EP0814051B1 - 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
- EP0814051B1 EP0814051B1 EP97109318A EP97109318A EP0814051B1 EP 0814051 B1 EP0814051 B1 EP 0814051B1 EP 97109318 A EP97109318 A EP 97109318A EP 97109318 A EP97109318 A EP 97109318A EP 0814051 B1 EP0814051 B1 EP 0814051B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- industrial truck
- axle
- brakeable
- control unit
- load
- 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.)
- Expired - Lifetime
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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 at least one brakeable axle and at least one non-brakeable axle, and a control unit for a drive of the industrial truck, the Control unit a variable, the permissible maximum speed of the Truck generating control signal generated.
- the invention also relates to a Industrial truck provided with at least one for carrying out the method brakeable axle and at least one non-brakeable axle and one Control unit for generating a variable, the permissible Maximum speed of the control signal defining the truck.
- the present invention has for its object a method for operating of an industrial truck and an industrial truck for carrying out the method for To provide what the influence of the current direction of travel at Determination of the permissible driving speed is taken into account.
- This object is achieved with respect to the method in that the control signal by means of the control unit as a function of the direction of travel of the Truck is changed so that when driving in the direction of the braked Axis a higher maximum speed is permitted than when traveling in the direction the unstoppable axle.
- the maximum achievable braking acceleration is usually for industrial trucks reached when the arranged on the braked wheels wheels due to applied brakes at least approximately sliding over the surface of the road move.
- the braking acceleration is directly proportional to that via the wheels normal force acting on the road surface of the braked axle.
- control signal in Dependence on the mass of one with a load suspension device load is changed.
- the mass of the load taken up represents one another important variable that is used in determining the maximum Driving speed must be taken into account. It also changes through the Load the center of gravity of the entire industrial truck. Depends on the mass of the load on the one hand the achievable braking effect, on the other hand also the driving stability of the Truck.
- control signal is dependent on the position a load lifting device that can be moved up and down on a lifting device is changed.
- the difference in braking effect described above Forward and backward travel increases with increasing center of gravity of the Industrial truck and thus when lifting the load suspension device with or without load.
- a particularly advantageous development of the invention is that Control signal depending on the between the wheels of the braked Axis and the road surface prevailing coefficient of friction is influenced. If the currently existing coefficient of friction in the calculation of the permissible Up to now, maximum speed is also possible with regard to this aspect Existing safety reserves are exhausted and the speed limit values as high as possible.
- the expected coefficient of friction can be the Control unit taking into account the condition of the road by hand be specified. It is also possible to analyze the coefficient of friction to determine empirically from previous braking.
- the object set is achieved in that the control unit with the current direction of travel of the industrial truck reproducing signal transmitter is so operatively connected that when driving in the direction the braked axle has a higher maximum speed than that of Travel in the direction of the non-brakeable axis.
- the figure shows an industrial truck according to the invention High rack order picker.
- a drive part 1 there are, for example, drive units and batteries for the drive of the industrial truck.
- the truck has a brake Drive axle 2 and two non-brakeable axles 3.
- a lifting device 4 is arranged, on which a driver's station 5 with a load suspension device 6 is fastened up and down.
- the Load suspension device can be moved vertically with an initial lifting frame 7 the driver's cab 5 attached.
- 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 mast 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.
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 at least one brakeable axle and at least one non-brakeable axle, and a control unit for a drive of the industrial truck, the Control unit a variable, the permissible maximum speed of the Truck generating control signal generated. However, the invention also relates to a Industrial truck provided with at least one for carrying out the method brakeable axle and at least one non-brakeable axle and one Control unit for generating a variable, the permissible Maximum speed of the control signal defining the truck.
Nächstliegender Stand der Technik wird in der EP-A-0 343 839 gesehen.The closest prior art is seen in EP-A-0 343 839.
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 there are a number of regulations and standards to be observed, in which minimum requirements for the effectiveness of the Brakes are set. The braking distance achievable with maximum braking force is at Industrial trucks, especially for trucks with a mast, e.g. High-bay stackers, the current driving speed and numerous depending on 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 the maximum permissible Driving speed depending on one or more of these factors by means of a control unit at any time to the current operating conditions adapt. Currently known control devices are able, for example, the steering angle, the weight of a raised load and / or the position of one vertically movable load suspension device in determining the moment allowable maximum speed. It is aimed at The greatest possible compliance with the applicable standards and regulations at all times allow maximum driving speed.
