EP2508465B1 - Industrial truck, in particular reach truck with a lifting frame - Google Patents

Industrial truck, in particular reach truck with a lifting frame Download PDF

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Publication number
EP2508465B1
EP2508465B1 EP20120002511 EP12002511A EP2508465B1 EP 2508465 B1 EP2508465 B1 EP 2508465B1 EP 20120002511 EP20120002511 EP 20120002511 EP 12002511 A EP12002511 A EP 12002511A EP 2508465 B1 EP2508465 B1 EP 2508465B1
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EP
European Patent Office
Prior art keywords
mast
lowering
throttle valve
free
lift cylinder
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EP20120002511
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German (de)
French (fr)
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EP2508465A1 (en
Inventor
Thomas Stolten
Christoph Behncke
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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
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/22—Hydraulic devices or systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors

Definitions

  • the present invention relates to an industrial truck, in particular a reach truck with a mast.
  • Forklifts with an extendable mast have a fixed stroke sequence, so that during lifting first a lifting of the lifting device takes place in a free lift, to which a mast lift adjoins.
  • the load receiving means is raised or lowered without the mast extending. This has the advantage that the load can be lifted without changing the headroom of the truck.
  • the mast stroke begins, where the mast extends to further lift the load handler.
  • the lift cylinder for the free lift has a larger, effective piston area, as provided for the mast lift mast stroke. Under the influence of the oil pressure results from the larger piston surface, a force that causes the first free-lifting cylinder extends. If the free lift is fully extended, the mast stroke is actuated by the mast lift cylinder.
  • Out DE 101 25 351 A1 is a hydraulic arrangement for the lifting cylinder of a truck known.
  • One of the lifting cylinders is provided as a first extendable primary cylinder and has a larger piston diameter than the second lifting cylinder, which is provided as a subsequently extendable secondary cylinder.
  • a pressure-dependent shut-off valve to the mast lifting cylinder.
  • Out DE OS 29 30 316 is a multi-telescopic mast known in which the transition from the free lift in the mast lift temporarily a parallel operation of free lift and mast lift is done together.
  • Out DE 197 10 556 A1 is an extendable mast construction for a truck with a carriage-proof mast known in which the free-lifting cylinder builds up a gradually increasing hydraulic back pressure before the end of its extension stroke, which is such that the pressure increase at the lift cylinders is sufficient to extend the mast cylinder before the Free-lift cylinder has reached its death point.
  • a hydraulic mast has become known in which a hydraulically actuated mast with a mast lift and a free-lifting cylinder is controlled in each case via electrically controlled proportional valves.
  • a transition region is defined to provide a constant speed for the load support, depending on the height of the load support, in which the proportional valve closes for the free lift via a ramp and the Proportional valve for the mast lift is opened accordingly via a ramp.
  • the control of the two proportional valves is such that a possible uniform transition between free lift and mast lift is achieved during lifting and lowering.
  • WO 2009/141242 A1 is a truck with a multi-stage mast known.
  • a hydraulic valve arrangement is provided, which is controlled in order to compensate for a difference between a detected actual speed of the load-bearing means and a desired speed for the load-bearing means.
  • the hydraulic valve device is equipped for this purpose with at least one adjustable supply valve and with at least one adjustable drain valve.
  • a lowering valve of the mast lifting cylinder is driven complementary to a lowering valve of the free-lifting cylinder in order to achieve a constant lowering speed in the transition region.
  • the invention has for its object to provide a truck with an extendable mast, in which by simple means, a constant lowering speed for lowering the lifting cylinder for the mast stroke and the free lift is achieved.
  • the truck according to the invention is in particular a reach truck with a mast, which has at least one mast movable along the mast. In this case, several masts extend telescopically extendable to form the mast. Furthermore, the truck has a load bearing means, the is movably mounted along the at least one mast. Furthermore, a pressure source is provided for supplying a freehub cylinder cooperating with the load receiving means and a mast lifting cylinder cooperating with the at least one mast. According to the invention, a common throttle valve is provided for the lowering operation of the free-lifting cylinder and the mast-lifting cylinder. Furthermore, a sensor is provided according to the invention, which detects a transition from the mast stroke to the free stroke in a lowering process.
  • a control which controls the throttle valve in response to a detected by the sensor transition from the mast stroke in the free stroke, so that a lowering speed of the free-lifting corresponds to a lowering speed of the mast lift.
  • the truck according to the invention has the advantage that the lowering speed is controlled by a common throttle valve, wherein a sensor that detects, for example, the height of the load support, at a transition of lowering the mast to lower the load supporting means with retracted mast the common throttle valve controls.
  • the invention is based on the idea that a common throttle valve can be provided for the lowering operation of mast lifting and free-lifting cylinders, by the actuation of which a constant lowering speed for the mast stroke and the free lift can be achieved.
  • control of the throttle valve by the controller is electrically such that when lowering the free-lifting a larger maximum flow through the throttle valve is possible.
  • the free lift cylinder has a larger piston area than each of the at least one mast lift cylinder.
  • the larger piston area ensures that the free stroke is first actuated during the lifting process before the mast stroke starts and that, when lowering, the mast stroke is lowered first and the free lift then lowers.
  • the maximum volume flow is increased by the common throttle valve according to the area difference of free-lift and mast lifting, when the sensor responds to a transition from mast lift to free lift during a lowering operation.
  • the senor detects the lifting height of the load supporting means in order to detect the transition from the mast stroke to the free stroke at a predetermined lifting height of the load-carrying means.
  • a two-way volumetric flow regulator is provided in a lowering line of the common throttle valve.
  • the two-way volumetric flow regulator may be provided upstream or downstream of the common throttle valve. In one position of the two-way volumetric flow controller, a volumetric flow is blocked when lowering out of the lifting cylinders.
  • the two-way flow regulator is used to prevent uncontrolled lowering in case of failure of the common throttle valve.
  • a temperature compensation for the common throttle valve is provided.
  • the temperature compensation corrects for the control of the common throttle valve temperature influences in the flow.
  • the prerequisite for the compensation of the influence of temperature on the volume flow control is the knowledge about the relationship between volume flow change and temperature change at a constant electrical drive current of the throttle valve.
  • the dependency is represented by volume flow characteristics recorded at different temperatures. The characteristic curves are usually recorded at the same values for pressure and electric current. Based on these characteristics can then be carried out depending on the temperature, a correction of the electric current for driving the common throttle valve to achieve the desired flow rate.
  • the two-way volumetric flow controller is hydraulically controlled by a Senkstoppventil.
  • the lowering stop valve is electrically held in a position in which the two-way volumetric flow controller connects the common throttle valve to a tank.
  • the lowering stop valve switches the two-way volume flow controller such that the lowering line is connected to the common throttle valve with the tank and the volume flow during lowering by the common throttle valve 36 can be controlled.
  • the two-way volumetric flow controller is hydraulically controlled by a Senkstoppventil, wherein the Senkstoppventil occupies a position in a missing electrical voltage in which the two-way volumetric flow controller is hydraulically controlled to a Lowering the lowering of the common throttle valve. This ensures that in case of a fault in the electrical power supply of the truck, the Senkstoppventil hydraulically blocks a lowering line and there is no uncontrolled lowering of the mast and the load bearing means.
  • the single FIGURE shows the hydraulic arrangement of a truck with a free-lifting cylinder 10 and two mast cylinders 12. Further, a further cylinder 14 is shown, via which a mast thrust can be actuated, as required for a reach truck.
  • the lifting cylinders 10, 12, 14 are fed from a common tank 16, from which oil is conveyed via a hydraulic pump 18.
  • a pressure relief valve 22 and a check valve 24 is provided in a first supply line 20, a pressure relief valve 22 and a check valve 24 is provided.
  • a shuttle valve 26 can be switched between a lifting function of the free-lifting cylinder 10 or the mast cylinder 12 and the mast thrust cylinder 14.
  • the free-lift cylinder 10 and the mast lift cylinders 12 are preceded in each case by a pipe rupture guard 28 which, in the event of a line break, blocks the lowering operation, for example when the lowering speed exceeds a speed of 0.6 m / s.
  • the hydraulic fluid initially exits via the pipe rupture protection and is directed into a lowering pipe 30.
  • the lowering pipe 30 has a common, proportional throttle valve 36, which has no mechanically adjustable stroke stop.
  • the common throttle valve 36 is electrically controlled to set the maximum flow through the throttle valve 36.
  • a two-way flow regulator 38 for lowering is over the Sink line 30 and a bypass line 32 connected and arranged downstream of the common throttle valve 36.
  • the bypass line 32 has a shut-off valve 34.
  • an additional Senkstoppventil 42 is provided that shuts off the control pressure to the two-way flow regulator 38 when it is not supplied with electrical voltage.
  • the Senkstoppventil 42 thus terminated by an operation of the two-way flow regulator 38 a lowering operation when the electrical voltage fails. In this way, it is ensured that the common throttle valve 36 whose maximum volume flow is adjusted electrically without mechanical stroke stop, does not lead to an uncontrolled lowering of the lifting cylinder 10 and 12 in case of failure of the voltage.
  • hydraulic oil first exits from the mast lifting cylinders 12 via the lowering line 30 and the common throttle valve 36 and flows back into the tank 16.
  • the volume flow at the common throttle valve 36 is set electrically. If the transition is recognized during lowering from the mast stroke into the free stroke, the volume flow in the common throttle valve 36 is increased corresponding to the cylinder surfaces, so that the free-lifting cylinder 10 is lowered at the same speed as the mast lift cylinders.

