EP3050840B1 - Determination de parametres pour chariots de manutention a direction multiple - Google Patents

Determination de parametres pour chariots de manutention a direction multiple Download PDF

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Publication number
EP3050840B1
EP3050840B1 EP16153451.6A EP16153451A EP3050840B1 EP 3050840 B1 EP3050840 B1 EP 3050840B1 EP 16153451 A EP16153451 A EP 16153451A EP 3050840 B1 EP3050840 B1 EP 3050840B1
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EP
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Prior art keywords
multiple direction
load
sensor
forklift
direction forklift
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EP16153451.6A
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German (de)
English (en)
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EP3050840A1 (fr
Inventor
Carsten Schöttke
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Jungheinrich AG
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Jungheinrich AG
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
    • B66F9/147—Whole unit including fork support moves relative to mast

Definitions

  • the invention relates to a method for determining at least one static and / or dynamic characteristic of a three-way forklift, and a three-way stacker comprising an arrangement for determining at least one static and / or dynamic characteristic of a three-way forklift.
  • at least one sensor is associated with the load-carrying device carrying element of the industrial truck and arranged at a distance from the central axis of the industrial truck in the width direction of the industrial truck.
  • Three-side forklift are often used in the form of so-called.
  • These in contrast to conventional forklift trucks, have the additional capability of not only moving their load-handling means (i.e., in particular their fork) up and down but also of pivoting them laterally and of laterally shifting them in the direction of the width of the truck.
  • the center of gravity or the wheel or axle contact forces of the truck noticeably affect the driving characteristics of the vehicle. For example, a maximum achievable braking effect on an axle is reduced if this braked axle is relieved by the center of gravity of the truck.
  • Another example is the lateral stability of the vehicle, which, for example, when cornering affects and the is related to the position of the center of gravity of the vehicle with respect to the central axis in the width direction.
  • the shows EP 2 607 295 A1 an industrial truck whose tilting moment is determined in the longitudinal direction inter alia from the support forces introduced into the mast mounting points.
  • Last are from the JP H06 156996 A and the JP H06 247698 A
  • Forklift trucks are known in which load detection devices are assigned to the forks of the truck DE 298 24 820 U1 discloses a generic three-way forklift.
  • moments caused by the load can be determined, from which in turn the desired static and / or dynamic characteristic can be determined.
  • the load carried by the load handler exerts a moment on the load handler carrying member that may depend on the position of the load handler, the weight of the load, a possible speed change of the truck, etc.
  • load handling device carrying member is hereby broad understand.
  • a driver's cab is provided on which a side thruster with a fork carriage and attached forks is provided.
  • the load-carrying device carrying element comprises the driver's seat as well as the components of the side pushing device fixedly connected to the driver's station. Due to the fact that the load acts directly on the side thrust device, load-dependent moments which are used according to the invention for determining the static and / or dynamic characteristics are produced on the load-carrying device carrying element.
  • design parameters of the industrial truck can also be stored in a storage unit, and in the calculation of the at least one characteristic, the design parameters of the industrial truck can also be used.
  • the design parameters may in particular be geometric properties as well as the mass distribution of the industrial truck.
  • further information about the interaction of the load and the construction of the truck itself can be determined using the sensor data.
