EP1985576A3 - Method and device for preventing a counterweight forklift tipping over - Google Patents

Method and device for preventing a counterweight forklift tipping over Download PDF

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Publication number
EP1985576A3
EP1985576A3 EP20080002794 EP08002794A EP1985576A3 EP 1985576 A3 EP1985576 A3 EP 1985576A3 EP 20080002794 EP20080002794 EP 20080002794 EP 08002794 A EP08002794 A EP 08002794A EP 1985576 A3 EP1985576 A3 EP 1985576A3
Authority
EP
European Patent Office
Prior art keywords
driving speed
combustion engine
internal combustion
permissible
determined
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP20080002794
Other languages
German (de)
French (fr)
Other versions
EP1985576A2 (en
EP1985576B1 (en
Inventor
Hartwig Grothkopp
Jürgen KUMMER
Frank Mänken
Andreas Rogg
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jungheinrich AG
Original Assignee
Jungheinrich AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Jungheinrich AG filed Critical Jungheinrich AG
Publication of EP1985576A2 publication Critical patent/EP1985576A2/en
Publication of EP1985576A3 publication Critical patent/EP1985576A3/en
Application granted granted Critical
Publication of EP1985576B1 publication Critical patent/EP1985576B1/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07559—Stabilizing means
    • 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
    • B66F9/07509—Braking
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Control Of Transmission Device (AREA)

Abstract

Verfahren zur Kippvermeidung eines Gegengewichtsstaplers, der eine vordere Antriebsachse mit zwei angetriebenen Rädern und eine hintere Lenkachse mit mindestens einem gelenkten Rad aufweist, wobei der Antriebsstrang einen Verbrennungsmotor und einen Drehmomentwandler aufweist, mit den folgenden Verfahrensschritten:
- in einer Steuervorrichtung wird eine Kennlinie für eine Kippvermeidung als eine Funktion der Fahrgeschwindigkeit vom Lenkwinkel gespeichert,
- bei Fahrt werden die Fahrgeschwindigkeit und der Lenkwinkel gemessen oder bestimmt und daraus die zulässige Fahrgeschwindigkeit bestimmt,
- aus der zulässigen Fahrgeschwindigkeit wird die zulässige Drehzahl des Verbrennungsmotors bestimmt,
- überschreitet die Fahrgeschwindigkeit die zulässige Fahrgeschwindigkeit wird die Leistung des Verbrennungsmotors reduziert durch
- Bremsung des Verbrennungsmotors und/oder
- Begrenzung des Sollwerts für den Verbrennungsmotor und/oder
- durch Schaltung eines Lastschaltgetriebes in die Neutralstellung,

- und es wird zugleich eine Bremskraft erzeugt durch
- Ansteuerung einer Betriebsbremse und/oder
- Ansteuerung eines Gegenmomenterzeugers im Antriebsstrang und/oder
- Zuschalten des Rückwärtsgangs in einem Lastschaltgetriebe.

Figure imgaf001
A method for preventing tilting of a counterbalanced truck having a front drive axle with two driven wheels and a rear steering axle with at least one steered wheel, the drive train comprising an internal combustion engine and a torque converter, comprising the following method steps:
in a control device, a characteristic for a tilt prevention is stored as a function of the driving speed from the steering angle,
- when driving, the driving speed and the steering angle are measured or determined and from this the permissible driving speed is determined,
- the permissible speed of the internal combustion engine is determined from the permissible driving speed,
- If the driving speed exceeds the permissible driving speed, the power of the internal combustion engine is reduced by
- Braking of the internal combustion engine and / or
- Limitation of the setpoint for the internal combustion engine and / or
- By switching a power shift transmission in the neutral position,

- And it is also a braking force generated by
- Control of a service brake and / or
- Control of a counter-torque generator in the drive train and / or
- Connecting the reverse gear in a power shift transmission.
Figure imgaf001
EP08002794.9A 2007-04-25 2008-02-15 Method and device for preventing a counterweight forklift tipping over Expired - Fee Related EP1985576B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE200710019506 DE102007019506A1 (en) 2007-04-25 2007-04-25 Method and device for preventing tilting of a counterbalance truck

Publications (3)

Publication Number Publication Date
EP1985576A2 EP1985576A2 (en) 2008-10-29
EP1985576A3 true EP1985576A3 (en) 2010-06-16
EP1985576B1 EP1985576B1 (en) 2015-08-26

Family

ID=39708667

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08002794.9A Expired - Fee Related EP1985576B1 (en) 2007-04-25 2008-02-15 Method and device for preventing a counterweight forklift tipping over

Country Status (2)

Country Link
EP (1) EP1985576B1 (en)
DE (1) DE102007019506A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103675320A (en) * 2013-12-13 2014-03-26 中联重科股份有限公司 Method and equipment for detecting maximum steering speed of road roller and anti-rollover control method and equipment

