EP1203743A1 - Flurförderzeug mit einer Vorrichtung zum Erfassen der Hubhöhe - Google Patents
Flurförderzeug mit einer Vorrichtung zum Erfassen der Hubhöhe Download PDFInfo
- Publication number
- EP1203743A1 EP1203743A1 EP01125213A EP01125213A EP1203743A1 EP 1203743 A1 EP1203743 A1 EP 1203743A1 EP 01125213 A EP01125213 A EP 01125213A EP 01125213 A EP01125213 A EP 01125213A EP 1203743 A1 EP1203743 A1 EP 1203743A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- industrial truck
- lifting height
- truck according
- lifting
- detecting
- 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
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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
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
Definitions
- the invention relates to an industrial truck with at least one lifting device and one Device for detecting the lifting height of the lifting device.
- the invention is therefore based on the object of an industrial truck with a To provide device for detecting the lifting height, according to the applicable machine guidelines is to be classified as "safe" and for reference runs can be avoided at the start of operation.
- the device for Detecting the lifting height is carried out in such a way that at least two sensors transmit the Record the lifting height continuously and deliver independent output signals.
- the lifting height is determined by two working independently Sensors recorded. There are therefore two redundant ones for determining the lifting height Measured values before, compared with each other or evaluated separately from each other can be.
- the pulse-shaped output signal of the incremental encoder is generated using evaluated by a counter circuit, the current result of the count Lifting height can be derived. It is advisable to use a two-channel Incremental encoder, which in addition to the pulse-shaped output signal, the length a stroke movement represents an unsigned amount, additionally enables to determine the direction of movement by means of a second pulse-shaped signal.
- At least one transmitter from a potentiometer is formed.
- the resistance value of the potentiometer is directly from the lifting height dependent.
- the advantage of the potentiometer is that it is direct Relationship between the lifting height and the output signal, so none downstream evaluation and storage is required during breaks.
- the Incremental encoder enables high accuracy of the measurement result and delivers a digital output signal, which is processed directly in a vehicle computer can be.
- the sensors are via a common mechanical drive element with the lifting device in Operatively connected.
- the mechanical drive element transmits the linear movement the lifting device into a rotary movement, to which both sensors are coupled are.
- a possible embodiment is that the drive element by one Cable is formed.
- the cable comprises an automatically winding cable reel and a rope that can be unwound from the pulley by an external force.
- the rope end is attached to a non-height-adjustable component while the pulley is on a component that can be raised with the lifting device, or vice versa.
- a vertical movement of the lifting device thus automatically leads to a rotation of the Rope pulley that directly or indirectly, e.g. via a gearbox, with the sensors connected is.
- the drive element is of one formed on a component rolling wheel.
- This component can be from one liftable part of the lifting device if the wheel is not is adjustable in height. Alternatively, the component cannot be moved vertically, the wheel being attached to a liftable part of the lifting device. In each The rotational movement of the wheel is applied directly or via a gearbox to the case Transfer transducer.
- the measuring transducer designed as an incremental encoder, is expediently of this type connected to an electronic memory that in the electronic memory a variable that is dependent on the current lifting height is continuously saved.
- the electronic memory is of this type is that the stored size regardless of the supply of the Storage with electrical energy is preserved. This means that at any time, e.g. also immediately after starting up the truck on which the Incremental encoder generated measured value can be accessed.
- Electronic memory that is independent of the power supply can be, for example so-called “flash memory” component can be used.
- the truck malfunctions due to incorrect measurements of the truck can be excluded if the sensor is equipped with an electronic Control are in operative connection, which is designed such that the measured values of the the two sensors are continuously compared.
- At least one reference switch can be provided which, when reached a certain lifting height changes its switching position.
- the reference switch is in the Usually designed as a mechanical switch that when special is reached Positions of the lifting device is actuated.
- Positions of the lifting device is actuated.
