EP1746069B1 - Industrial truck with drive with different characteristic curves - Google Patents
Industrial truck with drive with different characteristic curves Download PDFInfo
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- EP1746069B1 EP1746069B1 EP06013859A EP06013859A EP1746069B1 EP 1746069 B1 EP1746069 B1 EP 1746069B1 EP 06013859 A EP06013859 A EP 06013859A EP 06013859 A EP06013859 A EP 06013859A EP 1746069 B1 EP1746069 B1 EP 1746069B1
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- characteristic curve
- industrial truck
- drive control
- speed
- travel
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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
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
Definitions
- the invention relates to an industrial truck for a traveling operator, in particular counterbalance forklift, with a traction drive, which is controllable by an operator by means of a driver, wherein depending on the position of the driver in a traction drive a setpoint for the driving speed of the truck is specified and for the Relationship between the position of the driver and the setpoint for the driving speed in a traction drive control at least two different characteristics are stored, the characteristic of the traction drive control a position of the driver assign a setpoint of the vehicle speed and can be switched in the traction drive control between the curves, wherein according to at least a first characteristic for normal driving with fully actuated throttle the setpoint for the driving speed of the maximum speed of the truck corresponds ,
- a generic truck is for example in the EP 1 318 099 A1 described. From this document it is known to perform the traction drive control so that it can be switched between different driving programs. There are different characteristics available for the assignment of the driving speed to the position of the driver, which are characterized by linear, progressive or degressive dynamics.
- a truck is known in which a characteristic curve for the vehicle speed in certain steering angle ranges is modified by a left-angle-dependent correction factor to ensure the stability of the truck when cornering by reducing the vehicle speed.
- the JP 2004-161471 A discloses an industrial truck in which a vehicle speed characteristic is changed by the signal of a brake pedal to facilitate an inching operation.
- a particularly sensitive actuation of the traction drive by the operator is required, in particular, during the picking up and setting down of loads.
- the truck is usually moved at a speed of at most 10% to 20% of the maximum driving speed.
- the operator is - depending on the selected driving program - a maximum of 30% to 50% of the actuation travel of the driver available.
- the present invention is based on the object to provide an industrial truck of the type mentioned, in which the handling of sensitive goods and an accurate positioning of a load is simplified.
- the target speed for the vehicle speed is less than the maximum speed of the truck, with the second characteristic of the setpoint for the driving speed at fully actuated driver at most 50th %, preferably at most 30% of the maximum speed of the truck, and wherein a fine control range of the driver for sensitive operation of the traction drive by the operator, in which the setpoint for the vehicle speed at most 20% of the maximum speed of the truck corresponds to the second characteristic over at least 50%, preferably over at least 70% of the actuating travel of the driver extends .
- the second characteristic is intended exclusively for the fine control of the truck.
- the second characteristic curve is selected in the traction drive control, it will also be activated completely actuated driver does not reach the maximum speed of the truck. Instead, the entire actuating travel of the driver is available for the fine control of the truck. If the second characteristic curve is active, the truck can only be moved in this reduced speed range. If you then want to drive faster again, the traction drive control must be switched to one of the first characteristics.
- the fine control range is defined here as that region of the actuation travel of the driver in which the selected driving speed is at most 20% of the maximum speed. In the second characteristic curve according to the invention, this fine control range is particularly large, so that the fine control of the A considerably larger actuation path is available than with a conventional industrial truck.
- the driver can be designed here as a pedal or as a hand lever.
- the functionality of the second characteristic described above is independent of the design of the driver.
- the driver is often formed by a pedal.
- Smaller trucks, in particular driver's seat or driver's pallet trucks often have a hand lever as a driver, which can be designed for example in the form of a joystick, but also as a rotary switch.
- switching takes place from the first characteristic to the second characteristic and / or from the second characteristic to the first characteristic by the operator by means of a control element. Between the first and the second characteristic is thus switched manually in this embodiment. The operator deliberately selects the desired characteristic curve by means of the operating element.
- the operating element is formed by a manual switch or a manual push button.
- the control element may be formed by a foot switch or a foot switch.
- a switch retains its switch position after a single actuation, even if it is released by the operator.
- the switch thus has, for example, a first switching position for the first characteristic curve and a second switching position for the second characteristic curve.
- the operating element is arranged on the driver.
- the control element for example, by a finger-operated button or Switch be formed.
- the driver is formed by a pedal
- the operating element can be formed, for example, by a pushbutton, rocker switch or toggle switch which can be actuated with the heel.
- the operating element can be actuated by the operator with the knee.
- the operating element is arranged in the region of the knee of an operator sitting on a driver's seat. The operating element can then be actuated by a lateral movement of the knee.
- the operating element is formed by an optical sensor, for example by a sensor for detecting an eye contact.
