EP1447374B2 - Lift truck - Google Patents

Lift truck Download PDF

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Publication number
EP1447374B2
EP1447374B2 EP04001791A EP04001791A EP1447374B2 EP 1447374 B2 EP1447374 B2 EP 1447374B2 EP 04001791 A EP04001791 A EP 04001791A EP 04001791 A EP04001791 A EP 04001791A EP 1447374 B2 EP1447374 B2 EP 1447374B2
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EP
European Patent Office
Prior art keywords
fork
inclination
mast
load
drive
Prior art date
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Expired - Fee Related
Application number
EP04001791A
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German (de)
French (fr)
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EP1447374B1 (en
EP1447374A2 (en
EP1447374A3 (en
Inventor
Uwe Dipl.-Ing. Allerding
Carsten Dipl.-Ing. Oestmann
Matthias Dipl.-Ing. Düwel
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Jungheinrich AG
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Jungheinrich AG
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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
    • 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 stacker according to the preamble of patent claim 1.
  • Staplers usually consist of a load part and a drive part.
  • the load part has a mast, which can consist of several mast shots and which can be extended to high heights if necessary.
  • a load-carrying means by means of a lifting and lowering drive in height is movable.
  • the load handling device consists primarily of a so-called fork, which receives one or more pallets.
  • a specialty of forklifts is the so-called reach truck, in which the mast can be moved horizontally between a position close to the drive part and a position away from it.
  • the fork is usually traversable across the mast with the aid of a suitable slider. Such a side slide allows an accurate and fast alignment of the pallet on the shelf or the forks to the pallet, without the truck has to change its position.
  • JP-A-20021671932 a stacker has become known whose mast can be adjusted by means of a tilt drive in its inclination relative to the vertical.
  • a lifting and lowering drive ensures the height adjustment of the fork on the mast.
  • a potentiometer measures the inclination of the mast and gives a signal to a control and regulating device to adjust or automatically adjust a predetermined inclination angle.
  • This stacker corresponds to the preamble of independent claim 1.
  • the invention has for its object to provide a truck in which the inclination position in the horizontal regardless of the position and deflection of the mast and the position of the truck itself is achieved.
  • a tilt sensor detecting the tilting position of the analog sensor is provided, the tilt signal is given to the control and regulating device.
  • the control and regulating device is in a known manner in conjunction with actuators for the lifting and lowering drive and for the tilt drive. If a change in inclination of the mast is to be made, this is a corresponding control to operate. If the truck is a reach truck, a push drive for the mast is provided which can be actuated via another operating element. Finally, if the stacker has a side gate, a corresponding drive is required for the side gate which is actuated via a separate operating element in the cab of the truck.
  • the invention ensures when actuated by a separate actuator or by the already existing actuator for the tilt drive that the fork automatically assumes its horizontal position. If this is the usual operating or operating element for the actuation method, the automatic start of the horizontal is ensured by the fork.
  • a so-called inclinometer is used, which is capable of detecting the absolute horizontal position in the form of an electric spirit level.
  • the inclination signal of the inclination sensor is evaluated in this.
  • the control and regulating device links these signals and initiates a control process.
  • the load fork can automatically approach the horizontal position at the request of the driver. This also happens with a possible misalignment of the vehicle or at a deflection of the mast caused by the load. In any case, the fork can be retracted easily and without collision in the pallet.
