EP3301066B1 - Method for servicing an industrial truck with a control element - Google Patents

Method for servicing an industrial truck with a control element Download PDF

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Publication number
EP3301066B1
EP3301066B1 EP17193227.0A EP17193227A EP3301066B1 EP 3301066 B1 EP3301066 B1 EP 3301066B1 EP 17193227 A EP17193227 A EP 17193227A EP 3301066 B1 EP3301066 B1 EP 3301066B1
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EP
European Patent Office
Prior art keywords
operating lever
unlocking
resetting
industrial truck
actuated
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
EP17193227.0A
Other languages
German (de)
French (fr)
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EP3301066A1 (en
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
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Jungheinrich AG
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Publication date
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Publication of EP3301066A1 publication Critical patent/EP3301066A1/en
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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 an operating 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 two-axis movement and are spatially spaced from one another such that with a hand positioned between the levers, the operating levers with the fingers can be actuated without reaching around and the at least one switch between the operating levers.
  • a key aspect when operating an industrial truck is its stability. Influencing factors for the stability are load weight, distance of the center of gravity, lifting height and inclination of the mast. In addition to these static variables, there are also dynamic processes that have an impact on stability, such as braking, reverse acceleration, cornering, etc.
  • a variety of different approaches are known for determining stability. In one approach, a force or pressure measurement is carried out, 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.
  • WO 2016/019091 A1 a control element with a force feedback and / or a vibration feedback to an operator is known in which information is transmitted to the operator. The information reported back to the operator is not related to an accepted load.
  • 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 is simple and ergonomic for the user.
  • the object is achieved by a method having the features from claim 1 and an industrial truck according to claim 7.
  • Advantageous refinements form the subject matter of the subclaims.
  • the method according to the invention is provided and intended for operating an industrial truck with an operating element.
  • the control element has at least one control lever for a vehicle function and an unlocking device for this vehicle function. It is often a requirement for industrial trucks that the driver must give additional approval before the load can be moved dangerously. Dangerous movements can include opening a clinging attachment or a rotation of a rotating attachment.
  • a restoring device cooperating with the at least one operating lever is provided, which generates a restoring force as a function of a deflection of the at least one operating lever.
  • the invention is based on the finding that if the operator has forgotten to unlock or release the desired function, it can sometimes take until the operator notices his error.
  • the changed restoring force on the control element provides the operator with haptic feedback that the unlocking process has not yet been carried out. In this way, idle times and delays in the operation of the industrial truck are avoided, because the operator receives immediate feedback about his forgotten approval of the process.
  • the fork positioner is of particular interest.
  • the tines of a load-carrying means are adjusted in their distance relative to one another.
  • the unlocking is not carried out by the user, but by a load sensor. If the load sensor detects a load on the tines, actuation of the tine adjustment unit is blocked. Only when the load sensor detects no load on the load carrying device is actuation of the tine adjustment device released. The lack of release of the tine adjustment device is also indicated to the user by a changed restoring force of the operating lever in order to remind the user that a tine adjustment is not possible when the load is taken up.
  • the unlocking device is actuated manually by the operator, independently of the actuating element.
  • the unlocking device can have, for example, a button, a switch, a slide or a comparable unlocking device.
  • the reset device blocks a movement of the at least one operating lever until the unlocking device has been actuated.
  • the unlocking device can either be locked or actuated by a load sensor or by an unlocking means to be additionally actuated by the operator.
  • a blocked control lever advises the user that the position he wants to operate is not released for operation.
  • the control lever is preferably blocked by the fact that the resetting device increases the resetting force until it cannot be easily overcome when actuated. In addition to blocking the operating lever, it is also possible to increase the restoring force without its actuation being completely blocked.
  • the industrial 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. Furthermore, a restoring device cooperating with the at least one operating lever is provided, which indicates a restoring force as a function of a deflection of the at least one operating lever. Before the unlocking device is actuated, the reset device specifies the reset force on the operating lever in such a way that if the vehicle function is not unlocked, this is reported back to the operator. By the feedback to the operator can avoid delays in the operation of the industrial truck.
  • a tine adjusting device is provided and the unlocking device is equipped with a load sensor.
  • the actuating device is blocked for the tine adjustment device when the load sensor detects a load. The operator who tries to actuate the tine adjustment device even though there is a load on the load carrying means is reminded by the locked actuation device that the picked up load is endangered by actuation of the tine adjustment device.
  • the unlocking device has an unlocking means which can be actuated independently of the operating lever.
