EP1593645B1 - Appareil de levage hydraulique pour le mât télescopique d'un chariot élévateur à fourches - Google Patents

Appareil de levage hydraulique pour le mât télescopique d'un chariot élévateur à fourches Download PDF

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Publication number
EP1593645B1
EP1593645B1 EP05445026A EP05445026A EP1593645B1 EP 1593645 B1 EP1593645 B1 EP 1593645B1 EP 05445026 A EP05445026 A EP 05445026A EP 05445026 A EP05445026 A EP 05445026A EP 1593645 B1 EP1593645 B1 EP 1593645B1
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EP
European Patent Office
Prior art keywords
cylinders
lifting
lift
forks
oil
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.)
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Application number
EP05445026A
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German (de)
English (en)
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EP1593645A3 (fr
EP1593645A2 (fr
Inventor
Joakim Bärnström
Jimmy Holler
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.)
Toyota Material Handling Europe AB
Original Assignee
Toyota Material Handling Europe AB
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Publication date
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Publication of EP1593645A2 publication Critical patent/EP1593645A2/fr
Publication of EP1593645A3 publication Critical patent/EP1593645A3/fr
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/22—Hydraulic devices or systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/20—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors controlling several interacting or sequentially-operating members
    • F15B11/205—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors controlling several interacting or sequentially-operating members the position of the actuator controlling the fluid flow to the subsequent actuator