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

Description

Die vorliegende Erfindung betrifft ein Flurförderzeug, insbesondere einen Schubmaststapler mit einem Hubgerüst.The present invention relates to an industrial truck, in particular a reach truck with a mast.

Flurförderzeuge mit einem ausfahrbaren Hubgerüst besitzen eine festgelegte Hubfolge, so dass beim Hubvorgang zunächst ein Anheben des Lastaufnahmemittels in einem Freihub erfolgt, an de sich ein Masthub anschließt. Bei dem Freihub wird das Lastaufnahmemittel angehoben oder abgesenkt, ohne dass das Hubgerüst ausfährt. Dies hat den Vorteil, dass die Last gehoben werden kann, ohne die Durchfahrtshöhe des Flurförderzeugs zu verändern. Am Ende des Freihubs beginnt der Masthub, bei dem das Hubgerüst ausfährt, um so das Lastaufnahmemittel weiter anzuheben.Forklifts with an extendable mast have a fixed stroke sequence, so that during lifting first a lifting of the lifting device takes place in a free lift, to which a mast lift adjoins. During the free lift, the load receiving means is raised or lowered without the mast extending. This has the advantage that the load can be lifted without changing the headroom of the truck. At the end of the free lift, the mast stroke begins, where the mast extends to further lift the load handler.

