EP1614651B1 - Measuring scale for the detection of the lifting height. - Google Patents

Measuring scale for the detection of the lifting height. Download PDF

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Publication number
EP1614651B1
EP1614651B1 EP05014686A EP05014686A EP1614651B1 EP 1614651 B1 EP1614651 B1 EP 1614651B1 EP 05014686 A EP05014686 A EP 05014686A EP 05014686 A EP05014686 A EP 05014686A EP 1614651 B1 EP1614651 B1 EP 1614651B1
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EP
European Patent Office
Prior art keywords
sensor
scale
load
bearing component
industrial truck
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EP05014686A
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German (de)
French (fr)
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EP1614651A2 (en
EP1614651A3 (en
Inventor
Robert Hämmerl
Carsten Schöttke
Klaus SCHRÖDER
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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

Definitions

  • the present invention relates to an industrial truck with a sensor load-bearing component and a scale load-bearing component, which are provided for carrying out a conveying movement relative to each other, wherein for detecting the relative movement between the two load-bearing components on the scale load-bearing component, a sensor scale and on the sensor load-carrying component a sensor designed to detect the sensor scale is provided.
  • Such a truck is out of the DE 103 14 795 A1 known.
  • a sensor scale with screws is attached to the scale load-bearing component.
  • a spring-loaded sensor accommodated in a sleeve is movable toward the scale and away from it on the sensor scale. This ensures that the sensor has a defined distance from the scale, and can follow about load-related deformations of the load-bearing components.
  • the sleeve can slide on the sensor scale.
  • a disadvantage of the known industrial truck is that the sensor, which is movable towards and away from the sensor scale, is accommodated in a sleeve surrounding it, which slides on the sensor scale.
  • the sensor scale can be contaminated by abrasion of the sleeve, which is preferably made of plastic, and thus the detection accuracy of the sensor can be impaired.
  • the sensor scale is an incremental scale, which is like a ladder in the direction of relative movement of the load-bearing components to each other, so that in a relative movement downright material of the sleeve surrounding the sensor is removed from the "rungs" of the ladder-like scale.
  • the only screwed-on sensor scale can be damaged by the sleeve sliding on it become.
  • a disadvantage of the known truck is that the sensor scale is to be fastened with screws to the load-bearing component. This increases the assembly effort in the manufacture of the truck.
  • the scale load-bearing component is a mast on which reflective markers form the sensor scale.
  • the sensor is a photoelectric sensor, which is arranged on a holder, which in turn is attached to the height-movable cab of the truck and is guided by rollers on a special guide rail of the mast in the vertical movement of the cab, so that the photoelectric sensor during the vertical movement along guided by the sensor scale, in order to detect light reflecting from the reflective markings, ie light pulses, which are counted by an evaluation device for evaluating the respective height adjustment of the driver's cab.
  • a lifting device for a forklift which has on a vertically movable fork carrier mount a proximity sensor, which responds to metallic scale projections, which are arranged to form a sensor scale on a Hubmastteil, so that the Proximity sensor generated during movement along this Hubmastteils pulses on each approach to a respective scale projection. By counting such pulses, an evaluation device can detect the respective height of the fork carriage.
  • the sensor scale is integrally formed on the scale load bearing member such that a portion of the scale load bearing member itself is the sensor scale.
  • the sensor scale is formed by the material of the scale load bearing member directly on this. An assembly of additional scale carriers is thereby eliminated. The scale load bearing component thus forms even the sensor scale.
  • the sensor scale which is usually an incremental sensor scale, may be primary forming and / or reshaping and / or chemically formed in the scale load bearing component. If the component is a cast part, a corresponding core forming the scale can be inserted into the casting mold for producing the scale load-bearing component.
  • the sensor scale formation can be formed or further processed on the scale load-bearing component, for example by embossing or / and impressions and / or knurling.
  • An etching method for forming recesses for a sensor scale on the associated load-bearing component is additionally conceivable or alternative to the abovementioned methods.
  • the sensor scale is usually designed in relief and has at least one substantially in the direction of the relative movement between the two load-bearing components extending sequence of depressions and elevations.
  • This relief-like design of the sensor scale in the scale load-bearing component which is usually made of metal is, can be used as a sensor, an inductive, capacitive or optical sensor.