  • the method further comprises directly or indirectly measuring a second moment caused by the load or the weight of the load by means of a second sensor, wherein in calculating the at least one characteristic also the sensor data output by the second sensor can be used , Due to the additional data obtained by the second sensor, the measurement of the static and / or dynamic characteristics of the industrial truck can be further specified or parameters with a higher information content can be obtained. For example, a plausibility check of the data output by the two sensors can already be carried out against each other with two sensors, thus ensuring the intended function of the sensors.
  • the second sensor or optionally a third sensor can also be assigned to the load-carrying device carrying element of the truck and spaced in the width direction of the truck from the central axis of the truck, in this case preferably symmetrically to the first sensor with respect to the central axis of the truck in the longitudinal direction.
  • Such an arrangement of the second or a third sensor facilitates the calculation of the desired characteristic clearly, since the symmetry properties of the structure can be exploited.
  • the method may include determining the relative position of the load relative to the wheel axles of the truck and the center axis of the truck longitudinally and / or determining the weight of the load, calculating an expected static and / or dynamic characteristic from the determined relative position, or / and the weight of the load and comparing the expected characteristic with the calculated characteristic.
  • the determination of the relative position of the load or the weight of the load can be carried out by known means such as pressure sensors or hydraulic sensors.
  • the measuring of the first moment caused by the load can be done by means of a tension sensor or by determining an elastic deformation of the component.
  • the two types of sensor mentioned are particularly simple and cost-effective ways to measure the moment caused by the load directly or indirectly.
  • stress transducers are low maintenance, fail-safe and easy to read.
  • the current Height of the load to be determined can also be done by known sensors.
  • the height of the load is of particular interest when the truck is in motion, as the inertia of the load during acceleration or deceleration may result in a further change in, for example, the axle loads of the truck.
  • the at least one static and / or dynamic characteristic of the industrial truck in the method according to the invention can be the current center of gravity position of the industrial truck or a wheel or axle load of the industrial truck. As already mentioned, these parameters of the industrial truck are of particular interest since they can be safety-critical values.
  • At least one operating parameter of the industrial truck can be adapted on the basis of the determined at least one static and / or dynamic parameter of the industrial truck.
  • An example of this may be a permissible maximum speed of the truck, which can be increased or decreased depending on the determined current center of gravity position of the truck.
  • the invention relates to a three-way stacker according to claim 10.
  • the calculation unit may be assigned a memory unit in which construction parameters of the industrial truck are stored, and the calculation unit may be configured to calculate the at least one characteristic using the design parameters of the industrial truck.
  • the arrangement may additionally include a second sensor configured to detect a second load or weight of the load caused by the load, and the computing unit may be configured to generate the at least one characteristic using output from the second sensor To calculate sensor data.
  • the arrangement may be formed so that the second sensor or optionally a third sensor is also assigned to the load-carrying device-carrying element of the truck and spaced in the width direction of the truck from the central axis of the truck, preferably symmetrically to the first sensor with respect to the central axis.
  • the first and the second sensor or the first and the third sensor may be identical.
