EP2518002B1 - Flurförderzeug mit einer Endschalteranlage - Google Patents

Flurförderzeug mit einer Endschalteranlage Download PDF

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Publication number
EP2518002B1
EP2518002B1 EP20120002573 EP12002573A EP2518002B1 EP 2518002 B1 EP2518002 B1 EP 2518002B1 EP 20120002573 EP20120002573 EP 20120002573 EP 12002573 A EP12002573 A EP 12002573A EP 2518002 B1 EP2518002 B1 EP 2518002B1
Authority
EP
European Patent Office
Prior art keywords
load
load fork
fork tines
height
limit switch
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.)
Active
Application number
EP20120002573
Other languages
German (de)
English (en)
French (fr)
Other versions
EP2518002A1 (de
Inventor
Uwe Allerding
Matthias Düwel
Carsten Oestmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jungheinrich AG
Original Assignee
Jungheinrich AG
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Filing date
Publication date
Application filed by Jungheinrich AG filed Critical Jungheinrich AG
Publication of EP2518002A1 publication Critical patent/EP2518002A1/de
Application granted granted Critical
Publication of EP2518002B1 publication Critical patent/EP2518002B1/de
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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
    • B66F9/0755—Position control; Position detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • 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
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements

Definitions

  • the present invention relates to an industrial truck with a pair of longitudinally projecting wheel arms, a longitudinally displaceable mast, a Zinkenverstell insightful and a pair of load tines, which are adjustable in height along the mast and individually transversely to the longitudinal direction.
  • the invention relates to a reach truck, which is equipped with a Zinkenverstell réelle for laterally adjusting the individual load tines.
  • a limit switch system it is known to detect the center position of a fork carriage and a safety height of the forks in a side slide provided on the mast.
  • the well-known limit switch system provides to release a lifting and tilting of the fork in principle, but if the fork carriage is below the safety height of 500 to 600 mm, turn off all other hydraulic functions. Furthermore, if the mast is fully advanced and the fork is below the safety height, retraction of the mast is blocked by the known limit switch system. The other functions are unlocked. In a not fully advanced mast and forks below the safety height locks the known limit switch the functions for further lowering the fork, the mast, the side thrust and additional hydraulic functions such as a lateral fork adjustment. In the known limit switch system, the hydraulic function for the mast thrust and the lowering is automatically released on reaching the central position of the fork carriage, while the other hydraulic functions remain locked.
  • a lifting and tilting is basically release and other hydraulic functions when the fork carriage has a minimum height of 500 to 600 mm or more. With the mast fully extended and the forks below the safety height, mast retraction is disabled while all other functions remain enabled. If the mast is not completely advanced and the forks are below the safety height, further lowering of the forks, a mast thrust, a side thrust and additional hydraulic functions such as a fork adjustment are blocked. The blocking is canceled via the additional bridging button. Locked hydraulic functions can be enabled as long as the button is pressed. In the known limit switch system is a lifting of the lock without actuation of the lock-up button when the associated actuator undergoes a zero crossing to the respective function. In this case, the blocking of the corresponding function is then canceled and continued at a lower speed.
  • Out DE 103 05 901 A1 is a reach truck with a mast known, which is by means of a mast drive to a drive part of the truck to and away from this on a horizontal guide displaceable, a load receiving means which is mounted on a side slide, a height adjustable mounted on the mast and with the help of a lifting - And sink drive actuated side shift guide, which carries the side slide laterally movable, and a side shifter drive and associated with actuators for the lifting and lowering operation, the mast pushing operation and the side shift operation electrical control device for the corresponding drives.
  • the position of the side shifter is detected by an analog sensor whose position signal is given to the control device and the side shifter is automatically shifted by the control unit to a predetermined center position in which a collision with the radar arms is avoided.
  • the invention has for its object to provide a truck with a limit switch, in which a lock can be safely and reliably automatically canceled.
  • the truck according to the invention has a pair of longitudinally projecting radar arms.
  • the truck is equipped with a longitudinally movable mast.
  • a Zinkenverstell till is provided by which each load prong of a pair of load tines is displaceable transversely to the longitudinal direction of the truck independently of the respective other load tine.
  • the load tines are jointly adjustable in height along the mast.
  • the limit switch system is equipped with a control which prevents a collision of each of the load tines with the wheel arms.
  • the limit switch system has a height sensor for at least one of the load tines, which detects a falling below a predetermined minimum height. If the load tine falls below the predetermined minimum height, the height sensor responds.