- the operating element works without contact.
- a sensor for detecting an eye contact detects, for example, when the operator looks over a certain period at a specific point in the truck, for example, on a fork and then activates the second curve.
- control element is formed by an acoustic sensor, for example by a sensor for detecting speech signals. In this way it is possible to switch between the characteristic curves with the aid of speech signals.
- switching from the first characteristic to the second characteristic and / or from the second characteristic to the first characteristic in response to external signals is then connected to a receiver for a corresponding external signal.
- the external signals can be generated, for example, as radio signals from a warehouse management system or fleet management system. These systems can thus influence the handling of the truck from the outside.
- a corresponding external signal can, for example, from an RFID chip are generated, which is fixedly installed and is recognized by the traction drive control with a corresponding receiver in passing.
- the traction drive control is designed such that switching from the first curve to the second curve and / or from the second curve to the first curve automatically, depending on operating parameters of the traction drive and / or a linear actuator of Truck takes place.
- the second characteristic curve can also be activated if a load-receiving means has been raised beyond a certain lifting height by means of the lifting drive.
- a switchover from the second characteristic curve to the first characteristic curve can, for example, in principle take place when the driver is held over a certain period of time by the operator in the position for maximum driving speed.
- This function can also be implemented, for example, in addition to an operating element for switching between the characteristic curves.
- different devices for switching between the characteristic curves can be combined in the industrial truck, that is, for example, a control element for operation by the operator together with a receiver for external signals and an evaluation of operating parameters.
- the switching between the curves is carried out with a continuous transition function to avoid a sudden acceleration or deceleration of the truck and an associated risk of accident or surprise the driver.
- This first characteristic 1 has a linear course in the present exemplary embodiment. It is also possible - as in the EP 1 318 099 A1 described - for the first curve 1 to provide a progressive or degressive course, the starting point and the end point of the first curve 1 is not changed. Similarly, it is possible to deposit in the traction drive control various first characteristics for normal driving, so that different driving characteristics of the truck are selectable.
- a second characteristic curve 2 is provided for the fine control of the industrial truck, in which a speed of 30% of the maximum driving speed v max is assigned to a maximum-actuated driver. Also for the second characteristic curve 2, it is possible to provide a characteristic curve with progressive or degressive progression instead of the drawn linear progression. It is also possible to vary the achievable with the second curve maximum speed, for example, to 25% or 40% of the maximum speed v max of the truck. These variants for the second characteristic curve 2 can replace the drawn characteristic curve 2, or be deposited in the traction drive control system in addition to the marked characteristic curve 2.
- the fine control range is a sensitive driving, for example, to record and stack sensitive loads with the truck, particularly easy.
- a changeover in the traction drive control between the first characteristic curve 1 and the second characteristic curve 2 takes place either manually by the operator or automatically, depending on the operating parameters of the industrial truck or on external signals.
- the aim is to provide the operator with a particularly suitable characteristic curve for controlling the traction drive for each operating situation of the industrial truck.
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Abstract
Description
Die Erfindung betrifft ein Flurförderzeug für eine mitfahrende Bedienperson, insbesondere Gegengewichtsgabelstapler, mit einem Fahrantrieb, der von einer Bedienperson mittels eines Fahrgebers steuerbar ist, wobei in Abhängigkeit von der Stellung des Fahrgebers in einer Fahrantriebssteuerung ein Sollwert für die Fahrgeschwindigkeit des Flurförderzeugs vorgegeben wird und für den Zusammenhang zwischen der Stellung des Fahrgebers und dem Sollwert für die Fahrgeschwindigkeit in einer Fahrantriebssteuerung mindestens zwei unterschiedliche Kennlinien hinterlegt sind, wobei die Kennlinien der Fahrantriebssteuerung einer Stellung des Fahrgebers einen Sollwert der Fahrgeschwindigkeit zuordnen und in der Fahrantriebssteuerung zwischen den Kennlinien umgeschaltet werden kann, wobei gemäß mindestens einer ersten Kennlinie für den normalen Fahrbetrieb bei vollständig betätigtem Fahrgeber der Sollwert für die Fahrgeschwindigkeit der Maximalgeschwindigkeit des Flurförderzeugs entspricht.The invention relates to an industrial truck for a traveling operator, in particular counterbalance forklift, with a traction drive, which is controllable by an operator by means of a driver, wherein depending on the position of the driver in a traction drive a setpoint for the driving speed of the truck is specified and for the Relationship between the position of the driver and the setpoint for the driving speed in a traction drive control at least two different characteristics are stored, the characteristic of the traction drive control a position of the driver assign a setpoint of the vehicle speed and can be switched in the traction drive control between the curves, wherein according to at least a first characteristic for normal driving with fully actuated throttle the setpoint for the driving speed of the maximum speed of the truck corresponds ,
