EP1203745B1 - Industrial truck with a mast and an additional moving device for a load receiving means - Google Patents

Industrial truck with a mast and an additional moving device for a load receiving means Download PDF

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Publication number
EP1203745B1
EP1203745B1 EP01125216A EP01125216A EP1203745B1 EP 1203745 B1 EP1203745 B1 EP 1203745B1 EP 01125216 A EP01125216 A EP 01125216A EP 01125216 A EP01125216 A EP 01125216A EP 1203745 B1 EP1203745 B1 EP 1203745B1
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EP
European Patent Office
Prior art keywords
load
movement
industrial truck
acceleration
weight
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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EP01125216A
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German (de)
French (fr)
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EP1203745A1 (en
Inventor
Volker Dipl.-Ing. Barth
Siegfried Lauxmann
Rolf Dipl.-Ing. Bez
Jürgen Dipl.-Ing. Greiner
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Still Wagner GmbH and Co KG
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Still Wagner GmbH and Co KG
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Publication of EP1203745A1 publication Critical patent/EP1203745A1/en
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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
    • B66F9/08—Masts; Guides; Chains
    • B66F9/10—Masts; Guides; Chains movable in a horizontal direction relative to truck
    • 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
    • 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
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
    • B66F9/147—Whole unit including fork support moves relative to mast
    • 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