  • the arrangement may further comprise means for determining the relative position of the load relative to the wheel axles of the truck and the longitudinal axis of the truck and / or for determining the weight of the load, and the computing unit may be configured to provide an expected static and / or dynamic To calculate the characteristic from the determined relative position and / or the weight of the load.
  • the calculation unit can be set up to compare the expected parameter with the calculated parameter.
  • the industrial truck may comprise means which are adapted to adapt at least one operating parameter of the industrial truck based on the determined at least one static and / or dynamic characteristic of the industrial truck.
  • a three-sided stacker designated by the reference numeral 1 is shown in an oblique plan view.
  • the three-way stacker 1 has a front axle 10 with a right and a left front wheel and a single (in Fig. 1 not to be seen) rear wheel on.
  • the three-way stacker 1 further comprises a rear portion 12 in which are incorporated functional elements such as a drive motor, various hydraulic devices, and a counterweight.
  • the three-way stacker 1 comprises a telescopic mast 14, on which a driver's cab 16 is guided in a height-adjustable manner.
  • a load-receiving device 18 is pivotally mounted and displaceable in the width direction of the three-way stacker 1, wherein the load-receiving device in turn comprises a fork 20 which can carry a load during operation of the vehicle.
  • the load carried by the load receiving device 18 exerts, as soon as it is raised, depending on its position, a moment on the three-way forklift 1 and in particular the driver's cab 16, since the load-receiving device 18 is connected to the three-way stacker 1 in the area of the driver's cab 16 and thus the Weight of the load in the driver's compartment 16 attacks.
  • Fig. 2 now the driver's cab 16 is shown isolated.
  • the assembly 24 by means of which the driver's station 16 cooperates with the mast 14, the control element 22, through which the driver of the three-way forklift 1 steering commands and other operating instructions to a control device of the vehicle enters, and a bottom plate 26, on the one hand the driver of the vehicle offers a footprint and on the other hand at least part of the weight of the load receives and passes.
  • the bottom plate 26 can easily be elastically twisted during operation of the truck 1 or at least under mechanical tension.
  • Fig. 3 the driver's cab 16 is off Fig. 2 shown again, this time in perspective from diagonally below.
  • the assembly 24 and the bottom plate 26 can be seen again.
  • two elements 28 are shown, on which a rail is mounted in the mounted state, of which the load receiving device 18 is supported and along which it is laterally displaceable in the width direction of the three-way stacker 1. Accordingly, the weight of the load is introduced via the load receiving device 18 and the two elements 28 in the bottom plate 26 of the operator's cab 16.
  • the area in which the elements 28 are connected to the bottom plate 26 is in the lower cutout in FIG Fig. 3 shown enlarged.
  • the load-carrying device carrying member is the bottom plate 26 and the element 28. More specifically, in the enlarged view in FIG Fig. 3 Furthermore, two sensors 30a and 30b are visible, which are attached to the underside of the bottom plate 26. These are voltage pick-up elements that can convert a voltage applied to the bottom plate 26 mechanical stress into an electrical voltage signal.
  • the two sensors 30a and 30b may be wired or wirelessly in communication with a computing unit that receives and processes the signals and thus the data from the sensors. According to the invention, not necessarily both sensors 30a and 30b have to be provided, but rather provide Fig. 3 only particularly suitable positions for the attachment of the sensors 30a and 30b.
  • Fig. 4 in which again the driver's cab 16 is shown, but this time in a view obliquely from above.
  • sensors 32a and 32b are arranged on the upper side of the bottom plate 26. You are thus in the footwell of the vehicle 1.
  • the two sensors 32a and 32b are arranged substantially symmetrically with respect to the central axis of the operator's cab 16 and thus of the three-way stacker 1.
  • the sensors 30a and 30b shown can also be used in Fig. 4 shown sensors 32a and 32b either individually or collectively and they are wireless or wired in contact with a computing unit, not shown.
