EP2450305B1 - Industrial truck with deformation sensor in tilt cylinder - Google Patents

Industrial truck with deformation sensor in tilt cylinder Download PDF

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Publication number
EP2450305B1
EP2450305B1 EP11008401.9A EP11008401A EP2450305B1 EP 2450305 B1 EP2450305 B1 EP 2450305B1 EP 11008401 A EP11008401 A EP 11008401A EP 2450305 B1 EP2450305 B1 EP 2450305B1
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EP
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Prior art keywords
inclination
industrial truck
lifting frame
cylinder
fastening means
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EP11008401.9A
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German (de)
French (fr)
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EP2450305A1 (en
Inventor
Hendrik Geilsdorf
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Jungheinrich AG
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Jungheinrich AG
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/08—Masts; Guides; Chains
    • B66F9/082—Masts; Guides; Chains inclinable
    • 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 invention relates to an industrial truck according to the preamble of patent claim 1.
  • the task of industrial trucks is, inter alia, the transport of loads whose load center is usually outside of the footprint spanned by the vehicle contact points.
  • a counterweight is used which, in a defined load range, ensures that at least the overall center of gravity of the vehicle and the load lies within the contact area and the vehicle is correspondingly stable.
  • Picking up loads that are too heavy or picking up loads with the center of gravity too far from the vehicle can endanger the stability of the truck.
  • dynamic processes such as braking or reverse acceleration with a raised load, the risk of the vehicle tipping over its front axle is very high.
  • the invention has for its object to provide an industrial truck, in which a load torque can be determined in a simple manner.
  • the truck according to the invention has a drive part and a load part, which in turn has a mast pivotable about a tilting mast and arranged on the mast load bearing means.
  • An inclination of the mast ie a pivoting of the mast away from the drive part or towards this, is adjustable by means of at least one tilting cylinder having at a front end fastening means for connection to the mast and at a rear end fastening means for connection to the drive part.
  • At least one of the fastening means has at least one deformation sensor for measuring a force acting on the tilting cylinder.
  • an evaluation unit is provided, against which the value for the measured force is applied, and which determines a load moment acting on the tilting axis from the measured force and a distance X N between the tilting cylinder and the tilting axis.
  • the force transmitted by the tilting cylinder is measured by means of deformation sensors in the region of the fastening means of the tilting cylinder.
  • the force measured at this location depends exclusively on the load torque and thus very accurately.
  • the measurement results are independent of a lateral bending of the mast. Nonlinear effects such as cylinder friction also have no influence on the measurement.
  • the deformation sensor is a press-fit sensor.
  • Press-fit sensors serve to detect deformations of loaded machine parts.
  • a sensor type with a cylindrical outer contour is used, which is pressed to detect the strain in a bore in the component to be monitored. This can be introduced due to its small footprint at almost any suitable location in a hole to be provided in the fastener. Thereafter, the component provided with the press-fit sensor can be further processed in the normal production flow.
  • This principle can be easily transferred to other trucks with tilting cylinders, regardless of whether they are three- or four-wheeled counterbalanced trucks or reach trucks, regardless of the remaining body of the truck.
  • the value determined according to the invention for the load torque can be displayed to the driver as information or used as a basis for corresponding protective measures (eg reduction of the speed, reduction of the maximum mast tilt and / or the lifting height).
  • the fastening means of the at least one tilting cylinder are each formed by a fork and / or an eye.
  • the fork corresponds to at least two parallel eyes.
  • the fastening means on a bolt by means of which the fastening means with the vehicle compartment or with the mast are connectable.
  • the attachment means in the form of eyes or forks with corresponding bolts are particularly easy to solve for maintenance purposes.
  • Each tilting cylinder preferably has at least one deformation sensor.
  • two hydraulic tilting cylinders are provided, which are hydraulically short-circuited. Parasitic effects, for example by lateral accelerations are thereby suppressed. Thus, the same force is transmitted from each tilt cylinder.
  • the distance between tilt cylinder and tilt axis changes slightly.
  • an average value for the distance for determining the load torque is used.
  • the distance is determined from a measured inclination of the mast.
  • a proximity switch is provided in the truck, which has a predetermined inclination of the mast, e.g. when the mast is in a vertical position, detected.
  • the distance between tilting cylinder and tilting axis is known for the given inclination and stored in a memory of the evaluation unit.
  • tilt cylinder 20 has a cylinder tube 22, a piston rod 24, a cylinder bottom 26 and line connections 28 for hydraulic fluid.
  • a fastening means 30 is provided in the form of a front fork 32.
  • the front fork 32 is bolted to the piston rod 24 and has a first piston rod eye 31 and a second piston rod eye 33 arranged parallel thereto, wherein the eyes 31, 33 are circular bores in a substantially semicircular component.
  • the piston rod eyes 31, 33 have a common central axis, which runs perpendicular to the longitudinal axis of the piston rod 24. Between the piston rod eyes 31, 33, an unillustrated eye of a mast 12 of an industrial truck 10 can be arranged.
  • a bolt 39 of the tilting cylinder can be connected at its front end 21 to the mast 12 of the truck 10.
  • a fastening means 30 is provided in the form of a rear fork 36.
  • the rear fork 36 has a first rear eye 35 and a second rear eye 37 arranged parallel thereto.
  • the rear eyes 35, 37 are circular holes in a substantially semicircular member and have a common central axis which is perpendicular to the longitudinal axis of the piston rod 24.
  • the tilting cylinder can be connected at its rear end 29 via an unillustrated eye of a drive part 11 of the truck 10 with this.
  • At least one of the two bolts 39 can be replaced by a load measuring pin or force measuring pin.
  • the force measuring bolt assumes the function of the usual connecting bolt 39 between force-transmitting machine elements, ie the mast 12 and the tilting cylinder 20 and the tilting cylinder 20 and the drive member 11 of the truck 10.
  • Such, known per se load measuring bolt is a bolt, a simultaneous measurement of allows tensile and compressive forces acting at this point.
  • press-fit sensors are provided instead of load-measuring bolts.
  • a bore, not shown is then provided, which receives the press-in sensor.
  • This hole for the press-fit is not to be confused with the much larger eyes 31, 33, 35, 37 in the forks 32, 36.
  • the hole for the press-fit sensor may be parallel to the eyes 31, 33, 35, 37 or perpendicular to them ,
  • the mast 12 is movably connected via the tilting cylinder 20 with the drive part 11 of the truck 10.
  • the mast 12 is articulated on a tilting axis 16, which in turn is fixedly connected to the drive part of the truck 10.
  • the mast 12 can be pivoted about the tilting axis 16 by means of the tilting cylinder 20.
  • the mast 12 of a in Fig. 2 shown vertical position on the drive member 11 to, or inclined away from him.
  • a load supporting means 14 for example in the form of Hubgabeln
  • a force is obtained which acts on the tilting cylinder 20 of the industrial truck 10. Furthermore, a distance X N between tilting cylinder 20 and tilting axis 16 is known. The distance X N can be determined from a measured inclination of the mast 12 trigonometrically. The distance X N can already be stored as a function of the mast tilt in the evaluation. From this distance and the measured force can be determined via an outer product acting on the tilting axis 16 Lastmoment. This load torque can now be displayed or used as a basis for appropriate protective measures.

