EP0998423B1 - Flurförderzeug - Google Patents

Flurförderzeug Download PDF

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Publication number
EP0998423B1
EP0998423B1 EP98924114A EP98924114A EP0998423B1 EP 0998423 B1 EP0998423 B1 EP 0998423B1 EP 98924114 A EP98924114 A EP 98924114A EP 98924114 A EP98924114 A EP 98924114A EP 0998423 B1 EP0998423 B1 EP 0998423B1
Authority
EP
European Patent Office
Prior art keywords
lifting device
load lifting
roller body
movable
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
Application number
EP98924114A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0998423A1 (de
Inventor
Otto Kollmannsberger
Johann Vockinger
Martin Wichmann
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.)
Jungheinrich Moosburg GmbH
Original Assignee
Steinbock GmbH
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 Steinbock GmbH filed Critical Steinbock GmbH
Priority to DE29824820U priority Critical patent/DE29824820U1/de
Publication of EP0998423A1 publication Critical patent/EP0998423A1/de
Application granted granted Critical
Publication of EP0998423B1 publication Critical patent/EP0998423B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors

Definitions

  • the invention relates to an industrial truck according to the preamble of the claim 1 and an industrial truck according to the preamble of claim 2.
  • the position measuring device has a gear rotatably mounted in a stationary mast part which meshes with the teeth of a row of teeth, which is telescopically adjustable in height relative to the stationary mast part guided movable mast part is formed.
  • an industrial truck with a Position measuring device for determining the lifting height of a height-adjustable Lifting device disclosed.
  • the load handler is from a hydraulic cylinder fed by a hydraulic pump, the hydraulic pump being driven by an electric motor. Of The revolutions are based on a zero position of the load handler the hydraulic pump in one direction of rotation incrementally and recorded in the opposite direction of rotation decrementally and with inclusion the overall efficiency of the lifting system to determine the respective lifting height evaluated.
  • the of the Light diode and the phototransistor light path is formed when rotating the disk alternately released from the edge slots or interrupted by the teeth between the marginal slots, see above that the phototransistor delivers a pulse-shaped electrical signal, its respective pulse number with the angle of rotation of the disc and thus rotatably connected chain gear corresponds, from which Angle of rotation of the chain gearwheel engaged with the lifting chain the respective change in lifting height of the load fork is determined. Since the respective rotation of the chain gear when lifting and lowering the Load fork directly on the length of the chain sprocket deflected chain section depends, cause changes in the Chain length, which often occurs during operation under load, leads to errors when determining the lifting height.
  • the invention has for its object a truck of the beginning Specify the type mentioned, in which the position measuring device with simple Means can be realized inexpensively and yet in a more reliable manner Way provides position measurement results of high accuracy and resolution.
  • This task is based on an industrial truck with the characteristics of the preamble of claim 1 according to the invention by the features of the characterizing part of claim 1 solved. Likewise, the mentioned task by an industrial truck with the features of the claim 2 solved.
  • the reel body can, on the other hand, according to claim 2, in relation to be rotatably arranged on the guide stationary element, with it its circumference on the element movable with the load suspension device is applied in such a way that it moves with the load suspension device movable element is forcibly rotated.
  • the embodiment according to claim 2 has the advantage that the signal lines no movements have to perform and can be laid in a fixed manner.
  • a Forklift is a driver's cabin height adjustable on a main mast arranged, wherein a swivel pushing device is arranged on the driver's cab which is a traversable to the stroke direction of the driver's cab Has additional mast on which the load handler parallel to Lifting direction of the driver's cabin and height-adjustable relative to the driver's cabin is arranged, wherein the load-carrying means further by one to the lifting direction the driver's cab parallel axis pivotable relative to the driver's cabin is.
  • a Reel body with relevant signal generator rotatable on the driver's cab is arranged and can roll on a track on the main mast, that another roller body on one with the load handler for common movement related to the auxiliary mast Element is rotatably arranged and on a track on the additional mast can roll off.
  • the evaluation device can then from the signals of the Signal generator the height positions of the load handler and the Driver cabin relative to the main mast or the height position of the Determine the load handler relative to the additional mast. Further can a reel body with signal generator in a corresponding manner Determination of the lateral thrust of the load handler at the driver's cabin be provided.
  • the forklift 1 is a so-called order picking three-sided stacker.
  • the forklift 1 has a telescopically adjustable length Mast 3 with one in relation to the chassis of the forklift 1 fixed lower mast part 5 and one relative to the lower Mast part 5 extendable or retractable in the vertical direction upper mast part 7, on which a driver's cab 9 adjustable in height is arranged.
  • a driver's cab 9 adjustable in height is arranged at the front of the driver's cab 9 .
