EP2477930B1 - Load-carrying vehicle with vertically adjustable lifting device - Google Patents

Load-carrying vehicle with vertically adjustable lifting device Download PDF

Info

Publication number
EP2477930B1
EP2477930B1 EP10732971.6A EP10732971A EP2477930B1 EP 2477930 B1 EP2477930 B1 EP 2477930B1 EP 10732971 A EP10732971 A EP 10732971A EP 2477930 B1 EP2477930 B1 EP 2477930B1
Authority
EP
European Patent Office
Prior art keywords
load
lifting device
carrying vehicle
vehicle according
acceleration
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
Application number
EP10732971.6A
Other languages
German (de)
French (fr)
Other versions
EP2477930A1 (en
Inventor
Ulrich Reinert
Peter Schubert
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2477930A1 publication Critical patent/EP2477930A1/en
Application granted granted Critical
Publication of EP2477930B1 publication Critical patent/EP2477930B1/en
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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

Definitions

  • the invention relates to a cargo vehicle with a height-adjustable lifting device, in particular a material handling vehicle such as a forklift, according to the preamble of claim 1.
  • the DE 103 04 658 A1 is described as a forklift truck carried out, which is equipped with a device for controlling the driving stability in order to reduce the risk of tipping over.
  • Forklifts generally have the problem that, due to the short wheelbase, the narrow track width and the relatively high center of gravity when the load is raised, there is an increased risk of tipping in the event of a forward braking action and at high cornering speeds.
  • the in the DE 103 04 658 A1 disclosed means for controlling the driving stability comprises a sensor for determininghariSystems- and parameters such as accelerations, recorded load and lifting height and a control device in which based on the measured quantities limits to allowable accelerations determined and measures are taken to comply with the limits.
  • the measures for increasing the stability are a braking or acceleration process, the change in the lifting height, an intervention in the steering or an intervention in the angular position of the lifting device carrying the mast.
  • the risk of tipping is also influenced by dynamic influences, for example a swinging of the lifting fork, which is detected in an insufficient manner via the control or regulation in the vehicle.
  • From the EP 1 975 114 A1 is a material handling vehicle, in particular a reach truck, with a mast and an actuator for moving the mast relative to a vehicle frame of the industrial truck known.
  • At least one sensor for detecting an elastic oscillation of the mast has at least one strain gauge on.
  • the DE 10 2007 020 182 A1 discloses a method for measuring and controlling the height of a moving part of a work machine.
  • the WO 2006/137761 A1 shows a system for controlling the inclination of the mast of a mobile work machine.
  • the invention has for its object to further reduce the risk of tipping in a cargo vehicle with a height-adjustable lifting device.
  • the invention relates to cargo vehicles with a height-adjustable lifting device, which includes in particular trackless forklifts such as forklifts or reachstackers, but also tractors with front loader, wheel loader or the like.
  • the invention is also applicable to track-bound floor conveyor, as far as they are equipped with a height-adjustable lifting device.
  • the load vehicle is in addition to the height-adjustable lifting device for receiving a load to be transported equipped with an acceleration sensor that allows measuring the acceleration in at least one direction of movement. Furthermore, sensors are provided for determining the recorded load and for determining the lifting height of the lifting device.
  • Control signals can be generated in the load vehicle via a regulating or control device, which signals can be supplied to the setting of at least one vehicle aggregate, upon the actuation of which the driving state of the freight vehicle is influenced.
  • this unit is a drive motor for driving the cargo vehicle and / or the braking device, where appropriate, the influence of the steering device in the vehicle and the lifting height of the lifting device and optionally the pivoting angle of an adjustable mast for receiving the lifting device come into consideration.
  • the actuating signals are generated at least as a function of the measured acceleration.
  • the control signals can also be dependent on the determined recorded load and the determined lifting height.
  • the acceleration sensor is arranged on the lifting device and is adjustable in height together with the lifting device.
  • This embodiment has the advantage that accelerations immediately adjacent to the lifted load can be determined, so that dynamic state changes such as, for example, vibrations can be determined, which are exposed to the lifted load and which lead to considerable forces acting on the vehicle. Such dynamic processes are recorded without delay, without phase shift and without amplitude damping directly at the place of origin and can be processed in the control unit.
  • the acceleration sensor system is arranged in the vehicle body-mounted, a more sensitive instrumentation is available for registering accelerations to which the load is subjected.
  • the acceleration sensor system in or on the lifting device is preferably arranged so that the position of the acceleration sensor system is close to the center of gravity of the load usually to be absorbed. It is also possible, however, an arrangement adjacent to the highest point of the lifting device, which is subjected to the greatest deflections based on the roadway. In principle, however, an arrangement of the acceleration sensors in the region of the forks, to which the load to be lifted is to be set up, is also possible.
  • the acceleration sensor system comprises an acceleration sensor, via which at least one acceleration in a vehicle direction can be measured, in particular the longitudinal acceleration.
  • the acceleration sensor system is embodied at least as a 2D acceleration sensor system which comprises sensors for measuring the longitudinal acceleration and the transverse acceleration.
  • a 3D sensor system is provided which in addition to the sensors for measuring the longitudinal and lateral acceleration also includes a sensor for measuring the vertical acceleration.
  • the advantage of the 3D acceleration sensor system is that the vertical acceleration sensor together with the longitudinal acceleration sensor makes it possible to detect tilting of the vehicle forwards or backwards with greater accuracy.
  • the lateral acceleration can be used to influence cornering.
  • the cargo vehicle is equipped with a sensor for detecting the recorded load, which is designed, for example, as a pressure sensor in a lifting cylinder adjusting the lifting device.
  • the load can be determined, which are arranged for example between the lifting cylinder and the lifting device.
  • the weight of the load is an essential information, since the risk of tipping is significantly influenced by the weight of the load.
  • the load vehicle is further equipped with a sensor for determining the current lifting height of the lifting device, as well as the lifting height is a significant factor influencing the risk of tipping.
  • the lifting height is determined, for example, by means of a barometric sensor, which is arranged on the lifting device and, in particular, is a component of the sensor system arranged on the lifting device, which also comprises the acceleration sensor system.
  • the pressure sensor in the lifting cylinder over which the lifting device is to be adjusted, however, is conveniently located at the foot of the lifting device.
  • the lifting height of the lifting device can optionally also be determined via a sensor device with which a measurement of the vertical travel distance of the lifting device is possible. In this case, an arrangement of the sensor on both the vehicle body and on the lifting device into consideration.
  • the lifting device is preferably located on a mast connected to the vehicle body, which is held pivotably relative to the vehicle body in particular about a transverse axis.
  • the pivoting represents a further degree of freedom in the cargo vehicle, which influences the driving stability and is expediently determined via a further sensor.
  • a design as an internal combustion engine or as an electric motor wherein the electric drive is possible both via one or more acting on the vehicle axles drive motors and wheel hub motors.
  • About the drive motors is both an adjustment of the drive torque and a motor braking torque into consideration.
  • braking torques can also be set via the braking device of the cargo vehicle, in particular via the wheel brakes.
  • a regulation of the height of the lifting device and the pivot angle of the mast into consideration which carries the lifting device.
  • the steering device of the cargo vehicle can be influenced.
  • the steering device as hydrostatic steering an automatic intervention in the steering system into consideration, as well as in active steering systems that allow the specification of a superposition steering angle.
  • active steering systems in which no overlay steering angle can be generated, an engagement in the servo actuator is possible.
  • the forklift 1 shown in the figure has a drive motor 2 arranged in the vehicle body for driving one or both axles of the vehicle.
  • a lifting device 3 which is designed as a lifting fork and is held vertically adjustable on a mast 4.
  • the mast 4 can be pivoted relative to the vehicle body between different positions by a pivot angle ⁇ , wherein the pivot axis extends in the transverse direction adjacent to the bottom of the vehicle.
  • the lifting device 3 is held by a suitable adjusting height adjustable on the mast 4, in particular via a hydraulically actuated lifting cylinder, and can be adjusted between any positions between the maximum lowered and the maximum raised position on the mast 4.
  • the adjustment of the swivel angle ⁇ takes place independently of the height adjustment of the lifting device 3.
  • the forklift 1 is equipped with a sensor system for detecting various state and characteristics of the vehicle.
  • the sensor system comprises a 3D acceleration sensor system 5, which is arranged at the upper region of the lifting device 3 and which, relative to the vehicle body, performs the same vertical positioning movement and the pivoting movement about the pivoting angle ⁇ as the lifting device 3. With the aid of the acceleration sensor system 5, the longitudinal acceleration, Transverse acceleration and the vertical acceleration in the lifting device 3 are measured.
  • the senor includes a pressure sensor 6 which is arranged in the lifting cylinder, via which the lifting device 3 in the vertical direction on the mast 4 is adjustable.
  • the pressure sensor determines the pressure in the hydraulic medium, which adjusts the lift cylinder. From the measured pressure can be concluded that the weight of the load 7, which is located on the lifting device 3.
  • the sensor system comprises a sensor for determining the current lifting height of the lifting device, for which, for example, a design as a barometric sensor comes into question, which is arranged as well as the acceleration sensor 5 on the lifting device.
  • the barometric sensor is arranged in a common housing with the acceleration sensor 5.
  • the sensor for determining the current lifting height of the lifting device 3 come into consideration, for example displacement sensors, which are either arranged at the foot of the mast 4 and determine the current lifting height of the lifting device 3 based on the foot of the mast or fixed to the Hub headphones are connected and measure the distance of the lifting device from the foot of the mast.
  • the sensor for determining the lifting height is expediently likewise arranged in a common housing with the acceleration sensor system 5.
  • a regulating or control device 8 which receives and evaluates the sensor-determined data and generates control signals on the basis of which data can be used to influence the current driving state of the vehicle.
  • the control signals of the control unit In particular, the drive motor 2, the braking device in the vehicle, the steering device, the lifting height of the lifting device 3 and the pivot angle ⁇ of the mast 4 are set automatically.
  • the automatic adjustment of the actuators in the vehicle in particular influence on the driving stability is taken.
  • the total center of gravity 9 of the vehicle can be determined, which is composed of the vehicle center of gravity 10 and the center of gravity 11, wherein in addition to the respective mass of the load 7, the current lifting height and the swivel angle ⁇ for determining the total center of gravity 9 too note.
  • accelerations, in particular vibrations in the lifting device 3 can be measured directly at the point of origin, resulting in a faster response via a control of the actuators in the vehicle and on the other a more precise Setting in border areas of stability allows.
  • Both the longitudinal dynamics and the lateral dynamics of the vehicle, in particular the risk of tipping about the transverse axis or the longitudinal axis of the vehicle, can be taken into account.

