EP2881358B1 - Industrial truck - Google Patents

Industrial truck Download PDF

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Publication number
EP2881358B1
EP2881358B1 EP14195752.2A EP14195752A EP2881358B1 EP 2881358 B1 EP2881358 B1 EP 2881358B1 EP 14195752 A EP14195752 A EP 14195752A EP 2881358 B1 EP2881358 B1 EP 2881358B1
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EP
European Patent Office
Prior art keywords
movement
load
receiving means
lifting frame
load receiving
Prior art date
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Active
Application number
EP14195752.2A
Other languages
German (de)
French (fr)
Other versions
EP2881358A1 (en
Inventor
Matthias Vohrer
Rolf Bez
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.)
Kion Warehouse Systems GmbH
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Kion Warehouse Systems GmbH
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Publication date
Application filed by Kion Warehouse Systems GmbH filed Critical Kion Warehouse Systems GmbH
Publication of EP2881358A1 publication Critical patent/EP2881358A1/en
Application granted granted 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
    • B66F9/08—Masts; Guides; Chains
    • B66F9/10—Masts; Guides; Chains movable in a horizontal direction relative to truck
    • B66F9/105—Articulated, i.e. front chassis with wheels and mast rotatable relative to rear chassis with wheels
    • 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
    • B66F9/147—Whole unit including fork support moves relative to mast
    • B66F9/148—Whole unit including fork support moves sideways
    • 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
    • B66F9/147—Whole unit including fork support moves relative to mast
    • B66F9/149—Whole unit including fork support rotates
    • 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

Definitions

  • the invention further relates to a method for damping or avoiding lateral vibrations of a mast of a truck in the vehicle transverse direction, wherein on the mast, a load-receiving means for receiving a load is arranged, which is movable relative to the mast by means of a moving device, wherein the moving device as the movement Load-receiving means generates a directed in a substantially horizontal vehicle transverse direction of the truck thrust movement and / or a pivoting movement of the load-receiving means about a substantially vertical axis.
  • the load-carrying means which is generally designed as a fork, can in this case by means of a movement device in Vehicle transverse direction are moved relative to the mast.
  • a moving device a pushing device for horizontal displacement of the load-receiving means in the vehicle transverse direction, a pivoting device with which the fork can be pivoted about a vertical pivot axis 180 0 degrees, or a combined pivoting thrust device can be used with the horizontal thrust movement in the vehicle transverse direction and the pivoting movement the vertical axis can be executed simultaneously.
  • Such trucks usually have a liftable on the mast and lowered liftable driver's stand on which the movement device and the load-receiving means are arranged.
  • an additional lifting device for the load-receiving means is provided with such trucks on the driver's cab, with which the load-receiving means relative to the driver's cab and the mast is raised or lowered.
  • Such trucks are used in racking systems, such as high-bay systems, for the storage and retrieval of pallets and loads in shelves.
  • the truck moves in operation along a row of shelves in a corresponding operation of a rack system.
  • the pusher for example a telescopic fork
  • the pivoting thruster for example a pivoting push fork
  • the pallet with the load thereon is pushed out horizontally in the vehicle transverse direction and thus laterally into a shelf of the rack.
  • the stacking of a pallet with a load thereon is carried out accordingly, by means of the pivoting thrust fork or the telescopic fork a pallet in the vehicle transverse direction and thus pulled out of the shelf of the shelf.
  • Such Hochregalstapler or Hochregalkommissionierer be used with masts, which have a height of more than 15 meters in the fully extended state.
  • the load-handling device of the truck is raised together with the at least one moving device and an optionally available liftable driver's station by means of the mast.
  • lateral vibrations of the mast in the vehicle transverse direction can occur when the load in the vehicle transverse direction moves during a storage process or when a load is being unloaded on the rack.
  • lateral vibrations of the mast are due to the elasticities of the components of the mast. Forklift activities of the truck in the rack system during a storage process or a removal process of a load on the shelf occur especially at high lifting heights lateral vibrations of the mast in the direction of the shelf, which are caused by the pushing out of the load in the shelf or the withdrawal of the load from the shelf , Another cause of the lateral vibrations of the mast is the raising or lowering of the load on the shelf. In the case of a fully upwardly extended mast, in this case such high oscillation amplitudes of the lateral oscillations of the mast can occur that a prescribed minimum distance to the shelf is undershot.
  • the invention is therefore an object of the invention to provide an industrial truck of the type mentioned, in which the handling capacity of the truck can be increased in storage or retrieval operations of a load in a shelf with low construction costs.
  • an electronic control device which is operatively connected to a sensor device, with which the lateral vibrations and / or lateral acceleration of the mast are detected in the vehicle transverse direction, and the electronic control device which generates the movement of the lifting device Actuator in response to the detected by means of the sensor device lateral vibrations and / or lateral acceleration of the mast so controls that an active vibration damping of the lateral vibrations the mast is achieved in an actuation of the actuator and a corresponding movement of the lifting device during a storage or retrieval process of the load in a rack.
  • the electronic control device acts to dampen vibration directly and directly on the actuator of the movement device, which generates the movement of the load-receiving means in the vehicle transverse direction or the pivoting movement of the load-receiving means about the vertical axis, so that with low construction costs an active vibration damping of the lateral oscillations of the mast when actuated the actuator and a corresponding movement of the load receiving means is achieved during a storage or Auslagervorgangs a load on a shelf.
  • the electronic control device controls the movement of the lifting device generating actuator such that during the motion generated by the movement of the lifting device, the lateral vibrations of the mast are minimized and at the end of the movement of the lifting device generated by the movement of the lifting device Vibrations of the mast are substantially subsided.
  • the electronic control device is thus controlled by appropriate control of the actuator generated by the actuator movement of the load receiving means in response to the signal detected by the sensor device such that the smallest possible lateral vibrations of the mast during movement of the load receiving means in the vehicle transverse direction or a pivoting movement of the lifting device arise around the vertical axis and the lateral vibrations of the mast have subsided at the end of the pusher or pivoting operation of the load receiving means substantially.
  • Waiting times are therefore no longer required for storage or removal operations of a load on a shelf, and after completion of the pushing operation or the pivoting process of the load-handling device, it is possible to wait immediately afterwards a further movement of the load receiving means are initiated, for example, a lifting or lowering operation for retrieving or storing the load in the shelf or a driving movement of the truck.
  • the vibration behavior of the mast is further influenced by the load weight of a load received by the load-carrying means.
  • the electronic control device is in communication with a further sensor device detecting the load weight of a load on the load receiving device and the electronic control device controls the actuator producing the movement of the load receiving device as a function of the load weight detected by the further sensor device activated load.
  • the electronic control device controls the actuator so that counteracts in an identified by means of the sensor device lateral rocking of the mast by an active compensating movement of the load receiving means the swinging of the mast.
  • a control algorithm is thus implemented with which an active compensation movement of the load receiving means with the load thereon is determined in a lateral oscillation of the mast, with which the actuator counteracts the lateral swing of the mast, so that achieves an active vibration damping of the mast becomes.
  • the sensor device can be formed according to an advantageous embodiment of the invention of a arranged on the mast strain gauges. With one or more strain gauges on the mast, the lateral acceleration or the lateral vibrations of the mast can be detected with low construction costs.
  • the sensor device is formed by an acceleration sensor arranged in the region of the liftable and lowerable load-receiving means.
  • the industrial truck has a driver's station which can be raised and lowered on the mast and on which the movement device and the load-carrying means are arranged, and the sensor device is arranged on the driver's station.
  • the sensor device is arranged on the driver's station.
  • an arrangement of the sensor device in the region of the load receiving means is achieved with low construction costs.
  • the inventive active vibration damping of the lateral vibrations of the mast leads in such a truck with a liftable or lowerable driver's cab continue to improve driving comfort, since of the driver located in the raised operator of the truck lateral vibrations of the mast and thus the driver's cab as uncomfortable and be distracting.
  • the actuator is designed as a hydraulic drive which is actuated by means of an electrically controllable control valve, wherein the electronic control device, the control valve in response to the detected by means of the sensor device lateral vibrations and / or lateral acceleration of the Mast and / or depending on the detected by means of the further sensor device load weight of the recorded load that the lateral vibrations of the mast are damped when the drive is actuated.
  • the control valve controlling the hydraulic drive is thus further used for the active vibration damping of the lateral oscillations of the mast, so that the inventive active vibration damping of the mast can be implemented with low construction costs.
  • the above object is achieved in terms of the method according to the invention that during loading and unloading operations of a load in a shelf in response to the lateral acceleration or lateral vibrations of the Mast in the vehicle transverse direction, the movement of the lifting device generated by the movement device is controlled such that the lateral vibrations of the mast are minimized and at the end of the movement of the lifting device generated by the movement of the lifting device, the lateral vibrations of the mast are substantially subsided.
  • an active vibration damping of the mast wherein during the operation of the moving device and thus during the motion generated by the movement of the device Lifting means, the lateral vibrations of the mast are damped or avoided in the vehicle transverse direction.
  • This eliminates waiting for storage and retrieval operations of a load in a shelf waiting times and after completion of the pusher or the pivoting operation of the lifting device may be immediately afterwards another movement of the lifting device initiated, for example, a lifting or lowering operation for retrieving or storing the load in the shelf or a driving movement of the truck. As a result, the handling line of the truck is increased.
  • the mass of a load received by the load receiving means is taken into account in the regulation of the movement of the load receiving means generated by the movement device. If, in a lateral swinging of the mast an active compensating movement of the lifting device for vibration damping of the mast is performed, with which the lateral swinging of the mast is counteracted, taking into account the mass of the load receiving device recorded load effective vibration damping of the lateral vibrations of the mast can be achieved ,
  • FIG. 1 is an inventive, designed as a high-shelf order picking truck 1 illustrated.
  • the truck 1 has a vehicle body with a vehicle frame 2, in which a battery compartment for receiving a trained example as a drive battery power supply unit 3 of a battery-electric drive system of the truck is formed.
  • the industrial truck 1 has a lifting mechanism formed by a mast 4, on which a driver's cab 5 designed as a car or driver's cab, which forms a driver's workplace F for an operator, is arranged movable up and down by means of a lifting drive (not shown). The producible by means of the mast 4 lifting movement is illustrated by an arrow H.
  • the truck 1 is supported by means of two non-steered and non-driven load wheels 8, which is arranged at a load-part-side end of the vehicle frame 2, and a steerable drive wheel 9, which is arranged at a drive part-side end of the vehicle frame 2, on a carriageway FB.
  • a movement device 15 is attached to a load-receiving means 6.
  • the load-receiving means 6 is movable relative to the mast 4 by means of the movement device 15.
  • the movement device 15 can be raised and lowered together with the load-receiving means 6 on the mast 4.
  • the movement device 15 comprises a pushing device 16, for example a side pushing device, with which the load-receiving means 6 in the vehicle transverse direction Q of the industrial truck 1 can be moved horizontally. Coupled to the pusher 16 is a pivoting device 17, with which the load-receiving means 6 can be pivoted about a vertical axis V. An additional lifting device 7 is in turn coupled to the swiveling device 17, with which the load-receiving device 6 can be raised or lowered relative to the driver's seat 5 and relative to the mast 4.
  • the movement device 15 is thus formed in the illustrated embodiment as a pivoting thrust fork, with the movement of the load-receiving means. 6 a horizontal thrust movement in the vehicle transverse direction Q and a pivoting movement about the vertical axis V can be generated.
  • the movement device 15 can be formed by a telescopic fork displaceably arranged in the vehicle transverse direction Q, with which only a horizontal pushing movement in the vehicle transverse direction Q can be generated as the movement of the load-receiving means 6.
  • control and operating elements required for the operation of the picking truck 1 are arranged, for example in the form of an operating device designed as a control panel B.
  • the control panel B is provided to control the traction drive and the load handling functions of the picking truck 1 with appropriate controls and a steering actuator for controlling a steering.
  • a non-illustrated electrical drive system comprising an electric traction motor and a steering drive, such as an electric steering motor for the steerable drive wheel 9 and an electrically operated hydraulic pump unit, which is provided to supply the working hydraulics are formed by the lifting drive of the hoist 4 and a lifting drive oftienthubvorraum 7 and hydraulic drives for the provided in the illustrated embodiment pivoting thrust fork as a load-bearing means 6.
  • the drive part of the truck 1 is located in the vehicle longitudinal direction in front of the battery compartment.
  • the drive part is covered by a hood 10.
  • the load part of the truck 1 is located in the vehicle longitudinal direction behind the battery compartment and includes the load-receiving means. 6
  • the mast 4 of the truck 1 is designed as Herschüssiges mast.
  • the mast 4 is the mast 4 as a so-called triplex mast running with a arranged on the vehicle frame 2 stand mast 4a, in the stationary mast 4a upwardly extendable first Ausfahrmast 4b and in the first Ausfahrmast 4b upwardly extendable second Ausfahrmast 4c, in which the driver's cab 5 after is arranged extendable above.
  • the truck 1 with completely after pulled-up mast 4 and fully raised driver's seat 5 shown.
  • On the load-carrying means 6 is a pallet with a load 20.
  • the movement device 15 is arranged such that the load 20 is located centrally to the vehicle longitudinal axis L.
  • the load 20 is moved by means of the moving device 15 in the horizontal vehicle transverse direction Q.
  • the movement device 15 is shown in a position in which the load 20 is in a laterally pushed-out position in the shelf.
  • the truck 1 is provided with an active vibration damping, damped in the generated by the moving device 15 movement of the load receiving means 6 with the load thereon 20 in the vehicle transverse direction Q or about the vertical axis V, the lateral vibrations of the mast 4 in the vehicle transverse direction Q can be.
  • an electronic control device 30 is provided, which is in operative connection with a sensor device 31, with which the lateral vibrations and / or the lateral accelerations of the mast 4 in the region of the load-receiving means 6 in the vehicle transverse direction Q are detected. Furthermore, electronic control device 30 is connected to a load weight of the load 20 located on the load receiving means 20 further sensing device 32 in connection.
  • the electronic control device 30 controls an actuator 35 of the movement device 15, with which the movement of the load-receiving means 6 can be generated.
  • the actuator 35 With the actuator 35, the movement of the load-receiving means 6 generated in the vehicle transverse direction Q and / or the pivoting movement of the load-receiving means 6 about the vertical axis V can be generated by the movement device 15.
  • the actuator 35 is formed as a hydraulic drive 36 which is controllable by means of an electrically controllable control valve 37, preferably a throttling in intermediate positions proportional valve.
  • the control valve 37 is connected to a delivery line 38 of a pump 39 and to one A container 40 guided container line 41 in conjunction and is connected by means of consumer lines 42 a, 42 b to the hydraulic drive 36.
  • the pump 39 is part of the electrically operated hydraulic pump assembly 45, which has as an additional component a pump 39 driving electric motor 46.
  • the control valve 37 is connected to the control with the electronic control device 30 in connection.
  • control element 33 an operable by the operator of the truck 1 control element 33 is provided, with which the actuator 35 and thus the movement device 15 is actuated.
  • the control element 33 is in communication with the electronic control device 30.
  • the sensor device 31 is formed in the illustrated embodiment as an acceleration sensor 50, which detects the accelerations of the mast 4 in the vehicle transverse direction Q and is preferably arranged in the driver's cab 5.
  • the acceleration sensor 50 is preferably arranged in the driver's cab 5 in the middle of the vehicle's longitudinal axis L.
  • the further sensor device 32 may be formed by a sensor which detects the pressure in a lifting cylinder of the additional lifting device 7.
  • the electronic control device 30 is designed in such a way that, depending on the signal of the acceleration sensor 50 and in dependence on the mass of the picked-up load 20 detected by the sensor device 32, the actuator 35 controlling the movement of the load-receiving means 6 is actuated in such a way that that of the movement device 15 generated movement of the load-receiving means 6 is controlled such that during the motion generated by the movement device 15 of the load receiving means 6, ie the movement of the load receiving means 6 in the vehicle transverse direction Q and / or the pivoting movement of the load receiving means 6 about the vertical axis V, the lateral vibrations of the Mast 4 are minimized in the vehicle transverse direction Q and at the end of the movement of the lifting device 15 generated by the movement of the load receiving means 6, the lateral vibrations of the mast 4 are substantially subsided.
  • the control valve 37 is preferably controlled such that by an active compensating movement of the actuator 35 and thus of the load receiving means 6 the swing of the mast 4 in the vehicle transverse direction is counteracted and thus the lateral swing
  • a turret head moving device 15 is used in addition to the function for stacking and the load 20 in the shelf also to the vertical axis V 180 0 degrees to rotate outside of the operation, the recorded load 20 to an opposite shelf section. In this case takes place synchronously a movement of the load-receiving means 6 in the vehicle transverse direction Q and a pivoting movement of the load-receiving means 6 about the vertical axis V.
  • lateral vibrations can be introduced into the mast 4 by acceleration operations.
  • the active vibration damping according to the invention the lateral vibrations of the mast 4 in the vehicle transverse direction Q can also be compensated in this process.

