012.
  • This constant maximum lifting height can be a maximum lifting height of 1800 mm from the floor.
  • FIG 2 the support arms 5 of the fork-lift truck 1 is in a lowered position. As mentioned above, in this position it is possible to lower the lifting device 4 to a position close to the ground which makes it possible to position the lifting device 4 under e.g. a pallet.
  • the fork-lift truck 1 is operative to ramp down the speed of the upward movement of the lifting device 4, when the sensor 7 sense the presence of the elongated element 6.
  • the fork-lift truck 1 is also operative to stop the movement of the lifting device 4 when the lifting device 4 has moved upwards a predetermined distance wherein the sensor 7 sense the absence of the elongated element 6.
  • the constant maximum lifting height also provided in this case.
  • the mast structure 2 comprises several mast elements. These embodiments are not shown in the figures.
  • the mast structure 2 comprises a first mast element, which carries the lifting device 4 and a second mast element, by which the first mast element is carried and along which the first mast element is movable.
  • the mast structure 2 further comprises a third mast element, by which the second mast element is carried and along which the second mast element is movable.
  • the mast structure 2 further comprises a fourth mast element, by which the third mast element is carried and along which the third mast element is movable.
  • the fork-lift truck 1 is a pedestrian-controlled fork-lift truck 1 with protective side guards, not shown.
  • the protective side guards protect the operator from falling of the fork-lift truck 1, when the protective side guards are in their protective position.
  • the fork-lift truck is further arranged to provide the constant maximum lifting height when the protective side guards are in their protective position.
  • Figure 3 is a flowchart schematically illustrating embodiments of method steps of operating a fork-lift truck 1 to provide a constant maximum lifting height independent of the position of support arms 5, wherein the fork-lift truck 1 comprises a lifting device 4, carried by a mast structure 2 and movable along the mast structure 2.
  • a first step S1 the fork-lift truck 1 sense the presence/absence of an elongated element 6 comprising a magnetic or ferromagnetic material arranged on the lifting device 4.
  • the fork-lift truck 1 stops an upward movement of the lifting device 4 when sensing the presence of the elongated element 6 in a case where the support arms 5 are in an upright position.
  • the fork-lift truck 1 ramps down the speed of the upward movement of the lifting device 4 in a case where the support arms 5 are in a lowered position and stops the movement of the lifting device 4 when the lifting device 4 has moved upwards a predetermined distance wherein the sensor 7 sense the absence of the elongated element 6.
  • the method of operating a fork-lift truck 1 to provide a constant maximum lifting height independent of the position of support arms 5, wherein the fork-lift truck 1 comprises a lifting device 4, can be performed by a fork-lift truck wherein the mast structure 2 comprises a first mast element, which carries the lifting device 4 and a second mast element, by which the first mast element is carried and along which the first mast element is movable 4.
  • the method of operating a fork-lift truck 1 to provide a constant maximum lifting height independent of the position of support arms 5, wherein the fork-lift truck 1 comprises a lifting device 4, can be performed by a fork-lift truck, wherein the mast structure further comprises a third mast element, by which the second mast element is carried and along which the second mast element is movable.
  • the method of operating a fork-lift truck 1 to provide a constant maximum lifting height independent of the position of support arms 5, wherein the fork-lift truck 1 comprises a lifting device 4, can be performed by a fork-lift truck, wherein the mast structure further comprises a fourth mast element, by which the third mast element is carried and along which the third mast element is movable.
  • the fork-lift truck 1 is a pedestrian-controlled truck with protective side guards, and wherein the constant maximum lifting height is provided when the protective side guards are in their protective position.
  • the constant maximum lifting height is a maximum lifting height according to the International Standard for safety requirements of Industrial trucks, i.e. EN ISO 3691-1:2012.
  • the constant maximum lifting height is 1800 mm from the floor.
  • the fork-lift truck 1 comprises a processor 110 and a memory 120, the memory 120 containing instructions executable by the processor 110.
  • the processor 110 is a Central Processing Unit, CPU, microcontroller, Digital Signal Processor, DSP, or any other suitable type of processor capable of executing computer program code.
  • the memory 120 is a Random Access Memory, RAM, a Read Only Memory, ROM, or a persistent storage, e.g. a single or combination of magnetic memory, optical memory, or solid state memory or even remotely mounted memory.
  • the processor 110 and the memory 120 are here disclosed as being situated in the body of the fork-lift truck, but the processor 110 and the memory 120 can also preferably be located in the tiller arm 8 or the tiller head of the fork-lift truck 1.
  • the processor 110 and the memory 120 is an external unit. This means that the fork-lift truck 1 must communicate with the processor 110 and the memory 120 by means of a communication device (not shown). This can preferably be a wire-less link.
  • the communication device comprises in this embodiment an antenna.
  • the disclosure further relates to a computer program, comprising computer readable code which, when run on the fork-lift truck 1 causes the fork-lift truck 1 to perform any of the aspects of the method described above.
  • the computer program codes further causes the fork-lift truck 1 to stop an upward movement of the lifting device 4 when sensing the presence of the elongated element 6 in a case where the support arms 5 are in an upright position, or ramp down the speed of the upward movement of the lifting device 4 in a case where the support arms 5 are in a lowered position and stop the movement of the lifting device 4 when the lifting device 4 has moved upwards a predetermined distance wherein the sensor 7 sense the absence of the elongated element 6.
  • the present disclosure also relates to a method of modifying a fork-lift truck, with support arms and a mast structure, such that the fork-lift truck is able to provide a constant maximum lifting height independent of the position of the support arms.
  • the method comprising the steps of; providing a lifting device carried by the mast structure and movable along the mast structure with an elongated element comprising a magnetic or ferromagnetic material; providing the mast structure with sensor configured to sense a presence/absence of the elongated element; and providing a computer-readable storage medium in the fork-lift truck with a computer program which, when run in a processor of the fork-lift truck causes the fork-lift truck to perform any of the method as disclosed above.
  • the functions or steps noted in the blocks can occur out of the order noted in the operational illustrations.
  • two blocks shown in succession can in fact be executed substantially concurrently or the blocks can sometimes be executed in the reverse order, depending upon the functionality/acts involved.
  • the functions or steps noted in the blocks can according to some aspects of the disclosure be executed continuously in a loop.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Claims (12)

