EP1178943A1 - Dispositif servant a reguler la fonction d'inclinaison d'un mat de levage, notamment pour un chariot a fourche - Google Patents

Dispositif servant a reguler la fonction d'inclinaison d'un mat de levage, notamment pour un chariot a fourche

Info

Publication number
EP1178943A1
EP1178943A1 EP00993835A EP00993835A EP1178943A1 EP 1178943 A1 EP1178943 A1 EP 1178943A1 EP 00993835 A EP00993835 A EP 00993835A EP 00993835 A EP00993835 A EP 00993835A EP 1178943 A1 EP1178943 A1 EP 1178943A1
Authority
EP
European Patent Office
Prior art keywords
valve
control
working
working cylinder
control valve
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.)
Withdrawn
Application number
EP00993835A
Other languages
German (de)
English (en)
Inventor
Wolfgang Koetter
Georg Winkes
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch 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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP1178943A1 publication Critical patent/EP1178943A1/fr
Withdrawn legal-status Critical Current

Links

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
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
    • F15B11/162—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load for giving priority to particular servomotors or users
    • 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
    • B66F9/08—Masts; Guides; Chains
    • B66F9/082—Masts; Guides; Chains inclinable
    • 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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/003—Systems with load-holding valves
    • 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
    • F15B9/00—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member
    • F15B9/02—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type
    • F15B9/08—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor
    • F15B9/09—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor with electrical control means
    • 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
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30525—Directional control valves, e.g. 4/3-directional control valve
    • F15B2211/3053—In combination with a pressure compensating valve
    • F15B2211/30535—In combination with a pressure compensating valve the pressure compensating valve is arranged between pressure source and directional control valve