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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)

Description

Die Erfindung betrifft ein Flurförderzeug mit einem Hubgerüst, einem Lastaufnahmemittel zur Aufnahme einer Last und einer Bewegungsvorrichtung für das Lastaufnahmemittel, wobei die Bewegungsvorrichtung gemeinsam mit dem Lastaufnahmemittel an dem Hubgerüst anhebbar und absenkbar ist und das Lastaufnahmemittel mittels der Bewegungsvorrichtung relativ zu dem Hubgerüst bewegbar ist, wobei eine von der Bewegungsvorrichtung erzeugte Bewegung des Lastaufnahmemittels relativ zu dem Hubgerüst mittels eines Stellglieds erzeugbar ist, wobei die Bewegungsvorrichtung aufweist:

  • eine Schubvorrichtung, mit der als Bewegung das Lastaufnahmemittel in im Wesentlichen horizontaler Fahrzeugquerrichtung des Flurförderzeugs verschiebbar ist, und/oder
  • eine Schwenkvorrichtung, mit der als Bewegung das Lastaufnahmemittel um eine im Wesentlichen vertikale Achse schwenkbar ist.
The invention relates to an industrial truck with a mast, a load receiving means for receiving a load and a moving device for the load receiving means, wherein the moving device is liftable and lowerable together with the load receiving means on the mast and the load receiving means by means of the moving device is movable relative to the mast, wherein a movement of the load receiving means, generated by the movement device, relative to the mast can be generated by means of an actuator, wherein the movement device comprises:
  • a pushing device, with which the load-receiving means is displaceable in a substantially horizontal transverse direction of the vehicle as a movement, and / or
  • a pivoting device with which, as a movement, the load-receiving means is pivotable about a substantially vertical axis.