  1. Chariot élévateur à fourche (1) avec des bras de support (5) et une structure de mât (2), agencée pour fournir une hauteur de levage maximum constante indépendante de la position des bras de support (5), dans lequel ledit chariot élévateur à fourche (1) comprend en outre :
    un dispositif de levage (4), porté par la structure de mât (2) et mobile le long de la structure de mât (2) ; caractérisé par :
    un élément allongé (6) comprenant un matériau magnétique ou ferromagnétique agencé sur le dispositif de levage (4) ;
    un capteur (7) agencé sur la structure de mât (2) configurée pour détecter une présence / absence de l'élément allongé (6) ; dans lequel ledit chariot élévateur à fourche (1) est opérationnel pour arrêter un mouvement ascendant du dispositif de levage (4) lorsque le capteur (7) détecte la présence de l'élément allongé (6) dans le cas dans lequel les bras de support (5) sont dans la position droite, pour fournir la hauteur de levage maximum constante, ou abaisser la vitesse du mouvement ascendant du dispositif de levage (4) dans le cas dans lequel les bras de levage (5) sont dans une position abaissée et arrêter le mouvement du dispositif de levage (4) lorsque le dispositif de levage (4) s'est déplacé vers le haut sur une distance prédéterminée, dans lequel le capteur (7) détecte l'absence de l'élément allongé (6), pour fournir la hauteur de levage maximum constante.
  2. Chariot élévateur à fourche (1) selon la revendication 1, dans lequel la structure de mât (2) comprend un premier élément de mât, qui porte le dispositif de levage (4) et un deuxième élément de mât, grâce auquel le premier élément de mât est porté et le long duquel le premier élément de mât est mobile.
  3. Chariot élévateur à fourche (1) selon la revendication 2, dans lequel la structure de mât (2) comprend en outre un troisième élément de mât, grâce auquel le deuxième élément de mât est porté et le long duquel le deuxième élément de mât est mobile.
  4. Chariot élévateur à fourche (1) selon l'une quelconque des revendications 1 à 3, dans lequel le chariot élévateur à fourche (1) est un chariot élévateur à fourche commandé par une personne à pied avec des protections latérales, et dans lequel le chariot élévateur à fourche est en outre agencé pour fournir la hauteur de levage maximum constante lorsque les protections latérales sont dans leur position de protection.
  5. Chariot élévateur à fourche (1) selon l'une quelconque des revendications 1 à 4, dans lequel la hauteur de levage maximum constante est une hauteur de levage maximum selon la norme internationale de sécurité des chariots industriels.
  6. Procédé pour actionner un chariot élévateur à fourche (1) afin de fournir une hauteur de levage maximum constante indépendante de la position des bras de support (5), dans lequel le chariot élévateur à fourche (1) comprend un dispositif de levage (4), porté par une structure de mât (2) et mobile le long de la structure de mât (2), le procédé est caractérisé par les étapes consistant à :
    détecter la présence / absence d'un élément allongé (6) comprenant un matériau magnétique ou ferromagnétique agencé sur le dispositif de levage (4) ;
    arrêter un mouvement ascendant du dispositif de levage (4) lors de la détection de la présence de l'élément allongé (6), dans le cas dans lequel les bras de support (5) sont dans une position droite, ou bien
    réduire la vitesse du mouvement ascendant du dispositif de levage (4) dans le cas dans lequel les bras de support (5) sont dans une position abaissée et arrêter le mouvement du dispositif de levage (4) lorsque le dispositif de levage (4) s'est déplacé vers le haut sur une distance prédéterminée, dans lequel le capteur (7) détecte l'absence de l'élément allongé (6).
  7. Procédé pour actionner un chariot élévateur à fourche (1) selon la revendication 6, dans lequel la structure de mât (2) comprend un premier élément de mât, qui supporte le dispositif de levage (4) et un deuxième élément de mât, grâce auquel le premier élément de mât est porté et le long duquel le premier élément de mât est mobile.
