EP3301065A1 - Procédé de commande d'un chariot de manutention doté d'un élément de commande ainsi qu'un chariot de manutention - Google Patents

Procédé de commande d'un chariot de manutention doté d'un élément de commande ainsi qu'un chariot de manutention Download PDF

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Publication number
EP3301065A1
EP3301065A1 EP17193223.9A EP17193223A EP3301065A1 EP 3301065 A1 EP3301065 A1 EP 3301065A1 EP 17193223 A EP17193223 A EP 17193223A EP 3301065 A1 EP3301065 A1 EP 3301065A1
Authority
EP
European Patent Office
Prior art keywords
restoring force
deflection
force
vehicle size
operating lever
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP17193223.9A
Other languages
German (de)
English (en)
Other versions
EP3301065B1 (fr
Inventor
Hendrik Geilsdorf Dr.
Jörn Sellentin
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
Original Assignee
Jungheinrich AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jungheinrich AG filed Critical Jungheinrich AG
Publication of EP3301065A1 publication Critical patent/EP3301065A1/fr
Application granted granted Critical
Publication of EP3301065B1 publication Critical patent/EP3301065B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status 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
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0759—Details of operating station, e.g. seats, levers, operator platforms, cabin suspension
    • 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
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/04—Stops for limiting movement of members, e.g. adjustable stop
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G2505/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/05—Means for returning or tending to return controlling members to an inoperative or neutral position, e.g. by providing return springs or resilient end-stops
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks

