EP1447376B1 - Lift truck with moveable mast - Google Patents

Lift truck with moveable mast Download PDF

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Publication number
EP1447376B1
EP1447376B1 EP04001790A EP04001790A EP1447376B1 EP 1447376 B1 EP1447376 B1 EP 1447376B1 EP 04001790 A EP04001790 A EP 04001790A EP 04001790 A EP04001790 A EP 04001790A EP 1447376 B1 EP1447376 B1 EP 1447376B1
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EP
European Patent Office
Prior art keywords
mast
side shift
fork
signal
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
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EP04001790A
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German (de)
French (fr)
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EP1447376A1 (en
EP1447376B2 (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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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

Definitions

  • the invention relates to a reach truck according to the preamble of patent claim 1.
  • Reach trucks like other forklifts, also consist of a load section and a drive section.
  • 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 located within parallel spaced arm arms attached to the drive member and extending on either side of the mast from the drive member.
  • reach trucks also have an integrated sideshift.
  • the load-receiving means such as the fork, mounted with its back to a slider which can be moved horizontally on a slider guide. The guide is guided on the mast and can be raised and lowered using the lifting and lowering device.
  • Such a side slide allows an accurate and fast alignment of the pallet on the shelf without the need to change the position of the truck.
  • the invention has for its object to provide a reach truck with sideshift, in which the operation is simplified and accelerated.
  • the position of the side slider detecting analog sensor is provided, the position signal given to the control and regulating device becomes.
  • the control or regulating device controls all adjustment operations in connection with the load-carrying means and the mast in accordance with an operation by appropriate handles or actuators in the cabin of the reach truck.
  • the invention also provides either a special actuator for the sideshifter, in the operation of the side shifter is automatically moved to a predetermined position or a design of the usual actuator for the side shifter such that a certain operating mode causes the automatic start in the predetermined position.
  • the default position will usually be the center position. But it can also be given any position.
  • the signal of the analog sensor is known in the control and regulating device on which of the two possible sides of the side shift is.
  • the signal allows the automatic start-up of the desired position, since the position signal of the side shifter is also an actual signal for the control and regulating device, whereby the drive for the side shifter is stopped at the control deviation zero. Therefore, at the beginning of a lowering or retraction of the mast, the driver may first operate the actuator to ensure that the side pusher is in the desired position, e.g. a collision with the arms is excluded.
  • a setpoint generator for the side shifter drive according to its Verstellweges or angle deliver a setpoint signal, which is given to the control device to drive the side shifter to a predetermined position.
  • the side shifter can be adjusted to any position, such as for receiving a load in the predetermined position.
  • the drive for the side shifter first, for. the center position anorg, the side shifter should have an off-center position when a lowering operation of the lifting device and / or a retraction of the mast is initiated via associated actuators.
  • the side shifter should have an off-center position when a lowering operation of the lifting device and / or a retraction of the mast is initiated via associated actuators.
  • the reach truck shown in Fig. 1 is of conventional construction and has a drive part 10 and a load part 12.
  • the load part 12 has a mast 14 with several mast shots, e.g. in a height up to 12 m and more extendable.
  • the load part 12 also has a load-receiving means, which is guided adjustable in height on the mast.
  • a prong 16 of a fork can be seen, 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 shown at 18 in FIG. In the Radarmen each load wheels are stored.
  • a steerable drive wheel can be seen at 19.
  • the mast 14 is movable horizontally by means of a guide, not shown, further away from the drive part 10 and towards it.
  • a not shown actuating member for driving the mast thrust is provided in the cab of the drive part 10.
  • the mast 14 In the cabin is also an actuator for the lifting and lowering operation of the fork or the mast.
  • the mast 14 is changeable in its inclination by means of a corresponding inclination drive, wherein the inclination drive is in turn actuated by a separate actuator.
  • another actuator or switch button for driving the side slider is provided.
  • the wheel arms 18 can be seen as well as a side slider 20 which is horizontally 29iebar along a guide 22, as indicated by double arrow 24.
  • the guide 22 is connected to the lifting and lowering means on the mast 14, which is indicated in phantom in Fig. 2.
  • the forks 16 are attached.
  • an adjusting cylinder 26 engages to adjust it laterally according to double arrow 24.
  • the adjusting cylinder e.g. be provided an electric drive.
  • a lowering of the load-receiving means can only take place when the side slider 20 has center position.
  • the forks 16 are located in the middle between the arms 18, as indicated by dashed lines in Fig. 2.
  • the side shifter 20 When retracting the mast 14 between the wheel arms 18 and when lowering the side slider 20 in a position in which the mast 14 is located between the Radarmen 18, therefore, the side shifter 20 must have center position.
  • the side shifter 20 is associated with an analog sensor, which is not shown in Fig. 2. It is designated 30 in FIG.
  • the analog sensor 30 generates an analog position signal according to the position of the slider 20 relative to a centerline 32 (FIG. 2) indicating the center position of the slider 20.
  • a signal from the sensor 30 goes to a display 32 in the cabin of the reach truck, so that the driver recognizes in which position the sideshift 20 is located.
  • the position signal of the analog sensor 30 is also on a control and regulating device 34, as used in reach trucks for the lifting and lowering operation or moving the mast and the lifting and lowering of the lifting device.
  • the device 34 is additionally capable of processing the position signal of the sensor 30. With 36 an actuator is indicated in the cab of the truck, adjusted in its operation, the side slider 20 becomes.
  • any position of the side slider 20 can be approached in accordance with its deflection. This is done via the control and regulating device 34, which in turn gives a signal to a controller 38 for actuating the adjusting cylinder 26. Additionally or alternatively, an actuator 40 may be provided, such as a switch button, upon actuation of the control and regulating device 34 automatically Center position of the side slider 20 anatomic.
  • the actuators 42 and 44 for the mast feed and the lifting and lowering of the load receiving means are indicated. They are also in communication with the control device 34.
  • the corresponding drives are designated 47 and 48, respectively. If a retraction of the mast 14 or a lowering of the load receiving means 16 is desired by operating the actuators 42 or 44, the control and regulating device 34 determines whether the side slider 20 has its center position. This is done via a query of the signal of the sensor 30. If an off-center position is detected, a retraction of the mast 14 and a lowering of the load receiving means 16 is first locked until the sideshift 20 is automatically driven by the drive 26 in the center position.
  • An on-board computer 46 which also belongs to the reach truck of FIG. 1, calculates the maximum driving speed for the traction motor, not shown, in accordance with stability criteria.
  • stability criteria include, for example, the load weight on the load handler, the height of the load handler, the inclination of the mast, etc.
  • the position of the side shifter 20 may be a safety criterion that is also input to the on-board computer 46 to flow in calculating the maximum travel speed ,