  • a particularly stable support of the sensor is obtained when the sliding surface is in several parts, the sensor scale extending between two sections of the sliding surface.
  • the sliding block can engage over the sensor scale like a bridge, wherein the sensor itself is guided without contact in the bridge section at the desired distance over the sensor scale.
  • the sliding shoe can be pretensioned to bear against the sliding surface.
  • the sensor device described is preferably used for detecting the relative movement during conveying movements. This is particularly easy if a load-bearing component is a stand of a mast or a supplementary lift and if the other load-bearing component is a lifting frame of the mast or a fork carriage of the additional stroke. Likewise, a load-bearing component may be a side frame and the other load-bearing component may be a stand associated therewith.
  • the sensor is preferably arranged on the load-carrying component which is less mobile with respect to the truck frame to a small extent, since this considerably simplifies the wiring of the sensor. Since the sensor scale is usually passive, i. neither supplied with energy nor emits signals, this can be arranged without detriment to the load carrying component moved with respect to the truck frame to a greater extent. Therefore, the stand may be the sensor load bearing member and the lifting frame, side frame or fork carriage may be the scale load bearing member.
  • FIG. 1 shows a generally designated 10 mast from a stationary fixed to a frame of a truck, not shown, stand 12 and a movable in the direction of the double arrow V guided lifting frame 14th
  • a mounting formation 16 for fixing a in Fig. 2 generally designated 20 sensor arrangement is provided at one in Fig. 1 upper longitudinal end of the stand 12 .
  • the mounting formation 16 opposite and pointing to this is on the stator 14, a sensor scale 22 is provided.
  • the sensor scale 22 is formed by impressing depressions 22a, which are arranged consecutively in the direction of the double arrow V at the same distance. It is an incremental sensor scale 22.
  • the impressions of the recesses 22a in a side surface 14a of the lifting frame 14 can be done in a very simple manner by rolling on the surface 14a in the direction of the double arrow V tool.
  • On the circumference of the tool projections of hardened metal can be arranged distributed in the circumferential direction, which then press when rolling the tool on the surface 14 a in the material of the lifting frame 14.
  • the procedure corresponds to the knurling of a surface.
  • the sensor scale 22 By directly integrally forming the sensor scale 22 with the lifting frame 14, a very robust sensor scale is obtained, which is capable of providing sufficient accuracy.
  • the process of attaching and adjusting a separate sensor scale on the lifting frame 14 deleted. It is only necessary to ensure that the sensor scale 22 is formed in a defined position and location on the lifting frame 14, which is not a problem with today numerically controlled processing machines.
  • the application of the sensor scale on the lifting frame 14 represents only a further manufacturing step, which is parallelized with other manufacturing steps for the production of the lifting frame 14 and thus executable without significant loss of time.
  • a multi-track absolute sensor scale can be provided, such as when different, running in the direction of the double arrow V, parallel scale tracks represent a binary number with multiple digits of different bit valence. Each track can then be assigned a bit weighting. With n tracks, 2 "numbers from 0 to 2 n-1 can be represented. If the step size of an elevation and a depression of the least significant track a, then with n tracks the distance a • 2 n can be coded.
  • the sensor arrangement 20 comprises a detector 24, which is fastened to a sliding shoe 26.
  • a data line 28 transmits the detection signals of the detector 24 to an in Fig. 2 not shown control or computer unit.
  • the sliding shoe 26 is movably received in a sleeve 30 of a sensor flange 32 in the direction of the double arrow W and is pressed by a helical compression spring 34 toward the sensor scale 22 toward the surface 14a of the lifting frame 14.
  • a helical compression spring 34 toward the sensor scale 22 toward the surface 14a of the lifting frame 14.
  • the shoe includes an in Fig. 2 left sliding portion 36 and a in Fig. 2 right sliding portion 38. Between these sliding portions 36 and 38th The sensor scale 22 extends without any contact with the Gleitschuhmaterial. In the case of a relative movement of the lifting frame 14 and the stator 12, the sensor arrangement 20, in particular the detector 24, slides over the sensor scale 22 without contact.
  • the left sliding section 36 slides on a sliding surface section 40 located on the left of the sensor scale 22, while the right sliding section 38 slides on a sliding surface section 42 located on the right of the sensor scale 22.
  • the sliding surface portions 40 and 42 are in Fig. 2 indicated by dashed lines. The sliding surface portions 40 and 42 together form a sliding surface 44.