  • a swivel push device 11 arranged laterally relative to the driver's cab 9, i. H. in Fig.
  • Has additional mast (additional mast) 13 on which a load suspension device (Fork) 1 5 with its bracket 16 adjustable in height relative to the driver's cabin 9 is performed.
  • the additional mast 13 can be together with the load handling device 15 are pivoted about an axis 17 by approximately 180 °.
  • a roller bearing 18 designed as an incremental angle encoder is arranged, whose rotatable outer ring 19 as a roller body with a roller axis perpendicular to the lifting direction of the upper mast part 7, the Roller body 19 with its circumference on a surface 21 of the lower Mast part 5 abuts, one in the lifting direction of the upper mast part 7 extending path forms on which the roller body 19 at telescopic Displacement of the upper mast part 7 relative to the lower mast part 5 rolls.
  • the roller bearing 18 is attached to the mast part 7, that the roller body 19 is resiliently biased towards its path 21 and is therefore always in contact with the train.
  • Fig. 1 the upper mast part 7 is shown partially extended, while the cabin 9 is in its uppermost position relative to the upper Mast part 7 is shown.
  • the load handling device 15 is located in its lowest position relative to the additional mast 13 and is for 1 side swiveled.
  • the hydraulic Drive means for the elements 7, 9, 11 and 15 are not shown.
  • the evaluation circuit determines the position of the upper counter reading Mast part 7 relative to the lower mast part 5.
  • the evaluation circuit can from the pulses counted per unit of time also the respective Determine the stroke speed, the stroke speed values as Actual values for a stroke speed control, for example, depending relative to the respective position of the upper mast part 7 can be used for the lower mast part 5, for example in the Meaning that the lifting speed is reduced in a controlled manner, when the upper mast part 7 reaches its maximum permissible lifting height position or approaching another predetermined position.
  • reference transmitters for the Position measuring device provided.
  • it is proximity sensors 23 and 25, which are attached to the lower mast part 5 are arranged and one on the upper mast part 7 at a predetermined location attached reference transmitter element (Mark) 27 a respective reference signal to the evaluation circuit submit.
  • the evaluation circuit can use the reference signal from Check the position sensor derived from the angle encoder 18 and if necessary correct.
  • the reference value providers can also be used are to calibrate the measuring range of the position measuring device, wherein the upper mast part 7 starting from its lowest basic position is extended so that the reference value transmitter element 27 in succession is guided past the proximity sensors 23 and 25.
  • the evaluation circuit represents the number of 18 from the angle encoder per channel emitted pulses between the occurrence of the first reference signal from the proximity sensor 23 and the occurrence of the second reference signal from the proximity sensor 25 to the respective number of pulses the predetermined distance between the proximity sensors 23 and 25 to normalize so that a very exact assignment between changes in position of the upper mast part 7 and changes in the angle of rotation Roll body 19 can be taken.
  • the sensors 23 and 25 can as inductive proximity sensors, light barrier switches or the like be trained and possibly take on additional functions, as part of an end position detection circuit.
  • a single reference sensor for example the reference sensor 23, get along, for example, at a predetermined distance above the lowest possible position of the reference element 27 is arranged, the the reference element 27 assumes when the upper mast part 7 has completely moved into its lowest basic position.
  • Another Possibility is to use a single reference encoder at over which the reference sensor in question and the reference transmitter element cooperate a predetermined stroke section.
  • FIG. 3 shows an explanation of a further way of referencing lower mast part 5a and a telescopically displaceable relative thereto upper mast part 7a of a length-adjustable mast one Industrial truck according to the invention.
  • the upper mast part 7a is shown in Fig. 3 in a position in which it by a predetermined reference distance r from its lowest possible Rest position is raised.
  • the sensor 23a at the reference distance r changes its output signal when the mast part 7a over the reference path r is moved upwards or again when moving downwards reaches the reference range.
  • Fig. 3 is the upper mast part 7a shown in a snapshot, in which it is a signal change on the Sensor 23a causes. From the signal state of the sensor 23a clearly derived whether the mast part 7a outside the Reference distance range r is and that it is to be lowered in order to its lower end in the reference path area r for referencing contribute.
  • Fig. 3 also shows the possibility that the angle encoder 18a on the fixed mast part is rotatably arranged and set in rotation when the movable mast part 7a moves up or down becomes.
  • Another angle transmitter 18 ′′ corresponding to the angle transmitter 18 ′′ is on an element 16 which is firmly connected to the load suspension device 15 arranged, the associated roller body 19 "on a vertical running path of the additional mast 13 rolls when the load handler 15 is raised or lowered relative to the additional mast 13.
  • the evaluation circuit also evaluates the pulse signals of the latter Angle encoder 18 "and can from the respective angle encoder information the lifting height of the load-carrying means 15 relative to the driver's cab 9 and determine relative to the mast parts 7 and 5.