- the lower one End position and / or the upper end position of the lifting device with one Reference switch must be provided, since special intervention in the Control of the industrial truck, e.g. automatic shutdown of the linear actuator, occur.
- the output signal of a reference switch can be used simultaneously with the Output signals of the continuously working sensors are compared. Incorrect measurements or malfunctions, e.g. with an arrangement with a pulley a broken rope, can be recognized immediately.
- the reference switch is operatively connected to the electronic control, which is designed in such a way that the measured value of at least one sensor with the Switch position of the reference switch is continuously compared.
- the device for detecting the lifting height with a Indicator for the lifting height is in operative connection.
- the operator is adjusting certain lifting heights, e.g. are predetermined by shelves, facilitated.
- the device for detecting the lifting height with a Drive control of the truck is operatively connected.
- the lift signal can be recorded, evaluated and / or saved by the drive control.
- certain operating parameters of the truck in Depending on the lifting height can be changed by the drive control.
- the Pushing device enables a load to be moved in the horizontal direction, relative to a vehicle frame of the industrial truck.
- the function of the The thrust device is influenced in such a way that the maximum Acceleration and the maximum deceleration of the load can be reduced. hereby can swing an extended mast due to inertia forces Load and the load suspension device are at least approximately avoided.
- the Acceleration behavior and / or the braking behavior of a swivel device for the load can be influenced depending on the current lifting height.
- the Swivel device can transfer the load relative to a mast around a vertical axis be pivoted.
- At least two lifting devices can be operated independently of one another are provided, there are special advantages if one for each lifting device Device for detecting the lifting height is provided. Two from each other independent lifting devices are often present in high-rack stackers, whereby a so-called additional hoist by means of a side thruster and one Swivel device is fastened to a lifting frame.
- For the display of the absolute lifting height can be that of the two independent devices for Record the lifting height of the mast and the additional lifting unit be added.
- FIG 1 shows a schematically illustrated industrial truck according to the invention, the four wheels 1 stands on a roadway 2.
- the industrial truck has a mast 3 on which a driver's cab 4 is movably guided in the vertical direction 5.
- To the Driver's cab 4 is attached to an additional lifting device 6, on which a load suspension device 7 is attached movably in the vertical direction 8.
- a device for detecting the lifting height comprises in the present Exemplary embodiment is a rope 10 which can be wound on a rope pulley 9.
- the rope pulley 9 is arranged in the present embodiment on the driver's cab 4, while the other end of the rope attached to a part of the truck that cannot be moved in height is. However, a reverse arrangement is also possible.
- the pulley 9 is with a Return spring equipped, which always keeps the rope 10 in a tensioned state.
- the Rope pulley 9 are driven by two independent sensors. On The first sensor is formed by an incremental sensor 11, which is directly connected to the pulley 9 is coupled. The second transmitter is a potentiometer 12 which is connected to the cable pulley 9 by means of an intermediate gear 13.
- a reference switch 14 is provided, which is not one Height-adjustable switching cams 15 can be actuated.
- the reference switch 14 For example, a break in the rope 10 can be detected when the rope 10 is completely wound on the pulley 9, but the reference switch 14 due to the raised driver's cab 4 is not actuated.
- FIG. 2 shows a block diagram of the device for detecting the lifting height of the Industrial truck.
- Both Incremental encoders 11, 16 have a programmable controller 17 connected. Also connected to the controller 17 are the potentiometers 12 and the reference switch 14.
- the output signals of the incremental encoder 11, the Potentiometers 12 and the reference switch 14 are turned on by the controller 17 mutual plausibility checked. If the output signals do not match, an error is signaled by the control and become corresponding Security measures initiated.
- the controller 17 includes an electronic one Memory in which the pulse numbers generated by the incremental encoders 11, 16 also remain saved after an interruption of the power supply. This is After switching on the truck, no reference runs to adjust the Incremental encoder 11, 16 required.
- a first output signal from the controller 17 becomes a display device 18 supplied, with the incremental encoders 11 and 16 for the display device determined lifting heights for the mast 3 and the additional lifting device 6 added become.
