EP1593642A2 - Lade- und/oder Hubgerät, insbesondere Reachstacker - Google Patents
Lade- und/oder Hubgerät, insbesondere Reachstacker Download PDFInfo
- Publication number
- EP1593642A2 EP1593642A2 EP05007760A EP05007760A EP1593642A2 EP 1593642 A2 EP1593642 A2 EP 1593642A2 EP 05007760 A EP05007760 A EP 05007760A EP 05007760 A EP05007760 A EP 05007760A EP 1593642 A2 EP1593642 A2 EP 1593642A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- steering angle
- maximum permissible
- parameter
- operating parameters
- value
- 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.)
- Granted
Links
Images
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
- B66F9/065—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 non-masted
- B66F9/0655—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 non-masted with a telescopic boom
-
- 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 present invention relates to a loading and / or lifting device, in particular a reachstacker.
- a reachstacker is a loader, for the handling of heavy loads such as containers, general cargo and the like suitable is. Load handling is not carried out with reach stackers Mast, but with the help of a boom, in general as a telescopic boom is executed.
- the invention is not limited to reachstackers, special also includes other load and / or lifting equipment, such as Forklift or other equipment suitable for load handling.
- the maximum steering angle i. the entire steering range even at high Speeds available, it can vary depending on the combination of speed and steering lock come to dangerous situations that point to it based, that the stability of the device is no longer guaranteed. For today's standard equipment, it is at the discretion of the driver, which steering angle is to be selected to prevent tilting of the device or not come into a critical driving situation.
- the invention is based on the object, a loading and / or lifting device and In particular, to further develop a reachstacker such that critical Driving situations are recognizable or avoidable.
- the device has one or more Sensor for detecting at least one of the stability of the device influencing operating parameters as well as one with the transducers in Compound computing unit having means by which one for Ensuring stability Maximum permissible value of an operating parameter depending on one or more of the detected operating parameters is determined.
- operating parameters is to be understood broadly and includes, for example, the driving speed or the steering angle, the lifting capacity, the load height, the inclination and the radius of the loading and / or Lifting device.
- the computing unit has means or a logic by means of from the measured parameter or parameters a maximum permissible Value of a parameter, preferably the steering angle is determined. Of the maximum permissible value of a parameter is determined with regard to that the stability of the device is guaranteed.
- the operating parameter is whose maximum permissible value is determined to the steering angle the loading and / or lifting device.
- the arithmetic unit may be configured to operate on the basis of only one or advantageously on the basis of several or all detected operating parameters the maximum allowable value of a parameter, for example of the steering angle determined.
- a critical driving situation can then be reliable be avoided if included in the calculation of the maximum allowable Steering angle take all parameters that are on the stability of the Device influence. Examples of such parameters are the driving speed, the lifting capacity, the outreach, the load height, the Auslegernistometer as well as the terrain slope or inclination of the device. Also other parameters or parameters can be of importance and enter into the calculation.
- the arithmetic unit or the logic present therein determines due a known dependence of the stability of the device of these influencing parameters the maximum permissible value of a parameter or the steering angle, in which the stability is still guaranteed.
- a sensor for detecting the actual steering angle provided.
- This encoder can be redundant be.
- comparison means are provided, by means of which the actual compared with the maximum permissible steering angle becomes.
- the actual steering angle is from one or more pickups determined and compared with the permissible steering angle.
- the to provided comparison means may be part of the arithmetic unit.
- the Comparison result can be used, for example, the driver informing that exceeding the maximum permissible steering angle is present.
- Such a signal for example, acoustically or be reproduced optically.
- An embodiment of the invention is also conceivable in which an exceeding a maximum permissible parameter value is excluded.
- means are provided by means of that when changing an operating parameter, for example, an increase the speed that exceeds the maximum allowed Value of a parameter, such as the steering angle, another operating parameter is changed such that the actual value does not exceed the maximum permissible value.
- an operating parameter for example, an increase the speed that exceeds the maximum allowed Value of a parameter, such as the steering angle
- the invention another parameter, such as the driving speed changed so - reduced in this example - so that a Exceeding the maximum permissible steering angle does not occur and the Stability remains guaranteed.
- the steering angle exceeds the maximum permissible steering angle
- another operating parameter for example, the discharge or the driving speed is changed or reduced such that the permissible range of the steering angle detects the actual steering angle.
- the speed becomes e.g. the Reachstackers increased so that, with otherwise unchanged operating parameters and steering lock would result in a critical situation is provided that as the speed is increased, a other parameters, such as the projection or lifting height reduced in such a way it will not exceed the maximum permissible steering angle comes.