Definitions

  • a telescopic mast that at high lifts is extended, and a lifting device arranged in the outmost/uppermost telescoping element in the mast for movement height-wise over the major part of the height of this telescopic element. In this way the entire height of the mast is used for lifting movement.
  • Lifting is normally taken care of by means of hydraulic cylinders with chain exchanges and transfers in order to achieve the long stroke. Since the lifting device in the outermost mast element thus does not have to lift any part of the comparably heavy mast one saves at small lifts, for instance at lifting, transport and putting down on the ground considerable energy and thereby battery charge.
  • An advantage is further that one can connect the hydraulic cylinders of the two lifting systems in parallel, since at movement of the mast also the weight of this has to be lifted and at for instance the same piston area of the different lifting systems always the one with the smallest load will be lifted first and the second one when the stroke of movement is over for the first system, that is the free or low lift always goes first at lifting and at lowering.
  • shock absorbers and it is also known to use a position switch that via a control system at the end of the free lift or low lift movement reduce the oil flow from the pump so that the hitting force in the movement becomes smaller.
  • a position switch that via a control system at the end of the free lift or low lift movement reduce the oil flow from the pump so that the hitting force in the movement becomes smaller.
  • the temporary lowering of the speed means a loss of time. Further it may be make it more difficult for the driver with the varying lifting speed when the forks are to be placed close to the upper end position of the free lift.
  • the invention has in view of the above problems as its object to make the shift between low lift and high lift softer and with reduced or entirely eliminated loss of time at the transition in a fork truck in accordance with the preamble of claim 1.
  • a position sensor and/or altimeter is used to initiate said valve.
  • the sensor or the altimeter restrict the oil feed to the cylinder for the low lift.
  • the restriction can advantageously be progressive or ramped so that it is successively reduced to zero or almost zero.
  • the pressure in the hydraulic circuit is increased in the same way as when according to previous technique the low lift cylinder abuts its upper end position stop.
  • the pressure rise the oil will instead be pumped into the usually two high lifting cylinders so that these start to lift the frame (mast) upward.
  • the speed of the high lift part is increased and a very soft transition is obtained that to start with can be made entirely shock free and secondly the lifting speed can be kept entirely constant.
  • the soft transition is obtained independent of the lifting speed that is controlled by the speed of the pump motor, that is controlled by the driver by means of the lift control handle defined lifting speed. Also at maximum speed the transition will be soft. If the driver change the speed during the transition this does not have any influence either.
  • the lifting speed is maintained entirely unchanged at constant control position and pump speed respectively also in the transition range and if the driver stops the movement by stopping the oil flow to the piston systems in the middle of the ramping transition between these the movement height-wise of the fork is stopped, but since the mast is heavier this can be allowed to sink down slowly at the same time as the forks are lifted upwards precisely in the same amount and in the same degree due to an overflow between the cylinders in the different systems.
  • the invention has the advantage that one does not lose any lifting time on the transition between the lifting devices as in the case with the speed lowering at the end of the low lift. Furthermore the placing of the forks in the transition area is facilitated since the fork speed is only controlled by the driver. Nor are there needed any special cylinders.
  • a reduction valve in the connection tubing to the high lift cylinders allow soft breaking of the mast movement when the parts of this come close to the lower end position, which can be sensed with an altimeter and/or a position sensor.
  • the valve to the low lift cylinder is preferably open or opened so that when the mast is braked the low lift begin its lowering motion.
  • the mast will sink down with a simultaneous lifting of the forks that thus will look as if they are standing entirely still in the height direction.
  • valve in the connection to the high lifting cylinders also makes it possible to use cylinders in the low lifting systems with a smaller piston area and a higher lifting pressure since it is possible to prevent the high lifting cylinders from movement by shutting off the feed to these during the entire low lift (below the transition area).
  • This allows partly the use of less costly cylinders since they can be given smaller dimensions for the low lifting part and also reduce the amount of oil that has to be moved, which in tern reduce the losses due to flow, required oil volume in the truck etc. and furthermore the low lift cylinder or cylinders becomes easier to stow away so that the driver can obtain a better view.
  • restriction valves are advantageously electrically controlled proportional valves permitting together with the appropriate electronic control the use of well defined and constant maximum speeds over the entire lifting range without loss of time.
  • other movement schemes can be used then at the known devices.
  • high lift and low lift parts can in relation to each other be controlled in such a way that at a lowering movement the low lift part is always lowered first, which may provide the advantage that if movements are to take place high up in the storage rack a major part of these movements may be executed with only the low lifting part that weighs less and consequently requires less energy than if the entire mast is to be lowered and lifted again.
  • an altimeter this can be used in combination with position sensors, but one can also consider to use two altimeters, one for the low lift and for the high lift.
  • two hydraulic pumps each with its own motor, for instance one motor unit can be used to drive the low lift while the other pump can be used to drive the high lift.
  • FIG.1 and 2 schematically show a device in accordance with the invention and Fig. 3 a flow diagram of the oil feed to the two lifting systems when the transition range between the two lifting systems is passed.
  • the low lift cylinder or cylinders 3 are connected to the high lift part of a telescopic mast or frame 5.
  • the frame 5 provides inertia in the system. Oil is feed from a hydraulic pump 6, 6' via two valves 1, 1' and 2, 2' from a tank 7. The valves 1, 1' and 2, 2' can both feed to, and drain oil from the lifting cylinders 3 and 4 respectively.
  • a pressure limiter 8 is arranged after the motor and return at a to high pressure oil back to the tank 7 in sufficient amount to reduce the pressure to intended value.
  • the valves are proportionally controlled electrically by an electronic unit that receives its commands from a lifting control and that furthermore includes a memory unit and a processor and connections for signals from position sensors and/or altimeters.
  • the valves are separate units or built together to one unit that may be entirely separated from the lifting cylinders. Instead of an altimeter one can use a position sensor that registers when the forks come close to their end position in the outermost mast section and when the mast comes close to its bottom position respectively.
  • valve passages 1b and 2b are used for the draining of the oil back to the tank.
  • large frames (masts) alternatively at lowering the valve passages 1b' and 2b' are used that drain the oil via the pump back to the tank.
  • the electric motor functions as a generator.
  • a principal diagram is shown in Fig 2 .
  • the electric motor functions at lift as a usual DC or asynchronous motor.
  • At lowering the motor working as a generator return energy to the battery package.
  • the valve or the valves that are used are proportional valves (1', 1a', 2', 2a'). At this the valves may in addition to be used for soft transitions and end position ramping be used to keep the lowering speed even (maximum).
  • the invention provides an unnoticeable transition between low lift and high lift and a soft damping of the movement when the mast comes close to the its upper most position.
  • the invention provides a soft transition between high lift and low lift that is at damping of the arriving of the mast to the bottom position and a softly braked lower end position of the forks in the low lift part and a fast lowering of the low lift.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Combustion & Propulsion (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Analytical Chemistry (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Claims (15)