Derartige Anordnungen werden in verschiedenen Typen von Flurförderzeugen für mitfahrende Bedienpersonen, beispielsweise Gegengewichtsgabelstaplem, Schubmaststaplem oder Schubgabelstaplern eingesetzt. Ein gattungsgemäßes Flurförderzeug ist beispielsweise in der
Aus der
Die
Im praktischen Einsatz von Flurförderzeugen ist insbesondere während des Aufnehmens und Absetzens von Lasten eine besonders feinfühlige Betätigung des Fahrantriebs durch die Bedienperson erforderlich. Das Flurförderzeug wird hierbei üblicherweise mit einer Geschwindigkeit von höchstens 10% bis 20% der maximalen Fahrgeschwindigkeit bewegt. Für eine Steuerung des Flurförderzeugs in diesem Feinsteuerbereich steht der Bedienperson - abhängig von dem gewählten Fahrprogramm - maximal 30% bis 50 % des Betätigungswegs des Fahrgebers zur Verfügung.In the practical use of industrial trucks, a particularly sensitive actuation of the traction drive by the operator is required, in particular, during the picking up and setting down of loads. The truck is usually moved at a speed of at most 10% to 20% of the maximum driving speed. For a control of the truck in this fine control range, the operator is - depending on the selected driving program - a maximum of 30% to 50% of the actuation travel of the driver available.
Insbesondere bei der Handhabung von empfindlichen Gütern, oder wenn ein besonders exaktes Positionieren der Last erforderlich ist, empfinden die Bedienpersonen diesen zur Verfügung stehenden Feinsteuerbereich als nicht ausreichend.In particular, when handling sensitive goods, or when a particularly accurate positioning of the load is required, the operators perceive this available fine control range as insufficient.
Der vorliegenden Erfindung liegt die Aufgabe zu Grunde, ein Flurförderzeug der eingangs genannten Art zur Verfügung zu stellen, bei dem die Handhabung von empfindlichen Gütern und ein exaktes Positionieren einer Last vereinfacht ist.The present invention is based on the object to provide an industrial truck of the type mentioned, in which the handling of sensitive goods and an accurate positioning of a load is simplified.
Diese Aufgabe wird erfindungsgemäß dadurch gelöst, dass gemäß einer zweiten Kennlinie für die Feinsteuerung des Flurförderzeugs bei vollständig betätigtem Fahrgeber der Sollwert für die Fahrgeschwindigkeit geringer ist als die Maximalgeschwindigkeit des Flurförderzeugs, wobei bei der zweiten Kennlinie der Sollwert für die Fahrgeschwindigkeit bei vollständig betätigtem Fahrgeber höchstens 50%, vorzugsweise höchstens 30% der Maximalgeschwindigkeit des Flurförderzeugs beträgt, und wobei sich ein Feinsteuerbereich des Fahrgebers zur feinfühligen Betätigung des Fahrantriebs durch die Bedienperson, in dem der Sollwert für die Fahrgeschwindigkeit höchstens 20% der Maximalgeschwindigkeit des Flurförderzeugs entspricht, bei der zweiten Kennlinie über mindestens 50%, vorzugsweise über mindestens 70% des Betätigungswegs des Fahrgebers erstreckt.. Die zweite Kennlinie ist ausschließlich für die Feinsteuerung des Flurförderzeugs vorgesehen. Wenn in der Fahrantriebssteuerung die zweite Kennlinie gewählt ist, wird auch bei vollständig betätigtem Fahrgeber die Maximalgeschwindigkeit des Flurförderzeugs nicht erreicht. Stattdessen steht der gesamte Betätigungsweg des Fahrgebers für die Feinsteuerung des Flurförderzeugs zur Verfügung. Wenn die zweite Kennlinie aktiv ist, kann das Flurförderzeug damit nur in diesem reduzierten Geschwindigkeitsbereich bewegt werden. Wenn anschließend wieder schneller gefahren werden soll, muss die Fahrantriebssteuerung auf eine der ersten Kennlinien umgeschaltet werden. Der Feinsteuerbereich ist hierbei als derjenige Bereich des Betätigungswegs des Fahrgebers definiert, in dem die gewählte Fahrgeschwindigkeit höchstens 20% der Maximalgeschwindigkeit beträgt. Bei der erfindungsgemäßen zweiten Kennlinie ist dieser Feinsteuerbereich besonders groß, sodass für die Feinsteuerung des Flurförderzeugs ein erheblich größerer Betätigungsweg zur Verfügung steht, als bei einem herkömmlichen Flurförderzeug.This object is achieved in that according to a second characteristic curve for the fine control of the truck with fully actuated throttle, the target speed for the vehicle speed is less than the maximum speed of the truck, with the second characteristic of the setpoint for the driving speed at fully actuated driver at most 50th %, preferably at most 30% of the maximum speed of the truck, and wherein a fine control range of the driver for sensitive operation of the traction drive by the operator, in which the setpoint for the vehicle speed at most 20% of the maximum speed of the truck corresponds to the second characteristic over at least 50%, preferably over at least 70% of the actuating travel of the driver extends .. The second characteristic is intended exclusively for the fine control of the truck. If the second characteristic curve is selected in the traction drive control, it will also be activated completely actuated driver does not reach the maximum speed of the truck. Instead, the entire actuating travel of the driver is available for the fine control of the truck. If the second characteristic curve is active, the truck can only be moved in this reduced speed range. If you then want to drive faster again, the traction drive control must be switched to one of the first characteristics. The fine control range is defined here as that region of the actuation travel of the driver in which the selected driving speed is at most 20% of the maximum speed. In the second characteristic curve according to the invention, this fine control range is particularly large, so that the fine control of the A considerably larger actuation path is available than with a conventional industrial truck.