Die Erfindung betrifft weiterhin ein Verfahren zur Dämpfung oder Vermeidung von seitlichen Schwingungen eines Hubgerüstes eines Flurförderzeugs in Fahrzeugquerrichtung, wobei an dem Hubgerüst ein Lastaufnahmemittel zur Aufnahme einer Last angeordnet ist, das mittels einer Bewegungsvorrichtung relativ zu dem Hubgerüst bewegbar ist, wobei die Bewegungsvorrichtung als Bewegung das Lastaufnahmemittel eine in im Wesentlichen horizontaler Fahrzeugquerrichtung des Flurförderzeugs gerichtete Schubbewegung und/oder eine Schwenkbewegung des Lastaufnahmemittel um eine im Wesentlichen vertikale Achse erzeugt.The invention further relates to a method for damping or avoiding lateral vibrations of a mast of a truck in the vehicle transverse direction, wherein on the mast, a load-receiving means for receiving a load is arranged, which is movable relative to the mast by means of a moving device, wherein the moving device as the movement Load-receiving means generates a directed in a substantially horizontal vehicle transverse direction of the truck thrust movement and / or a pivoting movement of the load-receiving means about a substantially vertical axis.

Aus der EP 2 368 832 A1 ist ein gattungsgemäßes Flurförderzeug mit den Merkmalen des Oberbegriffs des Patentanspruchs 1 und ein gattungsgemäßes Verfahren mit den Merkmalen des Oberbegriffs des Patentanspruchs 9 bekannt.From the EP 2 368 832 A1 is a generic truck with the features of the preamble of claim 1 and a generic method with the features of the preamble of claim 9 known.

Flurförderzeuge der genannten Art sind häufig als Hochregalstapler oder Hochregalkommissionierer ausgeführt. Das in der Regel als Lastgabel ausgeführte Lastaufnahmemittel kann hierbei mittels einer Bewegungsvorrichtung in Fahrzeugquerrichtung relativ zu dem Hubgerüst bewegt werden. Als Bewegungsvorrichtung können eine Schubvorrichtung zum horizontalen Verschieben des Lastaufnahmemittels in Fahrzeugquerrichtung, eine Schwenkvorrichtung, mit der die Lastgabel um eine vertikale Schwenkachse um 1800 Grad verschwenkt werden kann, oder eine kombinierte Schwenkschubvorrichtung verwendet werden, mit der die horizontale Schubbewegung in Fahrzeugquerrichtung und die Schwenkbewegung um die vertikale Achse gleichzeitig ausgeführt werden können. Derartige Flurförderzeuge weisen in der Regel einen am Hubgerüst anhebbaren und absenkbaren anhebbaren Fahrerstand auf, an dem die Bewegungsvorrichtung und das Lastaufnahmemittel angeordnet sind. In der Regel ist bei derartigen Flurförderzeugen an dem Fahrerstand eine Zusatzhubvorrichtung für das Lastaufnahmemittel vorgesehen, mit welcher das Lastaufnahmemittel relativ zu dem Fahrerstand und dem Hubgerüst anhebbar bzw. absenkbar ist.Industrial trucks of the type mentioned are often designed as Hochregalstapler or Hochregalkommissionierer. The load-carrying means, which is generally designed as a fork, can in this case by means of a movement device in Vehicle transverse direction are moved relative to the mast. As a moving device, a pushing device for horizontal displacement of the load-receiving means in the vehicle transverse direction, a pivoting device with which the fork can be pivoted about a vertical pivot axis 180 0 degrees, or a combined pivoting thrust device can be used with the horizontal thrust movement in the vehicle transverse direction and the pivoting movement the vertical axis can be executed simultaneously. Such trucks usually have a liftable on the mast and lowered liftable driver's stand on which the movement device and the load-receiving means are arranged. In general, an additional lifting device for the load-receiving means is provided with such trucks on the driver's cab, with which the load-receiving means relative to the driver's cab and the mast is raised or lowered.

Derartige Flurförderzeuge werden in Regalanlagen, beispielsweise Hochregalanlagen, für das Ein- und Auslagern von Paletten und Lasten in Regalfächern eingesetzt. Das Flurförderzeug bewegt sich im Betrieb längs einer Regalzeile in einem entsprechenden Arbeitsgangs einer Regalanlage. Zum Einstapeln einer Palette mit einer darauf befindlichen Last wird mittels der Schubvorrichtung, beispielsweise einer Teleskopgabel, oder der Schwenkschubvorrichtung, beispielsweise einer Schwenkschubgabel, die Palette mit der darauf befindlichen Last in horizontaler Fahrzeugquerrichtung und somit seitlich in ein Regalfach des Regals ausgeschoben. Das Ausstapeln einer Palette mit einer darauf befindlichen Last erfolgt entsprechend, indem mittels der Schwenkschubgabel bzw. der Teleskopgabel eine Palette in Fahrzeugquerrichtung und somit seitlich aus dem Regalfach des Regals herausgezogen wird. Derartige Hochregalstapler oder Hochregalkommissionierer werden mit Hubgerüsten eingesetzt, die im vollständig nach oben ausgefahrenen Zustand eine Höhe von mehr als 15 Metern aufweisen.Such trucks are used in racking systems, such as high-bay systems, for the storage and retrieval of pallets and loads in shelves. The truck moves in operation along a row of shelves in a corresponding operation of a rack system. For stacking a pallet with a load thereon, by means of the pusher, for example a telescopic fork, or the pivoting thruster, for example a pivoting push fork, the pallet with the load thereon is pushed out horizontally in the vehicle transverse direction and thus laterally into a shelf of the rack. The stacking of a pallet with a load thereon is carried out accordingly, by means of the pivoting thrust fork or the telescopic fork a pallet in the vehicle transverse direction and thus pulled out of the shelf of the shelf. Such Hochregalstapler or Hochregalkommissionierer be used with masts, which have a height of more than 15 meters in the fully extended state.

Das Lastaufnahmemittel des Flurförderzeugs wird gemeinsam mit der mindestens einen Bewegungsvorrichtung und einem gegebenenfalls vorhandenen anhebbaren Fahrerstand mittels des Hubgerüsts angehoben. Insbesondere bei weit ausgefahrenem Hubgerüst können bei einem Bewegen der Last in Fahrzeugquerrichtung während eines Einlagerungsvorgangs oder eines Auslagerungsvorgangs einer Last in dem Regal seitliche Schwingungen des Hubgerüsts in Fahrzeugquerrichtung auftreten.The load-handling device of the truck is raised together with the at least one moving device and an optionally available liftable driver's station by means of the mast. In particular, in the case of a widely extended mast, lateral vibrations of the mast in the vehicle transverse direction can occur when the load in the vehicle transverse direction moves during a storage process or when a load is being unloaded on the rack.

Diese seitlichen Schwingungen des Hubgerüstes sind durch die Elastizitäten der Bauteile des Hubgerüstes bedingt. Bei Staplertätigkeiten des Flurförderzeugs in der Regalanlage während eines Einlagervorgangs oder eines Auslagervorgangs einer Last im Regal treten insbesondere bei hohen Hubhöhen seitliche Schwingungen des Hubgerüstes in Regalrichtung auf, die durch das Ausschieben der Last in das Regal bzw. das Herausziehen der Last aus dem Regal verursacht werden. Eine weitere Ursache für die seitlichen Schwingungen des Hubgerüstes ist das Anheben bzw. Absenken der Last im Regal. Bei vollständig nach oben ausgefahrenem Hubgerüst können hierbei derart hohe Schwingungsamplituden der seitlichen Schwingungen des Hubgerüstes auftreten, dass ein vorgeschriebener Mindestabstand zu dem Regal unterschritten wird. Solange das Lastaufnahmemittel bei einem Einlager- bzw. Auslagervorgang einer Last im Regal aufgrund der seitlichen Schwingungen des Hubgerüstes hin- und herschwingt, können keine Lasten aufgenommen bzw. abgelegt werden und eine Bedienungsperson des Flurförderzeugs hat Wartezeiten in Kauf zu nehmen, bis die seitlichen Schwingungen im Hubgerüst gedämpft sind und abklingen. Erst nach dem Abklingen der seitlichen Schwingungen des Hubgerüstes kann eine weitere Bewegung am Flurförderzug durchgeführt werden, beispielsweise ein Heben-oder Senkenvorgang des Lastaufnahmemittels oder eine Fahrbewegung des Flurförderzeugs. Diese Wartezeiten führen zu einer Verringerung der Umschlagsleistung des Flurförderzeugs bei Einlager- bzw. Auslagervorgängen einer Last in einem Regal.These lateral vibrations of the mast are due to the elasticities of the components of the mast. Forklift activities of the truck in the rack system during a storage process or a removal process of a load on the shelf occur especially at high lifting heights lateral vibrations of the mast in the direction of the shelf, which are caused by the pushing out of the load in the shelf or the withdrawal of the load from the shelf , Another cause of the lateral vibrations of the mast is the raising or lowering of the load on the shelf. In the case of a fully upwardly extended mast, in this case such high oscillation amplitudes of the lateral oscillations of the mast can occur that a prescribed minimum distance to the shelf is undershot. As long as the load-carrying means in a storage or Auslagervorgang a load on the shelf due to the lateral vibrations of the mast oscillates back and forth, no loads can be recorded or stored and an operator of the truck has to wait in the market, until the lateral vibrations in the Mast are damped and fade away. Only after the decay of the lateral oscillations of the mast, a further movement can be performed on the conveyor, for example, a lifting or lowering operation of the lifting device or a driving movement of the truck. These waiting times lead to a reduction in the handling capacity of the truck during storage or retrieval operations of a load in a rack.

