EP3034456A1 - Method for determining the center of gravity in an industrial truck - Google Patents
Method for determining the center of gravity in an industrial truck Download PDFInfo
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- EP3034456A1 EP3034456A1 EP15197942.4A EP15197942A EP3034456A1 EP 3034456 A1 EP3034456 A1 EP 3034456A1 EP 15197942 A EP15197942 A EP 15197942A EP 3034456 A1 EP3034456 A1 EP 3034456A1
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000005484 gravity Effects 0.000 title description 5
- 239000012530 fluid Substances 0.000 claims abstract description 9
- 238000001514 detection method Methods 0.000 claims description 8
- 238000005259 measurement Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
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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
Definitions
- the invention relates to a method for determining the load center in an industrial truck.
- the invention relates to a method for measuring a load distance in an industrial truck, wherein the load rests on a lifting device guided on a tiltable lifting mast load receiving device, in particular a fork, with means for detecting a lifting height, detecting means for a load weight and with detecting means for the pressure of a hydraulic fluid in at least one tilt cylinder of the mast and a controller that determines a tilting force from the detected pressure and from the tilting force, the load weight and the lifting height a load distance.
- For lifting of goods transport trucks are known with a mast on which 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 position of the center of gravity of an overlying load is also important.
- the center of gravity must be sufficiently far on the fork to ensure a secure position of the load on the fork. Failure to do so may result in accidents or shipping damage.
- the drivers for example a forklift, estimate the load distance.
- the load distance may be defined differently and, for example, correspond to the distance of the center of gravity of the load from the vertical portion of forks of a fork, or to the distance to a vertical line a lower support bearing of the mast.
- the load distance is always a measure of the lever arm, which exerts an overlying load due to their arrangement on the fork or the position of its center of gravity.
- a disadvantage is that in loads that are not visible to the driver, such as in a shelf, especially on high shelves, or in loads that are designed as complex geometric structures or in closed transport boxes are such Assessment is difficult or impossible.
- Lifting masts of forklifts and also of reach trucks are very often equipped with a tilting device, which makes it possible to incline the entire lifting mast with the load handling device or a load fork. This can be achieved in particular for safe transport during the routes a backward tilt of the fork.
- the mast is rotatably mounted on a lower support bearing and is adjusted by a tilting device in its inclination, usually by two hydraulic tilting cylinder.
- the actual load distance can then be determined when the forces in the tilting device are detected, for example, by the pressure prevailing in the hydraulic tilting cylinder. Depending on the effective lever arm, or the load distance results in different sized forces at the same load weight.
- the present invention has for its object to provide a method for determining the load center in an industrial truck, the avoids the aforementioned disadvantages, and with the continuous and in any operating situation as accurate as possible determination of the load center of a load in a truck with a lift mast movably guided on a lifting mast is possible.
- the object is achieved in that in a method for measuring a load distance in an industrial truck, wherein the load rests on a vertically movable on a tiltable mast guided load bearing device, in particular a fork, with detection means for a lifting height, detection means for a load weight and with detection means for the pressure of a hydraulic fluid in at least one tilting cylinder of the lifting mast and with a controller that determines a tilting force from the detected pressure and from the tilting force, the load weight and the lifting height, the control by detecting means a travel and / or an actuating speed of the tilting cylinder receives and corrects the tilting force by taking into account the friction using a Stribeck function.
- the determination of the tilting force is improved, in which even small errors have a relatively strong effect on the calculated value of a load distance.
- 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, which is very slow, so that the friction force substantially still corresponds to the static friction .
- a subsequent area of 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 curve drops very rapidly with increasing speed.
- fluid velocity increasing linearly at a significantly lower level occurs with the velocity.
- the tilting speed can be formed by the derivative of the travel. Even if it is conceivable to provide only one tilting cylinder, two tilting cylinders are normally used in a lifting mast.
- the detection means can each be direct sensors, but also indirect methods of detection, for example within a vehicle control on the basis of several other sensor values.
- many industrial trucks already have sensors for the pressure in the hydraulic system as well as load-weight and lifting-height sensors.
- the travel and / or the positioning speed are 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.