  • the unlocking means can be, for example, a button, a switch, a slide or another actuatable element.
  • the unlocking means can be used and operated independently of the actuating device.
  • the industrial truck is equipped with a clamping and / or rotating attachment, the unlocking device of which must be actuated in advance in order to operate it. By actuating the unlocking device, a movement of the load with the attachment is released.
  • the reset 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 the unlocking means by the user or, for example, by a load sensor, which detects a missing load, for example.
  • the resetting device increases the resetting force when the at least one operating lever moves 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. For the operator, this creates the impression of a blocked control lever that is at its maximum stop.
  • Fig. 1 shows an industrial truck 10 which has a drive part 12 and a load part 14.
  • the drive part 12 has two front wheels 16 and, depending on the design of the undercarriage, one or two rear wheels 18.
  • a lifting mast 22 is articulated on the drive part 12 in a pivot point 20.
  • the mast can be inclined from the horizontal via a tilt cylinder 24.
  • the lifting mast 22 here has a fork-shaped load-bearing means 26 on which a load 28 is arranged.
  • other load carrying means can also be arranged on the lifting mast 22. It is thus possible to provide a tine adjustment device that allows the distance between the fork tines to be varied (cf. Fig. 5 ) to grip a load to be transported, for example in the form of a roller (cf. Fig. 3 ) or to specifically pivot a picked up load (cf. Fig. 4 ).
  • a blocking function can also be provided, for example, for the mast inclination when the load is raised.
  • the locking function it is only possible to tilt forward from a certain load height 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 control lever 30 has a ball-shaped head on which, for example, the palm of the operator rests.
  • the operating lever 30 has an elastic sleeve 34 at its lower end, which allows the lever 30 to move.
  • An unlocking switch 36 is shown schematically not far from the operating lever 30.
  • the unlock switch (Execution as a button) can be actuated to unlock by moving along the double arrow C.
  • Different vehicle functions can be stored by actuating the operating lever 30 either in direction B or in direction A. By moving in the plane spanned by directions A and B, both functions can be superimposed on one another.
  • the resetting device can generate a resetting force for each of the directions A and B.
  • the restoring force is usually proportional to the deflection in order to give the operator haptic feedback.
  • An operating lever with a one-dimensional actuation can also be provided for the invention.
  • Fig. 3 shows a clipping attachment that has two flat, box-shaped brackets 38.
  • the distance between the brackets in D can be adjusted via two adjusting cylinders 40.
  • the brackets 38 are moved along a load carriage 42, which is attached to a lifting mast 44 so that it can be adjusted in height.
  • the distance D between the brackets 38 is set, for example, via the operating lever 30 by actuation in the direction A. In this case, an actuation of the operating lever in direction A is only possible if the unlocking device 36 has been actuated beforehand and thus the adjustment of the distance D is possible, otherwise the actuation of the operating lever in direction A is blocked.
  • Fig. 4 shows a rotatable fork carriage 46 which is pivotally mounted in the direction E on a load carriage 48 via a rotating unit (not visible).
  • the height of the load carriage 48 can be adjusted along the mast 50.
  • a pivoting of the fork carriage along the direction E can be used, for example, in order to dispense bulk goods or liquids which are arranged in a container on the fork carriage in a controlled manner.
  • But other applications for the rotatable fork carriage are also conceivable.
  • a rotational movement along the Locked in direction E and can only be activated when the assigned unlocking device has been actuated.
  • Fig. 5 shows a tine adjusting device in which the distance F between the fork tines 52 and 54 is adjustable via two adjusting cylinders 56.
  • the adjusting cylinders 56 with the fork tines 52, 54 are arranged on a load carriage 58, the height of which can be adjusted along the lifting mast 60.
  • an adjustment of the distance F between the fork tines 52 and 54 can be blocked via an unlocking switch 36.
  • the load sensor detects a load on the forks. In the event that there is a load on the forks, an adjustment of the distance F between the forks is blocked.
  • the distance F can only be adjusted in the event that there is no load on the fork tines.
  • 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 solid line correspond to a restoring force of 100% at 100% deflection.
  • the restoring force is here unsigned, but with an absolute amount in arbitrary units. With a deflection of + 20%, the restoring force along line 62a is the same as the restoring force along line 62b, both restoring forces are oriented to return the operating lever to its zero position with 0% deflection.
  • the restoring force is now adjusted along the dashed curve 64a, 64b.
  • the course 64a has the effect that, with the slightest deflection in the positive direction, a very large restoring force is already experienced, so that a further actuation of the operating lever is not possible.
  • the steep gradients 64a, 64b act like end stops and thus block actuation of the operating element in the corresponding direction.
  • the blocking is done as in Fig. 6 shown, optionally for the individual directions. For example, it is possible to specify a course of 62b and 64a with the resetting device, as a result of which there is only a blockage for positive deflection. The other way round, the combination 64b and 62a can also result in a one-sided blocking for a negative deflection.
  • the particular advantage of using the reset device is that it can be used flexibly on the control element.
  • the slope of the restoring forces 64a and 64b can be varied in a pulsating manner.
  • an operator who presses the operating lever against the resetting force experiences a pulsating resetting force which also reminds him that the function is blocked.