  • the limit switch system is equipped with sensors that can detect a position of the load tines relative to the radar arms.
  • the control of the limit switch system locks in a not fully advanced position of the mast all functions for moving the load tines when the predetermined minimum height is exceeded.
  • a lowering function for the load tines to a height below the minimum height is released by the control if, for each load tine, a position on the side of the wheel arms has been detected by the corresponding sensors.
  • the limit switch system according to the invention makes it possible to release locked hydraulic functions without additional operating procedures, so that the load tines can also be lowered to a height below the predetermined minimum height.
  • According to the invention checks the Limit switch system, whether there is a risk of collision of the load tines with the radar arms.
  • a load sensor is also provided which detects whether there is a load on the load tine.
  • the control of the limit switch system is in this embodiment, a lowering function for the load tines to a height below the minimum height then free when the load sensor has also found that there is no load on the load tines. This ensures that, even if the load tines do not collide with the wheel arms, a picked up load does not collide with the wheel arms when the load tines are fully lowered and the mast is not in its maximum advanced position.
  • the control of the limit switch system locks a mast thrust when the predetermined minimum height of the load tines is exceeded.
  • the mast thrust is blocked when reaching or falling below the predetermined minimum height for the load tines, thereby preventing the mast is retracted to the vehicle.
  • another feed of the mast is blocked. The locking of the mast thrust ensures that a collision of the load tines with the radar arms is not caused by the mast thrust.
  • the control of the limit switch system releases the mast thrust, if a lowering function for the load tines is released to a height below the minimum height. By releasing the further lowering of the load tines is already ensured that the load tines are in a position that does not collide with the radar arms.
  • the control of the limit switch system a lateral Adjustment of the load tines blocks if they have a height below the minimum height. In this way it can be ensured that if the sensors have detected that there is a danger of collision of the load tine with the wheel arms, the load tines are not adjusted laterally and thus collide with the wheel arms.
  • Zinkenverstell In the Zinkenverstell founded there are basically two different variants.
  • One variant relates to a Zinkenverstell noticed that allows lateral adjustment of the load tines only in the area between the radar arms and on this and a lateral adjustment outside the wheel arms does not allow.
  • a second alternative embodiment of the Zinkenverstell allows an adjustment of the load tines in a region outside of the wheel arms. If the Zinkenverstell responded allows lateral adjustment of the load tine only within and above the wheel arms, that is not in an area beyond the wheel arms, the sensors for detecting the position of the load tines are each not arranged outside of the wheel arms and each have a magnetic switch. The load tines are equipped accordingly with magnets, each of the magnetic switch changes its switching state when the magnets sweep it laterally. In this embodiment, the magnetic switch changes its switching position when the load tine is inside the wheel arms. If the load tine is moved outwards again and thus located above the wheel arms, the corresponding magnetic switch changes its switching position.
  • the sensors for detecting the position of the load tines relative to the radar arms are each equipped with a pair of magnetic switches.
  • a pair of magnetic switches to the wheel arms is used in particular when the ZinkenverstellUNE allows lateral movement of the load tines inside and outside of the wheel arms.
  • the load tines are each equipped with a magnet, wherein the magnetic switches each change their switching state when the magnet sweeps them laterally.
  • the control of the limit switch system to evaluate the position of the magnetic switch to each fork to determine whether the fork is located between the Radarmen or outside of the wheel arms. It is so that at one position of the fork tine, which does not collide with the wheel, only one of the magnetic switch has been swept so that the switching state of both magnetic switch is read, whether the fork is located above the radar.
  • the magnetic switch in the Zinkenverstell est are arranged in pairs according to the position of the wheel arms such that a first magnetic switch changes its switching state when the load tine is adjusted from outside the side over the wheel, and a second magnetic switch changes its switching state when the Lastzinke from the area between the load tines is adjusted laterally over the Radarm.
  • the arrangement of the magnetic switch on the Zinkenverstell est also allows to determine at any height on the Radarmen whether the forks are located above the arms or not.
  • the control of the limit switch system detects a possible collision of a load tine with one of the wheel arms such that only one of two magnetic switches, which are assigned to the wheel arm, has changed its switching state. If both magnetic switches on a wheel arm have changed their switching state, the control of the switch system can evaluate that the fork tine has completely swept the wheel arm.
  • Fig. 1 shows a reach truck 10 in a perspective view in which a left front wheel 11 can be seen.
