EP3034454A1 - Load measurement method for an industrial truck - Google Patents
Load measurement method for an industrial truck Download PDFInfo
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- EP3034454A1 EP3034454A1 EP15197943.2A EP15197943A EP3034454A1 EP 3034454 A1 EP3034454 A1 EP 3034454A1 EP 15197943 A EP15197943 A EP 15197943A EP 3034454 A1 EP3034454 A1 EP 3034454A1
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- lifting
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- tilting
- hydraulic
- speed
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- 238000000691 measurement method Methods 0.000 title 1
- 238000000034 method Methods 0.000 claims abstract description 23
- 239000012530 fluid Substances 0.000 claims abstract description 11
- 238000012937 correction Methods 0.000 claims abstract description 3
- 241001669679 Eleotris Species 0.000 claims description 3
- 230000001419 dependent effect Effects 0.000 claims description 3
- 230000010349 pulsation Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 6
- 238000005259 measurement Methods 0.000 description 5
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 230000000284 resting effect Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000009795 derivation Methods 0.000 description 1
- 230000001627 detrimental effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
Definitions
- the invention relates to a method for load measurement in an industrial truck.
- the invention relates to a method for measuring a load in a truck, wherein the load rests on a height-movable load bearing device, which is lifted by a hydraulic lifting device, in particular a lifting cylinder, with detection means for the pressure of a hydraulic fluid, with means for detecting a lifting height and Lifting speed and with a controller that determines a load weight from the detected pressure of the hydraulic lifting device.
- For lifting of goods transport trucks are often equipped with a mast on which a load-carrying device is guided vertically movable, in particular a fork.
- a load-carrying device is guided vertically movable, in particular a fork.
- trucks are about forklifts or reach trucks as opposed to example for low-lift fork car, where only a short stroke of fork arms is provided to lift a load from the ground and move.
- the fork is formed by two forks, which are mounted on a fork carriage and with which a pallet can be accommodated.
- the friction is not considered.
- the deviation due to a lack of consideration of the friction can take on significant values in a detection method via the pressure of a hydraulic device and, for example, correspond to up to 15% of the nominal load.
- a disadvantage of this prior art is that only an average value for the characteristic of the friction is taken into account and, in particular, in the case of very small, very slow movements or at the moment of starting a lifting movement, large inaccuracies and fluctuations result.
- the present invention has for its object to provide a method for load measurement in a truck available, which avoids the aforementioned disadvantages and with the possible in any operating situation, a fast and accurate detection of a load on a load bearing device load is possible.
- the object is achieved in that in a method for measuring a load in an industrial truck, wherein the load rests on a vertically movable load receiving device, which is lifted by a hydraulic lifting device, in particular a lifting cylinder, with detection means for the pressure of a hydraulic fluid, with Lift height and / or lift speed detection means and with a controller that determines a load weight from the detected pressure of the hydraulic lift, the lift speed control or a lift speed derived from the lift height, corrects the load weight by considering the friction based on a Stribeck function performs.
- this compensation of the frictional force improves the determination of the weight of the load.
- this case for example, when lifting the friction force is subtracted and added to it when lowering.
- Stribeck function a distinction is made between static friction at a relative movement speed of hydraulic piston to hydraulic cylinder of 0, a limit friction when the force is large enough to cause a movement, the However, it is very slow, so that the frictional force substantially still corresponds to the static friction.
- there are still contacts between the surfaces of the hydraulic piston and hydraulic cylinder and in this area the friction in a typical characteristic falls off very rapidly with increasing speed.
- fluid velocity increasing linearly at a significantly lower level occurs with the velocity.
- a frictional force to be compensated is calculated from the lifting speed determined directly or indirectly from the derivation of the lifting height. This significantly increases the measuring accuracy and, above all, a measured value for the load weight is continuously available in every operating state without any loss in the measuring accuracy. It is also not necessary, as in the prior art, that a certain load weight measurement procedure be performed, such as stopping or minimal short lifting with subsequent stopping. It is just such short pulses avoided that can be detrimental to the handling of fragile goods and can lead to wear due to peak loads and loss of comfort.
- the load-carrying device can be guided vertically movable on a mast.
- the friction can be considered weight-dependent, in particular depending on the load weight and / or a weight lifted parts of a lifting mast.
- the weight-dependent friction in a mast can be taken into account and an improvement in accuracy can be achieved.
- the controller detects a travel movement of the industrial truck and calculates pressure pulsations due to sleeper drives.
