EP3070046A1 - Procede de determination de la stabilite au basculement d'un chariot de manutention - Google Patents

Procede de determination de la stabilite au basculement d'un chariot de manutention Download PDF

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Publication number
EP3070046A1
EP3070046A1 EP16158079.0A EP16158079A EP3070046A1 EP 3070046 A1 EP3070046 A1 EP 3070046A1 EP 16158079 A EP16158079 A EP 16158079A EP 3070046 A1 EP3070046 A1 EP 3070046A1
Authority
EP
European Patent Office
Prior art keywords
truck
values
hydraulic
lifting
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.)
Ceased
Application number
EP16158079.0A
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German (de)
English (en)
Inventor
Dr. Kai Haake
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
Original Assignee
STILL GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by STILL GmbH filed Critical STILL GmbH
Publication of EP3070046A1 publication Critical patent/EP3070046A1/fr
Ceased legal-status Critical Current

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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 tipping stability of a truck.
  • the invention relates to a method for detecting the tipping stability of an industrial truck, such as a counterweight forklift, with a load handling device with hydraulic actuators, in particular hydraulic cylinders, wherein in the method by detecting the pressures in the hydraulic actuators acting by a load and / or lifting height forces and a tilting torque is determined by the latter, as well as with at least one further sensor for detecting one or more further parameter values of the industrial truck by a control device.
  • a tilting moment of an industrial truck, in particular of a counterweight forklift truck can be considered with respect to different tilting lines defined by the contact points of the wheels.
  • the most important of these tipping lines is the connecting line between the two points of contact of the front wheels on the front axle.
  • a known system in particular of counterbalanced forklifts, uses a weighing device for the determination of the load on the rear axle for measuring the overturning moment about the front axle.
  • the rear axle load is measured by, for example, the elastic deformation of components, in particular a change in length, according to Hook's law. This is done via strain gauges, which are attached to these components.
  • a tipping stability or tilting moments may be used, for example, displayed for a driver of a truck in a display device, if it can be assumed that these values are also valid.
  • the quality of the calculated or measured values for the tipping stability can be determined by a type of quality value which states whether the calculated values of the tipping stability are plausible with a sufficiently high probability.
  • the object is achieved in that in a method for detecting the tipping stability of a truck, in particular a forklift, with a load handling device with hydraulic actuators, in particular with hydraulic cylinders, wherein in the method by detecting the pressures in the hydraulic actuators by a load and and / or lift-acting forces and via this a tilting moment is determined, and with at least one further sensor for detecting one or more further parameter values of the truck by a control device, the control device from the further parameter values and the detected values a quality value for the detection of the tilting moment determines and, depending on the quality value, the overturning torque is qualified as inadmissible or provided with a safety margin, wherein by the parameter values plausible values for the hydraulic pressures and / or dynamic change the pressures are evaluated to form the quality value.
  • a method for determining the tilt stability is a safety system in which the calculated value for a tilting moment or the calculated tilting stability may only be used if it is a valid value is.
  • a bad quality value for example a false, in particular too low a value for the tipping stability
  • this can be indicated in the display.
  • the normally displayed value for the tilt stability can be completely hidden and a corresponding warning display can be displayed.
  • the quality value is determined by means of an underlying calculation model. A poor quality value can be determined by static and / or dynamic errors arise.
  • the load handling device may be a lifting mast.
  • the parameter values detect position states of the load handling device, in particular end stops of the hydraulic actuators, such as end stops of hydraulic cylinders.
  • a static error can occur if, in a lifting mast, the moving positions of the moving parts are such that an end position, for example, of inclination or lifting movement is achieved and thus part of the force is directly supported, but the corresponding opposing force is measured as pressure in the hydraulic actuator becomes. Positions of the lifting mast can be monitored here as further parameter values.
  • accelerations and / or speeds of the movements of the load handling device can be detected.
  • Dynamic errors are caused by pressure fluctuations and a pressure drop in the hydraulic system depending on the dynamics of movement and have in a first approximation a monotonously increasing course.
  • changes in the flow rates in a hydraulic system wave-shaped pressure fluctuations whose impact on the pressure sensors leads to errors that can be advantageously recognized by a poor quality value due to other parameters.
  • These may be waves due to reflections of the shock waves in the hydraulic system.
  • the behavior of the propagation of pressure fluctuations in a hydraulic system is also heavily dependent on elasticities of the hoses, pipes and their lengths. Frequency response or modeling is therefore difficult to create. The effects of such pressure fluctuations can only be taken into account with simple measuring means of the pressure sensors themselves.
  • limit values can be determined, in particular experimentally, from which values lie outside of tolerances and therefore a poor quality value must be assigned to the system.
  • it is possible to use as further parameter values for example the tilting angular acceleration of a lifting mast or a vehicle speed of the industrial truck.
  • the vehicle speed leads to that extent Pressure fluctuations, as potentially the movement of the truck on uneven ground to fluctuations due to the shocks, for example, when a raised load is supported on a mast via a hydraulic cylinder and the pressure of the hydraulic fluid.
  • the valve opening speed of the hydraulic actuator such as a lift cylinder or tilt cylinder, as well as a speed of a pressure supply of the hydraulic system can also be used as another parameter.
  • corresponding sensors for both electrically operated and manual valves already exist and can therefore be used inexpensively for these purposes.
  • It can be detected as parameter values changes and / or a size of a valve opening of a hydraulic valve, by which a hydraulic actuator is controlled.
  • the poor quality value in the case of a poor quality value, is retained in each case because of dynamic changes in the pressures by a timing function for a follow-up time.
  • the timing function can be used to achieve a follow-up time in which the poor quality value still applies.
  • a decay of vibrations or pressure vibrations can be ensured, which have led to the poor quality value.
  • ergonomics so that, for example, in an optical display of the tilt stability in a display device in the border region it comes to fewer fluctuations and a lower flicker of the display.
  • the overturning moment is displayed in a display device for a driver of the industrial truck and, in the case of a rating as not permissible, no display takes place.
