EP3241800B1 - Industrial truck with a device for reducing vibrations - Google Patents

Industrial truck with a device for reducing vibrations Download PDF

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Publication number
EP3241800B1
EP3241800B1 EP17168717.1A EP17168717A EP3241800B1 EP 3241800 B1 EP3241800 B1 EP 3241800B1 EP 17168717 A EP17168717 A EP 17168717A EP 3241800 B1 EP3241800 B1 EP 3241800B1
Authority
EP
European Patent Office
Prior art keywords
load
carrying
industrial truck
support
arrangement
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
EP17168717.1A
Other languages
German (de)
French (fr)
Other versions
EP3241800A1 (en
Inventor
Carsten Schöttke
Ernst-Peter Magens
Jürgen Schmalzl
Hubert Bibernell
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
Application filed by Jungheinrich AG filed Critical Jungheinrich AG
Publication of EP3241800A1 publication Critical patent/EP3241800A1/en
Application granted granted Critical
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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
    • B66F9/07559—Stabilizing means
    • 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
    • B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
    • 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
    • B66F9/122—Platforms; Forks; Other load supporting or gripping members longitudinally movable
    • 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
    • B66F9/148—Whole unit including fork support moves sideways

Definitions

  • the invention can be used with particular advantages in sideloaders and high-bay stacker vehicles, in particular in order-picking three-way forklifts, in which load-carrying fork tines for sideshift operations are oriented or aligned transversely to the straight-ahead direction of the industrial truck.
  • sideloaders in their design as high rack forklift vehicles, the stacking and unstacking of entire pallets and the picking of individual items from the high rack can be effortlessly combined.
  • High-bay stacker vehicles of the type considered here include those in which a driver's seat is arranged on the mast so that it can be moved up and down by means of a driver's seat carrier, with a side shift frame being provided at the front of the driver's seat, which moves up and down together with the driver's seat on the mast is movable and a laterally transverse to Straight-ahead direction of the truck carries back and forth movable load carrying device. Since the driver's seat with an operator sitting on it can be moved vertically on the mast together with the load-carrying device, such industrial trucks are also referred to as man-up vehicles or man-up industrial trucks. In various types of man-up industrial trucks, the mast can be extended and retracted telescopically, with the driver's seat being attached to the highest extendable telescopic stage of the mast in a height-adjustable manner.
  • the load-carrying device movably guided on the side-shift frame can include an auxiliary lifting frame with load-carrying means that can be moved up and down relative to the operator's platform, which are usually load-carrying tines or a load-carrying fork with such load-carrying tines.
  • the auxiliary mast is arranged on a swiveling push-pull device and can be swiveled around a usually vertical axis by approx. 180°, so that the load-carrying fork, which is attached to the auxiliary mast in a height-adjustable manner, can be swiveled from a position with a lateral orientation transverse to the straight-ahead direction of the industrial truck into a position with the opposite lateral orientation can.
  • the pivoting pusher is linearly guided on the sideshift frame.
  • a typical task for the industrial truck is, for example, storing a pallet with a load on it on a shelf, the truck being located in a narrow aisle between shelves of a high-bay warehouse and the pallet being picked up on the load-carrying fork.
  • the pallet is pushed into the rack laterally, transversely to the straight-ahead direction of the industrial truck, provided that the load-carrying fork is already correctly aligned to the side of the rack in the desired storage location and the swiveling push-pull device with the additional lifting frame provided is in a lateral end position on the end of the sideshift frame remote from the shelf in question located.
  • the loaded pallet can then be inserted into the rack by linearly laterally shifting the swiveling pusher along the sideshift frame.
  • Various controllable drive means are provided for driving the various movable components on the mast.
  • they are used to move the load handling attachments on the auxiliary mast, to swivel the auxiliary mast around a vertical axis, to move the load carrying device or the swiveling pusher on the sideshift frame, to move the driver's cab on the mast and, if necessary, to extend and retract the mast telescopically and for moving the sideshift frame relative to the driver's station.
  • these are hydraulic drive means, although other drives should not be excluded.
  • vibrations occur on the mast, in particular vibrations with lateral vibration components, ie vibration components directed transversely to the straight-ahead direction of the truck, especially when driving on uneven ground.
  • vibrations are often all the more violent the higher the operator's platform and its front-mounted devices are raised on the mast and the greater the load that may be picked up by the load-carrying device.
  • Such vibrational movements can be uncomfortable for an operator in the driver's cab and make it difficult or even impossible to store and retrieve pallets from shelves, so that the operator can only safely initiate a storage or retrieval process when the vibrations are stationary truck have subsided.
  • the operator could always drive the industrial truck at a reduced speed when driving on uneven ground To avoid vibration excitations as far as possible. However, both would reduce productivity when working with the industrial truck.
  • the known industrial truck has means for damping or avoiding vibrations in the relative position between the load-receiving section and the mast, ie between the driver's cab (driver's seat) and the mast.
  • This can involve active, semi-active and/or passive vibration damping means that are suitable for generating a force or moment between the mast and the load-carrying section, which is a component along the separate, not for the scheduled operation of the industrial truck intended degree of freedom of movement.
  • damping elements and springs are proposed to reduce vibrations, which counteract a deflection of the mast and the assembly known as the load-carrying section along the separate degree of freedom of movement.
  • a disadvantage of this known solution is a relatively large installation effort to the complete assembly of driver's cab and all together with it on the mast vertically movable load handling components under establishment of the separate, not provided for the scheduled operation of the truck Attach degree of freedom of movement to the mast. Retrofitting an industrial truck in question with these known vibration-reducing measures would also be complicated and expensive.
  • Industrial trucks of the generic type are, for example, from DE 10 2013 014 094 A1 , the DE 39 25 668 A1 and the DE 88 06 324 U1 known.
  • the invention is based on the object of providing an industrial truck of the type mentioned at the outset, which is equipped with vibration-reducing measures that are relatively easy to implement in terms of assembly, which enable efficient vibration-reducing operation, in particular with largely little impact on the comfort of an operator in an onboard driver's seat.
  • the device for reducing vibrations can allow a vibration-reducing compensating movement directly at the interface between the load handling device and a load picked up on its load carrier arrangement, so that the load standing on the load support can perform vibration-reducing compensating movements on the load carrier arrangement together with the load support.
  • the load support could be arranged on the load carrier arrangement in such a way that it can be moved to a limited extent in different directions and possibly even pivoted to a certain extent about one or possibly several axes and its mass and the mass of any load supported on it are different from the mass of the rest of the vehicle is "decoupled from or softly coupled to".
  • a basic idea of the invention is to couple the load support and each load supported on it, ie its mass, and the rest of the vehicle, ie its mass, not rigidly with one another, so that the load support with the load supported on it accelerates movements such as those caused by lifting mast vibrations occur, preferably only indirectly, delayed and phase-shifted and kinetic energy is converted into another form of energy, in particular heat.
  • the load carrier arrangement preferably comprises at least one load-carrying prong, particularly preferably a load-carrying fork with load-carrying prongs, on which the load support is held relative to it for carrying out vibration-reducing movements.
  • the load support can be moved to a limited extent exclusively or at least mainly in the main direction of extension (longitudinal direction) of the load-carrying tines.
  • a load-carrying fork with a pair of load-carrying tines is provided as a load-carrying arrangement, with each of the load-carrying tines carrying a section of the load support assigned to it, and with the sections of the load support being guided on the load-carrying tines for limited movement in the longitudinal direction thereof, so that the sections the load support can perform vibration reduction movements in the longitudinal direction of the load carrying tines.
  • the load support can thus be divided into separate sections.
  • each of the load-carrying prongs is covered on its upper side and on both lateral sides adjacent thereto by a respective assigned section of the load support.
  • the sections of the load support that surround the load-carrying tines on several sides can slide back and forth on the load-carrying tines in their range of movement, e.g. in relation to a preferred rest position or zero position.
  • the sections of the load support are essentially exclusively guided in a sliding manner on the load carrying prongs, wherein at least one of the surfaces sliding on one another can have a friction lining in order to have a braking effect when the sections of the load support move relative to to generate the load bearing prongs.
  • Such friction linings can be provided, for example, on at least one of the lateral side surfaces of a section of the load support and a load-carrying tine that lie opposite one another and touch one another.
  • end stops can be provided that limit the range of movement of the load support.
  • the sections the load support is supported on rollers which are rotatably mounted on the load carrying tines, so that the sections of the load support can perform vibration-reducing movements relative to the load carrying tines with rotation of the rollers.
  • This embodiment of the invention also permits variants.
  • One of these variants could be that the rollers are mounted relatively sluggishly, so that they have a braking effect on the movement dynamics of the sections of the load support, and this can also be varied depending on the mass of a load that is taken up.
  • rollers could also be designed and mounted in such a way that a resilient restoring force, for example a torsion spring, e.g. spiral spring, acts on them, the restoring force loading the roller in question towards a preferred rotational position of rest.
  • a resilient restoring force for example a torsion spring, e.g. spiral spring
  • rollers could also be mounted smoothly and a vibration-reducing movement of the load support could be influenced by means of other devices.
  • a passive and/or active damping system influencing the movement of the load support relative to the load carrier arrangement is coupled to the load carrier arrangement.
  • a damping system can be arranged at a suitable point on the load-bearing device, e.g. on the vertical sections of load-bearing tines (tine backs) or on a fork carriage.
  • this preferably includes a friction damping arrangement.
  • Friction damping arrangements can be realized in various embodiments, for example as a friction clip-friction rail pair, whereby one of the components of such a pair should be coupled to the load carrier arrangement and the other component should be coupled to the load support.
  • a friction damping arrangement that comes into consideration for the present invention can have at least one hydraulic and/or pneumatic friction damping cylinder include.
  • the damping system also includes a spring arrangement that is set in such a way that it loads or prestresses the load support, ie, for example, the sections of the load support held on load-carrying tines, toward a desired rest position (zero position).
  • a spring arrangement that is set in such a way that it loads or prestresses the load support, ie, for example, the sections of the load support held on load-carrying tines, toward a desired rest position (zero position).
  • the damping system comprises at least one active component, in particular at least one controllable hydraulic and/or pneumatic cylinder and/or at least one controllable electric motor, preferably a servo motor, with the active component of the damping system between the load carrier arrangement, i.e. e.g. between a load carrying fork or a load carrying tine thereof and the load support or at least one of the sections thereof is effective to act on the load support in a vibration-reducing manner.
  • the masses of the load support with the load standing on it and the load-carrying device, which are decoupled or softly coupled to reduce vibration, are actively and dynamically tended to be kept in their zero position relative to one another.
  • a controller is provided in an active system to to control active components. Furthermore, sensors can be provided which detect the vibration amplitudes of the mast or components arranged to be height-adjustable thereon, with the control device being able to process data from these sensors in order to control the active components in the sense of an optimized vibration reduction. In this sense, sensors can also be provided which detect the relative movement of the load support relative to the load carrier arrangement.
