EP2439165A1 - Industrial truck with a height-adjustable load carrying device - Google Patents

Industrial truck with a height-adjustable load carrying device Download PDF

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Publication number
EP2439165A1
EP2439165A1 EP11007894A EP11007894A EP2439165A1 EP 2439165 A1 EP2439165 A1 EP 2439165A1 EP 11007894 A EP11007894 A EP 11007894A EP 11007894 A EP11007894 A EP 11007894A EP 2439165 A1 EP2439165 A1 EP 2439165A1
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EP
European Patent Office
Prior art keywords
load
height
lifting height
lifting
predetermined
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Granted
Application number
EP11007894A
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German (de)
French (fr)
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EP2439165B1 (en
Inventor
Christoph Behncke
Matthias Düwel
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Jungheinrich AG
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Jungheinrich AG
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Publication of EP2439165A1 publication Critical patent/EP2439165A1/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
    • B66F9/0755—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
    • 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

Definitions

  • the present invention relates to an industrial truck, in particular a reach truck, with a height-adjustable load supporting means, a lifting height control for the load supporting means, in which a plurality of predetermined lifting heights are stored for the load supporting means.
  • the load bearing means is sometimes referred to as load handling equipment.
  • the user directly controls the lifting or stacking process and receives information about the current lifting height of the load carrier via a display.
  • a positioning aid for the load support means is offered, which flashes faster, for example, when approaching the selected stack level and, for example, automatically slows down the lifting or lowering of the load supporting means, so that the user can approach the preselected stack level exactly.
  • the difference to the destination can also be displayed.
  • the invention has for its object to provide an industrial truck with a height-adjustable load supporting means, which supports in a simple manner an operator when starting a desired lifting height.
  • the truck according to the invention has an adjustable load support means and a Hubtownn interviewedung for the load supporting means. In the Hubtownn interviewedung more predetermined lift heights for the load bearing means are stored.
  • the predetermined lifting heights refer to the heights of the bearing or the storage areas in which the truck is to be used.
  • the truck is equipped with a lift height detection for the load supporting means, which detects an actual value of the lift height of the load carrying means and displays for the lift height control.
  • the truck according to the invention has an operating element that allows manual adjustment of the lifting heights of the load bearing means at different speeds.
  • the lifting height control moves the load carrying means to one of the predetermined lifting heights, when the speed predetermined by the operating element for adjusting the load carrying means is below a predetermined threshold value.
  • the lifting height control selects for the approaching lifting height from the plurality of predetermined lifting heights that lifting height which comes closest to the actual value of the lifting height in the direction of movement of the load-bearing means.
  • the approach of the closest approach in the direction of travel height can also be referred to as a snap-in ".
  • the Hub stoodn interviewedung differs in the approaching lifting height, whether the lifting height is approached for storage or outsourcing. If the lifting height control drives a lifting height for storing a load present on the load carrying means, then the lifting height is approached by a predetermined amount of height higher than during the removal. In one possible embodiment, an operating element for a manual selection for storage or retrieval is formed. In an alternative embodiment, the load bearing means may be configured with a load sensor indicating to the lift height controller whether or not there is a load on the load bearing means. In this case, the lifting height control when starting a lifting height with load approach the corresponding lifting height by the predetermined amount of height higher than when retrieving.
  • the truck according to the invention is designed as a reach truck. In principle, however, it is possible to design any lifting truck that is suitable for approaching different lifting heights according to the invention.
  • the lifting height is detected incrementally during the mast lift.
  • the transition from the free lift to the mast lift serves as reference position for the incremental lifting height detection.
  • the threshold value for the predetermined speed of the load bearing means 60%, preferably 80% of the predetermined speed by the operating element.