Description

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

Ein derartiger Schubmaststapler ist aus der US-A-5, 052,882 bekannt.Such a reach truck is known from US-A-5, 052,882.

Schubmaststapler bestehen wie andere Stapler auch aus einem Lastteil und einem Antriebsteil. Der Lastteil weist einen zumeist aus mehreren Mastschüssen bestehenden Mast auf, der in große Höhen ausfahrbar ist. Bei einem Schubmaststapler ist charakteristisch, dass der Mast horizontal verfahrbar ist zwischen einer Position nahe dem Antriebsteil und einer davon entfernten Position. Das Lastaufnahmemittel ist üblicherweise eine Gabel, wobei die Gabelzinken sich innerhalb von parallel beabstandeten Radarmen befinden, die am Antriebsteil angebracht sind und sich zu beiden Seiten des Mastes vom Antriebsteil forterstrecken. In vielen Fällen weisen derartige Schubmaststapler auch einen integrierten Seitenschieber auf. Hierbei ist das Lastaufnahmemittel, etwa die Gabel, mit ihrem Rücken an einem Schieber angebracht, der horizontal an einer Schieberführung bewegt werden kann. Die Führung ist am Mast geführt und kann mit Hilfe der Heb- und Senkvorrichtung angehoben und abgesenkt werden. Ein derartiger Seitenschieber erlaubt ein genaues und schnelles Ausrichten der Palette im Regal, ohne dass der Stapler seine Position verändern muss.Reach trucks, like other forklifts, also consist of a load section and a drive section. 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 located within parallel spaced arm arms attached to the drive member and extending on either side of the mast from the drive member. In many cases, such reach trucks also have an integrated sideshift. Here, the load-receiving means, such as the fork, mounted with its back to a slider which can be moved horizontally on a slider guide. The guide is guided on the mast and can be raised and lowered using the lifting and lowering device. Such a side slide allows an accurate and fast alignment of the pallet on the shelf without the need to change the position of the truck.