  • the present invention can be advantageously used in particular in the case of a sideloader, in particular in the design as a high-bay forklift vehicle, in order to reduce transverse vibrations of the mast and components arranged so as to be height-adjustable, i.e. vibrations with components transverse to the straight-ahead direction of the industrial truck.
  • the industrial truck is preferably designed as a side stacker, in particular a three-sided stacker, which has a load carrying fork with load carrying tines as the load carrier arrangement, which are oriented or alignable transversely to the straight-ahead travel direction of the industrial truck, with the load support being able to perform vibration-reducing movements along the load carrying fork tines and thus transversely to the straight-ahead travel direction of the industrial truck .
  • the device for reducing vibrations can be activated and deactivated as desired.
  • a controllable locking device can be provided, which essentially rigidly couples the load support to the load carrier arrangement in the deactivated state of the device for reducing vibrations, and which removes the load support from the rigid
  • Coupling releases when the vibration reduction device is activated.
  • the device for reducing vibrations can be controlled, in particular activated or deactivated, depending on the respective operating state of the industrial truck.
  • the device for reducing vibrations can be controlled, e.g. as a function of the driving acceleration and/or driving speed of the industrial truck, the respective lifting height of the load carrying device, the mass of the load, the alignment of load carrying fork tines, impacts, for example Bumps in the road, etc., with sensors or other detection means being provided for detecting these parameters.
  • the control of the vibration reduction device can change the "rigidity" of the coupling between the load support and the load carrier assembly as a function of one or more of these parameters. The less there is a need for vibration reduction, the more rigid or harder the coupling between the load support and the load carrier arrangement can be set, for example.
  • the device for reducing vibrations is only to be effective for reducing transverse vibrations, it can be provided that it is activated depending on the alignment of the load carrying fork tines and/or depending on the lift height position of the load carrying fork tines and/or only when the industrial truck is in the Narrow aisle is controllable, so that it is effective relative to the straight-ahead direction of the truck, for example in narrow aisles when the load carrying fork tines are positioned transversely.
  • figure 1 shows an embodiment of a in a side view Industrial truck according to the invention, namely a high-rack stacker, which is designed as a three-way stacker.
  • the industrial truck has a chassis 6 that is supported on the driving surface 4 via wheels 2 and a mast 8 that is attached to the chassis 6 in an upright position.
  • the mast 8 is designed to be telescopically extendable in several parts, as shown in figure 1 can be seen from the extended position shown with dashed lines.
  • a driver's seat 12 is attached by means of a driver's seat carrier 24 as a support structure so that it can be moved vertically.
  • the driver's seat 12 is designed as a driver's cab that can be lifted and has a frame with a cab floor, rear wall, side panels and driver's overhead guard 22 .
  • a side shift frame guide 26 is fastened to the driver's seat carrier 24, which in the example is formed from two fixed vertical bars 28, which have guide profiles 30 at their ends and support rails 32 for the side shift frame 34 that can be moved longitudinally therein.
  • the sideshift frame guide 26 allows lateral horizontal displacement of the sideshift frame 34 in a plane transverse to the straight-ahead direction G of the industrial truck (overthrust function). This is a special option of the in 1 truck shown. In models without a transfer function, the side shift frame 34 can be fixed directly to the support structure 24 (in particular at the front of the driver's seat carrier).
  • a known load-carrying device 36 is arranged laterally transverse to the straight-ahead direction G of the industrial truck. It comprises a swiveling pusher 38 which can be moved on the side shift frame 34 and has an auxiliary lifting frame 40 arranged at the front of it, on which a load carrying fork 42 with a fork carrier arrangement can be moved vertically as a load carrier arrangement.
  • the Additional lifting frame 40 is, together with the load-carrying fork 42, about the vertical axis 44 between the in Fig.1 shown position with lateral alignment of the load-carrying fork 42 or their load-carrying tines 43 (transverse alignment to the left in relation to the straight-ahead direction G) and a position with opposite lateral alignment (transverse alignment to the right) of the load-carrying tines 43 pivotable.
  • a special feature of the industrial truck according to the invention is a device for reducing vibrations, which is set up to reduce vibrations with deflection components in the longitudinal direction of the load-bearing fork tines 43 .
  • a load support 50 divided into two sections 50a and 50b is provided, which can be moved to a limited extent relative to the load carrier arrangement 41 and the associated fork arms 43 .
  • the load support 50 forms an interface capable of vibration-reducing movements in the longitudinal direction of the load-carrying fork tines 43 between the load-carrying fork 42 and a load carried thereon (not shown).
  • Each of the load-carrying fork tines 43 is assigned a respective section 50a or 50b of the load support.
  • Each section 50a and 50b of the load support is a sleeve body that sits on the load-carrying fork tine 43 assigned to it and is guided thereon for limited movement in its longitudinal direction, which sleeve body covers the load-carrying fork tine 43 at least on its top side 52 and on the lateral sides 54 adjacent thereto.
  • FIG 2a and in particular Figure 2b which that in Figure 2a If the detail indicated at B is enlarged, some details of the device for reducing vibrations can be seen better.
  • the device for reducing vibrations is also evident in the industrial truck Figure 2a similar sleeve body 50a, 50b as sections of the load support 50, which each cover a fork tine 43 on the top 52 and on the lateral sides 54 to the outside.
  • the sections 50a, 50b of the load support 50 do not have to be closed on the underside. In this regard, a grip on the underside is sufficient, which prevents the respective section 50a, 50b from being lifted off the load-carrying tine 43 assigned to it (cf Figures 3a-3c ).
  • each load-carrying tine 43 has a set of rollers 56, which are attached to the respective load-carrying tine 43 so that they can rotate about mutually parallel, horizontal axes of rotation 58 and support the relevant section 50a or 50b on its surface 53 facing the upper side 52 of the load-carrying tine 43 , so that the sections 50a 50b of the load support 50 can perform vibration-reducing movements relative to the load-carrying tines 43,43 as the rollers 56 rotate.
  • FIG. 1 one of the load bearing portions 50a is shown with a portion broken away to reveal the rollers 56.
  • the principle of the roller support of the sections 50a, 50b on the forks 43 is also in the sectional views in the Figures 3a-3c to recognize.
  • the tops of the rollers 56 are slightly higher than the top 52 of the forks so that the surface 53 of the sections 50a, 50b is preferably supported solely on the rollers.
  • the sections 50a, 50b engage around the rollers 56 with their lateral cheeks 60 their laterally outward-pointing end faces, gripping sections 62 protruding from the lateral cheeks 60 at their lower ends, which grip under the rollers 56 while leaving a small distance, so that the sections 50a, 50b of the load support 50 on the respective load-carrying tine 43 are secured against lifting and are movably guided in the longitudinal direction of the load carrying prongs 43 .
  • the sections 50a, 50b are coupled to the load carrier arrangement 41 by a damping system 64 influencing the movement of the load support 50 relative to the load carrier arrangement 41 (load carrying fork 42).
  • the damping system 64 includes for each section 50a, 50b of the load support 50 a respective hydraulic damping cylinder (possibly also actuator cylinder) 70 and a coil spring 72, which in the embodiment according to Figure 2a - 2b , 3a - 3c are arranged essentially parallel to one another and each connect a vertical section 66 (back) of a relevant load-carrying tine 43 to a rear stop plate 68 of an associated section 50a or 50b.
  • the damping cylinder 70 and the spring 72 form a passive damping system.
  • the spring 72 is designed in such a way that it seeks to urge the respective section 50a or 50b of the load support 50 towards a desired rest position should the section 50a or 50b be deflected out of this desired rest position during its oscillation compensation movements.
  • the damping cylinder 70 is designed in such a way that it exerts a braking effect on vibratory movements of the section 50a or 50b of the load support 50 connected to it in order to convert kinetic energy into another form of energy, in particular heat, so that vibration damping of vibrations of the industrial truck, in particular of the Lifting frame 8, with vibration components in the longitudinal direction of the load bearing tines 43 takes place.
  • vibration damping of vibrations of the industrial truck, in particular of the Lifting frame 8 with vibration components in the longitudinal direction of the load bearing tines 43 takes place.
  • FIGs 4a and 4b is a side view of a variant of a damping system 64x from a cylinder 70x and a pair of springs 72x on a load-carrying tine with an associated section 50a of the load support, specifically in a target rest position of section 50a ( Figure 4a ) and in a deflected position of section 50a ( Figure 4b ).
  • the section 50a extends with a cantilever 73 into the area of the vertical section or back 66 of the load-bearing tine and is articulated there with a lever arm 75 of a two-armed lever 76 mounted laterally on the back 66 so as to be rotatable about a horizontal axis.
  • the second arm 78 of the lever 76 acts on the pair of springs 72x, which acts on the lever 76 and thus on the section 50a of the load support towards a central desired resting position.
  • the second arm 78 of the lever 76 is connected to the pair of springs at the connection point 80 of the pair of springs.
  • the second arm 78 of the lever 76 is connected at the connection point 80 to the piston rod end 82 of the hydraulic damping cylinder 70x, which on the other hand is articulated laterally on the back 66 of the load-bearing tines.
  • a separate friction damping arrangement could be provided with a pair of friction elements, for example a friction plate or friction rail and a friction clamp, which can have friction linings and have a frictional effect, for example, between the lever 76 and the load bearing tine back 66.
  • a variant of the device for reducing vibrations according to the invention Figure 4a and 4b could be that the respective hydraulic cylinder 70x can be operated as an actuator, which can actively move the section 50a of the load support relative to the load-carrying tine and, for example, restores the target rest position (zero position) if the pair of springs 72x alone should not be able to do this .
  • the desired rest position (zero position) of section 50a can be monitored by means of sensors (not shown), which are connected to a control device, which in turn is used to control the actuator.
  • the maximum permissible relative movement between the section 50a of the load support and the load-carrying tine 43 can also be detected and monitored by means of sensors (not shown) and limited by slinging means.
  • the stiffness of the spring arrangements 72 or 72x and/or the frictional effect of the friction damping arrangement or braking effect of the damping cylinder 70 or 70x can be controllable as a function of certain operating parameters or operating conditions of the industrial truck in order to To modulate vibration damping effect as needed.
  • the device for reducing vibrations is activated, for example, with the friction damping arrangement providing a friction effect that is adapted to the current situation. If, when driving over uneven ground, there is a transverse acceleration on the lifting frame 8 and on the driver's seat support 24 and thus on the load-carrying tines aligned transversely to the straight-ahead direction G, the transverse acceleration is transmitted to the load support and any load supported on it via the friction damping arrangement and the spring arrangement 72x. If the inertial force of the "decoupled or softly coupled" masses exceeds the value of the adjusted frictional force and the spring force acting in parallel, there is a relative movement between the load support and the load carrying prongs. This relative movement back and forth relative to the desired rest position reduces the overall vibration amplitude and kinetic energy in the friction damping arrangement is mainly converted into heat.
  • the cylinder 70 in the Figures 3a-3c could be an active actuating cylinder in a corresponding embodiment.
  • a controller is provided in such an active system to control the active components.
  • sensors can be provided which detect the vibration amplitudes of the mast or components arranged thereon such that they can be adjusted in height, with the control device being able to process data from these sensors in order to control the active components in the sense of an optimized vibration reduction.
  • sensors can also be provided which detect the relative movement of the load support relative to the load carrier arrangement.

Description

Die Erfindung betrifft ein Flurförderzeug mit

  • einem Hubgerüst,
  • einer daran auf-und abwärts bewegbaren Lasttragvorrichtung, welche wenigstens ein Lastaufnahmemittel zur Aufnahme einer zu transportierenden Last und eine das Lastaufnahmemittel mit dem Hubgerüst verbindende Tragstruktur aufweist, wobei das Lastaufnahmemittel eine mit der Tragstruktur verbundene Lastträgeranordnung aufweist, und
  • einer Einrichtung zur Reduzierung von Schwingungen.
The invention relates to an industrial truck with
  • a mast,
  • a load-carrying device that can be moved up and down thereon and has at least one load-carrying means for receiving a load to be transported and a support structure connecting the load-carrying means to the lifting frame, the load-carrying means having a load carrier arrangement connected to the support structure, and
  • a device for reducing vibrations.

