EP1447373B1 - Procédé d'opération d'un chariot élévateur à mât déplaçable et untel chariot élévateur pour la mise en oeuvre de ce procédé - Google Patents

Procédé d'opération d'un chariot élévateur à mât déplaçable et untel chariot élévateur pour la mise en oeuvre de ce procédé Download PDF

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Publication number
EP1447373B1
EP1447373B1 EP20040000942 EP04000942A EP1447373B1 EP 1447373 B1 EP1447373 B1 EP 1447373B1 EP 20040000942 EP20040000942 EP 20040000942 EP 04000942 A EP04000942 A EP 04000942A EP 1447373 B1 EP1447373 B1 EP 1447373B1
Authority
EP
European Patent Office
Prior art keywords
mast
load
inclination
drive
carrying means
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
EP20040000942
Other languages
German (de)
English (en)
Other versions
EP1447373A1 (fr
Inventor
Uwe Dipl.-Ing. Allerding
Carsten Dipl.-Ing. Oestmann
Matthias Dipl.-Ing. Düwel
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.)
Jungheinrich AG
Original Assignee
Jungheinrich AG
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 Jungheinrich AG filed Critical Jungheinrich AG
Publication of EP1447373A1 publication Critical patent/EP1447373A1/fr
Application granted granted Critical
Publication of EP1447373B1 publication Critical patent/EP1447373B1/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
    • B66F9/08—Masts; Guides; Chains
    • B66F9/082—Masts; Guides; Chains inclinable
    • 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
    • B66F9/16—Platforms; Forks; Other load supporting or gripping members inclinable relative to mast