Der Erfindung liegt daher die Aufgabe zugrunde, ein Flurförderzeug der eingangs genannten Art zur Verfügung zu stellen, bei dem mit geringem Bauaufwand die Umschlagsleistung des Flurförderzeugs bei Einlager- bzw. Auslagervorgängen einer Last in einem Regal erhöht werden kann.The invention is therefore an object of the invention to provide an industrial truck of the type mentioned, in which the handling capacity of the truck can be increased in storage or retrieval operations of a load in a shelf with low construction costs.

Diese Aufgabe wird erfindungsgemäß dadurch gelöst, dass eine elektronische Regelungsvorrichtung vorgesehen ist, die mit einer Sensoreinrichtung in Wirkverbindung steht, mit der die seitlichen Schwingungen und/oder die seitlichen Beschleunigungen des Hubgerüstes in Fahrzeugquerrichtung erfasst werden, und die elektronische Regelungsvorrichtung das die Bewegung des Lastaufnahmemittels erzeugende Stellglied in Abhängigkeit von den mittels der Sensoreinrichtung erfassten seitlichen Schwingungen und/oder seitlichen Beschleunigungen des Hubgerüstes derart ansteuert, dass eine aktive Schwingungsdämpfung der seitlichen Schwingungen des Hubgerüstes bei einer Betätigung des Stellglieds und einer entsprechenden Bewegung des Lastaufnahmemittels während eines Einlager- oder Auslagervorgangs der Last in einem Regal erzielt wird. Hierdurch wird bei der Betätigung des Stellglieds und somit während der von der Bewegungsvorrichtung erzeugten Bewegung des Lastaufnahmemittels eine aktive Schwingungsdämpfung der seitlichen Schwingungen des Hubgerüstes in Fahrzeugquerrichtung möglich, so dass bei Einlager- bzw. Auslagervorgängen einer Last in einem Regal keine unnötigen Wartezeiten abzuwarten sind und sich dadurch die Umschlagsleistung des Flurförderzeugs bei Einlager- bzw. Auslagervorgängen einer Last in einem Regal erhöht. Die elektronische Regelungsvorrichtung wirkt zur Schwingungsdämpfung unmittelbar und direkt auf das Stellglied der Bewegungsvorrichtung ein, das die Bewegung des Lastaufnahmemittels in Fahrzeugquerrichtung oder die Schwenkbewegung des Lastaufnahmemittels um die vertikale Achse erzeugt, so dass mit geringem Bauaufwand eine aktive Schwingungsdämpfung der seitlichen Schwingungen des Hubgerüstes bei einer Betätigung des Stellglieds und einer entsprechenden Bewegung des Lastaufnahmemittels während eines Einlager- bzw. Auslagervorgangs einer Last in einem Regal erzielt wird.This object is achieved in that an electronic control device is provided which is operatively connected to a sensor device, with which the lateral vibrations and / or lateral acceleration of the mast are detected in the vehicle transverse direction, and the electronic control device which generates the movement of the lifting device Actuator in response to the detected by means of the sensor device lateral vibrations and / or lateral acceleration of the mast so controls that an active vibration damping of the lateral vibrations the mast is achieved in an actuation of the actuator and a corresponding movement of the lifting device during a storage or retrieval process of the load in a rack. As a result, an active vibration damping of the lateral vibrations of the mast in the vehicle transverse direction is possible during actuation of the actuator and thus during the movement of the lifting device generated by the movement device, so that no waiting times are waiting for storage and retrieval operations of a load in a shelf and This increases the handling capacity of the truck during storage or retrieval operations of a load on a shelf. The electronic control device acts to dampen vibration directly and directly on the actuator of the movement device, which generates the movement of the load-receiving means in the vehicle transverse direction or the pivoting movement of the load-receiving means about the vertical axis, so that with low construction costs an active vibration damping of the lateral oscillations of the mast when actuated the actuator and a corresponding movement of the load receiving means is achieved during a storage or Auslagervorgangs a load on a shelf.

Gemäß einer vorteilhaften Ausführungsform der Erfindung steuert die elektronische Regelungsvorrichtung das die Bewegung des Lastaufnahmemittels erzeugende Stellglied derart an, dass während der durch die Bewegungsvorrichtung erzeugten Bewegung des Lastaufnahmemittels die seitlichen Schwingungen des Hubgerüstes minimiert werden und am Ende der von der Bewegungsvorrichtung erzeugten Bewegung des Lastaufnahmemittels die seitlichen Schwingungen des Hubgerüstes im Wesentlichen abgeklungen sind. Mit der elektronische Regelungsvorrichtung wird somit durch entsprechende Ansteuerung des Stellglieds die von dem Stellglied erzeugte Bewegung des Lastaufnahmemittels in Abhängigkeit von dem mittels der Sensoreinrichtung erfassten Signal derart geregelt, dass möglichst geringe seitliche Schwingungen des Hubgerüstes bei der Bewegung des Lastaufnahmemittels in Fahrzeugquerrichtung oder einer Schwenkbewegung des Lastaufnahmemittels um die vertikale Achse entstehen und die seitlichen Schwingungen des Hubgerüstes am Ende des Schubvorgangs bzw. Schwenkvorgangs des Lastaufnahmemittels im Wesentlichen abgeklungen sind. Bei Einlager- bzw. Auslagervorgängen einer Last in einem Regal entfallen somit Wartezeiten und nach Beenden des Schubvorgangs bzw. des Schwenkvorgangs des Lastaufnahmemittels kann zeitlich unmittelbar anschließend eine weitere Bewegung des Lastaufnahmemittels eingeleitet werden, beispielsweise ein Heben- oder Senkenvorgang zum Auslagern bzw. Einlagern der Last in dem Regal oder eine Fahrbewegung des Flurförderzeugs.According to an advantageous embodiment of the invention, the electronic control device controls the movement of the lifting device generating actuator such that during the motion generated by the movement of the lifting device, the lateral vibrations of the mast are minimized and at the end of the movement of the lifting device generated by the movement of the lifting device Vibrations of the mast are substantially subsided. With the electronic control device is thus controlled by appropriate control of the actuator generated by the actuator movement of the load receiving means in response to the signal detected by the sensor device such that the smallest possible lateral vibrations of the mast during movement of the load receiving means in the vehicle transverse direction or a pivoting movement of the lifting device arise around the vertical axis and the lateral vibrations of the mast have subsided at the end of the pusher or pivoting operation of the load receiving means substantially. Waiting times are therefore no longer required for storage or removal operations of a load on a shelf, and after completion of the pushing operation or the pivoting process of the load-handling device, it is possible to wait immediately afterwards a further movement of the load receiving means are initiated, for example, a lifting or lowering operation for retrieving or storing the load in the shelf or a driving movement of the truck.

Das Schwingungsverhalten des Hubgerüstes wird weiterhin von dem Lastgewicht einer mit dem Lastaufnahmemittel aufgenommenen Last beeinflusst. Gemäß einer Weiterbildung der Erfindung ist vorgesehen, dass die elektronische Regelungsvorrichtung mit einer das Lastgewicht einer auf dem Lastaufnahmemittel befindlichen Last erfassenden weiteren Sensoreinrichtung in Verbindung steht und die elektronische Regelungsvorrichtung das die Bewegung des Lastaufnahmemittels erzeugende Stellglied in Abhängigkeit von dem mittels der weiteren Sensoreinrichtung erfassten Lastgewicht der aufgenommenen Last ansteuert. Hierdurch wird eine effektive aktive Schwingungsdämpfung des Hubgerüstes bei einer seitlichen Schubbewegung bzw. einer Schwenkbewegung des Lastaufnahmemittels erzielt.The vibration behavior of the mast is further influenced by the load weight of a load received by the load-carrying means. According to one embodiment of the invention, it is provided that the electronic control device is in communication with a further sensor device detecting the load weight of a load on the load receiving device and the electronic control device controls the actuator producing the movement of the load receiving device as a function of the load weight detected by the further sensor device activated load. As a result, an effective active vibration damping of the mast is achieved in a lateral thrust movement or a pivoting movement of the lifting device.

Gemäß einer vorteilhaften Ausgestaltungsform der Erfindung steuert die elektronische Regelungsvorrichtung das Stellglied derart an, dass bei einem mittels der Sensoreinrichtung erkannten seitlichen Schwingen des Hubgerüstes durch eine aktive Ausgleichsbewegung des Lastaufnahmemittels dem Schwingen des Hubgerüsts entgegen gewirkt wird. In der elektronischen Regelungsvorrichtung ist somit ein Regelalgorithmus implementiert, mit dem bei einer seitlichen Schwingung des Hubgerüstes eine aktive Ausgleichsbewegung des Lastaufnahmemittels mit der darauf befindlichen Last ermittelt wird, mit welcher das Stellglied dem seitlichen Schwingen des Hubgerüstes entgegenwirkt, so dass eine aktive Schwingungsdämpfung des Hubgerüstes erzielt wird.According to an advantageous embodiment of the invention, the electronic control device controls the actuator so that counteracts in an identified by means of the sensor device lateral rocking of the mast by an active compensating movement of the load receiving means the swinging of the mast. In the electronic control device, a control algorithm is thus implemented with which an active compensation movement of the load receiving means with the load thereon is determined in a lateral oscillation of the mast, with which the actuator counteracts the lateral swing of the mast, so that achieves an active vibration damping of the mast becomes.