- the load-receiving device can be lifted by a hydraulic lifting device, in particular a lifting cylinder, wherein a lifting pressure in the lifting cylinder of the controller is supplied by detecting means and the controller determines a load weight from the lifting pressure.
- the controller determines a lifting speed from the lifting height or receives a lifting speed by detecting means and performs a correction of the load weight by taking into account the friction using a Stribeck function by means of the lifting speed.
- the hydraulic friction cylinders can also correct the errors due to frictional forces with respect to the load weight measurement.
- An indirect measurement of the load weight on the pressure of a hydraulic lifting device is preferably used, since this is very robust and a pressure sensor often already exists.
- the controller may consider the temperature of a hydraulic fluid.
- the load distance can be displayed in a display device of the truck.
- the figure shows schematically a controller 1, which are supplied to the lifting 2 in a lifting cylinder, the lifting speed 3 of a load receiving device and a Hubmastne Trent 4. Furthermore, the controller 1 receives a tilting pressure 5 of a first tilting cylinder and a tilting pressure 6 of a second tilting cylinder and a lifting height 7 and an actuating speed 8 of the tilting cylinder of the lifting mast. From these values, the controller 1 determines the load distance 9 of a load resting on the load receiving device.
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Abstract
Bei einem Verfahren zur Messung eines Lastabstands bei einem Flurförderzeug, wobei die Last auf einer höhenbeweglich an einem neigbaren Hubmast geführten Lastaufnahmevorrichtung aufliegt, insbesondere einer Lastgabel, mit Erfassungsmitteln für eine Hubhöhe (7), Erfassungsmitteln für ein Lastgewicht und mit Erfassungsmitteln für den Druck (5,6) eines Hydraulikfluids in mindestens einem Neigezylinder des Hubmastes sowie mit einer Steuerung (1), die aus dem erfassten Druck (5,6) eine Neigekraft und aus der Neigekraft, dem Lastgewicht und der Hubhöhe (7) einen Lastabstand (9) bestimmt, erhält die Steuerung (1) durch Erfassungsmittel einen Stellweg und/oder eine Stellgeschwindigkeit (8) des Neigezylinders und führt eine Korrektur der Neigekraft durch Berücksichtigung der Reibung anhand einer Stribeck Funktion durch.
Description
Die Erfindung betrifft ein Verfahren zur Lastschwerpunktbestimmung bei einem Flurförderzeug. Insbesondere betrifft die Erfindung ein Verfahren zur Messung eines Lastabstands bei einem Flurförderzeug, wobei die Last auf einer höhenbeweglich an einem neigbaren Hubmast geführten Lastaufnahmevorrichtung aufliegt, insbesondere einer Lastgabel, mit Erfassungsmitteln für eine Hubhöhe, Erfassungsmitteln für ein Lastgewicht und mit Erfassungsmitteln für den Druck eines Hydraulikfluids in mindestens einem Neigezylinder des Hubmastes sowie mit einer Steuerung, die aus dem erfassten Druck eine Neigekraft und aus der Neigekraft, dem Lastgewicht und der Hubhöhe einen Lastabstand bestimmt.The invention relates to a method for determining the load center in an industrial truck. In particular, the invention relates to a method for measuring a load distance in an industrial truck, wherein the load rests on a lifting device guided on a tiltable lifting mast load receiving device, in particular a fork, with means for detecting a lifting height, detecting means for a load weight and with detecting means for the pressure of a hydraulic fluid in at least one tilt cylinder of the mast and a controller that determines a tilting force from the detected pressure and from the tilting force, the load weight and the lifting height a load distance.
Zum Anheben von Transportgütern sind Flurförderzeuge mit einem Hubmast bekannt, 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 known 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.