Der Fahrgeber kann hierbei als Pedal oder als Handhebel ausgebildet sein. Die oben beschriebene Funktionalität der zweiten Kennlinie ist unabhängig von der Gestaltung des Fahrgebers. Bei größeren Flurförderzeugen, insbesondere bei Gegengewichtsgabelstaplem und Schubmast- oder Schubgabelstaplern ist der Fahrgeber häufig von einem Pedal gebildet. Kleinere Flurförderzeuge, insbesondere Fahrersitz- oder Fahrerstandhubwagen weisen als Fahrgeber häufig einen Handhebel auf, der beispielsweise in Form eines Joysticks, aber auch als Drehschalter ausgeführt sein kann.The driver can be designed here as a pedal or as a hand lever. The functionality of the second characteristic described above is independent of the design of the driver. For larger trucks, especially counterbalance forklifts and reach trucks or forklift trucks, the driver is often formed by a pedal. Smaller trucks, in particular driver's seat or driver's pallet trucks often have a hand lever as a driver, which can be designed for example in the form of a joystick, but also as a rotary switch.
Gemäß einer vorteilhaften Weiterbildung der Erfindung erfolgt ein Umschalten von der ersten Kennlinie auf die zweite Kennlinie und/oder von der zweiten Kennlinie auf die erste Kennlinie durch die Bedienperson mittels eines Bedienelements. Zwischen der ersten und der zweiten Kennlinie wird bei dieser Ausführungsform also manuell umgeschaltet. Die Bedienperson wählt hierbei die gewünschte Kennlinie bewusst mittels des Bedienelements aus.According to an advantageous development of the invention, switching takes place from the first characteristic to the second characteristic and / or from the second characteristic to the first characteristic by the operator by means of a control element. Between the first and the second characteristic is thus switched manually in this embodiment. The operator deliberately selects the desired characteristic curve by means of the operating element.
Hierbei ist es möglich, dass das Bedienelement von einem Handschalter oder einem Handtaster gebildet ist. Ebenso kann das Bedienelement von einem Fußschalter oder einem Fußtaster gebildet sein. Ein Schalter behält nach einem einmaligen Betätigen seine Schaltstellung bei, auch wenn er von der Bedienperson losgelassen wird. Der Schalter weist also beispielsweise eine erste Schaltstellung für die erste Kennlinie und eine zweite Schaltstellung für die zweite Kennlinie auf. Bei der Verwendung eines Tasters ist es möglich, die zweite Kennlinie nur dann zu aktivieren, wenn der Taster von der Bedienperson aktiv gedrückt wird. Nach einem Loslassen des Tasters schaltet die Fahrantriebssteuerung selbsttätig auf die erste Kennlinie zurück. Ebenso ist es möglich, die Schaltzustände des Tasters in der Fahrantriebssteuerung auszuwerten und die Zusammenhänge zwischen der Betätigung des Tasters und dem Umschalten zwischen den Kennlinien individuell zu programmieren.It is possible that the operating element is formed by a manual switch or a manual push button. Likewise, the control element may be formed by a foot switch or a foot switch. A switch retains its switch position after a single actuation, even if it is released by the operator. The switch thus has, for example, a first switching position for the first characteristic curve and a second switching position for the second characteristic curve. When using a button, it is possible to activate the second characteristic only when the button is pressed actively by the operator. After releasing the button, the traction drive control automatically returns to the first characteristic curve. It is also possible to evaluate the switching states of the button in the traction drive control and to program the relationships between the operation of the button and the switching between the curves individually.
