EP3034456B1 - Procede de determination d'application des charges pour un chariot de manutention - Google Patents

Procede de determination d'application des charges pour un chariot de manutention Download PDF

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Publication number
EP3034456B1
EP3034456B1 EP15197942.4A EP15197942A EP3034456B1 EP 3034456 B1 EP3034456 B1 EP 3034456B1 EP 15197942 A EP15197942 A EP 15197942A EP 3034456 B1 EP3034456 B1 EP 3034456B1
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EP
European Patent Office
Prior art keywords
lifting
load
controller
speed
tilting
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
EP15197942.4A
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German (de)
English (en)
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EP3034456A1 (fr
Inventor
Björn Bullermann
Gabriel Von Zech
Marc Wede
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.)
STILL GmbH
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STILL GmbH
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Publication date
Priority claimed from DE102015100833.5A external-priority patent/DE102015100833A1/de
Application filed by STILL GmbH filed Critical STILL GmbH
Publication of EP3034456A1 publication Critical patent/EP3034456A1/fr
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Publication of EP3034456B1 publication Critical patent/EP3034456B1/fr
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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
    • 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 are in closed transport boxes, 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 and weight 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 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.
  • 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.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Claims (6)

  1. Procédé de mesure de la distance de charge pour un chariot de manutention, dans lequel la charge repose sur un dispositif de réception de charge guidé de manière mobile en hauteur sur un mât de levage inclinable, en particulier une fourche de levage, comportant des moyens de détection d'une hauteur de levage (7), des moyens de détection d'un poids de charge et des moyens de détection d'une pression (5, 6) d'un fluide hydraulique dans au moins un vérin d'inclinaison du mât de levage, et comportant une unité de commande (1) qui détermine, à partir de la pression (5, 6) détectée, une force d'inclinaison et, à partir de la force d'inclinaison, du poids de charge et de la hauteur de levage (7), une distance de charge (9), caractérisé en ce que l'unité de commande (1) obtient à l'aide du moyen de détection une course de réglage et/ou une vitesse de réglage (8) du vérin d'inclinaison et effectue une correction de la force d'inclinaison sur la base d'une fonction de Stribeck en tenant compte du frottement.
  2. Procédé selon la revendication 1,
    caractérisé en ce que la course de réglage et/ou la vitesse de réglage (8) sont déterminées à partir d'une vitesse de rotation d'une pompe hydraulique et/ou d'une ouverture de soupape.
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce que le dispositif de réception de charge est soulevé par un dispositif de levage hydraulique, en particulier un vérin de levage, dans lequel une pression de levage (2) régnant dans le vérin de levage est fournie à l'unité de commande (1) par des moyens de détection et l'unité de commande (1) détermine un poids de charge à partir de la pression de levage (2).
  4. Procédé selon la revendication 3,
    caractérisé en ce que l'unité de commande (1) détermine une vitesse de levage (3) à partir de la hauteur de levage (7) ou obtient une vitesse de levage (3) à l'aide de moyens de détection et effectue une correction du poids de charge sur la base d'une fonction de Stribeck à l'aide de la vitesse de levage (3) en tenant compte du frottement.
  5. Procédé selon l'une quelconque des revendications 1 à 4,
    caractérisé en ce que l'unité de commande (1) tient compte de la température d'un fluide hydraulique.
  6. Procédé selon l'une quelconque des revendications 1 à 5,
    caractérisé en ce que la distance de charge est affichée sur un dispositif d'affichage du chariot de manutention.
EP15197942.4A 2014-12-16 2015-12-04 Procede de determination d'application des charges pour un chariot de manutention Active EP3034456B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014118709 2014-12-16
DE102015100833.5A DE102015100833A1 (de) 2014-12-16 2015-01-21 Verfahren zur Lastschwerpunktbestimmung bei einem Flurförderzeug

Publications (2)

Publication Number Publication Date
EP3034456A1 EP3034456A1 (fr) 2016-06-22
EP3034456B1 true EP3034456B1 (fr) 2017-03-01

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CN113283063B (zh) * 2021-05-10 2024-03-08 珠海格力电器股份有限公司 摩擦力识别方法、模组、设备及计算机可读介质

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JP2001261297A (ja) * 2000-03-22 2001-09-26 Toyota Autom Loom Works Ltd 産業車両の前後方向の荷重モーメント測定装置
DE10304658A1 (de) * 2003-02-05 2004-08-19 Bosch Rexroth Ag Flurförderfahrzeug
DE102010050683A1 (de) * 2010-11-06 2012-05-10 Jungheinrich Aktiengesellschaft Flurförderzeug mit Verformungssensor im Neigezylinder

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Also Published As

Publication number Publication date
EP3034456A1 (fr) 2016-06-22

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