  • the use of the calculated value for the tipping stability can take the form of a warning to a driver, for example visually or acoustically. It is also possible to record the utilization of the truck and the loads, for example, a lifting mast to represent the tipping stability in a display device, as well as the load and the load arm. This ad can take the form of a Traglastdiagramms done with a representation of the driving state and / or lifting state. In addition, it is also possible to perform interventions in the dynamics of the truck as part of a vehicle control, such as a reduction of the vehicle speed, acceleration and also the speed of movement and accelerations of the functions of a mast.
  • the sensed pressures may include one or more of the following: lift pressure of a lift cylinder, Tilting pressure of a tilt cylinder on a rod side and / or Tilting pressure of a tilting cylinder on a ground side.
  • a Hubschersensor By a Hubviksensor the measurement of the load pressure can be detected, for example, when using a hydraulic cylinder as a hydraulic actuator, when the mitebehobenen weight fractions of a load receiving device or a lifting mast are excluded.
  • an additional lifting height sensor or sensor for the lifting stage of a lifting mast which can be extended in several mast shots, a more accurate measurement can be carried out in particular with lifting masts with a free lift.
  • the inclination of a lifting mast or a load receiving device is usually determined by a hydraulic tilting cylinder, which has a bottom side and a rod side with different effective areas, as long as no synchronizing cylinder is used. Through the two sides of the piston of the tilting cylinder, which are under pressure, the mast is set in its inclination in both directions of movement.
  • parameter values detected by at least one further sensor include one or more of the following: acceleration values of inertial sensors on a lift mast, acceleration values of inertial sensors on a fork carriage, acceleration values of inertial sensors of the industrial truck in one or more of the three translational directions, acceleration values inertial sensors of the truck in one or more of the three rotational directions, a temperature of a hydraulic fluid, a flow rate of a hydraulic fluid, a lifting height of a load receiving means of the load handling device, a step value of a stroke level sensor of a lifting mast with one or more extension stages, an inclination angle of a lifting mast, an angle of inclination of the truck, a travel speed of the truck, a steering angle of the truck, a steering speed of the truck, a valve opening of the hydraulic actuator, a valve opening speed of the hydraulic actuator and / or a degree of wear of a tire of the truck.
  • a simplified solution here is the detection of an absolute position, for example, the tilt angle or a lifting height with subsequent differentiation by time.
  • the temperature of the hydraulic fluid or an oil temperature sensor can compensate for measuring errors of the pressure sensors during operation and calibration in the production of the truck.
  • the flow rate of a hydraulic fluid also allows the measurement of a dynamic pressure drop in a hydraulic circuit. This is particularly important when multiple hydraulic consumers are used simultaneously and the flow rate, for example, can not be determined from a pump speed. If, for example, a step transition of a lifting mast can not be detected accurately enough, this does not allow any conclusions as to the flow rate.
  • a lifting height in a lifting height sensor or additionally a step sensor makes it possible to detect the reaching of an end stop. In such a state, for example, supports a mast shot in the end stop on the steel structure and from the hydraulic pressure can not be closed to the actual load.
  • the tilt sensor for the entire truck detects a vehicle inclination, which may be caused by the ground inclination, tire wear, tire elasticity and / or a deflection.
  • the driving speed of the truck in turn affects the unevenness of the ground and resulting vibrations of the entire vehicle to the pressure in the hydraulic system.
  • a valve opening sensor for determining the valve opening and / or valve opening speed, the flow can be determined as an alternative to the determination of the hydraulic flow via the delivery rate of the hydraulic pump.
  • the speed and / or acceleration of the truck is reduced by the control device when an allowable overturning torque is exceeded.
  • the movement range and / or the movement speeds of the load handling device can be limited by the control device when an allowable tilting torque is exceeded, in particular a lifting height, inclination, lifting speed and / or tilting speed of a lifting mast.
  • the truck is a counterbalance forklift with a mast.
  • an automatic identification unit for a lifting mast and / or an attachment which automatically transfers parameter values when it is mounted on an industrial truck. This allows a more accurate determination of the overturning moment, in particular a zero display in a truck with lowered load-carrying means and be set without load, since the weights and moments of the implements or a respective embodiment of the mast can be considered.
  • a further restriction of the possibilities of movement and action of the attachments and / or of the lifting mast is conceivable for ergonomic reasons, in particular beyond a degree that would be physically necessary to force a still controllable load handling.
  • Such an automatic identification system may provide that paired devices are provided on both the mast or implement, as well as on the truck.
  • the Fig. 1 shows schematically in a diagram the sequence of the method according to the invention.
  • a control device 1 receives the value of a tilting cylinder valve port 2, a lift cylinder valve port 3, and a flow rate of a hydraulic fluid 4 and a temperature of the hydraulic fluid 5.
  • the control device 1 also receives a lift pressure 6, a pitch pressure on a bottom side 7, a pitch pressure on a Rod side 8, the values of a Hub Whyn sensor 9, the values of a Hubmonynsensors 10, values of inertial sensors 11 of the mast, a tilt angle 12 of the mast, values of Inertialsensoren 13 of the truck, an absolute tilt angle 14 of the truck, a steering angle 15 and a vehicle speed 16 supplied ,
  • the control device 1 still requires a time signal 17 and mast parameters 18, other vehicle parameters 19 and information 20 from an identification device for the mast and / or attachments.
  • the calculated value for a tilting moment is used for further processing 21, which in use is used as the value for the tilting stability 22, as the value for the load 23, as the value for a load arm 24, for restricting vehicle speed and / or vehicle accelerations, for limiting 26 Movement speeds and / or accelerations of the mast of, for the formation of a load-bearing diagram 27, for warnings 28 or for other 29 may exist.
  • the Fig. 2 schematically shows a further aspect of the method according to the invention, in which is determined schematically by forming a quality value, whether a display 30 of a tilt stability is performed or the value is considered invalid.
  • a parameter value for the mast tilt 31 it is first determined by means of a lower constant 32 and an upper constant 33 whether the values lie in a permitted range.
  • an absolute value 35 of the acceleration of the mast tilt is formed and compared with a maximum permissible value 36.
  • an absolute value of the lifting speed 39 is formed for a stroke value 37 by differentiating 38 and compared with a maximum permissible constant value 40.
  • a speed value 41 is compared with a maximum allowable constant value 42.
  • a quality value is assumed after which a display 30 of the tipping stability is not permitted.
  • the assessment based on the quality value is regularly reset and made again. This will ensure that the dump stability indicator 30 will only occur when a legal value is displayed.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP16158079.0A 2015-03-18 2016-03-01 Procede de determination de la stabilite au basculement d'un chariot de manutention Ceased EP3070046A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102015104069.7A DE102015104069A1 (de) 2015-03-18 2015-03-18 Verfahren zur Bestimmung der Kippstabilität eines Flurförderzeugs