Description

Die vorliegende Erfindung betrifft ein Flurförderzeug mit einem Sensor-Lasttragbauteil und einem Maßstab-Lasttragbauteil, welche zur Ausführung einer Förderbewegung relativ zueinander beweglich vorgesehen sind, wobei zur Erfassung der Relativbewegung zwischen den beiden Lasttragbauteilen an dem Maßstab-Lasttragbauteil ein Sensormaßstab und an dem Sensor-Lasttragbauteil ein zur Erfassung des Sensormaßstabs ausgebildeter Sensor vorgesehen ist.The present invention relates to an industrial truck with a sensor load-bearing component and a scale load-bearing component, which are provided for carrying out a conveying movement relative to each other, wherein for detecting the relative movement between the two load-bearing components on the scale load-bearing component, a sensor scale and on the sensor load-carrying component a sensor designed to detect the sensor scale is provided.

Ein derartiges Flurförderzeug ist aus der DE 103 14 795 A1 bekannt. Bei dem bekannten Flurförderzeug ist an dem Maßstab-Lasttragbauteil ein Sensormaßstab mit Schrauben befestigt. An dem Sensor-Lasttragbauteil ist ein in einer Hülse aufgenommener Sensor gegen Federvorspannung zur Anlage an dem Sensormaßstab zum Maßstab hin und von diesem weg beweglich. Dadurch wird sichergestellt, dass der Sensor einen definierten Abstand zum Maßstab aufweist, und etwa lastbedingten Verformungen der Lasttragbauteile folgen kann. Die Hülse kann auf dem Sensormaßstab gleiten.Such a truck is out of the DE 103 14 795 A1 known. In the known truck, a sensor scale with screws is attached to the scale load-bearing component. On the sensor load-bearing component, a spring-loaded sensor accommodated in a sleeve is movable toward the scale and away from it on the sensor scale. This ensures that the sensor has a defined distance from the scale, and can follow about load-related deformations of the load-bearing components. The sleeve can slide on the sensor scale.

An dem bekannten Flurförderzeug ist nachteilig, dass der zum Sensormaßstab hin und von diesem weg bewegliche Sensor in einer ihn umgebenden Hülse aufgenommen ist, welche auf dem Sensormaßstab gleitet. Durch dieses Gleiten auf dem vom Sensor zu erfassenden Bereich des Maßstabs kann durch Abrieb der vorzugsweise aus Kunststoff gebildeten Hülse der Sensormaßstab verschmutzen und somit die Erfassungsgenauigkeit des Sensors beeinträchtigt werden. Dies gilt vor allem, wenn der Sensormaßstab ein inkrementaler Maßstab ist, welcher leiterartig in Richtung der Relativbewegung der Lasttragbauteile zueinander verläuft, so dass bei einer Relativbewegung regelrecht Material der den Sensor umgebenden Hülse von den "Sprossen" des leiterartigen Maßstabs abgetragen wird. Auch kann der nur aufgeschraubte Sensormaßstab durch die an ihm gleitende Hülse beschädigt werden.A disadvantage of the known industrial truck is that the sensor, which is movable towards and away from the sensor scale, is accommodated in a sleeve surrounding it, which slides on the sensor scale. As a result of this sliding on the area of the scale to be detected by the sensor, the sensor scale can be contaminated by abrasion of the sleeve, which is preferably made of plastic, and thus the detection accuracy of the sensor can be impaired. This is especially true when the sensor scale is an incremental scale, which is like a ladder in the direction of relative movement of the load-bearing components to each other, so that in a relative movement downright material of the sleeve surrounding the sensor is removed from the "rungs" of the ladder-like scale. Also, the only screwed-on sensor scale can be damaged by the sleeve sliding on it become.

Nachteilig an dem bekannten Flurförderzeug ist ferner, dass der Sensormaßstab mit Schrauben an dem Lasttragbauteil zu befestigen ist. Dies erhöht den Montageaufwand bei der Herstellung des Flurförderzeugs.A disadvantage of the known truck is that the sensor scale is to be fastened with screws to the load-bearing component. This increases the assembly effort in the manufacture of the truck.

Aus der JP 11/292498 A ist ein weiteres Flurförderzeug mit den eingangs genannten Merkmalen bekannt, wobei das Maßstab-Lasttragbauteil ein Hubmast ist, an dem reflektierende Markierungen den Sensormaßstab bilden. Der Sensor ist ein fotoelektrischer Sensor, welcher an einer Halterung angeordnet ist, die ihrerseits an der höhenverfahrbaren Fahrerkabine des Flurförderzeugs befestigt ist und mittels Laufrollen an einer speziellen Führungsschiene des Mastes bei der Vertikalbewegung der Fahrerkabine geführt ist, so dass der fotoelektrische Sensor bei der Vertikalbewegung entlang dem Sensormaßstab geführt bewegt wird, um dabei von den reflektierenden Markierungen reflektierendes Licht, d. h. Lichtimpulse zu erfassen, die zur Auswertung der jeweiligen Höheneinstellung der Fahrerkabine von einer Auswerteeinrichtung gezählt werden.From the JP 11/292498 A Another truck with the features mentioned above is known, wherein the scale load-bearing component is a mast on which reflective markers form the sensor scale. The sensor is a photoelectric sensor, which is arranged on a holder, which in turn is attached to the height-movable cab of the truck and is guided by rollers on a special guide rail of the mast in the vertical movement of the cab, so that the photoelectric sensor during the vertical movement along guided by the sensor scale, in order to detect light reflecting from the reflective markings, ie light pulses, which are counted by an evaluation device for evaluating the respective height adjustment of the driver's cab.