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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)
  • Forklifts And Lifting Vehicles (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Description

Die Erfindung bezieht sich auf ein Flurförderzeug nach dem Oberbegriff des Patentanspruchs 1.The invention relates to an industrial truck according to the preamble of patent claim 1.

Die Aufgabe von Flurförderzeugen ist unter anderem der Transport von Lasten, deren Lastschwerpunkt in der Regel außerhalb der durch die Fahrzeugaufstandspunkte aufgespannten Aufstandsfläche liegt. Als Ausgleich hierfür wird dann ein Gegengewicht verwendet, das in einem definierten Lastbereich dafür sorgt, dass zumindest der Gesamtschwerpunkt von Fahrzeug und Last innerhalb der Aufstandsfläche liegt und das Fahrzeug dementsprechend stabil steht. Die Aufnahme zu großer Lasten oder die Aufnahme von Lasten mit zu weit vom Fahrzeug entfernt liegendem Schwerpunkt können die Standsicherheit des Flurförderzeuges gefährden. Bei dynamischen Vorgängen wie Bremsen oder Rückwärtsbeschleunigen bei angehobener Last ist das Risiko eines Kippens des Fahrzeuges über seine Forderachse sehr hoch.The task of industrial trucks is, inter alia, the transport of loads whose load center is usually outside of the footprint spanned by the vehicle contact points. In order to compensate for this, a counterweight is used which, in a defined load range, ensures that at least the overall center of gravity of the vehicle and the load lies within the contact area and the vehicle is correspondingly stable. Picking up loads that are too heavy or picking up loads with the center of gravity too far from the vehicle can endanger the stability of the truck. During dynamic processes such as braking or reverse acceleration with a raised load, the risk of the vehicle tipping over its front axle is very high.

