EP1886966B1 - Floor conveyor comprising a liftable device for picking up loads - Google Patents

Floor conveyor comprising a liftable device for picking up loads Download PDF

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Publication number
EP1886966B1
EP1886966B1 EP07015229.3A EP07015229A EP1886966B1 EP 1886966 B1 EP1886966 B1 EP 1886966B1 EP 07015229 A EP07015229 A EP 07015229A EP 1886966 B1 EP1886966 B1 EP 1886966B1
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EP
European Patent Office
Prior art keywords
floor conveyor
relation
lifting
lifting height
signal
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.)
Not-in-force
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EP07015229.3A
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German (de)
French (fr)
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EP1886966A2 (en
EP1886966A3 (en
Inventor
Henning Delius
Georg Dr. Fromme
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STILL GmbH
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STILL GmbH
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Publication of EP1886966A3 publication Critical patent/EP1886966A3/en
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • 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

Definitions

  • the invention relates to an industrial truck with a height-lifting load-receiving means and a device for non-contact detection of the lifting height, wherein the device for non-contact detection of the lifting height at least one transmitting device for outputting a wavy signal for distance measurement and at least one separate from the transmitting device receiving device for detecting the of Transmitting device emitted signal and wherein the transmitting device and the receiving device are arranged on two relatively movable components and one of the two components is fixedly arranged in relation to the load receiving means and the second component is fixedly disposed in relation to the frame of the truck.
  • the lifting device of an industrial truck makes it possible, by means of suitable receiving devices, to lift a load onto a parking space (for example a shelf) arranged above the roadway or to lower a load in the opposite direction. Especially with larger lifting heights, it is helpful for the driver to be able to read off the respectively current lifting height during the positioning process on a measuring system with display. Likewise, the start of the Lastgutposition via a control unit can be done automatically based on the measured lifting height in conjunction with a default value.
  • Lifting devices in industrial trucks usually consist of a carriage with the load receiving means, which is usually driven by means of rollers in an optionally multi-unit mast system in the vertical direction driven by hydraulic cylinders.
  • the height of the carriage or other part e.g., piston of a hydraulic cylinder
  • the height of the carriage or other part proportionally moving with the carriage movement must be detected relative to the vehicle or roadway.
  • Non-contact systems do not require any additional moving and therefore vulnerable mechanical components.
  • Today's systems work on the principle of transit time measurement in conjunction with reflection of the measuring medium at a surface defining the distance to the measuring system.
  • the known measuring media include the light of a laser, microwaves (radar) or ultrasonic waves.
  • Laser distance measuring systems are characterized by high precision and comparatively high costs. Because of the punctiform scanning of the reflector large reflectors are required at high lifting heights because of the deflection of the mast. As an optical system, the laser technology is not suitable for every application because of the risk of contamination.
  • one and the same ultrasonic transducer is used to emit the ultrasonic signal and to receive the reflected signal. After transmission of the ultrasonic pulse is switched from the transmitting to the receiving electronics. From the duration of the ultrasonic pulse, the distance between the ultrasonic transducer and the reflective surface can be calculated. The measurement process takes place periodically, so that an approximately continuous measurement result is obtained. Effects of air temperature and density on the propagation velocity of the ultrasonic signal can be compensated by suitable sensors.
  • a disadvantage of the distance measurement by means of ultrasound in a lifting device according to the prior art is that the emission of the ultrasonic signal can not be sufficiently focused.
  • the ultrasonic signal spreads club-shaped and is thus reflected by all located in the lobe area construction elements of the lifting device, resulting in incorrect measurements.
  • a safety device for a forklift with a lifting device in which an attached to the vertically movable part of the lifting device ultrasonic transmitter and attached to the chassis ultrasonic receiver can determine the lifting height over a travel time measurement.
  • a method for measuring the height of a height-adjustable lifting device on a mast in which an elevation measuring device with an ultrasonic transmitter at the foot of the mast and with an ultrasonic receiver on the load receiving means is provided on a mast and a height-adjustable load-receiving means.
  • the lifting height is determined by a transit time measurement.
  • the invention is therefore an object of the invention to provide an industrial truck with a height-adjustable load-carrying means and a device for contactless detection of the lifting height, preferably by means of ultrasound, which allows a reliable determination of the lifting height with little effort.
  • the device for non-contact detection of the lifting height has at least one transmitting device for outputting a wave-shaped signal for distance measurement and at least one separate from the transmitting device arranged receiving device for detecting the output from the transmitting device signal, wherein the transmitting device and the receiving device are arranged on two components movable in relation to each other and one of the two components is fixedly arranged in relation to the load-receiving means and the second component is fixedly arranged in relation to the frame of the truck.
  • a device for wireless data transmission, in particular by means of radio waves, of the fixed in relation to the load-receiving part of the device for non-contact detection of the lifting height to at least one in relation to Frame of the truck fixed part of the device is provided for non-contact detection of the lifting height.
  • the device for wireless data transmission information between the mounted in the region of the lifting device part and the other components of the device for non-contact detection of the lifting height can be transmitted without consuming and damage-prone cable connection. This is particularly advantageous when retrofitting a device according to the invention.
  • the signal used for the distance measurement is an ultrasonic signal.