Definitions

  • Industrial trucks of the type mentioned are often as Hochregalstapler or Hochregalkommissionierer executed. Often executed as a fork Lifting means can in this case by means of a moving device relative to the Mast are moved.
  • a moving device a pusher for horizontal displacement of the load receiving means, a pivoting device or a combined swing thruster can be used.
  • a liftable driver's cab are known, in addition to one Additional lifting device to provide, with which the load receiving means relative to the driver's station and the mast can be raised.
  • Such a truck is For example, from DE-A-197 31 687 known, which the preamble of independent claim 1 corresponds.
  • the load-handling device can be used together with the at least one Movement device and the optionally available liftable Driver's cab be raised by means of the mast.
  • Especially at far extended mast can be when moving the load through the Movement device occurring mass forces to an elastic deformation and cause the mast to swing.
  • To such a deformation of the To reduce mast it is known from a given lifting height of Mast the maximum speed of movement of a side thruster and a swivel device. By this gradual reduction The movement speed can be elastic deformations and vibrations the mast are partially avoided.
  • the lowering of the Movement speed also leads to a reduction in the Truck achievable goods handling capacity.
  • the invention is therefore based on the object, an industrial truck of the beginning to provide the above-mentioned type, in which at high cargo handling capacity occurring during operation elastic deformation of the mast is further reduced.
  • an electronic Control for the movement device is designed such that the Acceleration and / or the speed of at least one of the Movement device producible movement of the lifting device in Dependence on at least one operating parameter of the truck can be influenced, the operating parameters of the current lifting height of the Mast is formed and is detected at least approximately infinitely.
  • the stepless Detection of the operating parameter allows the acceleration and / or the Speed of the movement device also approximately infinitely vary.
  • An electronic control processes the operating parameters and generates From this also infinitely one for the speed or acceleration of the Lifting equipment is the decisive influencing factor. Possible influencing factors are for example, the maximum speed that can be generated with the movement device or maximum acceleration of the load handling device.
  • the parameter acquisition by means of an incremental encoder is, for example, also the parameter acquisition by means of an incremental encoder.
  • the term "acceleration" includes in the present connection also during braking of the Load receiving means occurring braking acceleration.
  • the movement device is a pusher with which the load-receiving means in a substantially horizontal direction, is preferably displaceable in the lateral direction of the truck. This can in particular a swinging of the mast in the lateral direction of the Truck can be reduced.
  • the invention used when the movement device comprises a pivoting device, with the the load-receiving means is pivotable about a substantially vertical axis.
  • torsional vibrations of the mast can be reduced here become.
  • the operating parameter used in the invention is of the current Lifting height of the mast formed.
  • the lifting height, ie the extension length of the Mast is essential for the rigidity and vibration tendency of the mast and is therefore particularly relevant to the present problem.
  • the current lift height is detected at least approximately infinitely and is the Acceleration and / or the speed of the means of movement producible movement continuously adapted to the current lifting height.
  • the capture the lifting height for example, by means of an incremental encoder or a Potentiometers carried out via a friction wheel or a cable depending on the lifting height to be driven.
  • the maximum acceleration at least one movement of the movement device that can be generated by means of the movement device Load receiving means depending on the lifting height can be influenced such that At low lifting height a stronger acceleration is possible, as with large Lifting height. Since the acting mass forces directly from the acceleration of the Depending on the lifting device, it makes sense to increase the maximum lifting height Reduce acceleration. A reduction in the maximum speed of the Movement generated by the movement device is not intended.
  • Another operating parameter may vary from the weight of one to the other Load receiving means recorded load to be formed.
  • the load weight can For example, indirectly about the pending in a hydraulic lifting cylinder Pressure to be determined. From the load weight hang those at an acceleration of the load-bearing means acting on the mast forces directly from.
  • the weight of the load is detected at least approximately infinitely and the Acceleration and / or the speed of the means of movement generated movement is continuously adjusted to the current weight of the load.
  • the maximum acceleration of at least one by means of the movement device producible movement of the lifting device is dependent on the weight the load can be influenced in such a way that at low weight a stronger Acceleration is possible than at high weight.
  • acceleration and / or speed of travel of the truck in dependence on at least one operating parameter of the Truck can be influenced. Also accelerating or decelerating the Traveling motion of the entire truck can cause vibrations of the mast produce. For this reason, the traction drive and possibly the Driving brake of the truck depending on the above Operating parameters lifting height and load weight can be influenced.
  • the maximum speed of the travel movement in Depending on the lifting height can be influenced such that at low lift height a higher speed is possible, than at high lifting height.
  • the maximum acceleration of the driving movement is dependent on the lift height influenced such that at low lift a stronger Acceleration is possible, as with high lifting height. This can cause vibrations of the mast, caused by the driving movements of the truck will be reduced.
  • a reduction in the deceleration of the For safety reasons, the truck is only possible if This does not extend the braking distance of the truck. For this reason become at the same time the maximum speed and the Maximum acceleration reduced, so that the braking distance of the truck in the Essentially remains the same.
  • acceleration refers here equally on starting and braking operations.
  • the maximum speed of travel is in Depending on the weight of the load influenced so that at low Weight greater speed is possible than at high weight.
  • the maximum acceleration of travel is dependent from the weight of the load influenced so that at low weight one greater acceleration is possible than at high weight.
  • Dependence on the load weight a reduction in the mast acting inertia forces, at the same time the braking distance of the truck almost unaffected.
  • FIG. 1 shows a high-lift forklift truck according to the invention.
  • the Truck is with wheels 1 on a road and is freely movable. through a mast 2, a driver's stand 3 can be raised, on which a Moving device 4 is attached to a load-receiving means 5.
  • the means of the Mast generating stroke movement is illustrated by an arrow 6.
  • the moving device 4 includes a side thruster 8 for shifting of the load-carrying means 5 in the transverse direction 7 of the truck.
  • a side thruster 8 for shifting of the load-carrying means 5 in the transverse direction 7 of the truck.
  • To the Side thruster 8 is coupled to a pivoting device 9, with the Lifting device 5 can be pivoted about a vertical axis 10.
  • To the Pivoting device 9 is in turn coupled to a sanshubvorraum 11, with the the load-receiving means 5 relative to the driver's station 3 and relative to the mast. 2 can be moved in the vertical direction 12.
  • FIG. 2 shows the speed v L of the movement generated by the side thrust device 8 over the lateral displacement path s L.
  • the solid curve 15 describes the speed curve with almost completely retracted mast 2 and low load weight. Starting from the first end position 16 in this case the load-receiving means 5 is accelerated comparatively quickly and braked shortly before reaching the second end position, so that the side thruster comes to a stop in the end position 17.
  • the maximum acceleration of the lifting device 5 by means of Side thruster 8 is continuously and continuously to the current lifting height and adjusted the current load weight.
  • 17 is the movement generated by the side thruster 8 by an electronic Control automatically braked.
  • An electronic control directs the Braking process with regard to the available Brake acceleration automatically at the right time.
  • the position of the side thruster 8 continuously detects a corresponding one Measured variable of the electronic control supplied.
  • the speed of the swivel device 4 can be generated Pivoting movement also runs according to the figure 2.
  • the control of Speed of the pivoting movement takes place in the present embodiment in all respects analogous to the above-described control of the side thrust movement.
  • FIG 3 the course of the vehicle speed V F over the route s F is shown.
  • the solid curve 19 represents the speed profile with low lift height and low load weight.
  • the dashed curve 20 describes the course of the speed at high lift height and heavy load. It can be seen that here both the maximum acceleration and the maximum speed with respect to the curve 19 are reduced.
  • the maximum acceleration amounts are also identical here for starting operations and braking processes. Due to the stepless detection of the operating parameters lifting height and load weight, a stepless adjustment of the maximum acceleration and maximum speed is also possible with respect to the travel movement.