Um ein Kippen eines Flurförderzeuges zu verhindern, ist es bekannt, den Lastschwerpunkt bzw. das für das Kippen verantwortliche Lastmoment zu bestimmen, um den Fahrer zu warnen oder eine Steuerung anzusprechen, die eine zulässige Beschleunigung, Verzögerung oder Mastneigung begrenzt.In order to prevent a truck from tilting, it is known to determine the load center or the load moment responsible for the tilting in order to warn the driver or to address a controller which limits an admissible acceleration, deceleration or mast tilt.

Aus DE 10 2008 035 574 A1 ist bekannt, den Lastschwerpunkt einer auf einem Lastaufnahmemittel eines Flurförderzeugs befindlichen Last zu bestimmen, wobei durch Bestimmen des Druckes in einem Neigezylinder des Fahrzeugs das Lastgewicht und der Schwerpunktsabstand der Last berechnet werden. Hierbei kann die Messung durch nichtlineare Effekte wie beispielsweise die Zylinderreibung beeinflusst werden.Out DE 10 2008 035 574 A1 It is known to determine the load center of a load on a load-carrying means of a truck, wherein the load weight and the center of gravity distance of the load are calculated by determining the pressure in a tilting cylinder of the vehicle. Here, the measurement can be influenced by non-linear effects such as cylinder friction.

Aus der DE 103 04 658 A1 ist eine Einrichtung zur Steuerung der Fahrstabilität eines Flurförderzeugs und ein Verfahren zur Ansteuerung eines Flurförderzeugs bekannt geworden, bei dem über eine Sensorik die Last, die Neigung eines Mastes und eines Hubgerüstes, die Hubhöhe der Last, die auf den Mast wirkenden Kippkräfte sowie die in Längs- und Querrichtung auf das Fahrzeug wirkende Beschleunigung erfasst und mit vorgegebenen Grenzwerten verglichen werden. Diese vom Fahrzustand abhängigen Grenzwerte können vom Fahrer willkürlich nicht überschritten werden, so dass die Kippstabilität des Fahrzeugs in der Regel unabhängig vom Fahrzustand im stabilen Bereich bleibt.From the DE 103 04 658 A1 is a device for controlling the stability of an industrial truck and a method for controlling a truck has become known in which a sensor, the load, the inclination of a mast and a mast, the lifting height of the load acting on the mast tilting forces as well as in longitudinal - And transverse direction acting on the vehicle acceleration detected and compared with predetermined limits. These limit values, which are dependent on the driving state, can not be arbitrarily exceeded by the driver, with the result that the tilting stability of the vehicle generally remains in the stable range, regardless of the driving state.

Es sind auch andere Methoden bekannt, das Lastmoment zu bestimmen. Bei einer Hinterachse oder einem Hinterrad des Flurförderzeugs kann die Aufstandskraft bestimmt und daraus auf das anliegende Lastmoment geschlossen werden. Hierbei kann ein sich durch elastische Verformung aufgrund des anliegenden Lastmoments verändernder Abstand gemessen werden. Auch Radlastsensoren sind bekannt.Other methods are known for determining the load torque. In a rear axle or a rear wheel of the truck, the contact force can be determined and concluded from there to the applied load torque. Here, a variable by elastic deformation due to the applied load torque distance can be measured. Wheel load sensors are also known.

Die bekannten Prinzipien sind aufwendig zu realisieren und somit teuer in der Produktion. Nichtlineare Effekte wie Reibung oder parasitäre Kraftflussverläufe verursachen Ungenauigkeiten.The known principles are complicated to implement and thus expensive in production. Non-linear effects such as friction or parasitic force fluxes cause inaccuracies.

Der Erfindung liegt die Aufgabe zugrunde, ein Flurförderzeug bereitzustellen, bei dem ein Lastmoment auf einfache Weise bestimmbar ist.The invention has for its object to provide an industrial truck, in which a load torque can be determined in a simple manner.

