EP1447376B1 - Chariot élévateur à mât déplaçable - Google Patents

Chariot élévateur à mât déplaçable 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
Authority
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
Application number
EP04001790A
Other languages
German (de)
English (en)
Other versions
EP1447376A1 (fr
EP1447376B2 (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
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Application filed by Jungheinrich AG filed Critical Jungheinrich AG
Publication of EP1447376A1 publication Critical patent/EP1447376A1/fr
Publication of EP1447376B1 publication Critical patent/EP1447376B1/fr
Application granted granted Critical
Publication of EP1447376B2 publication Critical patent/EP1447376B2/fr
Anticipated expiration legal-status Critical
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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 ,

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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)
  • Forklifts And Lifting Vehicles (AREA)

Claims (4)

  1. Chariot élévateur à mât coulissant, comportant un mât coulissant (14), que l'on peut faire coulisser sur un guidage horizontal, au moyen d'un entraînement du mât, en direction de la partie d'entraînement du chariot élévateur ou en s'en éloignant, un moyen de préhension de la charge (16) qui est adapté sur un dispositif latéral de coulissement (20), un guidage (22) du dispositif de coulissement latéral, monté contre le mât coulissant en pouvant être réglé en hauteur et en pouvant être actionné à l'aide d'un entraînement de levage et d'abaissement, qui guide le dispositif latéral de coulissement (20) dans son mouvement latéral, et un entraînement (26) du dispositif de coulissement latéral, ainsi qu'un dispositif électrique (34) de commande et de régulation, relié aux organes d'actionnement pour les opérations de levage et d'abaissement, pour les opérations de coulissement du mât et pour les opérations de coulissement latéral, et destiné aux entraînements correspondants,
    caractérisé
    en ce qu'il est prévu un détecteur analogique (30) relevant la position du dispositif latéral de coulissement(20), détecteur dont le signal de position est envoyé au dispositif (34) de commande et de régulation, et en ce que le dispositif (34) de commande et de régulation est relié à un organe d'actionnement particulier pour le dispositif latéral de coulissement (20), ou l'organe d'actionnement pour le dispositif latéral de coulissement est réalisé de façon que, lors de son actionnement, le dispositif latéral de coulissement (20) se déplace automatiquement dans une position prédéfinie, par exemple une position de milieu.
  2. Chariot élévateur à mât coulissant suivant la revendication 1, caractérisé en ce que l'organe d'actionnement (36) pour le dispositif latéral de coulissement (20) est réalisé sous la forme d'un émetteur de valeur de consigne qui, d'après sa course de réglage ou d'après son angle de réglage, émet un signal de valeur de consigne pour le dispositif (34) de commande et de régulation.
  3. Chariot élévateur à mât coulissant suivant la revendication 1 ou 2, caractérisé en ce que le dispositif (34) de commande et de régulation émet un signal sur l'entraînement du coulissement latéral (26) pour mettre en mouvement la position prédéfinie quand, avec l'organe (42) d'actionnement pour le coulissement du mât, est produit un signal pour le recul en arrière du mât (12) et/ou, avec l'organe d'actionnement (44) pour l'opération de levage ou d'abaissement, est produit un signal pour abaisser le moyen de préhension de la charge (16).
  4. Chariot élévateur à mât coulissant suivant l'une des revendications 1 à 3, caractérisé en ce que le dispositif (34) de commande et de régulation est relié à un calculateur de bord (46), et/ou à une partie de celui-ci, en ce que le calculateur de bord (34), en tenant compte de critères de stabilité, limite la vitesse de déplacement et/ou la vitesse en courbe du chariot élévateur, et en ce que le signal de position du détecteur (30) est envoyé au calculateur de bord (46) pour modifier la vitesse de déplacement du chariot élévateur en fonction de la position du dispositif latéral de coulissement (20).
EP04001790A 2003-02-13 2004-01-28 Chariot élévateur à mât déplaçable Expired - Lifetime EP1447376B2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10305901A DE10305901B4 (de) 2003-02-13 2003-02-13 Schubmaststapler
DE10305901 2003-02-13

Publications (3)

Publication Number Publication Date
EP1447376A1 EP1447376A1 (fr) 2004-08-18
EP1447376B1 true EP1447376B1 (fr) 2006-11-08
EP1447376B2 EP1447376B2 (fr) 2010-08-04

Family

ID=32668047

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04001790A Expired - Lifetime EP1447376B2 (fr) 2003-02-13 2004-01-28 Chariot élévateur à mât déplaçable

Country Status (4)

