EP1447377A1 - Method for operating a lift truck - Google Patents

Method for operating a lift truck Download PDF

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Publication number
EP1447377A1
EP1447377A1 EP04001275A EP04001275A EP1447377A1 EP 1447377 A1 EP1447377 A1 EP 1447377A1 EP 04001275 A EP04001275 A EP 04001275A EP 04001275 A EP04001275 A EP 04001275A EP 1447377 A1 EP1447377 A1 EP 1447377A1
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Prior art keywords
load
drive
height
suspension device
maximum
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Granted
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EP04001275A
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German (de)
French (fr)
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EP1447377B1 (en
Inventor
Uwe Dipl.-Ing. Allerding
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
    • B66F9/0755—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
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks

Definitions

  • the invention relates to a method for operating a truck according to the Preamble of claim 1.
  • So-called reach trucks have a mast on which the load handler is attached is adjustable in height and with the help of a suitable hydraulic Drive away from the drive part or can be moved towards it (mast thrust). About that In addition, the mast's inclination can be changed with the aid of a tilt drive. The load suspension device can also move laterally relative to the mast become (sideshift). In addition, special reach trucks are known where the entire load handler is up to 90 ° from the starting position can be pivoted. Corresponding drives are also provided for this. Finally, it is also known the inclination of the fork of the load handler to change.
  • Such forklifts are used in warehouses in which the loads are sometimes very great heights have to be transported. That is why the masts have such Stacker one or two mast shots to extend to a height of 12 m or more to be able to.
  • Such vehicles are naturally with a Provide travel drive. The stability of such vehicles depends, among other things. from the Height of the mast or the mast receiving means, the mast inclination and of course also from the load weight. It is known the drive speed or the Cornering speed depending on the load weight and / or the height of the To change the load handler.
  • the invention has for its object a method for operating a truck specify with which the throughput can be increased.
  • the height of the load suspension device is gradually and / or continuously measured and the maximum acceleration / deceleration and / or the maximum speed of at least one drive is reduced increasing height of the load handler.
  • the load weight on the load suspension device measured and the maximum acceleration / deceleration and / or the maximum The speed of at least one drive becomes less heavy increased.
  • the functions of the speed of one or more Drives depending on the height of the load handler and the load weight can also be linked to a linking function to provide an optimal Handling operations with sufficient security.
  • the functions of the load suspension device or the mast described are also described as secondary functions with the exception of the lifting function, which is also called Main function is called.
  • Main function which is also called Main function.
  • all secondary function speeds can and / or accelerations / decelerations of the auxiliary function drives controlled depending on the load and / or the lifting height to achieve maximum handling performance.
  • the functions shown in Figures 1 to 4 represent the secondary function speed generally represents, but also single speeds the drives for the mast thrust, the fork inclination, the side shifting of the Load suspension device, etc. can be controlled.
  • Fig. 1 it can be seen that at the maximum height of a load suspension device the speed does not exceed v1.
  • a lower amount of Load suspension means measured, for example gradually using switches on the mast, there is a larger possible height at heights h1 and h2 Speed for the secondary functions.
  • the hatched area gives that Speed advantage again.
  • the speed can of course also change depending on the load weight be what is shown in Figures 3 and 4. Will the load weight measured step by step, for example, there is a gradual increase possibility of the secondary function speeds according to FIG. 3.
  • a continuous Load weight sensing is a continuous adjustment of the Speed of secondary functions possible (Fig. 4).
  • Crucial for stability a truck, insofar as it is adjusted by the auxiliary functions is touched is even more the dynamics that change with a speed results, i.e. the acceleration and deceleration of each Drive moving masses.
  • the decisive factor is the acceleration or the delay in the movement of a secondary function.
  • the acceleration usually takes place via the torque of the drive motor. The higher that Drive torque, the greater the acceleration.
  • the delay depends from the braking torque.

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

Abstract

The method involves providing a load-carrying unit on a lift mast of a fork-lift truck to regulate the lateral, inclination and/or angular positions of a load carrying unit. The unit height and load weight are measured continuously. The maximum acceleration/deceleration and/or the maximum speed of drive increases with decreases in unit height and load weight to form an interlinking function based on the unit height and weight.

Description

Die Erfindung bezieht sich auf ein Verfahren zum Betrieb eines Staplers nach dem Oberbegriff des Patentanspruchs 1.The invention relates to a method for operating a truck according to the Preamble of claim 1.