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

Das erfindungsgemäße Flurförderzeug weist ein Antriebsteil und ein Lastteil auf, das wiederum ein um eine Neigeachse schwenkbares Hubgerüst und ein an dem Hubgerüst angeordnetes Lasttragmittel aufweist. Eine Neigung des Hubgerüstes, d.h. ein Schwenken des Hubgerüstes von dem Antriebsteil weg oder auf dieses zu, ist mittels mindestens eines Neigezylinders einstellbar, der an einem vorderen Ende Befestigungsmittel zur Verbindung mit dem Hubgerüst und an einem hinteren Ende Befestigungsmittel zur Verbindung mit dem Antriebsteil aufweist. Mindestens eines der Befestigungsmittel weist mindestens einen Verformungssensor zur Messung einer auf den Neigezylinder wirkenden Kraft auf. Ferner ist eine Auswerteeinheit vorgesehen, an der der Wert für die gemessene Kraft anliegt und die aus der gemessenen Kraft und einem Abstand XN zwischen Neigezylinder und Neigeachse ein auf die Neigeachse wirkendes Lastmoment bestimmt.The truck according to the invention has a drive part and a load part, which in turn has a mast pivotable about a tilting mast and arranged on the mast load bearing means. An inclination of the mast, ie a pivoting of the mast away from the drive part or towards this, is adjustable by means of at least one tilting cylinder having at a front end fastening means for connection to the mast and at a rear end fastening means for connection to the drive part. At least one of the fastening means has at least one deformation sensor for measuring a force acting on the tilting cylinder. Furthermore, an evaluation unit is provided, against which the value for the measured force is applied, and which determines a load moment acting on the tilting axis from the measured force and a distance X N between the tilting cylinder and the tilting axis.

Bei der erfindungsgemäßen Lösung wird die durch den Neigezylinder übertragene Kraft mittels Verformungssensoren im Bereich der Befestigungsmittel des Neigezylinders gemessen. Die an diesem Ort gemessene Kraft ist ausschließlich abhängig vom Lastmoment und somit sehr genau. Insbesondere sind die Messergebnisse unabhängig von einer seitlichen Verbiegung des Hubgerüstes. Auch nichtlineare Effekte wie beispielsweise die Zylinderreibung haben keinen Einfluss auf die Messung.In the solution according to the invention, the force transmitted by the tilting cylinder is measured by means of deformation sensors in the region of the fastening means of the tilting cylinder. The force measured at this location depends exclusively on the load torque and thus very accurately. In particular, the measurement results are independent of a lateral bending of the mast. Nonlinear effects such as cylinder friction also have no influence on the measurement.

Bei der Erfindung ist der Verformungssensor ein Einpresssensor. Einpresssensoren dienen der Erfassung von Verformungen belasteter Maschinenteile. Hierbei kommt beispielsweise ein Sensortyp mit einer zylindrischen Außenkontur zum Einsatz, der zur Erfassung der Dehnung in eine Bohrung in das zu überwachende Bauteil eingepresst wird. Dieser kann aufgrund seines geringen Platzbedarfs an nahezu beliebiger geeigneter Stelle in eine dafür vorzusehende Bohrung in dem Befestigungsmittel eingeführt werden. Danach kann das mit dem Einpress-Sensor versehene Bauteil im normalen Fertigungsfluss weiterverarbeitet werden.In the invention, the deformation sensor is a press-fit sensor. Press-fit sensors serve to detect deformations of loaded machine parts. In this case, for example, a sensor type with a cylindrical outer contour is used, which is pressed to detect the strain in a bore in the component to be monitored. This can be introduced due to its small footprint at almost any suitable location in a hole to be provided in the fastener. Thereafter, the component provided with the press-fit sensor can be further processed in the normal production flow.

Dieses Prinzip kann unabhängig vom restlichen Aufbau des Flurförderzeugs sehr leicht auf andere Flurförderzeuge mit Neigezylindern übertragen werden, ganz gleich ob es sich um drei- oder vierrädrige Gegengewichtsstapler oder Schubmaststapler handelt.This principle can be easily transferred to other trucks with tilting cylinders, regardless of whether they are three- or four-wheeled counterbalanced trucks or reach trucks, regardless of the remaining body of the truck.

