EP2605996A1 - Procédé et dispositif pour déterminer une hauteur de levage d'un engin de travail - Google Patents

Procédé et dispositif pour déterminer une hauteur de levage d'un engin de travail

Info

Publication number
EP2605996A1
EP2605996A1 EP11767642.9A EP11767642A EP2605996A1 EP 2605996 A1 EP2605996 A1 EP 2605996A1 EP 11767642 A EP11767642 A EP 11767642A EP 2605996 A1 EP2605996 A1 EP 2605996A1
Authority
EP
European Patent Office
Prior art keywords
height
working machine
lifting
partial
fixed point
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.)
Withdrawn
Application number
EP11767642.9A
Other languages
German (de)
English (en)
Inventor
Oliver Wildner
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 EP2605996A1 publication Critical patent/EP2605996A1/fr
Withdrawn legal-status Critical Current

Links

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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness

Definitions

  • the invention relates to a method for determining a lifting height of a working machine, in which a height measurement between a position along an approximately vertical axis of movement of a lifting element of the working machine is carried out to a reference point and an apparatus for performing the method.
  • the work machine height measuring systems which measure the lifting height between the lifting element and a reference point, wherein the reference point is usually a fixed point on the housing of the working machine.
  • the distance of the fixed point to the ground is added as a fixed value to the measured lifting height from the reference point to the lifting element.
  • the invention is therefore based on the object to provide a method and apparatus for determining a lifting height, which always outputs the correct lifting height despite tire wear or tire pressure change.
  • the object is achieved in that the reference point is formed by the ground.
  • the lifting height is determined by two partial height measurements measuring one another, a first partial lifting height being determined from a first fixed point on the working machine to the lifting element and a second partial lifting height being determined from a second fixed point on the working machine to the floor.
  • the division of the measurement of the lifting heights simplifies the evaluation.
  • the determination of the second Operahub Abu, which serves as a reference measurement in terms of tire wear, can be made at greater intervals than the determination of the first Operahub Little
  • first fixed point and the second fixed point are arranged at approximately the same height on the working machine, wherein the first and the second partial lifting height are added to the lifting height. Due to the coincidence in the position of the two fixed points, no corrections in the determination of the lifting height are necessary in addition to the addition of the explained difference.
  • the first fixed point and the second fixed point are arranged at different heights on the working machine, wherein the vertical distance between the first and the second fixed point is added to the first and the second lifting height or deducted to determine the lifting height of the lifting element above the ground.
  • the reference measurement of the second lifting height measuring system from the second fixed point to the ground ensures that local tire wear phenomena, which can either be very slow or very rapid due to damage to the tire, do not distort the measurement of the lifting height. This corrective action ensures that the lifting height is always correctly determined.
  • a development of the invention relates to a device for determining a lifting height of a working machine, in which a height measurement is carried out between an approximately vertical position of the lifting element of the working machine to a reference point.
  • the reference point is formed by the ground on which the working machine is located.
  • the correct lifting height is output at every position of the stroke, without the operator having to readjust manually.
  • the lifting element of the working machine therefore automatically reaches the corresponding floor of the high-bay warehouse.
  • the lifting height is determined by two partial height measuring systems measuring one another, a first partial height measuring system determining a first partial lifting height from a first fixed point on the working machine to the lifting element and the second partial height measuring system determining a second partial lifting height from a second fixed point on the working machine to the floor ,
  • the two partial height measuring systems can be arranged at a position of the working machine where direct access to the power supply and communication devices of the working machine is available.
  • the two partial height measuring systems each comprise a sensor for the wireless determination of the first and the second partial lift height.
  • the partial lift heights can be determined particularly advantageously, since the sensor encoders include an evaluation, so no further parts for the height measurement are necessary, which reduces the cost of the Hubtownntician.
  • At least one sensor is designed as a laser sensor or as an ultrasonic sensor.
  • a laser or ultrasonic sensor is a commercially available height-measuring system, which is why no research and development costs arise when using such a height-measuring system.
  • FIG. V Principle representation of the lifting height measurement on a working machine
  • Figure 2 Example for determining a tire wear on the work machine
  • FIG. 1 shows a schematic illustration of the lifting height measurement on a working machine.
  • the working machine 1 in this case has a lifting element 2, which is adjustable perpendicular to the direction of movement of the working machine 1.
  • the work machine 1 is arranged movably on the floor 3.
  • a height measuring system 4 is arranged, which consists of two Operanchnmesssystemen.
  • the two partial height measuring systems 4 are arranged side by side at the same height on the working machine 1, which is why only a partial height measuring system 4 can be seen in FIG.
  • the first partial height measuring system 4 measures from the position on the bumper of the working machine 1 to the lifting element 2, while the second partial height measuring system measures perpendicular to the bottom 3 starting from the point on the bumper of the working machine.
  • the arrangement of two different partial height measuring systems on the bumper of the working machine. 1 has the advantage that the energy supply of the partial height measuring systems and the communication of the partial height measuring systems can be connected directly from the working machine 1 to the partial height measuring systems 4 without major complications.
  • Each partial height measuring system 4 forms a sensor comprising an evaluation electronics which emits a measuring beam, such as a laser sensor or an ultrasonic sensor.
  • the first partial height measuring system sends a measuring beam against the lifting element 2, which reflects this measuring beam.
  • the second partial height measuring system sends the measuring beam against the bottom surface 3, where it is also reflected.
  • the respective reflected beam is received and evaluated again by the first or the second partial height measuring system 4.
  • Both Section Berlinnmesssysteme 4 work on the same principle by the time between the emission of the measuring beam and the reception of the reflected beam is determined. From this, a first partial lift height I is determined by the first partial height measuring system 4, while a second partial lift height II is determined by the second partial height measuring system 4.
  • the reference point for the measurement is the floor on which the work machine moves. In the choice of the ground as a reference point, any change of the tire 5 of the work machine 1 due to wear or change of tire pressure is immediately included in the measurement of the lift height.
  • a reference measurement is carried out by the second partial lifting height measuring system 4 in order to detect changes in the tire.
  • two measurements A and B are carried out by the second partial height measuring system 4, as shown in FIG. 2 for the second partial height measuring system 4.
  • a second partial lifting height II from the second fixed point on the working machine 1 to the bottom 3 is measured at a first time by the second partial height measuring system 4.
  • a diameter of the tire 5 of the work machine 1 is determined.
  • Period which may be on the order of days, will be a two-year te measurement B performed, again with the diameter of the tire 5 of the work machine 1 is determined again. Subsequently, the measurement B is subtracted from the measurement A. If the difference ⁇ then not equal to zero, ie, there is a positive difference ⁇ , it is assumed that the tire 5 is worn down, since the diameter of the tire 5 has become smaller. In this case, the distance of the second partial height measuring system 4 '(which is shown in dashed lines in Figure 2) to the bottom 5 has been reduced.
  • this difference ⁇ is measured relative to the first partial lifting height I measured by the first partial height measuring system between the place of attachment of the first partial height measuring system to the working machine 1 and the lifting element 2, and the second partial lift height II, which is determined by the second part height system added.
  • the sum of the two partial lift heights I and II plus the difference ⁇ from the measurement A and the measurement B of the second part height system then give the correct lift height. This ensures that the tire wear of the wheels 5 of the work machine 1 does not distort the setting of the lifting height.
  • the continuous determination of the second partial lift ensures that when selecting a lifting height by the operator at the touch of a button automatically adjusts the lifting height corresponding to the local conditions, without any manual readjustment by the operator is necessary.
  • the present invention can be used advantageously not only in conventional forklift trucks, but also in Hochregalbegnaung or lifting platforms.