  • Ultrasonic transmitters and receivers are inexpensive and do not emit potentially harmful or dangerous electromagnetic waves. Due to the usually club-shaped sound propagation transmitter and receiver must not be overly precise aligned. As a result, even with a deflection of the mast, which causes a pivoting of transmitter and receiver to each other, still ensures a secure reception of the signal. Smaller obstacles between transmitter and receiver do not disturb the propagation of the signal, so that a high transmission reliability exists.
  • the signal used for the distance measurement is an electromagnetic wave.
  • Electromagnetic waves offer a wide wavelength range and can thus be adapted very well to the application. They are both sharply limited (laser) and available with some dispersion (radar).
  • a device for non-contact energy transfer to the fixed in relation to the load-receiving part of the device for non-contact detection of the lifting height is provided.
  • the device for contactless energy transmission has at least one induction coil.
  • the energy transfer can be made particularly simple and effective.
  • the fixedly arranged in relation to the load-receiving part of the device for non-contact detection of the lifting height at least one memory for electrical energy.
  • This memory can be designed, for example, as a battery or as a high-capacity capacitor.
  • An energy storage device is advantageous in connection with a device for non-contact energy transfer, since this may not work permanently, but only if the part of the fixed in relation to the load-receiving means and the second part, which is fixed in relation to the frame of the truck is, are sufficiently close. By using the energy storage thus supply gaps can be bridged. But there are also advantageous embodiments conceivable, in which the energy storage device ensures the supply of arranged on the load-receiving device component of the Hub Ounmessvorraum entirely and is either charged or replaced when exhausted.
  • the device for detecting the lifting height is so in communication with a vehicle control that is blocked in an interruption of the connection between the transmitting device and receiving device of the lifting drive.
  • FIG. 1 is shown schematically a counterbalance forklift 1 with a device 2 according to the invention for non-contact detection of the lifting height.
  • the counterbalance forklift 1 has a lifting mast 3, on which a height-adjustable fork-shaped load-receiving means 4 is arranged.
  • a transmitting device 5 is arranged, which is moved together with the load-receiving means 4.
  • the transmitting device 5 transmits ultrasonic signals which are received by a receiving device 6 in the lower region of the lifting mast 3.
  • the transmitting device 5 and the receiving device 6 are each by means of a cable connection 7 with a Control unit 8 connected.
  • the cable connection 7 comprises both lines for power supply and for data transmission.
  • the lifting height can be calculated. Due to the club-shaped propagation region 10 of the ultrasonic waves, a secure connection between transmitting device 5 and receiving device 6 is ensured even with a deflection of the lifting mast 3, as occurs at high loads and high lifting heights, and even smaller obstacles between transmitting device 5 and receiving device 6 do not lead to one Full shadowing of the signal and it are in contrast to reflection-based systems and erroneous measurements avoided.
  • FIG. 2 is an embodiment of the invention in which there is no cable connection between the arranged on the load-receiving means 4 components and the vehicle-fixed components of the device according to the invention.
  • a transmitting device 5 for ultrasonic waves and a control unit 11 is arranged on the load receiving means 4.
  • the control unit 11 is connected via a radio link with a main control unit 12 in connection, which has a suitable transmitting and receiving antenna 13.
  • the main control unit 12 is connected via lines 14 both to the receiving device 6 for the signals emitted by the transmitting device 5 and to a vehicle-fixed part 15 of a device 16 for contactless energy transmission.
  • the movable part 17 of the contactless energy transfer device 16 is integrated in the control unit 11, as shown schematically in FIG FIG. 3 shown.
  • the main control unit 12 sends a signal via the radio link to the control device 11, whereupon it sends a signal to the receiving device 6 via the transmitting device 5 immediately. From the duration of the signal as described above, the height of the lifting device 4 is calculated and from the main control unit 12 with means of the prior art to other components of the truck 1, such as a Hubtownnan Seae not shown, or a likewise not shown control, the hub Eckntouche functions can trigger, forwarded. If the signal transmission of the Hubtownnyak interrupted because, for example, an obstacle device in front of the receiving device 6, the lifting operation is stopped by the controller, not shown, and the load-receiving means 4 in the fixed instantaneous position to exclude possible dangers from an uncontrolled movement of the lifting device 4.
  • FIG. 3 schematically shows the device 16 for non-contact energy transfer and for controlling a mounted in the range of the load receiving means 4 transmitting device 5:
  • a vehicle-mounted component 15 consists essentially of an induction coil 18 with associated control electronics 19, which converts the incoming direct current into alternating current and the power flow to the induction coil 18th according to the needs of the movable part 17 controls.
  • the arranged on the load receiving means 4 movable part 17 of the device 16 for contactless energy transfer is integrated in the control unit 11 for driving the transmitting device 5 and essentially comprises a second induction coil 20, an electronic control unit 21 for converting the alternating current into direct current and for controlling the power supply to and from a trained as a battery 22 energy storage.
  • an electronic control unit 23 for controlling the transmitting device 5 and for data communication by means of a radio antenna 24 in the control unit 11 is arranged.
  • the electronic components can also be combined in a single circuit.
  • the receiving device 6 may be arranged in the region of the load-receiving means 4 and the transmitting device 5 may be firmly connected to the industrial truck 1.
  • the person skilled in the arrangement of the components will choose depending on the installation and operating conditions of each truck 1 suitable.
  • ultrasound other forms of transmission can be chosen, if this is advantageous under the respective operating conditions.
  • a technique other than a radio link can be used, such as infrared or ultrasound.
  • the contactless energy transfer according to another principle of operation can take place according to the prior art and it could be other components except the Hub Doylenmessvorraum connected thereto.