  • Fig. 5 is now roughly schematically a circuit and connection diagram of the sensors and data processing components shown, which form an inventive arrangement for determining a characteristic of an industrial truck.
  • the already on the basis of Fig. 3 and 4 discussed sensors 30a, 30b, 32a, 32b provide to the computing unit 34 data representing a stress at their respective position.
  • the calculation unit 34 is coupled to a storage unit 36 in which construction parameters of the industrial truck are stored. From the voltage values recorded by the sensors 30a, 30b, 32a, 32b and the design parameters of the industrial truck stored in the storage unit 36, the calculation unit 34 is able to determine static and dynamic characteristics of the industrial truck, such as the current center of gravity position with respect to the truck axles and calculate the wheel and axle loads of the respective wheels or axles.
  • the design parameters stored in the storage unit 36 are preferably inter alia geometric parameters of the industrial truck, such as the relative position of the axes relative to one another and the mass distribution within the industrial truck.
  • the latter can now in turn output signals which are used to adjust the operating parameters of the industrial truck. For example, if the calculation of the current center of gravity has shown that the center of gravity of the truck is offset relatively laterally from the center axis of the truck in the longitudinal direction, a maximum cornering speed can be forcibly limited to eliminate the risk of tilting of the truck when cornering.
  • the maximum permissible speed of the truck are limited, since the braking effect of the braked axle is reduced in such a case compared to an unloaded state.
  • the travel speed or the exit speed or both speeds may be limited based on the measured and processed values.
  • the elements 38a, 38b and 38c in FIG Fig. 5 Accordingly, exemplary represent systems for limiting the maximum cornering speed, the maximum travel speed and the maximum diagonal speed of the truck.
  • FIG. 6 an exemplary output of the two sensors 32a and 32b is shown Fig. 4 shown, wherein the solid line in Fig. 6 the output of the first sensor 32a and the dashed line corresponds to the output of the second sensor 32b.
  • the sensors operate to convert a mechanical voltage applied to the component to which they are attached into an electrical voltage U or U ', the output electrical voltage being proportional to the detected mechanical stress.
  • the output electrical voltage values are plotted over time t.
  • the load-carrying device without carrying a load, is located in the region of the second sensor 32b with respect to the width direction of the truck, wherein the forks of the load receiving device are pivoted in, ie they are oriented parallel to the width direction of the truck.
  • a predetermined load is now lifted by the load receiving device.
  • the lifted load is between the time t 2 and the time t 3 from the position in the region of the second sensor 32b with respect to the width of the truck in the range of first sensor 32a shifted.
  • the load is rotated by 90 °, ie at time t 5 , the fork of the load-carrying device in the longitudinal direction of the truck.
  • the two voltage curves U and U 'over time t are explained as follows: Before the time t 1 , the first sensor 32a outputs a voltage U 0 and the second sensor 32b outputs a voltage U 0 '.
  • the voltage U 0 ' is slightly higher than the voltage U 0 , which can be explained by the fact that the load-receiving device already has a certain weight, which is reflected in the position of the sensor 32b in a higher output voltage.
  • the mechanical stress of a position of the first sensor 32a increases from the time t 2 to the time t 3 from the output voltage U 1 to the output voltage U 2 , after which the lateral displacement movement is completed.
  • the output voltage of the second sensor 32b decreases from the value U 1 'to the value U 2 ' between the time t 2 and the time t 3 , since, as mentioned, the load or its point of application to the bottom plate 26 from the position of second sensor 32b removed.
  • the calculation unit 34 is able to calculate the load moment currently acting on the industrial truck.