Definitions

  • the invention relates to a method for operating a reach truck according to the preamble of patent claim 1.
  • Such a method for operating a reach truck and a reach truck for carrying out this method is known from JP-A-2003034495.
  • the load part has a mast consisting mostly of several mast shots, which can be extended to great heights. It is characteristic of a reach truck that the mast is movable horizontally between a position near the drive part and a position away from it.
  • the load handler is typically a fork, with the forks being within parallel spaced arm arms attached to the drive member and extending away from the drive member on either side of the mast. It is also known to change the inclination of the lifting device.
  • One possibility is to change the mast slope, e.g. To pivot the mast towards the drive part to compensate for the deflection of the mast.
  • Another possibility is to carry out the load-bearing means itself pivotable. This also compensates for the deflection of the mast.
  • a load picked up while driving is stored more securely when the fork has a tendency by which the load tends to slip towards the mast.
  • the fork For the retraction of the fork in a pallet is required that the fork is advanced substantially in the same plane in which the pallet is located. If the pallet is arranged horizontally, the load fork must also be oriented substantially horizontally so that it can be moved into the pallet. If the pallets have an inclination to the horizontal, an appropriate alignment of the fork is necessary. However, because the retraction of the fork in the pallet regardless of their inclination is usually horizontal, in particular by advancing the reach mast, it is not possible to ensure complete retraction into a tilted to the horizontal range without further manipulation.
  • the procedure is as follows: the driver positions the fork tip in front of the pallet and gives the fork a tilt corresponding to the inclination of the pallet. The driver must visually adjust this inclination if he does not have any information about the inclination of the pallet. The rider then alternates the mast feed and the lift and lower drive until the full length of the fork is inserted into the pallet. By operating forwards or backwards and then lifting the receiving means, the load is lifted freely and can be removed from the shelf or the truck. Such a process is cumbersome and time consuming.
  • the invention has for its object to provide a method for operating a reach truck, with the retraction of a lifting device can be facilitated in inclined to the horizontal pallets arranged.
  • the inclination of the mast to the vertical and / or the load receiving means (fork) is measured to the horizontal.
  • the speed of the feed of the mast and the lifting and lowering movement of the load-receiving means are coordinated according to the measured angle of inclination to each other so that the load-carrying means in space is automatically moved in the direction of the measured inclination, when the feed of the mast in the direction of the load to be picked up or is started from this.
  • the driver proceeds as follows: As usual, the driver positions the tip of the load-carrying means in front of the pallet and adjusts the load-receiving means in the direction of the pallet inclination. If the driver no other aids are available, this is done by inspection.
  • the inclination sensor receives the inclination angle of the load receiving means and passes this on to a suitable controller.
  • the retraction of the load-handling device into the pallet is determined by two speed components, namely by the speed of the load-lifting device in the lifting or lowering direction and by the speed of the mast feed. If these are adjusted accordingly, the load-receiving means, in particular the fork, is moved in the direction which is predetermined by the inclination. The fork can therefore be moved without problems quickly into the pallet.
  • a speed measuring device measures the feed speed of the mast.
  • a suitable control or regulating device is stored a program in which is specified at different angles of inclination, how large the lifting or lowering speed of the receiving means, when the feed mast is operated at a predetermined speed.
  • the reach truck therefore has an inclinometer over previously known designs to determine the inclination of the lifting device in space. This happens e.g. by attaching a sensor to the carrier for the load-carrying means. A reference to the position of the mast is not possible if the mast can be inclined in turn. But even with a non-tilting mast that can undergo a deflection, so that a reference of a sensor on the position of the mast is impractical. Rather, it is preferable to measure the inclination with respect to the driving part of the reach truck or the ground.
  • the reach truck must be provided with a speed measuring device. This measures e.g. the speed of adjustment of the reach mast.
  • the lifting or lowering speed is then adjusted so that the desired movement of the load receiving means for unimpeded retraction into the inclined pallet can be obtained. Therefore, it is advantageous if the drive speed for the lifting and lowering of the load receiving means is regulated.
  • the reach truck shown in Fig. 1 is of conventional construction and comprises a driving part 10 and a load part 12.
  • the load part 12 has a mast 14, e.g. may have multiple mast shots and e.g. can be extended to a height of 12 m or more.
  • the load part 12 also has a load-receiving means, which is guided adjustable in height on the mast 14.
  • a prong 16 of a fork can be seen, which is guided vertically adjustable in a known manner on the mast 14 and actuated by means of a suitable lifting and lowering drive.
  • wheel arms are mounted, which extend in parallel spaced on both sides of the mast 14.
  • a wheel arm can be seen in Fig. 1 at 18.
  • the wheel arms 18 each store load wheels.
  • a steerable drive wheel is shown at 19.
  • the mast 14 is by means of a guide, not shown, horizontally away from the drive part 10 and to move on this.
  • a not shown operating element for driving the Mastschubs is provided in the cab of the drive part 10.
  • the mast 14 is also changeable in its inclination with the aid of a corresponding tilt drive.
  • the tilt drive is in turn actuated via a separate control element.
  • the forklift is located within the space bounded by the wheel arms 18 when the mast 14 is in the more or less retracted position. In the extended position, the prongs 16 are more or less in front of the radar arms 18, but within the space defined by them.
  • Fig. 2 the individual adjustment movements in the reach truck of Fig. 1 are indicated by double arrows.
  • the double arrow 20 indicates the height adjustment of a horizontal guide 22 for a side slider 24, wherein the side slider is connected to the back 26 of a load fork 28 generally designated.
  • the double arrow 30 indicates the mast thrust and the curved double arrow 32 the inclination possibility of the mast 14.
  • a curved double arrow 34 the inclination change of the tines 16 and the fork 28 again.
  • the drives for the described adjustment movements are not shown, not even for adjusting the fork inclination. On the 9.verschiebbarkeit the fork 18 is not discussed in detail.
  • the fork 28 is a. Tilt sensor assigned, which is designated in Fig. 3 with 40.
  • the tilt sensor detects the inclination of the prongs 16 absolutely opposite to the horizontal.
  • the tilt signal or the inclination angle ⁇ is given to the computer 42. It can also reach a display device 44, which in the cab of the truck is attached. The driver can thus always recognize the inclination of the fork 28 relative to the horizontal.
  • a drive 46 for advancing the mast 48 can be seen. It is actuated by a control device 50, which is actuated by a control element 52 in the cab of the truck. Upon actuation of the operating element 52, for example a push button, the drive 46 drives the push tower away from or towards the drive part 10, wherein a fixed speed can be set. However, it is hardly possible to keep the speed at a specific value, since it naturally depends on different conditions, in particular the load.
  • a speed measuring device 54 therefore measures the adjustment speed or pushing speed of the mast 48 and also gives it to the computer 42.
  • the computer 42 contains a program in which for different angles of inclination and predetermined speeds of the reach 48, the adjustment speed for the lifting and lowering operation is entered.
  • a drive 56 for lifting and lowering of the receiving means 58 can be seen.
  • a control or regulating device 60 is acted upon by the signal of the computer 42 for the speed of the load receiving means 58.
  • the lifting and lowering speed of the load receiving means 58 can be measured and thus given, so that then the speed of the mast is tracked in dependence on the inclination angle ⁇ and the measured lifting or lowering speed of the load receiving means 58th