- a second output signal from the controller 17 is sent to a drive controller 19 of the truck supplied, this in the present embodiment second output signal only shows the lifting height of the mast 3.
- the drive control 19 it would also be possible for the drive control 19 to have the sum of the lifting heights to feed several lifting devices.
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Vehicle Body Suspensions (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
Description
Stattdessen müssen, nachdem die genaue Hubhöhe nicht messbar ist, stets Sicherheitsreserven vorgesehen werden.
- Figur 1
- ein erfindungsgemäßes Flurförderzeug,
- Figur 2
- ein Blockschaltbild der Vorrichtung zum Ermitteln der Hubhöhe.
Claims (16)
- Flurförderzeug mit mindestens einer Hubvorrichtung und einer Vorrichtung zum Erfassen der Hubhöhe der Hubvorrichtung, dadurch gekennzeichnet, dass die Vorrichtung zum Erfassen der Hubhöhe derart ausgeführt ist, dass mindestens zwei Messwertgeber die Hubhöhe fortlaufend erfassen und voneinander unabhängige Ausgangssignale liefern.
- Flurförderzeug nach Anspruch 1, dadurch gekennzeichnet, dass zumindest ein Messwertgeber von einem Inkrementalgeber (11) gebildet ist.
- Flurförderzeug nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass zumindest ein Messwertgeber von einem Potentiometer (12) gebildet ist.
- Flurförderzeug nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die Messwertgeber über ein gemeinsames mechanisches Antriebselement mit der Hubvorrichtung in Wirkverbindung stehen.
- Flurförderzeug nach Anspruch 4, dadurch gekennzeichnet, dass das Antriebselement von einem Seilzug gebildet ist.
- Flurförderzeug nach Anspruch 4, dadurch gekennzeichnet, dass das Antriebselement von einem an einem Bauteil abrollenden Rad gebildet ist.
- Flurförderzeug nach einem der Ansprüche 2 bis 6, dadurch gekennzeichnet, dass der als Inkrementalgeber (11) ausgeführte Messwertgeber derart mit einem elektronischen Speicher verbunden ist, dass in dem elektronischen Speicher fortlaufend eine von der momentanen Hubhöhe abhängige Größe gespeichert wird.
- Flurförderzeug nach Anspruch 7, dadurch gekennzeichnet, dass der elektronische Speicher derart ausgeführt ist, dass die gespeicherte Größe unabhängig von der Versorgung des Speichers mit elektrischer Energie erhalten bleibt.
- Flurförderzeug nach einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, dass die Messwertgeber mit einer elektronischen Steuerung in Wirkverbindung stehen, die derart ausgeführt ist, dass die Messwerte der beiden Messwertgeber fortlaufend verglichen werden.
- Flurförderzeug nach einem der Ansprüche 1 bis 9, dadurch gekennzeichnet, dass mindestens ein Referenzschalter (14) vorgesehen ist, der bei Erreichen einer bestimmten Hubhöhe seine Schaltstellung ändert.
- Flurförderzeug nach Anspruch 10, dadurch gekennzeichnet, dass der Referenzschalter (14) mit der elektronischen Steuerung in Wirkverbindung steht, die derart ausgeführt ist, dass der Messwert mindestens eines Messwertgebers mit der Schaltstellung des Referenzschalters (14) fortlaufend verglichen wird.
- Flurförderzeug nach einem der Ansprüche 1 bis 11, dadurch gekennzeichnet, dass die Vorrichtung zum Erfassen der Hubhöhe mit einer Anzeigevorrichtung (18) für die Hubhöhe in Wirkverbindung steht.
- Flurförderzeug nach einem der Ansprüche 1 bis 12, dadurch gekennzeichnet, dass die Vorrichtung zum Erfassen der Hubhöhe mit einer Antriebssteuerung (19) des Flurförderzeugs in Wirkverbindung steht.
