EP2881358B1 - Chariot de manutention - Google Patents

Chariot de manutention 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
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP14195752.2A
Other languages
German (de)
English (en)
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EP2881358A1 (fr
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
Original Assignee
Kion Warehouse Systems GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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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/fr
Application granted granted Critical
Publication of EP2881358B1 publication Critical patent/EP2881358B1/fr
Active legal-status Critical Current
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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)

Claims (10)

  1. Chariot de manutention (1) avec un cadre de levage (4), un moyen de réception de charge (6) pour la réception d'une charge (20) et un dispositif de déplacement (15) pour le moyen de réception de charge (6), dans lequel le dispositif de déplacement (15) peut être élevé et abaissé en même temps que le moyen de réception de charge (6) sur le cadre de levage (4) et le moyen de réception de charge (6) est déplaçable au moyen du dispositif de déplacement (15) par rapport au cadre de levage (4), dans lequel un déplacement du moyen de réception de charge (6) produit par le dispositif de déplacement (15) par rapport au cadre de levage (4) peut être produit au moyen d'un actionneur (35), dans lequel le dispositif de déplacement (15) présente:
    - un dispositif de poussée (16), avec lequel comme déplacement le moyen de réception de charge (6) est déplaçable en direction essentiellement horizontale et transversale au véhicule (Q) du chariot de manutention (1), et/ou
    - un dispositif de pivotement (17), avec lequel comme déplacement le moyen de réception de charge (6) peut pivoter autour d'un axe essentiellement vertical (V),
    caractérisé en ce qu'il est prévu un dispositif de régulation électronique (30), qui est en liaison active avec un dispositif de capteur (31), avec lequel on détecte les oscillations latérales et/ou les accélérations latérales du cadre de levage (4) dans la direction transversale du véhicule (Q), et le dispositif de régulation électronique (30) commande l'actionneur (35) produisant le déplacement du moyen de réception de charge (6) en fonction des oscillations latérales et/ou des accélérations latérales du cadre de levage (4) détectées au moyen du dispositif de capteur (31), de telle manière que l'on obtienne un amortissement d'oscillations actif des oscillations latérales du cadre de levage (4) lors d'un actionnement de l'actionneur (35) et d'un déplacement correspondant du moyen de réception de charge (6) pendant une opération de dépôt ou de reprise de la charge (20) dans un rayonnage.
  2. Chariot de manutention selon la revendication 1, caractérisé en ce que le dispositif de régulation électronique (30) commande l'actionneur (35) produisant le déplacement du moyen de réception de charge (6), de telle manière que pendant le déplacement du moyen de réception de charge (6) produit par le dispositif de déplacement (15) les oscillations latérales du cadre de levage (4) soient minimisées et qu'à la fin du déplacement du moyen de réception de charge (6) produit par le dispositif de déplacement (15) les oscillations latérales du cadre de levage (4) soient essentiellement amorties.
  3. Chariot de manutention selon la revendication 1 ou 2, caractérisé en ce que le dispositif de régulation électronique (30) est en liaison avec un autre dispositif de capteur (32) détectant le poids de la charge (20) se trouvant sur le moyen de réception de charge (6) et le dispositif de régulation électronique (30) commande l'actionneur (35) produisant le déplacement du moyen de réception de charge (6) en fonction du poids de la charge embarquée (20) détecté au moyen de l'autre dispositif de capteur (32).
  4. Chariot de manutention selon l'une quelconque des revendications 1 à 3, caractérisé en ce que le dispositif de régulation électronique (30) commande l'actionneur (35), de telle manière que lors d'une oscillation latérale du cadre de levage (4) détectée au moyen du dispositif de capteur (31), on s'oppose à l'oscillation du cadre de levage (4) par un déplacement de compensation actif du moyen de réception de charge (6).
  5. Chariot de manutention selon l'une quelconque des revendications 1 à 4, caractérisé en ce que le dispositif de capteur (31) est formé par une jauge de contrainte disposée sur le cadre de levage (4).
  6. Chariot de manutention selon l'une quelconque des revendications 1 à 4, caractérisé en ce que le dispositif de capteur (31) est formé par un détecteur d'accélération (50) disposé dans la région du moyen de réception de charge pouvant être élevé et abaissé (6).
  7. Chariot de manutention selon l'une quelconque des revendications 1 à 6, caractérisé en ce que le chariot de manutention (1) présente un poste de conduite (5) pouvant être élevé et abaissé sur le cadre de levage (4), sur lequel le dispositif de déplacement (15) et le moyen de réception de charge (6) sont disposés, dans lequel le dispositif de capteur (31) est disposé au poste de conduite (5).
  8. Chariot de manutention selon l'une quelconque des revendications 1 à 7, caractérisé en ce que l'actionneur (35) est réalisé sous la forme d'un entraînement hydraulique (36), qui peut être actionné au moyen d'un distributeur à commande électrique (37), dans lequel le dispositif de régulation électronique (30) commande le distributeur (37) en fonction des oscillations latérales détectées au moyen du dispositif de capteur (31) et/ou des accélérations latérales du cadre de levage (4) et/ou en fonction du poids de la charge embarquée (20) détecté au moyen de l'autre dispositif de capteur (32), de telle manière que les oscillations latérales du cadre de levage (4) soient amorties lorsque l'entraînement (36) est actionné.
  9. Procédé pour amortir ou éviter des oscillations latérales d'un cadre de levage (4) d'un chariot de manutention (1) selon l'une quelconque des revendications 1 à 8 dans la direction transversale du véhicule (Q), dans lequel un moyen de réception de charge (6) destiné à recevoir une charge (20) est disposé sur le cadre de levage (4) et est déplaçable par rapport au cadre de levage (4) au moyen d'un dispositif de déplacement (15), dans lequel le dispositif de déplacement (15) produit comme déplacement le moyen de réception de charge (6) un déplacement de poussée orienté en direction essentiellement horizontale et transversale du véhicule (Q) du chariot de manutention (1) et/ou un mouvement de pivotement du moyen de réception de charge (6) autour d'un axe essentiellement vertical (V), caractérisé en ce que lors d'opérations de dépôt ou de reprise d'une charge (20) dans un rayonnage, on régule le déplacement du moyen de réception de charge (6) produit par le dispositif de déplacement (15) en fonction des accélérations latérales ou des oscillations latérales du cadre de levage (4) dans la direction transversale du véhicule (Q), de telle manière que les oscillations latérales du cadre de levage (4) soient minimisées et qu'à la fin du déplacement du moyen de réception de charge (6) produit par le dispositif de déplacement (15) les oscillations latérales du cadre de levage (4) soient essentiellement amorties.
  10. Procédé selon la revendication 9, caractérisé en ce que l'on tient compte de la masse d'une charge (20) embarquée sur le moyen de réception de charge (6) lors de la régulation du déplacement du moyen de réception de charge (6) produit par le dispositif de déplacement (15).
EP14195752.2A 2013-12-04 2014-12-02 Chariot de manutention Active EP2881358B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102013113428.9A DE102013113428A1 (de) 2013-12-04 2013-12-04 Flurförderzeug