Landscapes

  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Civil Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Transition And Organic Metals Composition Catalysts For Addition Polymerization (AREA)
  • Seal Device For Vehicle (AREA)
  • Pharmaceuticals Containing Other Organic And Inorganic Compounds (AREA)
  • Fluid-Damping Devices (AREA)
  • Maintenance And Inspection Apparatuses For Elevators (AREA)
  • Vehicle Body Suspensions (AREA)
  • Thermotherapy And Cooling Therapy Devices (AREA)
EP98924114A 1997-07-23 1998-04-14 Flurförderzeug Expired - Lifetime EP0998423B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE29824820U DE29824820U1 (de) 1997-07-23 1998-04-14 Flurförderzeug

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19731687 1997-07-23
DE19731687A DE19731687A1 (de) 1997-07-23 1997-07-23 Flurförderzeug
PCT/EP1998/002160 WO1999005059A1 (de) 1997-07-23 1998-04-14 Flurförderzeug

Publications (2)

Publication Number Publication Date
EP0998423A1 EP0998423A1 (de) 2000-05-10
EP0998423B1 true EP0998423B1 (de) 2002-09-25

Family

ID=7836667

Family Applications (1)

Application Number Title Priority Date Filing Date
EP98924114A Expired - Lifetime EP0998423B1 (de) 1997-07-23 1998-04-14 Flurförderzeug

Country Status (11)

Country Link
US (1) US6269913B1 (pt)
EP (1) EP0998423B1 (pt)
JP (1) JP2001510770A (pt)
AT (1) ATE224853T1 (pt)
AU (1) AU7643098A (pt)
CA (1) CA2296340A1 (pt)
DE (2) DE19731687A1 (pt)
DK (1) DK0998423T3 (pt)
ES (1) ES2181224T3 (pt)
PT (1) PT998423E (pt)
WO (1) WO1999005059A1 (pt)