So genannte Schubmaststapler weisen einen Mast auf, an dem das Lastaufnahmemittel höhenverstellbar geführt ist und der mit Hilfe eines geeigneten hydraulischen Antriebs vom Antriebsteil fort bzw. auf diesen zu verfahrbar ist (Mastschub). Darüber hinaus ist der Mast in seiner Neigung mit Hilfe eines Neigungsantriebs veränderbar. Das Lastaufnahmemittel kann ferner relativ zum Mast seitlich verfahren werden (Seitenschieber). Darüber hinaus sind spezielle Schubmaststapler bekannt, bei denen das gesamte Lastaufnahmemittel um bis zu 90° gegenüber der Ausgangslage verschwenkt werden kann. Auch hierfür sind entsprechende Antriebe vorgesehen. Schließlich ist auch bekannt, die Neigung der Gabel des Lastaufnahmemittels zu verändern.So-called reach trucks have a mast on which the load handler is attached is adjustable in height and with the help of a suitable hydraulic Drive away from the drive part or can be moved towards it (mast thrust). About that In addition, the mast's inclination can be changed with the aid of a tilt drive. The load suspension device can also move laterally relative to the mast become (sideshift). In addition, special reach trucks are known where the entire load handler is up to 90 ° from the starting position can be pivoted. Corresponding drives are also provided for this. Finally, it is also known the inclination of the fork of the load handler to change.

Derartige Stapler werden in Lagern eingesetzt, in denen die Lasten zum Teil in sehr große Höhen transportiert werden müssen. Deshalb weisen die Masten derartiger Stapler einen oder zwei Mastschüsse auf, um auf eine Höhe bis 12 m oder mehr ausgefahren werden zu können. Derartige Fahrzeuge sind naturgemäß mit einem Fahrantrieb versehen. Die Standsicherheit derartiger Fahrzeuge hängt u.a. ab von der Höhe des Mastes bzw. des Mastaufnahmemittels, der Mastneigung und natürlich auch von dem Lastgewicht. Es ist bekannt, die Antriebsgeschwindigkeit bzw. die Kurvengeschwindigkeit in Abhängigkeit vom Lastgewicht und/oder der Höhe des Lastaufnahmemittels zu ändern.Such forklifts are used in warehouses in which the loads are sometimes very great heights have to be transported. That is why the masts have such Stacker one or two mast shots to extend to a height of 12 m or more to be able to. Such vehicles are naturally with a Provide travel drive. The stability of such vehicles depends, among other things. from the Height of the mast or the mast receiving means, the mast inclination and of course also from the load weight. It is known the drive speed or the Cornering speed depending on the load weight and / or the height of the To change the load handler.

Aus US 6 425 728 B1 ist bekannt, die Geschwindigkeit einer Verstellung der Mastneigung abhängig von der Höhe des Lastaufnahmemittels und/oder des Lastgewichts zu wählen. From US 6 425 728 B1 the speed of an adjustment of the Mast inclination depending on the height of the load handler and / or the Load weight to choose.

Es ist ferner bekannt, in Abhängigkeit von der maximalen oder Nennlast und der maximalen Höhe eines Lastaufnahmemittels eine vorgegebene Geschwindigkeit für die Verstellung des Mastes und des Lastaufnahmemittels einzustellen. Dies geschieht entweder über eine Software in der Steuerung des Staplers oder durch hydraulische Mittel zur Begrenzung des Hydraulikmediums. Es ist schließlich auch bekannt, die Fahr- bzw. die Kurvengeschwindigkeit des Fahrzeugs von der Lasthöhe und dem Lastgewicht abhängig zu machen.It is also known depending on the maximum or nominal load and the maximum height of a load handler a predetermined speed for adjust the mast and load handler adjustment. This happens either via software in the control of the truck or through hydraulic means for limiting the hydraulic medium. After all, it is too known, the driving or cornering speed of the vehicle from the load height and make it dependent on the load weight.

Der Erfindung liegt die Aufgabe zugrunde, ein Verfahren zum Betrieb eines Staplers anzugeben, mit dem die Umschlagleistung erhöht werden kann.The invention has for its object a method for operating a truck specify with which the throughput can be increased.

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

Bei der Erfindung wird die Höhe des Lastaufnahmemittels stufenweise und/oder kontinuierlich gemessen und die maximale Beschleunigung/Verzögerung und/oder die maximale Geschwindigkeit mindestens eines Antriebs wird mit geringer werdender Höhe des Lastaufnahmemittels vergrößert.In the invention, the height of the load suspension device is gradually and / or continuously measured and the maximum acceleration / deceleration and / or the maximum speed of at least one drive is reduced increasing height of the load handler.