- the operating situation of the driving can be considered and by taking into account this work point situation, in particular pressure pulsations due to sleeper drives or a driving over bumps, the disturb the measured value and be calculated out by the control.
- the described method can basically also be used in pallet trucks with a very small stroke. It is particularly advantageous, however, to apply for provided for larger lifting height trucks with a lifting mast on which a load-carrying device is guided vertically movable, for example, a fork.
- the mast can be tilted by a tilting devices and is determined by detecting means for the inclination Hubmastne surgeon and by detecting means a tilting force in the tilting device.
- the accuracy of determining the weight of the overlying load can be improved.
- the tilting devices consist of at least one hydraulic tilting cylinder, wherein the detecting means for the tilting force detect the pressure in the hydraulic tilting cylinder and detecting means a travel and / or an actuating speed of the tilting cylinder is detected and the control of a correction of the tilting force by taking the friction based on a Stribeck function performs.
- the forces acting on the tilting forces or forces acting in the tilting cylinders can also be corrected in hydraulic tilting cylinders by the frictional forces. Even if it is conceivable to provide only one tilting cylinder, two tilting cylinders are generally used in industrial trucks with a lifting mast.
- the travel and / or the positioning speed can be determined from a rotational speed of a hydraulic pump and / or a valve opening.
- the lifting height and / or the lifting speed can be determined from a rotational speed of a hydraulic pump and / or a valve opening.
- hydraulic cylinders can be closed by integrating the volume flow of a hydraulic fluid to the travel or the extent to which extent a hydraulic piston is extended from the hydraulic cylinder. If the pressure is already known and the opening of a valve, from this a flow can be estimated or calculated. In particular, in the case of hydraulic pumps, which have as positive displacement pumps a delivery volume determined per revolution, such a volume flow can also be determined from the rotational speeds of the hydraulic pump. With the tilting cylinders, the stroke can also be determined from the travel at the same time.
- the controller takes into account the temperature of a hydraulic fluid.
- the figure shows schematically a control 1, the pressure 2 in a hydraulic cylinder, the lifting speed 3 of a load receiving device and a Hubmastne Trent 4 are supplied. From these values, the controller 1 determines the load weight 5 of a load resting on the load receiving device.
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
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- Combustion & Propulsion (AREA)
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Abstract
Bei einem Verfahren zur Messung einer Last bei einem Flurförderzeug, wobei die Last auf einer höhenbeweglichen Lastaufnahmevorrichtung aufliegt, die durch eine hydraulische Hubvorrichtung, insbesondere einen Hubzylinder, angehoben wird, mit Erfassungsmitteln für den Druck (2) eines Hydraulikfluids, mit Erfassungsmitteln für eine Hubhöhe und/oder Hubgeschwindigkeit (3) und mit einer Steuerung (1), die aus dem erfassten Druck (2) der hydraulischen Hubvorrichtung ein Lastgewicht (5) bestimmt, führt die Steuerung (1) aus der Hubgeschwindigkeit (3) bzw. einer aus der Hubhöhe abgeleiteten Hubgeschwindigkeit eine Korrektur des Lastgewichtes (5) durch Berücksichtigung der Reibung anhand einer Stribeck Funktion durch.In a method for measuring a load in an industrial truck, wherein the load rests on a height-movable load bearing device, which is lifted by a hydraulic lifting device, in particular a lifting cylinder, with detection means for the pressure (2) of a hydraulic fluid, with means for detecting a lifting height and / or lifting speed (3) and with a controller (1) which determines a load weight (5) from the detected pressure (2) of the hydraulic lifting device, the controller (1) executes the lifting speed (3) or one of the lifting height derived lifting speed by a correction of the load weight (5) by taking into account the friction using a Stribeck function.
Description
Die Erfindung betrifft ein Verfahren zur Lastmessung bei einem Flurförderzeug. Insbesondere betrifft die Erfindung ein Verfahren zur Messung einer Last bei einem Flurförderzeug, wobei die Last auf einer höhenbeweglichen Lastaufnahmevorrichtung aufliegt, die durch eine hydraulische Hubvorrichtung, insbesondere einen Hubzylinder, angehoben wird, mit Erfassungsmitteln für den Druck eines Hydraulikfluids, mit Erfassungsmitteln für eine Hubhöhe und/oder Hubgeschwindigkeit und mit einer Steuerung, die aus dem erfassten Druck der hydraulischen Hubvorrichtung ein Lastgewicht bestimmt.The invention relates to a method for load measurement in an industrial truck. In particular, the invention relates to a method for measuring a load in a truck, wherein the load rests on a height-movable load bearing device, which is lifted by a hydraulic lifting device, in particular a lifting cylinder, with detection means for the pressure of a hydraulic fluid, with means for detecting a lifting height and Lifting speed and with a controller that determines a load weight from the detected pressure of the hydraulic lifting device.