Die Erfindung kann mit besonderen Vorzügen Anwendung finden bei Seitenstaplern und Hochregalstaplerfahrzeugen, insbesondere bei Kommissionier-Dreiseitenstaplern, bei welchen Lasttraggabelzinken für Seitenschuboperationen quer zur Geradeausfahrtrichtung des Flurförderzeugs orientiert bzw. ausrichtbar sind. Mit solchen Seitenstaplern in ihrer Bauart als Hochregalstaplerfahrzeuge lässt sich das Ein-und Ausstapeln ganzer Paletten und das Kommissionieren einzelner Artikel aus dem Hochregal mühelos verbinden. Hochregalstaplerfahrzeuge der hier betrachteten Art umfassen solche, bei denen ein Fahrerplatz an dem Hubgerüst auf-und abwärts bewegbar mittels eines Fahrerplatzträgers angeordnet ist, wobei an dem Fahrerplatz in dessen Front ein Seitenschubrahmen vorgesehen ist, der zusammen mit dem Fahrerplatz an dem Hubgerüst auf-und abwärts bewegbar ist und eine seitlich quer zur Geradeausfahrtrichtung des Flurförderzeugs hin- und her bewegbare Lasttragvorrichtung trägt. Da der Fahrerplatz mit einer sich darauf befindenden Bedienungsperson zusammen mit der Lasttragvorrichtung vertikal am Hubgerüst verfahrbar ist, bezeichnet man derartige Flurförderzeuge auch als man-up-Fahrzeuge oder man-up-Flurförderzeuge. Bei verschiedenen Bautypen von man-up-Flurförderzeugen ist das Hubgerüst teleskopisch ausfahrbar und einziehbar, wobei der Fahrerplatz an der am höchsten ausfahrbaren Teleskopstufe des Hubgerüstes höhenverstellbar befestigt ist.The invention can be used with particular advantages in sideloaders and high-bay stacker vehicles, in particular in order-picking three-way forklifts, in which load-carrying fork tines for sideshift operations are oriented or aligned transversely to the straight-ahead direction of the industrial truck. With such sideloaders in their design as high rack forklift vehicles, the stacking and unstacking of entire pallets and the picking of individual items from the high rack can be effortlessly combined. High-bay stacker vehicles of the type considered here include those in which a driver's seat is arranged on the mast so that it can be moved up and down by means of a driver's seat carrier, with a side shift frame being provided at the front of the driver's seat, which moves up and down together with the driver's seat on the mast is movable and a laterally transverse to Straight-ahead direction of the truck carries back and forth movable load carrying device. Since the driver's seat with an operator sitting on it can be moved vertically on the mast together with the load-carrying device, such industrial trucks are also referred to as man-up vehicles or man-up industrial trucks. In various types of man-up industrial trucks, the mast can be extended and retracted telescopically, with the driver's seat being attached to the highest extendable telescopic stage of the mast in a height-adjustable manner.

Die an dem Seitenschubrahmen bewegbar geführte Lasttragvorrichtung kann ein Zusatzhubgerüst mit daran relativ zum Fahrerstand auf-und abwärts bewegbaren Lastaufnahmemitteln umfassen, bei denen es sich üblicherweise um Lasttragzinken bzw. um eine Lasttraggabel mit solchen Lasttragzinken handelt. Das Zusatzhubgerüst ist an einem Schwenkschubgerät angeordnet und daran um eine üblicherweise vertikale Achse um ca. 180° schwenkbar, so dass die an dem Zusatzhubgerüst höhenverstellbar befestigte Lasttraggabel aus einer Stellung mit Ausrichtung seitlich quer zur Geradeausfahrtrichtung des Flurförderzeugs in eine Stellung mit entgegengesetzter seitlicher Ausrichtung verschwenkt werden kann. Das Schwenkschubgerät ist an dem Seitenschubrahmen linear geführt.The load-carrying device movably guided on the side-shift frame can include an auxiliary lifting frame with load-carrying means that can be moved up and down relative to the operator's platform, which are usually load-carrying tines or a load-carrying fork with such load-carrying tines. The auxiliary mast is arranged on a swiveling push-pull device and can be swiveled around a usually vertical axis by approx. 180°, so that the load-carrying fork, which is attached to the auxiliary mast in a height-adjustable manner, can be swiveled from a position with a lateral orientation transverse to the straight-ahead direction of the industrial truck into a position with the opposite lateral orientation can. The pivoting pusher is linearly guided on the sideshift frame.

Eine typische Aufgabe für das Flurförderzeug besteht zum Beispiel darin, eine Palette mit darauf befindlicher Last in ein Regal einzulagern, wobei sich das Flurförderzeug in einem Schmalgang zwischen Regalen eines Hochregallagers befindet und die Palette auf der Lasttraggabel aufgenommen ist. Das Einschieben der Palette in das Regal erfolgt seitlich quer zur Geradeausfahrtrichtung des Flurförderzeugs, wobei vorausgesetzt sei, dass die Lasttraggabel bereits seitlich zu dem Regal hin korrekt auf den gewünschten Lagerplatz ausgerichtet ist und sich das Schwenkschubgerät mit dem daran vorgesehenen Zusatzhubgerüst in einer seitlichen Endstellung an dem vom betreffenden Regal entfernten Ende des Seitenschubrahmens befindet. Durch lineares seitliches Verschieben des Schwenkschubgerätes entlang des Seitenschubrahmens kann dann die beladene Palette in das Regal eingeführt werden.A typical task for the industrial truck is, for example, storing a pallet with a load on it on a shelf, the truck being located in a narrow aisle between shelves of a high-bay warehouse and the pallet being picked up on the load-carrying fork. The pallet is pushed into the rack laterally, transversely to the straight-ahead direction of the industrial truck, provided that the load-carrying fork is already correctly aligned to the side of the rack in the desired storage location and the swiveling push-pull device with the additional lifting frame provided is in a lateral end position on the end of the sideshift frame remote from the shelf in question located. The loaded pallet can then be inserted into the rack by linearly laterally shifting the swiveling pusher along the sideshift frame.

Zum Antreiben der verschiedenen bewegbaren Komponenten an dem Hubgerüst sind verschiedene steuerbare Antriebsmittel vorgesehen. Sie dienen je nach Ausstattung des Flurförderzeugs zum Bewegen der Lastaufnahmemittel am Zusatzhubgerüst, zum Schwenken des Zusatzhubgerüstes um eine Hochachse, zum Bewegen der Lasttragvorrichtung bzw. des Schwenkschubgerätes an dem Seitenschubrahmen, zum Bewegen des Fahrerstandes am Hubgerüst und ggf. zum teleskopischen Ausfahren und Einziehen des Hubgerüstes sowie zum Bewegen des Seitenschubrahmens relativ zum Fahrerstand. Üblicherweise und vorzugsweise handelt es sich dabei um hydraulische Antriebsmittel, wobei jedoch andere Antriebe nicht ausgeschlossen sein sollen.Various controllable drive means are provided for driving the various movable components on the mast. Depending on the equipment of the industrial truck, they are used to move the load handling attachments on the auxiliary mast, to swivel the auxiliary mast around a vertical axis, to move the load carrying device or the swiveling pusher on the sideshift frame, to move the driver's cab on the mast and, if necessary, to extend and retract the mast telescopically and for moving the sideshift frame relative to the driver's station. Usually and preferably, these are hydraulic drive means, although other drives should not be excluded.

Es ist ein bekanntes Problem, dass bei Flurförderzeugen der hier betrachteten Art Schwingungen am Hubgerüst, insbesondere Schwingungen mit seitlichen, d.h. quer zur Geradeausfahrtrichtung des Flurförderzeug gerichteten Schwingungskomponenten auftreten, insbesondere bei Fahrt auf unebenem Fahruntergrund. Solche Schwingungen sind oft umso heftiger je höher der Fahrerstand und seine Vorbaugeräte am Hubgerüst angehoben sind und je größer die mittels der Lasttragvorrichtung ggf. aufgenommene Last ist. Solche Schwingungsbewegungen können für eine im Fahrerstand befindliche Bedienungsperson unangenehm sein und machen das Einlagern und Auslagern von Paletten in-und aus Regalen schwierig oder gar zeitweise unmöglich, so dass die Bedienungsperson einen Einlagerungs -oder Auslagerungsvorgang erst dann sicher einleiten kann, wenn die Schwingungen bei stehendem Flurförderzeug abgeklungen sind. Alternativ könnte die Bedienungsperson das Flurförderzeug bei Fahrt auf unebenem Boden grundsätzlich mit reduzierter Geschwindigkeit fahren, um Schwingungsanregungen weitestgehend zu vermeiden. Beides würde jedoch die Produktivität bei der Arbeit mit dem Flurförderzeug senken.It is a known problem that in industrial trucks of the type considered here, vibrations occur on the mast, in particular vibrations with lateral vibration components, ie vibration components directed transversely to the straight-ahead direction of the truck, especially when driving on uneven ground. Such vibrations are often all the more violent the higher the operator's platform and its front-mounted devices are raised on the mast and the greater the load that may be picked up by the load-carrying device. Such vibrational movements can be uncomfortable for an operator in the driver's cab and make it difficult or even impossible to store and retrieve pallets from shelves, so that the operator can only safely initiate a storage or retrieval process when the vibrations are stationary truck have subsided. Alternatively, the operator could always drive the industrial truck at a reduced speed when driving on uneven ground To avoid vibration excitations as far as possible. However, both would reduce productivity when working with the industrial truck.

Aus der EP 2 368 832 B1 ist ein als man-up-Fahrzeug ausgebildetes Flurförderzeug der eingangs genannten Art bekannt, bei dem bereits Maßnahmen zur Schwingungsreduzierung getroffen wurden. Diese Maßnahmen bestehen darin, dass eine als Lastaufnahmeabschnitt bezeichnete, am Hubgerüst auf- und ab bewegbare, den Fahrerplatz und die damit verbundene Lasttragvorrichtung zusammenhängend umfassende Baugruppe so an dem Hubgerüst angebracht ist, dass sie insgesamt quer zur Geradeausfahrtrichtung (Hauptfahrtrichtung) des Flurförderzeugs Bewegungen mit einer seitlichen, d.h. normalerweise horizontalen Bewegungskomponente relativ zu dem Hubgerüst ausführen kann, wobei hierzu ein gesonderter, nicht für den planmäßigen Betrieb des Flurförderzeugs vorgesehener Bewegungsfreiheitsgrad für die Baugruppe eingerichtet ist. Das bekannte Flurförderzeug weist Mittel zum Dämpfen oder Vermeiden von Schwingungen in der relativen Lage zwischen dem Lastaufnahmeabschnitt und dem Hubgerüst, d.h. zwischen dem Fahrerstand (Fahrerplatz) und dem Hubgerüst, auf. Dabei kann es sich um aktive, semiaktive und/oder passive Schwingungsdämpfungsmittel handeln, die geeignet sind, eine Kraft oder einen Moment zwischen dem Hubgerüst und dem Lastaufnahmeabschnitt zu erzeugen, die bzw. das eine Komponente entlang des gesonderten, nicht für den planmäßigen Betrieb des Flurförderzeugs vorgesehenen Bewegungsfreiheitsgrades hat. In der EP 2 368 832 B1 sind zur Schwingungsreduzierung u.a. Dämpfungselemente und Federn vorgeschlagen, die einer Auslenkung des Hubgerüstes und der als Lastaufnahmeabschnitt bezeichneten Baugruppe entlang des gesonderten Bewegungsfreiheitsgrades entgegenwirken. Nachteilig an dieser bekannten Lösung ist ein relativ großer Montageaufwand, um die komplette Baugruppe aus Fahrerstand und allen gemeinsam damit am Hubgerüst vertikal verfahrbaren Lastaufnahmekomponenten unter Einrichtung des gesonderten, nicht für den planmäßigen Betrieb des Flurförderzeugs vorgesehenen Bewegungsfreiheitsgrades an dem Hubgerüst anzubringen. Auch das Nachrüsten eines betreffenden Flurförderzeugs mit diesen bekannten schwingungsreduzierenden Maßnahmen würde sich kompliziert und aufwendig gestalten.From the EP 2 368 832 B1 is designed as a man-up vehicle industrial truck of the type mentioned in which measures have already been taken to reduce vibration. These measures consist in a subassembly called the load-carrying section, which can be moved up and down on the mast and encompasses the driver's seat and the load-carrying device connected to it, being attached to the mast in such a way that, overall, it can move transversely to the straight-ahead direction (main direction of travel) of the industrial truck lateral, ie normally horizontal component of movement relative to the mast, for which purpose a separate degree of freedom of movement not intended for the planned operation of the industrial truck is set up for the assembly. The known industrial truck has means for damping or avoiding vibrations in the relative position between the load-receiving section and the mast, ie between the driver's cab (driver's seat) and the mast. This can involve active, semi-active and/or passive vibration damping means that are suitable for generating a force or moment between the mast and the load-carrying section, which is a component along the separate, not for the scheduled operation of the industrial truck intended degree of freedom of movement. In the EP 2 368 832 B1 Among other things, damping elements and springs are proposed to reduce vibrations, which counteract a deflection of the mast and the assembly known as the load-carrying section along the separate degree of freedom of movement. A disadvantage of this known solution is a relatively large installation effort to the complete assembly of driver's cab and all together with it on the mast vertically movable load handling components under establishment of the separate, not provided for the scheduled operation of the truck Attach degree of freedom of movement to the mast. Retrofitting an industrial truck in question with these known vibration-reducing measures would also be complicated and expensive.