  • the threshold be freely specified by a user of the truck. The threshold allows an operator to travel near the desired lift height at maximum speed and then reduce the speed of the load support before reaching the desired lift height and then automatically move the lift height control to the desired lift height.
  • the lifting height control and / or the operating element are equipped with a display that indicates the reaching of the approached lifting height.
  • Fig. 1 shows a schematic view of a reach truck 10 with a fork 12, which is adjustable along a lifting mast 14 in height.
  • the mast 14 may be formed with two or three mast segments, which may also be extended to lift the load bearing means.
  • the reach truck 10 is with its lifting height control (see. Fig. 2 ) arranged to approach the schematically illustrated stacking levels 16, 18, 20, 22 for storing and retrieving loads.
  • the heights of the stack levels are in Fig. 1 shown only as an example.
  • Each stack level is assigned a lifting height in the control, for example, the stack level 16, the lifting height h 16 and the stack level 18, the lifting height h 18 assigned.
  • the lifting heights are set when commissioning the truck, for example, by a service technician and stored in the Hubtownn capitaung.
  • the fork 12 When starting the shelf without load, the fork 12 is automatically moved in the manner to be described below to the corresponding lifting height by the Hubtownn interviewedung. Subsequently, a manual retraction of the fork 12 takes place in the shelf, whereby the fork is driven under the male load, so for example in the male pallet. This is followed by a manual lifting of the load without moving the fork, so that the pallet picked up no longer rests on the shelf. This is followed by a return of the fork 12, so that the pallet is removed from the shelf and can be transported after lowering the fork.
  • a lifting height When approaching a lifting height with load, a lifting height is first approached which is approximately 150 mm higher than the lifting height approached during the removal.
  • the forklift 12 is moved manually into the shelf together with the load thereon and, when the pallet is completely in the rack, manually set down, so that the pallet touches the shelf. After a further lowering of the fork 12, the fork comes free and can be pulled out of the rack and under the load again.
  • the lifting height control according to the invention, only the start of the desired lifting height is automatic, the retraction of the fork 12 in the shelf and the free lifting or lowering of the fork 12 in the shelf is done manually or is supported by a separate assistance system.
  • Fig. 2 shows a control element 24 for the Hub Whyn capitaung.
  • the control element 24 has in its right area panels 26 that can be operated by the driver of the truck.
  • the left area of the operating element 24 is equipped with display elements 28.
  • the panels 30, 32, 34, 36 can be manually selected a storage area in which is currently being worked. Selecting one of the storage area panels will activate the stored lift heights for each storage area in the lift height control.
  • the control panel 38 may be actuated to indicate that a deposit order is in progress.
  • the control panel 40 may be selected to indicate that a swap job is in progress. In the event that the control panel 38 has been operated and the Hubtownn interviewedung is indicated that a storage order is present, the selected lifting height is approached by about 150 mm higher, so that the driver of the truck can settle the load manually on the shelf.
  • the snap-in mode is activated in the Hubtownn capitaung.
  • the lift control automatically starts the first shelf, which is present when the speed drops below a predetermined threshold.
  • Fig. 1 This means that when the fork 12 has been moved, for example, over the height h 18 and the lifting height h 20 for the shelf 20 has not yet exceeded, that when the lifting speed of the fork is lowered, the lifting height control automatically the fork in the stroke height h 20 moves.
  • the lift height control distinguishes whether a storage order or a removal order exists. In the case in which a storage order is present, the shelf 20 is approached by about 150 mm higher than when a removal order 40 is present.
  • the user is shown through the display fields 44 and 46 whether there is a storage or removal order.
  • the display 48 illuminates when the lift required for the job has been reached, d. h., When the target height is reached and can be stored or outsourced.
  • the display 50 indicates to the user the direction to the target height, that is to be raised or lowered.
  • the display 52 indicates to the user which of the storage areas has been selected.
  • the display 54 indicates the absolute lifting height in mm.
  • the display 56 indicates to the user the deviation from the desired lifting height in mm.
  • the next rack height is automatically approached in accordance with the direction of movement of the fork. This means when lifting the fork, that the next higher stack level is approached and when lowering the fork, that the next lower level is approached. If the forklift is above the top stack level, the lift height control will automatically select and approach the top stack level as the desired lift height.