- Flurförderzeug nach Anspruch 13, dadurch gekennzeichnet, dass mittels der Antriebssteuerung (19) das Beschleunigungsverhalten und/oder das Bremsverhalten einer Schubvorrichtung für die Last in Abhängigkeit von der momentanen Hubhöhe beeinflussbar ist.
- Flurförderzeug nach Anspruch 13 oder 14, dadurch gekennzeichnet, dass mittels der Antriebssteuerung (19) das Beschleunigungsverhalten und/oder das Bremsverhalten einer Schwenkvorrichtung für die Last in Abhängigkeit von der momentanen Hubhöhe beeinflussbar ist.
- Flurförderzeug nach einem der Ansprüche 1 bis 15, dadurch gekennzeichnet, dass mindestens zwei voneinander unabhängig betätigbare Hubvorrichtungen vorgesehen sind und für jede Hubvorrichtung eine Vorrichtung zum Erfassen der Hubhöhe vorgesehen ist.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10054792 | 2000-11-04 | ||
DE10054792A DE10054792A1 (de) | 2000-11-04 | 2000-11-04 | Flurförderzeug mit einer Vorrichtung zum Erfassen der Hubhöhe |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1203743A1 true EP1203743A1 (de) | 2002-05-08 |
EP1203743B1 EP1203743B1 (de) | 2005-08-17 |
Family
ID=7662195
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP01125213A Expired - Lifetime EP1203743B1 (de) | 2000-11-04 | 2001-10-24 | Flurförderzeug mit einer Vorrichtung zum Erfassen der Hubhöhe |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP1203743B1 (de) |
AT (1) | ATE302159T1 (de) |
DE (2) | DE10054792A1 (de) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1950170A1 (de) * | 2007-01-24 | 2008-07-30 | Jungheinrich Aktiengesellschaft | Höhenmessvorrichtung in einem Vertikal-Kommissionierer |
EP2447203A1 (de) * | 2010-11-01 | 2012-05-02 | BT Products AB | Industriefahrzeug, Verfahren und Computerprogramm zum Steuern eines Industriefahrzeugs |
EP2636637A1 (de) * | 2012-03-08 | 2013-09-11 | Linde Material Handling GmbH | Hubvorrichtung eines Flurförderzeugs |
US9932213B2 (en) | 2014-09-15 | 2018-04-03 | Crown Equipment Corporation | Lift truck with optical load sensing structure |
US10430073B2 (en) | 2015-07-17 | 2019-10-01 | Crown Equipment Corporation | Processing device having a graphical user interface for industrial vehicle |
EP3932850A1 (de) * | 2020-06-22 | 2022-01-05 | Jungheinrich Aktiengesellschaft | Schmalgangstapler mit massnahmen zur verhinderung von hubgerüstschwingungen und zum ausgleich von hubgerüstverformungen |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
DE102010022374A1 (de) * | 2010-05-27 | 2011-12-01 | Jungheinrich Aktiengesellschaft | Verfahren zum Bereitstellen einer Information über eine aktuelle Hubhöhe und hierfür geeignetes Flurförderzeug |
DE102011009367B4 (de) | 2011-01-25 | 2024-07-04 | Linde Material Handling Gmbh | Seillängengeber mit einer Seilreinigungseinrichtung |
DE102011009366A1 (de) | 2011-01-25 | 2012-07-26 | Linde Material Handling Gmbh | Gegengewichtsgabelstapler mit einem Hubhöhenmesssystem |
DE102011009368B4 (de) | 2011-01-25 | 2024-07-04 | Linde Material Handling Gmbh | Seillängengeber |
EP2772463B1 (de) | 2013-02-28 | 2017-05-03 | Toyota Material Handling Manufacturing Sweden AB | Gabelstapler |
