EP2580152B1 - Procédé pour déterminer une probabilité de basculement d'un chariot de manutention - Google Patents

Procédé pour déterminer une probabilité de basculement d'un chariot de manutention Download PDF

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Publication number
EP2580152B1
EP2580152B1 EP11745480.1A EP11745480A EP2580152B1 EP 2580152 B1 EP2580152 B1 EP 2580152B1 EP 11745480 A EP11745480 A EP 11745480A EP 2580152 B1 EP2580152 B1 EP 2580152B1
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EP
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Prior art keywords
zvl
zhl
zhr
determined
probability
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Not-in-force
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EP11745480.1A
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German (de)
English (en)
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EP2580152A1 (fr
Inventor
Manfred Gerdes
Stefan Otterbein
Ralf Becker
Christian Schmidt
Martin Gustmann
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Robert Bosch GmbH
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Robert Bosch GmbH
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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
    • B66F9/07559—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

  • FLTs are very compact, i. narrow and short, built, very agile and can lift large loads very high. This may result in load bearing, driving and especially on sloping roads possibly high risk of tipping over because of the loads on the fork, the overall center of gravity of the FLTs is greatly shifted and the static and dynamic tipping stability of the FLT u.U. very much reduced, which is not always predictable for the driver.
  • a counteracting tiltering operation is automatically performed in response to the certain probability of tilting.
  • desired accelerations in the x and y direction of the industrial truck are determined in order to reduce or eliminate the risk of tipping over.
  • the reliability can be significantly increased. Damage to man and / or machine can be avoided.
  • limiting values for the lift mast drive to prevent inadmissible fork heights and lifting mast inclinations can be specified. As an intervention, the driving speed can be limited.
  • F WZR F QH • H PG / s wH + F ZH / 2
  • F ZHR F ZH - F WZR
  • the lateral acceleration control deviation is fed to a yaw rate controller 201, the yaw rate deviation is fed to a yaw rate controller 202.
  • the two control elements each determine a manipulated variable, for example a steering movement, which are summed up and supplied with a possible disturbance variable L w to a lateral acceleration control path 203 and a yaw rate control path 204.
  • the actual values ay or v Gi resulting from the controlled systems are, as already mentioned, used as a control variable for comparison with the respective reference variable.

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  • 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)

Claims (12)

  1. Procédé pour déterminer une probabilité de basculement d'un chariot de manutention (1) à au moins trois roues, la force normale agissant dans la direction z (FZVL, FZHL) étant respectivement déterminée pour au moins deux roues, au moins deux forces normales (FZVL, FZHL) étant comparées et la probabilité de basculement du chariot de manutention (1) étant déterminée sur la base du résultat de comparaison, caractérisé en ce que pour déterminer les au moins deux forces normales (FZVL, FZHL), on détermine une vitesse de lacet (VGi), une accélération transversale (ay) et une accélération longitudinale (ax).
  2. Procédé selon la revendication 1, un angle de roulis et tangage du chariot de manutention et/ou une pente de voie de circulation étant déterminés dans la direction x et y pour déterminer les au moins deux forces normales (FZVL, FZHL) .
  3. Procédé selon l'une quelconque des revendications précédentes, les forces normales étant comparées à un essieu (4, 6), notamment un essieu avant et/ou arrière pour déterminer une probabilité de roulis du chariot de manutention (1).
  4. Procédé selon la revendication 3, une probabilité de roulis RQVA pour l'essieu avant (4) et/ou RQHA pour l'essieu arrière (6) étant déterminées selon : R QVA = F ZVR - F ZVL / F ZVR + F ZVL
    Figure imgb0031
     R QHA = F ZHR - F ZHL / F ZHR + F ZHL
    Figure imgb0032
    avec :
    FZVR, FZVL : force normale avant droite et/ou gauche
    FZHR, FZHL : force normale arrière droite et/ou gauche.
  5. Procédé selon l'une quelconque des revendications précédentes, les forces normales (FZVL, FZHL) étant comparées au niveau d'un côté, notamment du côté droit et/ou gauche, pour déterminer une probabilité de tangage du chariot de manutention (1).
  6. Procédé selon la revendication 5, une probabilité de tangage RLL pour le côté gauche et/ou RLR pour le côté droit étant déterminées selon : R LL = F ZVL - F ZHL / F ZVL + F ZHL
    Figure imgb0033
     R LR = F ZVR - F ZHR / F ZVR + F ZHR
    Figure imgb0034
    avec :
    FZVR, FZVL : force normale avant droite et/ou gauche
    FZHR, FZHL : force normale arrière droite et/ou gauche.
  7. Procédé selon la revendication 5, une probabilité de tangage total RL étant déterminée selon : R L = F ZVL + F ZVR - F ZHL - F ZHR / F ZVL + F ZVR + F ZHL + F ZHR
    Figure imgb0035
    avec :
    FZVR, FZVL : force normale avant droite et/ou gauche
    FZHR, FZHL : force normale arrière droite et/ou gauche
  8. Procédé selon l'une quelconque des revendications précédentes, une probabilité de basculement déterminée étant comparée à une valeur seuil et une intervention contrant le basculement étant automatiquement réalisée sur la base de la comparaison.
  9. Procédé selon la revendication 8, les informations relatives à la durée depuis laquelle la probabilité de basculement respectivement déterminée dépasse la valeur seuil ainsi que la quantité de ce dépassement étant en outre prises en compte lors de la comparaison.
  10. Procédé selon la revendication 8 ou 9, l'intervention pouvant être un réglage de l'accélération transversale (ay), notamment pour l'essieu arrière et/ou avant (4, 6), et/ou de l'accélération longitudinale (ax).
  11. Procédé selon la revendication 10, une vitesse de lacet (vGi) étant en outre réglée.
  12. Unité de commande (20), conçue pour mettre en oeuvre un procédé selon l'une quelconque des revendications précédentes.
EP11745480.1A 2010-06-08 2011-06-08 Procédé pour déterminer une probabilité de basculement d'un chariot de manutention Not-in-force EP2580152B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010023069A DE102010023069A1 (de) 2010-06-08 2010-06-08 Verfahren zum Bestimmen einer Kippwahrscheinlichkeit bei einem Flurförderzeug
PCT/EP2011/002804 WO2011154129A1 (fr) 2010-06-08 2011-06-08 Procédé pour déterminer une probabilité de basculement d'un chariot de manutention