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Warehouses Or Storage Devices (AREA)

Claims (4)

  1. Procédé pour le fonctionnement d'un chariot élévateur à mât coulissant, comportant un mât coulissant que l'on peut faire coulisser sur un guidage horizontal, au moyen d'un entraînement de mât, vers une charge à soulever ou en s'éloignant de celle-ci, comportant un moyen de préhension de la charge qui est posé contre le mât coulissant avec possibilité de réglage en hauteur et qui peut être actionné au moyen d'un entraînement de levage et d'abaissement, l'inclinaison du mât coulissant pouvant être réglée à volonté, au moyen d'un premier entraînement d'inclinaison, et/ou l'inclinaison du moyen de préhension de la charge pouvant l'être au moyen d'un deuxième entraînement d'inclinaison,
    caractérisé en ce que
    l'inclinaison réglée du mât par rapport à la verticale ou celle du moyen de préhension de la charge par rapport à l'horizontale sont mesurées, et la vitesse de coulissement vers l'avant du mât coulissant et le mouvement de levage ou d'abaissement du moyen de préhension de la charge sont déterminées l'un par rapport à l'autre d'après la valeur de la mesure de l'angle d'inclinaison mesuré, de telle façon que le moyen de préhension de la charge soit déplacé dans l'espace en direction de l'inclinaison mesurée quand le coulissement du mât vers l'avant est mis en mouvement.
  2. Procédé suivant la revendication 1, caractérisé en ce que la vitesse de coulissement du mât coulissant vers l'avant est mesurée et la vitesse de levage ou d'abaissement du moyen de préhension de la charge est calculée et réglée d'après un algorithme prédéfini, d'après la valeur de la mesure de la vitesse de coulissement vers l'avant et d'après celle de l'angle d'inclinaison.
  3. Chariot élévateur à mât coulissant comportant un mât coulissant que l'on peut faire coulisser sur un guidage horizontal au moyen d'un entraînement de mât vers une charge à soulever ou en s'éloignant de celle-ci, comportant un moyen de préhension de la charge-qui est guidé sur le mât coulissant en pouvant régler la hauteur, et qui peut être actionné au moyen d'un entraînement de levage et d'abaissement, le mât coulissant pouvant être changé d'inclinaison par rapport à la verticale ou par rapport à l'horizontale au moyen d'un entraînement d'inclinaison, et/ou le moyen de préhension de la charge pouvant l'être au moyen d'un deuxième entraînement d'inclinaison, caractérisé en ce qu'un détecteur d'inclinaison (40) est prévu qui détermine l'inclinaison du moyen de préhension de la charge (58) par rapport à l'horizontale, en ce qu'un dispositif de mesure de la vitesse (54) est prévu, qui mesure la vitesse du mât coulissant (48) et/ou celle du moyen de préhension de la charge (58), en ce qu'un dispositif de commande et de régulation (42, 60) est prévu, dans lequel le signal du détecteur d'inclinaison (40) et celui du dispositif de mesure de la vitesse (54) sont envoyés, un dispositif de commande et de réglage (42, 60) est prévu, dans lequel un programme est mis en mémoire, programme qui, selon la valeur de mesure du signal d'inclinaison et du signal de vitesse calcule la vitesse de levage ou d'abaissement du moyen de préhension de la charge (58) ou la vitesse de coulissement du mât coulissant (48) vers l'avant pour déterminer un signal de positionnement pour l'entraînement de levage et d'abaissement (56) ou respectivement pour l'entraînement du mât (46).
  4. Chariot élévateur à mât coulissant suivant la revendication 3, caractérisé en ce qu'entre autres sont prévus des éléments d'exploitation pour l'entraînement du mât coulissant (46) et pour le premier et/ou le deuxième entraînement d'inclinaison et en ce que le dispositif de commande et de régulation (42, 60) règle automatiquement la vitesse de levage ou d'abaissement du moyen de préhension de la charge (58) d'après la valeur de mesure de la vitesse du mât et celle de l'angle d'inclinaison, de telle façon que le moyen de préhension de la charge soit déplacé dans le sens de l'inclinaison mesurée, quand, par actionnement de l'élément d'actionnement (52) pour l'entraînement du mât coulissant (46), celui-ci est mis en mouvement.
EP20040000942 2003-02-13 2004-01-17 Procédé d'opération d'un chariot élévateur à mât déplaçable et untel chariot élévateur pour la mise en oeuvre de ce procédé Expired - Lifetime EP1447373B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE2003105902 DE10305902B4 (de) 2003-02-13 2003-02-13 Verfahren zum Betrieb eines Schubmaststaplers und Schubmaststapler zur Durchführung des Verfahrens
DE10305902 2003-02-13

