EP1203743A1 - Industrial truck with a device for detecting the lifting height - Google Patents

Industrial truck with a device for detecting the lifting height Download PDF

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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
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EP
European Patent Office
Prior art keywords
industrial truck
lifting height
truck according
lifting
detecting
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Granted
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EP01125213A
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German (de)
French (fr)
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EP1203743B1 (en
Inventor
Volker Dipl.-Ing. Barth
Siegfried Lauxmann
Rolf Dipl.-Ing. Bez
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Still Wagner GmbH and Co KG
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Still Wagner GmbH and Co KG
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    • 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.

Abstract

The vehicle has a lifting device (3) whose height is detected by a measuring device designed so that at least two measured value transmitters constantly detect the lift height and supply output signals which are independent of each other. At least one measured value transmitter is formed by an incremental transmitter (11) and one can be formed by a potentiometer (12). The measured value transmitters are in active connection with the lift device through a common mechanical drive element such as cable pulley

Description

Die Erfindung betrifft ein Flurförderzeug mit mindestens einer Hubvorrichtung und einer Vorrichtung zum Erfassen der Hubhöhe der Hubvorrichtung.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.

Bei Flurförderzeugen, insbesondere bei Lagertechnikgeräten wie z.B. Schubmaststaplem, Hochregalstaplern oder Hochregalkommissionierern ist es bekannt, die Hubhöhe des Flurförderzeugs stufenweise mittels im Bereich der Hubvorrichtung angeordneten Schaltern zu erfassen. Häufig werden in Abhängigkeit von dem mit den Schaltern erzeugten stufenförmigen Hubhöhensignal der Fahrantrieb oder die Bremsvorrichtung des Flurförderzeugs beeinflusst, wobei beispielsweise die maximal zulässige Fahrgeschwindigkeit, die maximale Fahrbeschleunigung oder die maximal zulässige Bremsverzögerung in Abhängigkeit von dem Hubhöhensignal vorgegeben werden. Aufgrund des stufenförmigen Hubhöhensignals ist es bei den bekannten Geräten nicht möglich, die sicherheitstechnisch möglichen Maximalwerte für die genannten Betriebsgrößen bei jeder Hubhöhe vollständig auszunutzen.
Stattdessen müssen, nachdem die genaue Hubhöhe nicht messbar ist, stets Sicherheitsreserven vorgesehen werden.In industrial trucks, in particular in warehouse technology devices such as reach trucks, high-bay stackers or high-bay order pickers, it is known to detect the lifting height of the truck step by step by means of switches arranged in the area of the lifting device. The travel drive or the braking device of the industrial truck are often influenced as a function of the step-shaped lifting height signal generated by the switches, for example the maximum permissible driving speed, the maximum driving acceleration or the maximum permissible braking deceleration depending on the lifting height signal. Because of the step-shaped lifting height signal, it is not possible in the known devices to fully utilize the safety-related maximum values for the operating variables mentioned for each lifting height.
Instead, after the exact lifting height cannot be measured, safety reserves must always be provided.

Aus der DE 197 31 687 A1 ist es bekannt, die Hubhöhe eines Flurförderzeugs mittels eines Reibrads kontinuierlich zu erfassen. Die in dieser Druckschrift beschriebene Messvorrichtung ist für eine Einflussnahme auf die obengenannten Betriebsgrößen jedoch nicht ausreichend sicher. Insbesondere müsste vor jedem Betriebsbeginn eine Referenzfahrt mit der Hubvorrichtung durchgeführt werden, um die Messvorrichtung anhand von definierten Messpunkten zu justieren und Fehlmessungen ausschließen zu können.From DE 197 31 687 A1 it is known to use the lifting height of an industrial truck of a friction wheel to be recorded continuously. The one described in this document Measuring device is designed to influence the above-mentioned operating parameters however not sufficiently secure. In particular, there should be a Homing with the lifting device is carried out to the measuring device to adjust based on defined measuring points and exclude incorrect measurements can.

Der Erfindung liegt daher die Aufgabe zugrunde, ein Flurförderzeug mit einer Vorrichtung zum Erfassen der Hubhöhe zur Verfügung zu stellen, die nach den geltenden Maschinenrichtlinien als "sicher" einzustufen ist und bei der Referenzfahrten zum Betriebsbeginn vermieden werden können. 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.