Zum Anheben von Transportgütern sind Flurförderzeuge oftmals mit einem Hubmast ausgestattet, an dem eine Lastaufnahmevorrichtung höhenbeweglich geführt ist, insbesondere eine Lastgabel. Beispiele solcher Flurförderzeuge sind etwa Gabelstapler oder Schubmaststapler im Gegensatz zum Beispiel zu Niederhubgabelwagen, bei denen nur ein kurzer Hub von Gabelarmen vorgesehen ist, um eine Last vom Boden abheben und bewegen zu können. Im Regelfall wird die Lastgabel durch zwei Gabelzinken gebildet, die an einem Gabelträger montiert sind und mit denen eine Palette aufgenommen werden kann.For lifting of goods transport trucks are often equipped with a mast on which a load-carrying device is guided vertically movable, in particular a fork. Examples of such trucks are about forklifts or reach trucks as opposed to example for low-lift fork car, where only a short stroke of fork arms is provided to lift a load from the ground and move. As a rule, the fork is formed by two forks, which are mounted on a fork carriage and with which a pallet can be accommodated.
Für Assistenzsysteme, wie auch für die Überwachung gegenüber einer zu großen Last oder unsicheren Betriebszuständen weisen Flurförderzeuge häufig Lastmesssysteme auf, mit denen das Gewicht einer auf der Lastaufnahmevorrichtung aufliegenden Last erfasst werden kann. Eine Information über das Gewicht einer aufliegenden Last ist insbesondere für den Fahrer eines Flurförderzeugs eine wichtige Kenngröße, beispielsweise beim Beladen von Lastkraftwagen, wenn das Einhalten einer Zuladungsgrenze überwacht werden muss. In einem solchen Fall erfolgt gleichzeitig mit dem Transport der Waren, mit beispielsweise einem Gabelstapler als Ausführungsbeispiel eines Flurförderzeugs, ein Wiegen der in den Lastkraftwagen verladenen Lasten. Aber auch allgemein beim Lasthandling ist eine Information über das Gewicht der aufliegenden Last vorteilhaft.For assistance systems, as well as for monitoring against excessive load or unsafe operating conditions, industrial trucks often have load measuring systems with which the weight of a load resting on the load-receiving device can be detected. An information about the weight of an overlying load is an important parameter, in particular for the driver of a truck, for example when loading trucks, if the observance of a payload limit must be monitored. In such a case, carried out simultaneously with the transport of the goods, for example, a forklift truck as an embodiment of a truck, weighing the loaded in the truck loads. But also generally in load handling information about the weight of the load is advantageous.
Es ist üblich und wird von Fahrern von Flurförderzeugen erwartet, diese Gewichte der Lasten ungefähr einschätzen zu können. Dies ist jedoch besonders schwierig, wenn beispielsweise in einem Regal auf großer Höhe die Last eingelagert ist, diese eine schwierige geometrische Form aufweist, oder der genaue Inhalt der transportierten Last nicht bekannt ist. Durch entsprechende Assistenzsysteme, die das Lastgewicht anzeigen, können dadurch Fehleinschätzungen der Gewichte der aufgenommenen Last vermieden werden und es kann die Fähigkeit zum Einschätzen der richtigen Lastgewichte verbessert werden. Dadurch werden Unfallgefahren oder Transportschäden minimiert.It is common and is expected by drivers of industrial trucks to be able to estimate these weights of loads approximately. However, this is particularly difficult if, for example, the load is stored on a shelf at a high altitude, this has a difficult geometric shape, or the exact content of the transported load is not known. Corresponding assistance systems indicating the load weight may avoid misjudgments in the weights of the load being picked up and may improve the ability to estimate the correct load weights. This minimizes the risk of accidents or transport damage.
Neben direkten Sensoren an der Lastaufnahmevorrichtung, wie Dehnmessstreifen oder die Gewichtskraft direkt aufnehmende Sensoren, sind für die Erfassung des Gewichtes einer Last vor allem Systeme bekannt, die den Druck in einem Hubzylinder einer hydraulischen Hubvorrichtung erfassen und aus diesem Druck indirekt das Lastgewicht berechnen.In addition to direct sensors on the load receiving device, such as strain gauges or the weight directly absorbing sensors, systems are known for detecting the weight of a load, which detect the pressure in a lifting cylinder of a hydraulic lifting device and indirectly calculate the load weight from this pressure.
