EP1203743B1 - Flurförderzeug mit einer Vorrichtung zum Erfassen der Hubhöhe - Google Patents
Flurförderzeug mit einer Vorrichtung zum Erfassen der Hubhöhe Download PDFInfo
- Publication number
- EP1203743B1 EP1203743B1 EP01125213A EP01125213A EP1203743B1 EP 1203743 B1 EP1203743 B1 EP 1203743B1 EP 01125213 A EP01125213 A EP 01125213A EP 01125213 A EP01125213 A EP 01125213A EP 1203743 B1 EP1203743 B1 EP 1203743B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- industrial truck
- lifting
- lifting height
- truck according
- measured
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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Classifications
-
- 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 a truck with at least one lifting device and a Device for detecting the lifting height of the lifting device, which is designed in such a way that at least two transducers continuously record the lift height and provide independent output signals, wherein at least one Transmitter is formed by an incremental encoder.
- the lifting height of the truck gradually by means of in the field of Lifting device arranged to detect switches. Often become dependent from the stepped lifting height signal generated by the switches, the traction drive or the braking device of the truck influenced, for example, the maximum permissible driving speed, the maximum driving acceleration or the maximum permissible braking delay as a function of the stroke height signal be specified. Due to the stepped lift height signal, it is in the Known devices not possible, the safety-technically possible maximum values for to fully exploit the aforementioned operating variables at each lifting height. Instead, after the exact lift height is not measurable, always Safety reserves are provided.
- a generic truck is for example from FR 2 515161 A1 known.
- the lifting height is by two independently working Detector detected. For lifting height determination are thus two redundant Measured values that were compared or evaluated separately can be.
- a transmitter is formed by an incremental encoder.
- the Pulse-shaped output signal of the incremental encoder is by means of a counting circuit evaluated, from the result of counting the current lift height can be deduced. It is useful to use a two-channel incremental encoder next to the pulse-shaped output signal, the length of a stroke movement as unsigned amount, additionally allows, by means of a second pulse-shaped signal to determine the direction of movement.
- the invention is therefore based on the object, a truck with a To provide device for detecting the lifting height, according to the applicable machine guidelines as "safe" and in the reference runs can be avoided at the start of operation.
- the incremental encoder executed transmitter is so connected to an electronic memory, that in the electronic memory continuously one of the current lift height dependent size is stored, wherein the electronic memory is executed in such a way is that the stored size regardless of the supply of the memory with electrical energy is maintained. It can thereby be replaced at any time, e.g. also immediately after a commissioning of the truck, on the with the incremental encoder generated measured value.
- a power supply independent Electronic memory for example, a so-called “flash memory” device be used.
- 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 lies in the direct Relationship between the lift height and the output signal, so no downstream evaluation and storage during breaks is required.
- Incremental encoder enables a high accuracy of the measurement result, and delivers a digital output signal, which processes directly in a vehicle computer can be.
- the transducers are available via a common mechanical drive element with the lifting device in Operatively connected.
- the mechanical drive element transmits the linear movement the lifting device in a rotary motion, to which both sensors coupled are.
- the drive element of a Cable is formed.
- the cable comprises an automatically wound pulley and a cable unwindable from the pulley by an external force.
- the rope end is attached to a non-height adjustable component, while the pulley to is a liftable with the lifting device component, or vice versa.
- a vertical movement of the lifting device thus automatically leads to a rotation of the Pulley which is directly or indirectly, e.g. via a gearbox, with the transducers connected is.
- the drive element of a formed on a component rolling wheel can be from a be formed liftable part of the lifting device when the wheel is not is height adjustable.
- the component is not arranged vertically movable, wherein the wheel is attached to a liftable part of the lifting device. In each Case, the rotational movement of the wheel directly or via a gearbox on the Transmit transmitter.
- At least one reference switch can be provided, which upon reaching a certain lifting height changes its switching position.
- the reference switch is in the Usually designed as a mechanical switch, which when reaching special Positions of the lifting device is actuated.
- the lower End position and / or the upper end position of the lifting device with a Reference switches be provided because in these positions special interference in the Control of the truck, e.g. an automatic shutdown of the lifting drive, occur.
- the output signal of a reference switch can be used simultaneously with the Output signals of the continuously operating transmitter are compared. Faulty measurements or interference, in a pulley arrangement e.g. a rope break, can be recognized immediately.
- the reference switch is in operative connection with the electronic control, which is designed such that the measured value of at least one transmitter with the Switching position of the reference switch is continuously compared.
- the device for detecting the lifting height with a Display device for the lifting height is in operative connection.
- the operator is the setting of certain lifting heights, the e.g. are predetermined by shelves, relieved.
- the device for detecting the lifting height with a Drive control of the truck is in operative connection.
- the lift height signal can be detected, evaluated and / or stored by the drive controller.
- certain operating parameters of the truck in Depending on the lifting height can be changed by the drive control.
- the Acceleration behavior and / or the braking behavior of a pusher for the load can be influenced as a function of the instantaneous lifting height.