Diese Aufgabe wird erfindungsgemäß dadurch gelöst, dass die Vorrichtung zum Erfassen der Hubhöhe derart ausgeführt ist, dass mindestens zwei Messwertgeber die Hubhöhe fortlaufend erfassen und voneinander unabhängige Ausgangssignale liefern. Die Hubhöhe wird dabei durch zwei unabhängig voneinander arbeitende Messwertgebern erfasst. Für die Hubhöhenermittlung liegen somit zwei redundante Messwerte vor, die miteinander verglichen oder getrennte voneinander ausgewertet werden können.This object is achieved in that 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.

Zweckmäßig ist es, wenn zumindest ein Messwertgeber von einem Inkrementalgeber gebildet ist. Das impulsförmige Ausgangssignal des Inkrementalgebers wird mittels einer Zählschaltung ausgewertet, wobei aus dem Ergebnis der Zählung die aktuelle Hubhöhe herleitbar ist. Zweckmäßig ist die Verwendung eines zweikanaligen Inkrementalgebers, der neben dem impulsförmigen Ausgangssignal, das die Länge einer Hubbewegung als vorzeichenloser Betrag wiedergibt, zusätzlich ermöglicht, mittels eines zweiten impulsförmigen Signals die Bewegungsrichtung zu bestimmen.It is useful if at least one sensor from an incremental encoder is formed. 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.

Ebenso ist es vorteilhaft, wenn zumindest ein Messwertgeber von einem Potentiometer gebildet ist. Der Widerstandswert des Potentiometers ist direkt von der Hubhöhe abhängig. Bei Kombination eines Potentiometers mit einem Inkrementalgeber als Messwertgeber können von jedem Messwertgeber die Vorteile genutzt und die Nachteile kompensiert werden. Der Vorteil des Potentiometers liegt in dem direkten Zusammenhang zwischen der Hubhöhe und dem Ausgangssignal, so dass keine nachgeschaltete Auswertung und Speicherung bei Betriebspausen erforderlich ist. Der Inkrementalgeber ermöglicht eine hohe Genauigkeit des Messergebnisses, und liefert ein digitales Ausgangssignal, welches direkt in einem Fahrzeugrechner verarbeitet werden kann.It is also advantageous if at least one transmitter from a potentiometer is formed. The resistance value of the potentiometer is directly from the lifting height dependent. When combining a potentiometer with an incremental encoder as Transmitters can take advantage of each transmitter and the benefits Disadvantages can be compensated. 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.

Gemäß einer zweckmäßigen Ausgestaltung der Erfindung stehen die Messwertgeber über ein gemeinsames mechanisches Antriebselement mit der Hubvorrichtung in Wirkverbindung. Das mechanische Antriebselement überträgt die lineare Bewegung der Hubvorrichtung in eine Drehbewegung, an welche beide Messwertgeber gekoppelt sind.According to an expedient embodiment of the invention, 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.

Eine mögliche Ausführungsform besteht darin, dass das Antriebselement von einem Seilzug gebildet ist. Der Seilzug umfasst eine sich automatisch aufwickelnde Seilrolle und ein von der Seilrolle durch eine äußere Kraft abwickelbares Seil. Das Seilende ist an einem nicht höhenverstellbaren Bauteil befestigt, während die Seilrolle sich an einem mit der Hubvorrichtung anhebbaren Bauteil befindet, oder umgekehrt. Eine vertikale Bewegung des Hubvorrichtung führt somit automatisch zu einem Drehen der Seilrolle, die direkt oder indirekt, z.B. über ein Getriebe, mit den Messwertgebern verbunden ist.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.

Gemäß einer anderen möglichen Ausführungsform ist das Antriebselement von einem an einem Bauteil abrollenden Rad gebildet. Dieses Bauteil kann von einem anhebbaren Teil der Hubvorrichtung gebildet sein, wenn das Rad nicht höhenverstellbar ist. Alternativ hierzu ist das Bauteil nicht höhenbeweglich angeordnet, wobei das Rad an einem anhebbaren Teil der Hubvorrichtung befestigt ist. In jedem Fall wird die Drehbewegung des Rads direkt oder über ein Getriebe auf die Messwertgeber übertragen.According to another possible embodiment, 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.

Zweckmäßigerweise ist der als Inkrementalgeber ausgeführte Messwertgeber derart mit einem elektronischen Speicher verbunden, dass in dem elektronischen Speicher fortlaufend eine von der momentanen Hubhöhe abhängige Größe gespeichert wird.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.