Es ist bekannt, die Hubfolge von Freihub und Masthub über die Flächenverhältnisse der entsprechenden Hubzylinder fest vorzugeben. Der Hubzylinder für den Freihub besitzt eine größere, wirksame Kolbenfläche, als der für den Masthub vorgesehene Masthubzylinder. Unter Einfluss des Öldrucks resultiert aus der größeren Kolbenfläche eine Kraft, die dazu führt, dass zuerst der Freihubzylinder ausfährt. Ist der Freihub vollständig ausgefahren, erfolgt eine Betätigung des Masthubes durch den Masthubzylinder.It is known to predetermine the stroke sequence of free lift and mast stroke over the area ratios of the corresponding lifting cylinder. The lift cylinder for the free lift has a larger, effective piston area, as provided for the mast lift mast stroke. Under the influence of the oil pressure results from the larger piston surface, a force that causes the first free-lifting cylinder extends. If the free lift is fully extended, the mast stroke is actuated by the mast lift cylinder.

Aus DE 101 25 351 A1 ist eine hydraulische Anordnung für die Hubzylinder eines Flurförderzeuges bekannt. Einer der Hubzylinder ist als zuerst ausfahrbarer Primärzylinder vorgesehen und weist einen größeren Kolbendurchmesser als der zweite Hubzylinder auf, der als nachfolgend ausfahrbarer Sekundärzylinder vorgesehen ist. Um sicherzustellen, dass die Hubfolge von Freihub- und Masthubzylinder auch unter ungünstigen Umständen eingehalten wird, wurde vorgeschlagen, dem Masthubzylinder ein druckabhängiges Sperrventil vorzuschalten.Out DE 101 25 351 A1 is a hydraulic arrangement for the lifting cylinder of a truck known. One of the lifting cylinders is provided as a first extendable primary cylinder and has a larger piston diameter than the second lifting cylinder, which is provided as a subsequently extendable secondary cylinder. In order to ensure that the stroke sequence of free-lift and mast lifting cylinders is maintained even under unfavorable circumstances, it has been proposed to connect a pressure-dependent shut-off valve to the mast lifting cylinder.

Aus DE OS 29 30 316 ist eine Mehrfach-Teleskop-Hubgerüst bekannt geworden, bei dem im Übergang vom Freihub in den Masthub zeitweise ein Parallelbetrieb von Freihub und Masthub miteinander erfolgt.Out DE OS 29 30 316 is a multi-telescopic mast known in which the transition from the free lift in the mast lift temporarily a parallel operation of free lift and mast lift is done together.

Aus DE 43 05 192 A1 ist ein Verfahren zum Steuern der Arbeitsbewegung einer ausfahrbaren Mastkonstruktion eines Hubwagens bekannt geworden, bei dem das Lasttragemittel von einem ersten Hubzylinder und die ausfahrbare Mastkonstruktion von einem zweiten Hubzylinder betätigt wird. Bei der bekannten ausfahrbaren Mastkonstruktion unterstützt der erste Hubzylinder den zweiten, für den Masthub verantwortlichen Hubzylinder vor einem Ende des Freihubs, indem der Masthub bereits während des Freihubs.Out DE 43 05 192 A1 a method for controlling the working movement of an extendable mast construction of a lift truck has become known in which the load bearing means is actuated by a first lifting cylinder and the extendable mast construction by a second lifting cylinder. In the known extendable mast construction of the first lifting cylinder supports the second, responsible for the mast lift cylinder before an end of the free lift by the mast lift already during the free lift.

Aus DE 197 10 556 A1 ist eine ausfahrbare Mastkonstruktion für einen Hubwagen mit einem wagenfesten Mast bekannt geworden, bei dem der Freihubzylinder vor dem Ende seines Ausfahrhubes einen allmählich ansteigenden hydraulischen Gegendruck aufbaut, der so bemessen ist, dass die Druckerhöhung an den Hubzylindern ausreicht, um den Masthubzylinder auszufahren, bevor der Freihubzylinder seinen Todpunkt erreicht hat.Out DE 197 10 556 A1 is an extendable mast construction for a truck with a carriage-proof mast known in which the free-lifting cylinder builds up a gradually increasing hydraulic back pressure before the end of its extension stroke, which is such that the pressure increase at the lift cylinders is sufficient to extend the mast cylinder before the Free-lift cylinder has reached its death point.

