EP0814051A1 - Method of operating a forklift and forklift operated by this method - Google Patents
Method of operating a forklift and forklift operated by this method Download PDFInfo
- Publication number
- EP0814051A1 EP0814051A1 EP97109318A EP97109318A EP0814051A1 EP 0814051 A1 EP0814051 A1 EP 0814051A1 EP 97109318 A EP97109318 A EP 97109318A EP 97109318 A EP97109318 A EP 97109318A EP 0814051 A1 EP0814051 A1 EP 0814051A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- industrial truck
- axle
- brakeable
- control unit
- control signal
- 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.)
- Granted
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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
- 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
- B66F9/075—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 a method for operating an industrial truck with at least one brakeable axle and at least one non-brakeable axle, and a control unit for driving the industrial truck, the control unit generating a variable control signal which defines the maximum permissible speed of the industrial truck.
- the invention also relates to an industrial truck provided for carrying out the method with at least one brakeable axle and at least one non-brakeable axle and a control unit for generating a variable control signal which defines the maximum permissible speed of the truck.
- the braking distance that can be achieved with maximum braking force is for industrial trucks, especially for trucks with a lifting mast, e.g. High-bay stackers, depending on the current driving speed and numerous other factors.
- control devices are able, for example, to take into account the steering angle, the weight of a raised load and / or the position of a vertically movable load suspension device when determining the currently permissible maximum speed.
- the aim is to allow the highest possible driving speed if the applicable standards and regulations are observed at all times.
- the present invention is based on the object of providing a method for operating an industrial truck and an industrial truck for carrying out the method, with which the influence of the current direction of travel is taken into account when determining the permissible driving speed.
- control signal is changed by means of the control unit as a function of the direction of travel of the industrial truck in such a way that a higher maximum speed is permitted when traveling in the direction of the brakeable axis than when traveling in the direction of the non-brakeable axis .
- the maximum achievable braking acceleration is generally achieved in industrial trucks when the wheels arranged on the braked axle move at least approximately smoothly over the surface of the road as a result of the brakes being actuated.
- the braking acceleration is directly proportional to the normal force acting on the road surface via the wheels of the braked axle.
- the center of gravity of the industrial truck which is spaced from the road surface, and the inertia force that arises when the industrial truck brakes, changes the size of the normal force acting on the braked axle during braking.
- the braked axle is additionally loaded during braking from a drive in the direction of the brakable axle. Similarly, when braking from a drive in the direction of the non-braked axle, the braked axle is relieved.
- the maximum permissible speed is set as high as possible for the forward drive and for the reverse drive. It is ensured that a braking effect corresponding to the standards is guaranteed at all times.
- control signal is dependent on the mass of a with a load suspension device load is changed.
- the mass of the load is another important quantity that must be taken into account when determining the maximum driving speed.
- the load changes the center of gravity of the entire truck. The achievable braking effect depends on the mass of the load, but also the driving stability of the truck.
- control signal is changed as a function of the position of a load suspension device that can be moved up and down on a lifting device.
- control signal is influenced as a function of the coefficient of friction prevailing between the wheels of the brakeable axle and the road surface. If the currently available coefficient of friction is included in the calculation of the permissible maximum speed, safety reserves previously available in this regard can also be exhausted and the speed limit values set as high as possible.
- the expected coefficient of friction can be specified by hand to the control unit, taking into account the condition of the road. It is also possible to determine the coefficient of friction empirically by evaluating previous braking.
- control unit is in operative connection with a signal transmitter which reflects the current driving direction of the industrial truck in such a way that a higher maximum speed is permitted when traveling in the direction of the brakeable axis than when driving in the direction of the non-brakeable axis.
- the figure shows a high-bay order picker as an industrial truck according to the invention.
- a drive part 1 there are, for example, drive units and batteries for driving the industrial truck.
- the industrial truck has a brakeable drive axle 2 and two non-brakeable axles 3.
- a lifting device 4 is arranged on the drive part 1 of the industrial truck, on which a driver's station 5 with a load suspension device 6 is fastened and moved up and down.
- the load suspension device is fastened to the driver's cab 5 in a vertically movable manner with an initial lifting frame 7.
- the position of the center of gravity S m of the industrial truck including the load changes continuously during the operation of the industrial truck and is particularly dependent on the position of the load handler on the lifting frame and the mass of the load taken up by the load handler.
- the center of gravity S m shown in the figure is reached during operation of the industrial truck with a raised load.