Besondere Vorteile ergeben sich dabei, wenn der elektronische Speicher derart ausgeführt ist, dass die gespeicherte Größe unabhängig von der Versorgung des Speichers mit elektrischer Energie erhalten bleibt. Es kann hierdurch jederzeit, z.B. auch sofort nach einer Inbetriebsetzung des Flurförderzeugs, auf den mit dem Inkrementalgeber erzeugten Messwert zugegriffen werden. Als stromversorgungsunabhängiger elektronischer Speicher kann beispielsweise ein sogenanntes "flash memory"-Bauelement verwendet werden.There are particular advantages if 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. As Electronic memory that is independent of the power supply can be, for example so-called "flash memory" component can be used.

Fehlfunktionen des Flurförderzeugs aufgrund von Fehlmessungen des Flurförderzeugs können ausgeschlossen werden, wenn die Messwertgeber mit einer elektronischen Steuerung in Wirkverbindung stehen, die derart ausgeführt ist, dass die Messwerte der beiden Messwertgeber fortlaufend verglichen werden.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.

Zusätzlich kann mindestens ein Referenzschalter vorgesehen sein, der bei Erreichen einer bestimmten Hubhöhe seine Schaltstellung ändert. Der Referenzschalter ist in der Regel als mechanischer Schalter ausgeführt, der bei Erreichen von besonderen Stellungen der Hubvorrichtung betätigt wird. Beispielsweise können die untere Endstellung und/oder die obere Endstellung der Hubvorrichtung mit einem Referenzschalter versehen sein, da bei diesen Positionen besondere Eingriffe in die Steuerung des Flurförderzeugs, z.B. ein automatisches Abschalten des Hubantriebs, stattfinden. Das Ausgangssignal eines Referenzschalters kann gleichzeitig mit den Ausgangssignalen der fortlaufend arbeitenden Messwertgeber verglichen werden. Fehlmessungen oder Störungen, bei einer Anordnung mit Seilrolle z.B. ein Seilbruch, können hierdurch sofort erkannt werden.In addition, 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. For example, 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.

Hierfür steht der Referenzschalter mit der elektronischen Steuerung in Wirkverbindung, die derart ausgeführt ist, dass der Messwert mindestens eines Messwertgebers mit der Schaltstellung des Referenzschalters fortlaufend verglichen wird.For this purpose, 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.

Zweckmäßig ist es, wenn die Vorrichtung zum Erfassen der Hubhöhe mit einer Anzeigevorrichtung für die Hubhöhe in Wirkverbindung steht. Mit der Anzeigevorrichtung wird der Bedienperson das Einstellen von bestimmten Hubhöhen, die z.B. durch Regalböden vorgegeben sind, erleichtert.It is useful if the device for detecting the lifting height with a Indicator for the lifting height is in operative connection. With the Display device the operator is adjusting certain lifting heights, e.g. are predetermined by shelves, facilitated.

Ebenso zweckmäßig ist es, wenn die Vorrichtung zum Erfassen der Hubhöhe mit einer Antriebssteuerung des Flurförderzeugs in Wirkverbindung steht. Das Hubhöhensignal kann von der Antriebssteuerung erfasst, ausgewertet und/oder gespeichert werden. Darüber hinaus können bestimmte Betriebsparameter des Flurförderzeugs in Abhängigkeit von der Hubhöhe durch die Antriebssteuerung verändert werden.It is also appropriate if 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. In addition, certain operating parameters of the truck in Depending on the lifting height can be changed by the drive control.

Hierbei ist es möglich, dass mittels der Antriebssteuerung das Beschleunigungsverhalten und/oder das Bremsverhalten einer Schubvorrichtung für die Last in Abhängigkeit von der momentanen Hubhöhe beeinflussbar ist. Die Schubvorrichtung ermöglicht ein Verschieben einer Last in horizontaler Richtung, relativ zu eine Fahrzeugrahmen des Flurförderzeugs. Die Funktion der Schubvorrichtung wird derart beeinflusst, dass bei steigender Hubhöhe die maximale Beschleunigung und die maximale Verzögerung der Last reduziert werden. Hierdurch kann ein Schwingen eines ausgefahrenen Hubgerüsts infolge von Massenkräften der Last und der Lastaufnahmevorrichtung zumindest annähernd vermieden werden. It is possible that the drive control Acceleration behavior and / or the braking behavior of a thrust device for the load can be influenced depending on the current lifting height. 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.