Die Sensoreinrichtung kann gemäß einer vorteilhaften Ausgestaltungsform der Erfindung von einem an dem Hubgerüst angeordneten Dehnmessstreifen gebildet sein. Mit einem oder mehreren Dehnmessstreifen an dem Hubgerüst können mit geringem Bauaufwand die seitlichen Beschleunigungen bzw. die seitlichen Schwingungen des Hubgerüstes erfasst werden.The sensor device can be formed according to an advantageous embodiment of the invention of a arranged on the mast strain gauges. With one or more strain gauges on the mast, the lateral acceleration or the lateral vibrations of the mast can be detected with low construction costs.

Gemäß einer besonders vorteilhaften Ausgestaltungsform der Erfindung ist die Sensoreinrichtung von einem im Bereich des anhebbaren und absenkbaren Lastaufnahmemittels angeordneten Beschleunigungssensor gebildet. Mit einem die Beschleunigungen des Hubgerüstes in Fahrzeugquerrichtung erfassenden Beschleunigungssensor kann eine besonders effektive Schwingungsdämpfung erzielt werden, da bereits die das Hubgerüst zum seitlichen Schwingen anregenden Beschleunigungen erfasst werden und zur Ansteuerung des die Bewegung des Lastaufnahmemittel erzeugenden Stellglieds ausgewertet werden können.According to a particularly advantageous embodiment of the invention, the sensor device is formed by an acceleration sensor arranged in the region of the liftable and lowerable load-receiving means. With a the Accelerations of the mast in the vehicle transverse direction detecting acceleration sensor, a particularly effective vibration damping can be achieved, since already the mast for lateral swing exciting accelerations are detected and can be evaluated to control the movement of the load-receiving actuator generating.

Besondere Vorteile sind erzielbar, wenn das Flurförderzeug gemäß einer Weiterbildung einen an dem Hubgerüst anhebbaren und absenkbaren Fahrerstand aufweist, an dem die Bewegungsvorrichtung und das Lastaufnahmemittel angeordnet ist, und die Sensoreinrichtung an dem Fahrerstand angeordnet ist. Mit der Anordnung der Sensoreinrichtung an dem anhebbaren bzw. absenkbaren Fahrerstand wird mit geringem Bauaufwand eine Anordnung der Sensoreinrichtung im Bereich des Lastaufnahmemittels erzielt. Die erfindungsgemäße aktive Schwingungsdämpfung der seitlichen Schwingungen des Hubgerüstes führt bei einem derartigen Flurförderzeug mit einem anhebbaren bzw. absenkbaren Fahrerstand weiterhin zu einer Verbesserung des Fahrkomforts, da von der in dem angehobenen Fahrerstand befindlichen Bedienperson des Flurförderzeugs seitliche Schwingungen des Hubgerüstes und somit des Fahrerstandes als unangenehm und störend empfunden werden.Particular advantages can be achieved if, according to a development, the industrial truck has a driver's station which can be raised and lowered on the mast and on which the movement device and the load-carrying means are arranged, and the sensor device is arranged on the driver's station. With the arrangement of the sensor device on the liftable or lowerable driver's cab an arrangement of the sensor device in the region of the load receiving means is achieved with low construction costs. The inventive active vibration damping of the lateral vibrations of the mast leads in such a truck with a liftable or lowerable driver's cab continue to improve driving comfort, since of the driver located in the raised operator of the truck lateral vibrations of the mast and thus the driver's cab as uncomfortable and be distracting.

Hinsichtlich eines geringen Bauaufwand ergeben sich besondere Vorteile, wenn das Stellglied als hydraulischer Antrieb ausgebildet ist, der mittels eines elektrisch ansteuerbaren Steuerventils betätigbar ist, wobei die elektronische Regelungsvorrichtung das Steuerventil derart in Abhängigkeit von den mittels der Sensoreinrichtung erfassten seitlichen Schwingungen und/oder seitlichen Beschleunigungen des Hubgerüstes und/oder in Abhängigkeit von dem mittels der weiteren Sensoreinrichtung erfassten Lastgewicht der aufgenommenen Last ansteuert, dass die seitliche Schwingungen des Hubgerüstes bei betätigtem Antrieb gedämpft werden. Das den hydraulischen Antrieb ansteuernde Steuerventil wird somit weiterhin zu der aktiven Schwingungsdämpfung der seitlichen Schwingungen des Hubgerüstes verwendet, so dass die erfindungsgemäße aktive Schwingungsdämpfung des Hubgerüstes mit geringem Bauaufwand umsetzbar ist.With regard to a low construction cost, there are particular advantages if the actuator is designed as a hydraulic drive which is actuated by means of an electrically controllable control valve, wherein the electronic control device, the control valve in response to the detected by means of the sensor device lateral vibrations and / or lateral acceleration of the Mast and / or depending on the detected by means of the further sensor device load weight of the recorded load that the lateral vibrations of the mast are damped when the drive is actuated. The control valve controlling the hydraulic drive is thus further used for the active vibration damping of the lateral oscillations of the mast, so that the inventive active vibration damping of the mast can be implemented with low construction costs.

Die oben genannte Aufgabe wird hinsichtlich des Verfahrens erfindungsgemäß dadurch gelöst, dass bei Ein- und Auslagerungsvorgängen einer Last in einem Regal in Abhängigkeit von den seitlichen Beschleunigungen oder seitlichen Schwingungen des Hubgerüstes in Fahrzeugquerrichtung die von der Bewegungsvorrichtung erzeugte Bewegung des Lastaufnahmemittels derart geregelt wird, dass die seitlichen Schwingungen des Hubgerüstes minimiert werden und am Ende der von der Bewegungsvorrichtung erzeugten Bewegung des Lastaufnahmemittels die seitlichen Schwingungen des Hubgerüstes im Wesentlichen abgeklungen sind. Mit einem derartigen Verfahren kann mit geringem Bauaufwand eine aktive Schwingungsdämpfung des Hubgerüstes erzielt werden, bei dem während der Betätigung der Bewegungsvorrichtung und somit während der von der Bewegungsvorrichtung erzeugten Bewegung des Lastaufnahmemittels die seitlichen Schwingungen des Hubgerüstes in Fahrzeugquerrichtung gedämpft bzw. vermieden werden. Hierdurch entfallen bei Einlager- bzw. Auslagervorgängen einer Last in einem Regal Wartezeiten und nach Beenden des Schubvorgangs bzw. des Schwenkvorgangs des Lastaufnahmemittels kann zeitlich unmittelbar anschließend eine weitere Bewegung des Lastaufnahmemittels eingeleitet werden, beispielsweise ein Heben- oder Senkenvorgang zum Auslagern bzw. Einlagern der Last in dem Regal oder eine Fahrbewegung des Flurförderzeugs. Hierdurch wird die Umschlagsleitung des Flurförderzeugs erhöht.The above object is achieved in terms of the method according to the invention that during loading and unloading operations of a load in a shelf in response to the lateral acceleration or lateral vibrations of the Mast in the vehicle transverse direction, the movement of the lifting device generated by the movement device is controlled such that the lateral vibrations of the mast are minimized and at the end of the movement of the lifting device generated by the movement of the lifting device, the lateral vibrations of the mast are substantially subsided. With such a method can be achieved with low construction costs, an active vibration damping of the mast, wherein during the operation of the moving device and thus during the motion generated by the movement of the device Lifting means, the lateral vibrations of the mast are damped or avoided in the vehicle transverse direction. This eliminates waiting for storage and retrieval operations of a load in a shelf waiting times and after completion of the pusher or the pivoting operation of the lifting device may be immediately afterwards another movement of the lifting device initiated, for example, a lifting or lowering operation for retrieving or storing the load in the shelf or a driving movement of the truck. As a result, the handling line of the truck is increased.

Gemäß einer Weiterbildung der Erfindung wird bei der Regelung der von der Bewegungsvorrichtung erzeugten Bewegung des Lastaufnahmemittels die Masse einer mit dem Lastaufnahmemittel aufgenommenen Last berücksichtigt. Sofern bei einem seitlichen Schwingen des Hubgerüstes eine aktive Ausgleichsbewegung des Lastaufnahmemittels zur Schwingungsdämpfung des Hubgerüstes durchgeführt wird, mit welcher dem seitlichen Schwingen des Hubgerüstes entgegenwirkt wird, kann unter Berücksichtigung der Masse der von der Lastaufnahmevorrichtung aufgenommenen Last eine effektive Schwingungsdämpfung der seitlichen Schwingungen des Hubgerüstes erzielt werden.According to one embodiment of the invention, the mass of a load received by the load receiving means is taken into account in the regulation of the movement of the load receiving means generated by the movement device. If, in a lateral swinging of the mast an active compensating movement of the lifting device for vibration damping of the mast is performed, with which the lateral swinging of the mast is counteracted, taking into account the mass of the load receiving device recorded load effective vibration damping of the lateral vibrations of the mast can be achieved ,

Weitere Vorteile und Einzelheiten der Erfindung werden anhand des in den schematischen Figuren dargestellten Ausführungsbeispiels näher erläutert. Hierbei zeigt

Figur 1
ein erfindungsgemäßes Flurförderzeug in einer Seitenansicht,
Figur 2
das Flurförderzeug der Figur 1 in einer perspektivischen Darstellung mit nach oben ausgefahrenem Hubgerüst,
Figur 3
einen Ausschnitt der Figur 2 in einer vergrößerten Darstellung und
Figur 4
einen schematischen Schaltplan der Erfindung.
Further advantages and details of the invention will be explained in more detail with reference to the embodiment shown in the schematic figures. This shows
FIG. 1
an inventive truck in a side view,
FIG. 2
the truck of the FIG. 1 in a perspective view with upwardly extended mast,
FIG. 3
a section of the FIG. 2 in an enlarged view and
FIG. 4
a schematic circuit diagram of the invention.