- Which parameter is changed for the aforementioned purpose can be fixed or be selectable.
- means may be provided to cause a change an operating parameter is possible only to the extent in which, for example the permissible range of the steering angle (without changing others Parameter) is not exceeded.
- the Lifting height or unloading with otherwise unchanged operating parameters only be changed to an extent that the actual steering angle in the permissible range remains.
- a reachstacker be accelerated, the other operating parameters are not changed and the speed increase is only as far as possible that the stability the reachstacker is still guaranteed, i. the actual with the permissible steering angle matches.
- the Computing unit further comprises means by means of which an optimal steering speed or steering acceleration depending on one or more of detected operating parameters can be determined. At the recorded operating parameters these can be the parameters used to determine the permissible Range of a parameter are used.
- means are provided by means of which at maximum specification of the steering angle of the maximum permissible steering angle set becomes. Accordingly, at maximum specification of the steering angle the wheels are not necessarily full, but only up to the maximum permissible Steering stroke moves.
- the single FIGURE shows a schematic representation of a Reachstackers with Steering monitoring.
- the setting of the actual steering angle is only within the permissible Range possible.
- To determine the actual steering angle are one or more encoders (redundant version) provided.
- the steering speed and the steering acceleration adjusted accordingly, i. at a reduction of the permissible range the steering angle e.g. at increasing the driving speed of the Reachstackers reduce steering speed and steering acceleration. This ensures that at high speeds the steering angle and the steering speed is not too big.
- the maximum specification of the steering angle by the driver leads to a setting the actual steering angle to the maximum permissible steering angle.
Landscapes
- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Civil Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Transplanting Machines (AREA)
Abstract
Description
Claims (10)
- Lade- und/oder Hubgerät, insbesondere Reachstacker, mit einem oder mehreren Aufnehmern zur Erfassung wenigstens eines die Standsicherheit des Lade- und/oder Hubgerätes beeinflussenden Betriebsparameters sowie mit einer mit dem oder den Aufnehmern in Verbindung stehenden Recheneinheit, die Mittel aufweist, mittels derer ein zur Gewährleistung der Standsicherheit maximal zulässiger Wert eines Betriebsparameters des Lade-und/oder Hubgerätes in Abhängigkeit von einem oder mehreren der erfassten Betriebsparameter bestimmt wird.
- Lade- und/oder Hubgerät nach Anspruch 1, dadurch gekennzeichnet, dass es sich bei dem Betriebsparameter, dessen maximal zulässiger Wert bestimmt wird, um den Lenkeinschlag handelt.
- Gerät nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass ein Aufnehmer zur Erfassung des tatsächlichen Lenkeinschlags vorgesehen ist.
- Gerät nach Anspruch 3, dadurch gekennzeichnet, dass Vergleichsmittel vorgesehen sind, mittels derer der tatsächliche mit dem maximal zulässigen Lenkeinschlag verglichen wird.
- Gerät nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass Mittel vorgesehen sind, mittels derer bei Änderung eines Betriebsparameters, die zu einer Überschreitung des maximal zulässigen Wertes eines Parameters führen würde, ein anderer Betriebsparameter derart geändert wird, dass der tatsächliche Wert den maximal zulässigen Wert nicht übersteigt.
- Gerät nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass Mittel vorgesehen sind, die bewirken, dass eine Änderung eines Betriebsparameters nur in dem Umfang möglich ist, in dem der maximal zulässige Wert eines Parameters bei sonst unveränderten Betriebsparametern nicht überschritten wird.
- Gerät nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass Mittel zur Anzeige des maximal zulässigen Wert des Parameters und/oder zur Abgabe eines Signals vorgesehen sind, wenn der tatsächliche Wert den maximal zulässigen Wert überschreitet.
- Gerät nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, dass die Betriebsparameter die Fahrgeschwindigkeit des Laders, die Hublast, die Ausladung, die Lasthöhe, den Lenkeinschlag, die Auslegerneigung sowie die Neigung des Lade- und/oder Hubgerätes umfassen.
- Gerät nach einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, dass die Recheneinheit ferner Mittel aufweist, mittels derer eine optimale Lenkgeschwindigkeit in Abhängigkeit von einem oder mehreren der erfassten Betriebsparameter bestimmbar ist.