Aus EP 1 593 645 A2 ist ein hydraulisches Hubgerüst bekannt geworden, bei dem ein hydraulisch betätigbares Hubgerüst mit einem Masthub- und einem Freihubzylinder jeweils über elektrisch gesteuerte Proportionalventile gesteuert wird. Beim Heben und Senken im Übergang von Freihub zu Masthub bzw. von Masthub zu Freihub wird, um eine konstante Geschwindigkeit für das Lasttragmittel bereitzustellen, abhängig von der Höhe des Lasttragmittels ein Übergangsbereich definiert, in dem das Proportionalventil für den Freihub über eine Rampe geschlossen und das Proportionalventil für den Masthub über eine Rampe entsprechend geöffnet wird. Die Ansteuerung der beiden Proportionalventile erfolgt derart, dass ein möglichst gleichmäßiger Übergang zwischen Freihub und Masthub beim Heben und Senken erzielt wird.Out EP 1 593 645 A2 a hydraulic mast has become known in which a hydraulically actuated mast with a mast lift and a free-lifting cylinder is controlled in each case via electrically controlled proportional valves. When lifting and lowering in the transition from free lift to mast lift or from mast lift to free lift, a transition region is defined to provide a constant speed for the load support, depending on the height of the load support, in which the proportional valve closes for the free lift via a ramp and the Proportional valve for the mast lift is opened accordingly via a ramp. The control of the two proportional valves is such that a possible uniform transition between free lift and mast lift is achieved during lifting and lowering.

Aus WO 2009/141242 A1 ist eine Flurförderzeug mit einem mehrstufigen Hubgerüst bekannt geworden. Zur Ansteuerung von einem Freihubzylinder und einem Masthubzylinder ist eine hydraulische Ventilanordnung vorgesehen, die angesteuert wird, um eine Differenz zwischen einer erfassten Istgeschwindigkeit des Lasttragemittels und einer Sollgeschwindigkeit für das Lasttragmittel auszugleichen. Die hydraulische Ventileinrichtung ist hierzu mit mindestens einem verstellbaren Versorgungsventil und mit mindestens einem verstellbaren Abflussventil ausgestattet. Zum Erzielen einer konstanten Senkgeschwindigkeit beim Übergang vom Masthub in den Freihub, ist vorgesehen, dass ein Senkventil des Masthubzylinders komplementär zu einem Senkventil des Freihubzylinders angesteuert wird, um auch im Übergangsbereich eine konstante Senkgeschwindigkeit zu erzielen.Out WO 2009/141242 A1 is a truck with a multi-stage mast known. For controlling a free-lifting cylinder and a mast lifting cylinder, a hydraulic valve arrangement is provided, which is controlled in order to compensate for a difference between a detected actual speed of the load-bearing means and a desired speed for the load-bearing means. The hydraulic valve device is equipped for this purpose with at least one adjustable supply valve and with at least one adjustable drain valve. To achieve a constant lowering speed during the transition from the mast stroke to the free stroke, it is provided that a lowering valve of the mast lifting cylinder is driven complementary to a lowering valve of the free-lifting cylinder in order to achieve a constant lowering speed in the transition region.

Der Erfindung liegt die Aufgabe zugrunde, ein Flurförderzeug mit einem ausfahrbaren Hubgerüst bereitzustellen, bei dem mit einfachen Mitteln eine konstante Senkgeschwindigkeit für das Senken der Hubzylinder für den Masthub und den Freihub erzielt wird.The invention has for its object to provide a truck with an extendable mast, in which by simple means, a constant lowering speed for lowering the lifting cylinder for the mast stroke and the free lift is achieved.

Erfindungsgemäß wird die Aufgabe durch eine Vorrichtung mit den Merkmalen aus Anspruch 1 gelöst. Vorteilhafte Ausgestaltungen bilden den Gegenstand der Unteransprüche.According to the invention the object is achieved by a device having the features of claim 1. Advantageous embodiments form the subject of the dependent claims.