Zum Stand der Technik wird ferner auf die JP 09/132399 A verwiesen. Darin wird eine Hubeinrichtung für einen Gabelstapler beschrieben, welche an einer vertikal bewegbaren Gabelträgerhalterung einen Näherungssensor aufweist, welcher auf metallische Skalenvorsprünge anspricht, die zur Bildung eines Sensormaßstabes an einem Hubmastteil angeordnet sind, so dass der Näherungssensor bei Bewegung längs dieses Hubmastteils Impulse bei jeweiliger Annäherung an einen betreffenden Skalenvorsprung erzeugt. Durch Zählung solcher Impulse kann eine Auswerteeinrichtung die jeweilige Höhe des Gabelträgers erfassen.The prior art is further on the JP 09/132399 A directed. Therein, a lifting device for a forklift is described, which has on a vertically movable fork carrier mount a proximity sensor, which responds to metallic scale projections, which are arranged to form a sensor scale on a Hubmastteil, so that the Proximity sensor generated during movement along this Hubmastteils pulses on each approach to a respective scale projection. By counting such pulses, an evaluation device can detect the respective height of the fork carriage.

Demgegenüber ist es Aufgabe der vorliegenden Erfindung, ein gattungsgemäßes Flurförderzeug anzugeben, welches bei großer Erfassungsgenauigkeit der Bewegung zwischen den beiden Lasttragbauteilen mit geringerem Montageaufwand herstellbar ist.In contrast, it is an object of the present invention to provide a generic truck, which can be produced with a high detection accuracy of the movement between the two load-bearing components with less installation effort.

Erfindungsgemäß wird vorgeschlagen, ein gattungsgemäßes Flurförderzeug derart auszugestalten, dass der Sensor in einem Gleitschuh aufgenommen ist, wobei der Gleitschuh in einer Richtung zum Maßstab-Lasttragbauteil hin und von diesem weg beweglich am Sensor-Lasttragbauteil festgelegt ist und bei einer Relativbewegung von Maßstab-Lasttragbauteil und Sensor-Lasttragbauteil an einer vom Sensormaßstab verschiedene Gleitfläche des Maßstab-Lasttragbauteils gleitet.According to the invention it is proposed to design a generic truck in such a way that the sensor is accommodated in a sliding block, wherein the sliding block is fixed in a direction towards the scale load-bearing component and movable away from the sensor load-bearing component and during a relative movement of scale load-bearing component and Sensor load bearing member slides on a sliding surface of the scale load bearing member different from the sensor scale.

Durch Vorsehen einer von dem Sensormaßstab verschiedenen Gleitfläche am Maßstab-Lasttragbauteil ist sichergestellt, dass der Sensormaßstab selbst, d.h. der vom Sensor zu erfassende Bereich, nicht mit dem Gleitschuh des Sensors in Kontakt gelangt und somit von diesem nicht beeinträchtigt werden kann. Als Folge kann über sehr lange Zeit eine hohe Erfassungsgenauigkeit der Sensoreinrichtung gewährleistet werden.By providing a sliding surface different from the sensor scale on the scale load-bearing component, it is ensured that the sensor scale itself, ie the region to be detected by the sensor, does not come into contact with the sliding shoe of the sensor and is thus not affected by it can be. As a result, a high detection accuracy of the sensor device can be ensured for a very long time.

Vorzugsweise ist der Sensormaßstab derart einstückig an dem Maßstab-Lasttragbauteil ausgebildet, dass ein Abschnitt des Maßstab-Lasttragbauteils selbst der Sensormaßstab ist.Preferably, the sensor scale is integrally formed on the scale load bearing member such that a portion of the scale load bearing member itself is the sensor scale.

Gemäß einem Grundgedanken der vorliegenden Erfindung ist der Sensormaßstab durch das Material des Maßstab-Lasttragbauteils unmittelbar an diesem ausgebildet. Eine Montage von zusätzlichen Maßstabsträgern entfällt dadurch. Das Maßstab-Lasttragbauteil bildet somit selbst den Sensormaßstab.According to one aspect of the present invention, the sensor scale is formed by the material of the scale load bearing member directly on this. An assembly of additional scale carriers is thereby eliminated. The scale load bearing component thus forms even the sensor scale.

Der Sensormaßstab, bei welchem es sich in der Regel um einen inkrementalen Sensormaßstab handelt, kann urformend oder/und umformend oder/und chemisch in dem Maßstab-Lasttragbauteil ausgebildet sein. Handelt es sich bei dem Bauteil um ein Gussteil, so kann ein entsprechender, den Maßstab bildender Kern in die Gussform zur Herstellung des Maßstab-Lasttragbauteils eingelegt werden.The sensor scale, which is usually an incremental sensor scale, may be primary forming and / or reshaping and / or chemically formed in the scale load bearing component. If the component is a cast part, a corresponding core forming the scale can be inserted into the casting mold for producing the scale load-bearing component.

