EP1203745B1 - Chariot de manutention avec un mât et un dispositif de déplacement supplémentaire pour un moyen de support de charge - Google Patents

Chariot de manutention avec un mât et un dispositif de déplacement supplémentaire pour un moyen de support de charge 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
Authority
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
Application number
EP01125216A
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German (de)
English (en)
Other versions
EP1203745A1 (fr
Inventor
Volker Dipl.-Ing. Barth
Siegfried Lauxmann
Rolf Dipl.-Ing. Bez
Jürgen Dipl.-Ing. Greiner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Still Wagner GmbH and Co KG
Original Assignee
Still Wagner GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Still Wagner GmbH and Co KG filed Critical Still Wagner GmbH and Co KG
Publication of EP1203745A1 publication Critical patent/EP1203745A1/fr
Application granted granted Critical
Publication of EP1203745B1 publication Critical patent/EP1203745B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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)

Claims (11)

  1. Chariot de manutention avec un mât de levage (2), un moyen de réception de charge (5) et un dispositif de déplacement (4) pour le moyen de réception de charge (5), le dispositif de déplacement (4) pouvant être levé conjointement avec le moyen de réception de charge (5) au moyen du mât de levage (2) et le moyen de réception de charge (5) pouvant être déplacé à l'aide du dispositif de déplacement (4) par rapport au mât de levage (2), le dispositif de déplacement (4) comprenant :
    un dispositif de commande (8) avec lequel le moyen de réception de charge (5) peut être déplacé essentiellement dans la direction horizontale, de préférence dans la direction latérale (7) du chariot de manutention, et/ou
    un dispositif de pivotement (9) avec lequel le moyen de réception de charge (5) peut être pivoté autour d'un axe essentiellement vertical (10),
    caractérisé en ce qu'une commande électronique pour le dispositif de déplacement (4) est réalisée de telle sorte que l'accélération et/ou la vitesse (vL) d'un déplacement du moyen de réception de charge (5) pouvant être obtenu à l'aide du dispositif de déplacement (4) puissent être influencées en fonction d'au moins un paramètre de fonctionnement du chariot de manutention, le paramètre de fonctionnement étant constitué par la hauteur de levage effective du mât de levage (2) et étant détecté de manière au moins approximativement continue.
  2. Chariot de manutention selon la revendication 1, caractérisé en ce que la hauteur de levage effective est détectée de manière au moins approximativement continue et l'accélération et/ou la vitesse (vL) du déplacement pouvant être produit à l'aide du dispositif de déplacement (4) sont adaptées en continu à la hauteur de levage effective.
  3. Chariot de manutention selon la revendication 1 ou 2, caractérisé en ce que l'accélération maximale d'au moins un déplacement du moyen de réception de charge (5) pouvant être produit à l'aide du dispositif de déplacement (4) peut être influencée en fonction de la hauteur de levage de telle sorte que pour une hauteur de levage faible, on puisse avoir une accélération plus importante que pour une grande hauteur de levage.
  4. Chariot de manutention selon l'une quelconque des revendications 1 à 3, caractérisé en ce qu'un paramètre de fonctionnement est constitué par le poids d'une charge reçue sur le moyen de réception de charge (5).
  5. Chariot de manutention selon la revendication 4, caractérisé en ce que le poids de la charge est détecté de manière approximativement continue et l'accélération et/ou la vitesse du déplacement pouvant être produit à l'aide du dispositif de déplacement (4) sont adaptées en continu au poids effectif de la charge.
  6. Chariot de manutention selon la revendication 4 ou 5, caractérisé en ce que l'accélération maximale d'au moins un déplacement du moyen de réception de charge (5) pouvant être produit à l'aide du dispositif de déplacement (4) peut être influencée en fonction du poids de la charge de telle sorte que pour un faible poids, on puisse avoir une accélération plus importante que pour un poids élevé.
  7. Chariot de manutention selon l'une quelconque des revendications 1 à 6, caractérisé en ce que l'ensemble du chariot de manutention peut être déplacé, l'accélération et/ou la vitesse (vF) du déplacement de conduite du chariot de manutention pouvant être influencées en fonction d'au moins un paramètre de fonctionnement du chariot de manutention.
  8. Chariot de manutention selon la revendication 7, caractérisé en ce que la vitesse maximale du déplacement de conduite peut être influencée en fonction de la hauteur de levage de telle sorte que pour une faible hauteur de levage, on puisse avoir une vitesse plus importante que pour une grande hauteur de levage.
  9. Chariot de manutention selon la revendication 7 ou 8, caractérisé en ce que l'accélération maximale du déplacement de conduite peut être influencée en fonction de la hauteur de levage de telle sorte que pour une faible hauteur de levage, on puisse avoir une accélération plus importante que pour une grande hauteur de levage.
  10. Chariot de manutention selon l'une quelconque des revendications 7 à 9, caractérisé en ce que la vitesse maximale du déplacement de conduite peut être influencée en fonction du poids de la charge de telle sorte que pour un faible poids, on puisse avoir une vitesse plus importante que pour un poids élevé.
  11. Chariot de manutention selon l'une quelconque des revendications 7 à 10, caractérisé en ce que l'accélération maximale du déplacement de conduite peut être influencée en fonction du poids de la charge de telle sorte que pour un faible poids, on puisse avoir une accélération plus importante que pour un poids élevé.
EP01125216A 2000-11-04 2001-10-24 Chariot de manutention avec un mât et un dispositif de déplacement supplémentaire pour un moyen de support de charge Expired - Lifetime EP1203745B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10054789A DE10054789A1 (de) 2000-11-04 2000-11-04 Flurförderzeug mit einem Hubgerüst und einer zusätzlichen Bewegungsvorrichtung für ein Lastaufnahmemittel
DE10054789 2000-11-04