Das erfindungsgemäße Flurförderzeug ist insbesondere ein Schubmaststapler mit einem Hubgerüst, das mindestens einen entlang dem Hubgerüst beweglichen Mast aufweist. Hierbei können auch mehrere Masten teleskopisch zueinander ausfahrbar das Hubgerüst bilden. Ferner besitzt das Flurförderzeug ein Lasttragmittel, das entlang dem mindestens einen Mast beweglich gelagert ist. Ferner ist eine Druckquelle zur Versorgung eines mit dem Lastaufnahmemittel zusammenwirkenden Freihubzylinders und eines mit dem mindestens einen Mast zusammenwirkenden Masthubzylinder vorgesehen. Erfindungsgemäß ist ein gemeinsames Drosselventil für den Senkbetrieb des Freihubzylinders und des Masthubzylinders vorgesehen. Ferner ist erfindungsgemäß ein Sensor vorgesehen, der in einem Senkvorgang einen Übergang vom Masthub zum Freihub erfasst. Weiterhin ist erfindungsgemäß eine Steuerung vorgesehen, die ansprechend auf einen von dem Sensor erfassten Übergang vom Masthub in den Freihub das Drosselventil ansteuert, so dass eine Senkgeschwindigkeit des Freihubzylinders einer Senkgeschwindigkeit des Masthubzylinders entspricht. Das erfindungsgemäße Flurförderzeug besitzt den Vorteil, dass die Senkgeschwindigkeit über ein gemeinsames Drosselventil gesteuert wird, wobei ein Sensor, der beispielsweise die Höhe des Lasttragmittels erfasst, bei einem Übergang des Absenkens des Mastes zum Absenken des Lasttragmittels bei eingefahrenem Hubgerüst das gemeinsame Drosselventil ansteuert. Der Erfindung liegt der Gedanke zugrunde, dass für den Senkbetrieb von Masthub- und Freihubzylinder ein gemeinsames Drosselventil vorgesehen werden kann, durch dessen Ansteuerung eine konstante Senkgeschwindigkeit für den Masthub und den Freihub erreicht werden kann. Anders als bei den bekannten Lösungen, bei denen die Steuerung des Absenkens vom Masthub in den Freihub über die Ansteuerung von zwei Drosselventilen erfolgt, kann bei dem erfindungsgemäßen Verfahren auf eine Ansteuerung von zwei Drosselventilen verzichtet werden. Hierdurch werden auch der Service und die Wartung des Hubgerüstes deutlich vereinfacht. Insbesondere in Fällen, in denen Freihubzylinder und Masthubzylinder aufgrund der Kolbenfläche oder anderer charakteristischer Größen der Hubzylinder unterschiedliche Senkgeschwindigkeiten besitzen, vereinfacht die Verwendung eines gemeinsamen Drosselventils das Einstellen einer konstanten Senkgeschwindigkeit, da durch die Ansteuerung des Drosselventils lediglich der Unterschied in der Senkgeschwindigkeit zwischen Masthub- und Freihubzylinder ausgeglichen werden muss.The truck according to the invention is in particular a reach truck with a mast, which has at least one mast movable along the mast. In this case, several masts extend telescopically extendable to form the mast. Furthermore, the truck has a load bearing means, the is movably mounted along the at least one mast. Furthermore, a pressure source is provided for supplying a freehub cylinder cooperating with the load receiving means and a mast lifting cylinder cooperating with the at least one mast. According to the invention, a common throttle valve is provided for the lowering operation of the free-lifting cylinder and the mast-lifting cylinder. Furthermore, a sensor is provided according to the invention, which detects a transition from the mast stroke to the free stroke in a lowering process. Furthermore, a control is provided according to the invention, which controls the throttle valve in response to a detected by the sensor transition from the mast stroke in the free stroke, so that a lowering speed of the free-lifting corresponds to a lowering speed of the mast lift. The truck according to the invention has the advantage that the lowering speed is controlled by a common throttle valve, wherein a sensor that detects, for example, the height of the load support, at a transition of lowering the mast to lower the load supporting means with retracted mast the common throttle valve controls. The invention is based on the idea that a common throttle valve can be provided for the lowering operation of mast lifting and free-lifting cylinders, by the actuation of which a constant lowering speed for the mast stroke and the free lift can be achieved. Unlike in the known solutions, in which the control of the lowering of the mast stroke in the free lift via the control of two throttle valves, can be dispensed with in the inventive method to control two throttle valves. As a result, the service and maintenance of the mast are significantly simplified. In particular, in cases where Freihubzylinder and mast lift cylinder due to the piston surface or other characteristic sizes of the lift cylinder have different lowering speeds, the use of a common throttle valve simplifies the setting of a constant lowering speed, since by the control of the throttle valve only the difference in the Lowering speed between mast lift and free lift cylinder must be compensated.

In einer bevorzugten Ausgestaltung erfolgt die Ansteuerung des Drosselventils von der Steuerung elektrisch derart, dass beim Senken des Freihubzylinders ein größerer maximaler Volumenstrom durch das Drosselventil möglich ist.In a preferred embodiment, the control of the throttle valve by the controller is electrically such that when lowering the free-lifting a larger maximum flow through the throttle valve is possible.

In einer weiteren bevorzugten Ausgestaltung besitzt der Freihubzylinder eine größere Kolbenfläche als jeder der mindestens einen Masthubzylinder aufweist. Durch die größere Kolbenfläche wird sichergestellt, dass beim Hubvorgang zunächst der Freihub betätigt wird, bevor der Masthub einsetzt und dass beim Senken, zunächst der Masthub gesenkt wird und hiernach sich der Freihub senkt. Bevorzugt wird der maximale Volumenstrom durch das gemeinsame Drosselventil entsprechend der Flächendifferenz von Freihub- und Masthubzylinder vergrößert, wenn der Sensor bei einem Senkvorgang auf einen Übergang vom Masthub zum Freihub anspricht.In a further preferred embodiment, the free lift cylinder has a larger piston area than each of the at least one mast lift cylinder. The larger piston area ensures that the free stroke is first actuated during the lifting process before the mast stroke starts and that, when lowering, the mast stroke is lowered first and the free lift then lowers. Preferably, the maximum volume flow is increased by the common throttle valve according to the area difference of free-lift and mast lifting, when the sensor responds to a transition from mast lift to free lift during a lowering operation.

In einer bevorzugten Ausgestaltung der Erfindung erfasst der Sensor die Hubhöhe des Lasttragmittels, um den Übergang vom Masthub in den Freihub bei einer vorbestimmten Hubhöhe des Lasttragmittels zu erfassen.In a preferred embodiment of the invention, the sensor detects the lifting height of the load supporting means in order to detect the transition from the mast stroke to the free stroke at a predetermined lifting height of the load-carrying means.