Alternativ oder zusätzlich kann die Sensormaßstabsausbildung am Maßstab-Lasttragbauteil umformend, etwa durch Einprägen oder/und Eindrücken oder/und Einrändeln, ausgebildet oder weiterbearbeitet werden.As an alternative or in addition, the sensor scale formation can be formed or further processed on the scale load-bearing component, for example by embossing or / and impressions and / or knurling.

Auch ein Ätzverfahren zur Ausbildung von Vertiefungen für einen Sensormaßstab am zugeordneten Lasttragbauteil ist zusätzlich oder alternativ zu den oben genannten Verfahren denkbar.An etching method for forming recesses for a sensor scale on the associated load-bearing component is additionally conceivable or alternative to the abovementioned methods.

Der Sensormaßstab ist üblicherweise reliefartig ausgebildet und weist wenigstens eine im Wesentlichen in Richtung der Relativbewegung zwischen den beiden Lasttragbauteilen verlaufende Folge von Vertiefungen und Erhebungen auf. Durch diese reliefartige Ausbildung des Sensormaßstabs in dem Maßstab-Lasttragbauteil, welches üblicherweise aus Metall hergestellt ist, kann als Sensor ein induktiver, kapazitiver oder optischer Sensor verwendet werden.The sensor scale is usually designed in relief and has at least one substantially in the direction of the relative movement between the two load-bearing components extending sequence of depressions and elevations. By this relief-like design of the sensor scale in the scale load-bearing component, which is usually made of metal is, can be used as a sensor, an inductive, capacitive or optical sensor.

Eine besonders stabile Abstützung des Sensors erhält man dann, wenn die Gleitfläche mehrteilig ist, wobei der Sensormaßstab zwischen zwei Abschnitten der Gleitfläche verläuft. In diesem Falle kann der Gleitschuh den Sensormaßstab brückenartig übergreifen, wobei der Sensor selbst in dem Brückenabschnitt berührungslos im gewünschten Abstand über den Sensormaßstab geführt wird.A particularly stable support of the sensor is obtained when the sliding surface is in several parts, the sensor scale extending between two sections of the sliding surface. In this case, the sliding block can engage over the sensor scale like a bridge, wherein the sensor itself is guided without contact in the bridge section at the desired distance over the sensor scale.

Zur Sicherstellung des richtigen Abstands zwischen Sensor und Sensormaßstab kann der Gleitschuh zur Anlage an die Gleitfläche vorgespannt sein.To ensure the correct distance between the sensor and the sensor scale, the sliding shoe can be pretensioned to bear against the sliding surface.

Die beschriebene Sensoreinrichtung wird bevorzugt zur Erfassung der Relativbewegung bei Förderbewegungen eingesetzt. Dies ist dann besonders einfach möglich, wenn ein Lasttragbauteil ein Ständer eines Hubgerüsts oder eines Zusatzhubs ist und wenn das jeweils andere Lasttragbauteil ein Hubrahmen des Hubgerüsts oder ein Gabelträger des Zusatzhubs ist. Ebenso kann ein Lasttragbauteil ein Seitenrahmen und das andere Lasttragbauteil ein diesem zugeordneter Ständer sein.The sensor device described is preferably used for detecting the relative movement during conveying movements. This is particularly easy if a load-bearing component is a stand of a mast or a supplementary lift and if the other load-bearing component is a lifting frame of the mast or a fork carriage of the additional stroke. Likewise, a load-bearing component may be a side frame and the other load-bearing component may be a stand associated therewith.

Bevorzugt ist der Sensor an dem bezüglich des Flurförderzeugrahmens in geringem Ausmaß weniger bewegten Lasttragbauteil angeordnet, da dies die Verkabelung des Sensors erheblich vereinfacht. Da der Sensormaßstab in der Regel passiv ist, d.h. weder mit Energie versorgt wird noch Signale abgibt, kann dieser ohne Nachteil an dem bezüglich des Flurförderzeugrahmens in größerem Ausmaß bewegten Lasttragbauteil angeordnet sein. Daher kann der Ständer das Sensor-Lasttragbauteil sein und der Hubrahmen, Seitenrahmen oder Gabelträger das Maßstab-Lasttragbauteil sein.The sensor is preferably arranged on the load-carrying component which is less mobile with respect to the truck frame to a small extent, since this considerably simplifies the wiring of the sensor. Since the sensor scale is usually passive, i. neither supplied with energy nor emits signals, this can be arranged without detriment to the load carrying component moved with respect to the truck frame to a greater extent. Therefore, the stand may be the sensor load bearing member and the lifting frame, side frame or fork carriage may be the scale load bearing member.

