EP3301066A1 - Procédé de commande d'un chariot de manutention doté d'un élément de commande - Google Patents

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

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Publication number
EP3301066A1
EP3301066A1 EP17193227.0A EP17193227A EP3301066A1 EP 3301066 A1 EP3301066 A1 EP 3301066A1 EP 17193227 A EP17193227 A EP 17193227A EP 3301066 A1 EP3301066 A1 EP 3301066A1
Authority
EP
European Patent Office
Prior art keywords
operating lever
unlocking
restoring force
restoring
load
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
EP17193227.0A
Other languages
German (de)
English (en)
Other versions
EP3301066B1 (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 EP3301066A1 publication Critical patent/EP3301066A1/fr
Application granted granted Critical
Publication of EP3301066B1 publication Critical patent/EP3301066B1/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
    • 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
    • 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
    • B66F9/0755—Position control; Position detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—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
    • B66F9/142—Movements of forks either individually or relative to each other
    • B66F9/143—Movements of forks relative to each other - symmetric
    • 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
    • B66F9/149—Whole unit including fork support rotates
    • 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
    • G05G5/005—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member for preventing unintentional use of a control mechanism
    • 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
    • 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 an industrial truck with a control element.
  • 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.
  • the invention has for its object to provide a method for operating an industrial truck with a lockable control element and such a vehicle itself, in which the unlocking process for the user is simple and ergonomic.
  • the inventive method is provided and intended to operate an industrial truck with a control element.
  • the control element has at least one operating lever for a vehicle function and an unlocking device for this vehicle function. It is often a requirement for industrial trucks that an additional driver's consent must be given before dangerous movements of the load. For example, dangerous movements can be opening a stapling attachment or a rotation of a rotating attachment.
  • cooperating with the at least one control lever restoring device is provided which generates a restoring force in response to a deflection of the at least one operating lever. According to the invention it is now provided that upon actuation of the operating lever, without prior unlocking of its function, the restoring force is changed at the at least one operating lever to report an unsuccessful unlocking.
  • the invention is based on the finding that if the operator has forgotten to unlock or release the desired function, it may sometimes take a while for the operator to notice his mistake.
  • the operator receives a haptic feedback by the changed restoring force on the operating element that the unlocking process has not yet been carried out. This avoids dead times and delays in the operation of the truck, because the operator receives an immediate response to his forgotten release of the process.
  • the fork positioner is of particular interest.
  • Zinkenverstell réelle the tines of a load bearing means are adjusted in their distance relative to each other. Unlocking is not done by an operator but by a load sensor. If the load sensor detects a load on the tines, an actuation of the tine adjustment unit is blocked. Only when the load sensor detects no load on the load supporting means, an actuation of the Zinkenverstell réelles is released. The lack of release of the Zinkenverstell réelles is also indicated by a modified restoring force of the operating lever to the user to remind him that when the load is taken up no tine adjustment is possible.
  • the unlocking device independently of the actuating element, is operated manually by the operator.
  • the unlocking device may have, for example, a push button, a switch, a slider or a comparable unlocking means here.
  • the restoring device blocks a movement of the at least one operating lever until the unlocking device has been actuated.
  • the unlocking device either locked or operated by a load sensor or by an additional to be actuated by the operator unlocking.
  • a locked control lever alerts the user that the position he is about to actuate is not released for actuation.
  • the blocking of the operating lever is preferably carried out in that the restoring device increases the restoring force until it can not be easily overcome during an operation. In addition to blocking the operating lever, it is also possible to increase the restoring force without its operation is completely blocked immediately.
  • the truck according to the invention has an operating element which has at least one operating lever for a vehicle function and an unlocking device for the vehicle function. Further, cooperating with the at least one control lever restoring device is provided which indicates a restoring force in response to a deflection of the at least one operating lever.
  • the reset means are before actuation of the unlocking the restoring force to the operating lever in such a way that when not successful unlock the vehicle function, this is reported back to the operator. By the feedback to the operator can avoid delays in operating the truck.
  • a Zinkenverstell réelle is provided and the unlocking equipped with a load sensor.
  • the actuator is disabled for the fork positioner when the load sensor detects a load. The operator attempting to operate the prong adjustment device, even though a load is on the load support, is reminded by the locked actuation device that the received load is jeopardized by actuation of the prong adjustment device.
  • the unlocking device has an unlocking means that can be actuated independently of the operating lever.
  • the unlocking means may be, for example, a button, a switch, a slider or other actuatable element.
  • the unlocking is important that the unlocking can be used and operated independently of the actuator.
  • the truck is equipped with a stapling and / or rotating attachment