Der selbe Vorteil wird erzielt, wenn mittels der Antriebssteuerung das Beschleunigungsverhalten und/oder das Bremsverhalten einer Schwenkvorrichtung für die Last in Abhängigkeit von der momentanen Hubhöhe beeinflussbar ist. Mit der Schwenkvorrichtung kann die Last relativ zu einem Hubgerüst um eine vertikale Achse geschwenkt werden. Durch ein Reduzieren der maximalen Beschleunigung und der maximalen Verzögerung der Schwenkvorrichtung können bei steigender Hubhöhe ebenfalls die auftretenden Massenkräfte reduziert werden.The same advantage is achieved if the Acceleration behavior and / or the braking behavior of a swivel device for the load can be influenced depending on the current lifting height. With the Swivel device can transfer the load relative to a mast around a vertical axis be pivoted. By reducing the maximum acceleration and the maximum deceleration of the swivel device can increase with increasing lifting height the mass forces that occur are also reduced.

Wenn mindestens zwei voneinander unabhängig betätigbare Hubvorrichtungen vorgesehen sind, ergeben sich besondere Vorteile, wenn für jede Hubvorrichtung eine Vorrichtung zum Erfassen der Hubhöhe vorgesehen ist. Zwei voneinander unabhängige Hubvorrichtungen sind häufig bei Hochregalstaplem vorhanden, wobei ein sogenanntes Zusatzhubwerk mittels einer Seitenschubvorrichtung und einer Schwenkvorrichtung an einem Hubgerüst anhebbar befestigt ist. Für die Anzeige der absoluten Hubhöhe können die von den beiden unabhängigen Vorrichtungen zum Erfassen der Hubhöhe des Hubgerüsts und des Zusatzhubwerks gelieferten Werte addiert werden.If 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.

Weitere Vorteile und Einzelheiten der Erfindung werden anhand des in den schematischen Figuren dargestellten Ausführungsbeispiels näher erläutert. Dabei zeigt

Figur 1
ein erfindungsgemäßes Flurförderzeug,
Figur 2
ein Blockschaltbild der Vorrichtung zum Ermitteln der Hubhöhe.
Further advantages and details of the invention are explained in more detail with reference to the embodiment shown in the schematic figures. It shows
Figure 1
an industrial truck according to the invention,
Figure 2
a block diagram of the device for determining the lifting height.

Figur 1 zeigt ein schematisch dargestelltes erfindungsgemäßes Flurförderzeug, das mit vier Rädern 1 auf einer Fahrbahn 2 aufsteht. Das Flurförderzeug weist ein Hubgerüst 3 auf, an dem ein Fahrerstand 4 in vertikaler Richtung 5 bewegbar geführt ist. An dem Fahrerstand 4 ist eine Zusatzhubvorrichtung 6 befestigt, an der ein Lastaufnahmemittel 7 in vertikaler Richtung 8 bewegbar befestigt ist.Figure 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.

Eine Vorrichtung zum Erfassen der Hubhöhe umfasst im vorliegenden Ausführungsbeispiel ein auf einer Seilrolle 9 aufwickelbares Seil 10. Die Seilrolle 9 ist im vorliegenden Ausführungsbeispiel an dem Fahrerstand 4 angeordnet, während das andere Seilende an einem nicht höhenbeweglichen Teil des Flurförderzeugs befestigt ist. Möglich ist jedoch auch eine umgekehrte Anordnung. Die Seilrolle 9 ist mit einer Rückholfeder ausgerüstet, die das Seil 10 stets in gespanntem Zustand hält. Von der Seilrolle 9 angetrieben werden zwei voneinander unabhängige Messwertgeber. Ein erster Messwertgeber ist hierbei von einem Inkrementalgeber 11 gebildet, der direkt an die Seilrolle 9 gekoppelt ist. Der zweite Messwertgeber ist ein Potentiometer 12, der mittels eines zwischengeschalteten Getriebes 13 mit der Seilrolle 9 verbunden ist. Mit dem Getriebe 13 wird sichergestellt, dass der maximale Drehwinkel des Potentiometers 12 dem maximalen Verfahrweg der Fahrerkabine 4 entspricht. Mit beiden Messwertgebern ist die Hubhöhe des Fahrerstands 4 praktisch stufenlos messbar. Eine Fehlfunktion eines der beiden Messwertgeber kann durch Vergleich der Ausgangssignale jederzeit festgestellt werden.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. Of 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. With the gear 13 ensures that the maximum angle of rotation of the Potentiometer 12 corresponds to the maximum travel distance of the driver's cab 4. With the two sensors, the lifting height of the driver's cab 4 is practically infinitely variable measurable. A malfunction of one of the two sensors can be prevented by comparing the Output signals can be determined at any time.