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. Measurements and tests have shown that the braking distance from Generic industrial trucks, apart from the factors mentioned above, too from the current direction of travel, i.e. Forward or backward travel, depending is.
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 has for its object a method for operating of an industrial truck and an industrial truck for carrying out the method for To provide what the influence of the current direction of travel at Determination of the permissible driving speed is taken into account.
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 in that the control signal by means of the control unit as a function of the direction of travel of the Truck is changed so that when driving in the direction of the braked Axis a higher maximum speed is permitted than when traveling in the direction the unstoppable axle.
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 Fahrbahnoberfläche 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 usually for industrial trucks reached when the arranged on the braked wheels wheels due to applied brakes at least approximately sliding over the surface of the road move. The braking acceleration is directly proportional to that via the wheels normal force acting on the road surface of the braked axle. By the center of gravity of the truck spaced from the road surface and the inertia force that arises when the truck brakes is changed the magnitude of the normal force acting on the braked axle during the Braking. It is during a braking from a drive in the direction of braked axle puts additional load on the braked axle. The same applies to braking from a drive in the direction of the non-brakeable axis Brake axle 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, there is a larger one when driving in the direction of the brakeable axis Braking acceleration achievable than when driving in the direction of the non-braked Axis. Accordingly, according to the invention when driving in the direction of the brakeable axis a higher maximum speed is permitted than when driving in the direction of not brakeable axle, whereby previously required safety reserves have been exhausted become.
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 permissible for forward travel and for reverse travel Maximum speed set as high as possible. 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 in Dependence on the mass of one with a load suspension device load is changed. The mass of the load taken up represents one another important variable that is used in determining the maximum Driving speed must be taken into account. It also changes through the Load the center of gravity of the entire industrial truck. Depends on the mass of the load on the one hand the achievable braking effect, on the other hand 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.Furthermore, it is expedient if the control signal is dependent on the position a load lifting device that can be moved up and down on a lifting device is changed. The difference in braking effect described above Forward and backward travel increases with increasing center of gravity of the Industrial truck and thus when lifting the load suspension device with or without 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 is that Control signal depending on the between the wheels of the braked Axis and the road surface prevailing coefficient of friction is influenced. If the currently existing coefficient of friction in the calculation of the permissible Up to now, maximum speed is also possible with regard to this aspect Existing safety reserves are exhausted and the speed limit values as high as possible. The expected coefficient of friction can be the Control unit taking into account the condition of the road by hand be specified. It is also possible to analyze the coefficient of friction to determine empirically from 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 Carrying out the method, the object set is achieved in that the control unit with the current direction of travel of the industrial truck reproducing signal transmitter is so operatively connected that when driving in the direction the braked axle has a higher maximum speed than that of Travel in the direction of the non-brakeable axis.
Vorteilhafte Weiterbildungen hierzu gehen aus den untergeordneten Ansprüchen hervor.Advantageous further developments for this go from the subordinate claims forth.
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 shown in the schematic figure illustrated embodiment explained in more detail.
Die Figur zeigt als erfindungsgemäßes Flurförderzeug einen Hochregalkommissionierer.The figure shows an industrial truck according to the invention High rack order picker.
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 drive part 1 there are, for example, drive units and batteries
for the drive of the industrial truck. The truck has 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 mast 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 und folgenden Größen:
- AR
0 : - Normalkraft zwischen Fahrbahn und bremsbarer Achse bei stehendem Flurförderzeug
- µ :
- Reibungsbeiwert
- m :
- Gesamtmasse des Flurförderzeugs einschließlich Last
- A R
0 : - Normal force between the road and the brakeable axle when the truck is stationary
- µ:
- Coefficient of friction
- m:
- Total mass of the truck including the load
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) is used to travel in Direction v a larger limit value for the maximum driving speed is given, than for a trip in the opposite direction. Thus, if the Standards and regulations achieve the greatest possible driving speed.
Claims (8)
- Method of operating an industrial truck having at least one brakeable axle (2) and at least one non-brakeable axle (3), and having a control unit for a travelling gear of the industrial truck, the control unit producing a changeable control signal which defines the maximum permissible speed of the industrial truck, characterized in that the control signal is changed by means of the control unit in dependence on the direction of travel of the industrial truck such that a higher maximum speed is permitted during travel in the direction of the brakeable axle (2) than during travel in the direction of the non-brakeable axle (3).