Bei einem Schubmaststapler mit Seitenschieber muss gewährleistet sein, dass beim Betätigen des Seitenschiebers und beim Absenken des Lastaufnahmemittels keine Kollision mit den Radarmen auftritt. Nur wenn der Seitenschieber Mittenposition aufweist, kann der Mast mit dem Lastaufnahmemittel zwischen den Radarmen zurückgezogen werden. Erst in dieser Position des Seitenschiebers kann das Lastaufnahmemittel zwischen den Radarmen bei nicht vollständig vorgeschobenem Hubgerüst abgesenkt werden.For a reach truck with side shifter, it must be ensured that no collision with the wheel arms occurs when the side shifter is actuated and the load handler is lowered. Only when the sideshift center position, the mast can be withdrawn with the load-carrying means between the Radarmen. Only in this position of the side slide can the load handling device be lowered between the Radarmen not completely advanced mast.

Es ist bekannt, eine Verschiebung des Seitenschiebers digital zu erfassen. Es erfolgt eine hydraulische Verriegelung, welche ein Absenken des Lastaufnahmemittels bzw. ein Zurückschieben des Mastes verhindert. Der Fahrer muss zunächst den Seitenschieber in die Mittenposition bringen, bevor die erwähnten Funktionen durchgeführt werden können. Nachteilig ist, dass der Fahrer die Seitenschieberposition optisch erfassen und dann die Seitenschubbewegung über Bedienelemente manuell in die richtige Richtung einleiten muss, um die erforderliche eine Freigängigkeit zu erreichen. Außerdem muss der Seitenschubvorgang beim Erreichen der Mittenposition beendet werden, wofür der Fahrer ggf. eine entsprechende Anzeige überwacht.It is known to detect a shift of the side shifter digital. There is a hydraulic lock, which prevents lowering of the lifting device or a pushing back of the mast. The driver must first bring the sideshifter to the center position before the mentioned functions can be performed. The disadvantage is that the driver must visually detect the side shift position and then manually initiate the side thrust movement via control elements in the right direction in order to achieve the required freedom of movement. In addition, the side thrust must be terminated when reaching the center position, for which the driver monitors, if necessary, a corresponding display.

Aus DE 100 54 789 A1 ist ein Flurförderzeug bekannt geworden, bei dem für das Lastaufnahmemittel auch ein Seitenschieber vorgesehen ist. Die Antriebsvorrichtung für den Seitenschieber wird in Abhängigkeit von Betriebsparametern beeinflußt. Dadurch kann die Beschleunigung und/oder die Geschwindigkeit des Seitenschiebers annähernd stufenlos variiert werden. Auf diese Weise werden elastische Verformungen und Schwingungen vermieden.From DE 100 54 789 A1 an industrial truck has become known in which a side slide is provided for the load receiving means. The drive device for the side shifter is influenced as a function of operating parameters. As a result, the acceleration and / or the speed of the sideshift can be varied almost continuously. In this way, elastic deformations and vibrations are avoided.

Der Erfindung liegt die Aufgabe zugrunde, einen Schubmaststapler mit Seitenschieber zu schaffen, bei dem der Betrieb vereinfacht und beschleunigt wird.The invention has for its object to provide a reach truck with sideshift, in which the operation is simplified and accelerated.