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

Description

Die Erfindung betrifft ein Flurförderzeug mit einem höhenbeweglichen Lastaufnahmemittel und einer Vorrichtung zur berührungslosen Erfassung der Hubhöhe, wobei die Vorrichtung zur berührungslosen Erfassung der Hubhöhe mindestens eine Sendevorrichtung zur Abgabe eines wellenförmigen Signals zur Abstandsmessung sowie mindestens eine von der Sendevorrichtung getrennt angeordnete Empfangsvorrichtung zur Erfassung des von der Sendevorrichtung abgegebenen Signals aufweist und wobei die Sendevorrichtung und die Empfangsvorrichtung an zwei in Relation zueinander bewegbaren Bauteilen angeordnet sind und eines der beiden Bauteile in Relation zum Lastaufnahmemittel fest angeordnet ist und das zweite Bauteil in Relation zum Rahmen des Flurförderzeugs fest angeordnet ist.The invention relates to an industrial truck with a height-lifting load-receiving means and a device for non-contact detection of the lifting height, wherein the device for non-contact detection of the lifting height at least one transmitting device for outputting a wavy signal for distance measurement and at least one separate from the transmitting device receiving device for detecting the of Transmitting device emitted signal and wherein the transmitting device and the receiving device are arranged on two relatively movable components and one of the two components is fixedly arranged in relation to the load receiving means and the second component is fixedly disposed in relation to the frame of the truck.

Die Hubeinrichtung eines Flurförderfahrzeuges ermöglicht mittels geeigneter Aufnahmevorrichtungen das Anheben einer Last auf einen oberhalb der Fahrbahn angeordneten Abstellplatz (z.B. Regal) bzw. das Absenken einer Last in umgekehrter Richtung. Insbesondere bei größeren Hubhöhen ist es für den Fahrer hilfreich, die jeweils aktuelle Hubhöhe während des Positioniervorgangs an einem Messsystem mit Anzeige ablesen zu können. Ebenso kann das Anfahren der Lastgutposition über ein Steuergerät automatisch auf Basis der gemessenen Hubhöhe in Verbindung mit einem Vorgabewert erfolgen.The lifting device of an industrial truck makes it possible, by means of suitable receiving devices, to lift a load onto a parking space (for example a shelf) arranged above the roadway or to lower a load in the opposite direction. Especially with larger lifting heights, it is helpful for the driver to be able to read off the respectively current lifting height during the positioning process on a measuring system with display. Likewise, the start of the Lastgutposition via a control unit can be done automatically based on the measured lifting height in conjunction with a default value.

Hubeinrichtungen in Flurförderzeugen bestehen in der Regel aus einem Schlitten mit dem Lastaufnahmemittel, der mittels Rollen in einem ggf. mehrgliedrigen Mastsystem in vertikaler Richtung üblicherweise angetrieben über Hydraulikzylinder bewegt wird.Lifting devices in industrial trucks usually consist of a carriage with the load receiving means, which is usually driven by means of rollers in an optionally multi-unit mast system in the vertical direction driven by hydraulic cylinders.

Zur Messung der Hubhöhe muss die Höhe des Schlittens oder eines anderen mit der Schlittenbewegung proportional bewegten Teiles (z.B. Kolben eines Hydraulikzylinders) relativ zum Fahrzeug oder zur Fahrbahn erfasst werden.To measure the lift height, the height of the carriage or other part (e.g., piston of a hydraulic cylinder) proportionally moving with the carriage movement must be detected relative to the vehicle or roadway.

Heute kommen überwiegend Messsysteme mit "mechanischer" Abtastung eines bewegten Teiles, wie beispielsweise Seilzug- oder Reibradmesssysteme, zum Einsatz.Today mostly measuring systems with "mechanical" scanning of a moving part, such as cable pull or friction wheel measuring systems are used.

Diese Systeme sind jedoch anfällig gegenüber Verschmutzung, Berührung und Beschädigung.However, these systems are susceptible to soiling, touch and damage.

Berührungslos messende Systeme kommen ohne zusätzliche bewegliche und damit anfällige mechanische Komponenten aus. Heutige Systeme arbeiten auf dem Prinzip der Laufzeitmessung in Verbindung mit Reflexion des Messmediums an einer den Abstand zum Messsystem bestimmenden Fläche. Zu den bekannten Messmedien zählen das Licht eines Lasers, Mikrowellen (Radar)oder Ultraschallwellen.Non-contact systems do not require any additional moving and therefore vulnerable mechanical components. Today's systems work on the principle of transit time measurement in conjunction with reflection of the measuring medium at a surface defining the distance to the measuring system. Among the known measuring media include the light of a laser, microwaves (radar) or ultrasonic waves.

Laserabstandsmesssysteme zeichnen sich durch eine hohe Präzision bei vergleichsweise hohen Kosten aus. Wegen der punktförmigen Abtastung des Reflektors sind bei großen Hubhöhen wegen der Durchbiegung des Mastes großflächige Reflektoren erforderlich. Als optisches System ist die Lasertechnik wegen der Verschmutzungsgefahr nicht für jeden Einsatz geeignet.Laser distance measuring systems are characterized by high precision and comparatively high costs. Because of the punctiform scanning of the reflector large reflectors are required at high lifting heights because of the deflection of the mast. As an optical system, the laser technology is not suitable for every application because of the risk of contamination.

Mit einem Radarsystem kann z.B. von einem am bewegten Schlitten angebrachten kombinierten Sende- und Empfangssystem der Abstand zum Boden erfasst werden. Derartige Vorrichtungen sind jedoch aufwändig und teuer. Hindernisse im Strahlengang werden häufig nicht als solche erkannt und führen zu Fehlmessungen.With a radar system, e.g. be detected by a moving carriage mounted on the combined transmission and reception system, the distance to the ground. However, such devices are complicated and expensive. Obstacles in the beam path are often not recognized as such and lead to incorrect measurements.