Description

Die Erfindung betrifft ein Verfahren zur Bedienung eines Flurförderzeugs mit einem Bedienelement.The invention relates to a method for operating an industrial truck with an operating element.

Für die Bedienung und Steuerung von Flurförderzeugen sind zahlreiche unterschiedliche Konzepte und Ansätze für Bedienelemente bekannt. Aus DE 10 2013 012 176 ist beispielsweise ein Bedienelement für ein Flurförderzeug mit zwei Bedienhebeln und mindestens einem zwischen diesen angeordneten Schalter bekannt. Die Bedienhebel sind jeweils für eine zweiachsige Bewegung ausgebildet und derart räumlich voneinander beabstandet, dass mit einer zwischen den Hebeln positionierten Hand mit den Fingern die Bedienhebel ohne Umgreifen und der mindestens eine Schalter zwischen den Bedienhebeln betätigbar ist.Numerous different concepts and approaches for operating elements are known for operating and controlling industrial trucks. Out DE 10 2013 012 176 For example, 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 two-axis movement and are spatially spaced from one another such that with a hand positioned between the levers, the operating levers with the fingers can be actuated without reaching around and the at least one switch between the operating levers.

Aus DE 10 2005 000 633 A1 ist bekannt geworden, zur Rückmeldung von Fahrzeugzuständen und/oder Fahrzeuginformationen, Erschütterungen an dem Bedienelement und/oder an dem Fahrerarbeitssitz vorzusehen. Es erfolgt hierbei eine haptische Rückmeldung von Fahrzeugzuständen und/oder Fahrzeuginformationen. Bei der Ausgestaltung des Bedienelements als Joystick erfolgt eine sichere und direkte Rückmeldung von Fahrzeugzuständen und/oder Fahrzeuginformationen über einen Vibrationen erzeugenden Elektromagneten oder einen mit einer Unwucht in Wirkungsverbindung stehenden Elektromotor.Out DE 10 2005 000 633 A1 has become known to provide vibrations on the control element and / or on the driver's work seat for feedback of vehicle conditions and / or vehicle information. There is a haptic feedback of vehicle status and / or vehicle information. In the configuration of the control element as a joystick, safe and direct feedback of vehicle states and / or vehicle information takes place via an electromagnet which generates vibrations or an electric motor which is operatively connected to an imbalance.