- Method of operating an industrial truck according to Claim 1, characterized in that the control signal is changed in dependence on the mass of a load borne by a load-bearing arrangement (6).
- Method of operating an industrial truck according to Claims 1 and 2, characterized in that the control signal is changed in dependence on the position of a load-bearing arrangement (6) which can be moved up and down on a lifting arrangement (4).
- Method of operating an industrial truck according to one of Claims 1 to 3, characterized in that the control signal is influenced in dependence on the coefficient of friction (µ) which prevails between the running wheels of the brakeable axle (2) and the roadway surface (8).
- Industrial truck having at least one brakeable axle (2) and at least one non-brakeable axle (3), and having a control unit for producing a changeable control signal which defines the maximum permissible speed of the industrial truck, characterized in that the control unit is in operative connection with a signal transmitter, which reproduces the current direction of travel of the industrial truck, such that a higher maximum speed is permitted during travel in the direction of the brakeable axle (2) than during travel in the direction of the non-brakeable axle (3).
- Industrial truck according to Claim 5,
characterized in that the control unit is in operative connection with a signal transmitter which reproduces the mass of a load borne by a load-bearing arrangement (6). - Industrial truck according to Claims 5 and 6, characterized in that the control unit is in operative connection with a signal transmitter which reproduces the position of a load-bearing arrangement (6) which can be moved up and down on a lifting arrangement (4).
- Industrial truck according to one of Claims 5 to 7, characterized in that the control unit is in operative connection with a signal transmitter which reproduces the coefficient of friction (µ) which prevails between the running wheels of the brakeable axle (2) and the roadway surface (8).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19624308 | 1996-06-18 | ||
| DE19624308A DE19624308A1 (en) | 1996-06-18 | 1996-06-18 | Method for operating an industrial truck and industrial truck for carrying out the method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP0814051A1 EP0814051A1 (en) | 1997-12-29 |
| EP0814051B1 true 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 (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10315297A1 (en) * | 2003-04-04 | 2004-10-28 | Jungheinrich Ag | Brake system for a battery-powered industrial truck |
| DE202008005966U1 (en) | 2007-12-14 | 2009-04-16 | Jungheinrich Aktiengesellschaft | Truck with distance sensor for wheelchair force determination |
| 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 |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10054789A1 (en) * | 2000-11-04 | 2002-05-08 | Still Wagner Gmbh & Co Kg | Industrial truck with a mast and an additional movement device for a load handler |
| DE10226598A1 (en) * | 2002-06-14 | 2003-12-24 | Still Wagner Gmbh & Co Kg | Industrial truck with a control device |
| DE10226599A1 (en) * | 2002-06-14 | 2003-12-24 | Still Wagner Gmbh & Co Kg | Method for controlling at least one movement of an industrial truck |
| 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 |
| JP4186082B2 (en) * | 2006-05-01 | 2008-11-26 | 村田機械株式会社 | Traveling cart |
| DE102015201671A1 (en) | 2015-01-30 | 2016-08-04 | Jungheinrich Aktiengesellschaft | Characteristic determination for industrial trucks |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2049048C2 (en) * | 1970-10-06 | 1983-03-31 | Linde Ag, 6200 Wiesbaden | Control device for a continuously variable transmission for driving a drive axle of a vehicle |
| DE2208098C2 (en) * | 1971-03-03 | 1984-11-29 | Linde Ag, 6200 Wiesbaden | Vehicle drive for a truck |
| SE374699B (en) * | 1973-07-04 | 1975-03-17 | Landstingens Inkopscentral | |
| US4942529A (en) * | 1988-05-26 | 1990-07-17 | The Raymond Corporation | Lift truck control systems |
| 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
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10315297A1 (en) * | 2003-04-04 | 2004-10-28 | Jungheinrich Ag | Brake system for a battery-powered industrial truck |
| DE202008005966U1 (en) | 2007-12-14 | 2009-04-16 | Jungheinrich Aktiengesellschaft | Truck with distance sensor for wheelchair force determination |
| EP2070864A2 (en) | 2007-12-14 | 2009-06-17 | Jungheinrich Aktiengesellschaft | Method for operating an industrial truck |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| DE59705623D1 (en) | 2002-01-17 |
| DE19624308A1 (en) | 1998-01-02 |
| EP0814051A1 (en) | 1997-12-29 |
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