Definitions

  • the invention relates to a method for operating a truck with a control and a truck with the control.
  • an operating element for an industrial truck with two operating levers and at least one switch arranged between them is known.
  • the operating levers are each designed for a biaxial movement and are spatially spaced from one another such that with a hand positioned between the levers the fingers can be actuated without gripping and the at least one switch can be actuated between the operating levers.
  • a central aspect when operating a truck is its stability.
  • Factors influencing stability are load weight, center of gravity distance, lifting height and mast tilt.
  • dynamic processes that have an impact on the stability, such as braking, reverse acceleration, cornering, etc.
  • a variety of different approaches are known. In one approach, a force or pressure measurement is performed, which are positioned at different positions of the vehicle. Other approaches, such as in DE 100 15 707 A1 . DE 103 04 658 A1 or DE 10 2005 012 004 A1 are based on model-based considerations.
  • an operating lever for a vehicle or a working machine which has means for generating a restoring force.
  • a stop is provided in which the restoring force is increased disproportionately in dependence on the deflection.
  • WO 2016/019 091 A1 is known an operating lever, which conveys information about an adjustable restoring force and adjustable vibrations information to the user.
  • the invention has for its object to provide a method for operating an industrial truck as well as an industrial truck, which avoids incorrect operation even in adverse circumstances from the standpoint of stability.
  • the inventive method is provided and intended to operate an industrial truck with a control element.
  • the operating element has at least one preferably designed for a biaxial movement control lever.
  • a return device is provided, which cooperates with the operating lever.
  • the restoring device generates a return force counteracting the deflection as a function of a deflection of the at least one operating lever.
  • the reset device can be used to generate a force feedback. With the return device acting on the operating lever restoring force, depending on its respective deflection, to be changed. The change depending on the respective deflection means that an assignment rule between deflection and restoring force is changed.
  • a value for the deflection was assigned to a value for the restoring force before the change, this value of the deflection is assigned a modified value for the restoring force.
  • the method according to the invention provides that a vehicle size indicating a tilting moment is determined. Depending on the choice and design, with which the stability of the truck is monitored, the tilting torque indicating vehicle size can be determined. Depending on the value of the vehicle size, the restoring force is changed if there is a critical value of the vehicle size for tilting the truck. In the method according to the invention, the vehicle driver receives a haptic feedback on the vehicle's size indicating the overturning moment.
  • the restoring force when a critical value for the vehicle size occurs, the restoring force is changed pulsatingly, preferably periodically.
  • the frequency of the periodically changing restoring force with the vehicle size can be changed, and with an increasingly critical vehicle size and the frequency increases.
  • the periodic change of the restoring force on the control lever is a particularly exciting action to alert the driver to the critical condition of the vehicle.
  • the pulsating changing restoring force merely causes an operator to be able to hold the operating lever in the desired position, thereby experiencing a pulsating restoring force without moving or moving the operating lever.
  • the restoring force for the respective deflection is increased when an actuation of the at least one operating lever changes the vehicle size towards an increase in the overturning moment.
  • Increasing the overturning moment does not necessarily mean an increase in the number of effective torques, but generally that an increase in the tipping moment reduces the stability.
  • the driver receives during normal operation no haptic feedback on the operating lever. Rather, upon actuation of the operating lever, which would lead to a deterioration of the stability, the restoring force adjusted to the operating lever, so that in this situation a haptic feedback occurs.
  • the restoring force for the respective deflection is increased from a predetermined value for the vehicle size.
  • the increase in the restoring force is preferably carried out uniformly for each deflection of the operating lever. This means that the relationship between displacement and restoring force is changed so that the restoring force is increased in each case for a given deflection. For the user, this creates an impression of stiffness in the deflection of the operating lever. Sluggishness here means that a greater force must be overcome to overcome the restoring force when deflecting the operating lever.
  • the restoring force is increased by an additional force from a predetermined deflection at a critical value for the vehicle size such that an actuation of the at least one operating lever requires increased effort.
  • the predetermined deflection forms an obstacle with an additional force that prevents further actuation.
  • the restoring force is increased by a blocking force from a predetermined deflection at a critical vehicle size such that further actuation of the at least one operating lever is not possible.
  • further actuation by increased use of force is not possible, however, an additional unlocking device can be provided, with the actuation of a further operation of the at least one operating lever is then possible again without the locking force.
  • both embodiments can be combined with each other, in which case a still surmountable increase in the restoring force is carried out, while either at a different critical vehicle size or at another value for the predetermined deflection, the restoring force is increased so that a further operation is not possible.
  • the greatly increased restoring force can take over the function of an end stop, whereby, if the restoring force is greatly increased before reaching a maximum deflection, an advanced end stop arises.
  • a change in the restoring force is continuous or erratic.
  • the continuous change can be done continuously in time or continuously with the deflection of the operating lever.
  • the object of the invention is also achieved by an industrial truck with the features of claim 10.
  • the truck has an operating element which has at least one operating lever and a restoring device cooperating with the operating lever.
  • the restoring device generates a restoring force for the at least one control lever as a function of its deflection.
  • the restoring force follows an assignment in which each deflection occurring is assigned a restoring force.
  • the truck according to the invention has a control unit, which determines a tilting torque indicative vehicle size.
  • the restoring device is configured to change the restoring force for a current deflection in response to a critical value of the vehicle size for a tilting of the vehicle.
  • the reset device changes the assignment between deflection and restoring force depending on the applied vehicle size.