In einer bevorzugten Ausgestaltung ist ein Zwei-Wege-Volumenstromregler in einer Senkleitung des gemeinsamen Drosselventils vorgesehen. Der Zwei-Wege-Volumenstromregler kann stromauf- oder stromabwärts des gemeinsamen Drosselventils vorgesehen sein. In einer Stellung des Zwei-Wege-Volumenstromreglers wird ein Volumenstrom beim Senken aus den Hubzylindern gesperrt. Der Zwei-Wege-Volumenstromregler dient dazu, beim Versagen des gemeinsamen Drosselventils ein unkontrolliertes Absenken zu vermeiden.In a preferred embodiment, a two-way volumetric flow regulator is provided in a lowering line of the common throttle valve. The two-way volumetric flow regulator may be provided upstream or downstream of the common throttle valve. In one position of the two-way volumetric flow controller, a volumetric flow is blocked when lowering out of the lifting cylinders. The two-way flow regulator is used to prevent uncontrolled lowering in case of failure of the common throttle valve.

In einer weiteren Ausgestaltung ist eine Temperaturkompensation für das gemeinsame Drosselventil vorgesehen. Die Temperaturkompensation korrigiert bei der Ansteuerung des gemeinsamen Drosselventils Temperatureinflüsse im Volumenstrom. Voraussetzung für die Kompensation des Temperatureinflusses auf die Volumenstromregelung ist die Kenntnis über den Zusammenhang zwischen Volumenstromänderung und Temperaturänderung bei konstantem elektrischem Ansteuerstrom des Drosselventils. Die Abhängigkeit wird über Volumenstromkennlinien dargestellt, die bei unterschiedlichen Temperaturen aufgezeichnet wurden. Die Kennlinien werden üblicherweise bei gleichen Werten für Druck und elektrischen Strom aufgezeichnet. Anhand dieser Kennlinien kann dann abhängig von der Temperatur eine Korrektur des elektrischen Stroms zur Ansteuerung des gemeinsamen Drosselventils erfolgen, um den gewünschten Volumenstrom zu erzielen.In a further embodiment, a temperature compensation for the common throttle valve is provided. The temperature compensation corrects for the control of the common throttle valve temperature influences in the flow. The prerequisite for the compensation of the influence of temperature on the volume flow control is the knowledge about the relationship between volume flow change and temperature change at a constant electrical drive current of the throttle valve. The dependency is represented by volume flow characteristics recorded at different temperatures. The characteristic curves are usually recorded at the same values for pressure and electric current. Based on these characteristics can then be carried out depending on the temperature, a correction of the electric current for driving the common throttle valve to achieve the desired flow rate.

In einer bevorzugten Ausgestaltung wird der Zwei-Wege-Volumenstromregler hydraulisch von einem Senkstoppventil gesteuert. Das Senkstoppventil wird elektrisch in einer Stellung gehalten, in der der Zwei-Wege-Volumenstromregler das gemeinsame Drosselventil mit einem Tank verbindet. Bei anliegender elektrischer Versorgungsspannung schaltet das Senkstoppventil den Zwei-Wege-Volumenstromregler derart, dass die Senkleitung mit dem gemeinsamen Drosselventil mit dem Tank verbunden ist und der Volumenstrom während des Senkens durch das gemeinsame Drosselventil 36 gesteuert werden kann.In a preferred embodiment, the two-way volumetric flow controller is hydraulically controlled by a Senkstoppventil. The lowering stop valve is electrically held in a position in which the two-way volumetric flow controller connects the common throttle valve to a tank. When the electrical supply voltage is applied, the lowering stop valve switches the two-way volume flow controller such that the lowering line is connected to the common throttle valve with the tank and the volume flow during lowering by the common throttle valve 36 can be controlled.

In einer weiteren bevorzugten Ausgestaltung wird der Zwei-Wege-Volumenstromregler hydraulisch von einem Senkstoppventil gesteuert, wobei das Senkstoppventil bei einer fehlenden elektrischen Spannung eine Stellung einnimmt, in der der Zwei-Wege-Volumenstromregler hydraulisch angesteuert wird, um eine Senkleitung des gemeinsamen Drosselventils zu sperren. Hierdurch ist sichergestellt, dass bei einer Störung in der elektrischen Spannungsversorgung des Flurförderzeugs das Senkstoppventil hydraulisch eine Senkleitung sperrt und es nicht zu einem unkontrollierten Absenken des Hubgerüstes und des Lasttragmittels kommt.In a further preferred embodiment, the two-way volumetric flow controller is hydraulically controlled by a Senkstoppventil, wherein the Senkstoppventil occupies a position in a missing electrical voltage in which the two-way volumetric flow controller is hydraulically controlled to a Lowering the lowering of the common throttle valve. This ensures that in case of a fault in the electrical power supply of the truck, the Senkstoppventil hydraulically blocks a lowering line and there is no uncontrolled lowering of the mast and the load bearing means.

Die Erfindung wird nachfolgend anhand eines Ausführungsbeispiels näher erläutert.The invention will be explained in more detail with reference to an embodiment.