Bei der Lösung nach Anspruch 2 wird das Lastgewicht auf dem Lastaufnahmemittel gemessen und die maximale Beschleunigung/Verzögerung und/oder die maximale Geschwindigkeit mindestens eines Antriebs wird mit geringer werdendem Lastgewicht vergrößert.In the solution according to claim 2, the load weight on the load suspension device measured and the maximum acceleration / deceleration and / or the maximum The speed of at least one drive becomes less heavy increased.

Erfindungsgemäß können die Funktionen der Geschwindigkeit eines oder mehrerer Antriebe in Abhängigkeit von der Höhe des Lastaufnahmemittels und dem Lastgewicht auch zu einer Verknüpfungsfunktion verknüpft werden, um einen optimalen Umschlagbetrieb bei ausreichender Sicherheit durchzuführen. According to the invention, the functions of the speed of one or more Drives depending on the height of the load handler and the load weight can also be linked to a linking function to provide an optimal Handling operations with sufficient security.

Die beschriebenen Funktionen des Lastaufnahmemittels bzw. des Mastes werden auch als Nebenfunktionen beschrieben mit Ausnahme der Hubfunktion, die auch als Hauptfunktion bezeichnet wird. Bei der Erfindung können sämtliche Nebenfunktionsgeschwindigkeiten und/oder Beschleunigungen/Verzögerungen der Nebenfunktionsantriebe in Abhängigkeit von der Last und/oder der Hubhöhe gesteuert werden, um eine maximale Umschlagleistung zu erzielen.The functions of the load suspension device or the mast described are also described as secondary functions with the exception of the lifting function, which is also called Main function is called. In the invention, all secondary function speeds can and / or accelerations / decelerations of the auxiliary function drives controlled depending on the load and / or the lifting height to achieve maximum handling performance.

Die Erfindung soll nachfolgend anhand von Diagrammen näher erläutert werden.

Fig. 1
zeigt ein Diagramm für die Nebenfunktionsgeschwindigkeit in Abhängigkeit von der Höhe des Lastaufnahmemittels bei stufenweiser Höhenmessung des Lastaufnahmemittels.
Fig. 2
zeigt eine ähnliche Darstellung wie Fig. 1, jedoch bei kontinuierlicher Höhenmessung des Lastaufnahmemittels.
Fig. 3
zeigt ein Diagramm für die Nebenfunktionsgeschwindigkeit in Abhängigkeit vom Lastgewicht.
Fig. 4
zeigt eine ähnliche Darstellung wie Fig. 3, jedoch bei kontinuierlicher Sensierung des Lastgewichts.
The invention will be explained in more detail below with the aid of diagrams.
Fig. 1
shows a diagram for the secondary function speed as a function of the height of the load handler with gradual height measurement of the load handler.
Fig. 2
shows a representation similar to Fig. 1, but with continuous height measurement of the load handling device.
Fig. 3
shows a diagram for the secondary function speed as a function of the load weight.
Fig. 4
shows a representation similar to Fig. 3, but with continuous sensing of the load weight.

Die in den Figuren 1 bis 4 dargestellten Funktionen stellen die Nebenfunktionsgeschwindigkeit im Allgemeinen dar, wobei jedoch auch einzelne Geschwindigkeiten der Antriebe für den Mastschub, die Gabelneigung, das Seitenschieben des Lastaufnahmemittels usw. gesteuert sein können. The functions shown in Figures 1 to 4 represent the secondary function speed generally represents, but also single speeds the drives for the mast thrust, the fork inclination, the side shifting of the Load suspension device, etc. can be controlled.

In Fig. 1 ist zu erkennen, dass bei der maximalen Höhe eines Lastaufnahmemittels die Geschwindigkeit v1 nicht überschreitet. Wird jedoch eine geringere Höhe des Lastaufnahmemittels gemessen, beispielsweise stufenweise mit Hilfe von Schaltern am Mast, so ergibt sich bei den Höhen h1 bzw. h2 jeweils eine größere mögliche Geschwindigkeit für die Nebenfunktionen. Der schraffierte Bereich gibt den Geschwindigkeitsvorteil wieder.In Fig. 1 it can be seen that at the maximum height of a load suspension device the speed does not exceed v1. However, a lower amount of Load suspension means measured, for example gradually using switches on the mast, there is a larger possible height at heights h1 and h2 Speed for the secondary functions. The hatched area gives that Speed advantage again.