Weitere Vorteile der erfindungsgemäßen Lösung sind der robuste Aufbau und die kostengünstige Fertigung and Anbringung der Sensoren. Ein Austausch der Sensorik ist mit nur geringem Aufwand möglich. Auch eine redundante Anordnung der Sensoren ist problemlos möglich.Further advantages of the solution according to the invention are the robust construction and the cost-effective production and mounting of the sensors. An exchange of sensors is possible with little effort. Even a redundant arrangement of the sensors is easily possible.

Der erfindungsgemäß bestimmte Wert für das Lastmoment kann dem Fahrer als Information angezeigt oder als Basis für entsprechende Schutzmaßnahmen (z.B. Reduktion der Geschwindigkeit, Verringerung der maximalen Mastneigung und/oder der Hubhöhe) verwendet werden.The value determined according to the invention for the load torque can be displayed to the driver as information or used as a basis for corresponding protective measures (eg reduction of the speed, reduction of the maximum mast tilt and / or the lifting height).

Bevorzugt sind die Befestigungsmittel des mindestens einen Neigezylinders von jeweils einer Gabel und/oder einem Auge gebildet. Die Gabel entspricht mindestens zwei parallel angeordneten Augen. Bevorzugt weisen die Befestigungsmittel einen Bolzen auf, mittels dessen die Befestigungsmittel mit der Fahrzeugzelle bzw. mit dem Hubgerüst verbindbar sind. Die Befestigungsmittel in Form von Augen oder Gabeln mit entsprechenden Bolzen sind besonders einfach zu Wartungszwecken lösbar.Preferably, the fastening means of the at least one tilting cylinder are each formed by a fork and / or an eye. The fork corresponds to at least two parallel eyes. Preferably, the fastening means on a bolt, by means of which the fastening means with the vehicle compartment or with the mast are connectable. The attachment means in the form of eyes or forks with corresponding bolts are particularly easy to solve for maintenance purposes.

Bevorzugt weist jeder Neigezylinder mindestens einen Verformungssensor auf.Each tilting cylinder preferably has at least one deformation sensor.

Bei einer Ausgestaltung der Erfindung sind zwei hydraulische Neigezylinder vorgesehen, die hydraulisch kurzgeschlossen sind. Parasitäre Effekte, beispielsweise durch Querbeschleunigungen, werden dadurch unterdrückt. Somit wird von jedem Neigezylinder die gleiche Kraft übertragen.In one embodiment of the invention, two hydraulic tilting cylinders are provided, which are hydraulically short-circuited. Parasitic effects, for example by lateral accelerations are thereby suppressed. Thus, the same force is transmitted from each tilt cylinder.

Bei einer Neigung des Hubgerüsts ändert sich der Abstand zwischen Neigezylinder und Neigeachse geringfügig. In einer Ausgestaltung der Erfindung wird ein Mittelwert für den Abstand zur Bestimmung des Lastmomentes herangezogen. In einer alternativen Ausgestaltung wird der Abstand aus einer gemessenen Neigung des Hubgerüstes bestimmt. In einer weiteren möglichen Ausgestaltung ist in dem Flurförderzeug ein Näherungsschalter vorgesehen, der eine vorgegebene Neigung des Hubgerüsts, z.B. wenn das Hubgerüst in einer senkrechten Position ist, erfasst. Der Abstand zwischen Neigezylinder und Neigeachse ist für die vorgegebene Neigung bekannt und in einem Speicher der Auswerteeinheit hinterlegt. So wird die Bestimmung des Lastmomentes durchgeführt, wenn die zu dem bekannten Abstand zugehörige Hubgerüstneigung erreicht ist.With a tilt of the mast, the distance between tilt cylinder and tilt axis changes slightly. In one embodiment of the invention, an average value for the distance for determining the load torque is used. In an alternative embodiment, the distance is determined from a measured inclination of the mast. In a further possible embodiment, a proximity switch is provided in the truck, which has a predetermined inclination of the mast, e.g. when the mast is in a vertical position, detected. The distance between tilting cylinder and tilting axis is known for the given inclination and stored in a memory of the evaluation unit. Thus, the determination of the load torque is performed when the associated to the known distance mast tilt is reached.

Ausführungsbeispiele der Erfindung werden nachfolgend anhand von Zeichnungen näher erläutert.