Abstract

The industrial truck (10) comprises a height-adjustable load support unit (12), and a lift height controller for the load support unit, in which multiple predetermined heights are stored for the load support unit. An operating element is provided, which allows a manual adjustment of the lift height of the load support unit with different speed. The lift height controller of the load support unit proceeds from one of the predetermined heights, if the control set speed decreases below a predetermined threshold value for adjusting the load support unit.

Description

Die vorliegende Erfindung betrifft ein Flurförderzeug, insbesondere einen Schubmaststapler, mit einem höhenverstellbaren Lasttragmittel, einer Hubhöhensteuerung für das Lasttragmittel, in der mehrere vorbestimmte Hubhöhen für das Lasttragmittel abgelegt sind.The present invention relates to an industrial truck, in particular a reach truck, with a height-adjustable load supporting means, a lifting height control for the load supporting means, in which a plurality of predetermined lifting heights are stored for the load supporting means.

Aus dem Stand der Technik ist es bekannt, dass ein Anwender eine Hubhöhenvorwahl beim Positionieren eines Lasttragmittels vornehmen kann. Das Lasttragmittel wird gelegentlich auch als Lastaufnahmemittel bezeichnet. Der Anwender kontrolliert direkt den Hub- bzw. dem Stapelvorgang und erhält über eine Anzeige Informationen zur aktuellen Hubhöhe des Lasttragmittels.From the prior art it is known that a user can make a Hubhöhenvorwahl when positioning a load bearing means. The load bearing means is sometimes referred to as load handling equipment. The user directly controls the lifting or stacking process and receives information about the current lifting height of the load carrier via a display.

Bei dem aus dem Stand der Technik bekannten System besteht die Möglichkeit, die anzufahrende Stapelebene durch Eingabe der entsprechenden Zeichenkette und Betätigung einer Taste für das Einlagern oder Auslagern vorzuwählen. In einer Anzeige wird eine Positionierhilfe für das Lasttragmittel angeboten, die beispielsweise bei Annäherung an die gewählte Stapelebene schneller blinkt und die beispielsweise den Hub- oder Senkvorgang des Lasttragmittels automatisch verlangsamt, so dass der Anwender die vorgewählte Stapelebene exakt anfahren kann. Zusätzlich kann bei Annäherung auch die Differenz zum Ziel angezeigt werden.In the known from the prior art system, it is possible to preselect the stack level to be approached by entering the appropriate string and pressing a key for storage or retrieval. In a display, a positioning aid for the load support means is offered, which flashes faster, for example, when approaching the selected stack level and, for example, automatically slows down the lifting or lowering of the load supporting means, so that the user can approach the preselected stack level exactly. In addition, when approaching, the difference to the destination can also be displayed.

Der Erfindung liegt die Aufgabe zugrunde, ein Flurförderzeug mit einem höhenverstellbaren Lasttragmittel bereitzustellen, das in einfacher Weise eine Bedienperson bei dem Anfahren einer gewünschten Hubhöhe unterstützt.The invention has for its object to provide an industrial truck with a height-adjustable load supporting means, which supports in a simple manner an operator when starting a desired lifting height.

Die vorstehende Aufgabe wird durch ein Flurförderzeug mit den Merkmalen aus Anspruch 1 gelöst. Vorteilhafte Ausgestaltungen bilden den Gegenstand der Unteransprüche.The above object is achieved by an industrial truck with the features of claim 1. Advantageous embodiments form the subject of the dependent claims.

Das erfindungsgemäße Flurförderzeug besitzt ein verstellbares Lasttragmittel sowie eine Hubhöhensteuerung für das Lasttragmittel. In der Hubhöhensteuerung sind mehrere vorbestimmte Hubhöhen für das Lasttragmittel abgelegt. Die vorbestimmten Hubhöhen beziehen sich auf die Höhen des Lagers oder der Lagerbereiche, in denen das Flurförderzeug eingesetzt werden soll. Ferner ist das Flurförderzeug mit einer Hubhöhenerfassung für das Lasttragmittel ausgestattet, die einen Ist-Wert der Hubhöhe des Lasttragmittels erfasst und für die Hubhöhensteuerung anzeigt. Weiterhin besitzt das erfindungsgemäße Flurförderzeug ein Bedienelement, das ein manuelles Verstellen der Hubhöhen des Lasttragmittels bei unterschiedlichen Geschwindigkeiten erlaubt. Hierbei ist es möglich, die Geschwindigkeit entweder stufenlos oder in mindestens zwei Stufen vorzugeben, wobei auch ein Bedienelement, das nur eine Ansteuerung mit einer Maximalgeschwindigkeit oder der Geschwindigkeit Null zulässt, ebenfalls ein mögliches Bedienelement für das erfindungsgemäße Flurförderzeug ist. Erfindungsgemäß verfährt die Hubhöhensteuerung das Lasttragmittel auf eine der vorbestimmten Hubhöhen, wenn die von dem Bedienelement vorgegebene Geschwindigkeit zum Verstellen des Lasttragmittels unter einem vorbestimmten Schwellwert liegt. Die Hubhöhensteuerung wählt für die anzufahrende Hubhöhe aus den mehreren vorbestimmten Hubhöhen diejenige Hubhöhe aus, die dem Ist-Wert der Hubhöhe in Bewegungsrichtung des Lasttragmittels am nächsten kommt. Fällt also die vorgegebene Geschwindigkeit zum Verfahren des Lasttragmittels unter den Schwellwert, so wird ausgehend von dem aktuellen Ist-Wert der Hubhöhe diejenige vorbestimmte Hubhöhe von der Hubhöhensteuerung angefahren, die in Bewegungsrichtung des Lasttragmittels als nächste angefahren werden kann. Fachsprachlich kann das Anfahren der in Bewegungsrichtung nächstkommenden Hubhöhe auch als Snap-In" bezeichnet werden.The truck according to the invention has an adjustable load support means and a Hubhöhensteuerung for the load supporting means. In the Hubhöhensteuerung more predetermined lift heights for the load bearing means are stored. The predetermined lifting heights refer to the heights of the bearing or the storage areas in which the truck is to be used. Further, the truck is equipped with a lift height detection for the load supporting means, which detects an actual value of the lift height of the load carrying means and displays for the lift height control. Furthermore, the truck according to the invention has an operating element that allows manual adjustment of the lifting heights of the load bearing means at different speeds. Here, it is possible to specify the speed either continuously or in at least two stages, with a control element that allows only one control with a maximum speed or zero speed, also a possible control element for the truck according to the invention. According to the invention, the lifting height control moves the load carrying means to one of the predetermined lifting heights, when the speed predetermined by the operating element for adjusting the load carrying means is below a predetermined threshold value. The lifting height control selects for the approaching lifting height from the plurality of predetermined lifting heights that lifting height which comes closest to the actual value of the lifting height in the direction of movement of the load-bearing means. Thus, if the predetermined speed for moving the load-bearing means falls below the threshold value, starting from the current actual value of the lifting height, that predetermined lifting height is approached by the lifting height control, which can be approached next in the direction of movement of the load-carrying means. In technical terms, the approach of the closest approach in the direction of travel height can also be referred to as a snap-in ".

