EP3042876A1 - Chariot de manutention avec un chassis de levage inclinable - Google Patents

Chariot de manutention avec un chassis de levage inclinable Download PDF

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Publication number
EP3042876A1
EP3042876A1 EP16150563.1A EP16150563A EP3042876A1 EP 3042876 A1 EP3042876 A1 EP 3042876A1 EP 16150563 A EP16150563 A EP 16150563A EP 3042876 A1 EP3042876 A1 EP 3042876A1
Authority
EP
European Patent Office
Prior art keywords
mast
truck
tilting
distance
frame
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.)
Granted
Application number
EP16150563.1A
Other languages
German (de)
English (en)
Other versions
EP3042876B1 (fr
Inventor
Michael Weck
Simon HEINRICH
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.)
Jungheinrich AG
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Jungheinrich AG
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Publication date
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Publication of EP3042876A1 publication Critical patent/EP3042876A1/fr
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Publication of EP3042876B1 publication Critical patent/EP3042876B1/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
    • 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
    • B66F9/0755—Position control; Position detectors
    • 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
    • B66F9/082—Masts; Guides; Chains inclinable

Definitions

  • the invention relates to an industrial truck, in particular forklift, with a frame, a mast, which is front and predominantlyneigbar between two end positions relative to the frame about a tilt axis, a mast tilting device for setting different tilting positions of the mast and inclination detection means for determining a respective tilting dimension of Mast relative to the frame.
  • Such trucks are in various variants in use. They are used for lifting, transporting and lowering loads, eg loaded pallets.
  • a load-carrying means this is usually a load-carrying fork, which is on the mast by means of a lifting device up and down movable.
  • Forklifts of the type considered here can, for example, have telescopically extendable masts, by means of which the load-carrying means can be moved particularly high, for example, to store pallets in upper shelf levels of high-bay equipment or deploy it.
  • Other trucks of the type considered here may have a simple non-telescopic mast of a single pair of stands.
  • the mast can be pivoted forward and backward about a tilt axis, which is usually close to the ground, relative to the vertical.
  • a tilt axis which is usually close to the ground, relative to the vertical.
  • the orientation of the load-receiving means such as the forks of a load-bearing fork, relative to the horizontal changed.
  • This is necessary or at least helpful during various storage and retrieval operations, and may also be useful during transport with the moving industrial truck, for example when the mast is tilted slightly in the direction of the frame, so that the load receiving means are slightly inclined upward. In this way, the risk of slipping of the load from the load receiving means, especially reduced during a braking operation of the truck.
  • tilt detection devices As sensors of the inclination detecting means in known industrial trucks, e.g. Used pendulum assemblies, which allow an immediate reading of the tilt angle of the mast relative to the vertical. Also, angle encoders directly on the tilting axis and electrical potentiometer sensors have been used.
  • Inclination detection means with such sensors have different disadvantages.
  • pendulum-based sensors, spirit level-based sensors or the like show the absolute angle that the mast has taken in its current tilt relative to the vertical, but not the tilt of the mast relative to the frame of the truck.
  • Such inclination detecting means are therefore not well suited for the support of certain automated tilting functions, such as the setting of certain stop positions or the reduction of the tilting speed when approaching an end position in the sense of a cushioning.
  • Angle encoders and potentiometer sensors have the disadvantage that they often require complicated assembly and are susceptible to wear.
  • a device for centering a mast or a mast which indicates when the mast with respect to the rest of the truck in a central position or an undeflected position.
  • From the US 2008/0 202 856 A1 discloses a device for measuring the distance of the mast from a point on the roof of the truck, to determine if the mast is in an upright position.
  • a device for indicating a tilt angle of a mast with respect to the direction of gravity which uses a mast arranged on the angle sensor, which includes a rotary scale.
  • the document also proposes to determine the relative angle to the truck, It is also proposed, when positioning the truck on an inclined surface to determine the relative inclination to the rest of the truck by the absolute inclination is determined in an undeflected position of the mast and on this Based on a current absolute tilt angle the current relative tilt angle is calculated.
  • the rotary balance requires a certain amount of time to settle when the inclination of the mast and / or the truck changes, which reduces the precision and speed of the measurement.
  • the determination of the relative inclination angle requires the measurement of the absolute inclination angle in an undeflected position, which is difficult especially with many changes in the inclination of the ground. Both unselected position calibration and settling time are even more detrimental when transporting a heavy load.
  • the present invention has for its object to provide a truck of the type mentioned with an improved mast tilt detection, in particular a precise, but technically easy realized measurement / determination of both the relative and the absolute inclination angle, without requiring a calibration, for example in the undeflected position is.
  • the truck according to the invention is equipped with the features of claim 1, so that it is a frame, a mast, which is forward and strictlyneigbar between two end positions relative to the frame about a tilt axis, a mast tilting device for adjusting various tilting positions of the mast and inclination detecting means for determining a respective inclination of the mast relative to the frame and the inclination detecting means comprise at least one fixed frame and / or at least one fixed distance sensor, which is arranged to change a tilting of the mast distance between a defined fixed frame position and a defined non-contact monitoring of the truck body and providing a measuring signal dependent on this distance, the truck according to the invention being characterized in that in that the industrial truck further comprises an electronic evaluation device which comprises a display device and is in data transmission connection with the inclination detection means and which is set up to receive the measurement signal of the distance sensor, to evaluate it and to graphically and / or acoustically and / or haptically evaluate the correspondingly evaluated data.