  • the reach truck 10 has a mast 12 with two extendable mast segments 13 (not shown).
  • a load-receiving means 14 is mounted, which is adjustable in height to the mast 12.
  • the load-receiving means 14 has two parallel arranged load tines 16, which in Fig. 1 are lowered outside of the wheel arms 18.
  • the load-receiving means 14 is designed as a Zinkenverstell réelle 20, which allows the load tines 16 individually adjusted laterally, so that they can be lowered, for example, within the wheel arms 18 or outside of the wheel arms 18. The adjustment of the load tines in their lateral position allows, for example, to accommodate long goods during transport, and to support them by the load tines 16 spaced from each other.
  • a height sensor 22 is provided laterally.
  • the height sensor 22 is actuated by a corresponding trigger 24, which is arranged on the Zinkenverstell réelle on the side facing the mast 12 side.
  • the height sensor 22 and its trigger 24 are arranged at a height to the vehicle above the ground, that the underside of the load tines 16 has the minimum distance to the ground and thus to the radar arms provided.
  • Fig. 2 shows an enlarged view of the left front wheel arm 18 at a lowered load prong 16.
  • the load tine 16 is moved by the Zinkenverstell réelle in its maximum outer position, in which the load tine 16 outside the radar 18 can be lowered.
  • the Zinkenverstell réelle 20 has a trigger 24, which may be formed for example as a magnet and with the height sensor 22, which may be formed, for example, as a magnetic switch cooperates.
  • a respective magnet 28 is arranged at the root of the load tines 16 a and 16 b. In a lateral adjustment of the load tines of the magnet 28 passes each one of the magnetic switch 26 ad.
  • position of the load tine 16 a have the associated magnetic switch 26 a and 26 b respectively the switching position +. This means that the load tine 16 a is located above the wheel arms. If the load tine 16 a is moved to the left via the magnetic switch 26 a, then the switching state changes in -. This means the switches 26 a and 26 b have the switching state (-, +).
  • This switching state indicates to the control of the limit switch system that the load tine 16 a is located outside the wheel arms. Likewise, the switching state of the magnetic switch 26 b changes in the case of a movement inwards toward the load tine 16 b, so that the switching state (+, -) is present for the control of the limit switch system. This switching state also indicates to the controller that there is no collision of the load tine 16 a with the wheel arm.
  • the controller recognizes that an error has occurred. In this case, the controller can block a lowering of the load tines below the minimum height.
  • the magnetic switches 26 a and 26 d which in their switching state (+, +) as in Fig. 2 shown, the control of the limit switch system indicate that the load tine 16 b is located above the wheel arms.
  • the switching state (-, +) of the magnetic switch 26 c, 26 d indicates that the load tine 16 b is located within the wheel arms, while the switching state (+, -) indicates that the load tine 16 b is outside the wheel arms.
  • the Endschaltstrom invention makes it possible for a Zinkenverstell pleased cancel a shutdown of the lowering function, if a collision with the Radarmen is excluded. In this case, a collision with the radar arms is checked individually for each load tine 16. In addition, a sensor can ensure that there is no load on the load tines. If there is no load tine in the collision area with the wheel arm, a blocking of the lowering operation is canceled.
  • Fig. 4 shows in a flow chart the individual steps performed by the controller.
  • lifting and tilting is generally allowed and permitted. If it is determined in step 32 that the load bearing is above the safety height, all hydraulic functions are released. In this case, hydraulic functions are released in step 34 for lowering, pushing forward and backward of the mast for a side thrust of both load tines and for individual tine adjustment. If the condition in step 32 is not met, that is, the load bearing is not above the safety height, it is queried in a subsequent step 36, if the mast is in its fully advanced position. If the query 36 that the mast is fully advanced, so in step 38, the hydraulic function is disabled for pushing back the mast. All other hydraulic functions of the mast are released in step 38.
  • step 40 If it is determined in step 36 that the mast is not fully advanced, it is checked in step 40, as explained above, whether the load tines are in the collision area of the wheel arms. In this case, the hydraulic functions for lowering, forward and backward pushing of the mast, side sliding and tine adjustment are inhibited in step 42. Are the load tines not in the Collision area of the wheel arms, it is checked in step 44, whether a load is on the forks. If there is a load, the said hydraulic functions are likewise blocked in step 42. If, however, it is determined in step 44 that there is no load on the forks, a lowering of the load forks and a displacement of the lifting mast is automatically released back and forth in step 46.
  • Step 46 thus presupposes that the load tines 16a, 16b are neither in the collision area with the wheel arms 18 nor is there a load on the load tines.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP20120002573 2011-04-29 2012-04-12 Flurförderzeug mit einer Endschalteranlage Active EP2518002B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE201110100914 DE102011100914A1 (de) 2011-04-29 2011-04-29 Flurförderzeug mit einer Endschalteranlage