Bei der Handhabung von Lasten mit einer Lastgabel ist auch die Lage des Schwerpunkts einer aufliegenden Last von Bedeutung. Beispielsweise muss der Schwerpunkt ausreichend weit auf der Lastgabel sich befinden, um eine sichere Lage der Last auf der Lastgabel sicherzustellen. Ist dies nicht gewährleistet, kann es zu Unfällen oder Transportschäden kommen. Es wird daher im Regelfall davon ausgegangen, dass die Fahrer, beispielsweise eines Gabelstaplers, den Lastabstand einschätzen. Der Lastabstand kann unterschiedlich definiert sein und beispielsweise dem Abstand des Lastschwerpunkts von dem senkrechten Abschnitt von Gabelzinken einer Lastgabel entsprechen, oder auch dem Abstand zu einer senkrechten Linie auf ein unteres Stützlager des Hubmastes. Dabei ist der Lastabstand immer ein Maß für den Hebelarm, den eine aufliegende Last aufgrund ihrer Anordnung auf der Lastgabel bzw. der Lage ihres Schwerpunktes ausübt.When handling loads with a fork, the position of the center of gravity of an overlying load is also important. For example, the center of gravity must be sufficiently far on the fork to ensure a secure position of the load on the fork. Failure to do so may result in accidents or shipping damage. As a rule, it is therefore assumed that the drivers, for example a forklift, estimate the load distance. The load distance may be defined differently and, for example, correspond to the distance of the center of gravity of the load from the vertical portion of forks of a fork, or to the distance to a vertical line a lower support bearing of the mast. The load distance is always a measure of the lever arm, which exerts an overlying load due to their arrangement on the fork or the position of its center of gravity.
Nachteilig ist dabei, dass bei Lasten, die für den Fahrer nicht einsehbar sind, wie zum Beispiel in einem Regal, insbesondere auf hoch gelegenen Regalplätzen, oder bei Lasten, die als komplexe geometrische Gebilde ausgebildet sind bzw. in geschlossenen Transportkisten sich befinden, eine solche Einschätzung kaum oder nur schwer möglich ist.A disadvantage is that in loads that are not visible to the driver, such as in a shelf, especially on high shelves, or in loads that are designed as complex geometric structures or in closed transport boxes are such Assessment is difficult or impossible.
Hubmasten von Gabelstaplern und auch von Schubmaststapler sind sehr häufig mit einer Neigevorrichtung ausgestattet, die es erlaubt den gesamten Hubmast mit der Lastaufnahmevorrichtung, bzw. einer Lastgabel, zu neigen. Dadurch kann insbesondere für einen sicheren Transport während der Fahrtstrecken eine Rückwärtsneigung der Lastgabel erreicht werden.Lifting masts of forklifts and also of reach trucks are very often equipped with a tilting device, which makes it possible to incline the entire lifting mast with the load handling device or a load fork. This can be achieved in particular for safe transport during the routes a backward tilt of the fork.
Dabei ist der Hubmast an einem unteren Stützlager drehbar gelagert und wird durch eine Neigestellvorrichtung in seiner Neigung eingestellt, im Regelfall durch zwei hydraulische Neigezylinder.In this case, the mast is rotatably mounted on a lower support bearing and is adjusted by a tilting device in its inclination, usually by two hydraulic tilting cylinder.
Sehr häufig sind bei Flurförderzeugen bereits Erfassungsmittel für ein Lastgewicht vorgesehen. Der tatsächliche Lastabstand kann dann bestimmt werden, wenn die Kräfte in der Neigestellvorrichtung erfasst wird, beispielsweise durch den in den hydraulischen Neigezylinder herrschenden Druck. Abhängig von dem wirksamen Hebelarm, bzw. dem Lastabstand ergeben sich unterschiedlich große Kräfte bei gleichem Lastgewicht.Very often are already provided for industrial trucks detection means for a load weight. The actual load distance can then be determined when the forces in the tilting device are detected, for example, by the pressure prevailing in the hydraulic tilting cylinder. Depending on the effective lever arm, or the load distance results in different sized forces at the same load weight.
Nachteilig an solchen Verfahren ist jedoch, dass bereits relativ kleine Ungenauigkeiten zu großen Fehlern bei der Bestimmung des Lastabstandes führen können.. Dies gilt umso mehr, da auch die Kräfte durch das Eigengewicht des Hubmastes bereits erheblich sind. Durch Reibungskräfte und Haftreibungskräfte können daher erhebliche Fehler entstehen.However, a disadvantage of such methods is that even relatively small inaccuracies can lead to large errors in the determination of the load distance. This is all the more true since the forces due to the weight of the lifting mast are already considerable. Frictional forces and static friction forces can therefore cause considerable errors.