Bei heutigen Abstandsmesssystemen auf Ultraschallbasis wird ein und derselbe Ultraschallwandler zur Emission des Ultraschallsignals und zum Empfang des reflektierten Signals genutzt. Nach Aussenden des Ultraschallimpulses wird von der Sende- auf die Empfangselektronik umgeschaltet. Aus der Laufzeit des Ultraschallimpulses kann der Abstand zwischen Ultraschallwandler und der reflektierenden Fläche berechnet werden. Der Messvorgang erfolgt periodisch, so dass ein annähernd kontinuierliches Messergebnis entsteht. Auswirkungen der Lufttemperatur und -dichte auf die Ausbreitungsgeschwindigkeit des Ultraschallsignals können über geeignete Sensoren kompensiert werden.In today's ultrasound-based distance measuring systems, one and the same ultrasonic transducer is used to emit the ultrasonic signal and to receive the reflected signal. After transmission of the ultrasonic pulse is switched from the transmitting to the receiving electronics. From the duration of the ultrasonic pulse, the distance between the ultrasonic transducer and the reflective surface can be calculated. The measurement process takes place periodically, so that an approximately continuous measurement result is obtained. Effects of air temperature and density on the propagation velocity of the ultrasonic signal can be compensated by suitable sensors.

Nachteilig an der Abstandsmessung mittels Ultraschall in einer Hubeinrichtung nach dem Stand der Technik ist, dass die Emission des Ultraschallsignals nicht ausreichend gebündelt erfolgen kann. Das Ultraschallsignal breitet sich keulenförmig aus und wird damit von allen im Keulenbereich befindlichen Konstruktionselementen der Hubeinrichtung reflektiert, was zu Fehlmessungen führt. Ebenso wirken sich im Erfassungsbereich der Ultraschallwellen befindliche beziehungsweise eingebrachte Hindernisse aus, beispielsweise wenn sich dort eine punktuelle Erhöhung des Untergrundes befindet, an der das Signal reflektiert und so eine geringere Hubhöhe vorgetäuscht wird.A disadvantage of the distance measurement by means of ultrasound in a lifting device according to the prior art is that the emission of the ultrasonic signal can not be sufficiently focused. The ultrasonic signal spreads club-shaped and is thus reflected by all located in the lobe area construction elements of the lifting device, resulting in incorrect measurements. Likewise affect in the Detection area of the ultrasonic waves located or introduced obstacles, for example, if there is a punctual increase in the background at which the signal is reflected and so a lower lift height is faked.

Aus der WO 2006/008586 A1 ist eine Sicherheitsvorrichtung für einen Gabelstapler mit einer Hubvorrichtung bekannt, bei der ein an dem höhenbeweglichen Teil der Hubvorrichtung angebrachter Ultraschallsender sowie ein an dem Fahrgestell angebrachter Ultraschallempfänger über eine Laufzeitmessung die Hubhöhe bestimmen können.From the WO 2006/008586 A1 a safety device for a forklift with a lifting device is known in which an attached to the vertically movable part of the lifting device ultrasonic transmitter and attached to the chassis ultrasonic receiver can determine the lifting height over a travel time measurement.

Aus der DE 32 08 747 A1 ist ein Verfahren zur Höhenmessung eines höhenbeweglichen Lastaufnahmemittels an einem Hubgerüst bekannt, bei dem an einem Hubgerüst und einem höhenbeweglichen Lastaufnahmemittel eine mit Ultraschall arbeitende Höhenmesseinrichtung mit einem Ultraschallsender am Fuß des Hubgerüstes und mit einem Ultraschallempfänger am Lastaufnahmemittel vorgesehen ist. Die Hubhöhe wird durch eine Laufzeitmessung bestimmt.From the DE 32 08 747 A1 a method for measuring the height of a height-adjustable lifting device on a mast is known, in which an elevation measuring device with an ultrasonic transmitter at the foot of the mast and with an ultrasonic receiver on the load receiving means is provided on a mast and a height-adjustable load-receiving means. The lifting height is determined by a transit time measurement.

Der Erfindung liegt daher die Aufgabe zugrunde, ein Flurförderzeug mit einem höhenbeweglichen Lastaufnahmemittel und einer Vorrichtung zur berührungslosen Erfassung der Hubhöhe, vorzugsweise mittels Ultraschall, zu schaffen, das mit geringem Aufwand eine zuverlässige Ermittlung der Hubhöhe erlaubt.The invention is therefore an object of the invention to provide an industrial truck with a height-adjustable load-carrying means and a device for contactless detection of the lifting height, preferably by means of ultrasound, which allows a reliable determination of the lifting height with little effort.