  • the restoring device is designed to increase the restoring force for the current deflection in response to an increase in the overturning vehicle quantity. So takes place in a current deflection of the operating lever, a control, the one Increase of the overturning moment causes, the restoring force is increased for this deflection.
  • the restoring device is equipped with a pulse generator, which changes the restoring force pulsating from a critical value of the vehicle size.
  • a pulse generator which changes the restoring force pulsating from a critical value of the vehicle size.
  • the pulse generator is designed to increase a pulse frequency of the pulsating restoring force in response to an increase in the overturning moment.
  • the increasing frequency makes it clear that there is a threat to the stability of the truck during further operation.
  • the restoring device is designed to increase the restoring force for the respective deflection when a predetermined value for the vehicle size is exceeded.
  • a predetermined value for the vehicle size is exceeded.
  • an increase in the restoring force already at a predetermined value for the vehicle size is exceeded.
  • the restoring device is acted upon from a predetermined deflection with an additional force.
  • an additional force in the restoring force is applied when the deflection of the operating lever exceeds a predetermined deflection.
  • a restraining force can also be applied by the restoring device.
  • the blocking force has the effect that further actuation of the operating lever beyond the deflection is not possible.
  • the return device may be configured to cancel the blocking force in response to the unlocking device.
  • the drive part 12 has two front wheels 16 and depending on the design of the chassis one or two rear wheels 18.
  • a tiltable mast 20 is articulated in a mast bearing 22 and can be inclined by a tilting cylinder 24 according to the double arrow N.
  • the mast 20 is equipped with a load bearing means 26, on which a load 28 is shown schematically.
  • the load bearing load L as well as the load distance A L from the vehicle center of gravity S are decisive for the stability of the vehicle.
  • This attacking load torque is the vehicle weight F and the distance from the vehicle center of gravity A F opposite.
  • Load weight and vehicle weight collectively generate the foot force F V on the front wheel 16. In the simple case where the center of gravity S coincides with the front wheel 16, the foot force on the front wheel 16 is equal to the sum of vehicle weight and load weight.
  • the contact force F H on the rear wheel 18 is crucial for the stability of the truck. If the contact force F H disappears, the truck can tip over its front wheels 16 towards its load part.
  • a load sensor on the fork can detect the load weight. It is also possible to detect forces acting on the tilting cylinder 24. Also on the mast bearing 22 is basically, for example, with strain gauges or a force measuring bolt, a detection of the load moments possible. Likewise, on the rear axle of the rear wheel 18 itself, a force measurement can take place. Other approaches envisage model-based determination of one or more variables for tilt stability.
  • Fig. 2 shows in a simple schematic view of an operating element 30 with a control lever 32 which can be moved independently in the directions A and B.
  • the operating lever 32 is fixed in a center and is pivoted in the direction A or B, independently of each other.
  • the pivoting of the operating lever 32 takes place from a neutral position, both in the positive and in the negative direction.
  • the deflection of the operating lever 32 is in each direction by a maximum deflection limited.
  • the invention can also be used for a control lever which can be pivoted in only one direction.
  • Fig. 3 shows the relationship between restoring force R and deflection of the operating lever 32.
  • the deflection, as well as the restoring force scaled in arbitrary units in percentages. With a deflection of 0, the neutral position of the operating lever is present. In the neutral position there is no restoring force. If the control lever is now deflected along the curve 34 for the normal force curve, the restoring force increases with the deflection. The slope of the curve 34 indicates how easy or difficult the deflection of the operating lever 32 is possible. If, in the method according to the invention, a vehicle size that is critical for a tilting of the vehicle is detected, the restoring force is increased.
  • the restoring force can be increased even further, until the curve 38 finally results in a significantly increased stiffness.
  • Fig. 4 shows a further embodiment of the invention.
  • the curve 34 again shows the normal force curve with a linear restoring force, which at a Deflection of 100% reaches 100.
  • a steeply increasing restoring force can be achieved at a deflection of 60% via the return device with the course 40.
  • the operating lever can only be deflected up to 60%. If an even more critical vehicle size is present, an end stop can already be defined at 30% deflection.
  • the restoring force increases along the curve 42.
  • a restoring device can ensure that the user can safely and reliably take the warning note.
  • the response of the control element changes to a deflection of the operating lever in the form of the restoring force.
  • the restoring force it is possible for the restoring force to change in a pulsating or periodic manner when critical situations for the vehicle occur, so that the operator experiences a changing force during the deflection of the operating lever or while maintaining the deflecting position of the operating lever.
  • an artificial stiffness of the operating lever will be generated continuously or abruptly from a critical state of the vehicle.
  • the deflection of the operating lever is reduced and the critical movement is slowed down.
  • the operator is still left the opportunity to override the slowdown by increased effort. Overriding is no longer possible if the end stops are moved. This too can be continuous or erratic and causes the deflection of the control element to be reduced, thus slowing down the critical movement.
  • the operator has no way to overcome with force the newly specified limit stop.
  • Another possibility is to completely block operation of the operating lever. This corresponds to the characteristic curve 42 Fig. 4 , in which case the deflection is withdrawn to 0 or almost 0.
  • a pulsating restoring force can be generated, which simultaneously or subsequently leads to an increased stiffness and subsequently to a blocking of the operating lever.
  • the static variables such as load weight, vehicle weight and center of gravity distances can always be taken into consideration.
  • other vehicle conditions can be checked with, so for example, only with politiciansteneippom mast a load can be lifted above a certain height, even if there is no threat of tipping over the truck for static reasons.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Civil Engineering (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Mechanical Control Devices (AREA)
EP17193223.9A 2016-09-29 2017-09-26 Procédé de commande d'un chariot de manutention doté d'un élément de commande ainsi qu'un chariot de manutention Active EP3301065B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102016118457.8A DE102016118457A1 (de) 2016-09-29 2016-09-29 Verfahren zur Bedienung eines Flurförderzeugs mit einem Bedienelement sowie ein Flurförderzeug