Flurförderzeuge der gattungsgemäßen Art sind beispielsweise aus der DE 10 2013 014 094 A1 , der DE 39 25 668 A1 und der DE 88 06 324 U1 bekannt.Industrial trucks of the generic type are, for example, from DE 10 2013 014 094 A1 , the DE 39 25 668 A1 and the DE 88 06 324 U1 known.

Der Erfindung liegt die Aufgabe zu Grunde, ein Flurförderzeug der eingangs genannten Art bereitzustellen, welches mit montagetechnisch relativ einfach zu realisierenden schwingungsreduzierenden Maßnahmen ausgestattet ist, die einen effizient schwingungsreduzierenden Betrieb insbesondere bei weitgehend geringer Beeinflussung des Aufenthaltskomforts für eine Bedienungsperson auf einem onboard-Fahrerplatz ermöglichen.The invention is based on the object of providing an industrial truck of the type mentioned at the outset, which is equipped with vibration-reducing measures that are relatively easy to implement in terms of assembly, which enable efficient vibration-reducing operation, in particular with largely little impact on the comfort of an operator in an onboard driver's seat.

Erfindungsgemäß wird ein Flurförderzeug mit den Merkmalen des Patentanspruchs 1 vorgeschlagen.According to the invention, an industrial truck with the features of patent claim 1 is proposed.

Gemäß der vorliegenden Erfindung kann die Einrichtung zur Reduzierung von Schwingungen unmittelbar an der Schnittstelle zwischen dem Lastaufnahmemittel und einer auf deren Lastträgeranordnung aufgenommenen Last eine schwingungsreduzierende Ausgleichsbewegung zulassen, so dass die auf der Lastenunterlage aufstehende Last zusammen mit der Lastenunterlage schwingungsreduzierende Ausgleichsbewegungen auf der Lastträgeranordnung ausführen kann. Grundsätzlich könnte die Lastenunterlage so an der Lastträgeranordnung angeordnet sein, dass sie in verschiedenen Richtungen begrenzt bewegbar und ggf. sogar in gewissem Maße um eine oder gegebenenfalls mehrere Achsen schwenkbar gelagert ist und ihre Masse sowie die Masse einer etwaig darauf abgestützten Last von der Masse des Restfahrzeuges "entkoppelt oder weich damit gekoppelt" ist.According to the present invention, the device for reducing vibrations can allow a vibration-reducing compensating movement directly at the interface between the load handling device and a load picked up on its load carrier arrangement, so that the load standing on the load support can perform vibration-reducing compensating movements on the load carrier arrangement together with the load support. In principle, the load support could be arranged on the load carrier arrangement in such a way that it can be moved to a limited extent in different directions and possibly even pivoted to a certain extent about one or possibly several axes and its mass and the mass of any load supported on it are different from the mass of the rest of the vehicle is "decoupled from or softly coupled to".

Ein Grundgedanke der Erfindung besteht darin, die Lastenunterlage und jede darauf abgestützte Last, d.h. deren Massen, und das Restfahrzeug, d.h. dessen Masse, nicht starr miteinander zu koppeln, so dass die Lastenunterlage mit darauf abgestützter Last beschleunigten Bewegungen, wie sie bei Hubmastschwingungen auftreten, vorzugsweise nur indirekt, verzögert und phasenverschoben folgen können und dabei Bewegungsenergie in eine andere Energieform, insbesondere Wärme, umgewandelt wird.A basic idea of the invention is to couple the load support and each load supported on it, ie its mass, and the rest of the vehicle, ie its mass, not rigidly with one another, so that the load support with the load supported on it accelerates movements such as those caused by lifting mast vibrations occur, preferably only indirectly, delayed and phase-shifted and kinetic energy is converted into another form of energy, in particular heat.

Vorzugsweise umfasst die Lastträgeranordnung wenigstens eine Lasttragzinke, besonders bevorzugt eine Lasttraggabel mit Lasttragzinken, an welcher die Lastenunterlage zur Ausführung von Schwingungsreduzierungsbewegungen relativ dazu gehalten ist. Bei einer besonders einfach zu realisierenden Ausführungsform der Erfindung ist die Lastenunterlage ausschließlich oder zumindest hauptsächlich in Haupterstreckungsrichtung (Längsrichtung) der Lasttragzinken begrenzt bewegbar.The load carrier arrangement preferably comprises at least one load-carrying prong, particularly preferably a load-carrying fork with load-carrying prongs, on which the load support is held relative to it for carrying out vibration-reducing movements. In an embodiment of the invention that is particularly easy to implement, the load support can be moved to a limited extent exclusively or at least mainly in the main direction of extension (longitudinal direction) of the load-carrying tines.

Gemäß einer Weiterbildung dieser Ausführungsform der Erfindung ist eine Lasttraggabel mit einem Lasttragzinkenpaar als Lastträgeranordnung vorgesehen, wobei jede der Lasttragzinken einen ihr zugeordneten Abschnitt der Lastenunterlage trägt und wobei die Abschnitte der Lastenunterlage zur begrenzten Bewegung in Längsrichtung der Lasttragzinken an diesen geführt sind, so dass die Abschnitte der Lastenunterlage Schwingungsreduzierungsbewegungen in Längsrichtung der Lasttragzinken ausführen können. Bei einer solchen Ausführungsform der Erfindung kann die Lastenunterlage somit in gesonderte Abschnitte unterteilt sein. Zur Führung der Abschnitte der Lastenunterlage kann es gemäß einer bevorzugten Variante der Erfindung vorgesehen sein, dass jede der Lasttragzinken an ihrer Oberseite und an beiden dazu benachbarten Lateralseiten von einem jeweiligen zugeordneten Abschnitt der Lastenunterlage nach außen überdeckt ist. Dabei können die so die Lasttragzinken mehrseitig umgebenden Abschnitte der Lastenunterlage an den Lasttragzinken in ihrem Bewegungsbereich vor- und zurück rutschen, dies z.B. in Bezug auf eine Vorzugsruhestellung bzw. Nulllage.According to a development of this embodiment of the invention, a load-carrying fork with a pair of load-carrying tines is provided as a load-carrying arrangement, with each of the load-carrying tines carrying a section of the load support assigned to it, and with the sections of the load support being guided on the load-carrying tines for limited movement in the longitudinal direction thereof, so that the sections the load support can perform vibration reduction movements in the longitudinal direction of the load carrying tines. In such an embodiment of the invention, the load support can thus be divided into separate sections. To guide the sections of the load support, it can be provided according to a preferred variant of the invention that each of the load-carrying prongs is covered on its upper side and on both lateral sides adjacent thereto by a respective assigned section of the load support. The sections of the load support that surround the load-carrying tines on several sides can slide back and forth on the load-carrying tines in their range of movement, e.g. in relation to a preferred rest position or zero position.

Gemäß einer Ausführungsform der Erfindung kann es vorgesehen sein, dass die Abschnitte der Lastenunterlage im Wesentlichen ausschließlich gleitend an den Lasttragzinken bewegbar geführt sind, wobei wenigstens eine der aneinander gleitenden Flächen einen Reibbelag aufweisen kann, um eine Bremswirkung bei der Bewegung der Abschnitte der Lastenunterlage relativ zu den Lasttragzinken zu erzeugen. Solche Reibbeläge können beispielsweise an wenigstens einer von einander berührend gegenüberliegenden Lateralseitenflächen eines Abschnittes der Lastenunterlage und einer Lasttragzinke vorgesehen sein. Ganz allgemein können Endanschläge vorgesehen sein, die den Bewegungsbereich der Lastenunterlage begrenzen.According to one embodiment of the invention, it can be provided that the sections of the load support are essentially exclusively guided in a sliding manner on the load carrying prongs, wherein at least one of the surfaces sliding on one another can have a friction lining in order to have a braking effect when the sections of the load support move relative to to generate the load bearing prongs. Such friction linings can be provided, for example, on at least one of the lateral side surfaces of a section of the load support and a load-carrying tine that lie opposite one another and touch one another. Quite generally, end stops can be provided that limit the range of movement of the load support.

Gemäß einer anderen Ausführungsform der Erfindung sind die Abschnitte der Lastenunterlage auf Rollen abgestützt, die an den Lasttragzinken drehbar gelagert sind, so dass die Abschnitte der Lastenunterlage unter Drehung der Rollen Schwingungsreduzierungsbewegungen relativ zu den Lasttragzinken ausführen können. Auch diese Ausführungsform der Erfindung lässt Varianten zu. Eine dieser Varianten könnte darin bestehen, dass die Rollen relativ schwergängig gelagert sind, so dass sie eine Bremswirkung auf die Bewegungsdynamik der Abschnitte der Lastenunterlage haben, wobei dies auch noch in Abhängigkeit von der Masse einer aufgenommenen Last variierbar sein kann.According to another embodiment of the invention, the sections the load support is supported on rollers which are rotatably mounted on the load carrying tines, so that the sections of the load support can perform vibration-reducing movements relative to the load carrying tines with rotation of the rollers. This embodiment of the invention also permits variants. One of these variants could be that the rollers are mounted relatively sluggishly, so that they have a braking effect on the movement dynamics of the sections of the load support, and this can also be varied depending on the mass of a load that is taken up.

Zusätzlich oder alternativ könnten die Rollen auch so ausgestaltet und gelagert sein, dass eine federnde Rückstellkraft beispielsweise einer Drehfeder, z.B. Spiralfeder, auf sie wirkt, wobei die Rückstellkraft die betreffende Rolle zu einer Vorzugsruhedrehstellung hin belastet.Additionally or alternatively, the rollers could also be designed and mounted in such a way that a resilient restoring force, for example a torsion spring, e.g. spiral spring, acts on them, the restoring force loading the roller in question towards a preferred rotational position of rest.