Publications (2)

Publication Number Publication Date
EP2881358A1 EP2881358A1 (fr) 2015-06-10
EP2881358B1 true EP2881358B1 (fr) 2018-04-04

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EP3127858B1 (fr) * 2015-08-03 2018-08-01 The Raymond Corporation Amortissement d'oscillations pour un véhicule de manutention de matières
DE102016207523A1 (de) * 2016-05-02 2017-11-02 Jungheinrich Aktiengesellschaft Flurförderzeug mit einer Einrichtung zur Reduzierung von Querschwingungen
DE102016207526A1 (de) 2016-05-02 2017-11-02 Jungheinrich Aktiengesellschaft Flurförderzeug mit einer Einrichtung zur Reduzierung von Schwingungen
DE102016208205A1 (de) * 2016-05-12 2017-11-16 Jungheinrich Aktiengesellschaft Flurförderzeug mit einer Einrichtung zur Reduzierung von Schwingungen
DE102016209893A1 (de) 2016-06-06 2017-12-07 Jungheinrich Aktiengesellschaft Flurförderzeug mit einer Einrichtung zur Reduzierung von Schwingungen
DE102016211390A1 (de) 2016-06-24 2017-12-28 Jungheinrich Aktiengesellschaft Flurförderzeug mit Mitteln zur Unterdrückung bzw. Reduzierung von Schwingungen
DE102016211603A1 (de) 2016-06-28 2017-12-28 Jungheinrich Aktiengesellschaft Abstützvorrichtung mit Einrichtung zur Reduzierung von Schwingungen
CN106315465A (zh) * 2016-10-27 2017-01-11 董兰田 翻转货叉左右双向窄通道叉车

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DE10349123A1 (de) * 2003-10-22 2005-05-19 Still Wagner Gmbh & Co Kg Hubwerk, insbesondere für einen Hochregalstapler
DE102007015488A1 (de) * 2007-03-30 2008-10-02 Still Wagner Gmbh Schwingungskompensation am Hubgerüst eines Flurförderzeugs
DE102007024817B4 (de) * 2007-03-30 2021-10-07 Linde Material Handling Gmbh Flurförderzeug mit einem Hubgerüst und einem Stellglied zur Kompensation von Schwingungen
DE102010016062A1 (de) * 2010-03-22 2011-09-22 Technische Universität München Dämpfung oder Vermeidung von Schwingungen bei Flurförderzeugen

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