- a control unit (not shown) for driving in direction v specifies a larger limit value for the maximum driving speed than for driving in the opposite direction. This means that the highest possible driving speed can be achieved if the standards and regulations are observed.
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Civil Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
Description
Die Erfindung betrifft ein Verfahren zum Betreiben eines Flurförderzeugs mit mindestens einer bremsbaren Achse und mindestens einer nicht bremsbaren Achse, sowie einer Steuereinheit für einen Fahrantrieb des Flurförderzeugs, wobei die Steuereinheit ein veränderliches, die zulässige Maximalgeschwindigkeit des Flurförderzeugs festlegendes Steuersignal erzeugt. Die Erfindung betrifft aber auch ein zur Durchführung des Verfahrens vorgesehenes Flurförderzeug mit mindestens einer bremsbaren Achse und mindestens einer nicht bremsbaren Achse und einer Steuereinheit zum Erzeugen eines veränderlichen, die zulässige Maximalgeschwindigkeit des Flurförderzeugs festlegenden Steuersignals.The invention relates to a method for operating an industrial truck with at least one brakeable axle and at least one non-brakeable axle, and a control unit for driving the industrial truck, the control unit generating a variable control signal which defines the maximum permissible speed of the industrial truck. However, the invention also relates to an industrial truck provided for carrying out the method with at least one brakeable axle and at least one non-brakeable axle and a control unit for generating a variable control signal which defines the maximum permissible speed of the truck.
Bei der Auslegung von Bremsen für Flurförderzeuge sind eine Reihe von Vorschriften und Normen zu beachten, in denen Mindestanforderungen für die Wirksamkeit der Bremsen festgelegt sind. Der bei maximaler Bremskraft erreichbare Bremsweg ist bei Flurförderzeugen, insbesondere bei Flurförderzeugen mit Hubmast wie z.B. Hochregalstaplern, von der momentanen Fahrgeschwindigkeit und von zahlreichen weiteren Faktoren abhängig.When designing brakes for industrial trucks, a number of regulations and standards must be observed in which minimum requirements for the effectiveness of the brakes are specified. The braking distance that can be achieved with maximum braking force is for industrial trucks, especially for trucks with a lifting mast, e.g. High-bay stackers, depending on the current driving speed and numerous other factors.
Bei Flurförderzeugen des Standes der Technik ist es bekannt, die zulässige maximale Fahrgeschwindigkeit in Abhängigkeit von einem oder von mehreren dieser Faktoren mittels eine Steuereinheit jederzeit an die momentanen Betriebsbedingungen anzupassen. Derzeit bekannte Steuereinrichtungen sind beispielsweise in der Lage, den Lenkwinkel, das Gewicht einer angehobenen Last und/oder die Position einer vertikal beweglichen Lastaufnahmevorrichtung bei der Ermittlung der momentan zulässigen Maximalgeschwindigkeit zu berücksichtigen. Es wird dabei angestrebt, bei jederzeitiger Einhaltung der geltenden Normen und Vorschriften eine möglichst große maximale Fahrgeschwindigkeit zuzulassen.In the case of industrial trucks of the prior art, it is known to adapt the permissible maximum driving speed as a function of one or more of these factors to the current operating conditions at any time by means of a control unit. Currently known control devices are able, for example, to take into account the steering angle, the weight of a raised load and / or the position of a vertically movable load suspension device when determining the currently permissible maximum speed. The aim is to allow the highest possible driving speed if the applicable standards and regulations are observed at all times.
Mit Messungen und Versuche kann festgestellt werden, daß der Bremsweg von gattungsgemäßen Flurförderzeugen, außer von den oben erwähnten Faktoren, auch von der momentanen Fahrrichtung, d.h. Vorwärtsfahrt oder Rückwärtsfahrt, abhängig ist.With measurements and tests it can be determined that the braking distance of generic industrial trucks, in addition to the factors mentioned above, also depends on the current direction of travel, ie forward or backward travel.
Der vorliegenden Erfindung liegt die Aufgabe zugrunde, ein Verfahren zum Betreiben eines Flurförderzeugs sowie ein Flurförderzeug zur Durchführung des Verfahrens zur Verfügung zu stellen, womit der Einfluß der momentanen Fahrrichtung bei der Ermittlung der zulässigen Fahrgeschwindigkeit berücksichtigt wird.The present invention is based on the object of providing a method for operating an industrial truck and an industrial truck for carrying out the method, with which the influence of the current direction of travel is taken into account when determining the permissible driving speed.