EP3545396B1 (de) | 2016-11-22 | 2023-09-06 | Crown Equipment Corporation | Benutzerschnittstellenvorrichtung für den betrieb eines industriefahrzeuges |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4122957A (en) * | 1977-10-06 | 1978-10-31 | The Raymond Corporation | Lift truck having height indicating means |
FR2515161A1 (fr) * | 1981-10-14 | 1983-04-29 | Jungheinrich Kg | Dispositif de mesure de course, notamment dispositif de mesure de hauteur pour des appareils elevateurs |
US5791440A (en) * | 1996-05-13 | 1998-08-11 | The Raymond Corporation | Speed limiting method and apparatus for lift truck |
DE19731687A1 (de) * | 1997-07-23 | 1999-02-04 | Steinbock Boss Gmbh Foerdertec | Flurförderzeug |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3542161A (en) * | 1968-08-23 | 1970-11-24 | Eaton Yale & Towne | Load height indicator for industrial trucks |
DE3106226C2 (de) * | 1981-02-19 | 1986-01-09 | Komatsu Forklift K.K., Tokio/Tokyo | Steuerung für Gabelstapler |
GB2095862B (en) * | 1981-03-31 | 1984-10-24 | Toyoda Automatic Loom Works | Fork lift control system |
-
2000
- 2000-11-04 DE DE10054792A patent/DE10054792A1/de not_active Withdrawn
-
2001
- 2001-10-24 DE DE50107105T patent/DE50107105D1/de not_active Expired - Lifetime
- 2001-10-24 EP EP01125213A patent/EP1203743B1/de not_active Expired - Lifetime
- 2001-10-24 AT AT01125213T patent/ATE302159T1/de not_active IP Right Cessation
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4122957A (en) * | 1977-10-06 | 1978-10-31 | The Raymond Corporation | Lift truck having height indicating means |
FR2515161A1 (fr) * | 1981-10-14 | 1983-04-29 | Jungheinrich Kg | Dispositif de mesure de course, notamment dispositif de mesure de hauteur pour des appareils elevateurs |
US5791440A (en) * | 1996-05-13 | 1998-08-11 | The Raymond Corporation | Speed limiting method and apparatus for lift truck |
DE19731687A1 (de) * | 1997-07-23 | 1999-02-04 | Steinbock Boss Gmbh Foerdertec | Flurförderzeug |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1950170A1 (de) * | 2007-01-24 | 2008-07-30 | Jungheinrich Aktiengesellschaft | Höhenmessvorrichtung in einem Vertikal-Kommissionierer |
EP2447203A1 (de) * | 2010-11-01 | 2012-05-02 | BT Products AB | Industriefahrzeug, Verfahren und Computerprogramm zum Steuern eines Industriefahrzeugs |
US9139408B2 (en) | 2010-11-01 | 2015-09-22 | Bt Products Ab | Industrial truck, method and computer program for controlling an industrial truck |
EP2636637A1 (de) * | 2012-03-08 | 2013-09-11 | Linde Material Handling GmbH | Hubvorrichtung eines Flurförderzeugs |
CN103303845A (zh) * | 2012-03-08 | 2013-09-18 | 林德材料处理有限责任公司 | 地面输送机械的升降装置 |
US9932213B2 (en) | 2014-09-15 | 2018-04-03 | Crown Equipment Corporation | Lift truck with optical load sensing structure |
US10430073B2 (en) | 2015-07-17 | 2019-10-01 | Crown Equipment Corporation | Processing device having a graphical user interface for industrial vehicle |
EP3932850A1 (de) * | 2020-06-22 | 2022-01-05 | Jungheinrich Aktiengesellschaft | Schmalgangstapler mit massnahmen zur verhinderung von hubgerüstschwingungen und zum ausgleich von hubgerüstverformungen |
Also Published As
Publication number | Publication date |
---|---|
ATE302159T1 (de) | 2005-09-15 |
EP1203743B1 (de) | 2005-08-17 |
DE10054792A1 (de) | 2002-05-08 |
DE50107105D1 (de) | 2005-09-22 |
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