Zusätzlich ist ein Referenzschalter 14 vorgesehen, der von einem nicht höhenverstellbaren Schaltnocken 15 betätigbar ist. Der Referenzschalter 14, der bei tiefster Stellung des Fahrerstands 4 betätigt ist, wird vor der ersten Inbetriebnahme des Flurförderzeugs zum Einjustieren der stufenlos messenden Vorrichtung zum Erfassen der Hubhöhe benötigt. Darüber hinaus kann mit dem Referenzschalter 14 beispielsweise ein Bruch des Seils 10 erkannt werden, wenn sich das Seil 10 vollständig auf die Seilrolle 9 aufwickelt, der Referenzschalter 14 jedoch aufgrund des angehobenen Fahrerstands 4 nicht betätigt ist.In addition, a reference switch 14 is provided, which is not one Height-adjustable switching cams 15 can be actuated. The reference switch 14, which at lowest position of the driver's cab 4 is actuated before the first start-up of the Industrial truck for adjusting the continuously measuring device for detection the lifting height required. In addition, 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.

Figur 2 zeigt ein Blockschaltbild der Vorrichtung zum Erfassen der Hubhöhe des Flurförderzeugs. Dargestellt ist der erste Inkrementalgeber 11 zum Erfassen der Hubhöhe des Fahrerstands 4, sowie ein zweiter Inkrementalgeber 16, mit dem die Hubhöhe der Zusatzhubvorrichtung 6 (siehe Fig. 1) gemessen wird. Beide Inkrementalgeber 11, 16 sind mit einer speicherprogrammierbaren Steuerung 17 verbunden. Mit der Steuerung 17 ebenfalls verbunden sind das Potentiometer 12 und der Referenzschalter 14. Die Ausgangssignale des Inkrementalgebers 11, des Potentiometers 12 und der Referenzschalter 14 werden von der Steuerung 17 auf gegenseitige Plausibilität überprüft. Falls die Ausgangssignale nicht übereinstimmen, wird von der Steuerung ein Fehler signalisiert und werden entsprechende Sicherheitsmaßnahmen eingeleitet. Die Steuerung 17 umfasst einen elektronischen Speicher, in dem die von den Inkrementalgebem 11, 16 erzeugte Impulszahlen auch nach einer Unterbrechung der Stromversorgung gespeichert bleiben. Hierdurch sind nach einem Einschalten des Flurförderzeugs keine Referenzfahrten zum Justieren der Inkrementalgeber 11, 16 erforderlich. Figure 2 shows a block diagram of the device for detecting the lifting height of the Industrial truck. The first incremental encoder 11 for detecting the Lifting height of the driver's cab 4, and a second incremental encoder 16 with which the Lifting height of the additional lifting device 6 (see Fig. 1) is measured. 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.

Ein erstes Ausgangssignal der Steuerung 17 wird einer Anzeigevorrichtung 18 zugeführt, wobei für die Anzeigevorrichtung die mit den Inkrementalgebern 11 und 16 ermittelten Hubhöhen für des Hubgerüsts 3 und der Zusatzhubvorrichtung 6 addiert werden. Ein zweites Ausgangssignal der Steuerung 17 wird einer Antriebssteuerung 19 des Flurförderzeugs zugeführt, wobei im vorliegenden Ausführungsbeispiel dieses zweite Ausgangssignal ausschließlich die Hubhöhe des Hubgerüsts 3 wiedergibt. Möglich wäre es jedoch ebenso, der Antriebssteuerung 19 die Summe der Hubhöhen mehrerer Hubvorrichtungen zuzuführen.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. However, it would also be possible for the drive control 19 to have the sum of the lifting heights to feed several lifting devices.

Mit der Antriebssteuerung 19 kann der Fahrantrieb und gegebenenfalls auch ein Vorschubantrieb und/oder ein Schwenkantrieb für das Lastaufnahmemittel 7 (Fig. 1) in Abhängigkeit von der Hubhöhe beeinflusst werden. Grundsätzlich werden hierbei die Beschleunigungs- und Verzögerungswerte des Flurförderzeugs bzw. des Lastaufnahmemittels 7 bei steigender Hubhöhe reduziert.With the drive control 19, the travel drive and possibly also a Feed drive and / or a swivel drive for the load-carrying means 7 (FIG. 1) in Depending on the lifting height can be influenced. Basically, the Acceleration and deceleration values of the industrial truck and the Load suspension means 7 reduced with increasing lifting height.