Diese Aufgabe wird erfindungsgemäß dadurch gelöst, dass die Vorrichtung zur berührungslosen Erfassung der Hubhöhe mindestens eine Sendevorrichtung zur Abgabe eines wellenförmigen Signals zur Abstandsmessung sowie mindestens eine von der Sendevorrichtung getrennt angeordnete Empfangsvorrichtung zur Erfassung des von der Sendevorrichtung abgegebenen Signals aufweist, wobei die Sendeeinrichtung und die Empfangseinrichtung an zwei in Relation zueinander bewegbaren Bauteilen angeordnet sind und eines der beiden Bauteile in Relation zum Lastaufnahmemittel fest angeordnet ist und das zweite Bauteil in Relation zum Rahmen des Flurförderzeugs fest angeordnet ist. Vorteilhaft ist, wenn eine Vorrichtung zur kabellosen Datenübertragung, insbesondere mittels Funkwellen, von dem in Relation zum Lastaufnahmemittel fest angeordneten Teil der Vorrichtung zur berührungslosen Erfassung der Hubhöhe zu mindestens einem in Relation zum Rahmen des Flurförderzeugs fest angeordneten Teil der Vorrichtung zur berührungslosen Erfassung der Hubhöhe vorgesehen ist. Indem Sender und Empfänger getrennt angeordnet werden und einer von beiden mit dem Lastaufnahmemittel bewegt wird, während der andere fest am Flurförderzeug befestigt ist, kann der Abstand zwischen Sender und Empfänger einfach bestimmt werden. Damit wird das System unabhängig von Reflexionseigenschaften angestrahlter Flächen und der Einfluss von Hindernissen oder Bodenformen wird aufgrund des definierten Verlaufs der Messtrecke ausgeschlossen. Durch die Vorrichtung zur kabellosen Datenübertragung können Informationen zwischen dem im Bereich des Lastaufnahmemittels angebrachten Teil und den übrigen Komponenten der Vorrichtung zur berührungslosen Erfassung der Hubhöhe ohne aufwändige und beschädigungsanfällige Kabelverbindung übertragen werden. Dies ist insbesondere beim Nachrüsten einer erfindungsgemäßen Vorrichtung von Vorteil.This object is achieved in that the device for non-contact detection of the lifting height has at least one transmitting device for outputting a wave-shaped signal for distance measurement and at least one separate from the transmitting device arranged receiving device for detecting the output from the transmitting device signal, wherein the transmitting device and the receiving device are arranged on two components movable in relation to each other and one of the two components is fixedly arranged in relation to the load-receiving means and the second component is fixedly arranged in relation to the frame of the truck. It is advantageous if a device for wireless data transmission, in particular by means of radio waves, of the fixed in relation to the load-receiving part of the device for non-contact detection of the lifting height to at least one in relation to Frame of the truck fixed part of the device is provided for non-contact detection of the lifting height. By arranging transmitter and receiver separately and moving one of them with the load handler while the other is fixedly attached to the truck, the distance between transmitter and receiver can be easily determined. Thus, the system is independent of the reflection properties of illuminated surfaces and the influence of obstacles or soil forms is excluded due to the defined course of the measuring path. By the device for wireless data transmission information between the mounted in the region of the lifting device part and the other components of the device for non-contact detection of the lifting height can be transmitted without consuming and damage-prone cable connection. This is particularly advantageous when retrofitting a device according to the invention.

Besonders vorteilhaft ist es, wenn das zur Abstandsmessung verwendete Signal ein Ultraschallsignal ist. Ultraschallsender und -empfänger sind kostengünstig und senden keine möglicherweise schädlichen oder gefährlichen elektromagnetischen Wellen aus. Aufgrund der üblicherweise keulenförmigen Schallausbreitung müssen Sender und Empfänger nicht übermäßig präzise aufeinander ausgerichtet sein. Dadurch ist auch bei einer Durchbiegung des Hubmastes, die eine Verschwenkung von Sender und Empfänger zueinander bewirkt, noch ein sicherer Empfang des Signals gewährleistet. Kleinere Hindernisse zwischen Sender und Empfänger stören die Ausbreitung des Signals nicht, so dass eine hohe Übertragungssicherheit besteht.It is particularly advantageous if the signal used for the distance measurement is an ultrasonic signal. Ultrasonic transmitters and receivers are inexpensive and do not emit potentially harmful or dangerous electromagnetic waves. Due to the usually club-shaped sound propagation transmitter and receiver must not be overly precise aligned. As a result, even with a deflection of the mast, which causes a pivoting of transmitter and receiver to each other, still ensures a secure reception of the signal. Smaller obstacles between transmitter and receiver do not disturb the propagation of the signal, so that a high transmission reliability exists.

In einer weiteren vorteilhaften Ausbildung ist das zur Abstandsmessung verwendete Signal eine elektromagnetische Welle. Elektromagnetische Wellen bieten einen breiten Wellenlängenbereich und können so an den Einsatzfall sehr gut angepasst werden. Sie sind sowohl scharf begrenzt (Laser) als auch mit einer gewissen Streuung (Radar) verfügbar.In a further advantageous embodiment, the signal used for the distance measurement is an electromagnetic wave. Electromagnetic waves offer a wide wavelength range and can thus be adapted very well to the application. They are both sharply limited (laser) and available with some dispersion (radar).

Weiterhin ist es zweckmäßig, wenn eine Vorrichtung zur berührungslosen Energieübertragung zu dem in Relation zum Lastaufnahmemittel fest angeordneten Teil der Vorrichtung zur berührungslosen Erfassung der Hubhöhe vorgesehen ist. Indem nicht nur Daten sondern auch Energie berührungslos zu dem im Bereich des Lastaufnahmemittels angeordneten Teil der Hubhöhenmessvorrichtung übertragen wird, kann auf eine Kabelverbindung zwischen den beiden Teilen vollständig verzichtet werden und es entsteht ein besonders einfacher und wartungsarmer Aufbau, der auch leicht nachgerüstet werden kann.Furthermore, it is expedient if a device for non-contact energy transfer to the fixed in relation to the load-receiving part of the device for non-contact detection of the lifting height is provided. By transferring not only data but also energy contactlessly to the part of the lifting height measuring device arranged in the region of the lifting device is, can be completely dispensed with a cable connection between the two parts and there is a particularly simple and low-maintenance construction, which can also be easily retrofitted.

In einer zweckmäßigen Weiterbildung der Erfindung, weist die Vorrichtung zur berührungslosen Energieübertragung mindestens eine Induktionsspule auf. Nach dem Induktionsprinzip kann die Energieübertragung besonders einfach und wirkungsvoll vorgenommen werden.In an expedient development of the invention, the device for contactless energy transmission has at least one induction coil. According to the induction principle, the energy transfer can be made particularly simple and effective.