- Gerät nach einem der Ansprüche 2 bis 9, dadurch gekennzeichnet, dass Mittel vorgesehen sind, mittels derer bei maximaler Vorgabe des Lenkwinkels der maximal zulässige Lenkeinschlag eingestellt wird.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102004021840 | 2004-05-04 | ||
DE102004021840A DE102004021840A1 (de) | 2004-05-04 | 2004-05-04 | Lade- und/oder Hubgerät, insbesondere Reachstacker |
Publications (3)
Publication Number | Publication Date |
---|---|
EP1593642A2 true EP1593642A2 (de) | 2005-11-09 |
EP1593642A3 EP1593642A3 (de) | 2006-11-08 |
EP1593642B1 EP1593642B1 (de) | 2014-06-04 |
Family
ID=34934917
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP05007760.1A Not-in-force EP1593642B1 (de) | 2004-05-04 | 2005-04-08 | Lade- und/oder Hubgerät, insbesondere Reachstacker |
Country Status (3)
Country | Link |
---|---|
US (1) | US7599776B2 (de) |
EP (1) | EP1593642B1 (de) |
DE (1) | DE102004021840A1 (de) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2409887A3 (de) * | 2010-07-19 | 2013-08-28 | Noell Mobile Systems GmbH | Verfahren und System zur Regelung eines Fahrverhaltens eines Flurförderzeugs |
WO2017055774A1 (fr) * | 2015-10-01 | 2017-04-06 | Manitou Bf | Système de modification du rapport de direction pour véhicule à bras télescopique et véhicule correspondant |
FR3041921A1 (fr) * | 2015-10-01 | 2017-04-07 | Manitou Bf | Systeme de modification du rapport de direction pour vehicule muni d'un volant de direction et vehicule correspondant |
US9932213B2 (en) | 2014-09-15 | 2018-04-03 | Crown Equipment Corporation | Lift truck with optical load sensing structure |
WO2022018389A1 (fr) | 2020-07-23 | 2022-01-27 | Manitou Bf | Machine de manutention a bras et procede d'avertissement correspondant |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2008004915A1 (en) * | 2006-07-03 | 2008-01-10 | Volvo Construction Equipment Ab | Method and system for avoiding dropping a load |
CN102285590B (zh) * | 2011-04-21 | 2013-11-20 | 长沙科尊信息技术有限公司 | 基于红外结构光的集装箱吊具抓箱作业感知系统及方法 |
DE102012015217A1 (de) * | 2012-08-03 | 2014-02-06 | CES Containerhandling Equipment & Solutions GmbH | Lastumschlag-Fahrzeug und Verfahren zu seiner Steuerung |
WO2017015046A1 (en) | 2015-07-17 | 2017-01-26 | Crown Equipment Corporation | Processing device having a graphical user interface for industrial vehicle |
CN107921965B (zh) | 2015-08-14 | 2020-10-09 | 克朗设备公司 | 基于牵引模型的基于模型的诊断 |
AU2016309710B2 (en) | 2015-08-14 | 2020-12-24 | Crown Equipment Corporation | Model based diagnostics based on steering model |
EP3269680B1 (de) * | 2016-07-14 | 2020-09-30 | Toyota Material Handling Manufacturing Sweden AB | Flurförderer |
EP3269679B1 (de) | 2016-07-14 | 2019-09-11 | Toyota Material Handling Manufacturing Sweden AB | Flurförderer |
EP3269678B1 (de) | 2016-07-14 | 2019-03-06 | Toyota Material Handling Manufacturing Sweden AB | Flurförderer |
EP3545397B1 (de) | 2016-11-22 | 2022-11-09 | Crown Equipment Corporation | Benutzerschnittstellenvorrichtung für nutzfahrzeuge |
AU2017393175B2 (en) | 2017-01-13 | 2023-08-31 | Crown Equipment Corporation | Traction speed recovery based on steer wheel dynamic |
CA3041343A1 (en) | 2017-01-13 | 2018-07-19 | Crown Equipment Corporation | High speed straight ahead tiller desensitization |
US10759635B2 (en) * | 2018-06-05 | 2020-09-01 | Abraham Ben Seutter | SIDAS—spreader impact damage avoidance system |
FR3132092A1 (fr) | 2022-01-21 | 2023-07-28 | Manitou Bf | Systeme de commande de direction pour véhicule de travail roulant |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0343839A2 (de) | 1988-05-26 | 1989-11-29 | The Raymond Corporation | Steuerungssysteme für einen Stapelwagen |
GB2290149A (en) | 1994-06-10 | 1995-12-13 | Colin Stanley Smith | System for ensuring the stability and safe operation of lift trucks |