Abstract

L'invention concerne un procédé pour déterminer une hauteur de levage d'un engin de travail, ledit procédé consistant à effectuer une mesure de hauteur entre une position située le long d'un axe de déplacement pratiquement vertical d'un élément de levage (2) de l'engin de travail (1) et un point de référence. Afin d'obtenir toujours une hauteur de levage correcte, même en présence d'usure du pneu sur la roue de l'engin de travail, le point de référence est formé par le sol (3).
EP11767642.9A 2010-08-18 2011-07-29 Procédé et dispositif pour déterminer une hauteur de levage d'un engin de travail Withdrawn EP2605996A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE201010039477 DE102010039477A1 (de) 2010-08-18 2010-08-18 Verfahren und Vorrichtung zur Bestimmung einer Hubhöhe einer Arbeitsmaschine
PCT/EP2011/063112 WO2012022600A1 (fr) 2010-08-18 2011-07-29 Procédé et dispositif pour déterminer une hauteur de levage d'un engin de travail

Publications (1)

Publication Number Publication Date
EP2605996A1 true EP2605996A1 (fr) 2013-06-26

Family

ID=44785813

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11767642.9A Withdrawn EP2605996A1 (fr) 2010-08-18 2011-07-29 Procédé et dispositif pour déterminer une hauteur de levage d'un engin de travail

Country Status (5)

Country Link
US (1) US20130205610A1 (fr)
EP (1) EP2605996A1 (fr)
CN (1) CN103038153A (fr)
DE (1) DE102010039477A1 (fr)
WO (1) WO2012022600A1 (fr)

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US9309099B2 (en) 2014-06-20 2016-04-12 Cascade Corporation Side-shift limiter
KR102300161B1 (ko) 2014-09-15 2021-09-10 크라운 이큅먼트 코포레이션 광학적 적재물 감지 구조물을 구비한 리프트 트럭
US10168149B2 (en) * 2014-09-24 2019-01-01 Noble Research Institute, Llc Forage biomass estimation devices, systems, and methods
CN108955600A (zh) * 2018-07-18 2018-12-07 安徽合力股份有限公司宝鸡合力叉车厂 一种通过式叉车门架开档尺寸检测系统及其检测方法
CN111320110B (zh) * 2020-03-08 2021-05-28 南京幸庄科技创新产业园管理有限公司 一种滚筒输送用提升装置
DE102020206557A1 (de) 2020-05-26 2021-12-02 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Bestimmen des Abstands einer Gabel zum Boden und Gabelstapler

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US3883021A (en) * 1974-02-19 1975-05-13 Towmotor Corp Fork level indicator for a lift truck
DE2932899C2 (de) * 1979-08-14 1981-09-24 Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg Vorrichtung zum berührunglosen Messen der Höhe eines Lastträgerfahrzeug über einem Bezugspunkt
DE4428010A1 (de) * 1994-08-08 1996-02-15 Linde Ag Flurförderzeug mit einem Hubgerüst
US7320385B2 (en) * 2001-02-16 2008-01-22 Kabushiki Kaisha Toyota Jidoshokki Camera lifting apparatus and cargo handling operation aiding apparatus in industrial vehicle and industrial vehicle
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DE102006012205A1 (de) * 2006-03-16 2007-09-20 Still Gmbh Flurförderzeug mit einem Hubmast
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Also Published As

Publication number Publication date
WO2012022600A1 (fr) 2012-02-23
US20130205610A1 (en) 2013-08-15
DE102010039477A1 (de) 2012-02-23
CN103038153A (zh) 2013-04-10

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