EP0936179A1 - Systême de commande pour chariot élévateur - Google Patents

Systême de commande pour chariot élévateur Download PDF

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Publication number
EP0936179A1
EP0936179A1 EP98120848A EP98120848A EP0936179A1 EP 0936179 A1 EP0936179 A1 EP 0936179A1 EP 98120848 A EP98120848 A EP 98120848A EP 98120848 A EP98120848 A EP 98120848A EP 0936179 A1 EP0936179 A1 EP 0936179A1
Authority
EP
European Patent Office
Prior art keywords
control
hydraulic motor
pressure
directional control
way
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
Application number
EP98120848A
Other languages
German (de)
English (en)
Other versions
EP0936179B1 (fr
Inventor
Martin Heusser
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.)
Hawe Hydraulik GmbH and Co KG
Original Assignee
Heilmeier and Weinlein Fabrik fuer Oel Hydraulik GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Heilmeier and Weinlein Fabrik fuer Oel Hydraulik GmbH and Co KG filed Critical Heilmeier and Weinlein Fabrik fuer Oel Hydraulik GmbH and Co KG
Publication of EP0936179A1 publication Critical patent/EP0936179A1/fr
Application granted granted Critical
Publication of EP0936179B1 publication Critical patent/EP0936179B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/003—Systems with load-holding valves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
    • B66F9/147—Whole unit including fork support moves relative to mast
    • 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
    • B66F9/22—Hydraulic devices or systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/505—Pressure control characterised by the type of pressure control means
    • F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
    • F15B2211/50545—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using braking valves to maintain a back pressure