Diese Aufgabe wird bezüglich des Verfahrens erfindungsgemäß dadurch gelöst, daß das Steuersignal mittels der Steuereinheit in Abhängigkeit von der Fahrrichtung des Flurförderzeugs derart verändert wird, daß bei Fahrt in Richtung der bremsbaren Achse eine höhere Maximalgeschwindigkeit zugelassen ist, als bei Fahrt in Richtung der nicht bremsbaren Achse.This object is achieved with respect to the method according to the invention in that the control signal is changed by means of the control unit as a function of the direction of travel of the industrial truck in such a way that a higher maximum speed is permitted when traveling in the direction of the brakeable axis than when traveling in the direction of the non-brakeable axis .
Die maximal erzielbare Bremsbeschleunigung wird bei Flurförderzeugen in der Regel erreicht, wenn die an der gebremsten Achse angeordneten Räder sich infolge der betätigten Bremsen zumindest annähernd gleitend über die Fahrbahnobenfläche bewegen. Die Bremsbeschleunigung ist dabei direkt proportional zu der über die Räder der gebremsten Achse auf die Fahrbahnoberfläche wirkende Normalkraft. Durch den von der Fahrbahnoberfläche beabstandeten Massenschwerpunkt des Flurförderzeugs und die beim Abbremsen des Flurförderzeugs entstehende Trägheitskraft ändert sich die Größe der auf die gebremste Achse wirkenden Normalkraft während des Bremsens. Dabei wird während einer Bremsung aus einer Fahrt in Richtung der bremsbaren Achse die gebremste Achse zusätzlich belastet. Analog dazu wird bei einer Bremsung aus einer Fahrt in Richtung der nicht bremsbaren Achse die gebremste Achse entlastet.The maximum achievable braking acceleration is generally achieved in industrial trucks when the wheels arranged on the braked axle move at least approximately smoothly over the surface of the road as a result of the brakes being actuated. The braking acceleration is directly proportional to the normal force acting on the road surface via the wheels of the braked axle. The center of gravity of the industrial truck, which is spaced from the road surface, and the inertia force that arises when the industrial truck brakes, changes the size of the normal force acting on the braked axle during braking. The braked axle is additionally loaded during braking from a drive in the direction of the brakable axle. Similarly, when braking from a drive in the direction of the non-braked axle, the braked axle is relieved.
Aus diesem Grund ist bei Fahrt in Richtung der bremsbaren Achse eine größere Bremsbeschleunigung erreichbar, als beim Fahren in Richtung der nicht bremsbaren Achse. Erfindungsgemäß wird demnach bei Fahrt in Richtung der bremsbaren Achse eine höhere Maximalgeschwindigkeit zugelassen ist, als bei Fahrt in Richtung der nicht bremsbaren Achse, wobei bisher erforderliche Sicherheitsreserven ausgeschöpft werden.For this reason, greater braking acceleration can be achieved when driving in the direction of the brakeable axis than when driving in the direction of the non-brakeable axis. According to the invention, a higher maximum speed is permitted when traveling in the direction of the braked axle than when traveling in the direction of the non-brakable axle, wherein previously required safety reserves are exhausted.
Auf diese Weise wird für die Vorwärtsfahrt und für die Rückwärtsfahrt die zulässige Maximalgeschwindigkeit so groß wie möglich festgesetzt. Es ist dabei sichergestellt, daß jederzeit eine den Normen entsprechende Bremswirkung gewährleistet ist.In this way, the maximum permissible speed is set as high as possible for the forward drive and for the reverse drive. It is ensured that a braking effect corresponding to the standards is guaranteed at all times.
Eine vorteilhafte Weiterbildung der Erfindung besteht darin, daß das Steuersignal in Abhängigkeit von der Masse einer mit einer Lastaufnahmevorrichtung aufgenommenen Last verändert wird. Die Masse der aufgenommenen Last stellt eine weitere wichtige Größe dar, die bei der Festlegung der maximalen Fahrgeschwindigkeit berücksichtigt werden muß. Darüber hinaus ändert sich durch die Last der Schwerpunkt des gesamten Flurförderzeugs. Von der Masse der Last hängt zum einen die erzielbare Bremswirkung, zum anderen aber auch die Fahrstabilität des Flurförderzeugs ab.An advantageous development of the invention is that the control signal is dependent on the mass of a with a load suspension device load is changed. The mass of the load is another important quantity that must be taken into account when determining the maximum driving speed. In addition, the load changes the center of gravity of the entire truck. The achievable braking effect depends on the mass of the load, but also the driving stability of the truck.