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

Abstract

The vehicle has a lifting device and load pick-up means (5). The acceleration and/or speed of at least one movement of the load pick up means which can be generated by the moving device can be influenced in dependence on at least one operating parameter of the vehicle, e.g. the actual lift height of the lift frame and this operating parameter is detected at least approximately steplessly. The actual lift height can be continuously detected infinitely and the acceleration and/or speed of movement is then adapted continuously to the actual lift height

Description

Die Erfindung betrifft ein Flurförderzeug mit einem Hubgerüst, einem Lastaufnahmemittel und einer Bewegungsvorrichtung für das Lastaufnahmemittel, wobei die Bewegungsvorrichtung gemeinsam mit dem Lastaufnahmemittel mittels des Hubgerüsts anhebbar ist und das Lastaufnahmemittel mittels der Bewegungsvorrichtung relativ zu dem Hubgerüst bewegbar ist, wobei die Bewegungsvorrichtung aufweist:

  • eine Schubvorrichtung, mit der das Lastaufnahmemittel in im Wesentlichen horizontaler Richtung, vorzugsweise in Seitenrichtung des Flurförderzeugs verschiebbar ist, und/oder
  • eine Schwenkvorrichtung, mit der das Lastaufnahmemittel um eine im Wesentlichen vertikale Achse schwenkbar ist.
The invention relates to an industrial truck with a mast, a load receiving means and a moving device for the load receiving means, wherein the moving device is liftable together with the load receiving means by means of the mast and the load receiving means by means of the moving device is movable relative to the mast, wherein the moving device comprises:
  • a pushing device, with which the load-receiving means is displaceable in a substantially horizontal direction, preferably in the lateral direction of the industrial truck, and / or
  • a pivoting device, with which the load-receiving means is pivotable about a substantially vertical axis.

Flurförderzeuge der genannten Art sind häufig als Hochregalstapler oder Hochregalkommissionierer ausgeführt. Das häufig als Gabel ausgeführte Lastaufnahmemittel kann hierbei mittels einer Bewegungsvorrichtung relativ zu dem Hubgerüst bewegt werden. Als Bewegungsvorrichtung können eine Schubvorrichtung zum horizontalen Verschieben des Lastaufnahmemittels, eine Schwenkvorrichtung oder eine kombinierte Schwenkschubvorrichtung verwendet werden. Insbesondere bei Flurförderzeugen mit einem anhebbaren Fahrerstand ist es bekannt, zusätzlich eine Zusatzhubvorrichtung zu vorzusehen, mit welcher das Lastaufnahmemittel relativ zu dem Fahrerstand und dem Hubgerüst anhebbar ist. Ein derartiges Flurförderzeug ist beispielsweise aus der DE-A-197 31 687 bekannt, welches dem Oberbegriff des unabhängigen Anspruch 1 entspricht.Industrial trucks of the type mentioned are often as Hochregalstapler or Hochregalkommissionierer executed. Often executed as a fork Lifting means can in this case by means of a moving device relative to the Mast are moved. As a moving device, a pusher for horizontal displacement of the load receiving means, a pivoting device or a combined swing thruster can be used. Especially at Industrial trucks with a liftable driver's cab are known, in addition to one Additional lifting device to provide, with which the load receiving means relative to the driver's station and the mast can be raised. Such a truck is For example, from DE-A-197 31 687 known, which the preamble of independent claim 1 corresponds.

Das Lastaufnahmemittel kann gemeinsam mit der mindestens einen Bewegungsvorrichtung und dem gegebenenfalls vorhandenen anhebbaren Fahrerstand mittels des Hubgerüsts angehoben werden. Insbesondere bei weit ausgefahrenem Hubgerüst können die bei einem Bewegen der Last durch die Bewegungsvorrichtung auftretenden Massenkräfte zu einer elastischen Verformung und einem Schwingen des Hubgerüsts führen. Um ein solches Verformen des Hubgerüsts zu reduzieren, ist es bekannt, ab einer vorgegebenen Hubhöhe des Hubgerüsts die maximale Bewegungsgeschwindigkeit einer Seitenschubvorrichtung und einer Schwenkvorrichtung herabzusetzen. Durch dieses stufenweise Herabsetzen der Bewegungsgeschwindigkeit können elastische Verformungen und Schwingungen des Hubgerüsts teilweise vermieden werden. Das Herabsetzen der Bewegungsgeschwindigkeit führt jedoch auch zu einer Verminderung der mit dem Flurförderzeug erzielbaren Warenumschlagleistung. The load-handling device can be used together with the at least one Movement device and the optionally available liftable Driver's cab be raised by means of the mast. Especially at far extended mast can be when moving the load through the Movement device occurring mass forces to an elastic deformation and cause the mast to swing. To such a deformation of the To reduce mast, it is known from a given lifting height of Mast the maximum speed of movement of a side thruster and a swivel device. By this gradual reduction The movement speed can be elastic deformations and vibrations the mast are partially avoided. The lowering of the Movement speed, however, also leads to a reduction in the Truck achievable goods handling capacity.

Der Erfindung liegt daher die Aufgabe zugrunde, ein Flurförderzeug der eingangs genannten Art zur Verfügung zu stellen, bei dem bei hoher Warenumschlagleistung die im Betrieb auftretende elastische Verformung des Hubgerüsts weiter vermindert ist.The invention is therefore based on the object, an industrial truck of the beginning to provide the above-mentioned type, in which at high cargo handling capacity occurring during operation elastic deformation of the mast is further reduced.