Gemäß einer weiteren Variante könnten die Rollen auch leichtgängig gelagert sein und eine schwingungsmindernde Bewegungsbeeinflussung der Lastenunterlage mittels anderer Einrichtungen vorzunehmen sein.According to a further variant, the rollers could also be mounted smoothly and a vibration-reducing movement of the load support could be influenced by means of other devices.

Erfindungsgemäß ist ein die Bewegung der Lastenunterlage relativ zur Lastenträgeranordnung beeinflussendes passives oder/und aktives Dämpfungssystem mit der Lastenträgeranordnung gekoppelt sein. Ein solches Dämpfungssystem kann an geeigneter Stelle der Lasttragvorrichtung, z.B. an Vertikalabschnitten von Lasttragzinken (Zinkenrücken) oder an einem Gabelträger angeordnet sein.According to the invention, a passive and/or active damping system influencing the movement of the load support relative to the load carrier arrangement is coupled to the load carrier arrangement. Such a damping system can be arranged at a suitable point on the load-bearing device, e.g. on the vertical sections of load-bearing tines (tine backs) or on a fork carriage.

Insbesondere in der Ausführungsform als passives Dämpfungssystem umfasst dieses vorzugsweise eine Reibungsdämpfungsanordnung.Particularly in the embodiment as a passive damping system, this preferably includes a friction damping arrangement.

Reibungsdämpfungsanordnungen sind in diversen Ausführungsformen realisierbar, so z.B. als Reibungsklammer-Reibungsschiene-Paar, wobei eine der Komponenten eines solchen Paares an der Lastenträgeranordnung-und die andere Komponente an der Lastenunterlage angekoppelt sein sollte.Friction damping arrangements can be realized in various embodiments, for example as a friction clip-friction rail pair, whereby one of the components of such a pair should be coupled to the load carrier arrangement and the other component should be coupled to the load support.

Eine für die vorliegende Erfindung in Frage kommende Reibungsdämpfungsanordnung kann gemäß einer Ausführungsform wenigstens einen hydraulischen oder/und pneumatischen Reibungsdämpfungszylinder umfassen.According to one embodiment, a friction damping arrangement that comes into consideration for the present invention can have at least one hydraulic and/or pneumatic friction damping cylinder include.

Vorzugsweise umfasst das Dämpfungssystem ferner eine Federanordnung, die so eingestellt ist, dass sie die Lastenunterlage, also beispielsweise die auf Lasttragzinken aufgenommenen Abschnitte der Lastenunterlage zu einer Soll-Ruhestellung (Nulllage) hin belasten oder vorspannen.Preferably, the damping system also includes a spring arrangement that is set in such a way that it loads or prestresses the load support, ie, for example, the sections of the load support held on load-carrying tines, toward a desired rest position (zero position).

Auch kann es vorgesehen sein, dass eine Bewegung der Lastenunterlage relativ zur Lasttragzinke bis zum Stillstand außerhalb der Nullposition durch Reibung (oder ggf. an einem Anschlag) gebremst wird und die Reibungsbremse dann gelüftet wird, so dass dann die Lastenunterlage mittels Federkraft oder und durch einen Stellantrieb wieder in eine Nullposition gebracht wird.Provision can also be made for the movement of the load support relative to the load-carrying prong to be braked by friction (or, if necessary, at a stop) until it comes to a standstill, and the friction brake is then released, so that the load support can then be lifted by means of spring force or by a Actuator is brought back to a zero position.

Erfindungsgemäß umfasst das Dämpfungssystem wenigstens eine aktive Komponente, insbesondere wenigstens einen steuerbaren hydraulischen oder/und pneumatischen Zylinder oder/und wenigstens einen steuerbaren Elektromotor, vorzugsweise einen Servomotor, wobei die aktive Komponente des Dämpfungssystems zwischen der Lastenträgeranordnung, also z.B. zwischen einer Lasttraggabel oder einer Lasttragzinke davon und der Lastenunterlage bzw. wenigstens einem der Abschnitte davon wirksam ist, um die Lastenunterlage in schwingungsreduzierende Weise zu beaufschlagen. Dabei werden die zur Schwingungsreduzierung entkoppelten bzw. weich gekoppelten Massen der Lastenunterlage mit darauf stehender Last und der Lasttragvorrichtung aktiv und dynamisch tendenziell in ihrer Nullposition zueinander gehalten.According to the invention, the damping system comprises at least one active component, in particular at least one controllable hydraulic and/or pneumatic cylinder and/or at least one controllable electric motor, preferably a servo motor, with the active component of the damping system between the load carrier arrangement, i.e. e.g. between a load carrying fork or a load carrying tine thereof and the load support or at least one of the sections thereof is effective to act on the load support in a vibration-reducing manner. The masses of the load support with the load standing on it and the load-carrying device, which are decoupled or softly coupled to reduce vibration, are actively and dynamically tended to be kept in their zero position relative to one another.

Eine Steuerungseinrichtung ist in einem aktiven System vorgesehen, um die aktiven Komponenten zu steuern. Ferner können Sensoren vorgesehen sein, die Schwingungsamplituden des Hubgerüstes oder daran höhenbeweglich angeordneten Komponenten erfassen, wobei die Steuerungseinrichtung Daten dieser Sensoren verarbeiten kann, um die aktiven Komponenten im Sinne einer optimierten Schwingungsreduzierung zu steuern. In diesem Sinne können auch Sensoren vorgesehen sein, die die Relativbewegung der Lastenunterlage relativ zur Lastenträgeranordnung erfassen.A controller is provided in an active system to to control active components. Furthermore, sensors can be provided which detect the vibration amplitudes of the mast or components arranged to be height-adjustable thereon, with the control device being able to process data from these sensors in order to control the active components in the sense of an optimized vibration reduction. In this sense, sensors can also be provided which detect the relative movement of the load support relative to the load carrier arrangement.

Wie oben bereits dargelegt, kann die vorliegende Erfindung insbesondere bei einem Seitenstapler, insbesondere in der Bauform als Hochregalstaplerfahrzeug, vorteilhaft eingesetzt werden, um Querschwingungen des Hubgerüstes und daran höhenbeweglich angeordneter Komponenten, d.h. Schwingungen mit Komponenten quer zur Geradeausfahrtrichtung des Flurförderzeugs, zu reduzieren. Demgemäß ist das Flurförderzeug bevorzugt als Seitenstapler, insbesondere Dreiseitenstapler, ausgebildet, welcher als Lastträgeranordnung eine Lasttraggabel mit Lasttragzinken aufweist, welche quer zur Geradeausfahrtrichtung des Flurförderzeugs orientiert bzw. ausrichtbar sind, wobei die Lastenunterlage Schwingungsreduzierungsbewegungen längs der Lasttraggabelzinken und somit quer zur Geradeausfahrtrichtung des Flurförderzeugs ausführen kann.As already explained above, the present invention can be advantageously used in particular in the case of a sideloader, in particular in the design as a high-bay forklift vehicle, in order to reduce transverse vibrations of the mast and components arranged so as to be height-adjustable, i.e. vibrations with components transverse to the straight-ahead direction of the industrial truck. Accordingly, the industrial truck is preferably designed as a side stacker, in particular a three-sided stacker, which has a load carrying fork with load carrying tines as the load carrier arrangement, which are oriented or alignable transversely to the straight-ahead travel direction of the industrial truck, with the load support being able to perform vibration-reducing movements along the load carrying fork tines and thus transversely to the straight-ahead travel direction of the industrial truck .

Damit soll jedoch nicht unbedingt eine Ausführungsform der Erfindung ausgeschlossen sein, bei der es sich um ein Flurförderzeug mit in Geradeausfahrtrichtung orientierten Lasttraggabelzinken handelt.However, this should not necessarily exclude an embodiment of the invention which is an industrial truck with load-carrying fork tines oriented in the direction of travel straight ahead.

Die Einrichtung zur Reduzierung von Schwingungen ist wahlweise aktivierbar und deaktivierbar. Hierzu kann eine steuerbare Verriegelungsvorrichtung vorgesehen sein, welche die Lastenunterlage mit der Lastträgeranordnung im deaktivierten Zustand der Einrichtung zur Reduzierung von Schwingungen im Wesentlichen starr koppelt, und welche die Lastenunterlage aus der starrenThe device for reducing vibrations can be activated and deactivated as desired. For this purpose, a controllable locking device can be provided, which essentially rigidly couples the load support to the load carrier arrangement in the deactivated state of the device for reducing vibrations, and which removes the load support from the rigid

Kopplung freigibt, wenn die Einrichtung zur Reduzierung von Schwingungen aktiviert wird.Coupling releases when the vibration reduction device is activated.

Gemäß einer Ausführungsform der Erfindung ist die Einrichtung zur Reduzierung von Schwingungen in Abhängigkeit vom jeweiligen Betriebszustand des Flurförderzeugs steuerbar, insbesondere aktivierbar bzw. deaktivierbar. Die Steuerung der Einrichtung zur Reduzierung von Schwingungen kann je nach Ausgestaltung dieser Ausführungsform z.B. in Abhängigkeit von der Fahrbeschleunigung oder/und Fahrgeschwindigkeit des Flurförderzeugs, von der jeweiligen Hubhöhe der Lasttragvorrichtung, der Masse der Last, von der Ausrichtung von Lasttraggabelzinken, von Stößen, etwa bei Fahrbahnunebenheiten, usw. erfolgen, wobei Sensoren oder sonstige Erfassungsmittel zur Erfassung dieser Parameter vorgesehen sind. So kann gemäß einer Variante der Erfindung die Steuerung der Einrichtung zur Reduzierung von Schwingungen die "Starrheit bzw. Härte" der Kopplung zwischen der Lastenunterlage und der Lastträgeranordnung in Abhängigkeit von einem oder mehreren dieser Parameter ändern. Je weniger Schwingungsreduzierungsbedarf gegeben ist, desto starrer bzw. härter kann die Kopplung zwischen Lastenunterlage und Lastträgeranordnung beispielsweise eingestellt werden.According to one embodiment of the invention, the device for reducing vibrations can be controlled, in particular activated or deactivated, depending on the respective operating state of the industrial truck. Depending on the design of this embodiment, the device for reducing vibrations can be controlled, e.g. as a function of the driving acceleration and/or driving speed of the industrial truck, the respective lifting height of the load carrying device, the mass of the load, the alignment of load carrying fork tines, impacts, for example Bumps in the road, etc., with sensors or other detection means being provided for detecting these parameters. Thus, according to a variant of the invention, the control of the vibration reduction device can change the "rigidity" of the coupling between the load support and the load carrier assembly as a function of one or more of these parameters. The less there is a need for vibration reduction, the more rigid or harder the coupling between the load support and the load carrier arrangement can be set, for example.

Soll die Einrichtung zur Reduzierung von Schwingungen beispielsweise nur zur Reduzierung von Querschwingungen wirksam werden, so kann es vorgesehen sein, dass sie in Abhängigkeit von der Ausrichtung der Lasttraggabelzinken oder/und in Abhängigkeit von der Hubhöhenstellung der Lasttraggabelzinken oder/und nur bei Aufenthalt des Flurförderzeugs im Schmalgang steuerbar ist, so dass sie beispielsweise im Schmalgang bei Querstellung der Lasttraggabelzinken relativ zur Geradeausfahrtrichtung des Flurförderzeugs wirksam ist.If, for example, the device for reducing vibrations is only to be effective for reducing transverse vibrations, it can be provided that it is activated depending on the alignment of the load carrying fork tines and/or depending on the lift height position of the load carrying fork tines and/or only when the industrial truck is in the Narrow aisle is controllable, so that it is effective relative to the straight-ahead direction of the truck, for example in narrow aisles when the load carrying fork tines are positioned transversely.