Vorteilhafterweise weist der in Relation zum Lastaufnahmemittel fest angeordnete Teil der Vorrichtung zur berührungslosen Erfassung der Hubhöhe mindestens einen Speicher für elektrische Energie auf. Dieser Speicher kann beispielsweise als Batterie oder als Kondensator mit hoher Kapazität ausgeführt sein. Ein Energiespeicher ist in Verbindung mit einer Vorrichtung zur berührungslosen Energieübertragung von Vorteil, da diese möglicherweise nicht permanent arbeitet, sondern nur, wenn sich der Teil der in Relation zum Lastaufnahmemittel fest angeordnet ist und der zweite Teil, der in Relation zum Rahmen des Flurförderzeugs fest angeordnet ist, hinreichend nahe sind. Durch die Verwendung des Energiespeichers können somit Versorgungslücken überbrückt werden. Es sind aber auch vorteilhafte Ausführungsformen denkbar, bei denen der Energiespeicher die Versorgung des am Lastaufnahmemittel angeordneten Bauteils der Hubhöhenmessvorrichtung gänzlich sicherstellt und bei Erschöpfung entweder aufgeladen oder ausgetauscht wird.Advantageously, the fixedly arranged in relation to the load-receiving part of the device for non-contact detection of the lifting height at least one memory for electrical energy. This memory can be designed, for example, as a battery or as a high-capacity capacitor. An energy storage device is advantageous in connection with a device for non-contact energy transfer, since this may not work permanently, but only if the part of the fixed in relation to the load-receiving means and the second part, which is fixed in relation to the frame of the truck is, are sufficiently close. By using the energy storage thus supply gaps can be bridged. But there are also advantageous embodiments conceivable, in which the energy storage device ensures the supply of arranged on the load-receiving device component of the Hubhöhenmessvorrichtung entirely and is either charged or replaced when exhausted.

Es ist ebenfalls von Vorteil, wenn die Vorrichtung zur Erfassung der Hubhöhe derart mit einer Fahrzeugsteuerung in Verbindung steht, dass bei einer Unterbrechung der Verbindung zwischen Sendevorrichtung und Empfangsvorrichtung der Hubantrieb blockiert wird. Dadurch wird in Situationen, in denen die Hubhöhenerfassung gestört ist, beispielsweise durch ein Hindernis im Bereich des Hubgerüsts, eine möglicherweise gefährliche Bewegung des Lastaufnahmemittels verhindert und die Bedienperson auf den gefährlichen Zustand aufmerksam gemacht.It is also advantageous if the device for detecting the lifting height is so in communication with a vehicle control that is blocked in an interruption of the connection between the transmitting device and receiving device of the lifting drive. As a result, in situations where the lifting height detection is disturbed, for example by an obstacle in the region of the mast, a potentially dangerous movement of the lifting device is prevented and made the operator aware of the dangerous condition.

Weitere Vorteile und Einzelheiten der Erfindung werden im Folgenden anhand des in der Zeichnung dargestellten Ausführungsbeispiels näher erläutert. Gleiche Teile sind mit gleichen Bezugszeichen gekennzeichnet. Dabei zeigt

Figur 1
einen Gegengewichtsgabelstapler als Beispiel eines erfindungsgemäßen Flurförderzeugs,
Figur 2
eine Ausführungsform der Erfindung, bei der keine Kabelverbindung zwischen den am Lastaufnahmemittel angeordneten Komponenten und den fahrzeugfest angeordneten Komponenten der erfindungsgemäßen Vorrichtung besteht,
Figur 3
eine schematische Darstellung der Vorrichtung zur berührungslosen Energieübertragung sowie zur Ansteuerung einer im Bereich des Lastaufnahmemittels angebrachten Sendevorrichtung.
Further advantages and details of the invention are explained in more detail below with reference to the embodiment shown in the drawing. Identical parts are identified by the same reference numerals. It shows
FIG. 1
a counterbalance forklift as an example of a truck according to the invention,
FIG. 2
an embodiment of the invention, in which there is no cable connection between the components arranged on the load-receiving means and the vehicle-fixed components of the device according to the invention,
FIG. 3
a schematic representation of the device for contactless energy transfer and for controlling a mounted in the region of the lifting device transmitting device.

In Figur 1 ist schematisch ein Gegengewichtsgabelstapler 1 mit einer erfindungsgemäßen Vorrichtung 2 zur berührungslosen Erfassung der Hubhöhe gezeigt. Der Gegengewichtsgabelstapler 1 weist einen Hubmast 3 auf, an dem ein höhenbewegliches gabelförmiges Lastaufnahmemittel 4 angeordnet ist. Im Bereich des Lastaufnahmemittels 4 ist eine Sendevorrichtung 5 angeordnet, die zusammen mit dem Lastaufnahmemittel 4 bewegt wird. Die Sendevorrichtung 5 sendet Ultraschallsignale aus, die von einer Empfangsvorrichtung 6 im unteren Bereich des Hubmasts 3 aufgenommen werden. Die Sendevorrichtung 5 und die Empfangsvorrichtung 6 sind jeweils mittels einer Kabelverbindung 7 mit einem Steuergerät 8 verbunden. Die Kabelverbindung 7 umfasst sowohl Leitungen zur Energieversorgung als auch zur Datenübertragung. Aus der Laufzeit zwischen Sendevorrichtung 5 und Empfangsvorrichtung 6 kann deren Abstand in der Steuervorrichtung 8 bestimmt und daraus, da der Abstand der Empfangsvorrichtung 6 von der Aufstandsfläche 9 des Flurförderzeugs 1 bekannt ist, die Hubhöhe berechnet werden. Aufgrund des keulenförmigen Ausbreitungsbereichs 10 der Ultraschallwellen ist auch bei einer Durchbiegung des Hubmasts 3, wie sie bei großen Lasten und hohen Hubhöhen auftritt, eine sichere Verbindung zwischen Sendevorrichtung 5 und Empfangsvorrichtung 6 gewährleistet und auch kleinere Hindernisse zwischen Sendevorrichtung 5 und Empfangsvorrichtung 6 führen nicht zu einer vollständigen Abschattung des Signals und es werden im Gegensatz zu reflexionsbasierten Systemen auch Fehlmessungen vermieden.In FIG. 1 is shown schematically a counterbalance forklift 1 with a device 2 according to the invention for non-contact detection of the lifting height. The counterbalance forklift 1 has a lifting mast 3, on which a height-adjustable fork-shaped load-receiving means 4 is arranged. In the region of the load-receiving means 4, a transmitting device 5 is arranged, which is moved together with the load-receiving means 4. The transmitting device 5 transmits ultrasonic signals which are received by a receiving device 6 in the lower region of the lifting mast 3. The transmitting device 5 and the receiving device 6 are each by means of a cable connection 7 with a Control unit 8 connected. The cable connection 7 comprises both lines for power supply and for data transmission. From the transit time between transmitting device 5 and receiving device 6 whose distance in the control device 8 is determined and, since the distance of the receiving device 6 is known from the footprint 9 of the truck 1, the lifting height can be calculated. Due to the club-shaped propagation region 10 of the ultrasonic waves, a secure connection between transmitting device 5 and receiving device 6 is ensured even with a deflection of the lifting mast 3, as occurs at high loads and high lifting heights, and even smaller obstacles between transmitting device 5 and receiving device 6 do not lead to one Full shadowing of the signal and it are in contrast to reflection-based systems and erroneous measurements avoided.