Diese Aufgabe wird erfindungsgemäß dadurch gelöst, dass eine elektronische Steuerung für die Bewegungsvorrichtung derart ausgeführt ist, dass die Beschleunigung und/oder die Geschwindigkeit mindestens einer mittels der Bewegungsvorrichtung erzeugbaren Bewegung des Lastaufnahmemittels in Abhängigkeit von mindestens einem Betriebsparameter des Flurförderzeugs beeinflussbar ist, wobei der Betriebsparameter von der aktuellen Hubhöhe des Hubgerüsts gebildet ist und zumindest annähernd stufenlos erfasst wird. Die stufenlose Erfassung des Betriebsparameters ermöglicht es, die Beschleunigung und/oder die Geschwindigkeit der Bewegungsvorrichtung ebenfalls annähernd stufenlos zu variieren. Eine elektronische Steuerung verarbeitet den Betriebsparameter und erzeugt hieraus ebenfalls stufenlos eine für die Geschwindigkeit oder Beschleunigung des Lastaufnahmemittels maßgebliche Einflussgröße. Mögliche Einflussgrößen sind beispielsweise die mit der Bewegungsvorrichtung erzeugbare Maximalgeschwindigkeit oder Maximalbeschleunigung des Lastaufnahmemittels. Für die vorliegende Anwendung als stufenlos anzusehen ist beispielsweise auch die Parametererfassung mittels eines Inkrementalgebers. Der Begriff "Beschleunigung" umfasst im vorliegenden Zusammenhang auch eine während des Abbremsens des Lastaufnahmemittels auftretende Bremsbeschleunigung. Besonders wirkungsvoll ist der Einsatz der Erfindung, wenn die Bewegungsvorrichtung eine Schubvorrichtung aufweist, mit der das Lastaufnahmemittel in im Wesentlichen horizontaler Richtung, vorzugsweise in Seitenrichtung des Flurförderzeugs verschiebbar ist. Hierdurch kann insbesondere ein Schwingen des Hubgerüsts in seitlicher Richtung des Flurförderzeugs verringert werden. Mit ebenso vorteilhafter Wirkung ist die Erfindung einsetzbar, wenn die Bewegungsvorrichtung eine Schwenkvorrichtung aufweist, mit der das Lastaufnahmemittel um eine im Wesentlichen vertikale Achse schwenkbar ist. Insbesondere Torsionsschwingungen des Hubgerüsts können hierbei vermindert werden. Der erfindungsgemäß verwendete Betriebsparameter ist von der aktuellen Hubhöhe des Hubgerüsts gebildet. Die Hubhöhe, also die Ausfahrlänge des Hubgerüsts ist maßgeblich für die Steifigkeit und Schwingungsneigung des Hubgerüsts und ist daher für die vorliegende Problemstellung besonders maßgeblich.This object is achieved in that an electronic Control for the movement device is designed such that the Acceleration and / or the speed of at least one of the Movement device producible movement of the lifting device in Dependence on at least one operating parameter of the truck can be influenced, the operating parameters of the current lifting height of the Mast is formed and is detected at least approximately infinitely. The stepless Detection of the operating parameter allows the acceleration and / or the Speed of the movement device also approximately infinitely vary. An electronic control processes the operating parameters and generates From this also infinitely one for the speed or acceleration of the Lifting equipment is the decisive influencing factor. Possible influencing factors are for example, the maximum speed that can be generated with the movement device or maximum acceleration of the load handling device. For the present Use as infinitely variable is, for example, also the parameter acquisition by means of an incremental encoder. The term "acceleration" includes in the present connection also during braking of the Load receiving means occurring braking acceleration. Is particularly effective the use of the invention when the movement device is a pusher with which the load-receiving means in a substantially horizontal direction, is preferably displaceable in the lateral direction of the truck. This can in particular a swinging of the mast in the lateral direction of the Truck can be reduced. With equally advantageous effect is the invention used when the movement device comprises a pivoting device, with the the load-receiving means is pivotable about a substantially vertical axis. In particular, torsional vibrations of the mast can be reduced here become. The operating parameter used in the invention is of the current Lifting height of the mast formed. The lifting height, ie the extension length of the Mast is essential for the rigidity and vibration tendency of the mast and is therefore particularly relevant to the present problem.

Hierbei wird die aktuelle Hubhöhe zumindest annähernd stufenlos erfasst und wird die Beschleunigung und/oder die Geschwindigkeit der mittels der Bewegungsvorrichtung erzeugbaren Bewegung fortlaufend an die aktuelle Hubhöhe angepasst. Das Erfassen der Hubhöhe kann beispielsweise mittels eines Inkrementalgebers oder eines Potentiometers erfolgen, die über ein Reibrad oder einen Seilzug in Abhängigkeit von der Hubhöhe angetrieben werden. Here, the current lift height is detected at least approximately infinitely and is the Acceleration and / or the speed of the means of movement producible movement continuously adapted to the current lifting height. The capture the lifting height, for example, by means of an incremental encoder or a Potentiometers carried out via a friction wheel or a cable depending on the lifting height to be driven.