Landscapes

  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Civil Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Vehicle Body Suspensions (AREA)
  • Operation Control Of Excavators (AREA)
  • Component Parts Of Construction Machinery (AREA)

Description

Die Erfindung bezieht sich auf ein Lastenfahrzeug mit einer höhenverstellbaren Hubeinrichtung, insbesondere ein Flurförderfahrzeug wie beispielsweise ein Gabelstapler, nach dem Oberbegriff des Anspruches 1.The invention relates to a cargo vehicle with a height-adjustable lifting device, in particular a material handling vehicle such as a forklift, according to the preamble of claim 1.

Stand der TechnikState of the art

In der DE 103 04 658 A1 wird ein als Gabelstapler ausgeführtes Flurförderfahrzeug beschrieben, das mit einer Einrichtung zur Steuerung der Fahrstabilität ausgestattet ist, um die Umkippgefahr zu reduzieren. Bei Gabelstaplern besteht generell das Problem, dass aufgrund des kurzen Radstandes, der geringen Spurbreite und dem bei angehobener Last vergleichsweise hohen Schwerpunkt eine erhöhte Kippgefahr im Falle eines Bremsvorgangs nach vorne und bei hohen Kurvengeschwindigkeiten zur Seite besteht. Die in der DE 103 04 658 A1 offenbarte Einrichtung zur Steuerung der Fahrstabilität umfasst eine Sensorik zum Ermitteln von Fahrzeugzustands- und Kenngrößen wie Beschleunigungen, aufgenommene Last sowie Hubhöhe und eine Steuerungseinrichtung, in der ausgehend von den gemessenen Größen Grenzwerte zu zulässigen Beschleunigungen ermittelt und Maßnahmen zum Einhalten der Grenzwerte ergriffen werden. Bei den Maßnahmen zur Erhöhung der Stabilität handelt es sich je nach Fahrsituation um einen Brems- oder Beschleunigungsvorgang, um die Veränderung der Hubhöhe, um einen Eingriff in die Lenkung oder um einen Eingriff in die Winkelstellung des die Hubeinrichtung tragenden Mastes.In the DE 103 04 658 A1 is described as a forklift truck carried out, which is equipped with a device for controlling the driving stability in order to reduce the risk of tipping over. Forklifts generally have the problem that, due to the short wheelbase, the narrow track width and the relatively high center of gravity when the load is raised, there is an increased risk of tipping in the event of a forward braking action and at high cornering speeds. The in the DE 103 04 658 A1 disclosed means for controlling the driving stability comprises a sensor for determining Fahrzeugzustands- and parameters such as accelerations, recorded load and lifting height and a control device in which based on the measured quantities limits to allowable accelerations determined and measures are taken to comply with the limits. Depending on the driving situation, the measures for increasing the stability are a braking or acceleration process, the change in the lifting height, an intervention in the steering or an intervention in the angular position of the lifting device carrying the mast.