Aus DE 10 2014 103 988 A1 sind als Joystick ausgebildete Bedienelemente zur Steuerung von Nutzfahrzeugen, Maschinen, Arbeitsfunktionen von Nutzfahrzeugen oder Baumaschinen und Anbaugeräten bekannt. Für die Joysticks ist auch der Einsatz von Force-Feedback bekannt. Bei Force-Feedback handelt es sich um eine mechanische Rückkopplung, was üblicherweise durch ein gekoppeltes Drehmoment eines Elektromotors mit Hilfe eines Getriebes erreicht wird. Für die Umsetzung von Force-Feedback sind unterschiedliche technische Ausgestaltungen für den Betätigungshebel des Joysticks bekannt.Out DE 10 2014 103 988 A1 Control elements designed as a joystick for controlling commercial vehicles, machines, work functions of commercial vehicles or construction machinery and attachments are known. The use of force feedback is also known for the joysticks. Force feedback is a mechanical feedback, which is usually achieved by a coupled torque of an electric motor with the aid of a gear. For the implementation of Different technical configurations for the actuating lever of the joystick are known from force feedback.

Ein zentral wichtiger Aspekt bei der Bedienung eines Flurförderzeugs ist dessen Standsicherheit. Einflussgrößen für die Standsicherheit sind Lastgewicht, Abstand des Lastschwerpunkts, Hubhöhe und Neigung des Hubgerüsts. Neben diesen statischen Größen gibt es noch dynamische Vorgänge, die einen Einfluss auf die Standsicherheit haben, wie beispielsweise Bremsen, Rückwärtsbeschleunigung, Kurvenfahrt etc. Für die Bestimmung der Standsicherheit sind eine Vielzahl von verschiedenen Ansätzen bekannt. In einem Ansatz erfolgt eine Kraft- oder Druckmessung, die an unterschiedlichen Positionen des Fahrzeugs positioniert sind. Andere Ansätze, wie beispielsweise in DE 100 15 707 A1 , DE 103 04 658 A1 oder DE 10 2005 012 004 A1 basieren auf modellbasierten Betrachtungen.A key aspect when operating an industrial truck is its stability. Influencing factors for the stability are load weight, distance of the center of gravity, lifting height and inclination of the mast. In addition to these static variables, there are also dynamic processes that have an impact on stability, such as braking, reverse acceleration, cornering, etc. A variety of different approaches are known for determining stability. In one approach, a force or pressure measurement is carried out, 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.

Aus WO 2016/019091 A1 ist ein Steuerelement mit einer Kraftrückmeldung und/oder einer Vibrationsrückmeldung an eine Bedienperson bekannt, bei der Informationen an die Bedienperson übermittelt werden. Die an die Bedienperson zurückgemeldete Information steht dabei nicht in einem Zusammenhang mit einer aufgenommenen Last.Out WO 2016/019091 A1 a control element with a force feedback and / or a vibration feedback to an operator is known in which information is transmitted to the operator. The information reported back to the operator is not related to an accepted load.

Der Erfindung liegt die Aufgabe zugrunde, ein Verfahren zur Bedienung eines Flurförderzeugs mit einem sperrbaren Bedienelement sowie ein solches Fahrzeug selbst zur Verfügung zu stellen, bei dem der Entsperrvorgang für den Benutzer einfach und ergonomisch möglich ist.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 is simple and ergonomic for the user.

Erfindungsgemäß wird die Aufgabe durch ein Verfahren mit den Merkmalen aus Anspruch 1 und ein Flurförderzeug nach Anspruch 7 gelöst. Vorteilhafte Ausgestaltungen bilden die Gegenstände der Unteransprüche.According to the invention, the object is achieved by a method having the features from claim 1 and an industrial truck according to claim 7. Advantageous refinements form the subject matter of the subclaims.