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EP3070046A1 true EP3070046A1 (fr) 2016-09-21

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EP16158079.0A Ceased EP3070046A1 (fr) 2015-03-18 2016-03-01 Procede de determination de la stabilite au basculement d'un chariot de manutention

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EP (1) EP3070046A1 (fr)
DE (1) DE102015104069A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11352243B2 (en) 2018-09-13 2022-06-07 Crown Equipment Corporation System and method for controlling a maximum vehicle speed for an industrial vehicle based on a calculated load

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018133095A1 (de) 2018-12-20 2020-06-25 Still Gmbh Verfahren zur Lastbestimmung bei einem Flurförderzeug und Flurförderzeug

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5995001A (en) * 1997-07-09 1999-11-30 Crown Equipment Corporation Method and apparatus for providing operating information to an operator of a fork lift truck
EP1136433A2 (fr) * 2000-03-22 2001-09-26 Kabushiki Kaisha Toyoda Jidoshokki Seisakusho Chariot élévateur avec un dispositif de mesure du moment de la charge et procédé associé
DE102005012004A1 (de) * 2004-04-07 2005-10-27 Linde Ag Flurförderzeug mit erhöhter statischer/quasistatischer und dynamischer Kippstabilität

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5995001A (en) * 1997-07-09 1999-11-30 Crown Equipment Corporation Method and apparatus for providing operating information to an operator of a fork lift truck
EP1136433A2 (fr) * 2000-03-22 2001-09-26 Kabushiki Kaisha Toyoda Jidoshokki Seisakusho Chariot élévateur avec un dispositif de mesure du moment de la charge et procédé associé
DE102005012004A1 (de) * 2004-04-07 2005-10-27 Linde Ag Flurförderzeug mit erhöhter statischer/quasistatischer und dynamischer Kippstabilität

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11352243B2 (en) 2018-09-13 2022-06-07 Crown Equipment Corporation System and method for controlling a maximum vehicle speed for an industrial vehicle based on a calculated load
US11945705B2 (en) 2018-09-13 2024-04-02 Crown Equipment Corporation System and method for controlling a maximum vehicle speed for an industrial vehicle based on a calculated load

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Publication number Publication date
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