Bei einer kontinuierlichen Höhenmessung des Lastaufnahmemittels ist naturgemäß eine kontinuierliche Anpassung der Geschwindigkeit der Nebenfunktionen möglich. Dies ist in Fig. 2 wiedergegeben.With a continuous height measurement of the load handler is natural continuous adjustment of the speed of the secondary functions possible. This is shown in Fig. 2.

Die Geschwindigkeit kann naturgemäß auch in Abhängigkeit vom Lastgewicht verändert werden, was in den Figuren 3 und 4 wiedergegeben ist. Wird das Lastgewicht stufenweise gemessen, ergibt sich zum Beispiel eine stufenweise Erhöhungsmöglichkeit der Nebenfunktionsgeschwindigkeiten gemäß Fig. 3. Bei einer kontinuierlichen Lastgewichtsensierung ist eine kontinuierliche Anpassung der Geschwindigkeit der Nebenfunktionen möglich (Fig. 4). Entscheidend für die Standsicherheit eines Staplers, soweit sie durch die Verstellung der Nebenfunktionen berührt ist, ist noch mehr die Dynamik, die sich bei einer Geschwindigkeitsänderung ergibt, d.h. die Beschleunigung und die Verzögerung der von dem jeweiligen Antrieb bewegten Massen. Eine Verzögerung ergibt sich beim Abbremsen in der Nähe einer voreingestellten Position, z.B. des Mastes bei der Vorschubbewegung, der seitlichen Verschiebung des Aufnahmemittels usw. Ist eine vorgegebene Geschwindigkeit einmal erreicht, beeinträchtigt diese die Standsicherheit des Staplers so lange nicht mehr, bis eine weitere Beschleunigung oder ein Bremsvorgang eingeleitet wird. Entscheidend ist, mit welcher Beschleunigung bzw. welcher Verzögerung die Bewegung einer Nebenfunktion erfolgt. Die Beschleunigung erfolgt üblicherweise über das Moment des Antriebsmotors. Je höher das Antriebsmoment, um so größer die Beschleunigung. Umgekehrt hängt die Verzögerung vom Bremsmoment ab. Diese Parameter können naturgemäß ebenfalls in Abhängigkeit von der gemessenen Hubhöhe und dem gemessenen Lastgewicht variabel gemacht werden.The speed can of course also change depending on the load weight be what is shown in Figures 3 and 4. Will the load weight measured step by step, for example, there is a gradual increase possibility of the secondary function speeds according to FIG. 3. With a continuous Load weight sensing is a continuous adjustment of the Speed of secondary functions possible (Fig. 4). Crucial for stability a truck, insofar as it is adjusted by the auxiliary functions is touched is even more the dynamics that change with a speed results, i.e. the acceleration and deceleration of each Drive moving masses. There is a delay when braking in the Proximity to a preset position, e.g. the mast during the feed movement, the lateral displacement of the receiving means, etc. is a predetermined one Once speed is reached, this affects the stability of the Forklift truck no longer until further acceleration or braking is initiated. The decisive factor is the acceleration or the delay in the movement of a secondary function. The acceleration usually takes place via the torque of the drive motor. The higher that Drive torque, the greater the acceleration. Conversely, the delay depends from the braking torque. These parameters can of course also be in Dependence on the measured lifting height and the measured load weight be made variable.

Claims (3)