In einer bevorzugten Ausgestaltung unterscheidet die Hubhöhensteuerung bei der anzufahrenden Hubhöhe, ob die Hubhöhe für ein Einlagern oder eine Auslagern angefahren wird. Fährt die Hubhöhensteuerung eine Hubhöhe zum Einlagern einer auf dem Lasttragmittel vorhandenen Last an, so wird die Hubhöhe um einen vorbestimmten Höhenbetrag höher als beim Auslagern angefahren. In einer möglichen Ausgestaltung ist ein Bedienelement für eine manuelle Auswahl zum Einlagern oder Auslagern ausgebildet. In einer alternativen Ausgestaltung kann das Lasttragmittel mit einem Lastsensor ausgestaltet sein, der der Hubhöhensteuerung anzeigt, ob sich eine Last auf dem Lasttragmittel befindet oder nicht. In diesem Fall kann die Hubhöhensteuerung beim Anfahren einer Hubhöhe mit Last die entsprechende Hubhöhe um den vorbestimmten Höhenbetrag höher anfahren als beim Auslagern.In a preferred embodiment, the Hubhöhensteuerung differs in the approaching lifting height, whether the lifting height is approached for storage or outsourcing. If the lifting height control drives a lifting height for storing a load present on the load carrying means, then the lifting height is approached by a predetermined amount of height higher than during the removal. In one possible embodiment, an operating element for a manual selection for storage or retrieval is formed. In an alternative embodiment, the load bearing means may be configured with a load sensor indicating to the lift height controller whether or not there is a load on the load bearing means. In this case, the lifting height control when starting a lifting height with load approach the corresponding lifting height by the predetermined amount of height higher than when retrieving.

In einer bevorzugten Ausgestaltung ist das erfindungsgemäße Flurförderzeug als ein Schubmaststapler ausgebildet. Grundsätzlich ist es aber möglich, jedes hebende Flurförderzeug, das geeignet ist, verschiedene Hubhöhen anzufahren, erfindungsgemäß auszugestalten.In a preferred embodiment, the truck according to the invention is designed as a reach truck. In principle, however, it is possible to design any lifting truck that is suitable for approaching different lifting heights according to the invention.

Bevorzugt wird bei einem Schubmaststapler mit Freihub und Masthub die Hubhöhe während des Masthubs inkrementell erfasst. Der Übergang von dem Freihub zum Masthub dient dabei als Referenzlage für die inkrementelle Hubhöhenerfassung.Preferably, in a reach truck with free lift and mast lift the lifting height is detected incrementally during the mast lift. The transition from the free lift to the mast lift serves as reference position for the incremental lifting height detection.