  • the truck further comprises a position detection device which is adapted to detect any inclinations of the truck relative to the horizontal and deliver relevant measurement signals to the evaluation, wherein the evaluation device is adapted to information of the Position detection device on the orientation of the truck relative to the horizontal in combination with information of the inclination detection means or device on the inclination position of the Hubgerüs tes relative to the frame to provide data indicative of the absolute orientation of the mast relative to the vertical.
  • the inclination detection means can monitor respective inclinations of the mast relative to the frame, so that the measurement signal supplied by the distance sensor also provides a correct measure for this tilting position when the truck stands obliquely or on a ramp.
  • the non-contact distance sensor is not subject to significant wear.
  • a non-contact distance sensor is easy to mount on a truck, so that it also comes easily in an existing truck as a retrofit option in question.
  • the non-contact distance sensor is attached to a frame-fixed point, that is, for example, directly on the frame, so that during the tilting movements of the mast, the distance sensor does not have to be moved. This protects the power supply and signal cables in the case of wired distance sensors.
  • the mounting location of the non-contact distance sensor has only a relatively small radial distance to the tilt axis, so that the distance to be monitored between the end positions of the mast is as small as possible 50 mm, preferably less than 10 mm.
  • distance sensors used in the invention preferably inductive distance sensors and capacitive distance sensors.
  • ultrasonic sensors or optoelectronic sensors can also be used, although the latter are currently associated with disadvantages with regard to contamination, installation space and a higher cost.
  • the display of the evaluated data by the evaluation device preferably takes place graphically on a display of the display device in the field of vision of the driver's compartment of the industrial truck. It is also possible acoustic signals that are triggered when the mast intervenes in certain inclinations, such as in the vertical position or an end position.
  • a haptic-vibratory display can for example be realized by the operating element, with the operator of the truck triggers and controls the tilting movements of the mast, is stimulated to vibrate when the mast engages in such specific tilt positions.
  • the system of distance sensor (s) and electronic evaluation device should be set up to detect sensor disturbances such as short circuits or cable breaks.
  • An advantage of the truck according to the invention on the one hand, a measurement of the relative angular value of the mast can be done while simultaneously the absolute angular value of the mast from the relative angular value and the orientation of the truck can be easily determined, on the other hand this takes place without loss of precision and time constantly and in particular a calibration at an undeflected position is not required.
  • the disadvantage of previous systems has been overcome that changes in the inclination of the ground when moving the truck so far significantly influenced the angle measurements, while in the present invention, such an influence is considerably clotting ger or no longer exists.
  • the measurement of both relative and absolute angular value of the mast is structurally simpler and at the same time realized more reliably than could be done in previous systems or combinations of previous systems.
  • heavy loads can be transported more easily, without the angle measurements are significantly imprecise when changes in inclination of the ground.
  • the electronic evaluation device should be set up on reaching at least one predetermined tilt position of the mast or / and upon approach of the mast to such a predetermined Inclination to display this highlighted in a specific way.
  • the predetermined inclination positions may be, for example, the neutral vertical position of the mast and / or a respective end position of the mast.
  • a display emphasized in a specific manner may be, for example, that a striking color change takes place on a display.
  • the display representation takes place in that a stylized mast is shown in the relevant different tilting positions of the real mast on the display. Upon reaching the vertical position or the middle position of the mast between the end positions, the mast is shown on the display in a different color than in the other tilting positions. The same happens preferably when approaching the mast to one of the end positions.
  • a controller communicating with the electronic evaluation device is provided for controlling the Hubgerüstneigevoriques, which triggers a specific reaction of the Hubgerüstneigevortechnisch upon reaching at least a predetermined inclination of the mast and / or approaching the mast to such a predetermined inclination position.
  • the specific reaction may consist in that the mast tilting device stops the mast in the predetermined tilt position, for example in the neutral vertical position or in the middle position of the mast between the two end positions.
  • the control device is adapted to control the Hubgerüstneigevoriques so that the approach of the mast to one of the end positions, the speed of the tilting movement of the mast gradually, preferably in a linear manner depending on the distance of the current tilting position of the mast reduced to the relevant end position.
  • This is a so-called Endlagendämpfungsvorgang.
  • mast tilting device for example, at least one hydraulic tilting cylinder comes into question. Hydraulic cylinder as Tilt drives are known in the prior art in various configurations and arrangements and require for the expert no further explanation.
  • the speed reduction on approach of the mast to one of the end positions is effected by appropriate control of the hydraulic actuation of the at least one tilting cylinder.
