EP1318099A1 - Mobile working machine with dynamic control for drive - Google Patents
Mobile working machine with dynamic control for drive Download PDFInfo
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- EP1318099A1 EP1318099A1 EP02026699A EP02026699A EP1318099A1 EP 1318099 A1 EP1318099 A1 EP 1318099A1 EP 02026699 A EP02026699 A EP 02026699A EP 02026699 A EP02026699 A EP 02026699A EP 1318099 A1 EP1318099 A1 EP 1318099A1
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- Prior art keywords
- drive
- characteristic
- programs
- control device
- working
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
Definitions
- the invention relates to a mobile machine, in particular an industrial truck a traction drive and / or a working drive, the acceleration and / or the braking behavior of the travel drive and / or the working drive by means of one or a plurality of programs is adjustable, which is in operative connection with the travel drive and / or the working drive control device are saved.
- the Operator In order to be able to make optimal use of the manually switchable driving programs, the Operator must be informed about their presence and mode of action also consciously use the driving programs. In addition, it may required for trips with and without load, between different driving programs to switch back and forth. The operator is therefore required to carry out additional activities, that of the actual activity - operating the travel drive and the working drive the mobile machine - distract. This can have a negative impact on handling performance and security. On the other hand the option of choosing between different driving programs is not used, so the maximum performance of the forklift is not reached.
- the object of the present invention is a mobile work machine of the type mentioned at the outset, in which influencing the Dynamics of the drive and / or the working drive is simplified.
- control device a plurality of sensors for measuring the dynamics of the travel drive and / or the work drive of the work machine relevant parameters connected and, depending on the measured variables, automatically between the Programs of the drive and / or between the programs of the drive is switched.
- the idea essential to the invention is therefore the dynamic properties the machine automatically to the operator's requirements adapt. Due to the sensor technology that is already largely available Work machine can the movement behavior and the load situation of the Machine are detected. In the control device, the detected signals (setpoints and actual values) recognized which driving and / or working style the operator prefers and accordingly the driving and / or working drive affected.
- the effort for the invention is limited to programming the control device, since the sensors are already present in the machine is.
- So z. B. in electric forklifts often donor to detect the Driving motor speed, the accelerator pedal position, the steering angle and the valve lever position available.
- the type of donor is not based on the types mentioned limited.
- a combined evaluation of lift and lift is particularly interesting for forklifts Driving movements because it improves the detection of work situations is and accordingly the driving and / or work dynamics adapted very quickly can be.
- the invention can, for. B. automatically depending on the load different driving programs of the drive can be switched. But it is also possible, alternatively or additionally, the principle described on the working drive apply accordingly, a plurality of work programs are stored in the control device and the control device is in operative connection with the working drive, depending on the measured variables is automatically switched between the work programs of the work drive. Sensitive goods can be transported due to the particularly good positioning behavior of the Working drive be spared.
- the measurement variables in the control device are advantageously evaluated using methods the fuzzy logic.
- the measured variables do not have to match the in the control device cataloged values match a driving and / or Recognizing work situation.
- the driving and / or work programs are expedient in the form of characteristic curves stored with which a command value is assigned a manipulated variable, where the characteristic curves are available as characteristic curve fields and / or as parameter fields, depending on mathematical formulation of the dependencies.
- the detection of when which characteristic is to be used can e.g. B. by a comparison of the measured values recorded by the sensors with a cataloged driving and / or work situation.
- cataloged patterns but patterns from themselves to generate repetitive work processes of the work machine itself and in the Filing control device. This automatically adjusts the work machine new fields of application.
- the proportionality between the setpoint and Actuator control signal canceled and to and fro between different types of characteristic be switched down.
- a progressive characteristic curve leads to a rather soft driving behavior, which is desirable in other driving situations, z. B. when picking up a load. Under certain circumstances it may be useful to have a characteristic curve composed of degressive and progressive parts so that everyone desired course arises.
- FIG. 1 shows a proportional characteristic curve
- FIG. 2 shows a progressive characteristic curve
- FIG. 3 a degressive characteristic.