Gemäß einer bevorzugten Ausführungsform ist hierbei die maximale Beschleunigung mindestens einer mittels der Bewegungsvorrichtung erzeugbaren Bewegung des Lastaufnahmemittels in Abhängigkeit von der Hubhöhe derart beeinflussbar ist, dass bei geringer Hubhöhe eine stärkere Beschleunigung möglich ist, als bei großer Hubhöhe. Da die wirkenden Massenkräfte direkt von der Beschleunigung des Lastaufnahmemittels abhängen, ist es sinnvoll, bei steigender Hubhöhe die maximale Beschleunigung zu reduzieren. Eine Reduzierung der Maximalgeschwindigkeit der mittels der Bewegungsvorrichtung erzeugbaren Bewegung ist hierbei nicht vorgesehen.According to a preferred embodiment, in this case the maximum acceleration at least one movement of the movement device that can be generated by means of the movement device Load receiving means depending on the lifting height can be influenced such that At low lifting height a stronger acceleration is possible, as with large Lifting height. Since the acting mass forces directly from the acceleration of the Depending on the lifting device, it makes sense to increase the maximum lifting height Reduce acceleration. A reduction in the maximum speed of the Movement generated by the movement device is not intended.

Ein weiterer Betriebsparameter kann von dem Gewicht einer mit dem Lastaufnahmemittel aufgenommenen Last gebildet sein. Das Lastgewicht kann beispielsweise indirekt über den in einem hydraulischen Hubzylinder anstehenden Druck ermittelt werden. Von dem Lastgewicht hängen die bei einer Beschleunigung des Lastaufnahmemittels auf das Hubgerüst wirkenden Kräfte direkt ab.Another operating parameter may vary from the weight of one to the other Load receiving means recorded load to be formed. The load weight can For example, indirectly about the pending in a hydraulic lifting cylinder Pressure to be determined. From the load weight hang those at an acceleration of the load-bearing means acting on the mast forces directly from.

Das Gewicht der Last wird zumindest annähernd stufenlos erfasst und die Beschleunigung und/oder die Geschwindigkeit der mittels der Bewegungsvorrichtung erzeugbaren Bewegung wird fortlaufend an das aktuelle Gewicht der Last angepasst.The weight of the load is detected at least approximately infinitely and the Acceleration and / or the speed of the means of movement generated movement is continuously adjusted to the current weight of the load.

Die maximale Beschleunigung mindestens einer mittels der Bewegungsvorrichtung erzeugbaren Bewegung des Lastaufnahmemittels ist in Abhängigkeit von dem Gewicht der Last derart beeinflussbar, dass bei geringem Gewicht eine stärkere Beschleunigung möglich ist, als bei hohem Gewicht. The maximum acceleration of at least one by means of the movement device producible movement of the lifting device is dependent on the weight the load can be influenced in such a way that at low weight a stronger Acceleration is possible than at high weight.

Gemäß einer vorteilhaften Weiterbildung der Erfindung ist bei einem verfahrbaren Flurförderzeug, die Beschleunigung und/oder die Geschwindigkeit der Fahrbewegung des Flurförderzeugs in Abhängigkeit von mindestens einem Betriebsparameter des Flurförderzeugs beeinflussbar. Auch ein Beschleunigen oder Abbremsen der Fahrbewegung des gesamten Flurförderzeugs kann Schwingungen des Hubgerüsts erzeugen. Aus diesem Grund kann auch der Fahrantrieb und gegebenenfalls die Fahrbremse des Flurförderzeugs in Abhängigkeit von den oben beschriebenen Betriebsparametern Hubhöhe und Lastgewicht beeinflusst werden.According to an advantageous embodiment of the invention is in a movable Truck, acceleration and / or speed of travel of the truck in dependence on at least one operating parameter of the Truck can be influenced. Also accelerating or decelerating the Traveling motion of the entire truck can cause vibrations of the mast produce. For this reason, the traction drive and possibly the Driving brake of the truck depending on the above Operating parameters lifting height and load weight can be influenced.

Vorteilhafterweise wird die maximale Geschwindigkeit der Fahrbewegung in Abhängigkeit von der Hubhöhe derart beeinflussbar ist, dass bei geringer Hubhöhe eine größere Geschwindigkeit möglich ist, als bei großer Hubhöhe.Advantageously, the maximum speed of the travel movement in Depending on the lifting height can be influenced such that at low lift height a higher speed is possible, than at high lifting height.