Fig. 1
zeigt perspektivisch einen Neigezylinder eines Flurförderzeugs nach der Erfindung.
Fig. 2
zeigt schematisch ein Flurförderzeug nach der Erfindung.
Embodiments of the invention will be explained in more detail with reference to drawings.
Fig. 1
shows in perspective a tilting cylinder of a truck according to the invention.
Fig. 2
schematically shows a truck according to the invention.

Der in Fig. 1 dargestellte Neigezylinder 20 weist ein Zylinderrohr 22, eine Kolbenstange 24, einen Zylinderboden 26 sowie Leitungsanschlüsse 28 für Hydraulikflüssigkeit auf. An einem der Kolbenstange 24 zugeordneten vorderen Ende 21 des Neigezylinders 20 ist ein Befestigungsmittel 30 in Form einer vorderen Gabel 32 vorgesehen. Die vordere Gabel 32 ist mit der Kolbenstange 24 verschraubt und weist ein erstes Kolbenstangenauge 31 sowie ein dazu parallel angeordnetes zweites Kolbenstangenauge 33 auf, wobei die Augen 31, 33 Kreisbohrungen in einem im Wesentlichen halbkreisförmigen Bauteil sind. Die Kolbenstangenaugen 31, 33 weisen eine gemeinsame zentrale Achse auf, die senkrecht zur Längsachse der Kolbenstange 24 verläuft. Zwischen den Kolbenstangenaugen 31, 33 kann ein nicht dargestelltes Auge eines Hubgerüstes 12 eines Flurförderzeugs 10 angeordnet werden. Somit kann mittels eines Bolzens 39 der Neigezylinder an seinem vorderen Ende 21 mit dem Hubgerüst 12 des Flurförderzeugs 10 verbunden werden.The in Fig. 1 shown tilt cylinder 20 has a cylinder tube 22, a piston rod 24, a cylinder bottom 26 and line connections 28 for hydraulic fluid. At one of the piston rod 24 associated with the front end 21 of the tilting cylinder 20, a fastening means 30 is provided in the form of a front fork 32. The front fork 32 is bolted to the piston rod 24 and has a first piston rod eye 31 and a second piston rod eye 33 arranged parallel thereto, wherein the eyes 31, 33 are circular bores in a substantially semicircular component. The piston rod eyes 31, 33 have a common central axis, which runs perpendicular to the longitudinal axis of the piston rod 24. Between the piston rod eyes 31, 33, an unillustrated eye of a mast 12 of an industrial truck 10 can be arranged. Thus, by means of a bolt 39 of the tilting cylinder can be connected at its front end 21 to the mast 12 of the truck 10.

An einem dem Zylinderboden 26 zugeordneten hinteren Ende 29 des Neigezylinders 20 ist ein Befestigungsmittel 30 in Form einer hinteren Gabel 36 vorgesehen. Die hintere Gabel 36 weist ein erstes hinteres Auge 35 sowie ein dazu parallel angeordnetes zweites hinteres Auge 37 auf. Auch die hinteren Augen 35, 37 sind Kreisbohrungen in einem im Wesentlichen halbkreisförmigen Bauteil und weisen eine gemeinsame zentrale Achse auf, die senkrecht zur Längsachse der Kolbenstange 24 verläuft. Mittels eines Bolzens 39 kann der Neigezylinder an seinem hinteren Ende 29 über ein nicht dargestelltes Auge eines Antriebsteils 11 des Flurförderzeugs 10 mit diesem verbunden werden.At a the cylinder bottom 26 associated rear end 29 of the tilting cylinder 20, a fastening means 30 is provided in the form of a rear fork 36. The rear fork 36 has a first rear eye 35 and a second rear eye 37 arranged parallel thereto. The rear eyes 35, 37 are circular holes in a substantially semicircular member and have a common central axis which is perpendicular to the longitudinal axis of the piston rod 24. By means of a bolt 39, the tilting cylinder can be connected at its rear end 29 via an unillustrated eye of a drive part 11 of the truck 10 with this.