Ausführungsbeispiele der Erfindung werden nachstehend unter Bezugnahme auf die Figuren erläutert.

  • Figur 1 zeigt in einer Seitenansicht ein Ausführungsbeispiel eines Flurförderzeugs nach der Erfindung, welches als Dreiseiten-Hochregalstapler ausgebildet ist.
  • Figur 2a zeigt einen dem Dreiseiten-Hochregalstapler aus Figur 1 sehr ähnlichen Dreiseiten-Hochregalstapler nach der Erfindung in einer perspektivischen Darstellung.
  • Figur 2b zeigt einen in Figur 2a mit B gekennzeichneten Bereich in vergrößerter Darstellung, wobei ein Lastenauflageabschnitt mit einem Ausbruch dargestellt ist, um Rollen erkennbar zu machen.
  • Figur 3a zeigt in einer Schnittseitenansicht mit der in Figur 3b bei A-A angedeuteten Schnittebene eine Lasttragzinke mit darauf aufsitzendem Lastenauflageabschnitt.
  • Figur 3b zeigt einen Schnitt durch die Anordnung aus Figur 3a mit der in Figur 3a bei B-B gekennzeichnet Schnittebene.
  • Figur 3c zeigt die Anordnung aus Figur 3b, nämlich ein Lasttragzinkenpaar mit darauf aufsitzenden Lastenauflageabschnitten, die eine Palette untergreifen.
  • Figur 4a und Figur 4b zeigen Seitenansichten einer Lasttragzinke mit Zinkenrücken und einem auf der Lasttragzinke aufsitzenden Lastenauflageabschnitt und mit Komponenten eines Schwingungsdämpfungssystems, die seitlich an dem Zinkenrücken angeordnet sind, wobei der Lastenauflageabschnitt in Figur 4a in einer Nullposition- und in Figur 4b in einer ausgelenkten Position dargestellt ist.
Embodiments of the invention are explained below with reference to the figures.
  • figure 1 shows a side view of an embodiment of an industrial truck according to the invention, which is designed as a three-sided high-bay stacker.
  • Figure 2a shows one of the three-sided high rack stacker figure 1 very similar three-sided high rack stacker according to the invention in a perspective view.
  • Figure 2b shows an in Figure 2a Area marked B in an enlarged view showing a load bearing section with a breakout to reveal rollers.
  • Figure 3a shows in a cut side view with the in Figure 3b a load-carrying tine with a load bearing section seated on it at the sectional plane indicated at AA.
  • Figure 3b shows a section through the arrangement Figure 3a with the inside Figure 3a at BB marked cutting plane.
  • Figure 3c shows the arrangement Figure 3b , namely a pair of load-bearing tines with load bearing sections seated thereon, which engage under a pallet.
  • Figure 4a and Figure 4b show side views of a load bearing tine with a tine back and a load bearing section seated on the load bearing tine and with components of a vibration damping system which are arranged laterally on the tine back, the load bearing section in Figure 4a in a zero position and in Figure 4b is shown in a deflected position.

Figur 1 zeigt in einer Seitenansicht ein Ausführungsbeispiel eines Flurförderzeugs nach der Erfindung, nämlich einen Hochregalstapler, der als Dreiseitenstapler ausgebildet ist. figure 1 shows an embodiment of a in a side view Industrial truck according to the invention, namely a high-rack stacker, which is designed as a three-way stacker.

Das Flurförderzeug weist ein über Räder 2 am Fahruntergrund 4 abgestütztes Chassis 6 und ein an dem Chassis 6 aufrecht stehend befestigtes Hubgerüst 8 auf. Das Hubgerüst 8 ist mehrteilig teleskopisch ausfahrbar ausgebildet, wie dies in Figur 1 anhand der mit gestrichelten Linien gezeigten Ausfahrstellung zu erkennen ist. An der am weitesten ausfahrbaren Teleskopstufe 10 des Hubgerüstes 8 ist ein Fahrerplatz 12 vermittels eines Fahrerplatzträgers 24 als Tragstruktur vertikal verfahrbar angebracht. Der Fahrerplatz 12 ist als hebbare Fahrerkabine ausgestaltet, die einen Rahmen mit Kabinenboden, Rückwand, Wangen und Fahrerschutzdach 22 aufweist. In Front des Fahrerplatzes 12 ist am Fahrerplatzträger 24 eine Seitenschubrahmenführung 26 befestigt, die im Beispielsfall aus zwei feststehenden vertikalen Holmen 28 gebildet ist, die an ihren Enden Führungsprofile 30 und darin längs verschiebbare Halteschienen 32 für den Seitenschubrahmen 34 aufweisen.The industrial truck has a chassis 6 that is supported on the driving surface 4 via wheels 2 and a mast 8 that is attached to the chassis 6 in an upright position. The mast 8 is designed to be telescopically extendable in several parts, as shown in figure 1 can be seen from the extended position shown with dashed lines. At the most extendable telescopic stage 10 of the mast 8, a driver's seat 12 is attached by means of a driver's seat carrier 24 as a support structure so that it can be moved vertically. The driver's seat 12 is designed as a driver's cab that can be lifted and has a frame with a cab floor, rear wall, side panels and driver's overhead guard 22 . In the front of the driver's seat 12, a side shift frame guide 26 is fastened to the driver's seat carrier 24, which in the example is formed from two fixed vertical bars 28, which have guide profiles 30 at their ends and support rails 32 for the side shift frame 34 that can be moved longitudinally therein.

Die Seitenschubrahmenführung 26 erlaubt ein seitlich horizontales Verschieben des Seitenschubrahmens 34 in einer Ebene quer zur Geradeausfahrtrichtung G des Flurförderzeuges (Überschubfunktion). Hierbei handelt es sich um eine spezielle Option des in Fig. 1 gezeigten Flurförderzeugs. Der Seitenschubrahmen 34 kann bei Modellen ohne Überschubfunktion unmittelbar an der Tragstruktur 24 (insbesondere vorne am Fahrerplatzträger) fixiert sein.The sideshift frame guide 26 allows lateral horizontal displacement of the sideshift frame 34 in a plane transverse to the straight-ahead direction G of the industrial truck (overthrust function). This is a special option of the in 1 truck shown. In models without a transfer function, the side shift frame 34 can be fixed directly to the support structure 24 (in particular at the front of the driver's seat carrier).

An dem Seitenschubrahmen 34 ist eine an sich bekannte Lasttragvorrichtung 36 seitlich quer zur Geradeausfahrtrichtung G des Flurförderzeugs verschiebbar angeordnet. Sie umfasst ein an dem Seitenschubrahmen 34 verfahrbares Schwenkschubgerät 38 mit einem vorne daran angeordneten Zusatzhubgerüst 40, an welchem als Lastträgeranordnung eine Lasttraggabel 42 mit einer Gabelträgeranordnung vertikal verfahrbar ist. Das Zusatzhubgerüst 40 ist zusammen mit der Lasttraggabel 42 um die Hochachse 44 zwischen der in Fig.1 gezeigten Stellung mit seitlicher Ausrichtung der Lasttraggabel 42 bzw. deren Lasttragzinken 43 (Querausrichtung nach links in Bezug auf die Geradeausfahrtrichtung G) und einer Stellung mit entgegengesetzter seitlicher Ausrichtung (Querausrichtung nach rechts) der Lasttragzinken 43 schwenkbar.On the side shift frame 34, a known load-carrying device 36 is arranged laterally transverse to the straight-ahead direction G of the industrial truck. It comprises a swiveling pusher 38 which can be moved on the side shift frame 34 and has an auxiliary lifting frame 40 arranged at the front of it, on which a load carrying fork 42 with a fork carrier arrangement can be moved vertically as a load carrier arrangement. The Additional lifting frame 40 is, together with the load-carrying fork 42, about the vertical axis 44 between the in Fig.1 shown position with lateral alignment of the load-carrying fork 42 or their load-carrying tines 43 (transverse alignment to the left in relation to the straight-ahead direction G) and a position with opposite lateral alignment (transverse alignment to the right) of the load-carrying tines 43 pivotable.

Besonderheit des Flurförderzeugs nach der Erfindung ist eine Einrichtung zur Reduzierung von Schwingungen, welche dazu eingerichtet ist, Schwingungen mit Auslenkungskomponenten in Längsrichtung der Lasttraggabelzinken 43 zu reduzieren. Hierzu ist in dem gezeigten Ausführungsbeispiel eine in zwei Abschnitte 50a und 50b unterteilte Lastenunterlage 50 vorgesehen, die relativ zu der Lastenträgeranordnung 41 und den zugehörigen Gabelzinken 43 begrenzt bewegbar ist. Die Lastenunterlage 50 bildet eine zu Schwingungsreduzierungsbewegungen in Längsrichtung der Lasttraggabelzinken 43 fähige Schnittstelle zwischen der Lasttraggabel 42 und einer darauf aufgenommenen Last (nicht gezeigt). Jeder der Lasttraggabelzinken 43 ist ein jeweiliger Abschnitt 50a bzw. 50b der Lastenunterlage zugeordnet. Jeder Abschnitt 50a und 50b der Lastenunterlage ist ein auf der ihm zugeordneten Lasttraggabelzinke 43 aufsitzender und daran zur begrenzten Bewegung in deren Längsrichtung geführter Hülsenkörper, der die Lasttraggabelzinke 43 zumindest an deren Oberseite 52 und an den daran angrenzenden Lateralseiten 54 nach außen überdeckt.A special feature of the industrial truck according to the invention is a device for reducing vibrations, which is set up to reduce vibrations with deflection components in the longitudinal direction of the load-bearing fork tines 43 . For this purpose, in the exemplary embodiment shown, a load support 50 divided into two sections 50a and 50b is provided, which can be moved to a limited extent relative to the load carrier arrangement 41 and the associated fork arms 43 . The load support 50 forms an interface capable of vibration-reducing movements in the longitudinal direction of the load-carrying fork tines 43 between the load-carrying fork 42 and a load carried thereon (not shown). Each of the load-carrying fork tines 43 is assigned a respective section 50a or 50b of the load support. Each section 50a and 50b of the load support is a sleeve body that sits on the load-carrying fork tine 43 assigned to it and is guided thereon for limited movement in its longitudinal direction, which sleeve body covers the load-carrying fork tine 43 at least on its top side 52 and on the lateral sides 54 adjacent thereto.

Das in Figur 2a perspektivisch dargestellte Flurförderzeug ist ebenfalls ein Dreiseitenstapler mit einer Einrichtung zur Reduzierung von Schwingungen, welcher sich für die Zwecke der Erläuterung der Erfindung von dem in Figur 1 gezeigten Flurförderzeug nur unwesentlich unterscheidet. Die in Bezug auf das Flurförderzeug in Figur 1 gemachten Aussagen treffen in gleicher Weise auch auf das Flurförderzeug in Figur 2 zu. Merkmale in Figur 2a, die gegenständlich oder funktional Merkmalen in Figur 1 entsprechen, sind mit korrespondierend gleichen Bezugszeichen wie die betreffenden Merkmale in Figur 1 markiert.This in Figure 2a The industrial truck shown in perspective is also a three-way forklift with a device for reducing vibrations, which, for the purpose of explaining the invention, differs from that in figure 1 truck shown differs only slightly. In relation to the industrial truck in figure 1 The statements made also apply to the industrial truck in the same way figure 2 to. features in Figure 2a that have representational or functional characteristics in figure 1 correspond, are with Correspondingly the same reference numerals as the relevant features in figure 1 marked.