  • the position detection device may comprise a so-called. Inclinometer, which can detect the absolute horizontal position in the form of an electric spirit level. Also, acceleration sensors can be used to detect the overall orientation of the truck relative to the Lot.
  • the embodiment of the invention equipped with a position detecting device thus makes it possible to set desired absolute orientations of the mast and load supporting means arranged thereon, e.g. the automatic adjustment of the horizontal alignment of the forks of a load-carrying fork.
  • the non-contact distance sensor has only a relatively small radial distance to the tilting axis, so that the distance to be monitored between the end positions of the mast is less than 50 mm, preferably less than 10 mm, is particularly advantageous since the sensor is better protected against damage and pollution is protected.
  • the distance sensor is arranged closer to the tilt axis than a hydraulic tilting cylinder for forward tilting and tilting backwards of the mast.
  • the distance sensor is particularly protected, since above all objects that could damage the distance sensor, much more likely to collide only with the comparatively much less sensitive hydraulic tilting cylinder.
  • FIG. 1 For the truck according to FIG. 1 it is a forklift that carries a driver's cab 6 on its chassis 4 supported by wheels 2 on the ground.
  • a driver's seat 8 In the driver's cab a driver's seat 8 is provided, from which an operator can operate various operating elements 10 for controlling the driving, tilting and lifting functions of the truck.
  • the chassis 4 comprises a frame portion 12, as in FIG. 2 can be seen.
  • the mast 14 is hinged so that it is back and forward about a transversely to the direction of straight travel of the forklift near the lower end of the frame section 12 and the mast 14 extending tilting axis.
  • FIG. 2 the mast is shown in its Jenkinsgeneigten end position with solid lines, whereas it is drawn in its vorgeneigten end position with dashed lines.
  • the tilting movements of the mast are carried out by means of a mast tilting device in the form of hydraulic tilting cylinders, which in FIG. 2 are not shown.
  • a mast tilting device in the form of hydraulic tilting cylinders, which in FIG. 2 are not shown.
  • FIG. 2 the Anlenkaugen 18, 20 can be seen, to which a hydraulic tilting cylinder is to be attached with its opposite ends. Extending the piston rod of such a tilting cylinder then leads to forward tilting of the mast 14 (clockwise in FIG FIG. 2 ), whereas the retraction of the piston rod of the hydraulic tilting cylinder for the backward tilting of the Mast 14 (counterclockwise in FIG. 2 ) leads.
  • the tilting cylinders are hydraulically controllable in a conventional manner.
  • a load-bearing fork 22 up and down movable as a load-receiving means.
  • a lifting drive is preferably a hydraulic lifting cylinder in question, as is also known per se from the prior art.
  • FIG. 1 the load-carrying fork 22 is shown in its lowermost position with the mast 14 located in the middle position between the two tilting end positions.
  • the forks 24 of the load bearing fork 22 are aligned horizontally in this position when the truck is on a flat horizontal ground.
  • the orientation of the fork 24 changes in a corresponding manner relative to the horizontal.
  • a non-contact distance sensor 26 is fixed by means of a support plate 28 to the frame portion 12 that it faces with its defined front 30 a rear surface portion 32 of the mast 14.
  • the front side 30 of the distance sensor thus represents a defined frame-fixed point
  • the surface portion 32 of the mast represents a hub frame fixed point.
  • the distance sensor or proximity sensor 26 is an inductive sensor in the example, which can implement the used distance measuring range in a voltage measuring range of eg 0.5 to 4.5 V.
  • the distance sensor 26 is mounted at a sheltered location where little mechanical deformation is expected on the frame portion 12 and also on the mast 14 during normal stacker operation.
  • An example only at 31 in FIG. 1 drawn evaluation receives the electrical measurement signal from the distance sensor 26 and evaluates this to display on a display 33, the respective inclination of the mast 14 according to the evaluated signals.
  • a control device (not shown) which communicates with the electronic evaluation device 31 can control the hydraulic supply of the tilting cylinders in such a way that, in response to a corresponding operating command, they move the mast 14 into the mast FIG. 1 Move shown neutral position and then stop. In this neutral position, the mast 14 is vertical - and the forks 24 are aligned horizontally, provided that the truck stands on horizontal ground.
  • a position detection device which detects any inclinations of the truck relative to the horizontal and outputs relevant measurement signals to the evaluation device 31.
  • the evaluation device 31 can evaluate information of the position detection device about the orientation of the forklift relative to the horizontal in combination with information of the tilt detection device on the inclination position of the mast 14 relative to the frame 12 to provide data indicating the absolute orientation of the mast 14 relative to the vertical.
  • the evaluation device 31 comprises an electronic controller with a memory in which reference points of specific measurement signal values of the distance sensor 26 are stored in association with specific inclination angle settings of the mast 14. These interpolation points have previously been defined by teach-in measurements in which certain inclination angle values of the mast 14 relative to the frame 12 are measured by means of an independent angle measurement method and the measured voltage values supplied by the distance sensor 26 are detected and assigned to the relevant angle values and stored in the corresponding assignment , Intermediate values between such stored interpolation points are evaluated by interpolation. The corresponding programs are present in the evaluation device 31.
  • the forklift may be equipped with a so-called. End position damping in the tilt adjustment, wherein a control device controlling the tilting cylinder reduces the tilting speed when the mast 14 is one of the in FIG. 2 indicated end positions eg approaches from a certain approach angle.
  • the required information about the current inclination position receives the evaluation device 31 and the thus communicating control device (not shown) of the non-contact distance sensor 26th
  • the characteristic solution of the truck according to the invention is inexpensive realizable with very simple means and provides reliable and störunan tracte results.