  8. Procédé pour actionner un chariot élévateur à fourche (1) selon la revendication 7, dans lequel la structure de mât (2) comprend en outre un troisième élément de mât, grâce auquel le deuxième élément de mât est porté et le long duquel le deuxième élément de mât est mobile.
  9. Procédé pour actionner un chariot élévateur à fourche (1) selon l'une quelconque des revendications 6 à 8, dans lequel le chariot élévateur à fourche (1) est un chariot commandé par une personne à pied avec des protections latérales, et dans lequel la hauteur de levage maximum constante est fournie lorsque les protections latérales sont dans leur position de protection.
  10. Procédé pour actionner un chariot élévateur à fourche selon l'une quelconque des revendications 6 à 9, dans lequel la hauteur de levage maximum constante est une hauteur de levage maximum selon la norme internationale de sécurité des chariots industriels.
  11. Milieu de stockage lisible par ordinateur ayant, stocké sur ce dernier, un programme informatique qui, lorsqu'il fonctionne avec un processeur du chariot élévateur à fourche (1), amène le chariot élévateur à fourche à réaliser le procédé selon l'une quelconque des revendications 6 à 10.
  12. Procédé pour modifier un chariot élévateur à fourche (1), avec des bras de support (5) et une structure de mât (2), de sorte que le chariot élévateur à fourche (1) peut fournir une hauteur de levage maximum constante indépendante de la position des bras de support (5), dans lequel le procédé comprend les étapes consistant à :
    prévoir un dispositif de levage (4) porté par la structure de mât (2) et mobile le long de la structure de mât (2) avec un élément allongé (6) comprenant un matériau magnétique ou ferromagnétique ;
    prévoir la structure de mât (2) avec un capteur (7) configuré pour détecter une présence / absence de l'élément allongé (6) ; et
    prévoir un milieu de stockage lisible par ordinateur dans le chariot élévateur à fourche avec un programme informatique qui, lorsqu'il fonctionne avec un processeur du chariot élévateur à fourche, amène le chariot élévateur à fourche à réaliser le procédé selon l'une quelconque des revendications 6 à 10.
EP14172090.4A 2014-06-12 2014-06-12 Procédé d'exploitation d'un chariot élévateur à fourche, chariot élévateur à fourche, produit de programme informatique et procédé de modification de chariot élévateur à fourche Active EP2955149B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP14172090.4A EP2955149B1 (fr) 2014-06-12 2014-06-12 Procédé d'exploitation d'un chariot élévateur à fourche, chariot élévateur à fourche, produit de programme informatique et procédé de modification de chariot élévateur à fourche

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP14172090.4A EP2955149B1 (fr) 2014-06-12 2014-06-12 Procédé d'exploitation d'un chariot élévateur à fourche, chariot élévateur à fourche, produit de programme informatique et procédé de modification de chariot élévateur à fourche

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EP2955149B1 true EP2955149B1 (fr) 2017-12-20

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EP3208228B1 (fr) * 2016-02-19 2018-12-05 Toyota Material Handling Manufacturing Sweden AB Chariot élévateur à réglage en hauteur automatisé de moyens d'engagement de charge

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CN101610968B (zh) * 2007-01-08 2013-05-08 比沙门工业股份有限公司 用于垫木和托盘的提升装置
DE102009020947A1 (de) * 2009-05-12 2010-11-18 Jungheinrich Aktiengesellschaft Flurförderzeug mit einem Paar von Radarmen
DE102010022374A1 (de) * 2010-05-27 2011-12-01 Jungheinrich Aktiengesellschaft Verfahren zum Bereitstellen einer Information über eine aktuelle Hubhöhe und hierfür geeignetes Flurförderzeug
DE102011100914A1 (de) * 2011-04-29 2012-10-31 Jungheinrich Aktiengesellschaft Flurförderzeug mit einer Endschalteranlage

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