  • control and regulating device outputs a signal to the tilt drive for starting the horizontal position when the signal for lowering and / or lifting of the lifting device is generated with the actuator for the lifting and lowering operation.
  • the automatic adjustment to the horizontal position makes it possible to omit a work process that would otherwise occur before the next stacking game.
  • the on-board computer calculates the maximum driving speed from the signals. It is understood that the travel speed must be smaller with a high load or with a high load weight than when the vehicle is unloaded with the load handling device in a lower position.
  • the inclination signal can also be given in the on-board computer for modification of the maximum driving speed of the truck also in dependence on the inclination position of the fork.
  • Conventional measuring means can be used for the tilt sensor, and the signals from the tilt sensor are transmitted via a cable to the tilt sensor Circuit arrangement for the control and regulating device or via a contactless transmission by known means.
  • the in Fig. 1 Reach truck shown is of conventional design and has a drive part 10 and a load part 12.
  • the load part 12 has a mast 14, which may have, for example with multiple mast shots and, for example, in a height of 12 m or more extendable.
  • the load part 12 also has a load-receiving means, which is guided adjustable in height on the mast 14.
  • Fig. 1 is only a prong 16 of a fork recognizable, which is mounted on a carriage, not shown, which in turn is horizontally displaceable.
  • the required leadership is mounted vertically adjustable on the mast 14, as is known in forklift trucks per se.
  • wheel arms are mounted, which extend in parallel spaced on both sides of the mast 14.
  • a wheel arm is in Fig. 1 to recognize 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 In the cabin there is also a control for the lifting and lowering operation of the fork or the mast 14.
  • the mast 14 is also changeable in its inclination by means of a corresponding inclination drive.
  • the tilt drive is in turn actuated via a separate control element.
  • Fig. 2 the individual adjustment movements are indicated by double arrows.
  • the double arrow 20 indicates the height adjustability of a horizontal guide 22 for a side slider 24, wherein the side slider is connected to the back 26 of a load fork generally designated 28.
  • 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.
  • the fork 28 is associated with an analog tilt sensor, which in Fig. 3 denoted by 40.
  • the tilt sensor determines the inclination of the tines 16 relative to the horizontal, in the simplest case with respect to the mast 14 or the stacker or - more accurately - absolutely opposite to the horizontal.
  • the tilt signal is fed to a control and regulating device 42 for the operation of the mast or the lifting device.
  • the tilt signal also enters a display 42a mounted in the cab of the truck. The driver can thus always recognize the inclination of the fork 28 relative to the horizontal.
  • the control and regulating device for driving the inclination of the fork 28 Due to the signals from the tilt sensor 40 and the operating element 54, the control and regulating device for driving the inclination of the fork 28 generates a corresponding actuating signal until the forks 16 have assumed their horizontal position.
  • the signal of the tilt sensor 40 thus serves as an actual signal for a control loop, while the desired signal is formed by a set or measured and stored value corresponding to the horizontal position of the fork.
  • the tilt signal from the tilt sensor 40 may also be fed to an on-board computer 56.
  • the on-board computer 56 calculates the maximum speed for the traction motor, not shown, according to the requirements of stability criteria.
  • Known stability criteria are, for example, the load weight on the forks 28, the height of the fork 28, the inclination of the mast 14, etc.
  • another stability criterion is given in the on-board computer 56 to determine a modification of the maximum driving speed. It is understood that an attempt is made to set the maximum travel speed as high as possible in order to maximize handling performance.
  • an optimization of stability on the one hand and driving speed on the other hand can be achieved in this way.