In Figur 2a und insbesondere in Figur 2b, welche das in Figur 2a bei B angedeutete Detail vergrößert darstellt, sind einige Details der Einrichtung zur Reduzierung von Schwingungen besser zu erkennen. Die Einrichtung zur Reduzierung von Schwingungen weist auch bei dem Flurförderzeug nach Figur 2a gleichartige Hülsenkörper 50a, 50b als Abschnitte der Lastenunterlage 50 auf, welche jeweils eine Gabelzinke 43 an der Oberseite 52 und an den Lateralseiten 54 nach außen hin überdecken. Unterseitig müssen die Abschnitte 50a, 50b der Lastenunterlage 50 nicht geschlossen sein. Diesbezüglich reicht ein unterseitiger Umgriff, der ein Abheben des jeweiligen Abschnittes 50a, 50b von der ihm zugeordneten Lasttragzinke 43 unterbindet (vergleiche hierzu auch die Figuren 3a-3c).In Figure 2a and in particular Figure 2b , which that in Figure 2a If the detail indicated at B is enlarged, some details of the device for reducing vibrations can be seen better. The device for reducing vibrations is also evident in the industrial truck Figure 2a similar sleeve body 50a, 50b as sections of the load support 50, which each cover a fork tine 43 on the top 52 and on the lateral sides 54 to the outside. The sections 50a, 50b of the load support 50 do not have to be closed on the underside. In this regard, a grip on the underside is sufficient, which prevents the respective section 50a, 50b from being lifted off the load-carrying tine 43 assigned to it (cf Figures 3a-3c ).

An beiden Lateralseiten 54 weist jede Lasttragzinke 43 einen Satz Rollen 56 auf, die um parallel zueinander verlaufende, horizontale Drehachsen 58 drehbar an der jeweiligen Lasttragzinke 43 befestigt sind und den betreffenden Abschnitt 50a oder 50b an dessen der Oberseite 52 der Lasttragzinke 43 zugewandten Fläche 53 abstützen, so dass die Abschnitte 50a 50b der Lastenunterlage 50 unter Drehung der Rollen 56 Schwingungsreduzierungsbewegungen relativ zu den Lasttragzinken 43,43 ausführen können. In Figur 2a und Figur 2b ist einer der Lastenauflageabschnitte 50a mit einer ausgebrochenen Stelle dargestellt, um die Rollen 56 erkennbar zu machen.On both lateral sides 54, each load-carrying tine 43 has a set of rollers 56, which are attached to the respective load-carrying tine 43 so that they can rotate about mutually parallel, horizontal axes of rotation 58 and support the relevant section 50a or 50b on its surface 53 facing the upper side 52 of the load-carrying tine 43 , so that the sections 50a 50b of the load support 50 can perform vibration-reducing movements relative to the load-carrying tines 43,43 as the rollers 56 rotate. In Figure 2a and Figure 2b 1, one of the load bearing portions 50a is shown with a portion broken away to reveal the rollers 56. FIG.

Das Prinzip der Rollenabstützung der Abschnitte 50a, 50b an den Gabelzinken 43 ist auch in den Schnittdarstellungen in den Figuren 3a-3c zu erkennen. Die obersten Stellen der Rollen 56 liegen etwas höher als die Oberseite 52 der Gabelzinken, so dass die Fläche 53 der Abschnitte 50a, 50b vorzugsweise ausschließlich an den Rollen abgestützt ist. Die Abschnitte 50a, 50b umgreifen mit ihren lateralseitigen Wangen 60 die Rollen 56 an deren seitlich nach außen weisenden Stirnflächen, wobei von den lateralseitigen Wangen 60 an deren unteren Enden Umgriffsabschnitte 62 abstehen, welche die Rollen 56 unter Belassung eines kleinen Abstandes untergreifen, so dass die Abschnitte 50a, 50b der Lastenunterlage 50 an der jeweiligen Lasttragzinke 43 gegen Abheben gesichert und in Längsrichtung der Lasttragzinken 43 bewegbar geführt sind.The principle of the roller support of the sections 50a, 50b on the forks 43 is also in the sectional views in the Figures 3a-3c to recognize. The tops of the rollers 56 are slightly higher than the top 52 of the forks so that the surface 53 of the sections 50a, 50b is preferably supported solely on the rollers. The sections 50a, 50b engage around the rollers 56 with their lateral cheeks 60 their laterally outward-pointing end faces, gripping sections 62 protruding from the lateral cheeks 60 at their lower ends, which grip under the rollers 56 while leaving a small distance, so that the sections 50a, 50b of the load support 50 on the respective load-carrying tine 43 are secured against lifting and are movably guided in the longitudinal direction of the load carrying prongs 43 .

Die Abschnitte 50a, 50b sind durch ein die Bewegung der Lastenunterlage 50 relativ zur Lastenträgeranordnung 41 (Lasttraggabel 42) beeinflussendes Dämpfungssystem 64 mit der Lastenträgeranordnung 41 gekoppelt. Das Dämpfungssystem 64 umfasst für jeden Abschnitt 50a, 50b der Lastenunterlage 50 einen jeweiligen hydraulischen Dämpfungszylinder (gegebenenfalls auch Stellgliedzylinder) 70 und eine Schraubenfeder 72, die in dem Ausführungsbeispiel gemäß Figur 2a - 2b, 3a - 3c im Wesentlichen parallel zueinander angeordnet sind und jeweils einen Vertikalabschnitt 66 (Rücken) einer betreffenden Lasttragzinke 43 mit einer rückseitigen Anschlagplatte 68 eines zugeordneten Abschnittes 50a bzw. 50b verbinden.The sections 50a, 50b are coupled to the load carrier arrangement 41 by a damping system 64 influencing the movement of the load support 50 relative to the load carrier arrangement 41 (load carrying fork 42). The damping system 64 includes for each section 50a, 50b of the load support 50 a respective hydraulic damping cylinder (possibly also actuator cylinder) 70 and a coil spring 72, which in the embodiment according to Figure 2a - 2b , 3a - 3c are arranged essentially parallel to one another and each connect a vertical section 66 (back) of a relevant load-carrying tine 43 to a rear stop plate 68 of an associated section 50a or 50b.

Gemäß einer nicht erfindungsgemäßen Variante der Einrichtung zur Reduzierung von Schwingungen bilden der Dämpfungszylinder 70 und die Feder 72 ein passives Dämpfungssystem. Die Feder 72 ist so ausgelegt, dass sie den jeweiligen Abschnitt 50a bzw. 50b der Lastenunterlage 50 zu einer Soll-Ruhestellung hin zu drängen sucht, sollte der Abschnitt 50a bzw. 50b etwa bei seinen Schwingungsausgleichsbewegungen aus dieser Soll-Ruhestellung heraus ausgelenkt sein. Der Dämpfungszylinder 70 ist so ausgelegt, dass er eine Bremswirkung auf Schwingungsbewegungen des mit ihm verbundenen Abschnittes 50a bzw. 50b der Lastenunterlage 50 ausübt, um Bewegungsenergie in eine andere Energieform, insbesondere Wärme, umzuwandeln, so dass eine Schwingungsdämpfung von Schwingungen des Flurförderzeugs, insbesondere des Hubgerüstes 8, mit Schwingungskomponenten in Längsrichtung der Lasttragzinken 43 stattfindet. Bei Querstellung der Lasttragzinken 43 findet somit bei einem Seitenstapler eine Reduzierung von Querschwingungen statt.According to a variant of the device for reducing vibrations, which is not according to the invention, the damping cylinder 70 and the spring 72 form a passive damping system. The spring 72 is designed in such a way that it seeks to urge the respective section 50a or 50b of the load support 50 towards a desired rest position should the section 50a or 50b be deflected out of this desired rest position during its oscillation compensation movements. The damping cylinder 70 is designed in such a way that it exerts a braking effect on vibratory movements of the section 50a or 50b of the load support 50 connected to it in order to convert kinetic energy into another form of energy, in particular heat, so that vibration damping of vibrations of the industrial truck, in particular of the Lifting frame 8, with vibration components in the longitudinal direction of the load bearing tines 43 takes place. When the load-carrying tines 43 are in a transverse position, there is a reduction in transverse vibrations in a side stacker.

In den Figuren 4a und 4b ist in einer Seitenansicht eine Variante eines Dämpfungssystems 64x aus einem Zylinder 70x und einem Federpaar 72x an einer Lasttragzinke mit einem zugeordnetem Abschnitt 50a der Lastenunterlage dargestellt, und zwar in einer Soll-Ruhestellung des Abschnittes 50a (Figur 4a) und in einer Auslenkungsstellung des Abschnittes 50a (Figur 4b). Der Abschnitt 50a erstreckt sich mit einem Ausleger 73 bis in den Bereich des vertikalen Abschnitts oder Rückens 66 der Lasttragzinke und steht dort gelenkig mit einem Hebelarm 75 eines seitlich an dem Rücken 66 um eine horizontale Achse drehbar gelagerten zweiarmigen Hebels 76 in Verbindung. Der zweite Arm 78 des Hebels 76 wirkt auf das Federpaar 72x, welches den Hebel 76 und damit den Abschnitt 50a der Lastenunterlage zu einer mittleren Soll-Ruhelageposition hin beaufschlagt. Hierzu ist der zweite Arm 78 des Hebels 76 an der Verbindungsstelle 80 des Federpaares mit dem Federpaar verbunden. Ferner steht der zweite Arm 78 des Hebels 76 an der Verbindungsstelle 80 mit dem Kolbenstangenende 82 des hydraulischen Dämpfungszylinders 70x in Verbindung, der andererseits an dem Lasttragzinkenrücken 66 seitlich angelenkt ist. Anstelle des Dämpfungszylinders 70x oder zusätzlich dazu könnte eine gesonderte Reibungsdämpfungsanordnung mit einem Reibungselementepaar, beispielsweise aus einer Reibungslasche oder Reibungsschiene und einer Reibungsklammer, vorgesehen sein, welche Reibbeläge aufweisen können und beispielsweise zwischen dem Hebel 76 und dem Lasttragzinkenrücken 66 reibend wirken.In the Figures 4a and 4b is a side view of a variant of a damping system 64x from a cylinder 70x and a pair of springs 72x on a load-carrying tine with an associated section 50a of the load support, specifically in a target rest position of section 50a ( Figure 4a ) and in a deflected position of section 50a ( Figure 4b ). The section 50a extends with a cantilever 73 into the area of the vertical section or back 66 of the load-bearing tine and is articulated there with a lever arm 75 of a two-armed lever 76 mounted laterally on the back 66 so as to be rotatable about a horizontal axis. The second arm 78 of the lever 76 acts on the pair of springs 72x, which acts on the lever 76 and thus on the section 50a of the load support towards a central desired resting position. For this purpose, the second arm 78 of the lever 76 is connected to the pair of springs at the connection point 80 of the pair of springs. Furthermore, the second arm 78 of the lever 76 is connected at the connection point 80 to the piston rod end 82 of the hydraulic damping cylinder 70x, which on the other hand is articulated laterally on the back 66 of the load-bearing tines. Instead of the damping cylinder 70x or in addition to it, a separate friction damping arrangement could be provided with a pair of friction elements, for example a friction plate or friction rail and a friction clamp, which can have friction linings and have a frictional effect, for example, between the lever 76 and the load bearing tine back 66.