- the target value S is plotted on the abscissa, while the ordinate is the output value W of an actuator assigned.
- the working drive is in particular a lifting drive Lifting hydraulics, a forklift trained.
- Lifting hydraulics a forklift trained.
- the hydraulic function is activated indirectly will, e.g. B. by means of electro-hydraulic directional valves.
- the driving and / or work programs on exchangeable memory means of Control device are stored, it can be when changing the operator Take your individual work profile with you. A new operator can bring with them Storage means that z. B. are on a so-called driver card, not only be authorized to operate the working machine, but also receive it automatically also the usual driving characteristics.
- the invention can in principle be used for all types of mobile work machines that have a travel drive and / or at least one working drive, in addition to industrial trucks including excavators, caterpillars, cranes, etc.
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
Description
Die Erfindung betrifft eine mobile Arbeitsmaschine, insbesondere Flurförderzeug, mit einem Fahrantrieb und/oder einem Arbeitsantrieb, wobei das Beschleunigungsund/oder das Bremsverhalten des Fahrantriebs und/oder des Arbeitsantriebs mittels eines oder einer Mehrzahl von Programmen einstellbar ist, die in einer in Wirkverbindung mit dem Fahrantrieb und/oder dem Arbeitsantrieb stehenden Steuereinrichtung gespeichert sind.The invention relates to a mobile machine, in particular an industrial truck a traction drive and / or a working drive, the acceleration and / or the braking behavior of the travel drive and / or the working drive by means of one or a plurality of programs is adjustable, which is in operative connection with the travel drive and / or the working drive control device are saved.
Gattungsgemäße Arbeitsmaschinen, die als Gegengewichts-Gabelstapler ausgebildet sind, werden seit mehreren Jahren von der STILL GmbH, Hamburg, unter der Bezeichnung "Baureihe R70" hergestellt und vertrieben. Das Beschleunigungs- und Bremsverhalten des Fahrantriebs dieser Gabelstapler ist mittels eines 5-Stufenschalters einstellbar, mit dessen Hilfe die Bedienperson unter fünf verschiedenen Fahrprogrammen auswählen kann. Dadurch ist es möglich, abhängig von der Empfindlichkeit des zu transportierenden Ladeguts die Fahrdynamik, mit der der Gabelstapler reagiert, zu beeinflussen.Generic work machines designed as counterbalance forklifts have been marketed by STILL GmbH, Hamburg, for several years "Series R70" manufactured and distributed. The acceleration and Braking behavior of the drive of this forklift is by means of a 5-step switch adjustable, with the help of which the operator among five different Can select driving programs. This makes it possible, depending on the Sensitivity of the cargo to be transported the driving dynamics with which the Forklift responds to influence.
Um die manuell schaltbaren Fahrprogramme optimal nutzen zu können, muss die Bedienperson über deren Vorhandensein und Wirkungsweise informiert sein und muss ferner die Fahrprogramme bewusst einsetzen. Darüber hinaus ist es unter Umständen für Fahrten mit und ohne Last erforderlich, zwischen verschiedenen Fahrprogrammen hin- und herzuwechseln. Es werden also von der Bedienperson Zusatzaktivitäten gefordert, die von der eigentlichen Tätigkeit - Bedienen des Fahrantriebs und des Arbeitsantriebs der mobilen Arbeitsmaschine - ablenken. Dadurch können sich negative Auswirkungen auf die Umschlagleistung und auf die Sicherheit ergeben. Wird andererseits die Möglichkeit der Auswahl unter verschiedenen Fahrprogrammen nicht genutzt, so wird die maximale Leistungsfähigkeit des Gabelstaplers nicht erreicht. In order to be able to make optimal use of the manually switchable driving programs, the Operator must be informed about their presence and mode of action also consciously use the driving programs. In addition, it may required for trips with and without load, between different driving programs to switch back and forth. The operator is therefore required to carry out additional activities, that of the actual activity - operating the travel drive and the working drive the mobile machine - distract. This can have a negative impact on handling performance and security. On the other hand the option of choosing between different driving programs is not used, so the maximum performance of the forklift is not reached.