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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)

Description

Die Erfindung bezieht sich auf einen Stapler nach dem Oberbegriff des Patentanspruchs 1.The invention relates to a stacker according to the preamble of patent claim 1.

Stapler bestehen üblicherweise aus einem Lastteil und einem Antriebsteil. Der Lastteil weist einen Mast auf, der aus mehreren Mastschüssen bestehen kann und der ggf. in große Höhen ausfahrbar ist. An dem Mast ist ein Lastaufnahmemittel mit Hilfe eines Heben- und Senkenantriebs in der Höhe verfahrbar. Das Lastaufnahmemittel besteht in erster Linie aus einer so genannten Lastgabel, die eine oder mehrere Paletten aufnimmt. Eine Spezialität bei Staplern ist der so genannte Schubmaststapler, bei dem der Mast horizontal verfahrbar ist zwischen einer Position nahe dem Antriebsteil und einer davon entfernten Position. Darüber hinaus ist die Lastgabel zumeist mit Hilfe eines geeigneten Schiebers quer zum Mast verfahrbar. Ein derartiger Seitenschieber erlaubt ein genaues und schnelles Ausrichten der Palette im Regal bzw. der Lastgabel zur Palette, ohne daß der Stapler seine Position ändern muß.Staplers usually consist of a load part and a drive part. The load part has a mast, which can consist of several mast shots and which can be extended to high heights if necessary. On the mast a load-carrying means by means of a lifting and lowering drive in height is movable. The load handling device consists primarily of a so-called fork, which receives one or more pallets. A specialty of forklifts is the so-called reach truck, in which the mast can be moved horizontally between a position close to the drive part and a position away from it. In addition, the fork is usually traversable across the mast with the aid of a suitable slider. Such a side slide allows an accurate and fast alignment of the pallet on the shelf or the forks to the pallet, without the truck has to change its position.

Aus JP-A-20021671932 ist ein Stapler bekannt geworden, dessen Mast mit Hilfe eines Neigungsantriebs in seine Neigung gegenüber der Vertikalen verstellt werden kann. Ein Heben- und Senkenantrieb sorgt für die Höhenverstellung der Lastgabel am Mast. Ein Potentiometer mißt die Neigung des Mastes und gibt ein Signal auf eine Steuer- und Regelvorrichtung, um einen vorgegebenen Neigungswinkel auszuregeln bzw. automatisch einzustellen.Out JP-A-20021671932 a stacker has become known whose mast can be adjusted by means of a tilt drive in its inclination relative to the vertical. A lifting and lowering drive ensures the height adjustment of the fork on the mast. A potentiometer measures the inclination of the mast and gives a signal to a control and regulating device to adjust or automatically adjust a predetermined inclination angle.

Dieser Stapler entspricht dem Oberbegriff des unabhängigen Anspruchs 1.This stacker corresponds to the preamble of independent claim 1.

Aus JP-A-09295800 ist bekannt geworden, die Neigung einer um eine horizontale Achse verschwenkbaren Lastgabel zu messen, um sie in die gewünschte Horizontalposition zu verstellen.Out JP-A-09295800 It has become known to measure the inclination of a fork pivotable about a horizontal axis in order to adjust it to the desired horizontal position.

Aus JP 09156895 ist bekannt geworden, den Neigungsantrieb in einer Horizontalposition zu stoppen, wobei mit Hilfe eines Sensors die Neigung der Lastgabel gemessen wird.Out JP 09156895 It has become known to stop the tilt drive in a horizontal position, with the aid of a sensor, the inclination of the fork is measured.

Der Erfindung liegt die Aufgabe zugrunde, einen Stapler zu schaffen, bei dem die Neigungsposition in der Horizontalen unabhängig von der Position und Durchbiegung des Mastes und der Position des Staplers selbst erzielt wird.The invention has for its object to provide a truck in which the inclination position in the horizontal regardless of the position and deflection of the mast and the position of the truck itself is achieved.

Diese Aufgabe wird durch die Merkmale des Patentanspruchs 1 gelöst.This object is solved by the features of patent claim 1.