Der vorliegenden Erfindung liegt die Aufgabe zugrunde, ein Verfahren zur Lastschwerpunktbestimmung bei einem Flurförderzeug zur Verfügung zu stellen, das die zuvor genannten Nachteile vermeidet, und mit dem kontinuierlich und in jeder Betriebssituation eine möglichst genaue Bestimmung des Lastschwerpunkts einer Last bei einem Flurförderzeug mit einem an einem Hubmast höhenbeweglich geführten Lastaufnahmevorrichtung möglich ist.The present invention has for its object to provide a method for determining the load center in an industrial truck, the avoids the aforementioned disadvantages, and with the continuous and in any operating situation as accurate as possible determination of the load center of a load in a truck with a lift mast movably guided on a lifting mast 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 eines Lastabstands bei einem Flurförderzeug, wobei die Last auf einer höhenbeweglich an einem neigbaren Hubmast geführten Lastaufnahmevorrichtung aufliegt, insbesondere einer Lastgabel, mit Erfassungsmitteln für eine Hubhöhe, Erfassungsmitteln für ein Lastgewicht und mit Erfassungsmitteln für den Druck eines Hydraulikfluids in mindestens einem Neigezylinder des Hubmastes sowie mit einer Steuerung, die aus dem erfassten Druck eine Neigekraft und aus der Neigekraft, dem Lastgewicht und der Hubhöhe einen Lastabstand bestimmt, die Steuerung durch Erfassungsmittel einen Stellweg und/oder eine Stellgeschwindigkeit des Neigezylinders erhält und eine Korrektur der Neigekraft durch Berücksichtigung der Reibung anhand einer Stribeck Funktion durchführt.The object is achieved in that in a method for measuring a load distance in an industrial truck, wherein the load rests on a vertically movable on a tiltable mast guided load bearing device, in particular a fork, with detection means for a lifting height, detection means for a load weight and with detection means for the pressure of a hydraulic fluid in at least one tilting cylinder of the lifting mast and with a controller that determines a tilting force from the detected pressure and from the tilting force, the load weight and the lifting height, the control by detecting means a travel and / or an actuating speed of the tilting cylinder receives and corrects the tilting force by taking into account the friction using a Stribeck function.
Vorteilhaft wird durch diese Kompensation der Reibungskraft die Bestimmung der Neigekraft verbessert, bei der sich bereits geringe Fehler relativ stark auf den berechneten Wert eines Lastabstands auswirken. 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 erfassten Neigegeschwindigkeit oder indirekt aus dem Stellweg des Neigezylinders bestimmten Neigegeschwindigkeit eine zu kompensierende Reibungskraft berechnet. Dies erhöht die Messgenauigkeit deutlich und vor allem steht ein Wert für den Lastabstand kontinuierlich in jedem Betriebszustand zur Verfügung. Für eine genauere Berechnung des Lastabstands ist der Stellweg des Neigezylinders erforderlich. In bevorzugter Ausführungsform kann daher die Neigegeschwindigkeit durch die Ableitung des Stellweges gebildet werden. Auch wenn es denkbar ist, nur ein Neigezylinder vorzusehen, so werden im Regelfall bei einem Hubmast zwei Neigezylinder verwendet. Die Erfassungsmittel können jeweils direkte Sensoren sein, aber auch indirekte Methoden der Erfassung, beispielsweise innerhalb einer Fahrzeugsteuerung aufgrund von mehreren anderen Sensorwerten. Vorteilhaft weisen viele Flurförderzeuge bereits Sensoren für den Druck in dem Hydrauliksystem sowie Lastgewicht- und Hubhöhensensoren auf.Advantageously, by this compensation of the friction force, the determination of the tilting force is improved, in which even small errors have a relatively strong effect on the calculated value of a load distance. 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, which is very slow, so that the friction force substantially still corresponds to the static friction , In a subsequent area of 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 curve drops 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 from the directly detected tilting speed or indirectly from the travel of the tilting cylinder certain tilting speed to Compensating friction force calculated. This significantly increases the measuring accuracy and above all, a value for the load distance is continuously available in every operating state. For a more accurate calculation of the load distance, the travel of the tilting cylinder is required. In a preferred embodiment, therefore, the tilting speed can be formed by the derivative of the travel. Even if it is conceivable to provide only one tilting cylinder, two tilting cylinders are normally used in a lifting mast. The detection means can each be direct sensors, but also indirect methods of detection, for example within a vehicle control on the basis of several other sensor values. Advantageously, many industrial trucks already have sensors for the pressure in the hydraulic system as well as load-weight and lifting-height sensors.