Eine besonders einfache Bedienbarkeit wird erreicht, wenn das Bedienelement an dem Fahrgeber angeordnet ist. Wenn der Fahrgeber als Handhebel ausgeführt ist, kann das Bedienelement beispielsweise von einem mit dem Finger betätigbaren Taster oder Schalter gebildet sein. Wenn der Fahrgeber von einem Pedal ausgebildet ist, kann das Bedienelement beispielsweise von einem mit der Ferse betätigbaren Taster, Wippschalter oder Kippschalter gebildet sein.A particularly simple operability is achieved when the operating element is arranged on the driver. If the driver is designed as a hand lever, the control element, for example, by a finger-operated button or Switch be formed. If the driver is formed by a pedal, the operating element can be formed, for example, by a pushbutton, rocker switch or toggle switch which can be actuated with the heel.
Ebenso ist es möglich, dass das Bedienelement von der Bedienperson mit dem Knie betätigbar ist. Das Bedienelement ist dabei im Bereich des Knies einer auf einem Fahrersitz sitzenden Bedienperson angeordnet. Das Bedienelement kann dann durch eine seitliche Bewegung des Knies betätigt werden.It is also possible that the operating element can be actuated by the operator with the knee. The operating element is arranged in the region of the knee of an operator sitting on a driver's seat. The operating element can then be actuated by a lateral movement of the knee.
Eine andere zweckmäßige Ausführung liegt vor, wenn das Bedienelement von einem optischen Sensor gebildet ist, beispielsweise von einem Sensor zum Erkennen eines Augenkontakts. Hierbei arbeitet das Bedienelement berührungslos. Ein Sensor zum Erkennen eines Augenkontakts erkennt beispielsweise, wenn die Bedienperson über einen bestimmten Zeitraum auf eine bestimmte Stelle im Flurförderzeug, beispielsweise auf eine Lastgabel blickt und aktiviert daraufhin die zweite Kennlinie.Another expedient embodiment is when the operating element is formed by an optical sensor, for example by a sensor for detecting an eye contact. Here, the operating element works without contact. A sensor for detecting an eye contact detects, for example, when the operator looks over a certain period at a specific point in the truck, for example, on a fork and then activates the second curve.
Gleichermaßen ist es möglich, dass das Bedienelement von einem akustischen Sensor gebildet ist, beispielsweise von einem Sensor zum Erkennen von Sprachsignalen. Auf diese Weise wird ein Umschalten zwischen den Kennlinien mit Hilfe von Sprachsignalen ermöglicht.Similarly, it is possible that the control element is formed by an acoustic sensor, for example by a sensor for detecting speech signals. In this way it is possible to switch between the characteristic curves with the aid of speech signals.
Gemäß einer anderen zweckmäßigen Ausgestaltung der Erfindung erfolgt ein Umschalten von der ersten Kennlinie auf die zweite Kennlinie und/oder von der zweiten Kennlinie auf die erste Kennlinie in Abhängigkeit von externen Signalen. Die Fahrantriebssteuerung ist dann mit einem Empfänger für ein entsprechendes externes Signal verbunden. Die externen Signale können beispielsweise als Funksignale von einem Lagerverwaltungssystem oder Fuhrparkmanagementsystem erzeugt werden. Diese Systeme können damit von außen auf das Fahrverhalten des Flurförderzeugs Einfluss nehmen.According to another expedient embodiment of the invention, switching from the first characteristic to the second characteristic and / or from the second characteristic to the first characteristic in response to external signals. The traction drive controller is then connected to a receiver for a corresponding external signal. The external signals can be generated, for example, as radio signals from a warehouse management system or fleet management system. These systems can thus influence the handling of the truck from the outside.
Mit besonderem Vorteil erfolgt ein Umschalten von der ersten Kennlinie auf die zweite Kennlinie und/oder von der zweiten Kennlinie auf die erste Kennlinie automatisch, in Abhängigkeit von dem Standort des Flurförderzeugs. Hierbei ist es möglich, in bestimmten Lagerbereichen die Fahrantriebssteuerung automatisch auf die zweite Kennlinie umzuschalten. Ein entsprechendes externes Signal kann beispielsweise von einem RFID-Chip erzeugt werden, welcher ortsfest installiert ist und von der Fahrantriebssteuerung mit einem entsprechenden Empfänger im Vorbeifahren erkannt wird.With particular advantage, switching over from the first characteristic curve to the second characteristic curve and / or from the second characteristic curve to the first characteristic curve takes place automatically, as a function of the location of the industrial truck. It is possible to automatically switch the traction drive control to the second characteristic curve in certain storage areas. A corresponding external signal can, for example, from an RFID chip are generated, which is fixedly installed and is recognized by the traction drive control with a corresponding receiver in passing.