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

Claims (18)

  1. Procédé de détermination d'au moins une grandeur caractéristique statique et/ou dynamique d'un chariot élévateur trilatéral (1), comprenant :
    - la mesure directe ou indirecte d'un premier couple engendré par une charge au moyen d'un premier capteur (30a, 30b, 32a, 32b) ;
    - le calcul de la au moins une grandeur caractéristique en utilisant des données de capteur émises par le premier capteur (30a, 30b, 32a, 32b) ;
    dans lequel le chariot élévateur trilatéral (1) comprend un dispositif de réception de charge (18) qui est porté de manière mobile par un élément porteur de dispositif de réception de charge (26, 28), et dans lequel
    le chariot élévateur trilatéral (1) comprend un poste de conduite, sur lequel est prévu un appareil de poussée latérale avec un porte-fourche et des fourches de charge fixées dessus, dans lequel l'élément porteur de dispositif de réception de charge (26, 28) comprend le poste de conduite ainsi que les composants de l'appareil de poussée latérale raccordés fixement au poste de conduite, dans lequel le premier capteur (30a, 30b, 32a, 32b) est associé à l'élément porteur de dispositif de réception de charge (26, 28) du chariot élévateur trilatéral (1) et est agencé dans le sens de la largeur du chariot élévateur trilatéral (1) à distance de l'axe médian du chariot élévateur trilatéral (1).
  2. Procédé selon la revendication 1, comprenant en outre :
    - la consigne de paramètres de construction du chariot élévateur trilatéral (1) dans une unité d'enregistrement (36) ;
    dans lequel lors du calcul de l'au moins une grandeur caractéristique, les paramètres de construction du chariot élévateur trilatéral (1) sont également utilisés.
  3. Procédé selon la revendication 1 ou 2, comprenant en outre :
    - la mesure directe ou indirecte d'un second couple engendré par la charge ou le poids de la charge au moyen d'un deuxième capteur (30a, 30b, 32a, 32b) ;
    dans lequel lors du calcul de la au moins une grandeur caractéristique les données de capteur émises par le deuxième capteur (30a, 30b, 32a, 32b) sont également utilisées.
  4. Procédé selon la revendication 3, caractérisé en ce que le deuxième capteur (30a, 30b, 32a, 32b) ou éventuellement un troisième capteur (30a, 30b, 32a, 32b) est également associé à l'élément porteur de dispositif de réception de charge (26, 28) du chariot élévateur trilatéral (1) et est agencé dans le sens de la largeur du chariot élévateur trilatéral (1) à distance de l'axe médian du chariot élévateur trilatéral (1), de préférence de manière symétrique au premier capteur (30a, 30b, 32a, 32b) par rapport à l'axe médian.
  5. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce qu'il comprend en outre :
    - la détermination de la position relative de la charge par rapport aux essieux de roue du chariot élévateur trilatéral (1) et à l'axe médian du chariot élévateur trilatéral (1) dans le sens longitudinal, et/ou la détermination du poids de la charge ;
    - le calcul d'une grandeur caractéristique statique et/ou dynamique attendue à partir de la position relative déterminée et/ou du poids de la charge ;
    - la comparaison de la grandeur caractéristique attendue avec la grandeur caractéristique calculée.
  6. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que la mesure du premier couple suscité par une charge est effectuée au moyen d'un capteur de tension (30a, 30b, 32a, 32b) ou par détermination d'une déformation élastique d'un élément de construction.
  7. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que la hauteur momentanée de la charge est en outre déterminée.
  8. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que la au moins une grandeur caractéristique statique et/ou dynamique du chariot élévateur trilatéral (1) est la position du centre de gravité momentanée du chariot élévateur trilatéral (1) ou une charge de roue ou d'essieu du chariot élévateur trilatéral.
  9. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce qu'au moins un paramètre de fonctionnement du chariot élévateur trilatéral est adapté au moyen de la au moins une grandeur caractéristique statique et/ou dynamique déterminée du chariot élévateur trilatéral (1).
  10. Chariot élévateur trilatéral (1) comprenant un agencement pour la détermination d'au moins une grandeur caractéristique statique et/ou dynamique d'un chariot élévateur trilatéral (1) comprenant :
    - une unité de calcul (34) ;
    - un premier capteur (30a, 30b, 32a, 32b) qui est agencé et aménagé afin de détecter directement ou indirectement un premier couple engendré par une charge ;
    dans lequel le chariot élévateur trilatéral (1) comprend un dispositif de réception de charge (18) qui est porté de manière mobile par un élément porteur de dispositif de réception de charge (26, 28),
    dans lequel l'unité de calcul (34) est aménagée afin de calculer la au moins une grandeur caractéristique en utilisant des données de capteur émises par le premier capteur (30a, 30b, 32a, 32b),