Mithilfe dieser Einrichtung kann zwar die Umkippgefahr signifikant reduziert werden. Die Kippgefahr wird jedoch auch durch dynamische Einflüsse, beispielsweise ein Schwingen der Hubgabel beeinflusst, was über die Steuerung bzw. Regelung im Fahrzeug nur in unzureichender Weise erfasst wird.Although this device can significantly reduce the risk of tipping over. However, the risk of tipping is also influenced by dynamic influences, for example a swinging of the lifting fork, which is detected in an insufficient manner via the control or regulation in the vehicle.

Aus der EP 1 975 114 A1 ist ein Flurförderfahrzeug, insbesondere ein Schubmaststapler, mit einem Hubgerüst und einen Stellglied zum bewegen des Hubgerüsts relativ zu einem Fahrzeugrahmen des Flurförderfahrzeugs bekannt. Mindestens ein Sensor zum Erkennen eines elastischen Schwingens des Hubgerüsts weist dabei mindestens einen Dehnungsmessreifen auf.From the EP 1 975 114 A1 is a material handling vehicle, in particular a reach truck, with a mast and an actuator for moving the mast relative to a vehicle frame of the industrial truck known. At least one sensor for detecting an elastic oscillation of the mast has at least one strain gauge on.

Aus der DE 10 2005 012 004 A1 ist weiter ein Flurförderfahrzeug mit erhöhter statischer und dynamischer Kippstabilität bekannt.From the DE 10 2005 012 004 A1 Furthermore, an industrial truck with increased static and dynamic tipping stability is known.

Die DE 10 2007 020 182 A1 offenbart ein Verfahren zur Messung und Regelung der Höhe eines beweglichen Bauteils einer Arbeitsmaschine.The DE 10 2007 020 182 A1 discloses a method for measuring and controlling the height of a moving part of a work machine.

Die WO 2006/137761 A1 zeigt ein System zur Steuerung der Neigung des Hubgerüsts einer beweglichen Arbeitsmaschine.The WO 2006/137761 A1 shows a system for controlling the inclination of the mast of a mobile work machine.

Die Merkmale der Oberbegriffe der unabhängigen Ansprüche sind der WO 2006/137761 A1 entnommen.The features of the preambles of the independent claims are the WO 2006/137761 A1 taken.

Offenbarung der ErfindungDisclosure of the invention

Der Erfindung liegt die Aufgabe zugrunde, die Kippgefahr in einem Lastenfahrzeug mit einer höhenverstellbaren Hubeinrichtung weiter zu reduzieren.The invention has for its object to further reduce the risk of tipping in a cargo vehicle with a height-adjustable lifting device.

Diese Aufgabe wird erfindungsgemäß mit den Merkmalen des Anspruches 1 gelöst. Die Unteransprüche geben zweckmäßige Weiterbildungen an.This object is achieved with the features of claim 1. The dependent claims indicate expedient developments.

Die Erfindung bezieht sich auf Lastenfahrzeuge mit einer höhenverstellbaren Hubeinrichtung, zu denen insbesondere gleislose Flurfördermittel wie Gabelstapler oder Reachstacker gehören, aber auch Traktoren mit Frontlader, Radlader oder dergleichen. Grundsätzlich ist die Erfindung auch auf gleisgebundene Flurfördermittel anwendbar, soweit diese mit einer höhenverstellbaren Hubeinrichtung ausgestattet sind.The invention relates to cargo vehicles with a height-adjustable lifting device, which includes in particular trackless forklifts such as forklifts or reachstackers, but also tractors with front loader, wheel loader or the like. In principle, the invention is also applicable to track-bound floor conveyor, as far as they are equipped with a height-adjustable lifting device.

Das Lastenfahrzeug ist zusätzlich zu der höhenverstellbaren Hubeinrichtung zur Aufnahme einer zu transportierenden Last mit einer Beschleunigungssensorik ausgestattet, die das Messen der Beschleunigung in zumindest einer Bewegungsrichtung ermöglicht. Des Weiteren sind Sensoren zum Ermitteln der aufgenommenen Last sowie zum Ermitteln der Hubhöhe der Hubeinrichtung vorgesehen. Über ein Regel- bzw. Steuergerät im Lastenfahrzeug können Stellsignale erzeugt werden, die mindestens einem Fahrzeugaggregat zur Einstellung zuführbar sind, bei dessen Betätigung der Fahrzustand des Lastenfahrzeugs beeinflusst wird. Bei diesem Aggregat handelt es sich insbesondere um einen Antriebsmotor zum Antrieb des Lastenfahrzeugs und/oder die Bremseinrichtung, wobei gegebenenfalls auch die Beeinflussung der Lenkeinrichtung im Fahrzeug sowie die Hubhöhe der Hubeinrichtung und gegebenenfalls der Schwenkwinkel eines verstellbaren Mastes zur Aufnahme der Hubeinrichtung in Betracht kommen.The load vehicle is in addition to the height-adjustable lifting device for receiving a load to be transported equipped with an acceleration sensor that allows measuring the acceleration in at least one direction of movement. Furthermore, sensors are provided for determining the recorded load and for determining the lifting height of the lifting device. Control signals can be generated in the load vehicle via a regulating or control device, which signals can be supplied to the setting of at least one vehicle aggregate, upon the actuation of which the driving state of the freight vehicle is influenced. In particular, this unit is a drive motor for driving the cargo vehicle and / or the braking device, where appropriate, the influence of the steering device in the vehicle and the lifting height of the lifting device and optionally the pivoting angle of an adjustable mast for receiving the lifting device come into consideration.

Die Stellsignale werden insbesondere wenigstens abhängig von der gemessenen Beschleunigung erzeugt. Die Stellsignale können zusätzlich auch abhängig von der ermittelten aufgenommenen Last und der ermittelten Hubhöhe sein.In particular, the actuating signals are generated at least as a function of the measured acceleration. In addition, the control signals can also be dependent on the determined recorded load and the determined lifting height.