Nachteilig hieran ist, dass die Reibung nicht betrachtet wird. Die Abweichung durch eine fehlende Berücksichtigung der Reibung kann bei einem Erfassungsverfahren über den Druck einer hydraulischen Vorrichtung jedoch erhebliche Werte einnehmen und beispielsweise umgerechnet bis zu 15 % der Nennlast entsprechen.The disadvantage of this is that the friction is not considered. However, the deviation due to a lack of consideration of the friction can take on significant values in a detection method via the pressure of a hydraulic device and, for example, correspond to up to 15% of the nominal load.
Um die Genauigkeit einer solchen Bestimmung des Lastgewichtes aus dem Druck in einer hydraulischen Hubvorrichtung zu verbessern, ist es bekannt, bei einem Lastmesssystem im Moment des Stoppens einer Senkbewegung den Druckverlauf in einem Hubzylinder zu bestimmen und aus der Verlaufskurve das Lastgewicht zu berechnen.In order to improve the accuracy of such a determination of the load weight from the pressure in a hydraulic lifting device, it is known in a load measuring system at the moment of stopping a lowering movement to determine the pressure curve in a lifting cylinder and to calculate from the curve of the load weight.
Nachteilig hieran ist, dass ein gültiger Messwert nicht kontinuierlich zur Verfügung steht, sondern nur diskontinuierlich nach dem durchführen des vorgegebenen Hub/Senk-Stopp Verfahrens.The disadvantage of this is that a valid measured value is not continuously available, but only discontinuously after performing the predetermined stroke / lowering stop method.
Es ist weiterhin auch bekannt, bei Flurförderzeugen mit einer hydraulischen Hubvorrichtung für die Lastaufnahmevorrichtung die Last kontinuierlich durch den Druck des Hydraulikfluids zu erfassen, wobei als Einflussgrößen die Beschaffenheit der Hydraulikflüssigkeit, deren Temperatur und Volumenstrom berücksichtigt wird. Eine solche Messung des Gewichts einer aufgenommenen Last wird beispielsweise in der
Nachteilig an diesem Stand der Technik ist jedoch, dass nur ein Mittelwert für die Kenngröße der Reibung berücksichtigt wird und insbesondere bei sehr kleinen, sehr langsamen Bewegungen oder im Moment des Anfahrens einer Hubbewegung sich daher große Ungenauigkeiten und Schwankungen ergeben.A disadvantage of this prior art, however, is that only an average value for the characteristic of the friction is taken into account and, in particular, in the case of very small, very slow movements or at the moment of starting a lifting movement, large inaccuracies and fluctuations result.
Der vorliegenden Erfindung liegt die Aufgabe zugrunde, ein Verfahren zur Lastmessung bei einem Flurförderzeug zur Verfügung zu stellen, das die zuvor genannten Nachteile vermeidet und mit dem möglichst in jeder Betriebssituation eine schnelle und genaue Erfassung einer auf einer Lastaufnahmevorrichtung aufliegenden Last möglich wird.The present invention has for its object to provide a method for load measurement in a truck available, which avoids the aforementioned disadvantages and with the possible in any operating situation, a fast and accurate detection of a load on a load bearing device load is possible.
Diese Aufgabe wird durch ein Verfahren mit den Merkmalen des unabhängigen Patentanspruchs 1 gelöst. Vorteilhafte Weiterbildungen der Erfindung sind in den Unteransprüchen angegeben.This object is achieved by a method having the features of
Die Aufgabe wird erfindungsgemäß dadurch gelöst, dass bei einem Verfahren zur Messung einer Last bei einem Flurförderzeug, wobei die Last auf einer höhenbeweglichen Lastaufnahmevorrichtung aufliegt, die durch eine hydraulische Hubvorrichtung, insbesondere einen Hubzylinder, angehoben wird, mit Erfassungsmitteln für den Druck eines Hydraulikfluids, mit Erfassungsmitteln für eine Hubhöhe und/oder Hubgeschwindigkeit und mit einer Steuerung, die aus dem erfassten Druck der hydraulischen Hubvorrichtung ein Lastgewicht bestimmt, die Steuerung aus der Hubgeschwindigkeit bzw. einer aus der Hubhöhe abgeleiteten Hubgeschwindigkeit eine Korrektur des Lastgewichtes durch Berücksichtigung der Reibung anhand einer Stribeck Funktion durchführt.The object is achieved in that in a method for measuring a load in an industrial truck, wherein the load rests on a vertically movable load receiving device, which is lifted by a hydraulic lifting device, in particular a lifting cylinder, with detection means for the pressure of a hydraulic fluid, with Lift height and / or lift speed detection means and with a controller that determines a load weight from the detected pressure of the hydraulic lift, the lift speed control or a lift speed derived from the lift height, corrects the load weight by considering the friction based on a Stribeck function performs.