Die einzige Figur zeigt die Hydraulikanordnung eines Flurförderzeugs mit einem Freihubzylinder 10 und zwei Masthubzylindern 12. Ferner ist ein weiterer Zylinder 14 dargestellt, über den ein Mastschub betätigt werden kann, wie er für einen Schubmaststapler erforderlich ist. Gespeist werden die Hubzylinder 10, 12, 14 aus einem gemeinsamen Tank 16, aus dem über eine Hydraulikpumpe 18 Öl gefördert wird. In einer ersten Zuleitung 20 ist ein Überdruckventil 22 sowie ein Rückschlagventil 24 vorgesehen. Über ein Wechselventil 26 kann zwischen einer Hubfunktion des Freihubzylinders 10 oder des Masthubzylinders 12 und des Mastschubzylinders 14 umgeschaltet werden.The single FIGURE shows the hydraulic arrangement of a truck with a free-lifting cylinder 10 and two mast cylinders 12. Further, a further cylinder 14 is shown, via which a mast thrust can be actuated, as required for a reach truck. The lifting cylinders 10, 12, 14 are fed from a common tank 16, from which oil is conveyed via a hydraulic pump 18. In a first supply line 20, a pressure relief valve 22 and a check valve 24 is provided. About a shuttle valve 26 can be switched between a lifting function of the free-lifting cylinder 10 or the mast cylinder 12 and the mast thrust cylinder 14.

Dem Freihubzylinder 10 und dem Masthubzylindern 12 ist jeweils eine Rohrbruchsicherung 28 vorgeschaltet, die im Fall eines Leitungsbruchs den Senkvorgang sperrt, beispielsweise wenn die Senkgeschwindigkeit eine Geschwindigkeit von 0,6 m/s überschreitet.The free-lift cylinder 10 and the mast lift cylinders 12 are preceded in each case by a pipe rupture guard 28 which, in the event of a line break, blocks the lowering operation, for example when the lowering speed exceeds a speed of 0.6 m / s.

Beim Senkvorgang tritt die Hydraulikflüssigkeit zunächst über die Rohrbruchsicherung aus und wird in eine Senkleitung 30 geleitet. Die Senkleitung 30 besitzt ein gemeinsames, proportionales Drosselventil 36, das keinen mechanisch einstellbaren Hubanschlag besitzt. Das gemeinsame Drosselventil 36 wird elektrisch angesteuert, um den maximalen Volumenstrom durch das Drosselventil 36 festzulegen. Ein Zwei-Wege-Volumenstromregler 38 für das Senken ist über die Senkleitung 30 und eine Bypassleitung 32 verbunden und stromabwärts des gemeinsamen Drosselventils 36 angeordnet. Die Bypassleitung 32 besitzt ein Absperrventil 34. In einer Steuerleitung 40 für den Zwei-Wege-Volumenstromregler 38 ist ein zusätzliches Senkstoppventil 42 vorgesehen, dass den Steuerdruck zum Zwei-Wege-Volumenstromregler 38 absperrt, wenn es nicht mit elektrischer Spannung versorgt ist. Das Senkstoppventil 42 beendet somit durch eine Betätigung des Zwei-Wege-Volumenstromregler 38 einen Senkvorgang, wenn die elektrische Spannung ausfällt. Auf diese Weise ist sichergestellt, dass das gemeinsame Drosselventil 36, dessen maximaler Volumenstrom elektrisch ohne mechanischen Hubanschlag eingestellt wird, bei einem Ausfall der Spannung nicht zu einem unkontrollierten Absenken der Hubzylinder 10 und 12 führt.During the lowering process, the hydraulic fluid initially exits via the pipe rupture protection and is directed into a lowering pipe 30. The lowering pipe 30 has a common, proportional throttle valve 36, which has no mechanically adjustable stroke stop. The common throttle valve 36 is electrically controlled to set the maximum flow through the throttle valve 36. A two-way flow regulator 38 for lowering is over the Sink line 30 and a bypass line 32 connected and arranged downstream of the common throttle valve 36. The bypass line 32 has a shut-off valve 34. In a control line 40 for the two-way volume flow regulator 38, an additional Senkstoppventil 42 is provided that shuts off the control pressure to the two-way flow regulator 38 when it is not supplied with electrical voltage. The Senkstoppventil 42 thus terminated by an operation of the two-way flow regulator 38 a lowering operation when the electrical voltage fails. In this way, it is ensured that the common throttle valve 36 whose maximum volume flow is adjusted electrically without mechanical stroke stop, does not lead to an uncontrolled lowering of the lifting cylinder 10 and 12 in case of failure of the voltage.

Während eines Senkvorgangs tritt Hydrauliköl zunächst aus den Masthubzylindern 12 über die Absenkleitung 30 und das gemeinsame Drosselventil 36 aus und fließt in den Tank 16 zurück. Der Volumenstrom an dem gemeinsamen Drosselventil 36 ist elektrisch eingestellt. Wird der Übergang beim Senken vom Masthub in den Freihub erkannt, so wird der Volumenstrom in dem gemeinsamen Drosselventil 36 entsprechend der Zylinderflächen vergrößert, so dass der Freihubzylinder 10 mit der gleichen Geschwindigkeit abgesenkt wird, wie die Masthubzylinder.During a lowering operation, hydraulic oil first exits from the mast lifting cylinders 12 via the lowering line 30 and the common throttle valve 36 and flows back into the tank 16. The volume flow at the common throttle valve 36 is set electrically. If the transition is recognized during lowering from the mast stroke into the free stroke, the volume flow in the common throttle valve 36 is increased corresponding to the cylinder surfaces, so that the free-lifting cylinder 10 is lowered at the same speed as the mast lift cylinders.