In einer bevorzugten Ausgestaltung ist der Schwellwert für die vorgegebene Geschwindigkeit des Lasttragmittels 60 %, bevorzugt 80 % der durch das Bedienelement vorgegebenen Geschwindigkeit. Bevorzugt kann der Schwellwert durch einen Benutzer des Flurförderzeugs frei vorgegeben werden. Der Schwellwert erlaubt es, dass eine Bedienperson mit maximaler Geschwindigkeit in die Nähe der gewünschten Hubhöhe fahren kann und dann vor Erreichen der gewünschten Hubhöhe die Geschwindigkeit des Lasttragmittels reduziert und dieses dann automatisch durch die Hubhöhensteuerung in die gewünschte Hubhöhe verfahren wird.In a preferred embodiment, the threshold value for the predetermined speed of the load bearing means 60%, preferably 80% of the predetermined speed by the operating element. Preferably, the threshold be freely specified by a user of the truck. The threshold allows an operator to travel near the desired lift height at maximum speed and then reduce the speed of the load support before reaching the desired lift height and then automatically move the lift height control to the desired lift height.

Für die Kontrolle der Hubhöhe sind die Hubhöhensteuerung und/oder das Bedienelement mit einer Anzeige ausgestattet, die das Erreichen der angefahrenen Hubhöhe anzeigt.For the control of the lifting height, the lifting height control and / or the operating element are equipped with a display that indicates the reaching of the approached lifting height.

Die Erfindung wird nachfolgend an einem Ausführungsbeispiel näher erläutert. Es zeigt:

Fig. 1
ein Schubmaststapler vor einem Regal mit unterschiedlichen Stapelebenen in einer schematischen Ansicht von der Seite und
Fig. 2
ein Bedienelement, das eine automatische Anwahl der gewünschten Hubhöhe ermöglicht.
The invention will be explained in more detail using an exemplary embodiment. It shows:
Fig. 1
a reach truck in front of a shelf with different stack levels in a schematic view from the side and
Fig. 2
a control that allows automatic selection of the desired lift height.

Fig. 1 zeigt in einer schematischen Ansicht einen Schubmaststapler 10 mit einer Lastgabel 12, die entlang einem Hubmast 14 in der Höhe verstellbar ist. Wie gewöhnlich kann der Hubmast 14 mit zwei oder drei Mastsegmenten ausgebildet sein, die zum Anheben des Lasttragmittels ebenfalls ausgefahren werden können. Der Schubmaststapler 10 ist mit seiner Hubhöhensteuerung (vgl. Fig. 2) dafür eingerichtet, die schematisch dargestellten Stapelebenen 16, 18, 20, 22 zum Einlagern und Auslagern von Lasten anzufahren. Die Höhen der Stapelebenen sind in Fig. 1 nur beispielhaft dargestellt. Fig. 1 shows a schematic view of a reach truck 10 with a fork 12, which is adjustable along a lifting mast 14 in height. As usual, the mast 14 may be formed with two or three mast segments, which may also be extended to lift the load bearing means. The reach truck 10 is with its lifting height control (see. Fig. 2 ) arranged to approach the schematically illustrated stacking levels 16, 18, 20, 22 for storing and retrieving loads. The heights of the stack levels are in Fig. 1 shown only as an example.

Jeder Stapelebene ist in der Steuerung eine Hubhöhe zugeordnet, so ist beispielsweise der Stapelebene 16 die Hubhöhe h16 und der Stapelebene 18 die Hubhöhe h18 zugeordnet. Die Hubhöhen werden bei der Inbetriebnahme des Flurförderzeugs beispielsweise von einem Servicetechniker eingestellt und in der Hubhöhensteuerung hinterlegt.Each stack level is assigned a lifting height in the control, for example, the stack level 16, the lifting height h 16 and the stack level 18, the lifting height h 18 assigned. The lifting heights are set when commissioning the truck, for example, by a service technician and stored in the Hubhöhensteuerung.