Vorteilhaft wird durch diese Kompensation der Reibungskraft die Bestimmung des Gewichts der Last verbessert. Dabei wird beispielsweise bei einem Anheben die Reibungskraft abgezogen und bei einem Absenken dazu addiert. Bei der Stribeck Funktion wird unterschieden zwischen Haftreibung bei einer relativen Bewegungsgeschwindigkeit von Hydraulikkolben zu Hydraulikzylinder von 0, einer Grenzreibung, wenn die Kraft groß genug ist, um eine Bewegung herbeizuführen, die jedoch sehr langsam ist, so dass die Reibungskraft im Wesentlichen noch der Haftreibung entspricht. In einem nachfolgenden Bereich einer Mischreibung kommt es noch zu Kontakten zwischen den Oberflächen des Hydraulikkolbens und Hydraulikzylinders und in diesen Bereich fällt die Reibung in einer typischen Kennlinie sehr rasch mit zunehmender Geschwindigkeit ab. Schließlich tritt eine mit der Geschwindigkeit linear auf deutlich niedrigerem Niveau zunehmende Flüssigkeitsreibung auf. Vorteilhaft wird bei dem Verfahren entsprechend einer Stribeck Funktion aus der direkt oder indirekt aus der Ableitung der Hubhöhe bestimmten Hubgeschwindigkeit eine zu kompensierende Reibungskraft berechnet. Dies erhöht die Messgenauigkeit deutlich und vor allem steht ein Messwert für das aufliegende Lastgewicht kontinuierlich in jedem Betriebszustand zur Verfügung, ohne dass es zu Einbußen in der Messgenauigkeit kommt. Es ist auch nicht erforderlich, wie etwa nach dem Stand der Technik, dass ein bestimmter Ablauf zur Messung des Lastgewichtes durchgeführt werden muss, beispielsweise ein Abstoppen oder minimales kurzes Anheben mit nachfolgendem Abstoppen. Es werden gerade solche kurzen Impulse vermieden, die beim Handling von zerbrechlicher Ware nachteilig sein können und zu Verschleiß durch Belastungsspitzen sowie Komforteinbußen führen können.Advantageously, this compensation of the frictional force improves the determination of the weight of the load. In this case, for example, when lifting the friction force is subtracted and added to it when lowering. In the Stribeck function, a distinction is made between static friction at a relative movement speed of hydraulic piston to hydraulic cylinder of 0, a limit friction when the force is large enough to cause a movement, the However, it is very slow, so that the frictional force substantially still corresponds to the static friction. In a subsequent region of a mixed friction, there are still contacts between the surfaces of the hydraulic piston and hydraulic cylinder and in this area, the friction in a typical characteristic falls off very rapidly with increasing speed. Finally, fluid velocity increasing linearly at a significantly lower level occurs with the velocity. Advantageously, in the method according to a Stribeck function, a frictional force to be compensated is calculated from the lifting speed determined directly or indirectly from the derivation of the lifting height. This significantly increases the measuring accuracy and, above all, a measured value for the load weight is continuously available in every operating state without any loss in the measuring accuracy. It is also not necessary, as in the prior art, that a certain load weight measurement procedure be performed, such as stopping or minimal short lifting with subsequent stopping. It is just such short pulses avoided that can be detrimental to the handling of fragile goods and can lead to wear due to peak loads and loss of comfort.
Die Lastaufnahmevorrichtung kann an einem Hubmast höhenbeweglich geführt sein.The load-carrying device can be guided vertically movable on a mast.
In einer weiteren Ausgestaltung des Verfahrens kann die Reibung gewichtskraftabhängig berücksichtigt werden, insbesondere abhängig von dem Lastgewicht und/oder einem Gewicht angehobener Teile eines Hubmastes.In a further embodiment of the method, the friction can be considered weight-dependent, in particular depending on the load weight and / or a weight lifted parts of a lifting mast.