Bei der Erfindung ist ein die Neigeposition der Lastgabel erfassender Analogsensor vorgesehen, dessen Neigungssignal auf die Steuer- und Regelvorrichtung gegeben wird. Die Steuer- und Regelvorrichtung steht in bekannter Weise in Verbindung mit Betätigungsorganen für den Heben- und Senkenantrieb sowie für den Neigungsantrieb. Soll eine Neigungsveränderung des Mastes vorgenommen werden, ist hierfür ein entsprechendes Bedienelement zu betätigen. Ist der Stapler ein Schubmaststapler, ist ein Schubantrieb für den Mast vorgesehen, der über ein weiteres Bedienelement betätigbar ist. Weist der Stapler schließlich einen Seitenschieber auf, ist ein entsprechender Antrieb für den Seitenschieber erforderlich, der über ein separates Bedienelement in der Kabine des Staplers betätigt wird. Die Erfindung sorgt bei einer Betätigung durch ein gesondertes Betätigungsorgan oder durch das ohnehin vorhandene Betätigungsorgan für den Neigungsantrieb dafür, daß die Lastgabel automatisch ihre horizontale Position einnimmt. Wird hierfür das übliche Betätigungs- oder Bedienorgan für den Betätigungsweise das automatische Anfahren der Horizontalen durch die Lastgabel gewährleistet wird.In the invention, a tilt sensor detecting the tilting position of the analog sensor is provided, the tilt signal is given to the control and regulating device. The control and regulating device is in a known manner in conjunction with actuators for the lifting and lowering drive and for the tilt drive. If a change in inclination of the mast is to be made, this is a corresponding control to operate. If the truck is a reach truck, a push drive for the mast is provided which can be actuated via another operating element. Finally, if the stacker has a side gate, a corresponding drive is required for the side gate which is actuated via a separate operating element in the cab of the truck. The invention ensures when actuated by a separate actuator or by the already existing actuator for the tilt drive that the fork automatically assumes its horizontal position. If this is the usual operating or operating element for the actuation method, the automatic start of the horizontal is ensured by the fork.

Mit der Erfindung ist sichergestellt, daß die Gabel bei entsprechender Ansteuerung horizontal ausgerichtet wird, unabhängig von einer lastabhängigen Durchbiegung des Mastes oder einer Schiefstellung des Fahrzeugs. Bei der Erfindung wird ein so genannter Inklinometer verwendet, der in Form einer elektrischen Wasserwaage die absolute horizontale Position zu erfassen imstande ist.With the invention it is ensured that the fork is aligned horizontally with appropriate control, regardless of a load-dependent deflection of the mast or a misalignment of the vehicle. In the invention, a so-called inclinometer is used, which is capable of detecting the absolute horizontal position in the form of an electric spirit level.

Wird von dem betreffenden Bedienelement ein Signal in die Steuer- und Regelvorrichtung gegeben, wird in dieser das Neigungssignal des Neigungssensors ausgewertet. Die Steuer- und Regelvorrichtung verknüpft diese Signale und initiiert einen Regelvorgang. Somit kann die Lastgabel auf entsprechende Anforderung vom Fahrer hin automatisch die waagerechte Position anfahren. Dies geschieht auch bei einer möglichen Schiefstellung des Fahrzeugs oder bei einer von der Last verursachten Durchbiegung des Mastes. In jedem Fall kann die Gabel einfach und ohne Kollision in die Palette eingefahren werden.If a signal is given by the respective control element in the control and regulating device, the inclination signal of the inclination sensor is evaluated in this. The control and regulating device links these signals and initiates a control process. Thus, the load fork can automatically approach the horizontal position at the request of the driver. This also happens with a possible misalignment of the vehicle or at a deflection of the mast caused by the load. In any case, the fork can be retracted easily and without collision in the pallet.

Nach einer Ausgestaltung der Erfindung gibt die Steuer- und Regelvorrichtung ein Signal auf den Neigungsantrieb zum Anfahren der waagerechten Position, wenn mit dem Betätigungsorgan für den Heben- und Senkenbetrieb ein Signal zum Absenken und/oder Anheben des Lastaufnahmemittels erzeugt wird. Die automatische Verstellung in die waagerechte Position ermöglicht den Wegfall eines Arbeitsgangs, der sonst vor dem nächsten Stapelspiel anfallen würde.According to one embodiment of the invention, the control and regulating device outputs a signal to the tilt drive for starting the horizontal position when the signal for lowering and / or lifting of the lifting device is generated with the actuator for the lifting and lowering operation. The automatic adjustment to the horizontal position makes it possible to omit a work process that would otherwise occur before the next stacking game.