Erfindungsgemäß ist vorgesehen, dass die Beschleunigungssensorik an der Hubeinrichtung angeordnet ist und gemeinsam mit der Hubeinrichtung in der Höhe verstellbar ist. Diese Ausführung hat den Vorteil, dass Beschleunigungen unmittelbar benachbart zu der angehobenen Last ermittelbar sind, so dass dynamische Zustandsänderungen wie beispielsweise Schwingungen ermittelt werden können, denen die angehobene Last ausgesetzt ist und die zu erheblichen auf das Fahrzeug wirkenden Kräften führen. Derartige dynamische Vorgänge werden ohne zeitliche Verzögerung, ohne Phasenverschiebung und ohne Amplitudendämpfung unmittelbar am Ort des Entstehens erfasst und können in dem Regel- bzw. Steuergerät verarbeitet werden. Im Unterschied zu Ausführungen aus dem Stand der Technik, bei dem die Beschleunigungssensorik karosseriefest im Fahrzeug angeordnet ist, steht ein empfindlicheres Instrumentarium zum Registrieren von Beschleunigungen zur Verfügung, denen die Last ausgesetzt ist. Beim Stand der Technik können dagegen derartige Schwingungen in der Hubeinrichtung nicht oder nur in stark gedämpfter sowie phasenverzögerter Form ermittelt werden. Auf diese Weise kann bei der erfindungsgemäßen Einrichtung früher als im Stand der Technik auf eine drohende Gefahrensituation reagiert werden, wodurch die Kippgefahr weiter reduziert ist. Es können zusätzliche Gefahrensituationen erfasst werden, insbesondere beim Überfahren von Hindernissen, und geeignete Maßnahmen zur Verhinderung bzw. Reduzierung der Kippgefahr ergriffen werden.According to the invention it is provided that the acceleration sensor is arranged on the lifting device and is adjustable in height together with the lifting device. This embodiment has the advantage that accelerations immediately adjacent to the lifted load can be determined, so that dynamic state changes such as, for example, vibrations can be determined, which are exposed to the lifted load and which lead to considerable forces acting on the vehicle. Such dynamic processes are recorded without delay, without phase shift and without amplitude damping directly at the place of origin and can be processed in the control unit. In contrast to prior art embodiments, in which the acceleration sensor system is arranged in the vehicle body-mounted, a more sensitive instrumentation is available for registering accelerations to which the load is subjected. In the prior art, however, such vibrations in the lifting device can not be determined or only in strongly damped and phase-delayed form. In this way, in the device according to the invention earlier than in the prior art can be responded to an imminent danger situation, whereby the risk of tipping is further reduced. Additional dangerous situations can be detected, in particular when driving over obstacles, and appropriate measures to prevent or reduce the risk of tipping are taken.

Die Beschleunigungssensorik in oder an der Hubeinrichtung ist vorzugsweise so angeordnet, dass bei den üblicherweise aufzunehmenden Lasten die Position der Beschleunigungssensorik nahe am Lastschwerpunkt liegt. Möglich ist aber auch eine Anordnung benachbart zum höchsten Punkt der Hubeinrichtung, der bezogen auf die Fahrbahn den größten Auslenkungen unterworfen ist. Grundsätzlich möglich ist aber auch eine Anordnung der Beschleunigungssensorik im Bereich der Gabeln, auf die die anzuhebende Last aufzusetzen ist.The acceleration sensor system in or on the lifting device is preferably arranged so that the position of the acceleration sensor system is close to the center of gravity of the load usually to be absorbed. It is also possible, however, an arrangement adjacent to the highest point of the lifting device, which is subjected to the greatest deflections based on the roadway. In principle, however, an arrangement of the acceleration sensors in the region of the forks, to which the load to be lifted is to be set up, is also possible.

Die Beschleunigungssensorik umfasst einen Beschleunigungssensor, über den zumindest eine Beschleunigung in einer Fahrzeugrichtung gemessen werden kann, insbesondere die Längsbeschleunigung. Vorzugsweise ist die Beschleunigungssensorik aber zumindest als 2D-Beschleunigungssensorik ausgebildet, die Sensoren zum Messen der Längsbeschleunigung und der Querbeschleunigung umfasst. Gemäß vorteilhafter Ausführung ist eine 3D-Sensorik vorgesehen, die zusätzlich zu den Sensoren zum Messen der Längs- und Querbeschleunigung auch einen Sensor zum Messen der Vertikalbeschleunigung umfasst. Die 3D-Beschleunigungssensorik hat den Vorteil, dass über den Vertikalbeschleunigungssensor gemeinsam mit dem Längsbeschleunigungssensor ein Kippen des Fahrzeugs nach vorne oder nach hinten mit höherer Genauigkeit erfasst werden kann. Über die Querbeschleunigung kann Einfluss auf Kurvenfahrten genommen werden.The acceleration sensor system comprises an acceleration sensor, via which at least one acceleration in a vehicle direction can be measured, in particular the longitudinal acceleration. Preferably, however, the acceleration sensor system is embodied at least as a 2D acceleration sensor system which comprises sensors for measuring the longitudinal acceleration and the transverse acceleration. According to an advantageous embodiment, a 3D sensor system is provided which in addition to the sensors for measuring the longitudinal and lateral acceleration also includes a sensor for measuring the vertical acceleration. The advantage of the 3D acceleration sensor system is that the vertical acceleration sensor together with the longitudinal acceleration sensor makes it possible to detect tilting of the vehicle forwards or backwards with greater accuracy. The lateral acceleration can be used to influence cornering.

Zusätzlich zur Beschleunigungssensorik ist das Lastenfahrzeug mit einem Sensor zur Ermittlung der aufgenommenen Last ausgestattet, der beispielsweise als ein Drucksensor in einem die Hubeinrichtung verstellenden Hubzylinder ausgeführt ist. Alternativ kann mit Hilfe von Piezoelementen die Last ermittelt werden, die beispielsweise zwischen Hubzylinder und Hubeinrichtung angeordnet sind. Das Gewicht der Last stellt eine wesentliche Information dar, da die Kippgefahr maßgeblich von dem Gewicht der Last beeinflusst wird.In addition to the acceleration sensor system, the cargo vehicle is equipped with a sensor for detecting the recorded load, which is designed, for example, as a pressure sensor in a lifting cylinder adjusting the lifting device. Alternatively, with the help of piezo elements, the load can be determined, which are arranged for example between the lifting cylinder and the lifting device. The weight of the load is an essential information, since the risk of tipping is significantly influenced by the weight of the load.