Beim Anfahren des Regals ohne Last wird die Lastgabel 12 in der nachfolgend noch zu beschreibenden Art und Weise auf die entsprechende Hubhöhe automatisch durch die Hubhöhensteuerung verfahren. Nachfolgend erfolgt ein manuelles Einfahren der Lastgabel 12 in das Regal, wodurch die Lastgabel unter die aufzunehmende Last gefahren wird, also beispielsweise in die aufzunehmende Palette. Anschließend erfolgt ohne Verfahren der Lastgabel ein manuelles Freiheben der Last, so dass die aufgenommene Palette nicht länger auf dem Regalboden aufliegt. Nachfolgend erfolgt ein Zurückfahren der Lastgabel 12, so dass die Palette aus dem Regal entfernt wird und nach einem Absenken der Lastgabel transportiert werden kann. Beim Anfahren einer Hubhöhe mit Last wird zunächst eine Hubhöhe angefahren, die ungefähr 150 mm höher ist als die beim Auslagern angefahrene Hubhöhe. Anschließend wird die Lastgabel 12 zusammen mit der darauf befindlichen Last in das Regal manuell hinein gefahren und, wenn die Palette sich vollständig in dem Regal befindet, manuell abgesetzt, so dass die Palette auf dem Regalboden aufsetzt. Nach einem weiteren Absenken der Lastgabel 12 kommt die Lastgabel frei und kann aus dem Regal und unter der Last wieder herausgezogen werden. Bei der erfindungsgemäßen Hubhöhensteuerung erfolgt nur das Anfahren der gewünschten Hubhöhe automatisch, das Einfahren der Lastgabel 12 in das Regal sowie das Freiheben oder Absenken der Lastgabel 12 in dem Regal erfolgt manuell oder wird durch ein gesondertes Assistenzsystem unterstützt.When starting the shelf without load, the fork 12 is automatically moved in the manner to be described below to the corresponding lifting height by the Hubhöhensteuerung. Subsequently, a manual retraction of the fork 12 takes place in the shelf, whereby the fork is driven under the male load, so for example in the male pallet. This is followed by a manual lifting of the load without moving the fork, so that the pallet picked up no longer rests on the shelf. This is followed by a return of the fork 12, so that the pallet is removed from the shelf and can be transported after lowering the fork. When approaching a lifting height with load, a lifting height is first approached which is approximately 150 mm higher than the lifting height approached during the removal. Subsequently, the forklift 12 is moved manually into the shelf together with the load thereon and, when the pallet is completely in the rack, manually set down, so that the pallet touches the shelf. After a further lowering of the fork 12, the fork comes free and can be pulled out of the rack and under the load again. In the lifting height control according to the invention, only the start of the desired lifting height is automatic, the retraction of the fork 12 in the shelf and the free lifting or lowering of the fork 12 in the shelf is done manually or is supported by a separate assistance system.

Fig. 2 zeigt ein Bedienelement 24 für die Hubhöhensteuerung. Das Bedienelement 24 besitzt in seinem rechten Bereich Bedienfelder 26, die durch den Fahrer des Flurförderzeugs betätigt werden können. Der linke Bereich des Bedienelements 24 ist mit Anzeigeelementen 28 ausgestattet. Durch die Bedienfelder 30, 32, 34, 36 kann manuell ein Lagerbereich ausgewählt werden, in dem gerade gearbeitet wird. Durch Auswahl eines der Bedienfelder für den Lagerbereich werden die gespeicherten Hubhöhen für die jeweiligen Lagerbereiche in der Hubhöhensteuerung aktiviert. Das Bedienfeld 38 kann betätigt werden, um anzuzeigen, dass ein Einlagerauftrag vorliegt. Das Bedienfeld 40 kann gewählt werden, um anzuzeigen, dass ein Auslagerauftrag vorliegt. In dem Fall, dass das Bedienfeld 38 betätigt wurde und der Hubhöhensteuerung angezeigt wird, dass ein Einlagerauftrag vorliegt, wird die ausgewählte Hubhöhe um ca. 150 mm höher angefahren, so dass der Fahrer des Flurförderzeugs die Last manuell auf dem Regalboden absetzen kann. Fig. 2 shows a control element 24 for the Hubhöhensteuerung. The control element 24 has in its right area panels 26 that can be operated by the driver of the truck. The left area of the operating element 24 is equipped with display elements 28. By the panels 30, 32, 34, 36 can be manually selected a storage area in which is currently being worked. Selecting one of the storage area panels will activate the stored lift heights for each storage area in the lift height control. The control panel 38 may be actuated to indicate that a deposit order is in progress. The control panel 40 may be selected to indicate that a swap job is in progress. In the event that the control panel 38 has been operated and the Hubhöhensteuerung is indicated that a storage order is present, the selected lifting height is approached by about 150 mm higher, so that the driver of the truck can settle the load manually on the shelf.

