EP2708490A1 - Gabelstapler, Verfahren und Computerprogramm zum Steuern eines Gabelstaplers - Google Patents

Gabelstapler, Verfahren und Computerprogramm zum Steuern eines Gabelstaplers Download PDF

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Publication number
EP2708490A1
EP2708490A1 EP12184507.7A EP12184507A EP2708490A1 EP 2708490 A1 EP2708490 A1 EP 2708490A1 EP 12184507 A EP12184507 A EP 12184507A EP 2708490 A1 EP2708490 A1 EP 2708490A1
Authority
EP
European Patent Office
Prior art keywords
forks
truck
acceleration
movement
forklift truck
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.)
Granted
Application number
EP12184507.7A
Other languages
English (en)
French (fr)
Other versions
EP2708490B1 (de
Inventor
Magnus Alveteg
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.)
Toyota Material Handling Manufacturing Sweden AB
Original Assignee
BT Products AB
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 BT Products AB filed Critical BT Products AB
Priority to EP20120184507 priority Critical patent/EP2708490B1/de
Publication of EP2708490A1 publication Critical patent/EP2708490A1/de
Application granted granted Critical
Publication of EP2708490B1 publication Critical patent/EP2708490B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems

Definitions

  • the maximum allowed acceleration of the forks in a horizontal translational direction along an axis perpendicular to the forward direction of the truck away (y1) from the truck body may be higher if the forks are to be simultaneously horizontally rotationally accelerated around its rotational axis (z1) in a direction such that the rotational movement has an acceleration component in a direction opposite the translational movement.
  • the maximum allowed acceleration of the forks in the translational movement may be lower if the forks are to be simultaneously horizontally rotationally accelerated around its rotational axis (z2) in a direction such that the movement has an acceleration component in the direction coinciding with the translational movement.
  • control unit is arranged to set the maximum allowed acceleration 10-35% preferable 20-25% higher if said acceleration is directed away from the home position than if it is directed towards the home position. In one example, the control unit is arranged to set the maximum allowed retardation 10-35% preferable 20-25% higher if said retardation is directed towards the home position than if it is directed away from the home position.
  • control unit is arranged to determine the maximum allowed acceleration and/or retardation based on the angular relationship between the forks and the longitudinal or forward direction of the forklift truck.
  • the control unit 22 is in one example further arranged to determine the maximum allowed speed of the forks (40) in relation to the truck body (20).
  • the maximum allowed speed of the forks is based on one or more of the following
  • the method 100 comprises a first step 110 in which a command for reach movement of the forks 40 is registered.
  • Said command is normally executed by the operator via the control panel, but the command could also originate from a distant location if the VNA 15 is remote controlled.
  • a rotational motion analysis 130 is performed in order to determine a simultaneous rotational acceleration (around axis z) of the forks 40.
  • Simultaneous means that the rotational acceleration is on-going, or will be on-going when the reach movement is performed. If the forklift truck is not arranged to perform a rotational motion, this step is omitted.
  • the method 100 may also comprise a step of reducing the maximum reach movement speed.
  • a load weight and/or height analysis may be performed.
  • a load meter (not shown) may be arranged on the VNA 15.
  • other analysis's may be performed for example based on the position of the forks in relation to the forklift truck.
  • the position in relation to the forklift truck may be given as either a distance or a rotational position, or both.
  • the step 140 of adjusting the maximum allowed reach acceleration of the forks 40 may be based also the on the load weight analysis and other analysis's, if any.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP20120184507 2012-09-14 2012-09-14 Gabelstapler, Verfahren und Computerprogramm zum Steuern eines Gabelstaplers Active EP2708490B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP20120184507 EP2708490B1 (de) 2012-09-14 2012-09-14 Gabelstapler, Verfahren und Computerprogramm zum Steuern eines Gabelstaplers

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP20120184507 EP2708490B1 (de) 2012-09-14 2012-09-14 Gabelstapler, Verfahren und Computerprogramm zum Steuern eines Gabelstaplers

Publications (2)

Publication Number Publication Date
EP2708490A1 true EP2708490A1 (de) 2014-03-19
EP2708490B1 EP2708490B1 (de) 2015-04-15

Family

ID=46980767

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20120184507 Active EP2708490B1 (de) 2012-09-14 2012-09-14 Gabelstapler, Verfahren und Computerprogramm zum Steuern eines Gabelstaplers

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EP (1) EP2708490B1 (de)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114161409A (zh) * 2021-11-08 2022-03-11 合肥欣奕华智能机器有限公司 一种控制搬运机器人运动的方法、装置和电子设备
WO2024106012A1 (ja) * 2022-11-17 2024-05-23 三菱重工業株式会社 走行制御装置

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114929538A (zh) 2020-02-21 2022-08-19 克朗设备公司 基于车辆位置信息修改车辆参数

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1203745A1 (de) 2000-11-04 2002-05-08 STILL WAGNER GmbH & Co KG Flurförderzeug mit einem Hubgerüst und einer zusätzlichen Bewegungsvorrichtung für ein Lastaufnahmemittel
EP2447203A1 (de) * 2010-11-01 2012-05-02 BT Products AB Industriefahrzeug, Verfahren und Computerprogramm zum Steuern eines Industriefahrzeugs

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1203745A1 (de) 2000-11-04 2002-05-08 STILL WAGNER GmbH & Co KG Flurförderzeug mit einem Hubgerüst und einer zusätzlichen Bewegungsvorrichtung für ein Lastaufnahmemittel
EP2447203A1 (de) * 2010-11-01 2012-05-02 BT Products AB Industriefahrzeug, Verfahren und Computerprogramm zum Steuern eines Industriefahrzeugs

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114161409A (zh) * 2021-11-08 2022-03-11 合肥欣奕华智能机器有限公司 一种控制搬运机器人运动的方法、装置和电子设备
CN114161409B (zh) * 2021-11-08 2024-03-15 合肥欣奕华智能机器股份有限公司 一种控制搬运机器人运动的方法、装置和电子设备
WO2024106012A1 (ja) * 2022-11-17 2024-05-23 三菱重工業株式会社 走行制御装置

Also Published As

Publication number Publication date
EP2708490B1 (de) 2015-04-15

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