In der Figur 1 ist ein erfindungsgemäßes, als Hochregal-Kommissionierstapler ausgebildetes Flurförderzeugs 1 dargestellt.In the FIG. 1 is an inventive, designed as a high-shelf order picking truck 1 illustrated.

Das Flurförderzeug 1 weist einen Fahrzeugkörper mit einem Fahrzeugrahmen 2 auf, in dem ein Batteriefach zur Aufnahme einer beispielsweise als Antriebsbatterie ausgebildeten Energieversorgungseinheit 3 eines batterie-elektrischen Antriebssystems des Flurförderzeugs ausgebildet ist. Das Flurförderzeug 1 weist ein von einem Hubgerüst 4 gebildetes Hubwerk auf, an dem ein als Fahrkorb bzw. Fahrerkabine ausgebildeter Fahrerstand 5, der einen Fahrerarbeitsplatz F für eine Bedienperson bildet, mittels eines nicht näher dargestellten Hubantriebs auf- und abbewegbar angeordnet ist. Die mittels des Hubgerüsts 4 erzeugbare Hubbewegung ist mit einem Pfeil H verdeutlicht.The truck 1 has a vehicle body with a vehicle frame 2, in which a battery compartment for receiving a trained example as a drive battery power supply unit 3 of a battery-electric drive system of the truck is formed. The industrial truck 1 has a lifting mechanism formed by a mast 4, on which a driver's cab 5 designed as a car or driver's cab, which forms a driver's workplace F for an operator, is arranged movable up and down by means of a lifting drive (not shown). The producible by means of the mast 4 lifting movement is illustrated by an arrow H.

Das Flurförderzeug 1 stützt sich mittels zwei nicht-gelenkten und nicht angetriebenen Lasträdern 8, die an einem lastteilseitigen Ende des Fahrzeugrahmens 2 angeordnet ist, und einem lenkbaren Antriebsrad 9, das an einem antriebsteilseitigen Ende des Fahrzeugrahmens 2 angeordnet ist, auf einer Fahrbahn FB ab.The truck 1 is supported by means of two non-steered and non-driven load wheels 8, which is arranged at a load-part-side end of the vehicle frame 2, and a steerable drive wheel 9, which is arranged at a drive part-side end of the vehicle frame 2, on a carriageway FB.

An dem anhebbaren und absenkbaren Fahrerstand 5 ist eine Bewegungsvorrichtung 15 mit einem Lastaufnahmemittel 6 befestigt. Das Lastaufnahmemittel 6 ist mittels der Bewegungsvorrichtung 15 relativ zu dem Hubgerüst 4 bewegbar. Die Bewegungsvorrichtung 15 ist gemeinsam mit dem Lastaufnahmemittel 6 an dem Hubgerüst 4 anhebbar und absenkbar.On the liftable and lowerable operator's platform 5, a movement device 15 is attached to a load-receiving means 6. The load-receiving means 6 is movable relative to the mast 4 by means of the movement device 15. The movement device 15 can be raised and lowered together with the load-receiving means 6 on the mast 4.

Die Bewegungsvorrichtung 15 umfasst eine Schubvorrichtung 16, beispielsweise eine Seitenschubvorrichtung, mit der das Lastaufnahmemittel 6 in Fahrzeugquerrichtung Q des Flurförderzeugs 1 horizontal verschoben werden kann. An die Schubvorrichtung 16 gekoppelt ist eine Schwenkvorrichtung 17, mit der das Lastaufnahmemittel 6 um eine vertikale Achse V verschwenkt werden kann. An die Schwenkvorrichtung 17 ist wiederum eine Zusatzhubvorrichtung 7 gekoppelt, mit der das Lastaufnahmemittel 6 relativ zu dem Fahrerstand 5 und relativ zu dem Hubgerüst 4 angehoben bzw. abgesenkt werden kann.The movement device 15 comprises a pushing device 16, for example a side pushing device, with which the load-receiving means 6 in the vehicle transverse direction Q of the industrial truck 1 can be moved horizontally. Coupled to the pusher 16 is a pivoting device 17, with which the load-receiving means 6 can be pivoted about a vertical axis V. An additional lifting device 7 is in turn coupled to the swiveling device 17, with which the load-receiving device 6 can be raised or lowered relative to the driver's seat 5 and relative to the mast 4.

Die Bewegungsvorrichtung 15 ist somit im dargestellten Ausführungsbeispiel als Schwenkschubgabel ausgebildet, mit der als Bewegung des Lastaufnahmemittels 6 eine horizontale Schubbewegung in Fahrzeugquerrichtung Q und eine Schwenkbewegung um die vertikale Achse V erzeugbar ist. Alternativ kann die Bewegungsvorrichtung 15 von einer in Fahrzeugquerrichtung Q verschiebbar angeordneten Teleskopgabel gebildet werden, mit der als Bewegung des Lastaufnahmemittels 6 nur eine horizontale Schubbewegung in Fahrzeugquerrichtung Q erzeugbar ist.The movement device 15 is thus formed in the illustrated embodiment as a pivoting thrust fork, with the movement of the load-receiving means. 6 a horizontal thrust movement in the vehicle transverse direction Q and a pivoting movement about the vertical axis V can be generated. Alternatively, the movement device 15 can be formed by a telescopic fork displaceably arranged in the vehicle transverse direction Q, with which only a horizontal pushing movement in the vehicle transverse direction Q can be generated as the movement of the load-receiving means 6.

In dem Fahrerstand 5 sind die für die Bedienung des Kommissionierflurförderzeugs 1 erforderlichen Steuer- und Bedienelemente angeordnet, beispielsweise in Form einer als Bedienpult B ausgebildeten Bedieneinrichtung. Das Bedienpult B ist zur Steuerung zur Steuerung des Fahrantriebs und der Lasthandhabungsfunktionen des Kommissionierflurförderzeugs 1 mit entsprechende Bedienelementen sowie einem Lenkbetätigungselement zur Steuerung einer Lenkung versehen.In the driver's station 5, the control and operating elements required for the operation of the picking truck 1 are arranged, for example in the form of an operating device designed as a control panel B. The control panel B is provided to control the traction drive and the load handling functions of the picking truck 1 with appropriate controls and a steering actuator for controlling a steering.

Im antriebsteilseitigen Ende des Fahrzeugrahmens 2 ist weiterhin ein nicht näher dargestelltes elektrisches Antriebssystem angeordnet, das einen elektrischen Fahrmotor und einen Lenkantrieb, beispielsweise einen elektrischen Lenkmotor, für das lenkbare Antriebsrad 9 sowie ein elektrisch betriebenes Hydraulikpumpenaggregat umfasst, das zur Versorgung der Arbeitshydraulik vorgesehen ist, die von dem Hubantrieb des Hubwerkes 4 sowie einem Hubantrieb des Zusatzhubvorrichtung 7 sowie hydraulischen Antrieben für die im dargestellten Ausführungsbeispiel vorgesehene Schwenkschubgabel als Lastaufnahmemittel 6 gebildet sind.In the drive part-side end of the vehicle frame 2, a non-illustrated electrical drive system is further arranged comprising an electric traction motor and a steering drive, such as an electric steering motor for the steerable drive wheel 9 and an electrically operated hydraulic pump unit, which is provided to supply the working hydraulics are formed by the lifting drive of the hoist 4 and a lifting drive of Zusatzhubvorrichtung 7 and hydraulic drives for the provided in the illustrated embodiment pivoting thrust fork as a load-bearing means 6.

Das Antriebsteil des Flurförderzeugs 1 befindet sich in Fahrzeugslängsrichtung vor dem Batteriefach. Das Antriebsteil ist von einer Haube 10 abgedeckt. Das Laststeil des Flurförderzeugs 1 befindet sich in Fahrzeuglängsrichtung hinter dem Batteriefach und umfasst das Lastaufnahmemittel 6.The drive part of the truck 1 is located in the vehicle longitudinal direction in front of the battery compartment. The drive part is covered by a hood 10. The load part of the truck 1 is located in the vehicle longitudinal direction behind the battery compartment and includes the load-receiving means. 6

Das Hubgerüst 4 des erfindungsgemäßen Flurförderzeugs 1 ist als mehrschüssiges Hubgerüst ausgebildet. Im dargestellten Ausführungsbeispiel und gemäß der Figur 2 ist das Hubgerüst 4 als sogenanntes Triplex-Hubgerüst ausgeführt mit einem an dem Fahrzeugrahmen 2 angeordneten Standmast 4a, einem in dem Standmast 4a nach oben ausfahrbaren ersten Ausfahrmast 4b und einem in ersten Ausfahrmast 4b nach oben ausfahrbaren zweiten Ausfahrmast 4c, in dem der Fahrerstand 5 nach oben ausfahrbar angeordnet ist. In der Figur 2 ist das Flurförderzeug 1 mit vollständig nach oben ausgezogenem Hubgerüst 4 und vollständig angehobenem Fahrerstand 5 dargestellt. Auf dem Lastaufnahmemittel 6 befindet sich eine Palette mit einer Last 20. In der Figur 2 ist die Bewegungsvorrichtung 15 derart angeordnet, dass sich die Last 20 mittig zur Fahrzeuglängsachse L befindet.The mast 4 of the truck 1 according to the invention is designed as mehrschüssiges mast. In the illustrated embodiment and according to the FIG. 2 is the mast 4 as a so-called triplex mast running with a arranged on the vehicle frame 2 stand mast 4a, in the stationary mast 4a upwardly extendable first Ausfahrmast 4b and in the first Ausfahrmast 4b upwardly extendable second Ausfahrmast 4c, in which the driver's cab 5 after is arranged extendable above. In the FIG. 2 is the truck 1 with completely after pulled-up mast 4 and fully raised driver's seat 5 shown. On the load-carrying means 6 is a pallet with a load 20. In the FIG. 2 the movement device 15 is arranged such that the load 20 is located centrally to the vehicle longitudinal axis L.