Durch das Bedienelement 42 wird der Snap-In-Modus bei der Hubhöhensteuerung aktiviert. In diesem Modus wird von der Hubsteuerung selbstständig der erste Regalboden angefahren, der vorliegt, wenn die Geschwindigkeit unter einen vorbestimmten Schwellwert sinkt. Mit Bezug auf Fig. 1 bedeutet dies, dass wenn die Lastgabel 12 beispielsweise über die Höhe h18 gefahren wurde und die Hubhöhe h20 für das Regal 20 noch nicht überschritten hat, dass dann, wenn die Hubgeschwindigkeit der Lastgabel abgesenkt wird, die Hubhöhensteuerung automatisch die Lastgabel in die Hubhöhe h20 verfährt. Hierbei unterscheidet die Hubhöhensteuerung, ob ein Einlagerauftrag oder ein Auslagerauftrag vorliegt. In dem Fall, in dem ein Einlagerauftrag vorliegt, wird das Regal 20 um ungefähr 150 mm höher angefahren als wenn ein Auslagerauftrag 40 vorliegt.By the control element 42, the snap-in mode is activated in the Hubhöhensteuerung. In this mode, the lift control automatically starts the first shelf, which is present when the speed drops below a predetermined threshold. Regarding Fig. 1 This means that when the fork 12 has been moved, for example, over the height h 18 and the lifting height h 20 for the shelf 20 has not yet exceeded, that when the lifting speed of the fork is lowered, the lifting height control automatically the fork in the stroke height h 20 moves. In this case, the lift height control distinguishes whether a storage order or a removal order exists. In the case in which a storage order is present, the shelf 20 is approached by about 150 mm higher than when a removal order 40 is present.

In dem Anzeigefeld 28 wird dem Benutzer durch die Anzeigenfelder 44 und 46 angezeigt, ob ein Einlager- oder Auslagerauftrag vorliegt. Das Anzeigenfeld 48 leuchtet auf, wenn die für den Auftrag erforderliche Hubhöhe erreicht wurde, d. h.,wenn die Zielhöhe erreicht ist und eingelagert bzw. ausgelagert werden kann. Die Anzeige 50 zeigt dem Benutzer die Richtung zur Zielhöhe an, dass also gehoben oder abgesenkt werden soll.In the display field 28, the user is shown through the display fields 44 and 46 whether there is a storage or removal order. The display 48 illuminates when the lift required for the job has been reached, d. h., When the target height is reached and can be stored or outsourced. The display 50 indicates to the user the direction to the target height, that is to be raised or lowered.

Die Anzeige 52 zeigt dem Benutzer an, welcher der Lagerbereiche ausgewählt wurde. Die Anzeige 54 zeigt die absolute Hubhöhe in mm an. Die Anzeige 56 zeigt dem Benutzer die Abweichung von der gewünschten Hubhöhe in mm an.The display 52 indicates to the user which of the storage areas has been selected. The display 54 indicates the absolute lifting height in mm. The display 56 indicates to the user the deviation from the desired lifting height in mm.

Ist das Betätigungsfeld 42 für den Snap-In-Modus betätigt, wird entsprechend der Bewegungsrichtung der Lastgabel die nächste Regalhöhe automatisch angefahren. Dies bedeutet beim Heben der Lastgabel, dass die nächst höhere Stapelebene angefahren wird und beim Senken der Lastgabel, dass die nächst niedrigere Ebene angefahren wird. Sollte die Lastgabel sich oberhalb der obersten Stapelebene befinden, so sieht die Hubhöhensteuerung vor, dass automatisch die oberste Stapelebene als gewünschte Hubhöhe ausgewählt und angefahren wird.If the operating field 42 is actuated for the snap-in mode, the next rack height is automatically approached in accordance with the direction of movement of the fork. This means when lifting the fork, that the next higher stack level is approached and when lowering the fork, that the next lower level is approached. If the forklift is above the top stack level, the lift height control will automatically select and approach the top stack level as the desired lift height.

Claims (9)