Gleichzeitig ist die maximale Beschleunigung der Fahrbewegung in Abhängigkeit von der Hubhöhe derart beeinflussbar, dass bei geringer Hubhöhe eine stärkere Beschleunigung möglich ist, als bei großer Hubhöhe. Hierdurch können Schwingungen des Hubgerüsts, die durch die Fahrbewegungen des Flurförderzeugs hervorgerufen werden, verringert werden. Eine Verringerung der Bremsbeschleunigung des Flurförderzeugs ist aus sicherheitstechnischen Überlegungen nur dann möglich, wenn sich dadurch der Bremsweg des Flurförderzeugs nicht verlängert. Aus diesem Grund werden bei steigender Hubhöhe gleichzeitig die Maximalgeschwindigkeit und die Maximalbeschleunigung verringert, so dass der Bremsweg des Flurförderzeugs im Wesentlichen gleich bleibt. Der Begriff "Beschleunigung" bezieht sich hierbei gleichermaßen auf Anfahrvorgänge und auf Bremsvorgänge.At the same time, the maximum acceleration of the driving movement is dependent on the lift height influenced such that at low lift a stronger Acceleration is possible, as with high lifting height. This can cause vibrations of the mast, caused by the driving movements of the truck will be reduced. A reduction in the deceleration of the For safety reasons, the truck is only possible if This does not extend the braking distance of the truck. For this reason become at the same time the maximum speed and the Maximum acceleration reduced, so that the braking distance of the truck in the Essentially remains the same. The term "acceleration" refers here equally on starting and braking operations.

Mit den gleichen Vorteilen ist die maximale Geschwindigkeit der Fahrbewegung in Abhängigkeit von dem Gewicht der Last derart beeinflussbar, dass bei geringem Gewicht eine größere Geschwindigkeit möglich ist, als bei hohem Gewicht. With the same advantages, the maximum speed of travel is in Depending on the weight of the load influenced so that at low Weight greater speed is possible than at high weight.

Gleichermaßen ist die maximale Beschleunigung der Fahrbewegung in Abhängigkeit von dem Gewicht der Last derart beeinflussbar, dass bei geringem Gewicht eine stärkere Beschleunigung möglich ist, als bei hohem Gewicht. Somit erfolgt auch in Abhängigkeit von dem Lastgewicht eine Verringerung der auf das Hubgerüst wirkenden Trägheitskräfte, wobei gleichzeitig der Bremsweg des Flurförderzeugs nahezu unbeeinflusst bleibt.Likewise, the maximum acceleration of travel is dependent from the weight of the load influenced so that at low weight one greater acceleration is possible than at high weight. Thus also takes place in Dependence on the load weight a reduction in the mast acting inertia forces, at the same time the braking distance of the truck almost unaffected.

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
die Geschwindigkeit der Bewegungsvorrichtung über dem Weg,
Figur 3
die Fahrgeschwindigkeit des Flurförderzeugs über dem Fahrweg.
Further advantages and details of the invention will be explained in more detail with reference to the embodiment shown in the schematic figures. It shows
FIG. 1
an industrial truck according to the invention,
FIG. 2
the speed of the movement device over the way,
FIG. 3
the driving speed of the truck above the track.

Figur 1 zeigt als erfindungsgemäßes Flurförderzeug einen Hochregalstapler. Das Flurförderzeug steht mit Rädern 1 auf einer Fahrbahn auf und ist frei verfahrbar. Mittels eines Hubgerüsts 2 kann ein Fahrerstand 3 angehoben werden, an welchem eine Bewegungsvorrichtung 4 mit einem Lastaufnahmemittel 5 befestigt ist. Die mittels des Hubgerüsts erzeugbare Hubbewegung ist mit einem Pfeil 6 verdeutlicht.FIG. 1 shows a high-lift forklift truck according to the invention. The Truck is with wheels 1 on a road and is freely movable. through a mast 2, a driver's stand 3 can be raised, on which a Moving device 4 is attached to a load-receiving means 5. The means of the Mast generating stroke movement is illustrated by an arrow 6.

Die Bewegungsvorrichtung 4 umfasst eine Seitenschubvorrichtung 8 zum Verschieben des Lastaufnahmemittels 5 in Querrichtung 7 des Flurförderzeugs. An die Seitenschubvorrichtung 8 gekoppelt ist eine Schwenkvorrichtung 9, mit der das Lastaufnahmemittel 5 um eine vertikale Achse 10 geschwenkt werden kann. An die Schwenkvorrichtung 9 ist wiederum eine Zusatzhubvorrichtung 11 gekoppelt, mit der das Lastaufnahmemittel 5 relativ zu dem Fahrerstand 3 und relativ zu dem Hubgerüst 2 in vertikaler Richtung 12 bewegt werden kann.The moving device 4 includes a side thruster 8 for shifting of the load-carrying means 5 in the transverse direction 7 of the truck. To the Side thruster 8 is coupled to a pivoting device 9, with the Lifting device 5 can be pivoted about a vertical axis 10. To the Pivoting device 9 is in turn coupled to a Zusatzhubvorrichtung 11, with the the load-receiving means 5 relative to the driver's station 3 and relative to the mast. 2 can be moved in the vertical direction 12.