Zum Einstapeln der Last 20 in ein nicht näher dargestelltes Regal wird die Last 20 mittels der Bewegungsvorrichtung 15 in horizontaler Fahrzeugquerrichtung Q verschoben. In der Figur 3 ist die Bewegungsvorrichtung 15 in einer Position dargestellt, in der sich die Last 20 in einer in das Regal seitlich ausgeschobenen Position befindet.For stacking the load 20 in a not-shown shelf, the load 20 is moved by means of the moving device 15 in the horizontal vehicle transverse direction Q. In the FIG. 3 the movement device 15 is shown in a position in which the load 20 is in a laterally pushed-out position in the shelf.

Erfindungsgemäß ist das Flurförderzeug 1 mit einer aktiven Schwingungsdämpfung versehen, mit der bei der durch die Bewegungsvorrichtung 15 erzeugten Bewegung des Lastaufnahmemittels 6 mit der darauf befindlichen Last 20 in Fahrzeugquerrichtung Q bzw. um die vertikale Achse V die seitlichen Schwingungen des Hubgerüstes 4 in Fahrzeugquerrichtung Q gedämpft werden können.According to the invention, the truck 1 is provided with an active vibration damping, damped in the generated by the moving device 15 movement of the load receiving means 6 with the load thereon 20 in the vehicle transverse direction Q or about the vertical axis V, the lateral vibrations of the mast 4 in the vehicle transverse direction Q can be.

Hierzu ist - wie in der Figur 4 dargestellt ist - eine elektronische Regelungsvorrichtung 30 vorgesehen, die mit einer Sensoreinrichtung 31 in Wirkverbindung steht, mit der die seitlichen Schwingungen und/oder die seitlichen Beschleunigungen des Hubgerüstes 4 im Bereich des Lastaufnahmemittels 6 in Fahrzeugquerrichtung Q erfasst werden. Weiterhin steht elektronische Regelungsvorrichtung 30 mit einer das Lastgewicht der auf dem Lastaufnahmemittel 6 befindlichen Last 20 erfassenden weiteren Sensoreinrichtung 32 in Verbindung.This is - as in the FIG. 4 an electronic control device 30 is provided, which is in operative connection with a sensor device 31, with which the lateral vibrations and / or the lateral accelerations of the mast 4 in the region of the load-receiving means 6 in the vehicle transverse direction Q are detected. Furthermore, electronic control device 30 is connected to a load weight of the load 20 located on the load receiving means 20 further sensing device 32 in connection.

Die elektronische Regelungsvorrichtung 30 steuert ein Stellglied 35 der Bewegungsvorrichtung 15 an, mit der die Bewegung des Lastaufnahmemittels 6 erzeugbar ist. Mit dem Stellglied 35 ist die von der Bewegungsvorrichtung 15 erzeugte Bewegung des Lastaufnahmemittels 6 in Fahrzeugquerrichtung Q und/oder die Schwenkbewegung des Lastaufnahmemittels 6 um die vertikale Achse V erzeugbar.The electronic control device 30 controls an actuator 35 of the movement device 15, with which the movement of the load-receiving means 6 can be generated. With the actuator 35, the movement of the load-receiving means 6 generated in the vehicle transverse direction Q and / or the pivoting movement of the load-receiving means 6 about the vertical axis V can be generated by the movement device 15.

Im dargestellten Ausführungsbeispiel ist das Stellglied 35 als hydraulischer Antrieb 36 ausgebildet, der mittels eines elektrisch ansteuerbaren Steuerventils 37, bevorzugt eines in Zwischenstellungen drosselnden Proportionalventils, steuerbar ist. Das Steuerventil 37 steht hierzu mit einer Förderleitung 38 einer Pumpe 39 und einer zu einem Behälter 40 geführten Behälterleitung 41 in Verbindung und ist mittels Verbraucherleitungen 42a, 42b mit dem hydraulischen Antrieb 36 verbunden. Die Pumpe 39 ist Bestandteil des elektrisch betriebenen Hydraulikpumpenaggregats 45, das als weiteren Bestandteil eine die Pumpe 39 antreibenden Elektromotor 46 aufweist. Das Steuerventil 37 steht zur Ansteuerung mit der elektronische Regelungsvorrichtung 30 in Verbindung.In the illustrated embodiment, the actuator 35 is formed as a hydraulic drive 36 which is controllable by means of an electrically controllable control valve 37, preferably a throttling in intermediate positions proportional valve. For this purpose, the control valve 37 is connected to a delivery line 38 of a pump 39 and to one A container 40 guided container line 41 in conjunction and is connected by means of consumer lines 42 a, 42 b to the hydraulic drive 36. The pump 39 is part of the electrically operated hydraulic pump assembly 45, which has as an additional component a pump 39 driving electric motor 46. The control valve 37 is connected to the control with the electronic control device 30 in connection.

Weiterhin ist ein von der Bedienperson des Flurförderzeugs 1 betätigbares Bedienelement 33 vorgesehen, mit dem das Stellglied 35 und somit die Bewegungsvorrichtung 15 betätigbar ist. Das Bedienelement 33 steht mit der elektronischen Regelungsvorrichtung 30 in Verbindung.Furthermore, an operable by the operator of the truck 1 control element 33 is provided, with which the actuator 35 and thus the movement device 15 is actuated. The control element 33 is in communication with the electronic control device 30.

Die Sensoreinrichtung 31 ist im dargestellten Ausführungsbeispiel als Beschleunigungssensor 50 ausgebildet, der die Beschleunigungen des Hubgerüstes 4 in Fahrzeugquerrichtung Q erfasst und bevorzugt in dem Fahrerstand 5 angeordnet ist. Der Beschleunigungssensor 50 ist bevorzugt in dem Fahrerstand 5 mittig zur Fahrzeuglängsachse L angeordnet. Die weitere Sensoreinrichtung 32 kann von einem Sensor gebildet sein, der den Druck in einem Hubzylinder der Zusatzhubvorrichtung 7 erfasst.The sensor device 31 is formed in the illustrated embodiment as an acceleration sensor 50, which detects the accelerations of the mast 4 in the vehicle transverse direction Q and is preferably arranged in the driver's cab 5. The acceleration sensor 50 is preferably arranged in the driver's cab 5 in the middle of the vehicle's longitudinal axis L. The further sensor device 32 may be formed by a sensor which detects the pressure in a lifting cylinder of the additional lifting device 7.

Die elektronische Regelungsvorrichtung 30 ist derart ausgebildet, dass in Abhängigkeit von dem Signal des Beschleunigungssensors 50 und in Abhängigkeit von der mittels der Sensoreinrichtung 32 erfassten Masse der aufgenommenen Last 20 das die Bewegung des Lastaufnahmemittels 6 steuernde Stellglied 35 derart ansteuert wird, dass die von der Bewegungsvorrichtung 15 erzeugte Bewegung des Lastaufnahmemittels 6 derart geregelt wird, dass während der durch die Bewegungsvorrichtung 15 erzeugten Bewegung des Lastaufnahmemittels 6, d.h. der Bewegung des Lastaufnahmemittels 6 in Fahrzeugquerrichtung Q und/oder der Schwenkbewegung des Lastaufnahmemittels 6 um die vertikale Achse V, die seitlichen Schwingungen des Hubgerüstes 4 in Fahrzeugquerrichtung Q minimiert werden und am Ende der von der Bewegungsvorrichtung 15 erzeugten Bewegung des Lastaufnahmemittels 6 die seitlichen Schwingungen des Hubgerüstes 4 im Wesentlichen abgeklungen sind. Bevorzugt wird hierzu das Steuerventil 37 derart angesteuert, dass durch eine aktive Ausgleichsbewegung des Stellglieds 35 und somit des Lastaufnahmemittels 6 dem Schwingen des Hubgerüsts 4 in Fahrzeugquerrichtung entgegen gewirkt wird und somit das seitliche Schwingen des Hubgerüstes 4 kompensiert wird.The electronic control device 30 is designed in such a way that, depending on the signal of the acceleration sensor 50 and in dependence on the mass of the picked-up load 20 detected by the sensor device 32, the actuator 35 controlling the movement of the load-receiving means 6 is actuated in such a way that that of the movement device 15 generated movement of the load-receiving means 6 is controlled such that during the motion generated by the movement device 15 of the load receiving means 6, ie the movement of the load receiving means 6 in the vehicle transverse direction Q and / or the pivoting movement of the load receiving means 6 about the vertical axis V, the lateral vibrations of the Mast 4 are minimized in the vehicle transverse direction Q and at the end of the movement of the lifting device 15 generated by the movement of the load receiving means 6, the lateral vibrations of the mast 4 are substantially subsided. For this purpose, the control valve 37 is preferably controlled such that by an active compensating movement of the actuator 35 and thus of the load receiving means 6 the swing of the mast 4 in the vehicle transverse direction is counteracted and thus the lateral swinging of the mast 4 is compensated.