Der vorliegenden Erfindung liegt die Aufgabe zu Grunde, eine mobile Arbeitsmaschine der eingangs genannten Art zur Verfügung zu stellen, bei der die Beeinflussung der Dynamik des Fahrantriebs und/oder des Arbeitsantriebs vereinfacht ist.The object of the present invention is a mobile work machine of the type mentioned at the outset, in which influencing the Dynamics of the drive and / or the working drive is simplified.
Diese Aufgabe wird erfindungsgemäß dadurch gelöst, dass an die Steuereinrichtung eine Mehrzahl von Gebern zur Messung von für die Dynamik des Fahrantriebs und/oder des Arbeitsantriebs der Arbeitsmaschine relevanten Parametern angeschlossen ist und in Abhängigkeit von den erfassten Messgrößen automatisch zwischen den Programmen des Fahrantriebs und/oder zwischen den Programmen des Arbeitsantriebs umgeschaltet wird.This object is achieved in that the control device a plurality of sensors for measuring the dynamics of the travel drive and / or the work drive of the work machine relevant parameters connected and, depending on the measured variables, automatically between the Programs of the drive and / or between the programs of the drive is switched.
Der erfindungswesentliche Gedanke besteht demnach darin, die dynamischen Eigenschaften der Arbeitsmaschine automatisch an die Erfordernisse der Bedienperson anzupassen. Durch die in aller Regel bereits weitgehend vorhandene Sensorik der Arbeitsmaschine können dabei das Bewegungsverhalten und die Lastsituation der Arbeitsmaschine erfasst werden. In der Steuereinrichtung wird durch Auswertung der erfassten Signale (Sollwerte und Istwerte) erkannt, welchen Fahr- und/oder Arbeitsstil die Bedienperson bevorzugt und dementsprechend der Fahr- und/oder Arbeitsantrieb beeinflusst.The idea essential to the invention is therefore the dynamic properties the machine automatically to the operator's requirements adapt. Due to the sensor technology that is already largely available Work machine can the movement behavior and the load situation of the Machine are detected. In the control device, the detected signals (setpoints and actual values) recognized which driving and / or working style the operator prefers and accordingly the driving and / or working drive affected.
Durch die Erfindung können die Leistungsfähigkeit und die Fahreigenschaften der Arbeitsmaschine verbessert werden. Im Falle von Flurförderzeugen, z. B. Gabelstaplem, wird die Umschlagleistung erhöht. Da sich die Bedienperson ganz auf das Fahren und Bedienen des Arbeitsantriebs konzentrieren kann, ist die Sicherheit erhöht.The performance and driving characteristics of the Machine to be improved. In the case of industrial trucks, e.g. B. forklift, the handling capacity is increased. Since the operator is completely focused on that Driving and operating the working drive can concentrate, safety is increased.
Im Idealfall beschränkt sich der Aufwand für die Erfindung lediglich auf die Programmierung der Steuereinrichtung, da die Sensorik bereits in der Arbeitsmaschine vorhanden ist. So sind z. B. in Elektro-Gabelstaplern vielfach Geber zur Erfassung der Fahrmotordrehzahl, der Fahrpedalstellung, des Lenkwinkels und der Ventilhebelstellung vorhanden. Je nach Ausführung des Gabelstaplers können auch Geber für die Verbrennungsmotordrehzahl, die Drehzahl einer Hydraulikpumpe, die Erfassung der Hubgerüstneigung und die Erfassung des elektrischen Stromes im Fahrantrieb vorhanden sein. Selbstverständlich ist die Art der Geber nicht auf die genannten Typen eingeschränkt. Ideally, the effort for the invention is limited to programming the control device, since the sensors are already present in the machine is. So z. B. in electric forklifts often donor to detect the Driving motor speed, the accelerator pedal position, the steering angle and the valve lever position available. Depending on the version of the forklift, donors for the Internal combustion engine speed, the speed of a hydraulic pump, the detection of the Mast inclination and the detection of the electrical current in the travel drive available his. Of course, the type of donor is not based on the types mentioned limited.