Figur 2 zeigt die Geschwindigkeit vL der mit der Seitenschubvorrichtung 8 erzeugten Bewegung über dem seitlichen Verschiebungsweg sL. Die durchgezogene Kurve 15 beschreibt den Geschwindigkeitsverlauf bei annähernd vollständig eingefahrenem Hubgerüst 2 und geringem Lastgewicht. Ausgehend von der ersten Endstellung 16 wird hierbei das Lastaufnahmemittel 5 vergleichsweise schnell beschleunigt und kurz vor dem Erreichen der zweiten Endstellung abgebremst, so dass die Seitenschubvorrichtung in der Endstellung 17 zum Stillstand kommt.FIG. 2 shows the speed v L of the movement generated by the side thrust device 8 over the lateral displacement path s L. The solid curve 15 describes the speed curve with almost completely retracted mast 2 and low load weight. Starting from the first end position 16 in this case the load-receiving means 5 is accelerated comparatively quickly and braked shortly before reaching the second end position, so that the side thruster comes to a stop in the end position 17.

Bei weit ausgefahrenem Hubgerüst 2 und großer angehobener Last verläuft die Geschwindigkeit entlang der gestrichelten Kurve 18. Im Vergleich zu der Kurve 15 erfolgt das Beschleunigen im Bereich der Endstellung 16 und das Abbremsen im Bereich der Endstellung 17 wesentlich sanfter. Hierdurch werden die auf das Hubgerüst 2 wirkenden Trägheitskräfte reduziert, obwohl bei beiden Kurven 15, 18 die gleiche Maximalgeschwindigkeit zur Verfügung steht.At far extended mast 2 and large raised load runs the Velocity along dashed curve 18. Compared to curve 15 the acceleration takes place in the region of the end position 16 and the braking in the Range of end position 17 much gentler. This will be on the Mast 2 acting inertia forces reduced, although at both curves 15, 18 the same maximum speed is available.

Die Maximalbeschleunigung des Lastaufnahmemittels 5 mittels der Seitenschubvorrichtung 8 wird kontinuierlich und stufenlos an die aktuelle Hubhöhe und das aktuelle Lastgewicht angepasst. Vor Erreichen einer Endstellung 16, 17 wird die durch die Seitenschubvorrichtung 8 erzeugte Bewegung durch eine elektronische Steuerung automatisch abgebremst. Eine elektronische Steuerung leitet den Bremsvorgang dabei im Hinblick auf die zur Verfügung stehende Bremsbeschleunigung automatisch zum richtigen Zeitpunkt ein. Zu diesem Zweck wird die Position der Seitenschubvorrichtung 8 kontinuierlich erfasst eine entsprechende Messgröße der elektronischen Steuerung zugeführt. Wenn die Seitenschubvorrichtung 8 durch eine Vorgabe der Bedienperson vor dem Erreichen der Endstellung angehalten werden soll, erfolgt das Abbremsen ebenfalls mit der den aktuellen Betriebsparametern entsprechenden Maximalbeschleunigung.The maximum acceleration of the lifting device 5 by means of Side thruster 8 is continuously and continuously to the current lifting height and adjusted the current load weight. Before reaching an end position 16, 17 is the movement generated by the side thruster 8 by an electronic Control automatically braked. An electronic control directs the Braking process with regard to the available Brake acceleration automatically at the right time. For this purpose will be the position of the side thruster 8 continuously detects a corresponding one Measured variable of the electronic control supplied. When the side thruster 8 stopped by a specification of the operator before reaching the end position is to be decelerated also with the current operating parameters corresponding maximum acceleration.

Der Geschwindigkeit der mit der Schwenkvorrichtung 4 erzeugbaren Schwenkbewegung verläuft ebenfalls entsprechend der Figur 2. Die Steuerung der Geschwindigkeit der Schwenkbewegung erfolgt im vorliegenden Ausführungsbeispiel in jeder Hinsicht analog zu der oben erläuterten Steuerung der Seitenschubbewegung.The speed of the swivel device 4 can be generated Pivoting movement also runs according to the figure 2. The control of Speed of the pivoting movement takes place in the present embodiment in all respects analogous to the above-described control of the side thrust movement.

Für die Steuerung der mit der Zusatzhubvorrichtung erzeugbaren Bewegung ist im vorliegenden Ausführungsbeispiel keine Abhängigkeit von Betriebsparametern des Flurförderzeugs vorgesehen. Grundsätzlich ist jedoch auch hierfür eine Steuerung analog zu der oben erläuterten Steuerung der Seitenschubbewegung möglich.For the control of the producible with the Zusatzhubvorrichtung movement is in present embodiment no dependence on operating parameters of the Truck provided. In principle, however, this is also a control analogous to the above-described control of the side thrust movement possible.