Country Link
US (1) US7165652B2 (fr)
EP (1) EP1447376B2 (fr)
CN (1) CN100469679C (fr)
DE (2) DE10305901B4 (fr)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4609390B2 (ja) * 2005-09-30 2011-01-12 株式会社豊田自動織機 フォークリフトの走行制御装置
JP4793134B2 (ja) * 2005-09-30 2011-10-12 株式会社豊田自動織機 フォークリフトの走行制御装置
EP2168904B1 (fr) 2008-09-29 2011-11-30 BT Products AB Chariot de manutention avec déplacement latéral automatisé du moyen de prise de charge
DE102011100914A1 (de) * 2011-04-29 2012-10-31 Jungheinrich Aktiengesellschaft Flurförderzeug mit einer Endschalteranlage
DE102013104440A1 (de) 2013-04-30 2014-10-30 Still Gmbh Flurförderzeug mit Hubeinrichtung
EP2857345B1 (fr) 2013-10-07 2017-04-26 Hyster-Yale Group, Inc. Chariot élévateur
KR102075808B1 (ko) * 2013-12-30 2020-03-02 주식회사 두산 지게차의 제어장치 및 제어방법
US9309099B2 (en) 2014-06-20 2016-04-12 Cascade Corporation Side-shift limiter
SI2982639T1 (sl) * 2014-08-04 2018-12-31 Manitou Italia S.R.L. Sistem stranske stabilnosti
AU2015318258B2 (en) * 2014-09-15 2019-02-14 Crown Equipment Corporation Lift truck with optical load sensing structure
EP3127858B1 (fr) 2015-08-03 2018-08-01 The Raymond Corporation Amortissement d'oscillations pour un véhicule de manutention de matières
CN108190796B (zh) * 2017-12-18 2019-08-27 南京信息职业技术学院 一种用于智能叉车的自适应搬运装置
CA3109297A1 (fr) 2018-09-13 2020-03-19 Crown Equipment Corporation Systeme et procede de commande d'une vitesse de vehicule maximale pour un vehicule industriel sur la base d'une charge calculee
NL2022025B1 (nl) * 2018-11-19 2020-06-03 Meijer Holding B V Vorkenversteller voor een heftruck, heftruck voorzien daarvan en werkwijze voor het verstellen van vorken

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Publication number Priority date Publication date Assignee Title
EP0335196A1 (fr) * 1988-03-31 1989-10-04 Caterpillar Industrial Inc. Appareil et procédé pour commander la position d'un mât élévateur
CN2051224U (zh) * 1989-07-14 1990-01-17 张子明 一种新型人力叉车
US5052882A (en) * 1989-12-04 1991-10-01 Caterpillar Industrial Inc. Apparatus and method for controllably positioning forks of a material handling vehicle
CN2115332U (zh) * 1991-12-17 1992-09-09 大连新星电脑技术开发中心 前移式叉车横向行走装置
JPH05186200A (ja) * 1992-01-16 1993-07-27 Toyota Autom Loom Works Ltd フォークリフトの荷取制御装置
JPH05254797A (ja) † 1992-03-17 1993-10-05 Mitsubishi Heavy Ind Ltd フォークリフトの制御装置
JP3411726B2 (ja) * 1995-05-01 2003-06-03 光洋精工株式会社 電動パワーステアリング装置
GB9707158D0 (en) * 1997-04-08 1997-05-28 Boss Group Ltd Two directional industrial sidelift truck with rotatable cab
JPH1135298A (ja) * 1997-07-15 1999-02-09 Toyota Autom Loom Works Ltd 産業車両用揺動制御装置
DE19855202B4 (de) * 1997-12-01 2006-10-26 Nissan Motor Co., Ltd., Yokohama Mastanordnung und mit einem Mast ausgerüsteter Hubwagen
EP1043268B1 (fr) * 1999-03-29 2002-03-13 Hans Ruf Chariot élévateur , en particulier chariot élévateur à fourches muni d'un dispositif de positionnement
JP2002046992A (ja) * 2000-08-04 2002-02-12 Tcm Corp 横行システムを持ったフォークリフト
DE10054789A1 (de) * 2000-11-04 2002-05-08 Still Wagner Gmbh & Co Kg Flurförderzeug mit einem Hubgerüst und einer zusätzlichen Bewegungsvorrichtung für ein Lastaufnahmemittel
JP2002293497A (ja) † 2001-01-26 2002-10-09 Komatsu Forklift Co Ltd フォークリフトのフォーク自動反転制御装置
JP4882176B2 (ja) * 2001-07-18 2012-02-22 株式会社豊田自動織機 産業車両における荷役支援報知装置及び産業車両
DE10305900C5 (de) * 2003-02-13 2014-04-17 Jungheinrich Aktiengesellschaft Stapler
US20040154871A1 (en) * 2003-02-12 2004-08-12 Uwe Allerding Method for operating a fork-lift truck
GB2407808B (en) * 2003-11-10 2006-08-02 Lansing Linde Ltd Lifting framework for an industrial truck
US7195105B2 (en) * 2004-06-21 2007-03-27 Tygard Machine & Manufacturing Company Lift truck

Also Published As

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

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