Besonders interessant ist bei Gabelstaplern eine kombinierte Auswertung von Hubund Fahrbewegungen, weil dadurch die Erkennung von Arbeitssituationen verbessert ist und dementsprechend die Fahr- und/oder Arbeitsdynamik sehr rasch angepasst werden kann.A combined evaluation of lift and lift is particularly interesting for forklifts Driving movements because it improves the detection of work situations is and accordingly the driving and / or work dynamics adapted very quickly can be.
Im einfachsten Fall kann durch die Erfindung z. B. lastabhängig automatisch zwischen verschiedenen Fahrprogrammen des Fahrantriebs umgeschaltet werden. Es ist aber auch möglich, alternativ oder zusätzlich, das beschriebene Prinzip auf den Arbeitsantrieb anzuwenden, wobei dementsprechend eine Mehrzahl von Arbeitsprogrammen in der Steuereinrichtung gespeichert sind und die Steuereinrichtung in Wirkverbindung mit dem Arbeitsantrieb steht, wobei in Abhängigkeit von den erfassten Messgrößen automatisch zwischen den Arbeitsprogrammen des Arbeitsantriebs umgeschaltet wird. Sensibles Transportgut kann dabei durch besonders gutes Positionierverhalten des Arbeitsantriebs geschont werden.In the simplest case, the invention can, for. B. automatically depending on the load different driving programs of the drive can be switched. But it is also possible, alternatively or additionally, the principle described on the working drive apply accordingly, a plurality of work programs are stored in the control device and the control device is in operative connection with the working drive, depending on the measured variables is automatically switched between the work programs of the work drive. Sensitive goods can be transported due to the particularly good positioning behavior of the Working drive be spared.
Die Auswertung der Messgrößen in der Steuereinrichtung erfolgt mit Vorteil mit Methoden der Fuzzy-Logik. Hierbei müssen die erfassten Messgrößen nicht exakt mit den in der Steuereinrichtung katalogisierten Werten übereinstimmen, um eine Fahr- und/oder Arbeitssituation zu erkennen.The measurement variables in the control device are advantageously evaluated using methods the fuzzy logic. Here, the measured variables do not have to match the in the control device cataloged values match a driving and / or Recognizing work situation.
Zweckmäßigerweise sind die Fahr- und/oder Arbeitsprogramme in Form von Kennlinien gespeichert, mit denen einem Sollwert eine Stellgröße zugeordnet wird, wobei die Kennlinien als Kennlinienfelder und/oder als Parameterfelder vorliegen, je nach mathematischer Formulierung der Abhängigkeiten.The driving and / or work programs are expedient in the form of characteristic curves stored with which a command value is assigned a manipulated variable, where the characteristic curves are available as characteristic curve fields and / or as parameter fields, depending on mathematical formulation of the dependencies.
Die Erkennung, wann welche Kennlinie einzusetzen ist, kann z. B. durch einen Abgleich der von den Gebern erfassten Messwerte mit einer katalogisierten Fahr - und/oder Arbeitssituation erfolgen. Es ist im Rahmen der Erfindung jedoch auch möglich, nicht nur auf katalogisierte Muster zurückzugreifen, sondern Muster aus sich wiederholenden Arbeitsvorgängen der Arbeitsmaschine selbst zu erzeugen und in der Steuereinrichtung abzulegen. Dadurch passt sich die Arbeitsmaschine automatisch an neue Einsatzfelder an.The detection of when which characteristic is to be used can e.g. B. by a comparison of the measured values recorded by the sensors with a cataloged driving and / or work situation. However, it is also within the scope of the invention possible not only to use cataloged patterns, but patterns from themselves to generate repetitive work processes of the work machine itself and in the Filing control device. This automatically adjusts the work machine new fields of application.
Es erweist sich als günstig, wenn für den Funktionszusammenhang zwischen Sollwert und Stellgröße neben mindestens einer proportionalen Kennlinie mindestens eine degressive Kennlinie und/oder mindestens eine progressive Kennlinie in der Steuereinrichtung gespeichert ist.It proves to be beneficial if for the functional relationship between the setpoint and manipulated variable in addition to at least one proportional characteristic curve, at least one degressive Characteristic curve and / or at least one progressive characteristic curve in the control device is saved.