Es ist bekannt, Stapler der genannten Art mit einem Bordrechner zu versehen. In den Bordrechner werden u.a. Parameter eingespeist, die für die Stabilität des Fahrzeugs maßgebend sind. Der Bordrechner errechnet aus den Signalen die maximale Fahrgeschwindigkeit. Es versteht sich, dass die Fahrgeschwindigkeit bei hoch angehobener Last oder bei großem Lastgewicht kleiner sein muss als bei unbelastetem Fahrzeug mit dem Lastaufnahmemittel in einer unteren Position. Nach einer Ausgestaltung der Erfindung kann das Neigungssignal ebenfalls in den Bordrechner gegeben werden zur Modifikation der maximalen Fahrgeschwindigkeit des Staplers auch in Abhängigkeit von der Neigungsposition der Lastgabel.It is known to provide forklifts of the type mentioned with an on-board computer. In the on-board computer u.a. Parameters are fed, which are decisive for the stability of the vehicle. The on-board computer calculates the maximum driving speed from the signals. It is understood that the travel speed must be smaller with a high load or with a high load weight than when the vehicle is unloaded with the load handling device in a lower position. According to one embodiment of the invention, the inclination signal can also be given in the on-board computer for modification of the maximum driving speed of the truck also in dependence on the inclination position of the fork.

Für den Neigungssensor können übliche Messmittel verwendet werden, und die Übertragung der Signale vom Neigungssensor erfolgt über ein Kabel zur Schaltungsanordnung für die Steuer- und Regeleinrichtung oder auch über eine kontaktlose Übertragung mit bekannten Mitteln.Conventional measuring means can be used for the tilt sensor, and the signals from the tilt sensor are transmitted via a cable to the tilt sensor Circuit arrangement for the control and regulating device or via a contactless transmission by known means.

Die Erfindung wird nachfolgend anhand eines in Zeichnungen dargestellten Ausführungsbeispiels näher erläutert.

Fig. 1
zeigt schematisch perspektivisch einen Schubmaststapler.
Fig. 2
zeigt äußerst schematisch die Seitenansicht des vorderen Teils des Schubmaststaplers nach Fig. 1.
Fig. 3
zeigt ein Blockschaltbild zum Betrieb von Teilen des Schubmaststaplers nach Fig. 1.
The invention will be explained in more detail with reference to an embodiment shown in the drawings.
Fig. 1
schematically shows in perspective a reach truck.
Fig. 2
shows very schematically the side view of the front part of the reach truck Fig. 1 ,
Fig. 3
shows a block diagram for the operation of parts of the reach truck Fig. 1 ,

Der in Fig. 1 gezeigte Schubmaststapler ist von herkömmlichem Aufbau und weist ein Antriebsteil 10 auf sowie ein Lastteil 12. Das Lastteil 12 besitzt einen Mast 14, der z.B. mit mehrere Mastschüsse aufweisen kann und z.B. in eine Höhe von 12 m oder mehr ausfahrbar ist. Das Lastteil 12 weist auch ein Lastaufnahmemittel auf, das höhenverstellbar am Mast 14 geführt ist. In Fig. 1 ist lediglich eine Zinke 16 einer Lastgabel erkennbar, die an einem nicht gezeigten Schlitten angebracht ist, der seinerseits horizontal verschiebbar ist. Die hierzu erforderliche Führung ist am Mast 14 höhenverstellbar angebracht, wie dies bei Gabelstaplern an sich bekannt ist. An dem Antriebsteil 10 sind Radarme angebracht, die parallel beabstandet sich beidseits des Mastes 14 erstrecken. Ein Radarm ist in Fig. 1 bei 18 zu erkennen. Die Radarme 18 lagern jeweils Lasträder. Ein lenkbares Antriebsrad ist bei 19 dargestellt.The in Fig. 1 Reach truck shown is of conventional design and has a drive part 10 and a load part 12. The load part 12 has a mast 14, which may have, for example with multiple mast shots and, for example, in a height of 12 m or more extendable. The load part 12 also has a load-receiving means, which is guided adjustable in height on the mast 14. In Fig. 1 is only a prong 16 of a fork recognizable, which is mounted on a carriage, not shown, which in turn is horizontally displaceable. The required leadership is mounted vertically adjustable on the mast 14, as is known in forklift trucks per se. On the drive part 10, wheel arms are mounted, which extend in parallel spaced on both sides of the mast 14. A wheel arm is in Fig. 1 to recognize at 18. The wheel arms 18 each store load wheels. A steerable drive wheel is shown at 19.