DE10010011A1 (de) | 1999-07-27 | 2001-02-01 | Linde Ag | Flurförderzeug mit einer Stabilisierungseinrichtung zur Erhöhung der Standsicherheit |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS5321939B2 (de) * | 1974-08-26 | 1978-07-05 | ||
US4268216A (en) * | 1977-07-04 | 1981-05-19 | Fernand Copie | Load lifting and carrying machine |
JP2600061B2 (ja) * | 1993-07-14 | 1997-04-16 | 株式会社小松製作所 | 装軌車の操向装置 |
US5579863A (en) * | 1995-04-10 | 1996-12-03 | Caterpillar Inc. | Steering system for an articulated machine |
JPH115419A (ja) * | 1997-06-18 | 1999-01-12 | Toyota Autom Loom Works Ltd | 産業車両の車体揺動制御装置 |
JP3695909B2 (ja) * | 1997-09-30 | 2005-09-14 | 株式会社小松製作所 | 油圧式ステアリング装置及びその油圧バルブ |
JPH11165998A (ja) * | 1997-12-04 | 1999-06-22 | Toyota Autom Loom Works Ltd | 産業車両の車体揺動制御装置及び産業車両 |
US6314348B1 (en) * | 1998-02-11 | 2001-11-06 | Trimble Navigation Limited | Correction control for guidance control system |
GB2349482B (en) * | 1998-12-22 | 2003-07-09 | Caterpillar Inc | Tool recognition and control system for a work machine |
US7181322B2 (en) * | 2002-05-20 | 2007-02-20 | B.L. Usa Inc. | Ammunition loading vehicle and method |
US6827176B2 (en) * | 2003-01-07 | 2004-12-07 | Jlg Industries, Inc. | Vehicle with offset extendible axles and independent four-wheel steering control |
-
2004
- 2004-05-04 DE DE102004021840A patent/DE102004021840A1/de not_active Ceased
-
2005
- 2005-04-08 EP EP05007760.1A patent/EP1593642B1/de not_active Not-in-force
- 2005-05-03 US US11/122,979 patent/US7599776B2/en not_active Expired - Fee Related
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0343839A2 (de) | 1988-05-26 | 1989-11-29 | The Raymond Corporation | Steuerungssysteme für einen Stapelwagen |
GB2290149A (en) | 1994-06-10 | 1995-12-13 | Colin Stanley Smith | System for ensuring the stability and safe operation of lift trucks |
DE10010011A1 (de) | 1999-07-27 | 2001-02-01 | Linde Ag | Flurförderzeug mit einer Stabilisierungseinrichtung zur Erhöhung der Standsicherheit |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2409887A3 (de) * | 2010-07-19 | 2013-08-28 | Noell Mobile Systems GmbH | Verfahren und System zur Regelung eines Fahrverhaltens eines Flurförderzeugs |
US9932213B2 (en) | 2014-09-15 | 2018-04-03 | Crown Equipment Corporation | Lift truck with optical load sensing structure |
WO2017055774A1 (fr) * | 2015-10-01 | 2017-04-06 | Manitou Bf | Système de modification du rapport de direction pour véhicule à bras télescopique et véhicule correspondant |
FR3041922A1 (fr) * | 2015-10-01 | 2017-04-07 | Manitou Bf | Systeme de modification du rapport de direction pour vehicule a bras telescopique et vehicule correspondant |
FR3041921A1 (fr) * | 2015-10-01 | 2017-04-07 | Manitou Bf | Systeme de modification du rapport de direction pour vehicule muni d'un volant de direction et vehicule correspondant |
EP3356283B1 (de) | 2015-10-01 | 2019-07-03 | Manitou Bf | System zur änderung der lenkübersetzung für ein fahrzeug mit teleskopischem arm und entsprechendes fahrzeug |
US10696321B2 (en) | 2015-10-01 | 2020-06-30 | Manitou Bf | System for modification of the steering ratio for a vehicle provided with a steering wheel, and corresponding vehicle |
EP3356282B1 (de) | 2015-10-01 | 2022-07-20 | Manitou Bf | System zur änderung der lenkübersetzung für ein fahrzeug mit einem lenkrad und entsprechendes fahrzeug |
WO2022018389A1 (fr) | 2020-07-23 | 2022-01-27 | Manitou Bf | Machine de manutention a bras et procede d'avertissement correspondant |
FR3112882A1 (fr) * | 2020-07-23 | 2022-01-28 | Manitou Bf | Machine de manutention a bras et procede d’avertissement correspondant |
Also Published As
Publication number | Publication date |
---|---|
EP1593642A3 (de) | 2006-11-08 |
US20060180381A1 (en) | 2006-08-17 |
DE102004021840A1 (de) | 2005-12-01 |
US7599776B2 (en) | 2009-10-06 |
EP1593642B1 (de) | 2014-06-04 |
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