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 Position des Seitenschiebers erfassender Analogsensor vorgesehen, dessen Positionssignal auf die Steuer- und Regelvorrichtung gegeben wird. Die Steuer- oder Regelvorrichtung steuert sämtliche Verstellvorgänge in Verbindung mit dem Lastaufnahmemittel und dem Schubmast nach Maßgabe einer Betätigung durch entsprechende Handhaben oder Betätigungsorgane in der Kabine des Schubmaststaplers. Die Erfindung sieht darüber hinaus entweder ein besonderes Betätigungsorgan für den Seitenschieber vor, bei dessen Betätigung der Seitenschieber automatisch in eine vorgegebene Position gefahren wird oder eine Ausbildung des üblichen Betätigungsorgans für den Seitenschieber dergestalt, dass ein bestimmter Betätigungsmodus das automatische Anfahren in die vorgegebene Position herbeiführt. Die vorgegebene Position wird zumeist die Mittenposition sein. Es kann aber auch jede beliebige Position vorgegeben sein.In the invention, the position of the side slider detecting analog sensor is provided, the position signal given to the control and regulating device becomes. The control or regulating device controls all adjustment operations in connection with the load-carrying means and the mast in accordance with an operation by appropriate handles or actuators in the cabin of the reach truck. The invention also provides either a special actuator for the sideshifter, in the operation of the side shifter is automatically moved to a predetermined position or a design of the usual actuator for the side shifter such that a certain operating mode causes the automatic start in the predetermined position. The default position will usually be the center position. But it can also be given any position.

Über das Signal des Analogsensors ist in der Steuer- und Regelvorrichtung bekannt, auf welcher der beiden möglichen Seiten sich der Seitenschieber befindet. Darüber hinaus ermöglicht das Signal das automatische Anfahren der gewünschten Position, da das Positionssignal des Seitenschiebers zugleich ein Istsignal für die Steuer- und Regelvorrichtung ist, wodurch bei der Regelabweichung Null der Antrieb für den Seitenschieber gestoppt wird. Zu Beginn eines Senkenbetriebes bzw. eines Zurückziehens des Mastes kann daher der Fahrer zunächst das Betätigungsorgan betätigen, damit gewährleistet ist, dass der Seitenschieber sich in der gewünschten Position befindet, damit z.B. eine Kollision mit den Radarmen ausgeschlossen ist.About the signal of the analog sensor is known in the control and regulating device on which of the two possible sides of the side shift is. In addition, the signal allows the automatic start-up of the desired position, since the position signal of the side shifter is also an actual signal for the control and regulating device, whereby the drive for the side shifter is stopped at the control deviation zero. Therefore, at the beginning of a lowering or retraction of the mast, the driver may first operate the actuator to ensure that the side pusher is in the desired position, e.g. a collision with the arms is excluded.

Da, wie erwähnt, die jeweilige Position des Seitenschiebers erfasst werden kann, kann ein Sollwertgeber für den Seitenschieberantrieb nach Maßgabe seines Verstellweges oder -winkels ein Sollwertsignal abgeben, das auf die Regelvorrichtung gegeben wird, um den Seitenschieber auf eine vorgegebene Position zu fahren. Mithin kann der Seitenschieber auf eine beliebige Position eingestellt werden, etwa zur Aufnahme einer Last in der vorgegebenen Position.Since, as mentioned, the respective position of the side shifter can be detected, a setpoint generator for the side shifter drive according to its Verstellweges or angle deliver a setpoint signal, which is given to the control device to drive the side shifter to a predetermined position. Thus, the side shifter can be adjusted to any position, such as for receiving a load in the predetermined position.