Die vorliegende Erfindung wird im Folgenden anhand der beiliegenden Zeichnungen näher erläutert. Es stellt dar:

Fig. 1
ein Hubgerüst und
Fig. 2
eine Vergrößerung einer Explosionsdarstellung eines am Stän- der befestigten Sensors und eines am Hubrahmen ausgebildeten Sensormaßstabs.
The present invention will be explained in more detail below with reference to the accompanying drawings. It shows:
Fig. 1
a mast and
Fig. 2
an enlargement of an exploded view of a sensor attached to the stator and a sensor scale formed on the lifting frame.

In den Figuren 1 und 2 ist ein Ausführungsbeispiel der vorliegenden Erfindung dargestellt. Fig. 1 zeigt ein allgemein mit 10 bezeichnetes Hubgerüst aus einem ortsfest an einem nicht dargestellten Rahmen eines Flurförderzeugs befestigten Ständer 12 und einem daran in Richtung des Doppelpfeils V beweglich geführten Hubrahmen 14.In the Figures 1 and 2 an embodiment of the present invention is shown. Fig. 1 shows a generally designated 10 mast from a stationary fixed to a frame of a truck, not shown, stand 12 and a movable in the direction of the double arrow V guided lifting frame 14th

An einem in Fig. 1 oberen Längsende des Ständers 12 ist eine Befestigungsausbildung 16 zur Befestigung einer in Fig. 2 allgemein mit 20 bezeichneten Sensoranordnung vorgesehen. Der Befestigungsausbildung 16 gegenüberliegend und zu dieser hinweisend ist am Ständer 14 ein Sensormaßstab 22 vorgesehen. Der Sensormaßstab 22 ist gebildet durch Eindrücken von Vertiefungen 22a, welche in Richtung des Doppelpfeils V aufeinander folgend mit gleichem Abstand angeordnet sind. Es handelt sich dabei um einen inkrementalen Sensormaßstab 22.At one in Fig. 1 upper longitudinal end of the stand 12 is a mounting formation 16 for fixing a in Fig. 2 generally designated 20 sensor arrangement is provided. The mounting formation 16 opposite and pointing to this is on the stator 14, a sensor scale 22 is provided. The sensor scale 22 is formed by impressing depressions 22a, which are arranged consecutively in the direction of the double arrow V at the same distance. It is an incremental sensor scale 22.

Das Eindrücken der Vertiefungen 22a in eine Seitenfläche 14a des Hubrahmens 14 kann in sehr einfacher Weise durch ein auf der Fläche 14a in Richtung des Doppelpfeils V abrollendes Werkzeug erfolgen. Auf dem Umfang des Werkzeuges können Vorsprünge aus gehärtetem Metall in Umfangsrichtung verteilt angeordnet sein, welche sich dann beim Abrollen des Werkzeugs auf der Fläche 14a in das Material des Hubrahmens 14 eindrücken. Die Vorgehensweise entspricht dem Rändeln einer Oberfläche.The impressions of the recesses 22a in a side surface 14a of the lifting frame 14 can be done in a very simple manner by rolling on the surface 14a in the direction of the double arrow V tool. On the circumference of the tool projections of hardened metal can be arranged distributed in the circumferential direction, which then press when rolling the tool on the surface 14 a in the material of the lifting frame 14. The procedure corresponds to the knurling of a surface.

Durch das unmittelbar einstückige Ausbilden des Sensormaßstabs 22 mit dem Hubrahmen 14 wird ein sehr robuster Sensormaßstab erhalten, welcher eine ausreichende Genauigkeit zu liefern imstande ist. Der Vorgang eines Anbringens und Justierens eines gesonderten Sensormaßstabs am Hubrahmen 14 entfällt. Es ist lediglich darauf zu achten, dass der Sensormaßstab 22 in einer definierten Position und Lage am Hubrahmen 14 ausgebildet wird, was jedoch mit heutigen nummerisch gesteuerten Bearbeitungsmaschinen kein Problem darstellt. Das Aufbringen des Sensormaßstabs am Hubrahmen 14 stellt lediglich einen weiteren Fertigungsschritt dar, welcher mit anderen Fertigungsschritten zur Herstellung des Hubrahmens 14 parallelisiert und damit ohne nennenswerten Zeitverlust ausführbar ist.By directly integrally forming the sensor scale 22 with the lifting frame 14, a very robust sensor scale is obtained, which is capable of providing sufficient accuracy. The process of attaching and adjusting a separate sensor scale on the lifting frame 14 deleted. It is only necessary to ensure that the sensor scale 22 is formed in a defined position and location on the lifting frame 14, which is not a problem with today numerically controlled processing machines. The application of the sensor scale on the lifting frame 14 represents only a further manufacturing step, which is parallelized with other manufacturing steps for the production of the lifting frame 14 and thus executable without significant loss of time.