Vorteilhaft werden der Stellweg und/oder die Stellgeschwindigkeit aus einer Drehzahl einer Hydraulikpumpe und/oder einer Ventilöffnung ermittelt.Advantageously, the travel and / or the positioning speed are 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.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.
Die Lastaufnahmevorrichtung kann durch eine hydraulische Hubvorrichtung, insbesondere einen Hubzylinder, angehoben werden, wobei durch Erfassungsmittel ein Hubdruck in dem Hubzylinder der Steuerung zugeführt wird und die Steuerung aus dem Hubdruck ein Lastgewicht bestimmt.The load-receiving device can be lifted by a hydraulic lifting device, in particular a lifting cylinder, wherein a lifting pressure in the lifting cylinder of the controller is supplied by detecting means and the controller determines a load weight from the lifting pressure.
In einer Ausgestaltung des Verfahrens bestimmt die Steuerung eine Hubgeschwindigkeit aus der Hubhöhe oder erhält durch Erfassungsmittel eine Hubgeschwindigkeit und führt mithilfe der Hubgeschwindigkeit eine Korrektur des Lastgewichtes durch Berücksichtigung der Reibung anhand einer Stribeck Funktion durch.In one embodiment of the method, the controller determines a lifting speed from the lifting height or receives a lifting speed by detecting means and performs a correction of the load weight by taking into account the friction using a Stribeck function by means of the lifting speed.
Ebenso wie bei hydraulischen Neigezylindern können auch bei hydraulischen Hubzylindern die durch die Reibungskräfte sich ergebenden Fehler in Bezug auf die Messung des Lastgewichts korrigiert werden. Eine indirekte Messung des Lastgewichtes über den Druck einer hydraulischen Hubvorrichtung wird bevorzugt eingesetzt, da diese sehr robust und ein Drucksensor oftmals bereits vorhanden ist.As with hydraulic tilt cylinders, the hydraulic friction cylinders can also correct the errors due to frictional forces with respect to the load weight measurement. An indirect measurement of the load weight on the pressure of a hydraulic lifting device is preferably used, since this is very robust and a pressure sensor often already exists.
Die Steuerung kann die Temperatur eines Hydraulikfluids berücksichtigen.The controller may consider 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.
Der Lastabstand kann in einer Anzeigevorrichtung des Flurförderzeugs angezeigt werden.The load distance can be displayed in a display device of the truck.
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 Hubruck 2 in einem Hubzylinder, die Hubgeschwindigkeit 3 einer Lastaufnahmevorrichtung und eine Hubmastneigung 4 zugeführt werden. Weiterhin erhält die Steuerung 1 einen Neigedruck 5 eines ersten Neigezylinders sowie einen Neigedruck 6 eines zweiten Neigezylinders und eine Hubhöhe 7 sowie eine Stellgeschwindigkeit 8 der Neigezylinder des Hubmastes. Aus diesen Werten bestimmt die Steuerung 1 den Lastabstand 9 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. In this case, the figure shows schematically a
Claims (6)
dadurch gekennzeichnet,
dass die Steuerung (1) durch Erfassungsmittel einen Stellweg und/oder eine Stellgeschwindigkeit (8) des Neigezylinders erhält und eine Korrektur der Neigekraft durch Berücksichtigung der Reibung anhand einer Stribeck Funktion durchführt.A method for measuring a load distance in an industrial truck, wherein the load rests on a lifting device guided vertically on a tiltable mast, in particular a fork, with means for detecting a lifting height (7), detection means for a load weight and with detecting means for the pressure (5,6 ) of a hydraulic fluid in at least one tilting cylinder of the lifting mast and with a controller (1) which determines a tilting force from the detected pressure (5, 6) and a load distance (9) from the tilting force, the load weight and the lifting height (7),
characterized,
in that the control (1) obtains a travel and / or an actuating speed (8) of the tilting cylinder by means of detection and carries out a correction of the tilting force by taking into account the friction by means of a Stribeck function.