Anstelle oder zusätzlich zum automatischen Anfahren der vorgegebenen Position bzw. der Mittenposition des Seitenschiebers ist nach einer Ausgestaltung der Erfindung auch denkbar, dass der Antrieb für den Seitenschieber zunächst z.B. die Mittenposition anfährt, sollte der Seitenschieber eine außermittige Position aufweisen, wenn über zugehörige Betätigungsorgane ein Senkenbetrieb des Lastaufnahmemittels und/oder ein Zurückziehen des Mastes initiiert wird. Auf diese Weise kann etwa nach dem Zurückziehen des Mastes und dem manuellen Einleiten des Senkvorgangs automatisch das Anfahren der Mittenposition des Seitenschiebers eingeleitet werden. Für den Fahrer kann dann der sonst vor dem nächsten Stapelspiel anfallende Arbeitsgang entfallen.Instead of or in addition to the automatic approach of the predetermined position or the center position of the side slide is also conceivable according to an embodiment of the invention that the drive for the side shifter first, for. the center position anfährt, the side shifter should have an off-center position when a lowering operation of the lifting device and / or a retraction of the mast is initiated via associated actuators. In this way, after the withdrawal of the mast and the manual initiation of the lowering operation, for example, the starting of the center position of the side slider can be initiated automatically. For the driver can then be omitted otherwise incurred before the next batch game operation.

Schließlich ist auch denkbar, die analoge Information des Seitenschubsensors in die Standsicherheitsbetrachtung eines Bordrechners einfließen zu lassen. Schubmaststapler der genannten Art verfügen häufig über einen Bordrechner, der zum Beispiel u.a. verschiedene Parameter im Fahrbetrieb berücksichtigt, um die Fahrgeschwindigkeit je nach Höhe der Last, dem Lastgewicht, der Neigung des Mastes, der Ausfahrlänge des Mastes usw. zu modifizieren, damit keine instabilen Fahrzustände eintreten. Die Seitenlage eines Seitenschiebers kann ebenfalls zu einem instabilen Zustand führen. Der Bordrechner kann mithin die Position des Seitenschiebers bei der Berechnung der Standsicherheit berücksichtigen.Finally, it is also conceivable to incorporate the analog information of the side thrust sensor in the stability analysis of an on-board computer. Reach trucks of the type mentioned often have an on-board computer, which, for example u.a. various parameters are taken into account during driving to modify the driving speed according to the height of the load, the load weight, the inclination of the mast, the extension length of the mast, etc., so that no unstable driving conditions occur. The lateral position of a side shifter can also lead to an unstable condition. The on-board computer can therefore take into account the position of the sideshift when calculating the stability.

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

Fig. 1
zeigt schematisch perspektivisch einen Schubmaststapler.
Fig. 2
zeigt äußerst schematisch Teile des Schubmaststaplers nach Fig. 1 in Frontansicht.
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 parts of the reach truck of FIG. 1 in front view.
Fig. 3
shows a block diagram for the operation of parts of the reach truck of 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 weist einen Mast 14 mit mehreren Mastschüssen auf, der z.B. in eine Höhe bis 12 m und mehr ausfahrbar ist. Das Lastteil 12 weist auch ein Lastaufnahmemittel auf, das höhenverstellbar am Mast geführt ist. In Fig. 1 ist lediglich eine Zinke 16 einer Gabel 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 dargestellt. In den Radarmen sind jeweils Lasträder gelagert. Ein lenkbares Antriebsrad ist bei 19 zu erkennen.The reach truck shown in Fig. 1 is of conventional construction and has a drive part 10 and a load part 12. The load part 12 has a mast 14 with several mast shots, e.g. in a height up to 12 m and more extendable. The load part 12 also has a load-receiving means, which is guided adjustable in height on the mast. In Fig. 1, only a prong 16 of a fork can be seen, 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 shown at 18 in FIG. In the Radarmen each load wheels are stored. A steerable drive wheel can be seen at 19.