  • the actuation of the unlocking device must be pressed in advance.
  • the unblocking device By activating the unblocking device, a movement of the load with the attachment is released.
  • the restoring device blocks a movement of the at least one operating lever until the unlocking device has been actuated.
  • the unlocking device can be actuated by an unlocking means by the user or for example by a load sensor, which detects, for example, a missing load.
  • the restoring device increases the restoring force during a movement of the at least one operating lever without prior actuation of the unlocking device.
  • the user already experiences a very large restoring force on the operating lever as soon as it is actuated. This creates for the operator the impression of a blocked control lever, which is located at its maximum stop.
  • Fig. 1 shows a truck 10, which has a drive part 12 and a load part 14.
  • the drive member 12 has two front wheels 16 and, depending on the design of the chassis, one or two rear wheels 18.
  • a lifting mast 22 is articulated in a pivot point 20.
  • a tilting cylinder 24 of the mast can be tilted from the horizontal.
  • the mast 22 here has a fork-shaped load bearing means 26, on which a load 28 is arranged.
  • other load-bearing means can be arranged on the mast 22.
  • Zinkenverstellêt which allows to vary the distance between the forks (see. Fig. 5 ), a load to be transported, for example in the form of a roller to grip (see. Fig. 3 ) or a recorded load to pivot specifically (see. Fig. 4 ).
  • a blocking function can also be provided, for example, for the mast tilt when the load is raised.
  • the lock function tilting from a certain load height forward is only possible if the driver has unlocked this function.
  • Fig. 2 shows an operating lever 30 which is pivotable in the direction of the double arrows A, B.
  • the operating lever 30 has a bale-shaped head on which, for example, the palm of the operator rests. Opposite the ground 32, the operating lever 30 has at its lower end an elastic sleeve 34, which allows movement of the lever 30.
  • an unlocking switch 36 is shown schematically.
  • the unlock switch (Execution as a button) can be actuated to unlock by a movement along the double arrow C.
  • an operating lever By actuating the operating lever 30 either in the direction B or in the direction A different vehicle functions can be stored. By moving in the plane defined by the directions A and B, both functions can be superposed on each other. With the restoring device, a restoring force can be generated for each of the directions A and B.
  • the restoring force is usually proportional to the deflection to give the operator a haptic feedback.
  • an operating lever may be provided with a one-dimensional operation.
  • Fig. 3 shows a stapling attachment having two flat, box-shaped brackets 38.
  • the brackets 38 are moved along a load carriage 42 which is mounted vertically adjustable on a mast 44.
  • the distance D between the brackets 38 is set, for example via the operating lever 30 by an operation in the direction A. In this case, an operation of the operating lever in direction A is only possible if the unlocking device 36 has been previously operated and thus the adjustment of the distance D is possible, otherwise the operation of the operating lever in the direction A is locked.
  • Fig. 4 shows a rotatable fork carrier 46, which is mounted on a load carriage 48 via a rotary unit (not visible) in the direction E pivotally.
  • the load carriage 48 is adjustable along the lifting mast 50 in height.
  • a pivoting of the fork carriage along the direction E can be used, for example, for discharging bulk goods or liquids arranged in a container on the fork carriage in a controlled manner. But other applications for the rotatable fork carriage are conceivable.
  • Fig. 5 shows a Zinkenverstell réelle, wherein the distance F between the forks 52 and 54 via two adjusting cylinder 56 is adjustable.
  • the adjusting cylinder 56 with the forks 52, 54 are arranged on a load carriage 58 which is adjustable along the lifting mast 60 in height.
  • an adjustment of the distance F between the forks 52 and 54 may be locked via an unlock switch 36.
  • the load sensor detects a load on the forks. In the event that a load is on the forks, in principle, an adjustment of the distance F between the forks is locked. Only in the case that no load is on the forks, an adjustment of the distance F can be done.
  • a load sensor it is possible that in the case of a lack of load, an adjustment of the distance F is released directly. Alternatively, it is also possible that even with no load nor an unlock switch must be operated to adjust the distance between the forks.
  • Fig. 6 shows the course of a restoring force 62a, 62b, depending on the deflection of the operating lever.
  • the normal force curves drawn with a continuous line correspond to a restoring force of 100% at 100% deflection.
  • the restoring force here is unsigned, but with absolute value in arbitrary units.
  • the restoring force along the line 62a is equal to the restoring force along the line 62b, both restoring forces are directed to return the operating lever to its zero position at 0% deflection.
  • the restoring force is now adjusted along the dashed path 64a, 64b.
  • the course 64a causes that at a slight deflection in the positive direction already a very large restoring force is experienced, so that a further actuation of the operating lever is not possible.
  • the steep gradients 64a, 64b act as end stops and thus block actuation of the operating element in the corresponding direction.
  • the blocking takes place as in Fig. 6 shown, optionally for the individual directions.
  • a one-sided negative displacement lock can occur.
  • the particular advantage of using the return device is that it can be used flexibly on the operating element.
  • the slope of the restoring forces 64a and 64b can be varied pulsating within certain limits.
  • an operator pressing the operating lever against the restoring force experiences a pulsating restoring force, which also reminds him that the function is locked.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP17193227.0A 2016-09-29 2017-09-26 Procédé de commande d'un chariot de manutention doté d'un élément de commande Active EP3301066B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102016118458.6A DE102016118458A1 (de) 2016-09-29 2016-09-29 Verfahren zur Bedienung eines Flurförderzeugs mit einem Bedienelement