Weiterhin ist es zweckmäßig, wenn das Steuersignal in Abhängigkeit von der Position einer an einer Hubvorrichtung auf- und abbewegbaren Lastaufnahmevorrichtung verändert wird. Der oben beschriebene Unterschied der Bremswirkung bei Vorwärtsfahrt und Rückwärtsfahrt vergrößert sich mit steigendem Schwerpunkt des Flurförderzeugs und damit bei einem Anheben der Lastaufnahmevorrichtung mit oder ohne Last.It is also expedient if the control signal is changed as a function of the position of a load suspension device that can be moved up and down on a lifting device. The above-described difference in braking effect when driving forwards and backwards increases with increasing center of gravity of the industrial truck and thus when the load suspension device is raised with or without a load.
Eine besonders günstige Weiterbildung der Erfindung besteht darin, daß das Steuersignal in Abhängigkeit von dem zwischen den Laufrädern der bremsbaren Achse und der Fahrbahnoberfläche vorherrschenden Reibungsbeiwert beeinflußt wird. Wenn der momentan vorhandene Reibungsbeiwert in die Berechnung der zulässigen Maximalgeschwindigkeit mit einfließt, können auch bezüglich dieses Aspekts bisher vorhandene Sicherheitsreserven ausgeschöpft und der Geschwindigkeitsgrenzwerte so hoch wie möglich angesetzt werden. Der zu erwartende Reibungsbeiwert kann der Steuereinheit dabei unter Berücksichtigung der Fahrbahnbeschaffenheit von Hand vorgegeben werden. Möglich ist es ebenfalls, den Reibungsbeiwert durch Auswertung von vorangegangenen Bremsungen empirisch zu bestimmen.A particularly advantageous development of the invention consists in that the control signal is influenced as a function of the coefficient of friction prevailing between the wheels of the brakeable axle and the road surface. If the currently available coefficient of friction is included in the calculation of the permissible maximum speed, safety reserves previously available in this regard can also be exhausted and the speed limit values set as high as possible. The expected coefficient of friction can be specified by hand to the control unit, taking into account the condition of the road. It is also possible to determine the coefficient of friction empirically by evaluating previous braking.
Bezüglich des zur Durchführung des Verfahrens vorgesehenen Flurförderzeugs zur Durchführung des Verfahrens wird die eingangs gestellte Aufgabe dadurch gelöst, daß die Steuereinheit mit einem die momentane Fahrrichtung des Flurförderzeugs wiedergebenden Signalgeber derart in Wirkverbindung steht, daß bei Fahrt in Richtung der bremsbaren Achse eine höhere Maximalgeschwindigkeit zugelassen ist, als bei Fahrt in Richtung der nicht bremsbaren Achse.With regard to the industrial truck provided for carrying out the method for carrying out the method, the object stated at the outset is achieved in that the control unit is in operative connection with a signal transmitter which reflects the current driving direction of the industrial truck in such a way that a higher maximum speed is permitted when traveling in the direction of the brakeable axis than when driving in the direction of the non-brakeable axis.
Vorteilhafte Weiterbildungen hierzu gehen aus den untergeordneten Ansprüchen hervor.Advantageous further developments are evident from the subordinate claims.
Weitere Vorteile und Ausgestaltungen der Erfindung werden anhand des in der schematischen Figur dargestellten Ausführungsbeispiels näher erläutert.Further advantages and refinements of the invention are explained in more detail with reference to the exemplary embodiment shown in the schematic figure.
Die Figur zeigt als erfindungsgemäßes Flurförderzeug einen Hochregalkommissionierer.The figure shows a high-bay order picker as an industrial truck according to the invention.
In einem Antriebsteil 1 befinden sich beispielsweise Antriebsaggregate und Batterien für den Fahrantrieb des Flurförderzeugs. Das Flurförderzeug besitzt eine bremsbare Antriebsachse 2 sowie zwei nicht bremsbare Achsen 3. An dem Antriebsteil 1 des Flurförderzeugs ist eine Hubvorrichtungt 4 angeordnet, an dem ein Fahrerstand 5 mit einer Lastaufnahmevorrichtung 6 auf- und abbewegbar befestigt ist. Die Lastaufnahmevorrichtung ist dabei mit einem Initialhubgerüst 7 vertikal beweglich an dem Fahrerstand 5 befestigt.In a
Die Lage des Massenschwerpunkts Sm des Flurförderzeugs einschließlich Last verändert sich während des Betriebs des Flurförderzeugs fortlaufend und ist insbesondere abhängig von der Stellung des Lastaufnahmemittels am Hubgerüst und der Masse der mit dem Lastaufnahmemittel aufgenommenen Last. Der in der Figur eingezeichnete Massenschwerpunkts Sm wird im Betrieb des Flurförderzeugs bei angehobener Last erreicht.The position of the center of gravity S m of the industrial truck including the load changes continuously during the operation of the industrial truck and is particularly dependent on the position of the load handler on the lifting frame and the mass of the load taken up by the load handler. The center of gravity S m shown in the figure is reached during operation of the industrial truck with a raised load.