- the Pusher allows shifting of a load in the horizontal direction, relative to a vehicle frame of the truck.
- the function of Pusher is influenced in such a way that with increasing lifting height the maximum Acceleration and the maximum deceleration of the load can be reduced. hereby can swinging of an extended mast due to inertia of the Load and the load receiving device are at least approximately avoided.
- Figure 1 shows a schematically illustrated inventive inventive truck, with four wheels 1 gets up on a roadway 2.
- the truck has a mast. 3 on, on which a driver's stand 4 is guided in the vertical direction 5 movable.
- a driver's stand 4 is guided in the vertical direction 5 movable.
- a relievehubvorraum 6 attached to which a load-carrying means 7 is mounted movable in the vertical direction 8.
- a device for detecting the lifting height comprises in the present Embodiment a wound on a pulley 9 rope 10.
- the pulley 9 is arranged in the present embodiment to the driver's station 4, while the other rope end attached to a non-height-adjustable part of the truck is. However, it is also possible a reverse arrangement.
- the pulley 9 is connected to a Return spring equipped, which keeps the rope 10 always in a stretched state.
- Of the Pulley 9 are driven by two independent transducers. One first transmitter is formed by an incremental encoder 11, the directly to the pulley 9 is coupled. The second transmitter is a potentiometer 12, the is connected by means of an intermediate gear 13 with the pulley 9.
- a reference switch 14 is provided, which is not a height-adjustable switching cam 15 is actuated.
- the reference switch 14 the at lowest position of the driver's cab 4 is pressed, before the first start of the Truck for Einjust Schlieren the continuously measuring device for detecting the lifting height needed.
- the reference switch 14 For example, a breakage of the rope 10 are detected when the rope 10th completely wound on the pulley 9, the reference switch 14, however, due to the lifted driver's cab 4 is not operated.
- FIG. 2 shows a block diagram of the device for detecting the lifting height of Industrial truck. Shown is the first incremental encoder 11 for detecting the Lift height of the driver's station 4, as well as a second incremental encoder 16, with the Lifting height of Rajhubvorraum 6 (see Fig. 1) is measured. Both Incremental encoders 11, 16 are connected to a programmable logic controller 17 connected. Also connected to the controller 17 are the potentiometer 12 and the reference switch 14. The output signals of the incremental encoder 11, the Potentiometer 12 and the reference switch 14 are from the controller 17 mutual plausibility checked. If the output signals do not match, the controller signals an error and becomes the corresponding one Security measures initiated. The controller 17 includes an electronic Memory in which the pulse numbers generated by the incremental encoders 11, 16 also remain stored after a power interruption. Hereby are after switching on the truck no homing operations to adjust the truck Incremental encoder 11, 16 required.
- a first output signal of the controller 17 is a display device 18th supplied to the display device with the incremental encoders 11 and 16 determined lifting heights for the mast 3 and the additional lifting 6 added become.
- a second output signal of the controller 17 is a drive control 19th supplied to the truck, in the present embodiment, this second output signal only the lifting height of the mast 3 reproduces.
- the drive control 19 it would also be possible for the drive control 19 to be the sum of the lifting heights supply 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)
Description
- Figur 1
- ein erfindungsgemäßes Flurförderzeug,
- Figur 2
- ein Blockschaltbild der Vorrichtung zum Ermitteln der Hubhöhe.
Claims (13)
- Flurförderzeug mit mindestens einer Hubvorrichtung und einer Vorrichtung zum Erfassen der Hubhöhe der Hubvorrichtung, die derart ausgeführt ist, dass mindestens zwei Messwertgeber die Hubhöhe fortlaufend erfassen und voneinander unabhängige Ausgangssignale liefern, wobei zumindest ein Messwertgeber von einem Inkrementalgeber (11) gebildet ist, 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 und der elektronische Speicher derart ausgeführt ist, dass die gespeicherte Größe unabhängig von der Versorgung des Speichers mit elektrischer Energie erhalten bleibt.
- Flurförderzeug nach Anspruch 1, dadurch gekennzeichnet, dass zumindest ein Messwertgeber von einem Potentiometer (12) gebildet ist.
- Flurförderzeug nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die Messwertgeber über ein gemeinsames mechanisches Antriebselement mit der Hubvorrichtung in Wirkverbindung stehen.
- Flurförderzeug nach Anspruch 3, dadurch gekennzeichnet, dass das Antriebselement von einem Seilzug gebildet ist.
- Flurförderzeug nach Anspruch 3, dadurch gekennzeichnet, dass das Antriebselement von einem an einem Bauteil abrollenden Rad gebildet ist.
- Flurförderzeug nach einem der Ansprüche 1 bis 5, 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 6, dadurch gekennzeichnet, dass mindestens ein Referenzschalter (14) vorgesehen ist, der bei Erreichen einer bestimmten Hubhöhe seine Schaltstellung ändert.
- Flurförderzeug nach Anspruch 7, 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 8, 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 9, dadurch gekennzeichnet, dass die Vorrichtung zum Erfassen der Hubhöhe mit einer Antriebssteuerung (19) des Flurförderzeugs in Wirkverbindung steht.