In Figur 2 ist eine Ausführungsform der Erfindung, bei der keine Kabelverbindung zwischen den am Lastaufnahmemittel 4 angeordneten Komponenten und den fahrzeugfest angeordneten Komponenten der erfindungsgemäßen Vorrichtung besteht, gezeigt. Am Lastaufnahmemittel 4 ist eine Sendevorrichtung 5 für Ultraschallwellen sowie ein Steuergerät 11 angeordnet. Das Steuergerät 11 steht über eine Funkverbindung mit einem Hauptsteuergerät 12 in Verbindung, das eine geeignete Sende-und Empfangsantenne 13 aufweist. Das Hauptsteuergerät 12 steht über Leitungen 14 sowohl mit der Empfangsvorrichtung 6 für die von der Sendevorrichtung 5 ausgesandten Signale in Verbindung als auch mit einem fahrzeugfesten Teil 15 einer Vorrichtung 16 zur berührungslosen Energieübertragung. Der bewegliche Teil 17 der Vorrichtung 16 zur berührungslosen Energieübertragung ist in das Steuergerät 11 integriert, wie schematisch in Figur 3 dargestellt. Das Hauptsteuergerät 12 sendet über die Funkverbindung ein Signal an die Steuervorrichtung 11 worauf diese über die Sendevorrichtung 5 umgehend ein Signal an die Empfangsvorrichtung 6 abgibt. Aus der Laufzeit des Signals wird wie oben geschildert, die Höhe des Lastaufnahmemittels 4 berechnet und von dem Hauptsteuergerät 12 mit Mitteln nach dem Stand der Technik an weitere Komponenten des Flurförderzeugs 1, wie eine nicht dargestellte Hubhöhenanzeige oder eine ebenfalls nicht dargestellte Steuerung, die hubhöhenabhängige Funktionen auslösen kann, weitergeleitet. Wird die Signalübertragung der Hubhöhenmessung unterbrochen, weil beispielsweise ein Hindernis vor den Empfangsvorrichtung 6 gerät, wird durch die nicht dargestellte Steuerung der Hubvorgang gestoppt und das Lastaufnahmemittel 4 in der augenblicklichem Lage fixiert, um mögliche Gefahren aus einer unkontrollierten Bewegung des Lastaufnahmemittels 4 auszuschließen.In FIG. 2 is an embodiment of the invention in which there is no cable connection between the arranged on the load-receiving means 4 components and the vehicle-fixed components of the device according to the invention. On the load receiving means 4, a transmitting device 5 for ultrasonic waves and a control unit 11 is arranged. The control unit 11 is connected via a radio link with a main control unit 12 in connection, which has a suitable transmitting and receiving antenna 13. The main control unit 12 is connected via lines 14 both to the receiving device 6 for the signals emitted by the transmitting device 5 and to a vehicle-fixed part 15 of a device 16 for contactless energy transmission. The movable part 17 of the contactless energy transfer device 16 is integrated in the control unit 11, as shown schematically in FIG FIG. 3 shown. The main control unit 12 sends a signal via the radio link to the control device 11, whereupon it sends a signal to the receiving device 6 via the transmitting device 5 immediately. From the duration of the signal as described above, the height of the lifting device 4 is calculated and from the main control unit 12 with means of the prior art to other components of the truck 1, such as a Hubhöhenanzeige not shown, or a likewise not shown control, the hubhöhenabhängige functions can trigger, forwarded. If the signal transmission of the Hubhöhenmessung interrupted because, for example, an obstacle device in front of the receiving device 6, the lifting operation is stopped by the controller, not shown, and the load-receiving means 4 in the fixed instantaneous position to exclude possible dangers from an uncontrolled movement of the lifting device 4.