Das erfindungsgemäße Verfahren ist vorgesehen und bestimmt zur Bedienung eines Flurförderzeugs mit einem Bedienelement. Das Bedienelement besitzt mindestens einen Bedienhebel für eine Fahrzeugfunktion sowie eine Entsperreinrichtung für diese Fahrzeugfunktion. Häufig ist es eine Vorschrift für Flurförderzeuge, dass vor gefahrbringenden Bewegungen der Last eine zusätzliche Zustimmung des Fahrers erfolgen muss. Gefahrbringende Bewegungen können beispielsweise das Öffnen eines klammernden Anbaugeräts oder eine Drehung eines drehenden Anbaugeräts sein. Ferner ist eine mit dem mindestens einen Bedienhebel zusammenwirkende Rückstelleinrichtung vorgesehen, die eine Rückstellkraft in Abhängigkeit von einer Auslenkung des mindestens einen Bedienhebels erzeugt. Erfindungsgemäß ist nun vorgesehen, dass bei Betätigung des Bedienhebels, ohne vorheriges Entsperren seiner Funktion, die Rückstellkraft an dem mindestens einen Bedienhebel verändert wird, um einen nicht erfolgten Entsperrvorgang zurückzumelden. Der Erfindung liegt die Erkenntnis zugrunde, dass wenn der Bediener ein Entsperren oder eine Freigabe der gewünschten Funktion vergessen hat, es mitunter dauern kann, bis der Bediener seinen Fehler bemerkt. Bei dem erfindungsgemäßen Verfahren erhält der Bediener durch die veränderte Rückstellkraft an dem Bedienelement eine haptische Rückmeldung, dass der Entsperrvorgang noch nicht ausgeführt wurde. So werden Totzeiten und Verzögerungen bei der Bedienung des Flurförderzeugs vermieden, denn der Bediener erhält eine umgehende Rückmeldung zu seiner vergessenen Freigabe des Vorgangs.The method according to the invention is provided and intended for operating an industrial truck with an operating element. The control element has at least one control lever for a vehicle function and an unlocking device for this vehicle function. It is often a requirement for industrial trucks that the driver must give additional approval before the load can be moved dangerously. Dangerous movements can include opening a clinging attachment or a rotation of a rotating attachment. Furthermore, a restoring device cooperating with the at least one operating lever is provided, which generates a restoring force as a function of a deflection of the at least one operating lever. According to the invention, it is now provided that when the operating lever is actuated without first unlocking its function, the restoring force on the at least one operating lever is changed in order to report back that an unlocking process has not taken place. The invention is based on the finding that if the operator has forgotten to unlock or release the desired function, it can sometimes take until the operator notices his error. In the method according to the invention, the changed restoring force on the control element provides the operator with haptic feedback that the unlocking process has not yet been carried out. In this way, idle times and delays in the operation of the industrial truck are avoided, because the operator receives immediate feedback about his forgotten approval of the process.

Von den möglichen Fahrzeugfunktionen, die eine Entsperrung vor ihrer Betätigung benötigen, ist das Zinkenverstellgerät von besonderem Interesse. Beim Zinkenverstellgerät werden die Zinken eines Lasttragmittels in ihrem Abstand relativ zueinander verstellt. Hier erfolgt die Entsperrung nicht über eine Betätigung des Benutzers, sondern über einen Lastsensor. Detektiert der Lastsensor eine Last auf den Zinken, so ist eine Betätigung der Zinkenverstelleinheit gesperrt. Erst wenn der Lastsensor keine Last an dem Lasttragmittel detektiert, ist eine Betätigung des Zinkenverstellgeräts freigegeben. Die fehlende Freigabe des Zinkenverstellgeräts wird ebenfalls durch eine veränderte Rückstellkraft des Bedienhebels dem Benutzer angezeigt, um ihn daran zu erinnern, dass bei aufgenommener Last keine Zinkenverstellung möglich ist.Of the possible vehicle functions that require unlocking before they are actuated, the fork positioner is of particular interest. In the case of the tine adjustment device, the tines of a load-carrying means are adjusted in their distance relative to one another. Here the unlocking is not carried out by the user, but by a load sensor. If the load sensor detects a load on the tines, actuation of the tine adjustment unit is blocked. Only when the load sensor detects no load on the load carrying device is actuation of the tine adjustment device released. The lack of release of the tine adjustment device is also indicated to the user by a changed restoring force of the operating lever in order to remind the user that a tine adjustment is not possible when the load is taken up.