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.Industrial truck with at least one lifting device and a device for detecting the lifting height of the lifting device, characterized in that the device for detecting the lifting height is designed such that at least two sensors continuously record the lifting height and deliver independent output signals. Flurförderzeug nach Anspruch 1, dadurch gekennzeichnet, dass zumindest ein Messwertgeber von einem Inkrementalgeber (11) gebildet ist.Industrial truck according to claim 1, characterized in that at least one sensor is formed by an incremental encoder (11). Flurförderzeug nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass zumindest ein Messwertgeber von einem Potentiometer (12) gebildet ist.Industrial truck according to claim 1 or 2, characterized in that at least one transmitter is formed by a potentiometer (12). Flurförderzeug nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die Messwertgeber über ein gemeinsames mechanisches Antriebselement mit der Hubvorrichtung in Wirkverbindung stehen.Industrial truck according to one of claims 1 to 3, characterized in that the sensors are operatively connected to the lifting device via a common mechanical drive element. Flurförderzeug nach Anspruch 4, dadurch gekennzeichnet, dass das Antriebselement von einem Seilzug gebildet ist.Industrial truck according to claim 4, characterized in that the drive element is formed by a cable. Flurförderzeug nach Anspruch 4, dadurch gekennzeichnet, dass das Antriebselement von einem an einem Bauteil abrollenden Rad gebildet ist.Industrial truck according to claim 4, characterized in that the drive element is formed by a wheel rolling on a component. 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.Industrial truck according to one of claims 2 to 6, characterized in that the measuring value transmitter designed as an incremental encoder (11) is connected to an electronic memory in such a way that a quantity dependent on the current lifting height is continuously stored in the electronic memory. 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. Industrial truck according to claim 7, characterized in that the electronic memory is designed such that the stored size is retained regardless of the supply of electrical energy to the memory. 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.Industrial truck according to one of claims 1 to 8, characterized in that the sensors are operatively connected to an electronic control which is designed such that the measured values of the two sensors are continuously compared. 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.Industrial truck according to one of claims 1 to 9, characterized in that at least one reference switch (14) is provided which changes its switching position when a certain lifting height is reached. 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.Industrial truck according to claim 10, characterized in that the reference switch (14) is in operative connection with the electronic control, which is designed such that the measured value of at least one sensor is continuously compared with the switching position of the reference switch (14). 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.Industrial truck according to one of claims 1 to 11, characterized in that the device for detecting the lifting height is operatively connected to a display device (18) for the lifting height. 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.Industrial truck according to one of claims 1 to 12, characterized in that the device for detecting the lifting height is operatively connected to a drive control (19) of the industrial truck. 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.Industrial truck according to Claim 13, characterized in that the acceleration control and / or the braking behavior of a pushing device for the load can be influenced as a function of the instantaneous lifting height by means of the drive control (19). 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.Industrial truck according to claim 13 or 14, characterized in that the acceleration behavior and / or the braking behavior of a swiveling device for the load can be influenced as a function of the instantaneous lifting height by means of the drive control (19). 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.Industrial truck according to one of claims 1 to 15, characterized in that at least two lifting devices which can be actuated independently of one another are provided and a device for detecting the lifting height is provided for each lifting device.
EP01125213A 2000-11-04 2001-10-24 Industrial truck with a device for detecting the lifting height Expired - Lifetime EP1203743B1 (en)

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DE10054792A DE10054792A1 (en) 2000-11-04 2000-11-04 Industrial truck with a device for detecting the lifting height
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EP2447203A1 (en) * 2010-11-01 2012-05-02 BT Products AB Industrial truck, method and computer program for controlling an industrial truck
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EP3932850A1 (en) * 2020-06-22 2022-01-05 Jungheinrich Aktiengesellschaft Narrow aisle fork-lift truck with means for preventing vibration of the lifting frame and for compensating for lift frame deformations

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DE102010022374A1 (en) * 2010-05-27 2011-12-01 Jungheinrich Aktiengesellschaft Method for providing information about a current lifting height and suitable industrial truck
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EP2772463B1 (en) 2013-02-28 2017-05-03 Toyota Material Handling Manufacturing Sweden AB A Forklift truck
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EP2447203A1 (en) * 2010-11-01 2012-05-02 BT Products AB Industrial truck, method and computer program for controlling an industrial truck
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DE10054792A1 (en) 2002-05-08
EP1203743B1 (en) 2005-08-17
ATE302159T1 (en) 2005-09-15

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