Flurförderzeug mit einem höhenverstellbaren Lasttragmittel, einer Hubhöhensteuerung für das Lasttragmittel, in der mehrere vorbestimmte Hubhöhen für das Lasttragmittel abgelegt sind, einer Hubhöhenerfassung für das Lasttragmittel, die einen Ist-Wert der Hubhöhe des Lasttragmittels erfasst und für die Hubhöhensteuerung bereitstellt, und einem Bedienelement, das ein manuelles Verstellen der Hubhöhe des Lasttragmittels mit unterschiedlichen Geschwindigkeiten erlaubt,
dadurch gekennzeichnet, dass
die Hubhöhensteuerung das Lasttragmittel auf eine der vorbestimmten Hubhöhen verfährt, wenn die von dem Bedienelement vorgegebene Geschwindigkeit zum Verstellen des Lasttragmittels unter einen vorbestimmten Schwellwert sinkt, wobei die von der Hubhöhensteuerung angefahrene Hubhöhe der Hubhöhe von den vorbestimmten Hubhöhen entspricht, die dem Ist-Wert der Hubhöhe in Bewegungsrichtung des Lasttragmittels am nächsten kommt.Truck with a height-adjustable load support means, a Hubhöhensteuerung for the load support, are stored in the predetermined predetermined lift heights for the load supporting means, a Hubhöhenerfassung for the load supporting means, which detects an actual value of the lifting height of the load supporting means and provides the Hubhöhensteuerung, and a control element, the allowing manual adjustment of the lifting height of the load support at different speeds,
characterized in that
the lifting height control moves the load supporting means to one of the predetermined lifting heights, when the speed preset by the operating element for adjusting the load bearing means drops below a predetermined threshold, the lifting height approached by the lifting height control corresponding to the lifting height of the predetermined lifting heights corresponding to the actual value of the lifting height comes closest in the direction of movement of the load support. Flurförderzeug nach Anspruch 1, dadurch gekennzeichnet, dass die von der Hubhöhensteuerung angefahrene Hubhöhe bei einem Einlagern um einen vorbestimmten Höhenbetrag höher als beim Auslagern ist.Truck according to claim 1, characterized in that the stroke height approached by the Hubhöhensteuerung is higher at a storage by a predetermined amount of height than when retrieving. Flurförderzeug nach Anspruch 2, dadurch gekennzeichnet, dass das Bedienelement eine manuelle Auswahl erlaubt, ob mit dem Lasttragmittel ein Einlagern oder ein Auslagern erfolgen soll.Truck according to claim 2, characterized in that the operating element allows a manual selection, whether with the load carrying means a storage or outsourcing should take place. Flurförderzeug nach Anspruch 2 oder 3, dadurch gekennzeichnet, dass ein Lastsensor vorgesehen ist, der der Hubhöhensteuerung anzeigt, ob sich eine Last auf dem Lasttragmittel befindet oder nicht, und die Hubhöhensteuerung beim Anfahren mit Last die Hubhöhe für ein Einlagern anfährt.Truck according to claim 2 or 3, characterized in that a load sensor is provided, which indicates the Hubhöhensteuerung if a Load on the load carrier is or not, and the lift height control when starting with load the lifting height for a storage anfährt. Flurförderzeug nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass als Flurförderzeug ein Schubmaststapler vorgesehen ist.Truck according to one of claims 1 to 4, characterized in that a reach truck is provided as an industrial truck. Flurförderzeug nach Anspruch 5, dadurch gekennzeichnet, dass die Hubhöhenerfassung bei einem Masthub inkrementell die Hubhöhe erfasst.Truck according to claim 5, characterized in that the lifting height detection detects the lifting height incrementally in a mast lift. Flurförderzeug nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass der Schwellwert für die vorgegebene Geschwindigkeit des Lasttragmittels 60 %, bevorzugt 80 % der durch das Bedienelement vorgegebenen Geschwindigkeit des Lasttragmittels beträgt.Truck according to one of claims 1 to 6, characterized in that the threshold value for the predetermined speed of the load bearing means is 60%, preferably 80% of the predetermined by the operating element speed of the load supporting means. Flurförderzeug nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, dass der Schwellwert für die vorgegebene Geschwindigkeit durch einen Benutzer einstellbar ist.Truck according to one of claims 1 to 7, characterized in that the threshold value for the predetermined speed is adjustable by a user. Flurförderzeug nach einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, dass die Hubhöhensteuerung und/oder das Bedienelement eine Anzeige aufweist, die das Erreichen der angefahrenen Hubhöhe anzeigt.Truck according to one of claims 1 to 8, characterized in that the lifting height control and / or the operating element has a display indicating the reaching of the approached lifting height.
EP11007894A 2010-10-07 2011-09-29 Industrial truck with a height-adjustable load carrying device Active EP2439165B1 (en)

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Also Published As

Publication number Publication date
EP2439165B1 (en) 2012-10-24
US20120089305A1 (en) 2012-04-12
US8521373B2 (en) 2013-08-27
CN102530776B (en) 2016-08-17
CN102530776A (en) 2012-07-04
DE102010048662A1 (en) 2012-04-12

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