Im Fall eines Stromausfalls, in dem das gemeinsame Drosselventil 36 nicht den maximalen Volumenstrom in der Senkleitung 30 begrenzt, schaltet das zusätzliche Senkstoppventil 42 der Steuerleitung 40, so dass der Zwei-Wege-Volumenstromregler 38 den Senkvorgang stoppt. Auf diese Weise ist das gemeinsame Drosselventil auch ohne mechanischen Anschlag gegen Stromausfälle gesichert.In the event of a power failure, in which the common throttle valve 36 does not limit the maximum volume flow in the lowering line 30, the additional lowering stop valve 42 of the control line 40, so that the two-way flow regulator 38 stops the lowering process. In this way, the common throttle valve is also secured without mechanical stop against power failures.

Claims (9)

  1. Industrial truck, in particular reach truck with a lifting frame, said industrial truck comprising at least one mast which is movable along the lifting frame, a load carrying means which is mounted so as to be movable along the at least one mast, a pressure source (18) for supplying a free lift cylinder (10) cooperating with the load receiving means and a mast lift cylinder cooperating with the at least one mast (12), a sensor being provided which detects a transition from mast lift to free lift during a lowering process, characterised in that
    - a common throttle valve (36) is provided for the lowering operation of the free lift cylinder (10) and of the at least one mast lift cylinder (12) and
    - a controller which is designed to control the common throttle valve (36) for a lowering speed of the free lift cylinder (10) corresponding to a lowering speed of the at least one mast lift cylinder (12), according to a transition from mast lift to free lift detected by the sensor.
  2. Industrial truck according to Claim 1, characterised in that the controller is designed to control the common throttle valve (36) electrically when the free lift cylinder (10) is lowered, with a greater maximum volumetric flow than when the mast lift cylinder (12) is lowered.
  3. Industrial truck according to Claim 2, characterised in that the common throttle valve (36) has a temperature compensation device, the temperature compensation device being designed to correct the control of the throttle valve depending on a detected temperature.
  4. Industrial truck according to Claim 1 or 2, characterised in that the free lift cylinder (10) has a greater piston surface area than each of the mast lift cylinders (12).
  5. Industrial truck according to Claim 4, characterised in that the controller is designed to increase the maximum volumetric flow through the common throttle valve according to the difference in surface area of the free lift cylinder and the mast lift cylinder (10, 12).
  6. Industrial truck according to one of Claims 1 to 5, characterised in that the sensor detects a lifting height of the load carrying means in order to detect a transition from mast lift to free lift.
  7. Industrial truck according to one of Claims 1 to 6, characterised in that a two-way volumetric flow regulator (38) is provided in a lowering line (30) together with the common throttle valve (36).
  8. Industrial truck according to Claim 7, characterised in that the two-way valve volumetric flow regulator (38) is controlled hydraulically by a lowering stop valve (42), the lowering stop valve (42) being held electrically in a position in which the two-way volumetric flow regulator (38) connects the common throttle valve (36) to the tank (16).
  9. Industrial truck according to Claim 7 or 8, characterised in that a lowering stop valve is connected via a hydraulic controller to the two-way volumetric flow regulator for the control thereof, the lowering stop valve (42) being configured to adopt a position controlling the two-way volumetric flow regulator (38) and shutting off a lowering line (30) comprising the common throttle valve (36), in the absence of electrical voltage.
EP20120002511 2011-04-08 2012-03-21 Industrial truck, in particular reach truck with a lifting frame Active EP2508465B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE201110016542 DE102011016542A1 (en) 2011-04-08 2011-04-08 Industrial truck, in particular reach truck with a mast

Publications (2)

Publication Number Publication Date
EP2508465A1 EP2508465A1 (en) 2012-10-10
EP2508465B1 true EP2508465B1 (en) 2013-09-04

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EP20120002511 Active EP2508465B1 (en) 2011-04-08 2012-03-21 Industrial truck, in particular reach truck with a lifting frame

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EP (1) EP2508465B1 (en)
CN (1) CN102730608B (en)
DE (1) DE102011016542A1 (en)

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EP4385938A1 (en) 2022-12-15 2024-06-19 CLAAS Industrietechnik GmbH Valve device for an industrial truck

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DE3629089C3 (en) * 1986-08-27 1996-04-25 Jungheinrich Ag Forklifts, especially industrial forklifts, with mast
GB2264282B (en) * 1992-02-20 1995-04-12 Lansing Linde Ltd Lift trucks and extensible mast structures therefor
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DE19710556C2 (en) * 1997-03-14 1999-03-11 Jungheinrich Ag Extendable mast construction for a pallet truck
DE19921629B4 (en) * 1999-05-10 2005-05-25 Dambach Lagersysteme Gmbh Hydraulic lifting device
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EP4385938A1 (en) 2022-12-15 2024-06-19 CLAAS Industrietechnik GmbH Valve device for an industrial truck
DE102022133427A1 (en) 2022-12-15 2024-06-20 Claas Industrietechnik Gmbh Valve device for an industrial truck

Also Published As

Publication number Publication date
CN102730608B (en) 2016-03-16
DE102011016542A1 (en) 2012-10-11
CN102730608A (en) 2012-10-17
EP2508465A1 (en) 2012-10-10

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