Figur 3 zeigt schematisch die Vorrichtung 16 zur berührungslosen Energieübertragung sowie zur Ansteuerung einer im Bereich des Lastaufnahmemittels 4 angebrachten Sendevorrichtung 5: Eine fahrzeugfeste Komponente 15 besteht im Wesentlichen aus einer Induktionsspule 18 mit dazugehöriger Steuerelektronik 19, die den eingehenden Gleichstrom in Wechselstrom umwandelt und den Leistungsfluss zur Induktionsspule 18 nach dem Bedarf des beweglichen Teils 17 steuert. Der am Lastaufnahmemittel 4 angeordnete bewegliche Teil 17 der Vorrichtung 16 zur berührungslosen Energieübertragung ist im Steuergerät 11 zur Ansteuerung der Sendevorrichtung 5 integriert und umfasst im Wesentlichen eine zweite Induktionsspule 20, eine Steuerelektronik 21 zur Umwandlung des Wechselstroms in Gleichstrom sowie zur Steuerung der Energiezufuhr von und zu einem als Batterie 22 ausgebildeten Energiespeicher. Weiterhin ist eine Steuerelektronik 23 zur Ansteuerung der Sendevorrichtung 5 sowie zur Datenkommunikation mittels einer Funkantenne 24 in dem Steuergerät 11 angeordnet. Die Elektronikkomponenten können selbstverständlich auch in einer einzigen Schaltung zusammengefasst sein. FIG. 3 schematically shows the device 16 for non-contact energy transfer and for controlling a mounted in the range of the load receiving means 4 transmitting device 5: A vehicle-mounted component 15 consists essentially of an induction coil 18 with associated control electronics 19, which converts the incoming direct current into alternating current and the power flow to the induction coil 18th according to the needs of the movable part 17 controls. The arranged on the load receiving means 4 movable part 17 of the device 16 for contactless energy transfer is integrated in the control unit 11 for driving the transmitting device 5 and essentially comprises a second induction coil 20, an electronic control unit 21 for converting the alternating current into direct current and for controlling the power supply to and from a trained as a battery 22 energy storage. Furthermore, an electronic control unit 23 for controlling the transmitting device 5 and for data communication by means of a radio antenna 24 in the control unit 11 is arranged. Of course, the electronic components can also be combined in a single circuit.

Selbstverständlich sind auch andere Ausführungsformen der Erfindung denkbar. So kann beispielsweise auch anstelle der Sendevorrichtung 5 die Empfangsvorrichtung 6 im Bereich des Lastaufnahmemittels 4 angeordnet und die Sendevorrichtung 5 fest mit dem Flurförderzeug 1 verbunden sein. Generell wird der Fachmann die Anordnung der Komponenten wird je nach den Einbau- und Betriebsbedingungen des jeweiligen Flurförderzeugs 1 geeignet wählen. Anstelle von Ultraschall könne auch andere Übertragungsformen gewählt werden, wenn dies bei den jeweiligen Betriebbedingungen vorteilhaft ist. Zur kabellosen Übertragung von Informationen kann selbstverständlich auch eine andere Technik als eine Funkverbindung genutzt werden, beispielsweise Infrarot oder Ultraschall. Ebenso kann die berührungslose Energieübertragung nach einem anderen Wirkprinzip nach dem Stand der Technik erfolgen und es könne noch andere Komponenten außer der Hubhöhenmessvorrichtung daran angeschlossen sein.Of course, other embodiments of the invention are conceivable. Thus, for example, instead of the transmitting device 5, the receiving device 6 may be arranged in the region of the load-receiving means 4 and the transmitting device 5 may be firmly connected to the industrial truck 1. In general, the person skilled in the arrangement of the components will choose depending on the installation and operating conditions of each truck 1 suitable. Instead of ultrasound, other forms of transmission can be chosen, if this is advantageous under the respective operating conditions. For wireless transmission of information, of course, a technique other than a radio link can be used, such as infrared or ultrasound. Likewise, the contactless energy transfer according to another principle of operation can take place according to the prior art and it could be other components except the Hubhöhenmessvorrichtung connected thereto.

Claims (7)

  1. Floor conveyor (1) comprising a vertically movable means (4) for picking up loads and a device (2) for the contactless detection of the lifting height, wherein the device (2) for the contactless detection of the lifting height has at least one transmitting device (5) for outputting a wave-shaped signal for measuring the distance and at least one receiving device (6), arranged separately from the transmitting device (5), for detecting the signal which is output by the transmitting device (5), wherein the transmitting device (5) and the receiving device (6) are arranged on two components which can be moved in relation to one another, and one of the two components is fixedly arranged in relation to the means (4) for picking up loads, and the second component is fixedly arranged in relation to the frame of the floor conveyor (1),
    characterized
    in that a device (13, 24) for the cableless transmission of data, in particular by means of radio waves, from the part (11, 5), arranged fixedly in relation to the means (4) for picking up loads, of the device (2) for the contactless detection of the lifting height to at least one part (6), fixedly arranged in relation to the frame of the floor conveyor (1), of the device for the contactless detection of the lifting height is provided.
  2. Floor conveyor (1) according to Claim 1, characterized in that the signal which is used for measuring distance is an ultrasonic signal.
  3. Floor conveyor (1) according to Claim 1 or 2, characterized in that the signal which is used for measuring distance is an electromagnetic wave.
  4. Floor conveyor according to one of Claims 1 to 3, characterized in that a device (16) for the contactless transmission of energy to the part (11, 5), fixedly arranged in relation to the means (4) for picking up loads, of the device (2) is provided for the contactless detection of the lifting height.
  5. Floor conveyor according to Claim 4, characterized in that the device (16) for the contactless transmission of energy has at least one induction coil (18, 19).
  6. Floor conveyor according to one of Claims 1 to 5, characterized in that the part (11, 5), fixedly arranged in relation to the means (4) for picking up loads, of the device (2) for the contactless detection of the lifting height has at least one accumulator (22) for electrical energy.
  7. Floor conveyor according to one of Claims 1 to 6, characterized in that the device (2) for the detection of the lifting height is connected to a vehicle controller in such a way that when the connection between the transmitting device (5) and the receiving device (6) is interrupted, the lifting drive is blocked.
EP07015229.3A 2006-08-11 2007-08-02 Floor conveyor comprising a liftable device for picking up loads Not-in-force EP1886966B1 (en)

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DE200610037928 DE102006037928A1 (en) 2006-08-11 2006-08-11 Truck with a height-adjustable load handling device

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EP1886966A3 (en) 2009-11-04
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