Wenn das Flurförderzeug aus einer Fahrt in Richtung v mit einer Bremsbeschleunigung a abgebremst wird, greift an dem Massenschwerpunkt Sm eine der Richtung der Bremsbeschleunigung a entgegengerichtete Trägheitskraft F an. Infolge dieser Trägheitskraft, welche über den Radstand y auf der Fahrbahnoberfläche 8 abgestützt wird, erhöht sich in diesem Ausführungsbeispiel die Normalkraft AR zwischen der gebremsten Achse 2 und der Fahrbahnoberfläche 8. Im anderen Fall verkleinert sich die auf die gebremste Achse 2 wirkende Normalkraft AR, wenn das Flurförderzeug aus einer Fahrt in zu v entgegengesetzter Richtung abgebremst wird.When the industrial truck is braked with a braking acceleration a while traveling in direction v, an inertial force F opposing the direction of braking acceleration a acts on the center of gravity S m . As a result of this inertial force, which is supported on the
Die maximal erreichbare Bremsbeschleunigung a errechnet sich in Abhängigkeit von der Fahrrichtung wiefolgt:
- µ :
- Reibungsbeiwert
- m :
- Gesamtmasse des Flurförderzeugs einschließlich Last
- (-) :
- bei Bremsen des Flurförderzeugs aus Fahrt in Richtung v
- (+) :
- bei Bremsen des Flurförderzeugs aus Fahrt in zu v entgegengesetzter Richtung
- µ:
- Coefficient of friction
- m:
- Total mass of the truck including the load
- (-):
- when the truck brakes from driving in the direction of v
- (+):
- when the truck brakes from driving in the opposite direction to v
Ausgehend hiervon wird mittels einer nicht dargestellten Steuereinheit für eine Fahrt in Richtung v ein größerer Grenzwert für die maximale Fahrgeschwindigkeit vorgegeben, als für eine Fahrt in entgegengesetzter Richtung. Somit kann bei Einhaltung der Normen und Vorschriften eine größtmögliche Fahrgeschwindigkeit erreicht werden.Proceeding from this, a control unit (not shown) for driving in direction v specifies a larger limit value for the maximum driving speed than for driving in the opposite direction. This means that the highest possible driving speed can be achieved if the standards and regulations are observed.
Claims (8)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19624308A DE19624308A1 (en) | 1996-06-18 | 1996-06-18 | Method for operating an industrial truck and industrial truck for carrying out the method |
| DE19624308 | 1996-06-18 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP0814051A1 true EP0814051A1 (en) | 1997-12-29 |
| EP0814051B1 EP0814051B1 (en) | 2001-12-05 |
Family
ID=7797276
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP97109318A Expired - Lifetime EP0814051B1 (en) | 1996-06-18 | 1997-06-09 | Method of operating a forklift and forklift operated by this method |
Country Status (2)
| Country | Link |
|---|---|
| EP (1) | EP0814051B1 (en) |
| DE (2) | DE19624308A1 (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1203745A1 (en) * | 2000-11-04 | 2002-05-08 | STILL WAGNER GmbH & Co KG | Industrial truck with a mast and an additional moving device for a load receiving means |
| EP1371603A2 (en) * | 2002-06-14 | 2003-12-17 | STILL WAGNER GmbH & Co KG | Control system for at least one movement of an industrial truck |
| EP1371602A2 (en) * | 2002-06-14 | 2003-12-17 | STILL WAGNER GmbH & Co KG | Industrial truck with a control device |
| US7275794B2 (en) | 2003-04-04 | 2007-10-02 | Jungheinrich Aktiengesellschaft | Braking system for a battery powered industrial truck |
| EP2070864A3 (en) * | 2007-12-14 | 2009-12-09 | Jungheinrich Aktiengesellschaft | Method for operating an industrial truck |
| DE102007020394B4 (en) * | 2006-05-01 | 2013-03-28 | Murata Kikai K.K. | Running vehicle and running control method for the running vehicle |