Dadurch kann die gewichtskraftabhängige Reibung in einem Hubmast berücksichtigt und es kann eine Verbesserung der Genauigkeit erreicht werden.As a result, the weight-dependent friction in a mast can be taken into account and an improvement in accuracy can be achieved.
In einer vorteilhaften Ausgestaltung des Verfahrens erfasst die Steuerung eine Fahrbewegung des Flurförderzeugs und rechnet Druckpulsationen aufgrund von Schwellenfahrten heraus.In an advantageous embodiment of the method, the controller detects a travel movement of the industrial truck and calculates pressure pulsations due to sleeper drives.
Dabei kann die Betriebssituation des Fahrens betrachtet werden und durch die Berücksichtigung dieser Arbeitspunktsituation können insbesondere Druckpulsationen aufgrund von Schwellenfahrten bzw. einem Überfahren von Bodenunebenheiten, die den Messwert stören, von der Steuerung herausgerechnet werden.In this case, the operating situation of the driving can be considered and by taking into account this work point situation, in particular pressure pulsations due to sleeper drives or a driving over bumps, the disturb the measured value and be calculated out by the control.
Das beschriebene Verfahren kann grundsätzlich auch bei Gabelhubwagen mit einem sehr geringen Hub eingesetzt werden. Besonders vorteilhaft ist es jedoch anzuwenden bei für größere Hubhöhe vorgesehenen Flurförderzeugen mit einem Hubmast, an dem eine Lastaufnahmevorrichtung höhenbeweglich geführt ist, beispielsweise eine Lastgabel.The described method can basically also be used in pallet trucks with a very small stroke. It is particularly advantageous, however, to apply for provided for larger lifting height trucks with a lifting mast on which a load-carrying device is guided vertically movable, for example, a fork.
In einer weiteren Ausgestaltung des Verfahrens kann der Hubmast durch eine Neigestellvorrichtungen geneigt werden und wird durch Erfassungsmittel für die Neigung eine Hubmastneigung bestimmt sowie durch Erfassungsmittel eine Neigekraft in der Neigestellvorrichtung.In a further embodiment of the method of the mast can be tilted by a tilting devices and is determined by detecting means for the inclination Hubmastneigung and by detecting means a tilting force in the tilting device.
Durch die Bestimmung eines Neigewinkels des Hubmastes und der in einer Neigestellvorrichtungen wirkenden Kräfte kann die Genauigkeit der Bestimmung des Gewichts der aufliegenden Last verbessert werden.By determining a tilt angle of the mast and the forces acting in a tilting device, the accuracy of determining the weight of the overlying load can be improved.
Vorteilhaft besteht die Neigestellvorrichtungen aus mindestens einem hydraulischen Neigezylinder, wobei die Erfassungsmittel für die Neigekraft den Druck in dem hydraulischen Neigezylinder erfassen sowie durch Erfassungsmittel ein Stellweg und/oder eine Stellgeschwindigkeit des Neigezylinders erfasst wird sowie die Steuerung eine Korrektur der Neigekraft durch Berücksichtigung der Reibung anhand einer Stribeck Funktion durchführt.Advantageously, the tilting devices consist of at least one hydraulic tilting cylinder, wherein the detecting means for the tilting force detect the pressure in the hydraulic tilting cylinder and detecting means a travel and / or an actuating speed of the tilting cylinder is detected and the control of a correction of the tilting force by taking the friction based on a Stribeck function performs.
Ebenso wie bei hydraulischen Hubzylindern kann auch bei hydraulischen Neigezylindern der durch die Reibungskräfte sich ergebende Fehler in Bezug auf die Neigekraft bzw. in den Neigezylindern wirkende Kräfte korrigiert werden. Auch wenn es denkbar ist, nur ein Neigezylinder vorzusehen, so werden im Regelfall bei Flurförderzeugen mit einem Hubmast zwei Neigezylinder verwendet.As with hydraulic lifting cylinders, the forces acting on the tilting forces or forces acting in the tilting cylinders can also be corrected in hydraulic tilting cylinders by the frictional forces. Even if it is conceivable to provide only one tilting cylinder, two tilting cylinders are generally used in industrial trucks with a lifting mast.
Der Stellweg und/oder die Stellgeschwindigkeit können aus einer Drehzahl einer Hydraulikpumpe und/oder einer Ventilöffnung ermittelt werden.The travel and / or the positioning speed can be determined from a rotational speed of a hydraulic pump and / or a valve opening.