Das Lastenfahrzeug ist des Weiteren mit einem Sensor zum Ermitteln der aktuellen Hubhöhe der Hubeinrichtung ausgestattet, da auch die Hubhöhe einen maßgeblichen Einflussfaktor auf die Kippgefahr darstellt. Die Hubhöhe wird beispielsweise mithilfe eines barometrischen Sensors ermittelt, der an der Hubeinrichtung angeordnet ist und insbesondere Bestandteil der an der Hubeinrichtung angeordneten Sensorik ist, die auch die Beschleunigungssensorik umfasst. Der Drucksensor im Hubzylinder, über den die Hubeinrichtung zu verstellen ist, befindet sich dagegen zweckmäßigerweise am Fuß der Hubeinrichtung.The load vehicle is further equipped with a sensor for determining the current lifting height of the lifting device, as well as the lifting height is a significant factor influencing the risk of tipping. The lifting height is determined, for example, by means of a barometric sensor, which is arranged on the lifting device and, in particular, is a component of the sensor system arranged on the lifting device, which also comprises the acceleration sensor system. The pressure sensor in the lifting cylinder over which the lifting device is to be adjusted, however, is conveniently located at the foot of the lifting device.

Die Hubhöhe der Hubeinrichtung kann gegebenenfalls aber auch über eine Sensoreinrichtung ermittelt werden, mit der eine Messung der vertikalen Wegstrecke der Hubeinrichtung möglich ist. In diesem Fall kommt eine Anordnung des Sensors sowohl an der Fahrzeugkarosserie als auch an der Hubeinrichtung in Betracht.The lifting height of the lifting device can optionally also be determined via a sensor device with which a measurement of the vertical travel distance of the lifting device is possible. In this case, an arrangement of the sensor on both the vehicle body and on the lifting device into consideration.

Die Hubeinrichtung befindet sich vorzugsweise an einem mit der Fahrzeugkarosserie verbundenen Mast, der gegenüber der Fahrzeugkarosserie insbesondere um eine Querachse verschwenkbar gehalten ist. Die Schwenkbarkeit stellt einen weiteren Freiheitsgrad im Lastenfahrzeug dar, der die Fahrstabilität beeinflusst und zweckmäßigerweise über einen weiteren Sensor ermittelt wird.The lifting device is preferably located on a mast connected to the vehicle body, which is held pivotably relative to the vehicle body in particular about a transverse axis. The pivoting represents a further degree of freedom in the cargo vehicle, which influences the driving stability and is expediently determined via a further sensor.

Je nach Ausführung des Lastenfahrzeugs kommen verschiedenartige Antriebsmotoren in Betracht. Möglich ist beispielsweise eine Ausführung als Brennkraftmaschine oder als Elektromotor, wobei der elektrische Antrieb sowohl über einen oder mehrere auf die Fahrzeugachsen wirkende Antriebsmotoren als auch über Radnabenmotoren möglich ist. Über die Antriebsmotoren kommt sowohl eine Einstellung des Antriebsmomentes als auch eines motorischen Bremsmomentes in Betracht. Zusätzlich oder alternativ können Bremsmomente aber auch über die Bremseinrichtung des Lastenfahrzeugs, insbesondere über die Radbremsen eingestellt werden. Des Weiteren kommt eine Regulierung der Höhe der Hubeinrichtung sowie des Schwenkwinkels des Mastes in Betracht, der die Hubeinrichtung trägt. Außerdem kann, soweit dies im Lastenfahrzeug möglich ist, auch die Lenkeinrichtung des Lastenfahrzeugs beeinflusst werden. Beispielsweise kommt bei einer Ausführung der Lenkeinrichtung als hydrostatische Lenkung ein selbsttätiger Eingriff in das Lenksystem in Betracht, ebenso bei aktiven Lenksystemen, die die Vorgabe eines Überlagerungslenkwinkels erlauben. Bei passiven Lenksystemen, bei denen kein Überlagerungslenkwinkel erzeugbar ist, ist ein Eingriff in die Servostelleinrichtung möglich.Depending on the design of the cargo vehicle different drive motors come into consideration. It is possible, for example, a design as an internal combustion engine or as an electric motor, wherein the electric drive is possible both via one or more acting on the vehicle axles drive motors and wheel hub motors. About the drive motors is both an adjustment of the drive torque and a motor braking torque into consideration. Additionally or alternatively, however, braking torques can also be set via the braking device of the cargo vehicle, in particular via the wheel brakes. Furthermore, a regulation of the height of the lifting device and the pivot angle of the mast into consideration, which carries the lifting device. In addition, as far as possible in the cargo vehicle, the steering device of the cargo vehicle can be influenced. For example, in an embodiment of the steering device as hydrostatic steering an automatic intervention in the steering system into consideration, as well as in active steering systems that allow the specification of a superposition steering angle. In passive steering systems, in which no overlay steering angle can be generated, an engagement in the servo actuator is possible.

Weitere Vorteile und zweckmäßige Ausführungen sind den weiteren Ansprüchen, der Figurenbeschreibung und der Zeichnung zu entnehmen, in der ein Gabelstapler mit angehobener Last dargestellt ist.Further advantages and expedient embodiments can be found in the further claims, the description of the figures and the drawing, in which a forklift with lifted load is shown.

Der in der Figur dargestellte Gabelstapler 1 weist einen karosseriefest angeordneten Antriebsmotor 2 zum Antrieb einer oder beider Achsen des Fahrzeugs auf. Im vorderen Bereich des Gabelstaplers 1 befindet sich eine Hubeinrichtung 3, die als Hubgabel ausgeführt ist und an einem Mast 4 höhenverstellbar gehalten ist. Der Mast 4 kann gegenüber der Fahrzeugkarosserie zwischen verschiedenen Positionen um einen Schwenkwinkel α verschwenkt werden, wobei die Schwenkachse in Querrichtung benachbart zum Boden des Fahrzeugs verläuft. Die Hubeinrichtung 3 ist über eine geeignete Verstelleinrichtung höhenverstellbar an dem Mast 4 gehalten, insbesondere über einen hydraulisch betätigbaren Hubzylinder, und kann zwischen beliebigen Positionen zwischen der maximal abgesenkten und der maximal angehobenen Position am Mast 4 verstellt werden. Die Einstellung des Schwenkwinkels α erfolgt unabhängig von der Höhenverstellung der Hubeinrichtung 3.The forklift 1 shown in the figure has a drive motor 2 arranged in the vehicle body for driving one or both axles of the vehicle. In the front region of the forklift 1 is a lifting device 3, which is designed as a lifting fork and is held vertically adjustable on a mast 4. The mast 4 can be pivoted relative to the vehicle body between different positions by a pivot angle α, wherein the pivot axis extends in the transverse direction adjacent to the bottom of the vehicle. The lifting device 3 is held by a suitable adjusting height adjustable on the mast 4, in particular via a hydraulically actuated lifting cylinder, and can be adjusted between any positions between the maximum lowered and the maximum raised position on the mast 4. The adjustment of the swivel angle α takes place independently of the height adjustment of the lifting device 3.