Definitions

  • the invention relates to a forklift control specified in the preamble of claim 1 Art.
  • Require stackers especially high-rack stackers, with swivel sliding fork high level of security when controlling the fork in case it is in a laterally limited Hallway, work between rows of shelves, for example. Because this corridor area is often so limited due to space constraints that uncontrolled pan and slide adjustments the fork could easily collide. For such complicated ones Maneuvering operations are therefore often operated by a stacker using a computer, which the truck control with simultaneous swiveling and shifting the fork leads so that the fork does not collide with shelf rows. It is not for that only required that the computer provides precise information about the actual position of the fork but that the truck control can be precisely guided through the computer, i.e. exactly proportional to the control signals.
  • Control devices becomes a selected consumer tax priority granted to other consumers.
  • 3-way pressure compensators or multi-way valves are included, which control the flow serve.
  • the invention has for its object a stacker control of the aforementioned Art to create the safe, inexpensive, space-saving and convenient Maneuvering the swivel / sliding fork in narrow corridors, possibly computer-controlled, enables.
  • the 3-way pressure compensator is structurally simple and inexpensive always give priority to the hydraulic motor, with the simultaneous control of a additional hydraulic motors the risk of a control that is no longer exactly proportional is given, i.e. usually the hydraulic motor with the lower volume throughput. In the case of a rack stacker or high rack stacker, this is usually the one for that Swiveling the fork around the vertical axis responsible hydraulic motor.
  • the other or the other hydraulic motors receive by influencing the 3-way pressure compensator always only the excess, so that at least the privileged Hydraulic motor must be precisely proportionally controlled under all operating conditions.
  • the swivel hydraulic motor is the preferred hydraulic motor that a smaller throughput is required than the other hydraulic motors and the Precise proportional control for difficult maneuvers of the swivel-slide fork important is.
  • the precise proportional control by means of the proportional directional control spool possible, the control orifice for the 3-way pressure compensator at the same time contains.
  • a simple load holding device is provided to each hydraulic motor lock hydraulically and to keep a load leak-free.
  • the load holding device with load-holding valves that can be controlled alternately from the working lines enables sensitive movement control under load and, above all, carries to simplify the circulation circuit since both in a load holding situation Working lines downstream of the directional spool are relieved and automatically There is a control pressure for the 3-way pressure compensator, which the 3-way pressure compensator in the circulation position switches.
  • the load holding device enables use of a short directional spool valve that is open in the zero position no separate flow paths required for circulation.
  • control pressure for the 3-way pressure compensator and the circulation circuit tapped in a structurally simple manner, without being therefore compact Directional spool valves have to provide complex structural measures.
  • the 3-way pressure compensator gives the selected hydraulic motor independently of which feed priority over the further or further hydraulic motors, whether and how these are applied.
  • the 3-way pressure compensator is structurally particularly simple.
  • the proportional directional spool relieves the privileged Hydromotors in its zero position the two working lines to the return, see above that there is a strong control pressure drop that can be used for the circulation circuit.
  • the further hydraulic motor is either only in its direction controlled at a rate that depends on how much the privileged Hydromotor leaves, or possibly via a conveyor control of Pressure source (speed-controlled pump).
  • the further hydraulic motor is also via the 3-way quantity regulator precisely controllable proportionally, the 3-way flow regulator, the 3-way pressure compensator and the further directional spool cooperate in the circulation circuit.
  • the swivel sliding fork can be guided through the computer, when complicated movement maneuvers are to be controlled, the path and / or Position sensors provide the actual parameters for the computer.
  • a rack stacker in FIGS. 1 and 2 in particular a high rack stacker F, has one Vehicle 1 with actuating elements 2 of an actuation system 3 for one Fork G, and if necessary for a steering not emphasized, one Travel drive, a raise / lower and occasionally a tilt function.
  • the actuator 3 is connected to a stacker controller S, and if necessary with a computer C.
  • the fork G is in guides 4 horizontally across the longitudinal direction of the stack F is displaceable and, for example, on a defining a vertical axis 7 Mast 6 swivel mounted (swivel sliding fork).
  • the mast 6 is in a support structure 5 held.
  • a hydraulic motor H1 With a hydraulic motor H1 the shifting movement the fork G is controlled, while with at least one hydraulic motor H2 Swivel movement of the fork G about the vertical axis 7 (swivel range at least 180 °) is controlled.
  • the computer C is linked to the stacker control S or switchable. Furthermore, position or path indicators 8, 9 for the current position the fork G can be provided, the signals of which are fed to the computer C.
  • Fig. 2 it is indicated how the shelf stacker F in a laterally limited hall area 12 between shelf lines 10, 11 works, the hall width only slightly is wider than the width of the fork G.