Der Mast 14 wird mit Hilfe einer nicht weiter dargestellten Führung horizontal von dem Antriebsteil 10 fort und auf diesen zu verfahren. Hierfür ist in der Kabine des Antriebsteils 10 ein nicht gezeigtes Bedienelement für den Antrieb des Mastschubs vorgesehen. In der Kabine befindet sich außerdem ein Bedienelement für den Heben- und Senkenbetrieb der Lastgabel bzw. des Mastes 14. Daneben ist der Mast 14 auch in seiner Neigung veränderbar mit Hilfe eines entsprechenden Neigungsantriebs. Der Neigungsantrieb ist seinerseits über ein separates Bedienelement betätigbar. Schließlich befindet sich in der Kabine auch ein Betätigungsorgan zur Betätigung des beschriebenen Seitenschiebers.The mast 14 is by means of a guide, not shown, horizontally away from the drive part 10 and to move on this. For this purpose, a not shown operating element for driving the Mastschubs is provided in the cab of the drive part 10. In the cabin there is also a control for the lifting and lowering operation of the fork or the mast 14. In addition, the mast 14 is also changeable in its inclination by means of a corresponding inclination drive. The tilt drive is in turn actuated via a separate control element. Finally, there is also an actuator in the cabin for actuating the described side shift.

In Fig. 2 sind die einzelnen Verstellbewegungen durch Doppelpfeile angedeutet. Der Doppelpfeil 20 gibt die Höhenverstellbarkeit einer horizontalen Führung 22 für einen Seitenschieber 24 an, wobei der Seitenschieber mit dem Rücken 26 einer insgesamt mit 28 bezeichneten Lastgabel verbunden ist. Der Doppelpfeil 30 gibt den Mastschub an und der gebogene Doppelpfeil 32 die Neigungsmöglichkeit des Mastes 14. Schließlich gibt ein gebogener Doppelpfeil 34 die Neigungsveränderung der Zinken 16 bzw. der Lastgabel 28 wieder. Die Antriebe für die beschriebenen Verstellbewegungen sind nicht eingezeichnet, auch nicht der zur Verstellung der Gabelneigung.In Fig. 2 the individual adjustment movements are indicated by double arrows. The double arrow 20 indicates the height adjustability of a horizontal guide 22 for a side slider 24, wherein the side slider is connected to the back 26 of a load fork generally designated 28. The double arrow 30 indicates the mast thrust and the curved double arrow 32 the inclination possibility of the mast 14. Finally, 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.

Der Gabel 28 ist ein analoger Neigungssensor zugeordnet, der in Fig. 3 mit 40 bezeichnet ist. Der Neigungssensor ermittelt die Neigung der Zinken 16 gegenüber der Waagerechten, im einfachsten Fall gegenüber dem Mast 14 bzw. dem Stapler oder - genauerer - absolut gegenüber der Waagerechten. Das Neigungssignal wird in eine Steuer- und Regelvorrichtung 42 für den Betrieb des Mastes bzw. des Lastaufnahmemittels gegeben. Das Neigungssignal gelangt auch in eine Anzeige 42a, die in der Kabine des Staplers angebracht ist. Der Fahrer kann dadurch stets die Neigung der Gabel 28 relativ zur Waagerechten erkennen.The fork 28 is associated with an analog tilt sensor, which in Fig. 3 denoted by 40. The tilt sensor determines the inclination of the tines 16 relative to the horizontal, in the simplest case with respect to the mast 14 or the stacker or - more accurately - absolutely opposite to the horizontal. The tilt signal is fed to a control and regulating device 42 for the operation of the mast or the lifting device. The tilt signal also enters a display 42a mounted in the cab of the truck. The driver can thus always recognize the inclination of the fork 28 relative to the horizontal.