Es sei an dieser Stelle ausdrücklich darauf hingewiesen, dass anstelle eines inkrementalen Sensormaßstabs auch ein mehrspuriger, absoluter Sensormaßstab vorgesehen sein kann, etwa wenn unterschiedliche, in Richtung des Doppelpfeils V verlaufende, parallele Maßstabsspuren eine binäre Zahl mit mehreren Stellen unterschiedlicher Bit-Wertigkeit repräsentieren. Jeder Spur kann dann eine Bit-Wertigkeit zugeordnet sein. Mit n Spuren können so 2" Zahlen von 0 bis 2n-1 dargestellt werden. Beträgt die Schrittweite einer Erhebung und einer Vertiefung der niedrigstwertigen Spur a, so kann mit n Spuren die Strecke a•2n kodiert werden.It should be emphasized at this point that instead of an incremental sensor scale, a multi-track absolute sensor scale can be provided, such as when different, running in the direction of the double arrow V, parallel scale tracks represent a binary number with multiple digits of different bit valence. Each track can then be assigned a bit weighting. With n tracks, 2 "numbers from 0 to 2 n-1 can be represented.If the step size of an elevation and a depression of the least significant track a, then with n tracks the distance a • 2 n can be coded.

Die Sensoranordnung 20 umfasst einen Detektor 24, welcher an einem Gleitschuh 26 befestigt ist. Eine Datenleitung 28 überträgt die Erfassungssignale des Detektors 24 zu einer in Fig. 2 nicht dargestellten Steuerung bzw. Rechnereinheit. Der Gleitschuh 26 ist in einer Hülse 30 eines Sensorflansches 32 in Richtung des Doppelpfeils W beweglich aufgenommen und wird durch eine Schraubendruckfeder 34 zum Sensormaßstab 22 hin an die Fläche 14a des Hubrahmens 14 angedrückt. Durch diese Anbringung des Detektors 24 an dem Gleitschuh 26 ist ein für eine Erfassung der Erhebungen und Vertiefungen des Sensormaßstabs 22 optimaler Abstand des Detektors 24 zum Sensormaßstab 22 gewährleistet. Lastbedingte Verformungen des Hubrahmens können durch das Bewegungsspiel des Gleitschuhs 26 in der Hülse 30 ausgeglichen werden.The sensor arrangement 20 comprises a detector 24, which is fastened to a sliding shoe 26. A data line 28 transmits the detection signals of the detector 24 to an in Fig. 2 not shown control or computer unit. The sliding shoe 26 is movably received in a sleeve 30 of a sensor flange 32 in the direction of the double arrow W and is pressed by a helical compression spring 34 toward the sensor scale 22 toward the surface 14a of the lifting frame 14. As a result of this attachment of the detector 24 to the sliding shoe 26, an optimum distance of the detector 24 to the sensor scale 22 is ensured for detecting the elevations and depressions of the sensor scale 22. Load-induced deformations of the lifting frame can be compensated for by the movement play of the sliding shoe 26 in the sleeve 30.

Der Gleitschuh umfasst einen in Fig. 2 linken Gleitabschnitt 36 und einen in Fig. 2 rechten Gleitabschnitt 38. Zwischen diesen Gleitabschnitten 36 und 38 verläuft der Sensormaßstab 22 ohne jede Berührung mit dem Gleitschuhmaterial. Bei einer Relativbewegung von Hubrahmen 14 und Ständer 12 gleitet so die Sensoranordnung 20, insbesondere der Detektor 24 berührungslos über den Sensormaßstab 22.The shoe includes an in Fig. 2 left sliding portion 36 and a in Fig. 2 right sliding portion 38. Between these sliding portions 36 and 38th The sensor scale 22 extends without any contact with the Gleitschuhmaterial. In the case of a relative movement of the lifting frame 14 and the stator 12, the sensor arrangement 20, in particular the detector 24, slides over the sensor scale 22 without contact.

Der linke Gleitabschnitt 36 gleitet dabei auf einem links vom Sensormaßstab 22 gelegenen Gleitflächenabschnitt 40, während der rechte Gleitabschnitt 38 auf einem rechts vom Sensormaßstab 22 gelegenen Gleitflächenabschnitt 42 gleitet. Die Gleitflächenabschnitte 40 und 42 sind in Fig. 2 strichliniert angedeutet. Die Gleitflächenabschnitte 40 und 42 bilden gemeinsam eine Gleitfläche 44.In this case, the left sliding section 36 slides on a sliding surface section 40 located on the left of the sensor scale 22, while the right sliding section 38 slides on a sliding surface section 42 located on the right of the sensor scale 22. The sliding surface portions 40 and 42 are in Fig. 2 indicated by dashed lines. The sliding surface portions 40 and 42 together form a sliding surface 44.