Publications (2)

Publication Number Publication Date
EP3301066A1 true EP3301066A1 (fr) 2018-04-04
EP3301066B1 EP3301066B1 (fr) 2020-05-27

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EP17193227.0A Active EP3301066B1 (fr) 2016-09-29 2017-09-26 Procédé de commande d'un chariot de manutention doté d'un élément de commande

Country Status (3)

Country Link
US (1) US10336594B2 (fr)
EP (1) EP3301066B1 (fr)
DE (1) DE102016118458A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112174042A (zh) * 2019-07-02 2021-01-05 株式会社丰田自动织机 工业车辆用操作杆装置

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111362197B (zh) * 2019-10-14 2021-06-25 周木森 一种物流领域用的叉车

Citations (3)

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Publication number Priority date Publication date Assignee Title
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
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

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US5228356A (en) * 1991-11-25 1993-07-20 Chuang Keh Shih K Variable effort joystick
US5513100A (en) * 1993-06-10 1996-04-30 The University Of British Columbia Velocity controller with force feedback stiffness control
US6437771B1 (en) * 1995-01-18 2002-08-20 Immersion Corporation Force feedback device including flexure member between actuator and user object
DE19861143B4 (de) * 1998-08-21 2006-11-02 ITT Manufacturing Enterprises, Inc., Wilmington Joystick
DE19949802A1 (de) 1999-10-15 2001-04-19 Mannesmann Rexroth Ag Vorsteuergerät
DE10015707A1 (de) 2000-03-29 2001-10-04 Digalog Gmbh Verfahren und Vorrichtung zum Erkennen kritischer Fahrzustände für Transportfahrzeuge mit höhenveränderlicher Lastlage
JP2002196883A (ja) * 2000-12-22 2002-07-12 Alps Electric Co Ltd 手動入力装置及びこれを用いた車載機器制御装置
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
DE102007021499A1 (de) 2007-05-04 2008-11-06 Deere & Company, Moline Bedienvorrichtung

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
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

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112174042A (zh) * 2019-07-02 2021-01-05 株式会社丰田自动织机 工业车辆用操作杆装置
EP3760572A1 (fr) * 2019-07-02 2021-01-06 Kabushiki Kaisha Toyota Jidoshokki Dispositif de levier de commande d'un véhicule industriel

Also Published As

Publication number Publication date
US10336594B2 (en) 2019-07-02
US20180086613A1 (en) 2018-03-29
EP3301066B1 (fr) 2020-05-27
DE102016118458A1 (de) 2018-03-29

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