Situationsabhängig kann dadurch die Proportionalität zwischen Sollwert-Vorgabe und Aktuator-Stellsignal aufgehoben und zwischen verschiedenen Kennlinienarten hin- und hergeschaltet werden. So lässt sich z. B. für den Fahrantrieb durch eine degressive Fahrpedal-Kennlinie, bei der auf der Abszisse die Fahrpedal-Stellung als Sollwert und auf der Ordinate die vom Fahrantrieb zur Verfügung gestellte Antriebsleistung als Stellwert aufgetragen ist, ein eher aggressives Fahrverhalten abbilden. Hierbei bewirken bereits geringe Auslenkungen des Fahrpedals eine deutliche Beschleunigung der Arbeitsmaschine. Ein solches Fahrverhalten kann z. B. beim Anfahren der unbeladenen Arbeitsmaschine erwünscht sein. Umgekehrt führt eine progressive Kennlinie zu einem eher weichen Fahrverhalten, was in anderen Fahrsituationen wünschenswert ist, z. B. beim Aufnehmen einer Last. Unter Umständen kann es sinnvoll sein, eine Kennlinie aus degressiven und progressiven Teilen zusammenzusetzen, so dass jeder gewünschte Verlauf entsteht.Depending on the situation, the proportionality between the setpoint and Actuator control signal canceled and to and fro between different types of characteristic be switched down. For example, B. for the traction drive by a degressive Accelerator pedal characteristic curve in which the accelerator pedal position as the setpoint and on the ordinate, the drive power made available by the travel drive as a manipulated variable depicts a rather aggressive driving behavior. Do this Even slight deflections of the accelerator pedal significantly accelerate the Working machine. Such driving behavior can e.g. B. when starting the unloaded Machine to be desired. Conversely, a progressive characteristic curve leads to a rather soft driving behavior, which is desirable in other driving situations, z. B. when picking up a load. Under certain circumstances it may be useful to have a characteristic curve composed of degressive and progressive parts so that everyone desired course arises.
Beispiele für die drei Kennlinientypen sind in den Figuren dargestellt. Hierbei zeigt Figur 1 eine proportionale Kennlinie, Figur 2 eine progressive Kennlinie und Figur 3 eine degressive Kennlinie. Auf der Abszisse ist jeweils der Sollwert S aufgetragen, während der Ordinate als Ausgabegröße jeweils der Stellwert W eines Aktuators zugeordnet ist.Examples of the three characteristic types are shown in the figures. Here shows 1 shows a proportional characteristic curve, FIG. 2 shows a progressive characteristic curve and FIG. 3 a degressive characteristic. The target value S is plotted on the abscissa, while the ordinate is the output value W of an actuator assigned.
Zur Verdeutlichung seien folgende Beispiele für Gabelstapler-Arbeitsspiele erläutert: Das langsame Absenken einer Last um einige Zentimeter, gefolgt von einem Rücksetzen des Gabelstaplers um die Gabellänge mit gleichzeitigem Lenken (und ggf. deutlichem Absenken der Gabeln) wird durch entsprechend angepasste Geber erfasst und signalisiert, dass Last abgesetzt wurde und der nunmehr unbeladene Gabelstapler stark beschleunigt werden kann (so wie es die Bedienperson schon einige Male vorher praktiziert hat). Nun kann große Antriebsleistung im Fahrantrieb zur Verfügung gestellt werden und es kann eine degressive Fahrpedalkennlinie gemäß Figur 3 eingeschaltet werden, so dass schon kleine Fahrpedalwege zu einer starken Beschleunigung führen. Damit wird der Bedienperson das Gefühl vermittelt, dass der Gabelstapler besonders gut auf ihre Erfordernisse und Wünsche abgestimmt ist. The following examples of forklift truck work cycles are explained to clarify: The slow lowering of a load by a few centimeters, followed by a reset the forklift by the fork length with simultaneous steering (and if necessary significant lowering of the forks) is recorded by appropriately adapted encoders and signals that the load has been set down and the now unloaded forklift can be greatly accelerated (as the operator has done a few times before has practiced). Now great drive power can be made available in the traction drive and a degressive accelerator pedal curve according to FIG. 3 can be switched on so that even small accelerator pedal travel leads to strong acceleration. This gives the operator the feeling that the forklift is special is well tailored to your needs and desires.