  • This maneuver can be carried out, for example, by computer C.
  • the movements of the hydraulic motors H1, H2 are superimposed on one another in such a way that that the fork G does not collide with the shelf rows 10, 11.
  • the hydraulic motor H1 is a rotating one for the displacement movement Hydraulic motor (or a pair of hydraulic cylinders, not shown) during the Hydromotor H2 for the swiveling movement of the fork G from two loadable sides
  • Hydraulic motor or a pair of hydraulic cylinders, not shown
  • the Hydromotor H2 for the swiveling movement of the fork G from two loadable sides
  • cylinders 13, 14 which the fork back and forth about the vertical axis 7 swing around. Both cylinders 13, 14 are, for example, only on their piston rod sides pressurized while their piston sides are short-circuited.
  • the stacker controller S in Fig. 3 is obtained from a pressure source 15, e.g. one electric driven hydraulic pump, supplied with pressure medium.
  • a pressure source 15 e.g. one electric driven hydraulic pump, supplied with pressure medium.
  • One via a pressure relief valve 18 to a return line R secured pump line P leads to the inlet connection a 3-way pressure compensator D.
  • a pressure connection 22 of the 3-way pressure compensator D is via a pressure line 16 to the pressure inlet of a proportional directional spool W1 connected in both directions by means of proportional magnets 33, 34 can be deflected from a zero position centered by springs (4/3-way control spool with open zero position). From the proportional directional spool W1 lead two working lines A1, B1 to the two cylinders 13, 14 of the Hydromotor H2.
  • a load holding valve arrangement L is located in the working lines A1, B1 with two load holding valves 35, each controllable against a spring 36, and these immediate check valves 38 arranged.
  • Each in a work line A1 or B1 arranged load holding valve 35 is via a control line 37 from each other working line B1, A1 openable depending on pressure.
  • a cross line 31 connects the two working lines A1 and B1.
  • a shuttle valve 30 with a higher pressure in a working line leading connection 32 is provided.
  • a control line leads from connection 32 27 via a throttle 28 to a control side of the 3-way pressure compensator D.
  • the 3-way pressure compensator contains a control piston 21, which by means of the control pressure in the control line 25 in the closing direction of a connection between the pump line P and the pressure line 16 is acted upon. In the opposite direction, i.e. in Direction of opening of this connection, the control piston 21, however, is from the control pressure in the control line 27 and acted upon by a control spring 24.
  • a second pressure connection 23 of the 3-way pressure compensator D there is another one Pressure line 17 connected to at least one other hydraulic motor, i.e. the sliding hydraulic motor H1 leads.
  • a 3-way flow regulator in the pressure line 17 19 arranged, which is adjustable by means of a proportional magnet 20 and has a connection to the return R. Downstream of the 3-way flow regulator 19 is the pressure line 17 to a connection 39 of a solenoid-operated Directional spool W2 (4/3-way spool with open zero position) connected.
  • Two working lines A2, B2 lead from the directional control valve W2 to Hydromotor H1.
  • the directional spool W2 could be operated with proportional magnets and work precisely proportional.
  • the pressure line 17 is direct in the forklift control S in FIG. 4 to the directional spool W2 (4/3-way spool with open zero position), in which, in the central position, the transverse channel 40 has both working lines A2, B2 connects to the return, and also the pressure line 17 via its pressure connection 39 'and the transverse channel 40 is connected to the return.
  • a circulation circuit U is provided, via which the hydraulic medium delivered by the pressure source 15 is drained to the return line if none of the hydraulic motors H1, H2 moves and one load is held at a time.
  • Part of the circulation circuit U is the 3-way pressure compensator D, which in the closed position of the connection from the pump line P leads to the pressure line 16, the hydraulic medium in the pressure line 17, from which it is in Fig. 3 reaches the return via the 3-way flow controller 19, in the stacker control in contrast, in FIG. 4 via the transverse channel 40.
  • control spring 24 is designed very weak, and is essentially only sufficient to, the control piston K in the open position of the connection from the pressure port Hold P to the pressure port 16 when the system is depressurized.
  • the power the control spring 24 is essentially the relevant throttle factor, which is when depressurized Circulation from the pressure source is to be overcome.
  • a flow channel in the form of a recess 45 is formed in the control piston K, which is delimited on both sides by control edges 46 and 47.
  • the control edges 46 and 47 work alternately with apertures 43, 44 or their Control edges together to throttle the pressure medium accordingly and either to lead to the pressure port 16 or to the pressure port 17, and the in Directional spool valve W1 through the pressure difference set by the current supply keep corresponding control movements constant. It is obvious that the Control pressure acting on the left-hand side of the control piston also from the pressure connection 16 could be tapped directly in the housing 41 via a throttle bore.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP98120848A 1998-02-13 1998-11-03 Systême de commande pour chariot élévateur Expired - Lifetime EP0936179B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE29802498U DE29802498U1 (de) 1998-02-13 1998-02-13 Staplersteuerung
DE29802498U 1998-02-13