Eine andere zweckmäßige Ausgestaltung liegt vor, wenn die Fahrantriebssteuerung derart ausgeführt ist, dass ein Umschalten von der ersten Kennlinie auf die zweite Kennlinie und/oder von der zweiten Kennlinie auf die erste Kennlinie automatisch, in Abhängigkeit von Betriebsparametern des Fahrantriebs und/oder eines Hubantriebs des Flurförderzeugs erfolgt. Hierbei ist es möglich, die Stellung und/oder die Bewegung des Fahrgebers auszuwerten und beispielsweise aus der Zeitfolge der Stellungen und Bewegungen Betriebssituationen zu erkennen, in denen ein Umschalten auf die zweite Kennlinie vorteilhaft ist. Alternativ oder zusätzlich kann die zweite Kennlinie beispielsweise auch dann aktiviert werden, wenn mittels des Hubantriebs ein Lastaufnahmemittel über eine bestimmte Hubhöhe hinaus angehoben wurde. Ein Umschalten von der zweiten Kennlinie auf die erste Kennlinie kann beispielsweise grundsätzlich dann erfolgen, wenn der Fahrgeber über einen bestimmten Zeitraum hinweg von der Bedienperson in der Stellung für maximale Fahrgeschwindigkeit gehalten wird. Diese Funktion kann beispielsweise auch ergänzend zu einem Bedienelement zum Umschalten zwischen den Kennlinien implementiert sein.Another expedient embodiment is when the traction drive control is designed such that switching from the first curve to the second curve and / or from the second curve to the first curve automatically, depending on operating parameters of the traction drive and / or a linear actuator of Truck takes place. In this case, it is possible to evaluate the position and / or the movement of the driver and, for example, to recognize operating situations from the time sequence of the positions and movements, in which switching to the second characteristic curve is advantageous. Alternatively or additionally, for example, the second characteristic curve can also be activated if a load-receiving means has been raised beyond a certain lifting height by means of the lifting drive. A switchover from the second characteristic curve to the first characteristic curve can, for example, in principle take place when the driver is held over a certain period of time by the operator in the position for maximum driving speed. This function can also be implemented, for example, in addition to an operating element for switching between the characteristic curves.
Grundsätzlich können in dem Flurförderzeug verschiedene Vorrichtungen zum Umschalten zwischen den Kennlinien kombiniert sein, also beispielsweise ein Bedienelement zur Betätigung durch die Bedienperson gemeinsam mit einem Empfänger für externe Signale und einer Auswertung von Betriebsparametern. Das Umschalten zwischen den Kennlinien erfolgt mit einer kontinuierlichen Übergangsfunktion, um ein plötzliches Beschleunigen oder Abbremsen des Flurförderzeugs und eine damit verbundene Unfallgefahr oder einen Überraschen des Fahrers zu vermeiden.In principle, different devices for switching between the characteristic curves can be combined in the industrial truck, that is, for example, a control element for operation by the operator together with a receiver for external signals and an evaluation of operating parameters. The switching between the curves is carried out with a continuous transition function to avoid a sudden acceleration or deceleration of the truck and an associated risk of accident or surprise the driver.
Weitere Vorteile und Einzelheiten der Erfindung werden anhand des in der schematischen Figur dargestellten Ausführungsbeispiels näher erläutert.Further advantages and details of the invention will be explained in more detail with reference to the embodiment shown in the schematic figure.
Die Figur zeigt den Zusammenhang zwischen der Stellung α des Fahrgebers und dem Sollwert v für die Fahrgeschwindigkeit in einem Diagramm. Eine erste Kennlinie 1, mit der der gesamte Geschwindigkeitsbereich von 0% bis 100% ansteuerbar ist, ist für den normalen Fahrbetrieb des Flurförderzeugs vorgesehen. Diese erste Kennlinie 1 weist im vorliegenden Ausführungsbeispiel einen linearen Verlauf auf. Ebenso ist es möglich - wie in der
Erfindungsgemäß ist eine zweite Kennlinie 2 für die Feinsteuerung des Flurförderzeugs vorgesehen, bei der einem maximal betätigten Fahrgeber eine Geschwindigkeit von 30% der maximalen Fahrgeschwindigkeit vmax zugeordnet ist. Auch für die zweite Kennlinie 2 ist es möglich, anstelle des eingezeichneten linearen Verlaufs eine Kennlinie mit progressivem oder degressivem Verlauf vorzusehen. Ebenso ist es möglich, die mit der zweiten Kennlinie erzielbare Maximalgeschwindigkeit zu variieren, beispielsweise auf 25% oder 40% der Maximalgeschwindigkeit vmax des Flurförderzeugs. Diese Varianten für die zweite Kennlinie 2 können die eingezeichnete Kennlinie 2 ersetzen, oder zusätzlich zu der eingezeichneten Kennlinie 2 in der Fahrantriebssteuerung hinterlegt sein.According to the invention, a second characteristic curve 2 is provided for the fine control of the industrial truck, in which a speed of 30% of the maximum driving speed v max is assigned to a maximum-actuated driver. Also for the second characteristic curve 2, it is possible to provide a characteristic curve with progressive or degressive progression instead of the drawn linear progression. It is also possible to vary the achievable with the second curve maximum speed, for example, to 25% or 40% of the maximum speed v max of the truck. These variants for the second characteristic curve 2 can replace the drawn characteristic curve 2, or be deposited in the traction drive control system in addition to the marked characteristic curve 2.
