EP0936179B1 - Staplersteuerung - Google Patents
Staplersteuerung Download PDFInfo
- Publication number
- EP0936179B1 EP0936179B1 EP98120848A EP98120848A EP0936179B1 EP 0936179 B1 EP0936179 B1 EP 0936179B1 EP 98120848 A EP98120848 A EP 98120848A EP 98120848 A EP98120848 A EP 98120848A EP 0936179 B1 EP0936179 B1 EP 0936179B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- pressure
- directional control
- control
- proportional
- 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.)
- Expired - Lifetime
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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 shelf stacker specified in the preamble of claim 1 Art.
- Require shelf 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 forklift 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 forklift controls also run precisely through the computer lets, i.e. exactly proportional to the control signals.
- Another problem with one precise proportional control of the swivel sliding fork results from the fact that the swiveling and pushing, if necessary simultaneously, performing hydraulic motors need significantly different throughputs, e.g. in a relationship from 1: 3 to 1: 6, and the control of the hydraulic motor with the smaller amount too then must be reliably proportional, if at the same time the larger one Quantity required hydraulic motor is moved.
- a hydraulic steering control with a double-acting steering cylinder as privileged Hydromotor integrated in the truck control system which also has a lifting cylinder and controls two swivel cylinders of the fork.
- Two are separated in the forklift control contain actuatable pressure sources, of which those assigned to the steering cylinder
- the pressure source is running continuously and the pumped pressure medium via a 3-way pressure compensator if the hydraulic motors are not actuated via an unpressurized circulation through the directional spool of the lifting cylinder and the swivel cylinder to the tank leads.
- the 3-way pressure compensator is dependent on the pressure difference between the Input pressure of the directional control spool of the steering cylinder and the current working pressure piloted and regulates for the lift cylinder and the swivel cylinder only the available excess quantity that the steering cylinder does not need at the moment. Should the excess amount for proper actuation of the lifting cylinder and the swivel cylinder is not sufficient, the second pressure source is switched on.
- the two directional spool for the lifting cylinder and the swivel cylinder are connected in parallel to a common pressure line so that the swivel cylinder cannot gain priority over the lifting cylinder. All directional spool are designed with a blocked zero position, so that in the zero position each Shut off the working line to a hydraulic motor. This requires for the unpressurized Circulation in the directional control slide for the lifting cylinder and the swivel cylinder at least one additional tax level.
- the invention has for its object a shelf stacker of the aforementioned Art to create that with an inexpensive, space-saving and comfortable Forklift control the safe maneuvering of the swivel sliding fork in narrow corridors, if necessary, computer-guided, enables.
- the 3-way pressure compensator is structurally simple and inexpensive priority is always given to the swivel hydraulic motor, with simultaneous control of another hydraulic motor the risk of being no longer exactly proportional Control is given, i.e. the hydraulic motor with the lower volume throughput.
- the other one or more hydraulic motors receive by influencing the 3-way pressure compensator always only the excess quantity, so that at least the privileged Swivel hydraulic motor precisely proportional under all operating conditions to be controlled by means of the proportional directional control spool, which is for the 3-way pressure compensator also contains the control panel.
- the installation space for the forklift control and the outlay on equipment is also reduced because there are few compact components are sufficient and because of the 3-way pressure compensator also a very simple one Circulation switching is possible, via which that is usually operated electrically Hydraulic medium pumped with pressure source with low throttle resistance and low Back pressure gets into the return if no hydraulic motor can be controlled.
- the Load holding device is provided to hydraulically block and hydromotor each to be able to keep a load leak-free.
- the load holding device alternately with Load control valves that can be controlled in the working lines enable sensitive movement control under load and helps to simplify the circulation circuit because, in a load holding situation, both work lines downstream of the Directional spool valve and automatic control pressure for the 3-way pressure compensator that switches the 3-way pressure compensator to the circulation position. Furthermore, only the load holding device enables the use of one in the zero position open, and therefore short directional spool, which has no separate flow paths needed 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 priority to the swivel hydraulic motor with respect to the further or further hydraulic motors, regardless of whether and how these are applied.
- the 3-way pressure compensator is structurally particularly simple.
- the proportional directional spool relieves the privileged Swivel hydraulic motor in the zero position the two working lines to the return, so that there is a strong control pressure drop that can be used for the circulation circuit is.
- the further hydraulic motor is controlled either only in its direction at a rate that depends on how much the privileged Hydromotor leaves, or if necessary via a conveyor control of the 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 axis 7 defining a vertical axis Mast 6 swivel mounted (swivel sliding fork).
- the mast 6 is in a support structure 5 held.
- a hydromotor H1 the shifting movement the fork G is controlled, while with at least one hydraulic motor H2 Swivel movement of the fork G around 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 performed by computer C, for example.
- 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 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 fro. Both cylinders 13, 14 are, for example, only on their piston rod sides pressurized while their piston sides are short-circuited.
- the stacker control S in Fig. 3 is from a pressure source 15, for. B. one electrically driven hydraulic pump, supplied with pressure medium.
- a pressure relief valve 18 to a return 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.