In einer anderen Fahrsituation, in der erkannt wird, dass das Fahrzeug positioniert werden muss, kann dagegen die Fahrpedalempfindlichkeit auf eine progressive Kennlinie gemäß Figur 3 umgeschaltet werden. Damit steht der Bedienperson für den Bereich kleiner Geschwindigkeiten ein großer Pedalweg zur Verfügung.In another driving situation in which it is recognized that the vehicle is positioned However, the accelerator pedal sensitivity can be reduced to a progressive one Characteristic curve can be switched according to Figure 3. The operator thus stands for the A large pedal travel is available in the low speed range.
Die Umschaltung zwischen den Kennlinien kann abrupt erfolgen, was die Anpassung der Fahr- und/oder Arbeitseigenschaften der Arbeitsmaschine an eine veränderte Situation augenfällig macht. Es ist jedoch in vorteilhafter Weiterbildung der Erfindung auch möglich, dass zwischen der proportionalen Kennlinie und der degressiven Kennlinie und/oder zwischen der proportionalen Kennlinie und der progressiven Kennlinie und/oder zwischen der degressiven Kennlinie und der progressiven Kennlinie mindestens eine Übergangskennlinie in der Steuereinrichtung gespeichert ist. Dadurch ergibt sich ein weicherer Übergang zwischen den verschiedenen Fahr- und/oder Arbeitsprogrammen.Switching between the characteristic curves can occur abruptly, which means the adaptation the driving and / or working properties of the working machine to a changed Situation. However, it is an advantageous development of the invention also possible that between the proportional characteristic and the degressive characteristic and / or between the proportional characteristic and the progressive characteristic and / or at least between the degressive characteristic and the progressive characteristic a transition characteristic is stored in the control device. This results in there is a smoother transition between the various driving and / or work programs.
In einer Ausgestaltung der Erfindung ist der Arbeitsantrieb als Hubantrieb, insbesondere Hubhydraulik, eines Gabelstaplers ausgebildet. Dabei kann z. B. beim Feinpositionieren der Last mit einer progressiven Kennlinie die Feinfühligkeit deutlich verbessert werden. Voraussetzung dafür ist, dass die Hydraulikfunktion indirekt betätigt wird, z. B. mittels elektro-hydraulischer Wegeventile.In one embodiment of the invention, the working drive is in particular a lifting drive Lifting hydraulics, a forklift trained. Here, for. B. when fine positioning the load with a progressive characteristic clearly the sensitivity be improved. The prerequisite for this is that the hydraulic function is activated indirectly will, e.g. B. by means of electro-hydraulic directional valves.
Sofern die Fahr- und/oder Arbeitsprogramme auf austauschbaren Speichermitteln der Steuereinrichtung abgelegt sind, lässt sich bei einem Wechsel der Bedienperson das individuelle Arbeitsprofil mitnehmen. Eine neue Bedienperson kann durch die mitgebrachten Speichermittel, die sich z. B. auf einer sogenannten Fahrerkarte befinden, nicht nur zum Betrieb der Arbeitsmaschine autorisiert werden, sondern erhält automatisch auch die gewohnten Fahreigenschaften.If the driving and / or work programs on exchangeable memory means of Control device are stored, it can be when changing the operator Take your individual work profile with you. A new operator can bring with them Storage means that z. B. are on a so-called driver card, not only be authorized to operate the working machine, but also receive it automatically also the usual driving characteristics.
Die Erfindung ist prinzipiell für alle Arten von mobilen Arbeitsmaschinen einsetzbar, die einen Fahrantrieb und/oder mindestens einen Arbeitsantrieb besitzen, neben Flurförderzeugen also auch Bagger, Raupen, Kräne, etc..The invention can in principle be used for all types of mobile work machines that have a travel drive and / or at least one working drive, in addition to industrial trucks including excavators, caterpillars, cranes, etc.