In Fig. 3 bezeichnet 44 ein Bedienelement für das Heben und Senken der Lastgabel 28 bzw. der Führung 22 für den Schieber 24 der Lastgabel 28. 46 bezeichnet ein Bedienelement für die Neigung des Mastes 14. 48 bezeichnet ein Bedienelement für den Vorschub des Mastes 14. 50 bezeichnet ein Bedienelement zur Betätigung des Seitenschiebers 24 und damit zur Seitenverschiebung der Lastgabel 28. 52 bezeichnet ein Bedienelement zur Veränderung der Gabelneigung. 54 bezeichnet ein Bedienelement, z.B. einen Tastschalter, dessen Signal wie die der anderen Bedienelemente 44 bis 52 in die Steuer- und Regelvorrichtung 42 gegeben wird. Aufgrund der Signale vom Neigungssensor 40 und vom Bedienelement 54 erzeugt die Steuer- und Regelvorrichtung für den Antrieb der Neigung der Gabel 28 ein entsprechendes Stellsignal, bis die Gabelzinken 16 ihre waagerechte Lage eingenommen haben. Das Signal des Neigungssensors 40 dient mithin als Istsignal für eine Regelschleife, während das Sollsignal durch einen eingestellten oder gemessenen und gespeicherten Wert gebildet ist, der der waagerechten Stellung der Lastgabel entspricht.In Fig. 3 44 designates an operating element for raising and lowering the load fork 28 and the guide 22 for the slide 24 of the load fork 28. 46 denotes a control device for the inclination of the mast 14. 48 denotes a control element for advancing the mast 14. 50 denotes a Operating element for actuating the side slider 24 and thus for lateral displacement of the load fork 28. 52 denotes an operating element for changing the fork inclination. 54 denotes an operating element, for example a push-button switch, whose signal, like that of the other operating elements 44 to 52, is fed into the control and regulating device 42. Due to the signals from the tilt sensor 40 and the operating element 54, the control and regulating device for driving the inclination of the fork 28 generates a corresponding actuating signal until the forks 16 have assumed their horizontal position. The signal of the tilt sensor 40 thus serves as an actual signal for a control loop, while the desired signal is formed by a set or measured and stored value corresponding to the horizontal position of the fork.

Es ist auch möglich, bei Betätigung des Bedienelements 44 in der Steuer- und Regelvorrichtung einen Vorgang einzuleiten, wonach die Gabel 28 automatisch in die Waagerechte gefahren wird, bevor ein Heben- oder Senkenvorgang eingeleitet wird.It is also possible, upon actuation of the operating element 44 in the control and regulating device to initiate a process, after which the fork 28 is automatically moved in the horizontal before a lifting or lowering operation is initiated.