Publications (2)

Publication Number Publication Date
EP3301065A1 true EP3301065A1 (fr) 2018-04-04
EP3301065B1 EP3301065B1 (fr) 2018-10-17

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EP17193223.9A Active EP3301065B1 (fr) 2016-09-29 2017-09-26 Procédé de commande d'un chariot de manutention doté d'un élément de commande ainsi qu'un chariot de manutention

Country Status (3)

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US (1) US10399835B2 (fr)
EP (1) EP3301065B1 (fr)
DE (1) DE102016118457A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT202000000397A1 (it) * 2020-01-13 2021-07-13 Toyota Mat Handling Manufacturing Italy S P A Carrello elevatore.

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19753867A1 (de) * 1997-12-04 1999-06-10 Linde Ag Bedienhebel
DE102007021499A1 (de) * 2007-05-04 2008-11-06 Deere & Company, Moline Bedienvorrichtung
WO2016019091A1 (fr) * 2014-07-31 2016-02-04 Cnh Industrial America Llc Procédé et appareil de commande de rétroaction de vibration/force active pour machine mobile
US20160179128A1 (en) * 2009-06-01 2016-06-23 Enovation Controls, Llc Tactile Feedback for Joystick Position/Speed Controls

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10015707A1 (de) 2000-03-29 2001-10-04 Digalog Gmbh Verfahren und Vorrichtung zum Erkennen kritischer Fahrzustände für Transportfahrzeuge mit höhenveränderlicher Lastlage
DE10304658A1 (de) 2003-02-05 2004-08-19 Bosch Rexroth Ag Flurförderfahrzeug
DE102005012004B4 (de) 2004-04-07 2020-09-24 Linde Material Handling Gmbh Flurförderzeug mit erhöhter statischer/quasistatischer und dynamischer Kippstabilität
DE102005000633A1 (de) 2005-01-03 2006-07-13 Linde Ag Flurförderzeug
US9156546B2 (en) * 2008-03-11 2015-10-13 The Boeing Company Active-inceptor tactile-cueing hands-off rate-limit
DE102013012176A1 (de) 2013-07-22 2015-01-22 Jungheinrich Aktiengesellschaft Bedienelement für ein Flurförderzeug
DE102014103988A1 (de) 2014-03-24 2015-09-24 Elobau Gmbh & Co. Kg Joystick mit intrinsisch sicherem Force-Feedback

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19753867A1 (de) * 1997-12-04 1999-06-10 Linde Ag Bedienhebel
DE102007021499A1 (de) * 2007-05-04 2008-11-06 Deere & Company, Moline Bedienvorrichtung
US20160179128A1 (en) * 2009-06-01 2016-06-23 Enovation Controls, Llc Tactile Feedback for Joystick Position/Speed Controls
WO2016019091A1 (fr) * 2014-07-31 2016-02-04 Cnh Industrial America Llc Procédé et appareil de commande de rétroaction de vibration/force active pour machine mobile

Also Published As

Publication number Publication date
US20180086614A1 (en) 2018-03-29
US10399835B2 (en) 2019-09-03
EP3301065B1 (fr) 2018-10-17
DE102016118457A1 (de) 2018-03-29

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