Mindestens einer der beiden Bolzen 39 kann durch einen Lastmessbolzen bzw. Kraftmessbolzen ersetzt sein. Der Kraftmessbolzen übernimmt die Funktion des üblichen Verbindungsbolzens 39 zwischen kraftübertragenden Maschinenelementen, d.h. dem Hubgerüst 12 und dem Neigezylinder 20 bzw. dem Neigezylinder 20 und dem Antriebsteil 11 des Flurförderzeugs 10. Ein solcher, an sich bekannter Lastmessbolzen ist ein Bolzen, der eine gleichzeitige Messung der an dieser Stelle wirkenden Zug- und Druckkräfte ermöglicht.At least one of the two bolts 39 can be replaced by a load measuring pin or force measuring pin. The force measuring bolt assumes the function of the usual connecting bolt 39 between force-transmitting machine elements, ie the mast 12 and the tilting cylinder 20 and the tilting cylinder 20 and the drive member 11 of the truck 10. Such, known per se load measuring bolt is a bolt, a simultaneous measurement of allows tensile and compressive forces acting at this point.

Erfindungsgemäß sind anstelle von Lastmessbolzen Einpresssensoren vorgesehen. In mindestens eine Gabel 32, 36 des Neigezylinders 20 wird dann eine nicht dargestellte Bohrung vorgesehen, die den Einpresssensor aufnimmt. Diese Bohrung für den Einpresssensor ist nicht zu verwechseln mit den wesentlich größeren Augen 31, 33, 35, 37 in den Gabeln 32, 36. Die Bohrung für den Einpresssensor kann parallel zu den Augen 31, 33, 35, 37 oder senkrecht zu ihnen verlaufen.In accordance with the invention, press-fit sensors are provided instead of load-measuring bolts. In at least one fork 32, 36 of the tilting cylinder 20, a bore, not shown, is then provided, which receives the press-in sensor. This hole for the press-fit is not to be confused with the much larger eyes 31, 33, 35, 37 in the forks 32, 36. The hole for the press-fit sensor may be parallel to the eyes 31, 33, 35, 37 or perpendicular to them ,

Es versteht sich, dass sämtliche Verformungssensoren entsprechend ihrer Messrichtung sinnvoll an oder in den Gabeln 32, 36 ausgerichtet sind. Auch versteht sich, dass die Kraft nur indirekt bestimmt wird, da die eigentliche Messung eine andere Größe betrifft, beispielsweise eine elektrische Spannung, die aber in bekannter Weise von der Kraft abhängt. Es soll dennoch von einer Messung der Kraft gesprochen werden.It is understood that all deformation sensors are meaningfully aligned with or in the forks 32, 36 according to their measuring direction. It is also understood that the force is determined only indirectly, since the actual measurement relates to a different size, such as an electrical voltage, but in a known manner depends on the force. Nevertheless, it should be spoken of a measurement of the force.

Wie in Fig. 2 schematisch dargestellt, ist das Hubgerüst 12 über den Neigezylinder 20 beweglich mit dem Antriebsteil 11 des Flurförderzeugs 10 verbunden. Außerdem ist das Hubgerüst 12 an einer Neigeachse 16 angelenkt, die ihrerseits fest mit dem Antriebsteil des Flurförderzeugs 10 verbunden ist. Somit kann das Hubgerüst 12 mittels des Neigezylinders 20 um die Neigeachse 16 verschwenkt werden. Beispielsweise kann das Hubgerüst 12 von einer in Fig. 2 dargestellten, senkrechten Position auf das Antriebsteil 11 zu, oder von ihm weg geneigt werden. An dem Hubgerüst 12 ist zum Bewegen einer Last 15 ein Lasttragmittel 14, beispielsweise in Form von Hubgabeln), angeordnet.As in Fig. 2 shown schematically, the mast 12 is movably connected via the tilting cylinder 20 with the drive part 11 of the truck 10. In addition, the mast 12 is articulated on a tilting axis 16, which in turn is fixedly connected to the drive part of the truck 10. Thus, the mast 12 can be pivoted about the tilting axis 16 by means of the tilting cylinder 20. For example, the mast 12 of a in Fig. 2 shown, vertical position on the drive member 11 to, or inclined away from him. On the mast 12 for moving a load 15, a load supporting means 14, for example in the form of Hubgabeln), arranged.