Definitions

  • the invention relates to a device for controlling the tilting function of a lifting mast in a mobile work vehicle, in particular a forklift truck according to the type specified in the preamble of claim 1.
  • the tilt speed cannot be Current can be controlled, which is supplied on the other side of the cylinder. Rather, the volume flow running to the tank must be throttled so that the desired speed is obtained.
  • the signals of the tilt pressure sensor in connection with a stroke pressure sensor are only used to give the operator a warning signal for the tilting behavior of the forklift.
  • the directional valve of the tilt function is operated by hand.
  • a hydraulic control arrangement for a forklift truck which, among other things, has a valve axis for the tilt function, in which a 6/3-way valve with electrical actuation controls a double-acting working cylinder.
  • a 6/3-way valve with electrical actuation controls a double-acting working cylinder.
  • preload valves instead of such load-holding valves, which represent a combination of a pressure limiting valve and a check valve.
  • Such biasing valves act like a pressure relief valve for the volume flow emerging from the working cylinder; this is set to a value that is higher than the highest load pressure that occurs.
  • Such valves have the disadvantage that even for actuation in the load direction, a pressure must always be built up in the other cylinder chamber, which raises the pressure on the discharge side to the level of the pressure relief valve, which leads to energy losses in operation.
  • the preload valves also require additional valve effort in both working lines.
  • the device according to the invention for controlling the tilting function of a lifting mast in a mobile work vehicle with the characterizing features of the main claim has the advantage that it enables effective control of driving loads without additional valve elements between the working cylinder and directional control valve, so that the tilting function in both directions of movement even under load changes can be controlled safely and reliably.
  • the device is therefore less expensive to build and, unlike hydromechanical concepts, has no tendency to vibrate.
  • a better application to the forklift can be carried out by means of appropriate software parameters by simplifying the controller tuning. Because the regulation of the incline speed too acts in operation without a driving load, there is therefore no need for a hydromechanical limitation of the incline speed by means of a current regulator or an individual pressure compensator.
  • the position sensor in the device can also be used for further functions; its signals can be used to reduce the speed when approaching the stroke end in the manner of an electronic end position damping. It can also be achieved with the position sensor that a dependence of the maximum inclination speed on the inclination angle can be achieved.
  • the device according to the invention for controlling the tilt function uses the knowledge that the control edge on the slide of the directional control valve, which connects the working cylinder connection to the tank, can be used to regulate the speed of the working cylinder in the event of a driving load. Depending on the load state, whether driving or driven, this control edge must be opened to different degrees so that the desired volume flow can pass. In order to be able to set the desired speed regardless of the load condition, the cylinder drive is operated in a closed control loop. Via a position sensor, which detects the movement of the mast, depending on the design, path, angle or speed, the movement of the
  • Detect tilt cylinder The electrical output signals of the position sensor are fed to control electronics, the controllers of which carry out a comparison with the setpoint and correct deviations.
  • control electronics the controllers of which carry out a comparison with the setpoint and correct deviations.
  • an electrically actuated directional control valve is required, the energization of the actuating magnets being used as manipulated variables for the controller.
  • An embodiment according to claim 2 is particularly advantageous since a speed control loop allows particularly simple control. Also favorable are versions according to claims 3 and 4, whereby no operation of the hydraulic pump is required when tilting with sufficient driving load pressure, since the required amount of oil is sucked in by the double-acting working cylinder. This not only leads to energy savings, but also has noise advantages. Furthermore, an embodiment according to claim 5 is particularly expedient, since it can be used to carry out an emergency shutdown and high requirements with regard to tightness can be met, so that a simpler and cheaper control valve can be used. An embodiment according to claim 7 also favors the control of the tilt function without operating the hydraulic pump. Further advantageous embodiments result from the remaining claims of the description and the drawing.
  • FIG 1 shows a simplified representation of a device 10 for controlling the tilting function of a lifting mast 11 in a mobile work vehicle, which is designed here as a forklift 12.
  • the lifting mast 11 with its lifting device 13, which is of no interest here, is shown in FIG in a known manner with the help of an axis 14 pivotally mounted on the housing 15 of the forklift 12.
  • a hydraulically actuated, double-acting working cylinder 16 is articulated on the housing 15 and on the mast 11; with it, the lifting mast 11 can be held in its respective position or tilted forwards in the direction of travel of the forklift 12 and backwards against the direction of travel.
  • This working cylinder 16 is therefore also referred to as a tilt cylinder and is usually designed as a differential cylinder.
  • valve block 17 To actuate the working cylinder 16, a valve block 17 is provided, which is connected to a pump 18 for pressure medium supply and to a tank 19 m for relief.
  • the valve block 17 itself has an electromagnetically controllable, proportionally operating 4/3-way valve 21, which is followed by an isolating valve 22.
  • the device 10 For the electrical control of the directional control valve 21, the device 10 has control electronics 23 which are supplied by an electrical energy source 24 with current or
  • control electronics 23 are operatively connected to an electromechanical setpoint generator 25, which is arranged in a fixed position in the forklift 12 and at whose input 26 setpoints for the desired tilting speed can be set.
  • an electromechanical position sensor 27 is arranged in the forklift 12, which detects the movement of the mast 11 when tilting and reports actual values dependent thereon as electrical signals to the control electronics 23.
  • the actual and target values are controlled by the controllers of the
  • a return port 36 is connected to the return channel 32 via a return line 40.
  • Working lines 39 and 41 lead from the two motor connections 37 and 38 of the directional control valve to connections A and B. In these working lines 39, 41, the isolating valve 22 is connected, which in a spring-centered basic position 42 with its seat valves 50 connects A and B securely seals.
  • the release valve 22 is by a magnet 43 in one
  • Motor connection 37 is connected to the return connection 36 via a flow control edge 47.
  • the directional control valve 21 additionally has a control connection 48, via which in the first working position 45 the load pressure downstream of the measuring orifice 46 and thus in the second motor connection 38 tapped and led to the pressure compensator 34 via a control line 49.
  • this control connection 48 is connected to the return line 40 via a suction valve 51, the suction valve 51 opening towards the control connection 48.
  • the control line 49 is also connected to a control line system 52 which is not of interest here.
  • the directional control valve 21 also has, in addition to its central position 53, a second working position 54 in which the connections are now interchanged so that the drain control edge 47 is now connected between the second motor connection 38 and the return connection 36, while the measuring orifice 46 is between the inlet connection 35 and the motor connection 37 lies.
  • the directional control valve 21, which is designed as a proportionally operating control valve, is also expediently designed such that its drain control edge 47 in both
  • the release valve 22 is only required in connection with the inclination control if the requirements for tightness with the slide seal in the directional control valve 21 cannot be represented.
  • the release valve 22, which is equipped with tight seat valves 50, is electrically actuated and is switched into its open through position 44 before the control slide in the directional control valve 21 is actuated.
  • pressure medium from the directional control valve 21 via the port B m controls the piston chamber of the working cylinder 16 in order to tilt the lifting mast 11 m forward in the direction of travel. It is assumed that there are driving load conditions, the connection A and thus the first motor connection 37 being loaded by the engine pressure.
  • the drain control edge 47 is opened by the advance of the drain control edge 47 with increasing slide travel, after which the feed control edge 46 working as a measuring orifice can only open.
  • the load pressure in the tilt cylinder 16 leads to a flow as soon as the drain control edge 47 m of the first working position 45 opens.
  • the tilt cylinder 16 moves, a negative pressure being generated at the second connection 38 and thus at B, since the inlet control edge 46 has not yet released the connection between the inlet connection 35 and the second motor connection 38. This also applies to
  • the control electronics 23 and the directional control valve 21 work as Parts of a closed control loop, in which the desired incline speed is specified by the setpoint generator 25, while the position sensor 27 determines the actual value of the incline speed and reports it to the control electronics 23.
  • the electronic control unit 23 carries out the comparison between the setpoint value and the actual value and regulates any deviations that occur, the energization of the magnets 28 and 29 serving as the manipulated variable of the controller.
  • the controller m of the control electronics 23 will further increase the control of the control slide in the directional control valve 21.
  • the orifice 46 is opened until the desired oil flow flows to the second motor connection 38 and thus to the connection B.
  • the difference between an operation with a driving load and an operation with a driven load therefore lies in a differently large deflection of the control slide in the directional control valve 21 and thus in a differently wide opening of the control edges 47 and 46.
  • the directional control valve 21 which is designed as a proportional control valve is, the speed when tilting the
  • Lift mast 11 can be regulated forward in the direction of travel, which is possible both with driven and with driving load conditions.
  • complex load holding valves or preload valves can be saved in the working lines. This in particular reduces the number of hydraulic control elements, so that the vibration behavior of the device 10 is considerably improved.
  • the tilt control can take effect in a corresponding manner if the directional control valve 21 is controlled into its second working position 54 in order to tilt the lifting mast 11 backwards against the direction of travel.
  • the leading sequence control edge 47 can have the same effect.
  • the pressure compensator 34 is designed as an individual pressure compensator for the directional control valve 21 and is intended to ensure a control pressure gradient on the measuring orifice and thus the inlet control edge 46 which is independent of the load pressure. Under certain circumstances, this pressure compensator 34 can be omitted if the accuracy requirements for the control are not very high under favorable operating conditions. If, in an embodiment with a pressure compensator 34 missing, the pressure difference increases, for example in the case of parallel actuation, the device 10 for tilt control can counteract by reducing the deflection of the directional control valve 21 accordingly and thus keep the tilt speed constant.
  • the release valve 22 can also be omitted if sufficient tightness is ensured by the directional valve 21 itself.
  • the individual pressure compensator 34 can also be omitted if the requirements for the control quality are set low.
  • the position sensor 27 can easily be designed so that it can work as a displacement, angle or speed sensor.
  • the control loop can work particularly advantageously with a control variable tilting speed
  • the closed control loop can also be designed and operated as a position control loop. Directly controlled valves as well as pilot operated valves are suitable as control directional valves. You can also set the travel setpoint of a subordinate slide position controller as a manipulated variable for the controller.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