In einer weiteren bevorzugten Ausgestaltung des Verfahrens wird die Entsperreinrichtung, unabhängig von dem Betätigungselement, durch den Bediener manuell betätigt. Die Entsperreinrichtung kann hier beispielsweise ein Taster, ein Schalter, ein Schieber oder ein vergleichbares Entsperrmittel aufweisen.In a further preferred embodiment of the method, the unlocking device is actuated manually by the operator, independently of the actuating element. The unlocking device can have, for example, a button, a switch, a slide or a comparable unlocking device.

In einer bevorzugten Ausgestaltung des erfindungsgemäßen Verfahrens blockiert die Rückstelleinrichtung eine Bewegung des mindestens einen Bedienhebels bis die Entsperreinrichtung betätigt wurde. Hierbei kann die Entsperreinrichtung, wie bereits erläutert, entweder durch einen Lastsensor gesperrt oder betätigt werden oder durch ein zusätzlich von dem Bediener zu betätigendes Entsperrmittel. Ein blockierter Bedienhebel weist den Benutzer darauf hin, dass die von ihm zur Betätigung gewünschte Position nicht zur Betätigung freigegeben ist. Das Blockieren des Bedienhebels erfolgt dabei bevorzugt dadurch, dass die Rückstelleinrichtung die rückstellende Kraft so stark erhöht, bis sie bei einer Betätigung nicht mehr ohne weiteres überwunden werden kann. Neben einem Blockieren des Bedienhebels ist es auch möglich, die Rückstellkraft zu vergrößern, ohne dass seine Betätigung gleich vollständig blockiert ist.In a preferred embodiment of the method according to the invention, the reset device blocks a movement of the at least one operating lever until the unlocking device has been actuated. Here, as already explained, the unlocking device can either be locked or actuated by a load sensor or by an unlocking means to be additionally actuated by the operator. A blocked control lever advises the user that the position he wants to operate is not released for operation. The control lever is preferably blocked by the fact that the resetting device increases the resetting force until it cannot be easily overcome when actuated. In addition to blocking the operating lever, it is also possible to increase the restoring force without its actuation being completely blocked.

Die erfindungsgemäße Aufgabe wird ebenfalls durch ein Flurförderzeug mit den Merkmalen aus Anspruch 8 gelöst.The object of the invention is also achieved by an industrial truck with the features of claim 8.

Das erfindungsgemäße Flurförderzeug besitzt ein Bedienelement, das mindestens einen Bedienhebel für eine Fahrzeugfunktion sowie eine Entsperreinrichtung für die Fahrzeugfunktion aufweist. Ferner ist eine mit dem mindestens einen Bedienhebel zusammenwirkende Rückstelleinrichtung vorgesehen, die eine Rückstellkraft in Abhängigkeit von einer Auslenkung des mindestens einen Bedienhebels angibt. Die Rückstelleinrichtung gibt vor einer Betätigung der Entsperreinrichtung die Rückstellkraft an dem Bedienhebel derart vor, dass bei einem nicht erfolgten Entsperren der Fahrzeugfunktion, dies dem Bediener zurückgemeldet wird. Durch die Rückmeldung an den Bediener können Verzögerungen bei der Bedienung des Flurförderzeugs vermieden werden.The industrial 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. Furthermore, a restoring device cooperating with the at least one operating lever is provided, which indicates a restoring force as a function of a deflection of the at least one operating lever. Before the unlocking device is actuated, the reset device specifies the reset force on the operating lever in such a way that if the vehicle function is not unlocked, this is reported back to the operator. By the feedback to the operator can avoid delays in the operation of the industrial truck.