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DE10054791A1 (de) * 2000-11-04 2002-05-08 Still Wagner Gmbh & Co Kg Lasthandhabungsvorrichtung für ein Flurförderzeug
DE10054792A1 (de) * 2000-11-04 2002-05-08 Still Wagner Gmbh & Co Kg Flurförderzeug mit einer Vorrichtung zum Erfassen der Hubhöhe
EP1258450A3 (de) * 2001-05-16 2005-02-09 Still Gmbh Flurförderzeug mit einer Vorrichtung zum Erfassen der Stellung eines Aktuators
JP3830130B2 (ja) * 2001-05-25 2006-10-04 日本輸送機株式会社 フォークリフト
DE10153531A1 (de) * 2001-10-30 2003-05-15 Bosch Gmbh Robert Sensoranordnung für eine Messung der Auslenkung eines bewegten Teils einer mechanischen Vorrichtung
US6533076B1 (en) 2002-02-06 2003-03-18 Crown Equipment Corporation Materials handling vehicle mast height sensor
US6897388B2 (en) * 2002-03-28 2005-05-24 Siemens Energy & Automation Apparatus and method for remotely moving a circuit breaker into or from a circuit breaker cell housing
DE102004040298A1 (de) * 2004-08-19 2006-02-23 Jungheinrich Ag Flurförderzeug mit vergrößertem Fahrersichtfeld
DE102004041391A1 (de) * 2004-08-26 2006-03-02 Jungheinrich Aktiengesellschaft Messeinrichtung zum inkrementalen Messen von Positionen, Stellwegen oder Stellwinkeln und mit einer derartigen Messeinrichtung ausgestattetes Flurförderzeug
US7344000B2 (en) * 2004-09-23 2008-03-18 Crown Equipment Corporation Electronically controlled valve for a materials handling vehicle
FI20065637A0 (fi) * 2006-10-04 2006-10-04 Jyri Vaherto Menetelmä trukin tartuntaelimen ohjaamiseksi sekä vastaava järjestelmä ja säätölaitteisto
US20080257651A1 (en) * 2007-04-23 2008-10-23 Williamson Joel L Lift truck with productivity enhancing package including variable tilt and vertical masting
US8230976B2 (en) * 2008-04-16 2012-07-31 The Raymond Corporation Pallet truck with calculated fork carriage height
JP5353371B2 (ja) * 2008-05-26 2013-11-27 株式会社豊田自動織機 多段マスト式フォークリフトの荷重計測装置
DE102008029205A1 (de) * 2008-06-19 2009-12-24 Jungheinrich Aktiengesellschaft Flurförderzeug mit optischer Hubhöhenmessung
US8278863B2 (en) * 2009-06-16 2012-10-02 Ns Microwave Telescoping mast
CN102092427B (zh) * 2010-11-19 2012-09-12 合肥易发科技有限公司 多用电动控制牵引驱动头
DE102011009366A1 (de) 2011-01-25 2012-07-26 Linde Material Handling Gmbh Gegengewichtsgabelstapler mit einem Hubhöhenmesssystem
RU2016136704A (ru) 2011-02-16 2018-12-11 КРАУН ЭКВАЙПМЕНТ КОРПОРЕЙШН, Корпорация штата Огайо Погрузочно-разгрузочное транспортное средство, рассчитывающее скорость подвижного узла по скорости двигателя механизма подъёма
CA2909025C (en) * 2011-05-13 2017-03-07 Chep Technology Pty Limited Pallet truck with lift indicator assembly and associated methods
DE102012103364A1 (de) * 2011-08-23 2013-02-28 Still Gmbh Flurförderzeug mit Hubhöhenmessung
GB201204387D0 (en) * 2012-03-12 2012-04-25 Translift Bendi Ltd Order pickers
EP2772463B1 (en) 2013-02-28 2017-05-03 Toyota Material Handling Manufacturing Sweden AB A Forklift truck
US9440827B2 (en) * 2014-03-20 2016-09-13 Jungheinrich Aktiengesellschaft Lift mast height sensor for an industrial truck
DE102014004139A1 (de) 2014-03-24 2015-09-24 Still Gmbh Abstandsmessbaugruppe
DE102015101090A1 (de) 2014-03-24 2015-09-24 Still Gmbh Abstandsmessgerät
DE102014004140A1 (de) 2014-03-24 2015-09-24 Still Gmbh Ausrichtbares Abstandsmessgerät
WO2016043998A1 (en) * 2014-09-15 2016-03-24 Crown Equipment Corporation Lift truck with optical load sensing structure
DE102015100534B4 (de) 2015-01-15 2024-03-14 Linde Material Handling Gmbh Hubbegrenzungseinrichtung eines Flurförderzeugs
US10018721B2 (en) * 2015-02-19 2018-07-10 Manitowoc Crane Companies, Llc Ruggedized packaging for linear distance measurement sensors
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Also Published As

Publication number Publication date
AU7643098A (en) 1999-02-16
ES2181224T3 (es) 2003-02-16
DK0998423T3 (da) 2002-11-04
US6269913B1 (en) 2001-08-07
EP0998423A1 (de) 2000-05-10
ATE224853T1 (de) 2002-10-15
WO1999005059A1 (de) 1999-02-04
PT998423E (pt) 2003-02-28
CA2296340A1 (en) 1999-02-04
JP2001510770A (ja) 2001-08-07
DE19731687A1 (de) 1999-02-04
DE59805719D1 (de) 2002-10-31

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