Der Gabelstapler 1 ist mit einer Sensorik zur Erfassung diverser Zustands- und Kenngrößen des Fahrzeugs ausgerüstet. Die Sensorik umfasst eine 3D-Beschleunigungssensorik 5, die am oberen Bereich der Hubeinrichtung 3 angeordnet ist und die bezogen auf die Fahrzeugkarosserie die gleiche vertikale Stellbewegung sowie die Schwenkbewegung um den Schwenkwinkel α ausführt wie die Hubeinrichtung 3. Mithilfe der Beschleunigungssensorik 5 kann die Längsbeschleunigung, die Querbeschleunigung sowie die Vertikalbeschleunigung in der Hubeinrichtung 3 gemessen werden.The forklift 1 is equipped with a sensor system for detecting various state and characteristics of the vehicle. The sensor system comprises a 3D acceleration sensor system 5, which is arranged at the upper region of the lifting device 3 and which, relative to the vehicle body, performs the same vertical positioning movement and the pivoting movement about the pivoting angle α as the lifting device 3. With the aid of the acceleration sensor system 5, the longitudinal acceleration, Transverse acceleration and the vertical acceleration in the lifting device 3 are measured.

Darüber hinaus umfasst die Sensorik einen Drucksensor 6, der im Hubzylinder angeordnet ist, über den die Hubeinrichtung 3 in Vertikalrichtung am Mast 4 verstellbar ist. Der Drucksensor ermittelt den Druck im Hydraulikmedium, welches den Hubzylinder verstellt. Aus dem gemessenen Druck kann auf das Gewicht der Last 7 geschlossen werden, die sich auf der Hubeinrichtung 3 befindet.In addition, the sensor includes a pressure sensor 6 which is arranged in the lifting cylinder, via which the lifting device 3 in the vertical direction on the mast 4 is adjustable. The pressure sensor determines the pressure in the hydraulic medium, which adjusts the lift cylinder. From the measured pressure can be concluded that the weight of the load 7, which is located on the lifting device 3.

Des Weiteren umfasst die Sensorik einen Sensor zum Ermitteln der aktuellen Hubhöhe der Hubeinrichtung, wofür beispielsweise eine Ausführung als barometrischer Sensor in Frage kommt, der ebenso wie die Beschleunigungssensorik 5 an der Hubeinrichtung angeordnet ist. Gegebenenfalls ist der barometrische Sensor in einem gemeinsamen Gehäuse mit der Beschleunigungssensorik 5 angeordnet.Furthermore, the sensor system comprises a sensor for determining the current lifting height of the lifting device, for which, for example, a design as a barometric sensor comes into question, which is arranged as well as the acceleration sensor 5 on the lifting device. Optionally, the barometric sensor is arranged in a common housing with the acceleration sensor 5.

Grundsätzlich kommen aber auch alternative Ausführungen für den Sensor zum Ermitteln der aktuellen Hubhöhe der Hubeinrichtung 3 in Betracht, beispielsweise Wegsensoren, die entweder am Fuße des Mastes 4 angeordnet sind und die aktuelle Hubhöhe der Hubeinrichtung 3 bezogen auf den Fuß des Mastes ermitteln oder fest mit der Hubeinrichtung verbunden sind und den Abstand der Hubeinrichtung vom Fuß des Mastes messen. Im letztgenannten Fall ist der Sensor zum Ermitteln der Hubhöhe zweckmäßigerweise ebenfalls in einem gemeinsamen Gehäuse mit der Beschleunigungssensorik 5 angeordnet.In principle, however, alternative embodiments for the sensor for determining the current lifting height of the lifting device 3 come into consideration, for example displacement sensors, which are either arranged at the foot of the mast 4 and determine the current lifting height of the lifting device 3 based on the foot of the mast or fixed to the Hubeinrichtung are connected and measure the distance of the lifting device from the foot of the mast. In the latter case, the sensor for determining the lifting height is expediently likewise arranged in a common housing with the acceleration sensor system 5.

Im Gabelstapler 1 befindet sich des Weiteren ein Regel- bzw. Steuergerät 8, welches die sensorisch ermittelten Daten empfängt und auswertet und auf der Grundlage der Daten Stellsignale erzeugt, über die der aktuelle Fahrzustand des Fahrzeugs beeinflussbar ist. Über die Stellsignale des Regel- bzw. Steuergeräts 8 werden insbesondere der Antriebsmotor 2, die Bremseinrichtung im Fahrzeug, die Lenkeinrichtung, die Hubhöhe der Hubeinrichtung 3 sowie der Schwenkwinkel α des Mastes 4 selbsttätig eingestellt. Über die selbsttätige Einstellung der Aktoren im Fahrzeug wird insbesondere Einfluss auf die Fahrstabilität genommen. Mit der beschriebenen Sensorik im Fahrzeug kann der Gesamtschwerpunkt 9 des Fahrzeuges bestimmt werden, der sich aus dem Fahrzeugschwerpunkt 10 und dem Lastschwerpunkt 11 zusammensetzt, wobei neben der jeweiligen Masse der Last 7 auch die aktuelle Hubhöhe sowie der Schwenkwinkel α für die Bestimmung des Gesamtschwerpunktes 9 zu beachten sind.In the forklift 1 there is furthermore a regulating or control device 8 which receives and evaluates the sensor-determined data and generates control signals on the basis of which data can be used to influence the current driving state of the vehicle. About the control signals of the control unit In particular, the drive motor 2, the braking device in the vehicle, the steering device, the lifting height of the lifting device 3 and the pivot angle α of the mast 4 are set automatically. About the automatic adjustment of the actuators in the vehicle in particular influence on the driving stability is taken. With the described sensors in the vehicle, the total center of gravity 9 of the vehicle can be determined, which is composed of the vehicle center of gravity 10 and the center of gravity 11, wherein in addition to the respective mass of the load 7, the current lifting height and the swivel angle α for determining the total center of gravity 9 too note.

Mittels der 3D-Beschleunigungssensorik 5, die fest mit der Hubeinrichtung 3 verbunden ist, können Beschleunigungen, insbesondere auch Schwingungen in der Hubeinrichtung 3 unmittelbar am Entstehungsort gemessen werden, was zum einen eine schnellere Reaktion über eine Ansteuerung der Aktoren im Fahrzeug und zum anderen eine präzisere Einstellung in Grenzbereichen der Stabilität ermöglicht. Berücksichtigt werden können sowohl die Längsdynamik als auch die Querdynamik des Fahrzeugs, insbesondere die Kippgefahr um die Querachse oder die Längsachse des Fahrzeugs.By means of the 3D acceleration sensor 5, which is firmly connected to the lifting device 3, accelerations, in particular vibrations in the lifting device 3 can be measured directly at the point of origin, resulting in a faster response via a control of the actuators in the vehicle and on the other a more precise Setting in border areas of stability allows. Both the longitudinal dynamics and the lateral dynamics of the vehicle, in particular the risk of tipping about the transverse axis or the longitudinal axis of the vehicle, can be taken into account.