Publications (2)

Publication Number Publication Date
EP1447373A1 EP1447373A1 (fr) 2004-08-18
EP1447373B1 true EP1447373B1 (fr) 2006-08-23

Family

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Family Applications (1)

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EP20040000942 Expired - Lifetime EP1447373B1 (fr) 2003-02-13 2004-01-17 Procédé d'opération d'un chariot élévateur à mât déplaçable et untel chariot élévateur pour la mise en oeuvre de ce procédé

Country Status (3)

Country Link
EP (1) EP1447373B1 (fr)
CN (1) CN100339295C (fr)
DE (2) DE10305902B4 (fr)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007015488A1 (de) 2007-03-30 2008-10-02 Still Wagner Gmbh Schwingungskompensation am Hubgerüst eines Flurförderzeugs
CN100575239C (zh) * 2007-06-14 2009-12-30 王树生 轮对堆垛机
CN103601137A (zh) * 2013-10-30 2014-02-26 安徽威玛重型机械制造有限公司 一种电动叉车的液压起升机构
CN104071577A (zh) * 2014-06-30 2014-10-01 广西大学 一种可便捷堆取货物的移动堆垛机
AU2015318258B2 (en) 2014-09-15 2019-02-14 Crown Equipment Corporation Lift truck with optical load sensing structure
DE102014115152B4 (de) * 2014-10-17 2023-09-28 Jungheinrich Aktiengesellschaft Schubmaststapler
CN105540493A (zh) * 2016-02-01 2016-05-04 阿特拉斯科普柯(南京)建筑矿山设备有限公司 流动换电车
CN106115554A (zh) * 2016-08-18 2016-11-16 甘培嘉 一种新型叉车
DE102016124506A1 (de) 2016-12-15 2018-06-21 Jungheinrich Aktiengesellschaft Flurförderzeug mit einer Steuereinheit zur Regelung der Bewegung einer Last sowie ein entsprechendes Verfahren

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2308450C3 (de) * 1973-02-21 1979-03-29 H. Jungheinrich & Co, Maschinenfabrik, 2000 Hamburg Positioniereinrichtung für einen als Fahrzeug ausgeführten Hochregalstapler
US3865265A (en) * 1973-08-20 1975-02-11 Brudi Equipment Lift truck safety accessory
DE2407756A1 (de) * 1974-02-18 1975-08-28 Norbert Karl Acker Vorrichtung zum entspeichern von warenkanaelen
GB2097959B (en) * 1981-03-31 1984-09-12 Toyoda Automatic Loom Works Fork lift control system
US5131801A (en) * 1990-12-10 1992-07-21 Tandy Corporation Forklift fork tilt angle indicator
DE19641192C2 (de) * 1996-09-24 2002-10-31 Siemens Ag Handhabungsgerät, insbesondere Regalbediengerät
JPH11171494A (ja) * 1997-12-11 1999-06-29 Toyota Autom Loom Works Ltd 産業車両のシリンダ制御装置
JP2001206696A (ja) * 2000-01-21 2001-07-31 Nippon Yusoki Co Ltd フォークリフト
JP4961643B2 (ja) * 2001-07-17 2012-06-27 株式会社豊田自動織機 産業車両における荷役制御装置及び産業車両

Also Published As

Publication number Publication date
CN1526635A (zh) 2004-09-08
CN100339295C (zh) 2007-09-26
EP1447373A1 (fr) 2004-08-18
DE10305902B4 (de) 2006-11-30
DE10305902A1 (de) 2004-09-02
DE502004001226D1 (de) 2006-10-05

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