    dans lequel le chariot élévateur trilatéral (1) comprend un poste de conduite sur lequel est prévu un appareil de poussée latérale avec un porte-fourche et des fourches de charge fixées dessus, dans lequel l'élément porteur de dispositif de réception de charge (26, 28) comprend le poste de conduite ainsi que les composants de l'appareil de poussée latérale raccordés fixement au poste de conduite, et le premier capteur (30a, 30b, 32a, 32b) est associé à l'élément porteur de dispositif de réception de charge (26, 28) du chariot élévateur trilatéral (1) et est agencé dans le sens de la largeur du chariot élévateur trilatéral (1) à distance de l'axe médian du chariot élévateur trilatéral.
  11. Chariot élévateur trilatéral (1) selon la revendication 10, caractérisé en ce qu'une unité d'enregistrement (36) est associée à l'unité de calcul (34), dans laquelle des paramètres de construction du chariot élévateur trilatéral (1) sont enregistrés, et en ce que l'unité de calcul (34) est aménagée afin de calculer la au moins une grandeur caractéristique en utilisant les paramètres de construction du chariot élévateur trilatéral.
  12. Chariot élévateur trilatéral (1) selon la revendication 10 ou 11, caractérisé en ce que l'agencement comprend en outre un deuxième capteur (30a, 30b, 32a, 32b) qui est aménagé afin de détecter un second couple engendré par la charge ou le poids de la charge, et l'unité de calcul (34) est aménagée afin de calculer la au moins une grandeur caractéristique en utilisant des données de capteur émises par le deuxième capteur (30a, 30b, 32a, 32b).
  13. Chariot élévateur trilatéral (1) selon la revendication 12, caractérisé en ce que le deuxième capteur (30a, 30b, 32a, 32b) ou éventuellement un troisième capteur (30a, 30b, 32a, 32b) est également associé à l'élément porteur de dispositif de réception de charge (26, 28) du chariot élévateur trilatéral (1) et est agencé dans le sens de la largeur du chariot élévateur trilatéral (1) à distance de l'axe médian du chariot élévateur trilatéral (1), de préférence de manière symétrique au premier capteur (30a, 30b, 32a, 32b) par rapport à l'axe médian.
  14. Chariot élévateur trilatéral (1) selon l'une quelconque des revendications 12 ou 13, caractérisé en ce que le premier capteur (30a, 30b, 32a, 32b) et le deuxième capteur (30a, 30b, 32a, 32b) ou bien le premier (30a, 30b, 32a, 32b) et le troisième capteur (30a, 30b, 32a, 32b) présentent la même construction.
  15. Chariot élévateur trilatéral (1) selon l'une quelconque des revendications 10 à 14, caractérisé en ce que des moyens sont en outre prévus pour la détermination de la position relative de la charge par rapport aux essieux de roue du chariot élévateur trilatéral et à l'axe médian du chariot élévateur trilatéral dans le sens longitudinal, et/ou la détermination du poids de la charge,
    l'unité de calcul (34) est configurée de sorte à calculer une grandeur caractéristique statique et/ou dynamique attendue à partir de la position relative déterminée et/ou du poids de la charge, et
    l'unité de calcul (34) est en outre configurée de sorte à comparer la grandeur caractéristique attendue avec la grandeur caractéristique calculée.
  16. Chariot élévateur trilatéral selon l'une quelconque des revendications 10 à 15, caractérisé en ce que le premier capteur (30a, 30b, 32a, 32b) est un récepteur de tension (30a, 30b, 32a, 32b) qui détermine une déformation élastique d'un élément de construction.
  17. Chariot élévateur trilatéral (1) selon l'une quelconque des revendications 10 à 16, caractérisé en ce que des moyens pour la détermination de la hauteur momentanée de la charge sont en outre mis à disposition.
  18. Chariot élévateur trilatéral selon l'une quelconque des revendications 10 à 17, caractérisé en ce que des moyens (38a, 38b, 38c) sont en outre prévus, lesquels sont aménagés afin d'adapter au moyen de la au moins une grandeur caractéristique statique et/ou dynamique déterminée du chariot élévateur trilatéral au moins un paramètre de fonctionnement du chariot élévateur trilatéral.
EP16153451.6A 2015-01-30 2016-01-29 Determination de parametres pour chariots de manutention a direction multiple Active EP3050840B1 (fr)

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DE102015201671.4A DE102015201671A1 (de) 2015-01-30 2015-01-30 Kenngrößenbestimmung für Flurförderzeuge

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EP3050840A1 EP3050840A1 (fr) 2016-08-03
EP3050840B1 true EP3050840B1 (fr) 2019-04-10

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Citations (1)

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Publication number Priority date Publication date Assignee Title
DE29824820U1 (de) * 1997-07-23 2002-10-02 Steinbock Gmbh Flurförderzeug

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US4942529A (en) 1988-05-26 1990-07-17 The Raymond Corporation Lift truck control systems
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