Publications (2)

Publication Number Publication Date
EP2518002A1 EP2518002A1 (de) 2012-10-31
EP2518002B1 true EP2518002B1 (de) 2015-04-08

Family

ID=45992021

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20120002573 Active EP2518002B1 (de) 2011-04-29 2012-04-12 Flurförderzeug mit einer Endschalteranlage

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EP (1) EP2518002B1 (zh)
CN (1) CN102756996B (zh)
DE (1) DE102011100914A1 (zh)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103112801B (zh) * 2013-02-06 2015-03-18 浙江诺力机械股份有限公司 一种检测叉车货叉高度的装置、方法及系统
EP2955149B1 (en) * 2014-06-12 2017-12-20 Toyota Material Handling Manufacturing Sweden AB Method of operating a fork-lift truck, a fork-lift truck, a computer program product, and a method of modifying a fork-lift truck
WO2016043998A1 (en) * 2014-09-15 2016-03-24 Crown Equipment Corporation Lift truck with optical load sensing structure
CN105036004B (zh) * 2015-07-13 2018-03-20 诺力机械股份有限公司 一种轻型双向堆垛车
CN105403055B (zh) * 2015-12-08 2017-11-03 机械工业第一设计研究院 工业炉炉前进出料装置
DE102018109869A1 (de) 2018-03-13 2019-09-19 Still Gmbh Schubmaststapler
CN108545668B (zh) * 2018-05-15 2020-03-27 杭州叉车门架有限公司 一种agv叉车三向属具及其工作方法
CN112408287B (zh) * 2020-11-27 2022-05-06 江苏徐工工程机械研究院有限公司 一种高空作业平台伸缩臂位置监测系统及控制方法
CN113200483A (zh) * 2021-05-21 2021-08-03 格力电器（武汉）有限公司 控制系统、控制方法及叉车

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DE69028093T2 (de) * 1989-12-04 1997-03-20 Fmc Corp Vorrichtung und verfahren zur steuerbaren positionierung der gabel eines förderfahrzeugs
JPH07101691A (ja) * 1993-10-07 1995-04-18 Toyota Autom Loom Works Ltd サイドフォークリフト
JPH07192190A (ja) * 1993-12-27 1995-07-28 Mitsubishi Denki Bill Techno Service Kk 運搬車案内装置
JP3132418B2 (ja) * 1997-05-19 2001-02-05 株式会社豊田自動織機製作所 昇降部乗り込み型フォークリフト
WO1999002445A1 (en) * 1997-07-09 1999-01-21 Crown Equipment Corporation Capacity data monitor
DE10226598A1 (de) * 2002-06-14 2003-12-24 Still Wagner Gmbh & Co Kg Flurförderzeug mit einer Steuervorrichtung
DE10305901B4 (de) * 2003-02-13 2006-11-30 Jungheinrich Aktiengesellschaft Schubmaststapler
DE10321569A1 (de) * 2003-05-14 2004-12-23 Jungheinrich Aktiengesellschaft Schubmaststapler
JP2007091423A (ja) * 2005-09-29 2007-04-12 Nippon Yusoki Co Ltd フォークリフトおよびパレットロック装置
DE202008005966U1 (de) * 2007-12-14 2009-04-16 Jungheinrich Aktiengesellschaft Flurförderzeug mit Abstandssensor zur Radaufstandskraftermittlung
EP2168904B1 (en) * 2008-09-29 2011-11-30 BT Products AB Industrial truck with automated lateral movement of the load engagement means

Also Published As

Publication number Publication date
CN102756996A (zh) 2012-10-31
CN102756996B (zh) 2016-02-10
EP2518002A1 (de) 2012-10-31
DE102011100914A1 (de) 2012-10-31

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