Beim Ein- und Ausstapeln einer Last 20 in einem Regal können mit der erfindungsgemäßen aktiven Schwingungsdämpfung des Hubgerüstes 4 Wartezeiten vermieden werden und unmittelbar zeitlich anschließend an die Bewegung des Lastaufnahmemittels 6 in Fahrzeugquerrichtung Q ein Heben- oder Senkenvorgang des Lastaufnahmemittels bzw. ein Fahrvorgang des Flurförderzeugs 1 vorgenommen werden.When stacking and stacking a load 20 in a shelf 4 waiting times can be avoided with the active vibration damping of the mast according to the invention and immediately subsequent to the movement of the lifting device 6 in the vehicle transverse direction Q a lifting or lowering process of the lifting device or a driving operation of the truck. 1 be made.

Eine als Schwenkschubgabel ausgebildete Bewegungsvorrichtung 15 dient neben der Funktion zum Ein- und Ausstapeln der Last 20 in dem Regal auch dazu, außerhalb des Arbeitsganges die aufgenommene Last 20 um die vertikale Achse V um 1800 Grad zu einer gegenüberliegenden Regalseite zu drehen. Hierbei findet synchron eine Bewegung des Lastaufnahmemittels 6 in Fahrzeugquerrichtung Q und eine Schwenkbewegung des Lastaufnahmemittels 6 um die vertikale Achse V statt. Bei diesem Vorgang können durch Beschleunigungsvorgänge seitliche Schwingungen in das Hubgerüst 4 eingeleitet werden. Mit der erfindungsgemäßen aktiven Schwingungsdämpfung können auch bei diesem Vorgang die seitlichen Schwingungen des Hubgerüstes 4 in Fahrzeugquerrichtung Q kompensiert werden.Designed as a turret head moving device 15 is used in addition to the function for stacking and the load 20 in the shelf also to the vertical axis V 180 0 degrees to rotate outside of the operation, the recorded load 20 to an opposite shelf section. In this case takes place synchronously a movement of the load-receiving means 6 in the vehicle transverse direction Q and a pivoting movement of the load-receiving means 6 about the vertical axis V. In this process, lateral vibrations can be introduced into the mast 4 by acceleration operations. With the active vibration damping according to the invention, the lateral vibrations of the mast 4 in the vehicle transverse direction Q can also be compensated in this process.

Claims (10)

  1. Industrial truck (1) having a lifting frame (4), a load receiving means (6) for receiving a load (20) and a movement device (15) for the load receiving means (6), wherein the movement device (15) can be raised and lowered together with the load receiving means (6) on the lifting frame (4), and the load receiving means (6) can be moved relative to the lifting frame (4) by means of the movement device (15), wherein a movement of the load receiving means (6), generated by the movement device (15) relative to the lifting frame (4) can be generated by means of an actuator element (35), wherein the movement device (15) has:
    - a thrust device (16) with which the load receiving means (6) can be movable in an essentially horizontal vehicle transverse direction (Q) of the industrial truck (1) as a movement, and/or
    - a pivoting device (17) with which the load receiving means (6) can be swivelled about an essentially vertical axis (V) as a movement,
    characterized in that an electronic control device (30) is provided which is operatively connected to a sensor device (31) with which the lateral oscillations and/or the lateral accelerations of the lifting frame (4) in the vehicle transverse direction (Q) are sensed, and the electronic control device (30) actuates the actuating element (35), generating the movement of the load receiving means (6), as function of lateral oscillations and/or lateral accelerations of the lifting frame (4) which are sensed by means of the sensor device (31), in such a way that active oscillation damping of the lateral oscillations of the lifting frame (4) is brought about during activation of the actuating element (35) and a corresponding movement of the load receiving means (6) during the process of putting the load (20) into storage or removing it from storage in a rack.
  2. Industrial truck according to Claim 1, characterized in that the electronic control device (30) actuates the actuating element (35) which generates the movement of the load receiving means (6), in such a way that during the movement, generated by the movement device (15), of the load receiving means (6) the lateral oscillations of the lifting frame (4) are minimized, and at the end of the movement, generated by the movement device (15), of the load receiving means (6) the lateral accelerations of the lifting frame (4) have essentially died away.
  3. Industrial truck according to Claim 1 or 2, characterized in that the electronic control device (30) is connected to a further sensor device (32) which senses the load weight of the load (20) which is located on the load receiving means (6), and the electronic control device (30) actuates the actuating element (35), which generates the movement of the load receiving means (6), as a function of the load weight, sensed by means of the further sensor device (32), of the received load (20).
  4. Industrial truck according to one of Claims 1 to 3, characterized in that the electronic control device (30) actuates the actuating element (35) in such a way that in the case of lateral oscillations of the lifting frame (4) which are detected by means of the sensor device (31), the oscillations of the lifting frame (4) are counteracted by an active compensation movement of the load receiving means (6).
  5. Industrial truck according to one of Claims 1 to 4, characterized in that the sensor device (31) is formed by a strain gauge which is arranged on the lifting frame (4).
  6. Industrial truck according to one Claims 1 to 4, characterized in that the sensor device (31) is formed by an acceleration sensor (50) which is arranged in the region of the raisable and lowerable load receiving means (6).
  7. Industrial truck according to one of Claims 1 to 6, characterized in that the industrial truck (1) has a driver's stand (5) which is raisable and lowerable on the lifting frame (4) and on which the movement device (15) and the load receiving means (6) are arranged, wherein the sensor device (31) is arranged on the driver's stand (5).
  8. Industrial truck according to one of Claims 1 to 7, characterized in that the actuating element (35) is embodied as a hydraulic drive (36) which can be activated by means of a control valve (37) which can be actuated electrically, wherein the electronic control device (30) actuates the control valve (37) as a function of the lateral oscillations and/or lateral accelerations of the lifting frame (4) which are sensed by means of the sensor device (31) and/or as a function of the load weight sensed by means of the further sensor device (32), of the received load (20) in such a way that the lateral oscillations of the lifting frame (4) are damped when the drive (36) is activated.
  9. Method for damping or avoiding lateral oscillations of a lifting frame (4) of an industrial truck (1) according to one of Claims 1 to 8 in the vehicle transverse direction (Q), wherein a load receiving means (6) for receiving a load (20) is arranged on the lifting frame (4) which is movable relative to the lifting frame (4) by means of a movement device (15), wherein the movement device (15) generates, as a movement the load receiving means (6), a thrust movement which is directed in the essentially horizontal vehicle transverse direction (Q) of the industrial truck (1) and/or a swivelling movement of the load receiving means (6) about an essentially vertical axis (V), characterized in that during processes of putting a load (20) into storage or removing it therefrom in a rack, the movement of the load receiving means (6) which is generated by the movement device (15) is controlled as a function of the lateral accelerations or lateral oscillations of the lifting frame (4) in the vehicle transverse direction (Q), in such a way that the lateral oscillations of the lifting frame (4) are minimized, and at the end of the movement of the load receiving means (6) which is generated by the movement device (15) the lateral oscillations of the lifting frame (4) have essentially died away.
  10. Method according to Claim 9, characterized in that the mass of a load (20) which is received with the load receiving means (6) is taken into account during the control of the movement, generated by the movement device (15), of the load receiving means (6).
EP14195752.2A 2013-12-04 2014-12-02 Industrial truck Active EP2881358B1 (en)

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US10071894B2 (en) 2015-08-03 2018-09-11 The Raymond Corporation Oscillation damping for a material handling vehicle
DE102016207523A1 (en) 2016-05-02 2017-11-02 Jungheinrich Aktiengesellschaft Industrial truck with a device for reducing transverse vibrations
DE102016207526A1 (en) 2016-05-02 2017-11-02 Jungheinrich Aktiengesellschaft Industrial truck with a device for reducing vibrations
DE102016208205A1 (en) * 2016-05-12 2017-11-16 Jungheinrich Aktiengesellschaft Industrial truck with a device for reducing vibrations
DE102016209893A1 (en) 2016-06-06 2017-12-07 Jungheinrich Aktiengesellschaft Industrial truck with a device for reducing vibrations
DE102016211390A1 (en) 2016-06-24 2017-12-28 Jungheinrich Aktiengesellschaft Industrial truck with means for suppressing or reducing vibrations
DE102016211603A1 (en) 2016-06-28 2017-12-28 Jungheinrich Aktiengesellschaft Support device with a device for reducing vibrations
CN106315465A (en) * 2016-10-27 2017-01-11 董兰田 Forklift truck with overturning goods forks and left and right bidirectional narrow passages

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DE10349123A1 (en) * 2003-10-22 2005-05-19 Still Wagner Gmbh & Co Kg Hoist, especially for a high rack forklift
DE102007024817B4 (en) * 2007-03-30 2021-10-07 Linde Material Handling Gmbh Industrial truck with a mast and an actuator to compensate for vibrations
DE102007015488A1 (en) * 2007-03-30 2008-10-02 Still Wagner Gmbh Vibration compensation on the mast of a truck
DE102010016062A1 (en) * 2010-03-22 2011-09-22 Technische Universität München Damping or avoiding vibrations in industrial trucks

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