Das Neigungssignal vom Neigungssensor 40 kann auch in einen Bordrechner 56 eingespeist werden. Der Bordrechner 56 errechnet die maximale Geschwindigkeit für den nicht gezeigten Fahrmotor nach der Maßgabe von Stabilitätskriterien. Bekannte Stabilitätskriterien sind z.B. das Lastgewicht auf der Lastgabel 28, die Höhe der Lastgabel 28, die Neigung des Mastes 14 usw. Mit dem Neigungssignal des Neigungssensors wird ein weiteres Stabilitätskriterium in den Bordrechner 56 gegeben, um eine Modifikation der maximalen Fahrgeschwindigkeit zu bestimmen. Es versteht sich, dass versucht wird, die maximale Fahrgeschwindigkeit so hoch wie möglich vorzugeben, um die Umschlagleistung zu maximieren. Durch die Berücksichtigung einer großen Zahl von Stabilitätskriterien lässt sich auf diese Weise eine Optimierung von Stabilität einerseits und Fahrgeschwindigkeit andererseits erzielen.The tilt signal from the tilt sensor 40 may also be fed to an on-board computer 56. The on-board computer 56 calculates the maximum speed for the traction motor, not shown, according to the requirements of stability criteria. Known stability criteria are, for example, the load weight on the forks 28, the height of the fork 28, the inclination of the mast 14, etc. With the inclination signal of the inclination sensor another stability criterion is given in the on-board computer 56 to determine a modification of the maximum driving speed. It is understood that an attempt is made to set the maximum travel speed as high as possible in order to maximize handling performance. By taking into account a large number of stability criteria, an optimization of stability on the one hand and driving speed on the other hand can be achieved in this way.

Es ist denkbar, dass von der Waagerechten abweichende Positionen angefahren werden. Diese Positionen könnten der Steuerung über einen Teachvorgang vorgegeben werden.It is conceivable that positions deviating from the horizontal are approached. These positions could be specified to the controller via a teach procedure.

Claims (3)

  1. A fork-lift truck having a mast (14) a load-carrying means having a load-carrying fork (28) wherein the load-carrying means is supported by the mast (14) and is adjustable in height by means of a lifting and lowering drive wherein the mast (14) and the load-carrying fork are adjustable with respect to the horizontal line each by means of an inclination drive, and an electric control and regulation device for the respective drives which is connected to operating members for the lifting and lowering drive and inclination drives, characterized in that an analog sensor (40) detecting the inclined position of the load-carrying fork (28) is provided the inclination signal of which is sent to the control and regulation device (42) and that the control and regulation device (42) is connected to a separate operating member (54) for the inclination drive of the mast or the operating member (52) for the inclination drive of the mast is configured in such a way that actuating it causes the load-carrying fork (28) to be automatically moved to a predetermined position, preferably a horizontal position.
  2. The fork-lift truck as claimed in claim 1, characterized in that the control and regulation device (42) sends a signal to the inclination drive to move it to the horizontal line when a signal for lowering or lifting the load-carrying means (28) is produced by the operating member (46) for the lifting and lowering operation.
  3. The fork-lift truck as claimed in any one of claims 1 to 3, characterized in that the control and regulation device (42) is connected to an onboard computer (56) or forms part thereof, the onboard computer (56) limits the traveling and/or cornering speed of the fork-lift truck in conformity with stability criteria, and the inclination signal of the inclination sensor (40) is sent to the onboard computer (56) for a modification of the maximum traveling speed of the fork-lift truck in dependence on the inclination signal of the inclination sensor (40).
EP04001791A 2003-02-13 2004-01-28 Lift truck Expired - Fee Related EP1447374B2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10305900 2003-02-13
DE10305900.8A DE10305900C5 (en) 2003-02-13 2003-02-13 forklifts

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EP1447374A2 EP1447374A2 (en) 2004-08-18
EP1447374A3 EP1447374A3 (en) 2004-08-25
EP1447374B1 EP1447374B1 (en) 2008-03-05
EP1447374B2 true EP1447374B2 (en) 2011-09-14

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US (1) US7322444B2 (en)
EP (1) EP1447374B2 (en)
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DE (2) DE10305900C5 (en)

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Also Published As

Publication number Publication date
CN1521115A (en) 2004-08-18
EP1447374B1 (en) 2008-03-05
CN100447072C (en) 2008-12-31
DE502004006372D1 (en) 2008-04-17
US7322444B2 (en) 2008-01-29
DE10305900C5 (en) 2014-04-17
EP1447374A2 (en) 2004-08-18
US20040159499A1 (en) 2004-08-19
EP1447374A3 (en) 2004-08-25
DE10305900A1 (en) 2004-09-02
DE10305900B4 (en) 2007-04-05

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