Ein Feinsteuerbereich 3, in dem der Sollwert für die Fahrgeschwindigkeit v bis zu 20% der maximalen Fahrgeschwindigkeit vmax beträgt, erstreckt sind bei der zweiten Kennlinie 2 über mehr als die Hälfte des Betätigungswegs a des Fahrgebers. In dem Feinsteuerbereich ist ein feinfühliges Fahren, beispielsweise um empfindliche Lasten mit dem Flurförderzeug aufnehmen und stapeln zu können, besonders einfach möglich.A
Ein Umschalten in der Fahrantriebssteuerung zwischen der ersten Kennlinie 1 und der zweiten Kennlinie 2 erfolgt entweder manuell durch die Bedienperson oder automatisch, in Abhängigkeit von Betriebsparametern des Flurförderzeugs oder von externen Signalen. Ziel ist es, der Bedienperson für jede Betriebssituation des Flurförderzeugs eine besonders geeignete Kennlinie zur Steuerung des Fahrantriebs zur Verfügung zu stellen.A changeover in the traction drive control between the first characteristic curve 1 and the second characteristic curve 2 takes place either manually by the operator or automatically, depending on the operating parameters of the industrial truck or on external signals. The aim is to provide the operator with a particularly suitable characteristic curve for controlling the traction drive for each operating situation of the industrial truck.
Claims (12)
- Industrial truck for an accompanying operator, in particular a counterbalance fork-lift truck, having a drive which can be controlled by an operator by using a drive control, a set point for the speed of travel of the industrial truck being predefined in a drive control system as a function of the position of the drive control and, for the relationship between the position of the drive control and the set point for the speed of travel, at least two different characteristic curves (1, 2) being stored in a drive control system, the characteristic curves (1, 2) of the drive control system being able to allocate a set point of the speed of travel (v) to a position (α) of the drive control and, in the drive control system, it being possible to switch between the characteristic curves (1; 2); according to at least a first characteristic curve (1) for the normal driving operation with the drive control operated fully, the set point for the speed of travel (v) corresponding to the maximum speed (vmax) of the industrial truck, characterized in that, according to a second characteristic curve (2) for the fine control of the industrial truck with the drive control actuated fully, the set point for the speed of travel (v) is lower than the maximum speed (vmax) of the industrial truck; in the second characteristic curve (2), the set point for the speed of travel (v) with the drive control actuated fully being at most 50%, preferably at most 30%, of the maximum speed (vmax) of the industrial truck, and a fine control range (3) of the drive control for delicate actuation of the drive control by the operator, in which range the set point for the speed of travel (v) corresponds to at most 20% of the maximum speed (vmax) of the industrial truck, extending over at least 50%, preferably over at least 70%, of the actuating travel (α) of the drive control in the second characteristic curve (2).
- Industrial truck according to Claim 1, characterized in that the drive control is constructed as a pedal or a hand lever.
- Industrial truck according to Claim 1 or 2, characterized in that switching from the first characteristic curve (1) to the second characteristic curve (2) and/or from the second characteristic curve (2) to the first characteristic curve (1) is done by the operator by means of an operating element.
- Industrial truck according to one of Claims 1 to 3, characterized in that the operating element is formed by a hand operated switch or a hand operated pushbutton.
- Industrial truck according to one of Claims 1 to 4, characterized in that the operating element is formed by a foot switch or a foot operated pushbutton.
- Industrial truck according to one of Claims 1 to 5, characterized in that the operating element is arranged on the drive control.
- Industrial truck according to one of Claims 1 to 6, characterized in that the operating element can be operated by the operator with a knee.
- Industrial truck according to one of Claims 1 to 7, characterized in that the operating element is formed by an optical sensor, for example by a sensor for the detection of eye contact.
- Industrial truck according to one of Claims 1 to 8, characterized in that the operating element is formed by an acoustic sensor, for example by a sensor for the detection of speech signals.
- Industrial truck according to one of Claims 1 to 9, characterized in that switching from the first characteristic curve (1) to the second characteristic curve (2) and/or from the second characteristic curve (2) to the first characteristic curve (1) is done as a function of external signals.