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008050203A1 (en) * 2008-10-01 2010-04-08 Still Sas, Serris Marne La Vallee Tiller-guided industrial truck
DE102010031531A1 (en) * 2010-07-19 2012-01-19 Noell Mobile Systems Gmbh Method and system for controlling a driving behavior of a truck
DE102011080805B4 (en) 2011-08-11 2020-03-26 Robert Bosch Gmbh Method and device for operating a lifting device
EP2674387B8 (en) 2012-06-12 2015-07-15 UniCarriers Europe AB Industrial truck with improved cornering control
DE102013018510A1 (en) * 2012-11-16 2014-05-22 Kramer-Werke Gmbh "Mobile machine with charging system"
DE102016205491A1 (en) * 2016-04-04 2017-10-05 Zf Friedrichshafen Ag Gear arrangement for driving a motor vehicle
DE102016123104A1 (en) * 2016-11-30 2018-05-30 Jungheinrich Aktiengesellschaft Industrial truck with a brake control
JP7022547B2 (en) * 2017-09-22 2022-02-18 パナソニック株式会社 robot
US10452080B1 (en) 2018-05-21 2019-10-22 International Business Machines Corporation Self-actuating device for facilitating preventing product tip over
US10743666B2 (en) 2018-09-21 2020-08-18 International Business Machines Corporation Self-acting device for facilitating preventing product tip over
US11919761B2 (en) 2020-03-18 2024-03-05 Crown Equipment Corporation Based on detected start of picking operation, resetting stored data related to monitored drive parameter
CN112193338B (en) * 2020-10-10 2022-03-22 伊威智能科技(常州)有限公司 Can load and unload self-interacting intelligent fork truck that prevents empting of focus skew
DE102021211708A1 (en) 2021-10-18 2023-04-20 Zf Friedrichshafen Ag Method for restricting the driving behavior of a motor-driven industrial truck, control device therefor and motor-driven industrial truck
DE102022107761A1 (en) 2022-04-01 2023-10-05 Hamm Ag Method for operating a soil cultivation machine

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2370679A1 (en) * 1976-11-12 1978-06-09 Bengel Friedrich Fork lift truck control - has speed and steering angle signals fed to comparator with hydrostatic drive operated by single lever
EP0343839A2 (en) * 1988-05-26 1989-11-29 The Raymond Corporation Lift truck control systems
DE19830190A1 (en) * 1998-04-18 1999-10-21 Continental Teves Ag & Co Ohg Method of limiting transverse acceleration of a moving motor vehicle
DE102005012004A1 (en) * 2004-04-07 2005-10-27 Linde Ag Counterbalanced forklift truck, has control device cooperating with rolling drive, working drive and steering lock drive such that device executes correction intervention maintaining or increasing stability against tilting of truck

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2909667C2 (en) 1979-03-12 1985-02-14 Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg Electric drive control part for steerable vehicles, in particular lift trucks
JP2002503185A (en) * 1998-04-07 2002-01-29 ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング Vehicle stabilizing method and device
DE19918597C2 (en) 1999-04-23 2001-03-08 Deutsch Zentr Luft & Raumfahrt Process for reducing the risk of tipping of road vehicles
DE19919655B4 (en) 1999-04-29 2004-08-26 Jungheinrich Ag Industrial truck with anti-tip device
DE10010011A1 (en) * 1999-07-27 2001-02-01 Linde Ag Warehouse transport vehicle has stabilising device for increasing stability, wheel load sensors for each wheel connected to monitoring device controlling lifting and/or drive systems
DE10035180B4 (en) 2000-07-20 2006-07-06 Frie, Werner, Dr. Method and device for vehicle dynamics control
DE20023781U1 (en) 2000-07-20 2006-06-14 Frie, Werner, Dr. Method to control driving dynamics; involves comparing actual value for vehicle rotation rate with desired value based on speed and steering angle and correcting excess difference with brakes
DE10128357A1 (en) * 2001-06-13 2003-03-06 Continental Teves Ag & Co Ohg Procedure for regulating driving stability
SE524091C2 (en) 2003-05-08 2004-06-22 Bt Ind Ab Picking truck, has maximum speed reduced in steps as steering angle is increased
DE102004028053A1 (en) 2004-06-09 2005-12-29 Still Gmbh Method for avoiding tipping of industrial truck has tip coefficient determined in control unit in dependence upon operating parameter of truck, and inclination of truck's body is adjusted in dependence upon tip coefficient
DE102004035888A1 (en) 2004-07-23 2006-03-16 Bayerische Motoren Werke Ag Motor vehicle`s e.g. two-lane road vehicle, tilting danger reducing method, involves using difference between maximum and marginal roll angles as input variable for controller to adjust additional steering angle at steerable wheels
DE102004046890A1 (en) 2004-09-28 2006-03-30 Jungheinrich Ag Method for preventing tilting of rear-wheeled vehicles, in particular industrial trucks
DE102005015673A1 (en) 2005-04-06 2006-10-12 Jungheinrich Ag Steering system for an industrial truck
JP4807028B2 (en) * 2005-09-30 2011-11-02 株式会社豊田自動織機 Forklift travel control device

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2370679A1 (en) * 1976-11-12 1978-06-09 Bengel Friedrich Fork lift truck control - has speed and steering angle signals fed to comparator with hydrostatic drive operated by single lever
EP0343839A2 (en) * 1988-05-26 1989-11-29 The Raymond Corporation Lift truck control systems
DE19830190A1 (en) * 1998-04-18 1999-10-21 Continental Teves Ag & Co Ohg Method of limiting transverse acceleration of a moving motor vehicle
DE102005012004A1 (en) * 2004-04-07 2005-10-27 Linde Ag Counterbalanced forklift truck, has control device cooperating with rolling drive, working drive and steering lock drive such that device executes correction intervention maintaining or increasing stability against tilting of truck

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103675320A (en) * 2013-12-13 2014-03-26 中联重科股份有限公司 Method and equipment for detecting maximum steering speed of road roller and anti-rollover control method and equipment
CN103675320B (en) * 2013-12-13 2015-08-12 中联重科股份有限公司 The maximum turning velocity detection method of street roller, anti-rollover control method and equipment

Also Published As

Publication number Publication date
EP1985576A2 (en) 2008-10-29
DE102007019506A1 (en) 2008-10-30
EP1985576B1 (en) 2015-08-26

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