In Figur 3 ist der Verlauf der Fahrgeschwindigkeit vF über der Fahrstrecke sF dargestellt. Die durchgezogene Kurve 19 stellt den Geschwindigkeitsverlauf bei geringer Hubhöhe und kleinem Lastgewicht dar. Die gestrichelte Kurve 20 beschreibt den Verlauf der Geschwindigkeit bei großer Hubhöhe und schwerer Last. Zu erkennen ist, dass hier sowohl die Maximalbeschleunigung, als auch die Maximalgeschwindigkeit gegenüber der Kurve 19 reduziert sind. Die maximalen Beschleunigungsbeträge sind auch hier für Anfahrvorgänge und Bremsvorgänge identisch. Aufgrund der stufenlosen Erfassung der Betriebsparameter Hubhöhe und Lastgewicht ist auch bezüglich der Fahrbewegung eine stufenlose Anpassung der Maximalbeschleunigung und Maximalgeschwindigkeit möglich.In Figure 3, the course of the vehicle speed V F over the route s F is shown. The solid curve 19 represents the speed profile with low lift height and low load weight. The dashed curve 20 describes the course of the speed at high lift height and heavy load. It can be seen that here both the maximum acceleration and the maximum speed with respect to the curve 19 are reduced. The maximum acceleration amounts are also identical here for starting operations and braking processes. Due to the stepless detection of the operating parameters lifting height and load weight, a stepless adjustment of the maximum acceleration and maximum speed is also possible with respect to the travel movement.

Claims (11)

  1. Industrial truck having a mast (2), a load-bearing means (5) and a movement apparatus (4) for the load-bearing means (5), it being possible for the movement apparatus (4), together with the load-bearing means (5), to be lifted by means of the mast (2) and for the load-bearing means (5) to be moved relative to the mast (2) by means of the movement apparatus (4), the movement apparatus (4) having:
    a pushing apparatus (8), by means of which the load-bearing means (5) can be displaced in the essentially horizontal direction, preferably in the lateral direction (7) of the industrial truck, and/or
    a pivoting apparatus (9), by means of which the load-bearing means (5) can be pivoted about an essentially vertical axis (10),
    characterized in that an electronic controller for the movement apparatus (4) is designed such that the acceleration and/or the speed (vL) of at least one movement, which can be produced by means of the movement apparatus (4), of the load-bearing means (5) can be influenced depending on at least one operational parameter of the industrial truck, the operational parameter being formed by the current lifting height of the mast (2) and being detected in an at least approximately stepless manner.
  2. Industrial truck according to Claim 1, characterized in that the current lifting height is detected in an at least approximately stepless manner, and the acceleration and/or the speed (vL) of the movement, which can be produced by means of the movement apparatus (4), is continuously matched to the current lifting height.
  3. Industrial truck according to Claim 1 or 2, characterized in that the maximum acceleration of at least one movement, which can be produced by means of the movement apparatus (4), of the load-bearing means (5) can be influenced depending on the lifting height such that, at a low lifting height, greater acceleration is possible than at a high lifting height.
  4. Industrial truck according to one of Claims 1 to 3, characterized in that an operational parameter is formed by the weight of a load borne by the load-bearing means (5).
  5. Industrial truck according to Claim 4, characterized in that the weight of the load is detected in an at least approximately stepless manner, and the acceleration and/or the speed of the movement, which can be produced by means of the movement apparatus (4), is continuously matched to the current weight of the load.
  6. Industrial truck according to Claim 4 or 5, characterized in that the maximum acceleration of at least one movement, which can be produced by means of the movement apparatus (4), of the load-bearing means (5) can be influenced depending on the weight of the load such that, at a low weight, greater acceleration is possible than at a high weight.
  7. Industrial truck according to one of Claims 1 to 6, characterized in that the entire industrial truck can be driven, it being possible for the acceleration and/or the speed (vF) of the driven movement of the industrial truck to be influenced depending on at least one operational parameter of the industrial truck.
  8. Industrial truck according to Claim 7, characterized in that the maximum speed of the driven movement can be influenced depending on the lifting height such that, at a low lifting height, a greater speed is possible than at a high lifting height.
  9. Industrial truck according to Claim 7 or 8, characterized in that the maximum acceleration of the driven movement can be influenced depending on the lifting height such that, at a low lifting height, a greater acceleration is possible than at a high lifting height.
  10. Industrial truck according to one of Claims 7 to 9, characterized in that the maximum speed of the driven movement can be influenced depending on the weight of the load such that, at a low weight, a greater speed is possible than at a high weight.
  11. Industrial truck according to one of Claims 7 to 10, characterized in that the maximum acceleration of the driven movement can be influenced depending on the weight of the load such that, at a low weight, a greater acceleration is possible than at a high weight.
EP01125216A 2000-11-04 2001-10-24 Industrial truck with a mast and an additional moving device for a load receiving means Expired - Lifetime EP1203745B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10054789A DE10054789A1 (en) 2000-11-04 2000-11-04 Industrial truck with a mast and an additional movement device for a load handler
DE10054789 2000-11-04

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EP1203745A1 EP1203745A1 (en) 2002-05-08
EP1203745B1 true EP1203745B1 (en) 2005-07-20

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AT (1) ATE299837T1 (en)
DE (2) DE10054789A1 (en)

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DE10054789A1 (en) 2002-05-08
ATE299837T1 (en) 2005-08-15
EP1203745A1 (en) 2002-05-08
DE50106770D1 (en) 2005-08-25

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