- Industrial truck according to one of Claims 1 to 10, characterized in that switching from the first characteristic curve (1) to the second characteristic curve (2) and/or from the second characteristic curve (2) to the first characteristic curve (1) is done automatically, depending on the location of the industrial truck.
- Industrial truck according to one of Claims 1 to 11, characterized in that the drive control system is designed in such a way that switching from the first characteristic curve (1) to the second characteristic curve (2) and/or from the second characteristic curve (2) to the first characteristic curve (1) is done automatically, as a function of operating parameters of the drive control and/or a lift drive of the industrial truck.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102005033702A DE102005033702A1 (en) | 2005-07-19 | 2005-07-19 | Truck with a drive with different characteristics |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP1746069A1 EP1746069A1 (en) | 2007-01-24 |
| EP1746069B1 true EP1746069B1 (en) | 2011-01-19 |
Family
ID=37067584
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP06013859A Revoked EP1746069B1 (en) | 2005-07-19 | 2006-07-04 | Industrial truck with drive with different characteristic curves |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP1746069B1 (en) |
| AT (1) | ATE496000T1 (en) |
| DE (2) | DE102005033702A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9533864B2 (en) | 2014-04-30 | 2017-01-03 | Hyster-Yale Group, Inc. | Vehicle control systems and methods |
| US11352243B2 (en) | 2018-09-13 | 2022-06-07 | Crown Equipment Corporation | System and method for controlling a maximum vehicle speed for an industrial vehicle based on a calculated load |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102013111638A1 (en) * | 2013-10-22 | 2015-04-23 | Jungheinrich Aktiengesellschaft | Industrial truck with a vehicle speed sensor |
| JP2023500565A (en) * | 2019-09-27 | 2023-01-10 | ミツビシ ロジスネクスト ヨーロッパ オイ | Torque control for electric lift trucks |
| DE102021105746A1 (en) * | 2021-03-10 | 2022-09-15 | Still Gesellschaft Mit Beschränkter Haftung | Method for controlling a mobile working machine |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10167692A (en) * | 1996-12-10 | 1998-06-23 | Nippon Yusoki Co Ltd | Operating device of fork lift |
| JPH112138A (en) * | 1997-06-16 | 1999-01-06 | Nissan Motor Co Ltd | Car speed control device for forklift |
| JPH11209098A (en) * | 1998-01-27 | 1999-08-03 | Toyota Autom Loom Works Ltd | Travel control device for battery forklift |
| DE10054789A1 (en) * | 2000-11-04 | 2002-05-08 | Still Wagner Gmbh & Co Kg | Industrial truck with a mast and an additional movement device for a load handler |
| DE10159409A1 (en) | 2001-12-04 | 2003-06-12 | Still Gmbh | Mobile work machine with a dynamic control for a travel drive and / or a work drive |
| JP2004161471A (en) * | 2002-11-15 | 2004-06-10 | Nippon Yusoki Co Ltd | Running control device of electrically-propelled vehicle |
| JP4141314B2 (en) * | 2003-05-12 | 2008-08-27 | 日本輸送機株式会社 | Travel restriction device for omnidirectional steering forklift |
-
2005
- 2005-07-19 DE DE102005033702A patent/DE102005033702A1/en not_active Withdrawn
-
2006
- 2006-07-04 DE DE502006008752T patent/DE502006008752D1/en active Active
- 2006-07-04 EP EP06013859A patent/EP1746069B1/en not_active Revoked
- 2006-07-04 AT AT06013859T patent/ATE496000T1/en active
Non-Patent Citations (6)
| Title |
|---|
| EXTRACT FROM BOLAGSVERKET, THE SWEDISH COMPANIES REGISTRATION OFFICE REG. WIPRO |
| FULL VERSION OF THE OPERATOR'S MANUAL IN ENGLISH |
| FULL VERSION OF THE OPERATOR'S MANUAL IN SWEDISH |
| TRANSLATION OF THE INVOICE DLE |
| TRANSLATION OF THE ORDER SPECIFICATION D1C |
| TRANSLATION OF THE RENTAL OVERVIEW DLF |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9533864B2 (en) | 2014-04-30 | 2017-01-03 | Hyster-Yale Group, Inc. | Vehicle control systems and methods |
| US11352243B2 (en) | 2018-09-13 | 2022-06-07 | Crown Equipment Corporation | System and method for controlling a maximum vehicle speed for an industrial vehicle based on a calculated load |
Also Published As
| Publication number | Publication date |
|---|---|
| DE502006008752D1 (en) | 2011-03-03 |
| DE102005033702A1 (en) | 2007-01-25 |
| ATE496000T1 (en) | 2011-02-15 |
| EP1746069A1 (en) | 2007-01-24 |
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