Publications (2)

Publication Number Publication Date
EP1203745A1 EP1203745A1 (fr) 2002-05-08
EP1203745B1 true EP1203745B1 (fr) 2005-07-20

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ID=7662193

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EP01125216A Expired - Lifetime EP1203745B1 (fr) 2000-11-04 2001-10-24 Chariot de manutention avec un mât et un dispositif de déplacement supplémentaire pour un moyen de support de charge

Country Status (3)

Country Link
EP (1) EP1203745B1 (fr)
AT (1) ATE299837T1 (fr)
DE (2) DE10054789A1 (fr)

Cited By (1)

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Publication number Priority date Publication date Assignee Title
US9376297B2 (en) 2013-10-07 2016-06-28 Hyster-Yale Group, Inc. Reach truck

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DE10305901B4 (de) 2003-02-13 2006-11-30 Jungheinrich Aktiengesellschaft Schubmaststapler
DE10349123A1 (de) * 2003-10-22 2005-05-19 Still Wagner Gmbh & Co Kg Hubwerk, insbesondere für einen Hochregalstapler
DE102005033702A1 (de) * 2005-07-19 2007-01-25 Still Gmbh Flurförderzeug mit einem Fahrantrieb mit verschiedenen Kennlinien
DE102005035630A1 (de) * 2005-07-29 2007-02-01 Jungheinrich Ag Dreiseitenstapler
DE102005035631A1 (de) * 2005-07-29 2007-02-01 Jungheinrich Ag Dreiseitenstapler
DE102006020491A1 (de) * 2006-04-21 2007-10-25 SSI Schäfer AG Schmalgangstapler mit Anfahrmaß von 100 mm
DE102007015488A1 (de) 2007-03-30 2008-10-02 Still Wagner Gmbh Schwingungskompensation am Hubgerüst eines Flurförderzeugs
DE102008025631B4 (de) * 2008-05-26 2023-10-12 Jungheinrich Aktiengesellschaft Verfahren zur Betätigung mindestens einer hydraulischen Vorrichtung an einem Hubgerüst eines Flurförderzeugs
DE102008029205A1 (de) 2008-06-19 2009-12-24 Jungheinrich Aktiengesellschaft Flurförderzeug mit optischer Hubhöhenmessung
EP2447203B1 (fr) 2010-11-01 2013-04-17 BT Products AB Camion industriel, procédé et programme information pour le commander
EP2708490B1 (fr) 2012-09-14 2015-04-15 BT Products AB Chariot élévateur à fourche, procédé et programme informatique permettant de commander un chariot élévateur à fourche
US9309099B2 (en) 2014-06-20 2016-04-12 Cascade Corporation Side-shift limiter
DE102015201671A1 (de) * 2015-01-30 2016-08-04 Jungheinrich Aktiengesellschaft Kenngrößenbestimmung für Flurförderzeuge
CN105036004B (zh) * 2015-07-13 2018-03-20 诺力机械股份有限公司 一种轻型双向堆垛车
DE102016207523A1 (de) 2016-05-02 2017-11-02 Jungheinrich Aktiengesellschaft Flurförderzeug mit einer Einrichtung zur Reduzierung von Querschwingungen
DE102016207526A1 (de) 2016-05-02 2017-11-02 Jungheinrich Aktiengesellschaft Flurförderzeug mit einer Einrichtung zur Reduzierung von Schwingungen
DE102016208205A1 (de) 2016-05-12 2017-11-16 Jungheinrich Aktiengesellschaft Flurförderzeug mit einer Einrichtung zur Reduzierung von Schwingungen
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EP3452402B1 (fr) 2016-05-23 2024-01-03 Crown Equipment Corporation Systèmes et procédés d'utilisation d'un véhicule de manutention de matériaux dans un environnement d'entrepôt
DE102016209893A1 (de) 2016-06-06 2017-12-07 Jungheinrich Aktiengesellschaft Flurförderzeug mit einer Einrichtung zur Reduzierung von Schwingungen
DE102016211390A1 (de) 2016-06-24 2017-12-28 Jungheinrich Aktiengesellschaft Flurförderzeug mit Mitteln zur Unterdrückung bzw. Reduzierung von Schwingungen
DE102016211603A1 (de) 2016-06-28 2017-12-28 Jungheinrich Aktiengesellschaft Abstützvorrichtung mit Einrichtung zur Reduzierung von Schwingungen
EP3978420B1 (fr) * 2020-09-30 2024-03-27 STILL GmbH Procédé d'amortissement des vibrations de torsion d'un mât de levage dans un chariot de manutention et chariot de manutention

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US9376297B2 (en) 2013-10-07 2016-06-28 Hyster-Yale Group, Inc. Reach truck

Also Published As

Publication number Publication date
EP1203745A1 (fr) 2002-05-08
ATE299837T1 (de) 2005-08-15
DE50106770D1 (de) 2005-08-25
DE10054789A1 (de) 2002-05-08

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