Durch diese Gestaltung des Gleitschuhs 26, welcher brückenartig den Sensormaßstab 22 orthogonal zu dessen Haupterstreckungsrichtung übergreift, wird einerseits eine stabile Auflage des Gleitschuhs 26 an der Fläche 14a des Hubrahmens 14 gewährleistet und wird andererseits ein dauerhaft berührungsloses Abtasten des Sensormaßstabs 22 ermöglicht, was im Detektor 24 und am Sensormaßstab 22 zu einem nahezu verschleißfreien Arbeiten führt. Eine derartige Sensoreinrichtung aus Sensormaßstab 22 und Sensoranordnung 20 weist daher eine hohe Lebensdauer bei dauerhaft hoher Erfassungsgenauigkeit auf.By this design of the sliding block 26, which bridges over the sensor scale 22 orthogonal to its main extension direction, on the one hand a stable support of the shoe 26 is ensured on the surface 14a of the lifting frame 14 and on the other hand, a permanent non-contact scanning of the sensor scale 22 allows, resulting in the detector 24th and at the sensor scale 22 leads to a virtually wear-free working. Such a sensor device of sensor scale 22 and sensor arrangement 20 therefore has a long service life with permanently high detection accuracy.

Claims (8)

  1. Industrial truck comprising a sensor load-bearing component (12) and a scale load-bearing component (14), which are provided so that they can move in relation to one another for the purpose of carrying out a conveying movement, in which a sensor scale (22) is provided on the scale load-bearing component (14) for detecting the relative movement between the two loading bearing components (12, 14) and a sensor (24) is provided on the sensor load-bearing component (12) for detecting the sensor scale (22), wherein the sensor (24) is mounted in a sliding block (26), and wherein the sliding block (26) is secured in direction (W) towards the scale loading-bearing component (14) and can be moved away from the latter on the sensor load-bearing component (12), characterised in that the sliding block during a relative movement of the scale load-bearing component (14) and the sensor load-bearing component (12) slides on a sliding surface (40, 42, 44) of the scale load-bearing component (14) different from the sensor scale (22).
  2. Industrial truck according to claim 1, characterised in that the sensor scale (22) is designed to be in one piece on the scale load-bearing component (14), in that a section (14a) of the scale load-bearing component (14) itself is the sensor scale (22).
  3. Industrial truck according to claim 2, characterised in that the sensor scale (22) is formed as a kind of relief in the scale load-bearing component (14).
  4. Industrial truck according to claim 2 or 3, characterised in that the sensor scale (22) is cast and/or impressed and/or embossed and/or milled and/or etched into the scale load-bearing component (14).
  5. Industrial truck according to one of the preceding claims, characterised in that the sliding surface (40, 42, 44) consists of a plurality of parts, wherein the sensor scale (22) extends between two sections (40, 42) of the sliding surface (40, 42, 44).
  6. Industrial truck according to one of the preceding claims, characterised in that the sliding block (26) is prestressed so as to bear against the sliding surface (40, 42, 44).
  7. Industrial truck according to one of the preceding claims, characterised in that of the load-bearing components, the sensor load-bearing component (12) and scale load bearing component (14), one is a stand (12) of a mast (10) or of an additional lift, and the other component is a lifting frame (14) of the mast or a side frame or a fork carrier of the additional lift.
  8. Industrial truck according to claim 7, characterised in that the stand (12) is the sensor load-bearing component (12), and the lifting frame (14) or fork carrier or side frame is the scale load-bearing component (14).
EP05014686A 2004-07-08 2005-07-06 Measuring scale for the detection of the lifting height. Active EP1614651B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102004033170A DE102004033170A1 (en) 2004-07-08 2004-07-08 Measuring standard for lifting height adjustment

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EP1614651A2 EP1614651A2 (en) 2006-01-11
EP1614651A3 EP1614651A3 (en) 2007-05-09
EP1614651B1 true EP1614651B1 (en) 2010-01-13

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US (1) US7266904B2 (en)
EP (1) EP1614651B1 (en)
CN (1) CN100455981C (en)
DE (2) DE102004033170A1 (en)

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Also Published As

Publication number Publication date
DE102004033170A1 (en) 2006-02-02
CN1719189A (en) 2006-01-11
US20060005415A1 (en) 2006-01-12
DE502005008855D1 (en) 2010-03-04
EP1614651A2 (en) 2006-01-11
US7266904B2 (en) 2007-09-11
CN100455981C (en) 2009-01-28
EP1614651A3 (en) 2007-05-09

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