- a control line 25 branches off, which is connected via a throttle 26 to the opposite one Control side of the 3-way pressure compensator D leads.
- 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, however, the control piston 21 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 further 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 is 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 cross 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 piston K, 21 is sealed in the housing bore 42 movable according to the effective in both axial directions Control pressures from the control lines 25 and 27, the control pressure of the control line 27 nor the force of the, suitably adjustable, control spring 24 is added.
- the control spring is designed very weak, and is essentially only sufficient to do so, the control piston K in the open position of the connection from the pressure connection Hold P to pressure port 16 when the system is depressurized.
- the power the control spring 24 is essentially the relevant throttle factor, that in the unpressurized Circulation from the pressure source has 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 Directional spool 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.
Description
- Fig. 1
- eine schematische Seitenansicht eines Regalstaplers,
- Fig. 2
- eine schematische Draufsicht auf einen Regalstapler beim Arbeiten in einem begrenzten Flurbereich,
- Fig. 3
- ein Blockschaltbild einer ersten Ausführungsform einer Staplersteuerung,
- Fig. 4
- ein Blockschaltbild einer weiteren Ausführungsform einer Staplersteuerung, und
- Fig. 5
- einen schematischen Längsschnitt eines Details.
Claims (9)
- Regalstapler, insbesondere Hochregalstapler (F), mit einer Schwenkschiebegabel (G), die mit über eine, gegebenenfalls computergeführte, Staplersteuerung (S) hydraulisch gesteuerten Hydromotoren (H1, H2) über an eine gemeinsame Druckquelle (15) angeschlossene magnetbetätigte Wegesteuerschieber (W1, W2) wenigstens um eine Hochachse (7) schwenkbar und horizontal verschiebbar ist, dadurch gekennzeichnet, dass in der Staplersteuerung (S) in einer Druckleitung (16) zwischen der Druckquelle (15, P) und den Wegesteuerschiebem (W1, W2) zur Bevorrechtigung des Schwenk-Hydromotors (H2) eine 3-Wege-Druckwaage (D) vorgesehen ist, die von stromauf und stromab des Wegesteuerschiebers (W1, W2) des bevorrechtigten Schwenk-Hydromotors (H2) abgegriffenen Steuerdrücken gesteuert ist, dass zumindest der Wegesteuerschieber (W1) des bevorrechtigten Schwenk-Hydromotors (H2) als Proportional-Wegesteuerschieber mit zum Tank offener Nullstellung ausgebildet ist, dass die 3-Wege-Druckwaage (D) Teil einer über die Steuerung des weiteren Hydromotors (H1) geführten Umlaufschaltung (U) von der Druckquelle (15, P) zum Tank ist, und dass der Schwenk-Hydromotor (H2) und der weitere Hydromotor (H1) jeweils an zwei Arbeitsleitungen (A1, B1, A2, B2) angeschlossen ist, in denen zwischen dem Wegesteuerschieber (W1, W2) und dem Hydromotor (H1, H2) eine Lasthaltevorrichtung (L) mit wechselseitig aus den Arbeitsleitungen aufsteuerbaren Lasthalteventilen (35) vorgesehen ist.
- Regalstapler nach Anspruch 1, dadurch gekennzeichnet, dass die Arbeitsleitungen (A1, B1) des bevorrechtigten Schwenk-Hydromotors (H2) zwischen dem Proportional-Wegesteuerschieber (W1) und der Lasthaltevorrichtung (L) durch eine Querleitung (31) verbunden sind, in der ein Wechselventil (30) mit einem den jeweils höheren Arbeitsleitungsdruck führenden Ausgang (32) enthalten ist, und das vom Ausgang (32) eine Steuerleitung (27) zur 3-Wege-Druckwaage (D) führt.
- Regalstapler nach Anspruch 1, dadurch gekennzeichnet, dass die 3-Wege-Druckwaage (D) einen Regelkolben (K, 21) enthält, der in Schließrichtung einer Verbindung von der Druckquelle (15, P) zum Proportional-Wegesteuerschieber (W1) des Schwenk-Hydromotors (H2) vom höheren Steuerdruck stromauf des Proportional-Steuerschiebers (W1) und in Öffnungsrichtung der Verbindung vom niedrigeren Steuerdruck stromab des Proportional-Wegesteuerschiebers (W1) und von einer Regelfeder (24) beaufschlagt ist.
- Regalstapler nach Anspruch 3, dadurch gekennzeichnet, dass der Regelkolben (K) in einer zwei Druckanschlüsse (43, 44) aufweisenden Gehäusebohrung (42) verstellbar ist, einen von zwei sich gegenüberliegenden Steuerkanten (46, 47) begrenzten Strömungsweg (45) aufweist, und mit den beiden Steuerkanten (46, 47) blendenartig und wechselseitig mit den beiden Druckanschlüssen zusammenarbeitet.
- Regalstapler nach Anspruch 1, dadurch gekennzeichnet, dass der Proportional-Wegesteuerschieber (W1) in der Nullstellung beide Arbeitsleitungen (A1, B1) mit dem Tank verbindet und die von der 3-Wege-Druckwaage (D) kommende Druckleitung (16) absperrt.