Die Hubhöhe und/oder die Hubgeschwindigkeit können aus einer Drehzahl einer Hydraulikpumpe und/oder einer Ventilöffnung ermittelt werden.The lifting height and / or the lifting speed can be determined from a rotational speed of a hydraulic pump and / or a valve opening.
Bei Hydraulikzylindern kann auf den Stellweg bzw. das Maß, inwieweit ein Hydraulikkolben aus dem Hydraulikzylinder ausgefahren ist, durch Aufintegrieren des Volumenstroms eines Hydraulikfluids geschlossen werden. Wenn der Druck bereits bekannt ist und die Öffnung eines Ventils, kann hieraus ein Volumenstrom abgeschätzt bzw. berechnet werden. Insbesondere bei Hydraulikpumpen, die als Verdrängerpumpen ein pro Umdrehung festgelegtes Fördervolumen haben, lässt sich ein solcher Volumenstrom auch aus den Drehzahlen der Hydraulikpumpe bestimmen. Bei den Neigezylindern kann aus den Stellweg auch zugleich die Hubmastneigung bestimmt werden.In hydraulic cylinders can be closed by integrating the volume flow of a hydraulic fluid to the travel or the extent to which extent a hydraulic piston is extended from the hydraulic cylinder. If the pressure is already known and the opening of a valve, from this a flow can be estimated or calculated. In particular, in the case of hydraulic pumps, which have as positive displacement pumps a delivery volume determined per revolution, such a volume flow can also be determined from the rotational speeds of the hydraulic pump. With the tilting cylinders, the stroke can also be determined from the travel at the same time.
In einer vorteilhaften Weiterbildung des Verfahrens berücksichtigt die Steuerung die Temperatur eines Hydraulikfluids.In an advantageous development of the method, the controller takes into account the temperature of a hydraulic fluid.
Dadurch kann insbesondere eine Verbesserung der Messgenauigkeit bei der Inbetriebnahme eines kalten Fahrzeuges erreicht werden, bis sich die üblichen Betriebstemperaturen für die Hydraulikfluide einstellen.As a result, in particular an improvement in the measurement accuracy during commissioning of a cold vehicle can be achieved until the usual operating temperatures for the hydraulic fluids are established.
Weitere Vorteile und Einzelheiten der Erfindung werden anhand des in der schematischen Figur dargestellten Ausführungsbeispiels näher erläutert. Hierbei zeigt die Figur schematisch eine Steuerung 1, der der Druck 2 in einem Hydraulikzylinder, die Hubgeschwindigkeit 3 einer Lastaufnahmevorrichtung und eine Hubmastneigung 4 zugeführt werden. Aus diesen Werten bestimmt die Steuerung 1 das Lastgewicht 5 einer auf der Lastaufnahmevorrichtung aufliegenden Last.Further advantages and details of the invention will be explained in more detail with reference to the embodiment shown in the schematic figure. Here, the figure shows schematically a
Claims (9)
dadurch gekennzeichnet,
dass die Steuerung (1) aus der Hubgeschwindigkeit (3) bzw. einer aus der Hubhöhe abgeleiteten Hubgeschwindigkeit eine Korrektur des Lastgewichtes (5) durch Berücksichtigung der Reibung anhand einer Stribeck Funktion durchführt.Method for measuring a load in an industrial truck, wherein the load rests on a height-adjustable load bearing device which is lifted by a hydraulic lifting device, in particular a lifting cylinder, with pressure fluid (2) detecting means, lifting height detecting means and / or Lifting speed (3) and with a controller (1), which determines from the detected pressure (2) of the hydraulic lifting device a load weight (5),
characterized,
that the controller (1) from the lifting speed (3) or a variable derived from the stroke length of lifting speed performs a correction of the load weight (5) by taking into account the friction on the basis of a Stribeck function.
dadurch gekennzeichnet,
dass die Lastaufnahmevorrichtung an einem Hubmast höhenbeweglich geführt ist.Method according to claim 1,
characterized,
that the load-carrying device is guided in a height-adjustable manner on a lifting mast.
dadurch gekennzeichnet,
dass der Hubmast durch eine Neigestellvorrichtungen geneigt werden kann und durch Erfassungsmittel für die Neigung eine Hubmastneigung (4) bestimmt wird sowie durch Erfassungsmittel eine Neigekraft in der Neigestellvorrichtung.Method according to claim 2,
characterized,
in that the lifting mast can be tilted by a tilting device and a lifting mast slope (4) is determined by means for detecting the inclination, and a tilting force in the tilting device by detecting means.