Eine erfindungsgemäße Variante der Einrichtung zur Reduzierung von Schwingungen gemäß Figur 4a und 4b könnte darin bestehen, dass der jeweilige Hydraulikzylinder 70x als Stellantrieb betreibbar ist, welcher den Abschnitt 50a der Lastenunterlage relativ zu der Lasttragzinke aktiv bewegen kann und z.B. die Soll-Ruheposition (Nulllage) wiederherstellt, wenn das Federpaar 72x alleine hierzu nicht in der Lage sein sollte. Die Soll-Ruheposition (Nulllage) des Abschnitts 50a kann mittels (nicht gezeigter) Sensoren überwacht werden, welche mit einer Steuereinrichtung in Verbindung stehen, die ihrerseits zur Steuerung des Stellantriebs dient. Auch die maximal zulässige relative Bewegung zwischen dem Abschnitt 50a der Lastenunterlage und der Lasttragzinke 43 kann mittels (nicht gezeigter) Sensoren erfasst und überwacht und durch Anschlagmittel begrenzt werden.A variant of the device for reducing vibrations according to the invention Figure 4a and 4b could be that the respective hydraulic cylinder 70x can be operated as an actuator, which can actively move the section 50a of the load support relative to the load-carrying tine and, for example, restores the target rest position (zero position) if the pair of springs 72x alone should not be able to do this . The desired rest position (zero position) of section 50a can be monitored by means of sensors (not shown), which are connected to a control device, which in turn is used to control the actuator. The maximum permissible relative movement between the section 50a of the load support and the load-carrying tine 43 can also be detected and monitored by means of sensors (not shown) and limited by slinging means.

Es sei darauf hingewiesen, dass gemäß Varianten der gezeigten Ausführungsbeispiele die Steifigkeit der Federanordnungen 72 bzw. 72x oder/und die Reibungswirkung der Reibungsdämpfungsanordnung bzw. Bremswirkung des Dämpfungszylinders 70 bzw. 70 x von bestimmten Betriebsparametern oder Betriebsbedingungen des Flurförderzeugs abhängig steuerbar sein können, um die Schwingungsdämpfungswirkung bedarfsweise zu modulieren.It should be noted that, according to variants of the exemplary embodiments shown, the stiffness of the spring arrangements 72 or 72x and/or the frictional effect of the friction damping arrangement or braking effect of the damping cylinder 70 or 70x can be controllable as a function of certain operating parameters or operating conditions of the industrial truck in order to To modulate vibration damping effect as needed.

Während der Fahrt des Flurförderzeugs in einem Schmalgang eines Hochregallagers sei die Einrichtung zur Reduzierung von Schwingungen beispielsweise aktiviert, wobei die Reibungsdämpfungsanordnung eine der aktuellen Situation angepasste Reibungswirkung bereitstellt. Kommt es bei Fahrt über Bodenunebenheiten zu einer Querbeschleunigung am Hubgerüst 8 und am Fahrerplatzträger 24 und somit an den quer zur Geradeausfahrtrichtung G ausgerichteten Lasttragzinken, so wird über die Reibungsdämpfungsanordnung und die Federanordnung 72x die Querbeschleunigung auf die Lastenunterlage und eine etwaige darauf abgestützte Last übertragen. Überschreitet die Trägheitskraft der "entkoppelt bzw. weich gekoppelten" Massen den Wert der eingestellten Reibkraft und der parallel wirkenden Federkraft, so kommt es zu einer Relativbewegung zwischen der Lastenunterlage und den Lasttragzinken. Diese relativ zur Soll-Ruhelage hin-und hergehende Relativbewegung reduziert die Gesamt-Schwingungsamplitude und es wird kinetische Energie in der Reibungsdämpfungsanordnung vorwiegend in Wärme umgewandelt.While the industrial truck is traveling in a narrow aisle of a high-bay warehouse, the device for reducing vibrations is activated, for example, with the friction damping arrangement providing a friction effect that is adapted to the current situation. If, when driving over uneven ground, there is a transverse acceleration on the lifting frame 8 and on the driver's seat support 24 and thus on the load-carrying tines aligned transversely to the straight-ahead direction G, the transverse acceleration is transmitted to the load support and any load supported on it via the friction damping arrangement and the spring arrangement 72x. If the inertial force of the "decoupled or softly coupled" masses exceeds the value of the adjusted frictional force and the spring force acting in parallel, there is a relative movement between the load support and the load carrying prongs. This relative movement back and forth relative to the desired rest position reduces the overall vibration amplitude and kinetic energy in the friction damping arrangement is mainly converted into heat.

Es sei darauf hingewiesen, dass gemäß einer erfindungsgemäßen Variante der Einrichtung zur Reduzierung von Schwingungen mit wenigstens einer aktiven Komponente der in Figur 4a und Figur 4b gezeigte Zylinder 70x als aktiv gesteuerter und dynamisch wirkender Stellantrieb eine solche aktive Komponente bildet, um die Lastenunterlage 50 in schwingungsreduzierender Weise zu beaufschlagen.It should be noted that according to an inventive variant of the device for Reduction of vibrations with at least one active component of the in Figure 4a and Figure 4b The cylinder 70x shown forms such an active component as an actively controlled and dynamically acting actuator in order to act on the load support 50 in a vibration-reducing manner.

Auch der Zylinder 70 in den Figuren 3a-3c könnte in einer entsprechend Ausführungsform ein aktiver Stellzylinder sein.The cylinder 70 in the Figures 3a-3c could be an active actuating cylinder in a corresponding embodiment.

Eine Steuerungseinrichtung ist in einem solchen aktiven System vorgesehen, um die aktiven Komponenten zu steuern. Ferner können Sensoren vorgesehen sein, die Schwingungsamplituden des Hubgerüstes oder daran höhenbeweglich angeordneter Komponenten erfassen, wobei die Steuerungseinrichtung Daten dieser Sensoren verarbeiten kann, um die aktiven Komponenten im Sinne einer optimierten Schwingungsreduzierung zu steuern. In diesem Sinne können auch Sensoren vorgesehen sein, die die Relativbewegung der Lastenunterlage relativ zur Lastenträgeranordnung erfassen.A controller is provided in such an active system to control the active components. Furthermore, sensors can be provided which detect the vibration amplitudes of the mast or components arranged thereon such that they can be adjusted in height, with the control device being able to process data from these sensors in order to control the active components in the sense of an optimized vibration reduction. In this sense, sensors can also be provided which detect the relative movement of the load support relative to the load carrier arrangement.

Wenngleich als Ausführungsbeispiel der Erfindung ein man-up-Flurförderzeug mit vertikal verfahrbarem Fahrerplatz beschrieben wurde, so soll die Erfindung nicht darauf beschränkt sein. Sie ist gleichermaßen bei sog. man-down-Fahrzeugen mit festem bodennahem Fahrerplatz. oder "fahrerlosen" Flurförderzeugen, z. B. automatischen Regalbediengeräten, anwendbar.Although a man-up industrial truck with a driver's seat that can be moved vertically has been described as an exemplary embodiment of the invention, the invention should not be restricted thereto. It is the same for so-called man-down vehicles with a fixed driver's seat close to the ground. or "driverless" industrial trucks, e.g. B. automatic stacker cranes, applicable.

Claims (12)

  1. Industrial truck comprising
    - a mast (8),
    - a load-carrying apparatus (36), which can be moved upwards and downwards thereon and which has at least one load-receiving means for receiving a load that is to be transported and a support structure (24) connecting the load-receiving means to the mast (8), the load-receiving means having a load-carrying arrangement (41) connected to the support structure (24), and
    - a device for reducing vibrations,
    wherein the device for reducing vibrations has at least one load support (50), which covers the load-carrying arrangement (41) at the top at least in regions, on which support a load received by the load-carrying apparatus (36) can be supported and which support is provided so as to be movable to a limited extent on the load-carrying arrangement (41) such that it can perform vibration-reducing movements relative to the load-carrying arrangement (41),
    wherein the load support (50) is coupled to the load-carrying arrangement (41) by a passive and/or active damping system (64) which influences the movement of the load support (50) relative to the load-carrying arrangement (41),
    characterized in that .
    the damping system (64) comprises at least one active component, in particular at least one controllable hydraulic and/or pneumatic cylinder and/or at least one controllable electric motor, preferably a servomotor, the active component of the damping system acting between the load-carrying arrangement and the load support in order to apply pressure to the load support in a vibration-reducing manner.
  2. Industrial truck according to claim 1, characterised in that the load-carrying arrangement (41) comprises at least one load-carrying arm (43), preferably a load-carrying fork having load-carrying arms, on which the load support (50) is retained in order to perform vibration-reducing movements relative to said load-carrying arm.
  3. Industrial truck according to claim 2, characterised in that the load-carrying arrangement (41) comprises a load-carrying fork (42) having a pair of load-carrying arms (43, 43), and in that each of the load-carrying arms (43) carries a portion (50a, 50b) of the load support (50) assigned to said load-carrying arm, the portions (50a, 50b) of the load support (50) being guided on load-carrying arms (43) so as to be moveable to a limited extent in the longitudinal direction of said arms such that the portions (50a, 50b) of the load support (50) can perform vibration-reducing movements in the longitudinal direction of the load-carrying arms (43).
  4. Industrial truck according to claim 3, characterised in that the upper surface (52) and the two lateral sides (54) adjacent thereto of each of the load-carrying arms (43, 43) are covered on the outside by a portion (50a and 50b) of the load support (50) that is assigned in each case.
  5. Industrial truck according to either claim 3 or claim 4, characterised in that the portions (50a, 50b) of the load support (50) are supported on rollers (56) which are rotatably mounted on the load-carrying arms (43) such that the portions (50a, 50b) of the load support (50) can perform vibration-reducing movements relative to the load-carrying arms (43) when the rollers (56) rotate.
  6. Industrial truck according to any of the preceding claims, characterised in that the damping system (64) comprises a friction-damping arrangement.
  7. Industrial truck according to claim 6, characterised in that the friction-damping arrangement comprises at least one hydraulic and/or pneumatic friction-damping cylinder (70; 70x).
  8. Industrial truck according to any of the preceding claims, characterised in that the damping system (64) comprises a spring arrangement (72; 72x).
  9. Industrial truck according to any of claims 1-8, characterised in that said industrial truck is designed as a sideloader, preferably a tri-lateral sideloader, which has a load-carrying fork (42) having load-carrying arms (43) as the load-carrying arrangement (41), which arms are positioned or can be oriented transversely to the straightforward direction of travel (G) of the industrial truck, the load support (50) being capable of performing vibration-reducing movements along the load-carrying arms (43) and therefore transversely to the straightforward direction of travel (G) of the industrial truck.
  10. Industrial truck according to any of the preceding claims, characterised in that the device for reducing vibrations is selectively activatable and deactivatable.
  11. Industrial truck according to claim 10, characterised in that the device for reducing vibrations can be automatically activatable and deactivatable depending on the particular operating state of the industrial truck and/or depending on the industrial truck being stopped in certain surroundings, for example in a narrow aisle.
  12. Industrial truck according to claims 9, 10 and 11, characterised in that the device for reducing vibrations is controllable depending on the orientation of the load-carrying arms (43) and/or depending on the lifted vertical position of the load-carrying arms (43) and/or depending on the industrial truck being stopped in certain surroundings, for example in a narrow aisle.
EP17168717.1A 2016-05-02 2017-04-28 Industrial truck with a device for reducing vibrations Active EP3241800B1 (en)

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EP3241800A1 (en) 2017-11-08
US20190177141A1 (en) 2019-06-13
US10427924B2 (en) 2019-10-01
DE102016207526A1 (en) 2017-11-02
US20210061631A1 (en) 2021-03-04
US10870563B2 (en) 2020-12-22
US11414311B2 (en) 2022-08-16
US20170313563A1 (en) 2017-11-02

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