L'invention concerne un dispositif (10) servant à réguler la fonction d'inclinaison d'un mât de levage (11) pour un chariot à fourche (12). Ce dispositif comporte un vérin (16) à double effet, qui actionne le mât de levage (11) et qui fonctionne, lors de l'inclinaison, en boucle fermée (55). Un générateur de valeur de consigne (25), préallouant une vitesse d'inclinaison, coopère avec un organe électronique de régulation (23) qui reçoit d'un détecteur de position (27) la valeur réelle de la vitesse d'inclinaison, et qui, en fonction de cette dernière, commande un distributeur (21) actionné par voie électromagnétique de sorte que les écarts soient compensés. L'arête de commande d'évacuation (42) dans le distributeur (21) est utilisée pour la régulation du débit volumétrique, en cas de charge entraînante, de sorte qu'il n'est pas nécessaire d'avoir recours à des soupapes de précontraintes complexes.
EP00993835A 2000-02-19 2000-11-25 Dispositif servant a reguler la fonction d'inclinaison d'un mat de levage, notamment pour un chariot a fourche Withdrawn EP1178943A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10007688 2000-02-19
DE2000107688 DE10007688A1 (de) 2000-02-19 2000-02-19 Einrichtung zum Steuern der Neigenfunktion eines Hubmastes, insbesondere für einen Gabelstapler
PCT/DE2000/004208 WO2001060734A1 (fr) 2000-02-19 2000-11-25 Dispositif servant a reguler la fonction d'inclinaison d'un mat de levage, notamment pour un chariot a fourche