Claims (12)

  1. Load-carrying vehicle having a vertically adjustable lifting device (3), in particular industrial truck such as, for example, a fork lift truck (1), having a vertically adjustable lifting device (3) for picking up a load (7), having an acceleration sensor system (5) for measuring the acceleration in at least one direction of movement, wherein in a closed-loop or open-loop control unit (8) actuation signals for setting at least one assembly, which influences the driving state, in the vehicle can be generated, wherein the acceleration sensor system (5) is arranged on the lifting device (3) and can be vertically adjusted together with the lifting device, characterized in that a drive motor (2) of the load-carrying vehicle can be adjusted by actuation signals of the closed-loop or open-loop control unit (8).
  2. Load-carrying vehicle according to Claim 1, characterized in that the longitudinal acceleration can be measured by means of the acceleration sensor system (5) arranged on the lifting device (3).
  3. Load-carrying vehicle according to Claim 1 or 2, characterized in that the transverse acceleration can be measured by means of the acceleration sensor system (5) arranged on the lifting device (3).
  4. Load-carrying vehicle according to one of Claims 1 to 3, characterized in that the vertical acceleration can be measured in the acceleration sensor system (5) arranged on the lifting device (3).
  5. Load-carrying vehicle according to one of Claims 1 to 4, characterized in that a sensor is provided for determining the picked-up load (7).
  6. Load-carrying vehicle according to Claim 5, characterized in that the sensor is designed to determine the picked-up load (7) as a pressure sensor (6) in a lifting cylinder which adjusts the lifting device (3).
  7. Load-carrying vehicle according to one of Claims 1 to 6, characterized in that a sensor (6) is provided for determining the lifting height of the lifting device (3).
  8. Load-carrying vehicle according to Claim 7, characterized in that the sensor is designed to determine the lifting height of the lifting device (3) as a barometric sensor which is arranged on the lifting device (3).
  9. Load-carrying vehicle according to one of Claims 1 to 8, characterized in that the lifting device (3) is arranged on a mast (4) which is pivotably arranged on the vehicle.
  10. Load-carrying vehicle according to Claim 9, characterized in that a sensor is provided for determining the pivoting angle of the mast (4).
  11. Load-carrying vehicle according to one of Claims 1 to 10, characterized in that a brake device of the load-carrying vehicle can be adjusted by actuation signals of the closed-loop or open-loop control device (8).
  12. Closed-loop or open-loop control device (8) for generating actuation signals for influencing at least one assembly in a load-carrying vehicle according to one of the preceding claims.
EP10732971.6A 2009-09-15 2010-07-15 Load-carrying vehicle with vertically adjustable lifting device Not-in-force EP2477930B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009029467A DE102009029467A1 (en) 2009-09-15 2009-09-15 Cargo vehicle with height-adjustable lifting device
PCT/EP2010/060197 WO2011032744A1 (en) 2009-09-15 2010-07-15 Load-carrying vehicle with vertically adjustable lifting device

Publications (2)

Publication Number Publication Date
EP2477930A1 EP2477930A1 (en) 2012-07-25
EP2477930B1 true EP2477930B1 (en) 2016-12-21

Family

ID=42813208

Family Applications (1)

Application Number Title Priority Date Filing Date
EP10732971.6A Not-in-force EP2477930B1 (en) 2009-09-15 2010-07-15 Load-carrying vehicle with vertically adjustable lifting device

Country Status (6)

Country Link
US (1) US20120239262A1 (en)
EP (1) EP2477930B1 (en)
JP (1) JP2013503802A (en)
CN (1) CN102482066B (en)
DE (1) DE102009029467A1 (en)
WO (1) WO2011032744A1 (en)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011100913A1 (en) * 2011-04-29 2012-10-31 Jungheinrich Aktiengesellschaft Truck with height-adjustable load carrier
CN102556908B (en) * 2012-01-17 2015-07-08 浙江中力机械有限公司 Safety monitoring system for electric forklift
CN102602849B (en) * 2012-03-16 2014-07-23 张家港市金昌龙机械设备有限公司 Hydraulic handcart
CN102910543B (en) * 2012-08-08 2014-10-15 三一集团有限公司 Crane and forward tilting prevention protection method and device thereof
US20140088837A1 (en) * 2012-09-21 2014-03-27 Erric L. Heitmann Vehicle With Solicited Carriage Descent
DE102013105299A1 (en) * 2013-05-23 2014-11-27 Kion Warehouse Systems Gmbh Industrial truck, in particular picking truck with a liftable and lowerable driver's stand
CN103350977B (en) * 2013-07-11 2015-06-10 浙江诺力机械股份有限公司 Method and device for automatically lifting fork to correct good storing-taking position during goods taking and storing
EP3194324A1 (en) 2014-09-15 2017-07-26 Crown Equipment Corporation Lift truck with optical load sensing structure
JP6365345B2 (en) * 2015-02-27 2018-08-01 株式会社豊田自動織機 Industrial vehicle
US10071894B2 (en) 2015-08-03 2018-09-11 The Raymond Corporation Oscillation damping for a material handling vehicle
DE102015118472A1 (en) * 2015-10-29 2017-05-04 Jungheinrich Aktiengesellschaft Industrial truck with a load part and a drive part
CN106444385B (en) * 2016-11-28 2019-04-02 龙合智能装备制造有限公司 Accessory adaptive intelligent adjusting method and device
DE102016124506A1 (en) * 2016-12-15 2018-06-21 Jungheinrich Aktiengesellschaft Truck with a control unit for controlling the movement of a load and a corresponding method
CN109941925B (en) * 2017-12-21 2020-07-10 比亚迪股份有限公司 Forklift truck
JP7070041B2 (en) * 2018-04-26 2022-05-18 中西金属工業株式会社 How to measure the height of the center of gravity of a forklift and the load loaded on the fork of the forklift
CN108502814A (en) * 2018-05-22 2018-09-07 汇专科技集团股份有限公司 The carrying of AGV trolleies and lifting method and system
US11807508B2 (en) * 2018-08-31 2023-11-07 Hyster-Yale Group, Inc. Dynamic stability determination system for lift trucks
WO2020059236A1 (en) * 2018-09-19 2020-03-26 日本電産株式会社 Article management system
JP7215948B2 (en) * 2019-03-28 2023-01-31 三菱重工業株式会社 forklift
CN112061718B (en) * 2019-06-10 2022-03-15 李志鹏 Control method of intelligent tray and intelligent tray
CN111498751B (en) * 2020-04-27 2021-06-11 广东电网有限责任公司 Unloading platform
US11066023B1 (en) 2021-04-09 2021-07-20 INVISIONit LLC Camera system for particulate material trailer