Verfahren zum Betrieb eines Staplers, dessen ein Lastaufnahmemittel führender Hubmast mindestens mit einem Schubantrieb versehen ist und bei dem ggf. weitere Antriebe für das Verstellen der Seitenlage, der Neigung und/oder der Winkellage des Lastaufnahmemittels relativ zum Hubmast vorgesehen sind, wobei die Antriebsgeschwindigkeiten der Antriebe einen maximalen oberen Grenzwert aufweisen, wenn sich das Lastaufnahmemittel in seiner höchsten Position befindet, dadurch gekennzeichnet, dass die Höhe des Lastaufnahmemittels stufenweise oder kontinuierlich gemessen wird und die maximale Beschleunigung/Verzögerung und/oder die maximale Geschwindigkeit mindestens eines Antriebs mit geringer werdender Höhe des Lastaufnahmemittels vergrößert wird.Method for operating a truck whose lifting mast carrying a load suspension device is provided with at least one thrust drive and in which further drives are provided for adjusting the lateral position, the inclination and / or the angular position of the load suspension device relative to the lifting mast, the drive speeds of the drives have a maximum upper limit value when the load handler is in its highest position, characterized in that the height of the load handler is measured in steps or continuously and the maximum acceleration / deceleration and / or the maximum speed of at least one drive with a decreasing height of the load handler is enlarged. Verfahren zum Betrieb eines Staplers, dessen ein Lastaufnahmemittel führender Hubmast mindestens mit einem Schubantrieb versehen ist und bei dem ggf. weitere Antriebe für das Verstellen der Seitenlage, der Neigung und/oder der Winkellage des Lastaufnahmemittels relativ zum Hubmast vorgesehen sind, wobei die Antriebsgeschwindigkeiten der Antriebe einen maximalen oberen Grenzwert aufweisen, wenn sich das Lastaufnahmemittel in seiner höchsten Position befindet, dadurch gekennzeichnet, dass das Lastgewicht auf dem Lastaufnahmemittel gemessen wird und die maximale Beschleunigung/Verzögerung und/oder die maximale Geschwindigkeit mindestens eines Antriebs mit geringer werdendem Lastgewicht vergrößert wird.Method for operating a truck whose lifting mast carrying a load suspension device is provided with at least one thrust drive and in which further drives are provided for adjusting the lateral position, the inclination and / or the angular position of the load suspension device relative to the lifting mast, the drive speeds of the drives have a maximum upper limit value when the load suspension device is in its highest position, characterized in that the load weight is measured on the load suspension device and the maximum acceleration / deceleration and / or the maximum speed of at least one drive with a decreasing load weight is increased. Verfahren nach Anspruch 1 und 2, dadurch gekennzeichnet, dass aus den beiden Funktionen der maximalen Beschleunigung/Verzögerung und/oder maximalen Geschwindigkeit mindestens eines Antriebs in Abhängigkeit von der Hubhöhe und dem Lastgewicht eine Verknüpfungsfunktion gebildet ist, nach welcher die Beschleunigung/Verzögerung und/oder Geschwindigkeit mindestens eines Antriebs eingestellt wird.A method according to claim 1 and 2, characterized in that a link function is formed from the two functions of the maximum acceleration / deceleration and / or maximum speed of at least one drive depending on the lifting height and the load weight, according to which the acceleration / deceleration and / or Speed of at least one drive is set.
EP20040001275 2003-02-12 2004-01-22 Method for operating a lift truck Revoked EP1447377B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10305671 2003-02-12
DE2003105671 DE10305671A1 (en) 2003-02-12 2003-02-12 Method of operating a truck

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EP1447377A1 true EP1447377A1 (en) 2004-08-18
EP1447377B1 EP1447377B1 (en) 2008-07-09

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Cited By (3)

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Publication number Priority date Publication date Assignee Title
EP2110293A3 (en) * 2008-04-16 2010-06-02 The Raymond Corporation Pallet truck with calculated fork carriage height
EP3102529A1 (en) * 2014-06-20 2016-12-14 Cascade Corporation Side-shift limiter
CN114787073A (en) * 2019-12-03 2022-07-22 株式会社丰田自动织机 Industrial vehicle

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Publication number Priority date Publication date Assignee Title
EP2857345B1 (en) 2013-10-07 2017-04-26 Hyster-Yale Group, Inc. Reach truck
DE102014115152B4 (en) * 2014-10-17 2023-09-28 Jungheinrich Aktiengesellschaft Reach truck
CN106516529A (en) * 2016-12-15 2017-03-22 合肥捷曼信息科技有限公司 Rail guided vehicle control method based on pressure sensor

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2110293A3 (en) * 2008-04-16 2010-06-02 The Raymond Corporation Pallet truck with calculated fork carriage height
US8230976B2 (en) 2008-04-16 2012-07-31 The Raymond Corporation Pallet truck with calculated fork carriage height
EP3102529A1 (en) * 2014-06-20 2016-12-14 Cascade Corporation Side-shift limiter
EP3102529A4 (en) * 2014-06-20 2017-04-05 Cascade Corporation Side-shift limiter
USRE49025E1 (en) 2014-06-20 2022-04-12 Cascade Corporation Side-shift limiter
CN114787073A (en) * 2019-12-03 2022-07-22 株式会社丰田自动织机 Industrial vehicle
US20220411246A1 (en) * 2019-12-03 2022-12-29 Kabushiki Kaisha Toyota Jidoshokki Industrial vehicle
CN114787073B (en) * 2019-12-03 2024-09-24 株式会社丰田自动织机 Industrial vehicle

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DE10305671A1 (en) 2004-08-26
CN1521113A (en) 2004-08-18
EP1447377B1 (en) 2008-07-09
DE502004007526D1 (en) 2008-08-21
CN100381350C (en) 2008-04-16

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