  1. Chariot à fourches où dans un mât télescopique extensible dans la section de mât la plus extérieure ou la plus haute, une journalisation de mouvement est agencé pour le mouvement des fourches sur une majeure partie de la hauteur de la section de mât la plus haute (5), et où les mouvements de levage sont réalisés de façon hydraulique au moyen d'un ou plusieurs cylindres à grande levée (4) pour le levage des sections de mâts et un ou plusieurs cylindres à petite levée (3) pour le levage des fourches par rapport à la section de mât la plus haute (5) au niveau de laquelle le ou les cylindres à petite levée et le ou les cylindres à grande levée en parallèle sont raccordés à une ou plusieurs pompes (6) pour l'alimentation en huile sous pression, caractérisé en ce que dans un conduit d'alimentation vers le ou les cylindres à petite levée, une soupape proportionnelle (1) est agencée et pour cette dernière une commande est agencée qui, vers la fin de la course du mouvement des fourches vers le haut dans la section de mât la plus haute restreint successivement l'alimentation en huile vers le ou les cylindres à petite levée (3) de sorte que l'huile, est plutôt alimentée de façon successive et croissante dans le ou les cylindres à grande levée (4) pendant un mouvement de levage continu des fourches et
    en ce que dans un conduit d'alimentation vers le ou les cylindres à grande levée, une soupape proportionnelle (2) est agencée et pour cette dernière une commande est agencée qui, vers la fin d'un mouvement d'abaissement du mât, restreint successivement le purgeur d'huile du ou des cylindres à grande levée (4) de sorte que l'huile est plutôt drainée de façon successive et croissante des cylindres à petite levée pendant les mouvements d'abaissement continus des fourches,
    de sorte que les chocs sont évités dans les positions d'extrémité et de sorte que dans le changement entre un mouvement de cylindres à grande levée et de cylindres à petite levée et inversement le changement a lieu successivement et sans arrêter les fourches.
  2. Chariot à fourches selon la revendication 1, caractérisé en ce que les sections des cylindres et des taux d'échange possibles sont choisis de sorte que l'huile est d'abord alimentée dans les cylindres à petite levée pour les fourches, l'huile s'écoule ensuite vers les cylindres à grande levée nécessitant une pression plus élevée de sorte que les fourches sont toujours levées les premières.
  3. Chariot à fourches selon l'une quelconque des revendications précédentes, caractérisé en ce que les soupapes assurent également le raccordement vers le réservoir d'huile et la pompe à huile respectivement.
  4. Chariot à fourches selon l'une quelconque des revendications 1 à 3, caractérisé en ce que le ou les cylindres hydrauliques à petite levée sont dimensionnés pour une pression hydraulique de levage coïncidant essentiellement avec celle du ou des cylindres à grande levée.
  5. Chariot à fourches selon l'une quelconque des revendications 1 à 3, caractérisé en ce que le ou les cylindres hydrauliques à petite levée sont dimensionnés pour une pression hydraulique de levage qui diffère de celle du ou des cylindres à grande levée.
  6. Chariot à fourches selon l'une quelconque des revendications 1 à 3, caractérisé en ce que les sections du ou des cylindres à petite levée sont identiques de sorte qu'une vitesse de levage constante peut être obtenue.
  7. Chariot à fourches selon l'une quelconque des revendications 1 à 3, caractérisé en ce que l'aire du ou des pistons dans le système à petite levée est inférieure à celle du système à grande levée de sorte qu'une vitesse d'abaissement élevée peut être obtenue.
  8. Chariot à fourches selon l'une quelconque des revendications précédentes, caractérisé en ce qu'un capteur de position est agencé à proximité de la position d'extrémité supérieure des fourches par rapport à la section de mât supérieure.
  9. Chariot à fourches selon l'une quelconque des revendications précédentes, caractérisé en ce qu'il est doté d'un dispositif de mesure de hauteur de levage pour une petite levée et/ou une grande levée.
  10. Chariot à fourches selon l'une quelconque des revendications précédentes, caractérisé en ce qu'un capteur de position est agencé dans l'extrémité inférieure du mouvement des fourches dans la section de mât la plus haute.
  11. Chariot à fourches selon l'une quelconque des revendications précédentes, caractérisé en ce qu'il comprend deux moteurs pour l'entraînement des cylindres de levage.
  12. Chariot à fourches selon l'une quelconque des revendications précédentes, caractérisé en ce qu'il comprend une unité de commande électronique pour la commande des soupapes.
  13. Procédé de commande de la transition entre des mouvements de levage effectués avec différents cylindres de levage, des cylindres à petite levée et à grande levée au niveau d'un chariot selon la revendication 1, caractérisé en ce qu'au début d'une transition, l'alimentation du cylindre en train de travailler est restreinte et délivrée à l'autre cylindre de sorte qu'une transition douce est réalisée.
  14. Procédé selon la revendication 13, caractérisé en ce qu'à des arrêts dans la plage de transition, le système à grande levée est abaissé à sa position la plus basse alors que la partie à petite levée est relevée d'une quantité correspondante.
  15. Chariot à fourches selon l'une quelconque des revendications 1 à 12, caractérisé en ce qu'il est agencé de sorte que l'huile à l'abaissement est alimentée en retour à travers la pompe qui entraîne le moteur qui sert de générateur et renvoie de l'énergie vers les batteries.
EP05445026A 2004-05-03 2005-05-01 Appareil de levage hydraulique pour le mât télescopique d'un chariot élévateur à fourches Active EP1593645B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0401169 2004-05-03
SE0401169A SE529748C2 (sv) 2004-05-03 2004-05-03 Anordning vid gaffeltruck