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006137761A1 (en) * 2005-06-22 2006-12-28 Volvo Construction Equipment Holding Sweden Ab A system and a method of controlling the tilting of a loadcarrying implement of a movable work machine, and a movable work machine

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2884995B2 (en) * 1993-06-21 1999-04-19 神鋼電機株式会社 Cargo handling control device
JPH115419A (en) * 1997-06-18 1999-01-12 Toyota Autom Loom Works Ltd Car body rocking control device for industrial vehicle
JPH11199197A (en) * 1997-11-14 1999-07-27 Toyota Autom Loom Works Ltd Rear wheel axle rocking control device for forklift
DE10304658A1 (en) 2003-02-05 2004-08-19 Bosch Rexroth Ag Industrial truck
US6785597B1 (en) * 2003-02-07 2004-08-31 Wiggins Lift Co., Inc. Hydraulic stabilizer system and process for monitoring load conditions
GB2412902B (en) * 2004-04-07 2008-04-09 Linde Ag Industrial truck having increased static or quasi-static tipping stability
DE102005012004B4 (en) * 2004-04-07 2020-09-24 Linde Material Handling Gmbh Industrial truck with increased static / quasi-static and dynamic tipping stability
JP2006162364A (en) * 2004-12-06 2006-06-22 Yokogawa Electric Corp Position-measuring system
JP2007039213A (en) * 2005-08-04 2007-02-15 Tmp:Kk Safety operation device, safety operation method and safety operation control system of transport apparatus
WO2007065077A2 (en) * 2005-12-02 2007-06-07 Gm Global Technology Operations, Inc. In-vehicle determination of the relative center of gravity height
JP2007276962A (en) * 2006-04-07 2007-10-25 Murata Mach Ltd Conveying device
JP2007290817A (en) * 2006-04-25 2007-11-08 Nippon Sharyo Seizo Kaisha Ltd Load collapse prevention device
JP4142700B2 (en) * 2006-07-24 2008-09-03 学校法人慶應義塾 Loading scooping device
DE102007015488A1 (en) * 2007-03-30 2008-10-02 Still Wagner Gmbh Vibration compensation on the mast of a truck
DE102007020182A1 (en) * 2007-04-28 2008-10-30 Robert Bosch Gmbh Movable component e.g. auto-hoist, height measuring method for e.g. forklift, involves measuring atmospheric pressures by barometers, and calculating height of reference point from both measured atmospheric values
US8140228B2 (en) * 2009-03-27 2012-03-20 The Raymond Corporation System and method for dynamically maintaining the stability of a material handling vehicle having a vertical lift

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006137761A1 (en) * 2005-06-22 2006-12-28 Volvo Construction Equipment Holding Sweden Ab A system and a method of controlling the tilting of a loadcarrying implement of a movable work machine, and a movable work machine

Also Published As

Publication number Publication date
US20120239262A1 (en) 2012-09-20
CN102482066A (en) 2012-05-30
JP2013503802A (en) 2013-02-04
WO2011032744A1 (en) 2011-03-24
DE102009029467A1 (en) 2011-03-24
EP2477930A1 (en) 2012-07-25
CN102482066B (en) 2014-11-26

Similar Documents

Publication Publication Date Title
EP2477930B1 (en) Load-carrying vehicle with vertically adjustable lifting device
EP2580152B1 (en) Method for determining the probability of a handling truck's tipping over
EP1985576B1 (en) Method and device for preventing a counterweight forklift tipping over
DE102008020592B4 (en) Procedure for vibration damping in industrial trucks
EP1640311B1 (en) Method for preventing tipping over of rear wheel steered vehicles, in particular of industrial trucks
DE19919655B4 (en) Industrial truck with anti-tip device
US20170100981A1 (en) System and method for controlling stability of milling machines
EP3312132B1 (en) Proactive reduction of vibrations in an industrial truck
DE10304658A1 (en) Industrial truck
EP2070864B1 (en) Method for operating an industrial truck
EP3750763B1 (en) Device and method for braking a vehicle with a front load receiving device
DE10010011A1 (en) 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
EP1594026B1 (en) Telehandler, in particular reachstacker, with steering control
DE10348736B4 (en) Control system for a vehicle and method for controlling a vehicle
DE102016106459A1 (en) Work vehicle with articulated steering and load-dependent steering angle limitation
DE19824914A1 (en) Power-assisted steering for motor vehicles
DE102004028053A1 (en) 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
EP1371603B1 (en) Control system for at least one movement of an industrial truck
EP2607295B1 (en) Method for determining the longitudinal tilting moment of industrial trucks
EP2733036B1 (en) Mobile machine with loading system
EP2774889B1 (en) Mobile machine with loading system
DE102010031531A1 (en) Method and system for controlling a driving behavior of a truck
EP2431324A1 (en) Device for measuring the wheel contact force on the articulated rear wheel of an industrial truck, in particular a counterweight forklift
DE102007060433A1 (en) Industrial truck for use as picking unit, has two construction units relatively moved to each other based on load that is accommodated in load fork, where load fork is adjustable in its height
EP3050840B1 (en) Determining parameters for multiple direction forklifts

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20120416

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO SE SI SK SM TR

DAX Request for extension of the european patent (deleted)
17Q First examination report despatched

Effective date: 20151007

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

INTG Intention to grant announced

Effective date: 20160928

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 855270

Country of ref document: AT

Kind code of ref document: T

Effective date: 20170115

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502010012924

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161221

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20161221

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170321

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170322

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161221

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161221

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161221

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161221

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161221

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 8

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161221

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161221

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161221

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170421

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161221

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161221

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161221

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161221

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170321

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161221

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20170421

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502010012924

Country of ref document: DE

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20170922

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161221

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161221

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20170715

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170715

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170731

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170731

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170715

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20170731

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170715

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 9

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170731

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 855270

Country of ref document: AT

Kind code of ref document: T

Effective date: 20170715

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161221

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170715

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161221

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20100715

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20161221

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161221

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161221

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20161221

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20210721

Year of fee payment: 12

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20220927

Year of fee payment: 13

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20220731

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 502010012924

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20240201