Der Mast 14 ist mit Hilfe einer nicht weiter dargestellten Führung horizontal verfahrbar von dem Antriebsteil 10 fort und auf diesen zu. Hierfür ist in der Kabine des Antriebsteils 10 ein nicht gezeigtes Betätigungsorgan für den Antrieb des Mastschubs vorgesehen. In der Kabine befindet sich außerdem ein Betätigungsorgan für den Heben- und Senkenbetrieb der Lastgabel bzw. des Mastes. Daneben ist der Mast 14 auch in seiner Neigung veränderbar mit Hilfe eines entsprechenden Neigungsantriebes, wobei der Neigungsantrieb wiederum über ein separates Betätigungsorgan betätigbar ist. Schließlich befindet sich in der Kabine auch ein Betätigungsorgan zur Betätigung des beschriebenen Seitenschiebers. Darüber hinaus ist ein weiteres Betätigungsorgan oder Schaltknopf für den Antrieb des Seitenschiebers vorgesehen.The mast 14 is movable horizontally by means of a guide, not shown, further away from the drive part 10 and towards it. For this purpose, a not shown actuating member for driving the mast thrust is provided in the cab of the drive part 10. In the cabin is also an actuator for the lifting and lowering operation of the fork or the mast. In addition, the mast 14 is changeable in its inclination by means of a corresponding inclination drive, wherein the inclination drive is in turn actuated by a separate actuator. Finally, there is also an actuator in the cabin for actuating the described side shift. In addition, another actuator or switch button for driving the side slider is provided.

In Fig. 2 sind die Radarme 18 zu erkennen sowie ein Seitenschieber 20, der entlang einer Führung 22 horizontal verschiebar ist, wie durch Doppelpfeil 24 angedeutet. Die Führung 22 ist mit den Heben- und Senkenmitteln am Mast 14 verbunden, der in Fig. 2 strichpunktiert angedeutet ist. Am Seitenschieber sind die Gabelzinken 16 angebracht. Am Seitenschieber 20 greift ein Verstellzylinder 26 an, um ihn gemäß Doppelpfeil 24 seitlich zu verstellen. Statt des Verstellzylinders kann z.B. ein elektrischer Antrieb vorgesehen sein.In Fig. 2, the wheel arms 18 can be seen as well as a side slider 20 which is horizontally verschiebar along a guide 22, as indicated by double arrow 24. The guide 22 is connected to the lifting and lowering means on the mast 14, which is indicated in phantom in Fig. 2. On the sideshifter, the forks 16 are attached. On sideshift 20, an adjusting cylinder 26 engages to adjust it laterally according to double arrow 24. Instead of the adjusting cylinder, e.g. be provided an electric drive.

Wie aus Fig. 2 zu erkennen, kann ein Absenken des Lastaufnahmemittels nur erfolgen, wenn der Seitenschieber 20 Mittenposition aufweist. In der Mittenposition befinden sich die Gabelzinken 16 in der Mitte zwischen den Radarmen 18, wie gestrichelt in Fig. 2 angedeutet ist. Beim Zurückziehen des Mastes 14 zwischen die Radarme 18 bzw. beim Absenken des Seitenschiebers 20 in eine Position, bei der sich der Mast 14 zwischen den Radarmen 18 befindet, muss daher der Seitenschieber 20 Mittenposition aufweisen.As can be seen from Fig. 2, a lowering of the load-receiving means can only take place when the side slider 20 has center position. In the middle position, the forks 16 are located in the middle between the arms 18, as indicated by dashed lines in Fig. 2. When retracting the mast 14 between the wheel arms 18 and when lowering the side slider 20 in a position in which the mast 14 is located between the Radarmen 18, therefore, the side shifter 20 must have center position.