Publications (3)

Publication Number Publication Date
EP1593645A2 EP1593645A2 (fr) 2005-11-09
EP1593645A3 EP1593645A3 (fr) 2007-05-02
EP1593645B1 true EP1593645B1 (fr) 2012-08-08

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EP (1) EP1593645B1 (fr)
SE (1) SE529748C2 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3459904B1 (fr) 2017-09-20 2021-08-04 Jungheinrich Aktiengesellschaft Chariot de manutention, système hydraulique pour un chariot de manutention et procédé de fonctionnement d'un système hydraulique

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EP2123594A1 (fr) * 2008-05-23 2009-11-25 BT Products AB Chariot élévateur industriel doté d'un contrôle de la vitesse
EP2159186B1 (fr) * 2008-08-27 2016-11-23 Toyota Material Handling Manufacturing Sweden AB Chariot élévateur à double niveaus avec circuit hydraulique
DE102009011865B4 (de) 2009-03-05 2021-11-18 Jungheinrich Aktiengesellschaft Hubvorrichtung für ein Flurförderzeug
DE102011016542A1 (de) * 2011-04-08 2012-10-11 Jungheinrich Aktiengesellschaft Flurförderzeug, insbesondere Schubmaststapler mit einem Hubgerüst
DE102012101949A1 (de) * 2012-03-08 2013-09-12 Linde Material Handling Gmbh Hubvorrichtung eines Flurförderzeugs
JP6613233B2 (ja) 2013-06-26 2019-11-27 パーカー ハニフィン マニュファクチャリング リミテッド エネルギー効率のよい電気自動車制御システム
WO2016043998A1 (fr) 2014-09-15 2016-03-24 Crown Equipment Corporation Chariot élévateur comprenant une structure de détection de charge optique
DE102016124504A1 (de) 2016-12-15 2018-06-21 Jungheinrich Aktiengesellschaft Hubvorrichtung für ein Flurförderzeug sowie ein solches Flurförderzeug
CA2998893A1 (fr) * 2017-03-23 2018-09-23 The Raymond Corporation Systemes et methodes de stabilisation de mat sur un vehicule de transport de materiau
DE102018108946A1 (de) * 2018-04-16 2019-10-17 Linde Material Handling Gmbh Flurförderzeug mit einer Hubvorrichtung
DE102018117391A1 (de) * 2018-07-18 2020-01-23 Jungheinrich Ag Flurförderzeug mit einem hydraulischen System sowie Verfahren zum Betreiben eines hydraulischen Systems

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DE4423644C2 (de) * 1994-07-06 1998-10-01 Buchholz Hydraulik Hydraulische Steuervorrichtung
DE4425455A1 (de) * 1994-07-19 1996-01-25 Bosch Gmbh Robert Hydraulische Steuereinrichtung
JP3175513B2 (ja) * 1994-12-28 2001-06-11 日産自動車株式会社 フォークリフトにおける油圧シリンダの制御回路
DE19710556C2 (de) * 1997-03-14 1999-03-11 Jungheinrich Ag Ausfahrbare Mastkonstruktion für einen Hubwagen
DE19831828B4 (de) * 1998-07-15 2008-05-08 Linde Material Handling Gmbh Hydrauliksystem für ein Flurförderzeug
JP2001261297A (ja) * 2000-03-22 2001-09-26 Toyota Autom Loom Works Ltd 産業車両の前後方向の荷重モーメント測定装置
DE10033094B4 (de) * 2000-07-07 2005-12-08 Buchholz Hydraulik Gmbh Steuereinrichtung
DE10047631A1 (de) * 2000-09-26 2002-04-11 Linde Ag Hydrauliksystem für ein Flurförderzeug

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3459904B1 (fr) 2017-09-20 2021-08-04 Jungheinrich Aktiengesellschaft Chariot de manutention, système hydraulique pour un chariot de manutention et procédé de fonctionnement d'un système hydraulique
US11427451B2 (en) 2017-09-20 2022-08-30 Jungheinrich Ag Industrial truck, hydraulic system for an industrial truck and method for operating a hydraulic system
US11905153B2 (en) 2017-09-20 2024-02-20 Jungheinrich Ag Industrial truck, hydraulic system for an industrial truck and method for operating a hydraulic system

Also Published As

Publication number Publication date
SE0401169L (sv) 2005-11-04
SE0401169D0 (sv) 2004-05-03
SE529748C2 (sv) 2007-11-13
EP1593645A3 (fr) 2007-05-02
EP1593645A2 (fr) 2005-11-09

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