Publications (1)

Publication Number Publication Date
EP1178943A1 true EP1178943A1 (fr) 2002-02-13

Family

ID=7631600

Family Applications (1)

Application Number Title Priority Date Filing Date
EP00993835A Withdrawn EP1178943A1 (fr) 2000-02-19 2000-11-25 Dispositif servant a reguler la fonction d'inclinaison d'un mat de levage, notamment pour un chariot a fourche

Country Status (3)

Country Link
EP (1) EP1178943A1 (fr)
DE (1) DE10007688A1 (fr)
WO (1) WO2001060734A1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008031347A1 (de) * 2008-07-02 2010-01-07 Jungheinrich Aktiengesellschaft Vorschubvorrichtung für einen Gabelträger eines Flurförderzeugs
US8844280B2 (en) 2011-02-28 2014-09-30 Caterpillar Inc. Hydraulic control system having cylinder flow correction
CN102506784B (zh) * 2011-11-24 2013-12-18 三一集团有限公司 滑动配合机构及测量装置、测量方法、集装箱堆高机
DE102012103483A1 (de) * 2012-04-20 2013-10-24 Still Gmbh Hydraulischer Neigeantrieb eines Hubgerüstes eines Flurförderzeugs
DE102012213068A1 (de) 2012-07-25 2014-01-30 Robert Bosch Gmbh Verfahren und Fehlersimulator zur Überprüfung der Fehlererkennung eines Steuergerätes
CN112249984A (zh) * 2020-10-13 2021-01-22 安徽合力股份有限公司 一种基于角度补偿的叉车倾斜油缸运动缓冲控制系统及方法

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4511974A (en) * 1981-02-04 1985-04-16 Kabushiki Kaisha Toyoda Jidoshokki Seisakusho Load condition indicating method and apparatus for forklift truck
JPS57158696U (fr) * 1981-03-31 1982-10-05
GB2097959B (en) * 1981-03-31 1984-09-12 Toyoda Automatic Loom Works Fork lift control system
FI129U1 (fi) * 1992-03-09 1992-06-12 Pekka Kolari Mastcentraliseringsanordning foer truck
JP3552358B2 (ja) * 1995-09-08 2004-08-11 株式会社豊田自動織機 荷役車両のチルト機構
EP0866027B1 (fr) * 1997-03-21 2004-05-26 Kabushiki Kaisha Toyota Jidoshokki Appareil de contrôle hydraulique de véhicules industriels
DE19721739A1 (de) * 1997-05-24 1998-11-26 Mannesmann Rexroth Ag Hydraulische Steueranordnung, insbesondere für einen Gabelstapler

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO0160734A1 *

Also Published As

Publication number Publication date
DE10007688A1 (de) 2001-08-23
WO2001060734A1 (fr) 2001-08-23

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