Dem Seitenschieber 20 ist ein Analogsensor zugeordnet, der in Fig. 2 nicht dargestellt ist. Er ist in Fig. 3 mit 30 bezeichnet. Der Analogsensor 30 erzeugt ein analoges Positionssignal nach Maßgabe der Position des Schiebers 20 relativ zu einer Mittellinie 32 (Fig. 2), welche die Mittenposition des Schiebers 20 andeutet. Ein Signal des Sensors 30 geht auf eine Anzeige 32 in der Kabine des Schubmaststaplers, sodass der Fahrer erkennt, in welcher Position sich der Seitenschieber 20 befindet. Das Positionssignal des Analogsensors 30 geht auch auf eine Steuer- und Regelvorrichtung 34, wie sie bei Schubmaststaplern an sich verwendet wird für den Heben- und Senkenbetrieb bzw. Verschieben des Mastes und das Heben und Senken des Lastaufnahmemittels. Die Vorrichtung 34 ist zusätzlich in der Lage, das Positionssignal des Sensors 30 zu verarbeiten. Mit 36 ist ein Betätigungsorgan in der Kabine des Staplers angedeutet, bei dessen Betätigung der Seitenschieber 20 verstellt wird. Mit Hilfe des Betätigungsorgans 36 kann nach Maßgabe seiner Auslenkung eine beliebige Position des Seitenschiebers 20 angefahren werden. Dies geschieht über die Steuer- und Regelvorrichtung 34, die ihrerseits ein Signal auf eine Steuerung 38 gibt zur Betätigung des Verstellzylinders 26. Zusätzlich oder alternativ kann ein Betätigungsorgan 40 vorgesehen werden, beispielsweise ein Schaltknopf, bei dessen Betätigung die Steuer- und Regelvorrichtung 34 automatisch die Mittenposition des Seitenschiebers 20 anfährt.The side shifter 20 is associated with an analog sensor, which is not shown in Fig. 2. It is designated 30 in FIG. The analog sensor 30 generates an analog position signal according to the position of the slider 20 relative to a centerline 32 (FIG. 2) indicating the center position of the slider 20. A signal from the sensor 30 goes to a display 32 in the cabin of the reach truck, so that the driver recognizes in which position the sideshift 20 is located. The position signal of the analog sensor 30 is also on a control and regulating device 34, as used in reach trucks for the lifting and lowering operation or moving the mast and the lifting and lowering of the lifting device. The device 34 is additionally capable of processing the position signal of the sensor 30. With 36 an actuator is indicated in the cab of the truck, adjusted in its operation, the side slider 20 becomes. With the help of the actuator 36, any position of the side slider 20 can be approached in accordance with its deflection. This is done via the control and regulating device 34, which in turn gives a signal to a controller 38 for actuating the adjusting cylinder 26. Additionally or alternatively, an actuator 40 may be provided, such as a switch button, upon actuation of the control and regulating device 34 automatically Center position of the side slider 20 anfährt.

In Fig. 3 sind auch die Betätigungsorgane 42 und 44 für den Mastvorschub und das Heben und Senken des Lastaufnahmemittels angedeutet. Sie sind ebenfalls mit der Steuer- und Regelvorrichtung 34 in Verbindung. Die entsprechenden Antriebe sind mit 47 bzw. 48 bezeichnet. Wird nun durch Betätigung der Betätigungsorgane 42 oder 44 ein Zurückziehen des Mastes 14 bzw. ein Senken des Lastaufnahmemittels 16 gewünscht, stellt die Steuer- und Regelvorrichtung 34 fest, ob der Seitenschieber 20 seine Mittenposition hat. Dies erfolgt über eine Abfrage des Signals des Sensors 30. Wird eine außermittige Position festgestellt, wird zunächst ein Zurückziehen des Mastes 14 bzw. ein Absenken des Lastaufnahmemittels 16 gesperrt, bis der Seitenschieber 20 vom Antrieb 26 automatisch in die Mittenposition gefahren ist.In Fig. 3, the actuators 42 and 44 for the mast feed and the lifting and lowering of the load receiving means are indicated. They are also in communication with the control device 34. The corresponding drives are designated 47 and 48, respectively. If a retraction of the mast 14 or a lowering of the load receiving means 16 is desired by operating the actuators 42 or 44, the control and regulating device 34 determines whether the side slider 20 has its center position. This is done via a query of the signal of the sensor 30. If an off-center position is detected, a retraction of the mast 14 and a lowering of the load receiving means 16 is first locked until the sideshift 20 is automatically driven by the drive 26 in the center position.