Claims (7)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE2001159409 DE10159409A1 (en) | 2001-12-04 | 2001-12-04 | Mobile work machine with a dynamic control for a travel drive and / or a work drive |
| DE10159409 | 2001-12-04 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP1318099A1 true EP1318099A1 (en) | 2003-06-11 |
| EP1318099B1 EP1318099B1 (en) | 2006-03-08 |
Family
ID=7707909
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP20020026699 Expired - Lifetime EP1318099B1 (en) | 2001-12-04 | 2002-11-29 | Industrial truck with dynamic control for drive |
Country Status (2)
| Country | Link |
|---|---|
| EP (1) | EP1318099B1 (en) |
| DE (2) | DE10159409A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1746069A1 (en) | 2005-07-19 | 2007-01-24 | Still Gmbh | Industrial truck with drive with different characteristic curves |
| DE102012209788A1 (en) * | 2012-06-12 | 2013-12-12 | Zf Friedrichshafen Ag | Control device for use in forklift for emitting control signal in response to read pedal deflection signal, has control unit which is designed to read pedal deflection signal which represents deflection of pedal from idle position |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016043998A1 (en) | 2014-09-15 | 2016-03-24 | Crown Equipment Corporation | Lift truck with optical load sensing structure |
| DE102014114427A1 (en) | 2014-10-06 | 2016-04-07 | Jungheinrich Aktiengesellschaft | Vehicle with a driving control |
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| US4182126A (en) * | 1978-09-11 | 1980-01-08 | Logisticon, Inc. | Fork lift hydraulic servo control valve |
| GB2099184A (en) * | 1981-03-31 | 1982-12-01 | Toyoda Automatic Loom Works | Forklift control system |
| EP0343839A2 (en) * | 1988-05-26 | 1989-11-29 | The Raymond Corporation | Lift truck control systems |
| JPH06144796A (en) * | 1991-02-27 | 1994-05-24 | Mitsubishi Heavy Ind Ltd | Control device for forklift truck |
| EP0795651A1 (en) * | 1996-02-15 | 1997-09-17 | KABUSHIKI KAISHA KOBE SEIKO SHO also known as Kobe Steel Ltd. | Control apparatus for hydraulic excavator |
| US5890086A (en) * | 1994-12-30 | 1999-03-30 | Crown Equipment Corporation | Removable programmable cartridge for a lift truck control system |
| JP2000191295A (en) * | 1998-12-28 | 2000-07-11 | Komatsu Forklift Co Ltd | Tilting speed control device of fork lift truck |
| JP2000197215A (en) * | 1998-12-25 | 2000-07-14 | Tcm Corp | Running and driving device for industrial vehicle |
-
2001
- 2001-12-04 DE DE2001159409 patent/DE10159409A1/en not_active Withdrawn
-
2002
- 2002-11-29 EP EP20020026699 patent/EP1318099B1/en not_active Expired - Lifetime
- 2002-11-29 DE DE50206008T patent/DE50206008D1/en not_active Expired - Lifetime
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4182126A (en) * | 1978-09-11 | 1980-01-08 | Logisticon, Inc. | Fork lift hydraulic servo control valve |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1746069A1 (en) | 2005-07-19 | 2007-01-24 | Still Gmbh | Industrial truck with drive with different characteristic curves |
| DE102012209788A1 (en) * | 2012-06-12 | 2013-12-12 | Zf Friedrichshafen Ag | Control device for use in forklift for emitting control signal in response to read pedal deflection signal, has control unit which is designed to read pedal deflection signal which represents deflection of pedal from idle position |
| DE102012209788B4 (en) | 2012-06-12 | 2022-08-11 | Zf Friedrichshafen Ag | Control unit and method for outputting a control signal in response to a pedal deflection signal that has been read in |
Also Published As
| Publication number | Publication date |
|---|---|
| EP1318099B1 (en) | 2006-03-08 |
| DE50206008D1 (en) | 2006-05-04 |
| DE10159409A1 (en) | 2003-06-12 |
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