Auf erfindungsgemäße und zuvor beschriebene Weise erhält man eine Kraft, die auf den Neigezylinder 20 des Flurförderzeugs 10 wirkt. Ferner ist ein Abstand XN zwischen Neigezylinder 20 und Neigeachse 16 bekannt. Der Abstand XN kann aus einer gemessenen Neigung des Hubgerüsts 12 trigonometrisch bestimmt werden. Der Abstand XN kann als Funktion der Hubgerüstneigung in der Auswerteeinrichtung bereits hinterlegt sein. Aus diesem Abstand und der gemessenen Kraft lässt sich über ein äußeres Produkt ein auf die Neigeachse 16 wirkendes Lastmoment bestimmen. Dieses Lastmoment kann nun zur Anzeige gebracht oder als Basis für entsprechende Schutzmaßnahmen verwendet werden.In accordance with the invention and described above, a force is obtained which acts on the tilting cylinder 20 of the industrial truck 10. Furthermore, a distance X N between tilting cylinder 20 and tilting axis 16 is known. The distance X N can be determined from a measured inclination of the mast 12 trigonometrically. The distance X N can already be stored as a function of the mast tilt in the evaluation. From this distance and the measured force can be determined via an outer product acting on the tilting axis 16 Lastmoment. This load torque can now be displayed or used as a basis for appropriate protective measures.

Claims (8)

  1. An industrial truck (10) with a drive unit (11) and a load unit which comprises a lifting frame (12) that can be inclined around a tilt axe (16), and a load bearing element (14) that is arranged on the lifting frame (12), wherein an inclination of the lifting frame can be adjusted by means of at least one inclination cylinder (20), which has fastening means (30) for connection to the lifting frame (12) on a front end (21), and fastening means (30) for connection to the drive unit (11) on a rear end (29), characterised in that at least one of the fastening means (30) comprises at least one deformation sensor for measuring a force acting on the inclination cylinder (20), and that an analysing unit is provided to which the value for the measured force is applied and which determines a load moment acting on the tilt axe (16) from the measured force and a distance (XN) between inclination cylinder (20) and tilt axe (16), the deformation sensor being a press-in sensor.
  2. The industrial truck according to claim 1, characterised in that the fastening means (30) of the at least one inclination cylinder (20) are formed by one fork (32) and/or one eye (31; 33; 35; 37) at a time.
  3. An industrial truck according to claim 1 or 2, characterised in that the fastening means (30) comprise a bolt (39), by means of which the fastening means (30) can be connected to the drive unit (11) and the lifting frame (12), respectively.
  4. An industrial truck according to any one of claims 1 to 3, characterised in that each inclination cylinder (20) comprises at least one deformation sensor.
  5. An industrial truck according to any one of claims 1 to 4, characterised in that two hydraulic inclination cylinders (20) are provided which are hydraulically short-circuited.
  6. An industrial truck according to any one of claims 1 to 5, characterised in that the distance (XN) between inclination cylinder (20) and tilt axe (16) is an average distance.
  7. An industrial truck according to any one of claims 1 to 5, characterised in that means for measuring the inclination of the lifting frame (12) are provided, the analysing unit determining the distance (XN) from the value for the measured inclination.
  8. An industrial truck according to any one of claims 1 to 5, characterised in that a proximity switch is provided which detects a given inclination of the lifting frame (12), the distance (XN) for the given inclination of the lifting frame (12) being deposited in a memory of the analysing unit.
EP11008401.9A 2010-11-06 2011-10-19 Industrial truck with deformation sensor in tilt cylinder Active EP2450305B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE201010050683 DE102010050683A1 (en) 2010-11-06 2010-11-06 Truck with deformation sensor in the tilting cylinder

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EP2450305A1 EP2450305A1 (en) 2012-05-09
EP2450305B1 true EP2450305B1 (en) 2016-04-20

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EP3034456B1 (en) * 2014-12-16 2017-03-01 STILL GmbH Method for determining the center of gravity in an industrial truck
DE102020130064A1 (en) 2020-11-13 2022-05-19 Jungheinrich Aktiengesellschaft Industrial truck with a force sensor in the tilt cylinder
RU2760299C1 (en) 2021-03-03 2021-11-23 Федеральное государственное унитарное предприятие «Всероссийский научно-исследовательский институт автоматики им.Н.Л.Духова» (ФГУП «ВНИИА») Dual-redundant bus for automated monitoring and control systems of nuclear power plants and other industrial facilities

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EP2450305A1 (en) 2012-05-09

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