Ein Bordrechner 46, der ebenfalls zum Schubmaststapler nach Fig. 1 gehört, errechnet die maximale Fahrgeschwindigkeit für den nicht gezeigten Fahrmotor nach Maßgabe von Stabilitätskriterien. Bekannte Stabilitätskriterien sind zum Beispiel das Lastgewicht auf dem Lastaufnahmemittel, die Höhe des Lastaufnahmemittels, die Neigung des Mastes usw. Außerdem kann die Lage des Seitenschiebers 20 ein Sicherheitskriterium sein, das ebenfalls in den Bordrechner 46 eingegeben wird, um bei Berechnung der maximalen Fahrgeschwindigkeit mit einzufließen.An on-board computer 46, which also belongs to the reach truck of FIG. 1, calculates the maximum driving speed for the traction motor, not shown, in accordance with stability criteria. Known stability criteria include, for example, the load weight on the load handler, the height of the load handler, the inclination of the mast, etc. In addition, the position of the side shifter 20 may be a safety criterion that is also input to the on-board computer 46 to flow in calculating the maximum travel speed ,

Claims (4)

  1. A fork-lift reach truck having an extraction mast (14) which is adapted to be displaced, by means of a mast drive, towards and away from a driving portion of the fork-lift truck on a horizontal guide, a load-carrying means (16) which is mounted on a side shift (20), a side shift guide (22) which is supported by the extraction mast in a height-adjustable way and is adapted to be actuated by means of a lifting and lowering drive, which guides the side shift (20) in a laterally movable way, and a side shift drive (26), and an electric control and regulation device (34) for the respective drives which is connected to operating members for the lifting and lowering modes, the mast extraction mode, and the side shift mode, characterized in that an analog sensor (30) detecting the position of the side shift (20) is provided the position signal of which is sent to the control and regulation device (34), and that the control and regulation device (34) is connected to a separate operating member for the side shift (20) or the operating member for the side shift is configured in such a way that actuating it causes the side shift (20) to be automatically moved to a predetermined position, preferably a middle position.
  2. The fork-lift reach truck as claimed in claim 1, characterized in that the operating member (36) for the side shift (20) is configured as a set point transmitter which, in response to its displacement path or angle, generates a set point signal for the control and regulation device (34).
  3. The fork-lift reach truck as claimed in claim 1 or 2, characterized in that the control and regulation device (34) sends a signal to the side shift drive (26) to move to the predetermined position when a signal for a retraction of the mast (12) is generated by the operating member (42) for the mast extraction and/or a signal for the lowering of the load-carrying means (16) is generated by the operating member (44) for the lifting and lowering modes.
  4. The fork-lift truck as claimed in any one of claims 1 to 3, characterized in that the control and regulation device (34) is connected to an onboard computer (46) and/or forms part thereof, the onboard computer (34) limits the traveling and/or cornering speed of the fork-lift truck in conformity with stability criteria and the position signal of the sensor (30) is sent to the onboard computer (46) for a modification of the traveling speed of the fork-lift truck in dependence on the position of the side shift (20).
EP04001790A 2003-02-13 2004-01-28 Lift truck with moveable mast Expired - Lifetime EP1447376B2 (en)

Applications Claiming Priority (2)

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DE10305901 2003-02-13
DE10305901A DE10305901B4 (en) 2003-02-13 2003-02-13 Reach truck

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EP1447376A1 EP1447376A1 (en) 2004-08-18
EP1447376B1 true EP1447376B1 (en) 2006-11-08
EP1447376B2 EP1447376B2 (en) 2010-08-04

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US (1) US7165652B2 (en)
EP (1) EP1447376B2 (en)
CN (1) CN100469679C (en)
DE (2) DE10305901B4 (en)

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DE10305901B4 (en) 2006-11-30
US20040226776A1 (en) 2004-11-18
EP1447376A1 (en) 2004-08-18
DE502004001926D1 (en) 2006-12-21
EP1447376B2 (en) 2010-08-04
US7165652B2 (en) 2007-01-23
CN1521114A (en) 2004-08-18
CN100469679C (en) 2009-03-18
DE10305901A1 (en) 2004-09-02

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