Publications (2)

Publication Number Publication Date
EP0936179A1 true EP0936179A1 (fr) 1999-08-18
EP0936179B1 EP0936179B1 (fr) 2004-05-26

Family

ID=8052632

Family Applications (1)

Application Number Title Priority Date Filing Date
EP98120848A Expired - Lifetime EP0936179B1 (fr) 1998-02-13 1998-11-03 Systême de commande pour chariot élévateur

Country Status (3)

Country Link
US (1) US6220027B1 (fr)
EP (1) EP0936179B1 (fr)
DE (2) DE29802498U1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2062848A1 (fr) 2007-11-21 2009-05-27 HAWE Hydraulik SE Module de levage hydroélectrique
ITBO20090552A1 (it) * 2009-08-20 2011-02-21 Gd Spa Metodo ed unità di manovra per il cambio di un pannello frontale di una macchina automatica.
CN107089629A (zh) * 2017-06-08 2017-08-25 太原理工大学 一种用于工程机械的混合储能举升系统
CN107235440A (zh) * 2017-06-08 2017-10-10 太原理工大学 一种用于举升机构的液电混合节能系统

Families Citing this family (19)

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Publication number Priority date Publication date Assignee Title
SE512652C2 (sv) * 1999-04-20 2000-04-17 Bt Ind Ab Anordning för, och förfarande vid, förflyttning av lastbärare hos industritruck
US6422121B1 (en) * 2000-05-25 2002-07-23 Finn Corporation Hydraulic system
US20040238326A1 (en) * 2002-10-08 2004-12-02 Wayne Lichti Method and apparatus for material handling and storage
SE525019C2 (sv) * 2003-03-21 2004-11-09 Parker Hannifin Ab Anordning för styrning av en hydraulisk motor
SE525018C2 (sv) * 2003-03-21 2004-11-09 Parker Hannifin Ab Anordning för styrning av en hydrauliskt driven motor
DE202004014030U1 (de) 2004-09-08 2006-01-12 Hawe Hydraulik Gmbh & Co. Kg Elektrohydraulische Steuervorrichtung
DE102005011395A1 (de) * 2005-03-11 2006-09-14 Bosch Rexroth Ag Hydraulische Steueranordnung
JP2006283785A (ja) * 2005-03-31 2006-10-19 Nabtesco Corp 油圧回路およびその弁装置
EP1748025B1 (fr) * 2005-07-29 2010-03-31 Jungheinrich Aktiengesellschaft Chariot élévateur à fourche à coulissement et à pivotement
GB2436856A (en) * 2006-04-07 2007-10-10 Agco Gmbh Pressure control for system with primary and secondary consumers
DE102007029355A1 (de) * 2007-06-26 2009-01-02 Robert Bosch Gmbh Hydraulische Steueranordnung
US9290366B2 (en) 2011-01-04 2016-03-22 Crown Equipment Corporation Materials handling vehicle having a manifold located on a power unit for maintaining fluid pressure at an output port at a commanded pressure corresponding to an auxiliary device operating pressure
WO2012125793A1 (fr) 2011-03-15 2012-09-20 Parker Hannifin Corporation Circuit à oscillations amorties
DE102014216736A1 (de) * 2014-08-22 2016-02-25 Jungheinrich Aktiengesellschaft Verfahren zum Steuern einer kombinierten Dreh-Schub-Bewegung
AU2016214966B2 (en) 2015-02-03 2017-08-31 Ogon Contracting Pty Ltd Safety valve for a hydraulic or pneumatic tool
JP6922613B2 (ja) * 2017-09-27 2021-08-18 株式会社豊田自動織機 フォークリフトの荷役制御方法及びフォークリフトの荷役制御装置
SE544628C2 (en) 2018-07-23 2022-09-27 Joab Foersaeljnings Ab Hydraulic system and method for controlling the speed and pressure of a hydraulic cylinder
CN114183416A (zh) * 2021-12-16 2022-03-15 杭叉集团股份有限公司 一种三向堆垛式叉车液压系统
US11898329B2 (en) 2022-07-01 2024-02-13 Doosan Bobcat North America Inc. Hydraulic control circuit for implement

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US3987623A (en) * 1976-01-23 1976-10-26 Caterpillar Tractor Co. Controlled priority fluid system of a crawler type vehicle
DE3016157A1 (de) * 1980-04-26 1981-11-05 Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg Regalstapler fuer grosse hubhoehen
US4517800A (en) * 1980-10-31 1985-05-21 Kabushiki Kaisha Komatsu Seisakusho Hydraulic control system for off-highway self-propelled work machines
US4543031A (en) * 1983-04-22 1985-09-24 Crown Controls Corporation Apparatus for sideshift carriage control
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US4733533A (en) * 1984-04-05 1988-03-29 Linde Aktiengesellschaft Controls for power drive assemblies
DE19549150A1 (de) * 1994-12-30 1996-07-04 Daewoo Heavy Ind Co Ltd Hydrauliksteuerungssystem für Gabelstapler

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Publication number Priority date Publication date Assignee Title
US3911942A (en) * 1974-03-28 1975-10-14 Gen Signal Corp Compensated multifunction hydraulic system
US3987623A (en) * 1976-01-23 1976-10-26 Caterpillar Tractor Co. Controlled priority fluid system of a crawler type vehicle
DE3016157A1 (de) * 1980-04-26 1981-11-05 Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg Regalstapler fuer grosse hubhoehen
US4517800A (en) * 1980-10-31 1985-05-21 Kabushiki Kaisha Komatsu Seisakusho Hydraulic control system for off-highway self-propelled work machines
US4543031A (en) * 1983-04-22 1985-09-24 Crown Controls Corporation Apparatus for sideshift carriage control
US4733533A (en) * 1984-04-05 1988-03-29 Linde Aktiengesellschaft Controls for power drive assemblies
WO1986006142A1 (fr) * 1985-04-11 1986-10-23 Caterpillar Industrial Inc. Commande d'un systeme actionne par un fluide
DE19549150A1 (de) * 1994-12-30 1996-07-04 Daewoo Heavy Ind Co Ltd Hydrauliksteuerungssystem für Gabelstapler

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2062848A1 (fr) 2007-11-21 2009-05-27 HAWE Hydraulik SE Module de levage hydroélectrique
ITBO20090552A1 (it) * 2009-08-20 2011-02-21 Gd Spa Metodo ed unità di manovra per il cambio di un pannello frontale di una macchina automatica.
CN107089629A (zh) * 2017-06-08 2017-08-25 太原理工大学 一种用于工程机械的混合储能举升系统
CN107235440A (zh) * 2017-06-08 2017-10-10 太原理工大学 一种用于举升机构的液电混合节能系统
CN107235440B (zh) * 2017-06-08 2019-02-15 太原理工大学 一种用于举升机构的液电混合节能系统

Also Published As

Publication number Publication date
DE59811468D1 (de) 2004-07-01
EP0936179B1 (fr) 2004-05-26
US6220027B1 (en) 2001-04-24
DE29802498U1 (de) 1998-04-16

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