| EP3050840A1 (en) | 2015-01-30 | 2016-08-03 | Jungheinrich Aktiengesellschaft | Determining parameters for industrial trucks |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10242112A1 (en) * | 2002-09-11 | 2004-04-01 | Robert Bosch Gmbh | Monitoring vehicle speed based on construction, operation assumptions involves detecting vehicle state parameter depending on value representing construction type and/or current operation of vehicle |
| DE102007060433A1 (en) | 2007-12-14 | 2009-06-18 | Jungheinrich Aktiengesellschaft | Industrial truck for use as picking unit, has two construction units relatively moved to each other based on load that is accommodated in load fork, where load fork is adjustable in its height |
| DE102014202230A1 (en) | 2014-02-07 | 2015-08-13 | Robert Bosch Gmbh | Method and apparatus for preventing tipping of a steerable vehicle |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2049048A1 (en) * | 1970-10-06 | 1972-04-13 | Linde Ag, 6200 Wiesbaden | Vehicle drive with a control and circuit for this, as well as a method for operating the same |
| DE2208097A1 (en) * | 1971-03-03 | 1972-12-14 | Linde Ag, 6200 Wiesbaden | Vehicle drive for a vehicle used to transport a load |
| EP0343839A2 (en) * | 1988-05-26 | 1989-11-29 | The Raymond Corporation | Lift truck control systems |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE374699B (en) * | 1973-07-04 | 1975-03-17 | Landstingens Inkopscentral | |
| DE4042041A1 (en) * | 1990-12-28 | 1992-07-02 | Jungheinrich Ag | TRAVEL DRIVE FOR HALLWAY VEHICLES |
| JP3652403B2 (en) * | 1995-05-01 | 2005-05-25 | 本田技研工業株式会社 | Front and rear wheel drive vehicle |
-
1996
- 1996-06-18 DE DE19624308A patent/DE19624308A1/en not_active Withdrawn
-
1997
- 1997-06-09 EP EP97109318A patent/EP0814051B1/en not_active Expired - Lifetime
- 1997-06-09 DE DE59705623T patent/DE59705623D1/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2049048A1 (en) * | 1970-10-06 | 1972-04-13 | Linde Ag, 6200 Wiesbaden | Vehicle drive with a control and circuit for this, as well as a method for operating the same |
| DE2208097A1 (en) * | 1971-03-03 | 1972-12-14 | Linde Ag, 6200 Wiesbaden | Vehicle drive for a vehicle used to transport a load |
| EP0343839A2 (en) * | 1988-05-26 | 1989-11-29 | The Raymond Corporation | Lift truck control systems |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1203745A1 (en) * | 2000-11-04 | 2002-05-08 | STILL WAGNER GmbH & Co KG | Industrial truck with a mast and an additional moving device for a load receiving means |
| EP1371603A2 (en) * | 2002-06-14 | 2003-12-17 | STILL WAGNER GmbH & Co KG | Control system for at least one movement of an industrial truck |
| EP1371602A2 (en) * | 2002-06-14 | 2003-12-17 | STILL WAGNER GmbH & Co KG | Industrial truck with a control device |
| EP1371602A3 (en) * | 2002-06-14 | 2005-11-30 | STILL WAGNER GmbH & Co KG | Industrial truck with a control device |
| EP1371603A3 (en) * | 2002-06-14 | 2005-12-14 | STILL WAGNER GmbH & Co KG | Control system for at least one movement of an industrial truck |
| US7275794B2 (en) | 2003-04-04 | 2007-10-02 | Jungheinrich Aktiengesellschaft | Braking system for a battery powered industrial truck |
| DE102007020394B4 (en) * | 2006-05-01 | 2013-03-28 | Murata Kikai K.K. | Running vehicle and running control method for the running vehicle |
| EP2070864A3 (en) * | 2007-12-14 | 2009-12-09 | Jungheinrich Aktiengesellschaft | Method for operating an industrial truck |
| EP3050840A1 (en) | 2015-01-30 | 2016-08-03 | Jungheinrich Aktiengesellschaft | Determining parameters for industrial trucks |
| DE102015201671A1 (en) | 2015-01-30 | 2016-08-04 | Jungheinrich Aktiengesellschaft | Characteristic determination for industrial trucks |
Also Published As
| Publication number | Publication date |
|---|---|
| DE59705623D1 (en) | 2002-01-17 |
| EP0814051B1 (en) | 2001-12-05 |
| DE19624308A1 (en) | 1998-01-02 |
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