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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)
  • Forklifts And Lifting Vehicles (AREA)
EP16150563.1A 2015-01-12 2016-01-08 Chariot de manutention avec un chassis de levage inclinable Active EP3042876B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102015200262.4A DE102015200262A1 (de) 2015-01-12 2015-01-12 Flurförderzeug mit neigbarem Hubgerüst

Publications (2)

Publication Number Publication Date
EP3042876A1 true EP3042876A1 (fr) 2016-07-13
EP3042876B1 EP3042876B1 (fr) 2017-08-30

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EP16150563.1A Active EP3042876B1 (fr) 2015-01-12 2016-01-08 Chariot de manutention avec un chassis de levage inclinable

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Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1993017952A1 (fr) 1992-03-09 1993-09-16 Pekka Kolari Dispositif de centrage de mat pour chariot elevateur
DE4440604A1 (de) 1993-12-29 1995-07-06 Samsung Heavy Ind Vorrichtung zum Anzeigen des Neigungswinkels einer Verladeeinrichtung
WO1996006795A1 (fr) 1994-08-26 1996-03-07 Oy Hymatic Ltd. Procede et dispositif de commande de mat
GB2318565A (en) * 1996-10-23 1998-04-29 Samsung Heavy Ind Stabilising the mast tilting angle of a masted truck
JPH11199197A (ja) * 1997-11-14 1999-07-27 Toyota Autom Loom Works Ltd フォークリフトの後輪車軸揺動制御装置
JP2002096998A (ja) * 2000-09-20 2002-04-02 Komatsu Forklift Co Ltd 産業車両の作業機角度検出装置
US20080020285A1 (en) 2006-07-24 2008-01-24 Bridgestone Corporation Non-aqueous electrolyte for battery and non-aqueous electrolyte battery comprising the same
US20080202856A1 (en) * 2007-02-22 2008-08-28 David Allan Fossier Angle measurement for forklift operation
JP2010023940A (ja) * 2008-07-15 2010-02-04 Mitsubishi Heavy Ind Ltd フォークリフトのチルト制御装置及び該装置を備えたフォークリフト

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1993017952A1 (fr) 1992-03-09 1993-09-16 Pekka Kolari Dispositif de centrage de mat pour chariot elevateur
DE4440604A1 (de) 1993-12-29 1995-07-06 Samsung Heavy Ind Vorrichtung zum Anzeigen des Neigungswinkels einer Verladeeinrichtung
WO1996006795A1 (fr) 1994-08-26 1996-03-07 Oy Hymatic Ltd. Procede et dispositif de commande de mat
GB2318565A (en) * 1996-10-23 1998-04-29 Samsung Heavy Ind Stabilising the mast tilting angle of a masted truck
JPH11199197A (ja) * 1997-11-14 1999-07-27 Toyota Autom Loom Works Ltd フォークリフトの後輪車軸揺動制御装置
JP2002096998A (ja) * 2000-09-20 2002-04-02 Komatsu Forklift Co Ltd 産業車両の作業機角度検出装置
US20080020285A1 (en) 2006-07-24 2008-01-24 Bridgestone Corporation Non-aqueous electrolyte for battery and non-aqueous electrolyte battery comprising the same
US20080202856A1 (en) * 2007-02-22 2008-08-28 David Allan Fossier Angle measurement for forklift operation
JP2010023940A (ja) * 2008-07-15 2010-02-04 Mitsubishi Heavy Ind Ltd フォークリフトのチルト制御装置及び該装置を備えたフォークリフト

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Publication number Publication date
EP3042876B1 (fr) 2017-08-30
DE102015200262A1 (de) 2016-07-14

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