dadurch gekennzeichnet,
dass der Stellweg und/oder die Stellgeschwindigkeit (8) aus einer Drehzahl einer Hydraulikpumpe und/oder einer Ventilöffnung ermittelt werden.Method according to claim 1,
characterized,
that the adjustment path and / or the actuating speed (8) from a rotational speed of a hydraulic pump and / or a valve opening can be determined.
dadurch gekennzeichnet,
dass die Lastaufnahmevorrichtung durch eine hydraulische Hubvorrichtung, insbesondere einen Hubzylinder, angehoben wird, wobei durch Erfassungsmittel ein Hubdruck (2) in dem Hubzylinder der Steuerung (1) zugeführt wird und die Steuerung (1) aus dem Hubdruck (2) ein Lastgewicht bestimmt.Method according to claim 1 or 2,
characterized,
in that the load-receiving device is lifted by a hydraulic lifting device, in particular a lifting cylinder, wherein a lifting pressure (2) in the lifting cylinder of the control (1) is supplied by detecting means and the controller (1) determines a load weight from the lifting pressure (2).
dadurch gekennzeichnet,
dass die Steuerung (1) eine Hubgeschwindigkeit (3) aus der Hubhöhe (7) bestimmt oder durch Erfassungsmittel eine Hubgeschwindigkeit (3) erhält und mithilfe der Hubgeschwindigkeit (3) eine Korrektur des Lastgewichtes durch Berücksichtigung der Reibung anhand einer Stribeck Funktion durchführt.Method according to claim 3,
characterized,
in that the controller (1) determines a lifting speed (3) from the lifting height (7) or obtains a lifting speed (3) by detecting means and carries out a correction of the load weight by taking into account the friction by means of the lifting speed (3) by means of a Stribeck function.
dadurch gekennzeichnet,
dass die Steuerung (1) die Temperatur eines Hydraulikfluids berücksichtigt.Method according to one of claims 1 to 4,
characterized,
that the controller (1) takes into account the temperature of a hydraulic fluid.
dadurch gekennzeichnet,
dass der Lastabstand in einer Anzeigevorrichtung des Flurförderzeugs angezeigt wird.Method according to one of claims 1 to 5,
characterized,
that the load distance is displayed in a display device of the truck.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102014118709 | 2014-12-16 | ||
| DE102015100833.5A DE102015100833A1 (en) | 2014-12-16 | 2015-01-21 | Method for determining the load center of an industrial truck |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP3034456A1 true EP3034456A1 (en) | 2016-06-22 |
| EP3034456B1 EP3034456B1 (en) | 2017-03-01 |
Family
ID=54782589
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP15197942.4A Active EP3034456B1 (en) | 2014-12-16 | 2015-12-04 | Method for determining the center of gravity in an industrial truck |
Country Status (1)
| Country | Link |
|---|---|
| EP (1) | EP3034456B1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113283063A (en) * | 2021-05-10 | 2021-08-20 | 珠海格力电器股份有限公司 | Friction force identification method, module, equipment and computer readable medium |
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 |
| EP2450305A1 (en) * | 2010-11-06 | 2012-05-09 | Jungheinrich Aktiengesellschaft | Industrial truck with deformation sensor in tilt cylinder |
-
2015
- 2015-12-04 EP EP15197942.4A patent/EP3034456B1/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 |
| EP2450305A1 (en) * | 2010-11-06 | 2012-05-09 | Jungheinrich Aktiengesellschaft | Industrial truck with deformation sensor in tilt cylinder |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113283063A (en) * | 2021-05-10 | 2021-08-20 | 珠海格力电器股份有限公司 | Friction force identification method, module, equipment and computer readable medium |
| CN113283063B (en) * | 2021-05-10 | 2024-03-08 | 珠海格力电器股份有限公司 | Friction force identification method, module, device and computer readable medium |
Also Published As
| Publication number | Publication date |
|---|---|
| EP3034456B1 (en) | 2017-03-01 |
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