- Flurförderzeug nach Anspruch 12, 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 10 oder 11, 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 12, 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 |
---|---|---|---|
DE10054792A DE10054792A1 (de) | 2000-11-04 | 2000-11-04 | Flurförderzeug mit einer Vorrichtung zum Erfassen der Hubhöhe |
DE10054792 | 2000-11-04 |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1203743A1 EP1203743A1 (de) | 2002-05-08 |
EP1203743B1 true 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 (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1950170A1 (de) | 2007-01-24 | 2008-07-30 | Jungheinrich Aktiengesellschaft | Höhenmessvorrichtung in einem Vertikal-Kommissionierer |
DE102011009368A1 (de) | 2011-01-25 | 2012-07-26 | Linde Material Handling Gmbh | Seillängengeber |
DE102011009366A1 (de) | 2011-01-25 | 2012-07-26 | Linde Material Handling Gmbh | Gegengewichtsgabelstapler mit einem Hubhöhenmesssystem |
DE102011009367A1 (de) | 2011-01-25 | 2012-07-26 | Linde Material Handling Gmbh | Seillängengeber mit einer Seilreinigungseinrichtung |
EP2772463A1 (de) | 2013-02-28 | 2014-09-03 | BT Products AB | Gabelstapler |
US10754466B2 (en) | 2016-11-22 | 2020-08-25 | Crown Equipment Corporation | User interface device for industrial vehicle |
US10949083B2 (en) | 2015-07-17 | 2021-03-16 | Crown Equipment Corporation | Processing device having a graphical user interface for industrial vehicle |
Families Citing this family (6)
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 |
EP2447203B1 (de) * | 2010-11-01 | 2013-04-17 | BT Products AB | Industriefahrzeug, Verfahren und Computerprogramm zum Steuern eines Industriefahrzeugs |
DE102012101949A1 (de) * | 2012-03-08 | 2013-09-12 | Linde Material Handling Gmbh | Hubvorrichtung eines Flurförderzeugs |
AU2015318258B2 (en) | 2014-09-15 | 2019-02-14 | Crown Equipment Corporation | Lift truck with optical load sensing structure |
DE102020116337A1 (de) * | 2020-06-22 | 2021-12-23 | Jungheinrich Aktiengesellschaft | Schmalgangstapler mit Maßnahmen zur Verhinderung von Hubgerüstschwingungen und zum Ausgleich von Hubgerüstverformungen |
Family Cites Families (7)
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 |
US4122957A (en) * | 1977-10-06 | 1978-10-31 | The Raymond Corporation | Lift truck having height indicating means |
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 |
DE3140795C2 (de) * | 1981-10-14 | 1985-03-21 | Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg | Höhenmeßeinrichtung für Stapelgeräte |
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 |
-
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
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1950170A1 (de) | 2007-01-24 | 2008-07-30 | Jungheinrich Aktiengesellschaft | Höhenmessvorrichtung in einem Vertikal-Kommissionierer |
DE102011009368A1 (de) | 2011-01-25 | 2012-07-26 | Linde Material Handling Gmbh | Seillängengeber |
DE102011009366A1 (de) | 2011-01-25 | 2012-07-26 | Linde Material Handling Gmbh | Gegengewichtsgabelstapler mit einem Hubhöhenmesssystem |
DE102011009367A1 (de) | 2011-01-25 | 2012-07-26 | Linde Material Handling Gmbh | Seillängengeber mit einer Seilreinigungseinrichtung |
DE102011009368B4 (de) | 2011-01-25 | 2024-07-04 | Linde Material Handling Gmbh | Seillängengeber |
DE102011009367B4 (de) | 2011-01-25 | 2024-07-04 | Linde Material Handling Gmbh | Seillängengeber mit einer Seilreinigungseinrichtung |
EP2772463A1 (de) | 2013-02-28 | 2014-09-03 | BT Products AB | Gabelstapler |
US10949083B2 (en) | 2015-07-17 | 2021-03-16 | Crown Equipment Corporation | Processing device having a graphical user interface for industrial vehicle |
US11899871B2 (en) | 2015-07-17 | 2024-02-13 | Crown Equipment Corporation | Processing device having a graphical user interface for industrial vehicle |
US10754466B2 (en) | 2016-11-22 | 2020-08-25 | Crown Equipment Corporation | User interface device for industrial vehicle |
US10936183B2 (en) | 2016-11-22 | 2021-03-02 | Crown Equipment Corporation | User interface device for industrial vehicle |
US11054980B2 (en) | 2016-11-22 | 2021-07-06 | Crown Equipment Corporation | User interface device for industrial vehicle |
Also Published As
Publication number | Publication date |
---|---|
DE10054792A1 (de) | 2002-05-08 |
DE50107105D1 (de) | 2005-09-22 |
EP1203743A1 (de) | 2002-05-08 |
ATE302159T1 (de) | 2005-09-15 |
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