dadurch gekennzeichnet,
dass besteht die Neigestellvorrichtungen aus mindestens einem hydraulischen Neigezylinder, wobei die Erfassungsmittel für die Neigekraft den Druck in dem hydraulischen Neigezylinder erfassen sowie durch Erfassungsmittel ein Stellweg und/oder eine Stellgeschwindigkeit des Neigezylinders erfasst wird sowie die Steuerung (1) eine Korrektur der Neigekraft durch Berücksichtigung der Reibung anhand einer Stribeck Funktion durchführt.Method according to claim 3,
characterized,
That is, the tilting devices consist of at least one hydraulic tilting cylinder, wherein the tilting force detecting means detects the pressure in the hydraulic tilting cylinder, detecting a travel and / or an adjusting speed of the tilting cylinder by detecting means, and the controller (1) corrects the tilting force by considering the tilting force Friction using a Stribeck function performs.
dadurch gekennzeichnet,
dass der Stellweg und/oder die Stellgeschwindigkeit aus einer Drehzahl einer Hydraulikpumpe und/oder einer Ventilöffnung ermittelt werden.Method according to claim 4,
characterized,
that the adjustment path and / or the actuating speed are determined from a speed of a hydraulic pump and / or valve opening.
dadurch gekennzeichnet,
dass die Hubhöhe und/oder die Hubgeschwindigkeit (3) aus einer Drehzahl einer Hydraulikpumpe und/oder einer Ventilöffnung ermittelt werden.Method according to one of claims 1 to 5,
characterized,
that the lifting height and / or the stroke speed (3) from a rotational speed of a hydraulic pump and / or a valve opening can be determined.
dadurch gekennzeichnet,
dass die Steuerung (1) die Temperatur eines Hydraulikfluids berücksichtigt.Method according to one of claims 1 to 6,
characterized,
that the controller (1) takes into account the temperature of a hydraulic fluid.
dadurch gekennzeichnet,
dass die Reibung gewichtskraftabhängig berücksichtigt wird, insbesondere abhängig von dem Lastgewicht und/oder einem Gewicht angehobener Teile eines Hubmastes.Method according to one of claims 1 to 7,
characterized,
that the friction is dependent on the weight force into account, in particular depending on the load weight and / or a weight of the raised parts of a mast.
dadurch gekennzeichnet,
dass die Steuerung eine Fahrbewegung des Flurförderzeugs erfasst und Druckpulsationen aufgrund von Schwellenfahrten herausrechnet.Method according to one of claims 1 to 8,
characterized,
that the controller detects a movement of the truck and calculates pressure pulsations due to sleeper drives.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102014118708 | 2014-12-16 | ||
| DE102015100355.4A DE102015100355A1 (en) | 2014-12-16 | 2015-01-12 | Method for load measurement in an industrial truck |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP3034454A1 true EP3034454A1 (en) | 2016-06-22 |
| EP3034454B1 EP3034454B1 (en) | 2017-03-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP15197943.2A Active EP3034454B1 (en) | 2014-12-16 | 2015-12-04 | Load measurement method for an industrial truck |
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| Country | Link |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1136433A2 (en) * | 2000-03-22 | 2001-09-26 | Kabushiki Kaisha Toyoda Jidoshokki Seisakusho | Industrial vehicle with a device for measuring load weight moment and a method therefor |
| WO2004069568A1 (en) * | 2003-02-05 | 2004-08-19 | Bosch Rexroth Ag | System for safeguarding the driving stability of an industrial truck |
| EP1953114A2 (en) | 2007-02-01 | 2008-08-06 | STILL WAGNER GmbH | Industrial truck with a hydraulically liftable load pick-up |
-
2015
- 2015-12-04 EP EP15197943.2A patent/EP3034454B1/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1136433A2 (en) * | 2000-03-22 | 2001-09-26 | Kabushiki Kaisha Toyoda Jidoshokki Seisakusho | Industrial vehicle with a device for measuring load weight moment and a method therefor |
| WO2004069568A1 (en) * | 2003-02-05 | 2004-08-19 | Bosch Rexroth Ag | System for safeguarding the driving stability of an industrial truck |
| EP1953114A2 (en) | 2007-02-01 | 2008-08-06 | STILL WAGNER GmbH | Industrial truck with a hydraulically liftable load pick-up |
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| Publication number | Publication date |
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| EP3034454B1 (en) | 2017-03-01 |
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