Publications (2)

Publication Number Publication Date
EP2580152A1 EP2580152A1 (fr) 2013-04-17
EP2580152B1 true EP2580152B1 (fr) 2015-08-12

Family

ID=44514605

Family Applications (1)

Application Number Title Priority Date Filing Date
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Country Status (6)

Country Link
US (1) US9169110B2 (fr)
EP (1) EP2580152B1 (fr)
JP (1) JP5714100B2 (fr)
CN (1) CN102917973B (fr)
DE (1) DE102010023069A1 (fr)
WO (1) WO2011154129A1 (fr)

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Publication number Priority date Publication date Assignee Title
CN102910543B (zh) * 2012-08-08 2014-10-15 三一集团有限公司 一种起重机及其防前倾翻保护方法和装置
US9309099B2 (en) 2014-06-20 2016-04-12 Cascade Corporation Side-shift limiter
JP6311563B2 (ja) * 2014-10-08 2018-04-18 株式会社豊田自動織機 荷役制御装置
EP3072846A1 (fr) 2015-03-25 2016-09-28 DANA ITALIA S.p.A Système et procédé permettant de détecter le basculement imminent d'un véhicule
DE102015118472A1 (de) * 2015-10-29 2017-05-04 Jungheinrich Aktiengesellschaft Flurförderzeug mit einem Lastteil und einem Antriebsteil
NL2015715B1 (nl) * 2015-11-03 2017-05-24 Ravas Europe B V Hefvoertuig.
US10467542B2 (en) * 2016-11-22 2019-11-05 International Business Machines Corporation Embedded dynamic stability measurement, optimization and alarm system
US11807508B2 (en) 2018-08-31 2023-11-07 Hyster-Yale Group, Inc. Dynamic stability determination system for lift trucks
JP7135821B2 (ja) * 2018-12-14 2022-09-13 株式会社豊田自動織機 荷役車両の重心推定装置
JP7215948B2 (ja) * 2019-03-28 2023-01-31 三菱重工業株式会社 フォークリフト
GB2614737A (en) * 2022-01-17 2023-07-19 Bamford Excavators Ltd A Working Machine

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Publication number Priority date Publication date Assignee Title
US3100548A (en) 1960-07-11 1963-08-13 Yale & Towne Mfg Co Steering controller for industrial truck
GB1258081A (fr) 1968-01-19 1971-12-22
JPS63154600A (ja) * 1986-12-12 1988-06-27 株式会社ジャパニック 昇降装置の荷重検出記録装置
JPS63136699U (fr) * 1987-02-27 1988-09-08
JP3132018B2 (ja) 1991-01-22 2001-02-05 アイシン・エィ・ダブリュ株式会社 電動車両
JPH09309465A (ja) 1996-05-22 1997-12-02 Iseki & Co Ltd 動力農機のバランス制御装置
JP3858450B2 (ja) 1998-05-27 2006-12-13 株式会社豊田自動織機 パワーステアリング装置
US7216024B1 (en) * 1999-07-27 2007-05-08 Linde Aktiengesellschaft Industrial truck with a stabilizing device
DE10010011A1 (de) 1999-07-27 2001-02-01 Linde Ag Flurförderzeug mit einer Stabilisierungseinrichtung zur Erhöhung der Standsicherheit
JP2001206695A (ja) 2000-01-31 2001-07-31 Komatsu Forklift Co Ltd 産業車両の転倒警報装置
DE10304658A1 (de) 2003-02-05 2004-08-19 Bosch Rexroth Ag Flurförderfahrzeug
WO2009130528A1 (fr) 2008-04-21 2009-10-29 Pramac S.P.A. Chariot élévateur
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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

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Publication number Publication date
JP5714100B2 (ja) 2015-05-07
CN102917973B (zh) 2015-08-19
DE102010023069A1 (de) 2011-12-08
EP2580152A1 (fr) 2013-04-17
US20130211679A1 (en) 2013-08-15
CN102917973A (zh) 2013-02-06
JP2013529165A (ja) 2013-07-18
WO2011154129A1 (fr) 2011-12-15
US9169110B2 (en) 2015-10-27

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