- Regalstapler nach Anspruch 1, dadurch gekennzeichnet, dass die Umlaufschaltung (U) zusätzlich über eine weitere Druckleitung (17) über den Wegesteuerschieber (W2) des weiteren Hydromotors (H1) oder über einen diesem Wegesteuerschieber (W2) vorgesetzten 3-Wege-Mengenregler (19) verläuft, vorzugsweise durch einen durch einen Proportionalmagneten (20) betätigten 3-Wege-Mengenregler.
- Regalstapler nach Anspruch 6, dadurch gekennzeichnet, dass der als magnetbetätigte Wegesteuerschieber ausgebildete Wegesteuerschieber (W2) des weiteren Hydromotors (H1) direkt über die weitere Druckleitung (17) an die 3-Wege-Druckwaage (D) angeschlossen ist und in seiner Nullstellung beide Arbeitsleitungen (A2, B2) des weiteren Hydromotors (H1) und die weitere Druckleitung (17) mit dem Rücklauf (R) verbindet.
- Regalstapler nach Anspruch 6, dadurch gekennzeichnet, dass der als magnetbetätigte Wegesteuerschieber ausgebildete Wegesteuerschieber (W2) des weiteren Hydromotors (H1) an die 3-Wege-Druckwaage (D) über die weitere Druckleitung (17) angeschlossen ist, in der der an den Rücklauf (R) angeschlossene, mittels eines Proportionalmagneten (20) verstellbare 3-Wege-Mengenregler (19) angeordnet ist, und dass der Wegesteuerschieber (W2) in seiner Nullstellung beide Arbeitsleitungen (A2, B2) mit dem Rücklauf (R) verbindet und die weitere Druckleitung (17) absperrt.
- Regalstapler nach Anspruch 1, dadurch gekennzeichnet, dass mit den Magneten bzw. Proportionalmagneten (33, 34, 20) der Wegesteuerschieber (W1, W2) und gegebenenfalls des 3-Wege-Mengenreglers (19) ein Führungscomputer (C) in Steuerverbindung steht, und dass Wege- und/oder Positionsmelder (8, 9) der Schwenkschiebe-Gabel (G) an den Führungscomputer (C) angeschlossen sind.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE29802498U | 1998-02-13 | ||
DE29802498U DE29802498U1 (de) | 1998-02-13 | 1998-02-13 | Staplersteuerung |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0936179A1 EP0936179A1 (de) | 1999-08-18 |
EP0936179B1 true EP0936179B1 (de) | 2004-05-26 |
Family
ID=8052632
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP98120848A Expired - Lifetime EP0936179B1 (de) | 1998-02-13 | 1998-11-03 | Staplersteuerung |
Country Status (3)
Country | Link |
---|---|
US (1) | US6220027B1 (de) |
EP (1) | EP0936179B1 (de) |
DE (2) | DE29802498U1 (de) |
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US4485623A (en) * | 1981-08-10 | 1984-12-04 | Clark Equipment Company | Vehicle hydraulic system with pump speed control |
US4543031A (en) * | 1983-04-22 | 1985-09-24 | Crown Controls Corporation | Apparatus for sideshift carriage control |
DE3412871A1 (de) * | 1984-04-05 | 1985-10-17 | Linde Ag, 6200 Wiesbaden | Steuereinrichtung fuer ein antriebsaggregat |
US4663936A (en) * | 1984-06-07 | 1987-05-12 | Eaton Corporation | Load sensing priority system with bypass control |
US4635439A (en) * | 1985-04-11 | 1987-01-13 | Caterpillar Industrial Inc. | Fluid operated system control |
DE3800188A1 (de) * | 1988-01-07 | 1989-07-20 | Danfoss As | Hydraulische sicherheitsbremsventilanordnung |
DE4031951C2 (de) * | 1990-10-09 | 1994-06-09 | Danfoss As | Hydraulisches Lenksystem für Fahrzeuge |
DE4105459A1 (de) * | 1991-02-21 | 1992-08-27 | Heilmeier & Weinlein | Hydraulische steuervorrichtung |
KR0166131B1 (ko) * | 1994-12-30 | 1998-12-01 | 석진철 | 지게차의 유압회로 |
US5653569A (en) * | 1996-01-10 | 1997-08-05 | Sears; David E. | Turn-table attachment for fork lift vehicle |
-
1998
- 1998-02-13 DE DE29802498U patent/DE29802498U1/de not_active Expired - Lifetime
- 1998-11-03 DE DE59811468T patent/DE59811468D1/de not_active Expired - Lifetime
- 1998-11-03 EP EP98120848A patent/EP0936179B1/de not_active Expired - Lifetime
-
1999
- 1999-01-06 US US09/226,757 patent/US6220027B1/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
DE59811468D1 (de) | 2004-07-01 |
DE29802498U1 (de) | 1998-04-16 |
EP0936179A1 (de) | 1999-08-18 |
US6220027B1 (en) | 2001-04-24 |
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