In einer bevorzugten Ausgestaltung des erfindungsgemäßen Flurförderzeugs ist ein Zinkenverstellgerät vorgesehen und die Entsperreinrichtung mit einem Lastsensor ausgestattet. Die Betätigungseinrichtung ist für das Zinkenverstellgerät gesperrt, wenn der Lastsensor eine Last erfasst. Der Bediener, der versucht, die Zinkenverstelleinrichtung zu betätigen, obwohl eine Last sich auf dem Lasttragmittel befindet, wird durch die gesperrte Betätigungseinrichtung daran erinnert, dass die aufgenommen Last durch ein Betätigen des Zinkenverstellgeräts gefährdet ist.In a preferred embodiment of the industrial truck according to the invention, a tine adjusting device is provided and the unlocking device is equipped with a load sensor. The actuating device is blocked for the tine adjustment device when the load sensor detects a load. The operator who tries to actuate the tine adjustment device even though there is a load on the load carrying means is reminded by the locked actuation device that the picked up load is endangered by actuation of the tine adjustment device.

In einer bevorzugten Ausgestaltung des Flurförderzeugs weist die Entsperreinrichtung ein unabhängig vom Bedienhebel betätigbares Entsperrmittel auf. Das Entsperrmittel kann beispielsweise ein Taster, ein Schalter, ein Schieber oder ein sonstiges betätigbares Element sein. Für die Aufgabe als Entsperreinrichtung ist wichtig, dass das Entsperrmittel unabhängig von der Betätigungseinrichtung verwendet und bedient werden kann.In a preferred embodiment of the industrial truck, the unlocking device has an unlocking means which can be actuated independently of the operating lever. The unlocking means can be, for example, a button, a switch, a slide or another actuatable element. For the task as an unlocking device, it is important that the unlocking means can be used and operated independently of the actuating device.

In einer möglichen Ausgestaltung ist das Flurförderzeug mit einem klammernden und/oder drehenden Anbaugerät ausgestattet, zu dessen Betätigung die Entsperreinrichtung vorab betätigt werden muss. Durch das Betätigen der Entsperreinrichtung wird eine Bewegung der Last mit dem Anbaugerät freigegeben.In one possible embodiment, the industrial truck is equipped with a clamping and / or rotating attachment, the unlocking device of which must be actuated in advance in order to operate it. By actuating the unlocking device, a movement of the load with the attachment is released.

In einer bevorzugten Weiterbildung blockiert die Rückstelleinrichtung eine Bewegung des mindestens einen Bedienhebels bis die Entsperreinrichtung betätigt wurde. Die Entsperreinrichtung kann durch ein Entsperrmittel von dem Benutzer betätigt werden oder beispielsweise durch einen Lastsensor, der beispielsweise eine fehlende Last detektiert.In a preferred development, the reset 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 the unlocking means by the user or, for example, by a load sensor, which detects a missing load, for example.

In einer bevorzugten Ausgestaltung vergrößert die Rückstelleinrichtung bei einer Bewegung des mindestens einen Bedienhebels ohne vorherige Betätigung der Entsperreinrichtung die Rückstellkraft. Bei dieser Ausgestaltung erfährt der Benutzer bereits eine sehr große Rückstellkraft an dem Bedienhebel, sobald dieser betätigt wird. Dies erzeugt für die Bedienperson den Eindruck eines blockierten Bedienhebels, der sich an seinem Maximalanschlag befindet.In a preferred embodiment, the resetting device increases the resetting force when the at least one operating lever moves without prior actuation of the unlocking device. With this configuration, the user already experiences a very large restoring force on the operating lever as soon as it is actuated. For the operator, this creates the impression of a blocked control lever that is at its maximum stop.

Neben einem Blockieren des Bedienhebels ist es auch möglich, die Rückstellkraft spürbar zu vergrößern. Auch hierdurch wird eine Bedienperson auf die fehlende Entsperrung aufmerksam gemacht. Zur Verstärkung dieses Effektes ist es möglich, die Rückstellkraft pulsierend zu variieren, wodurch im besonderen Maße die Aufmerksamkeit der Bedienperson erregt wird. Vorteil gegenüber einem Vibrieren im Bedienhebel ist hierbei auch, dass dieser nicht seine Stellung verändert, sondern trotz gleichbleibender Stellung die Bedienperson nur die für das Halten erforderliche Kraft sich mit der Zeit ändert.In addition to blocking the operating lever, it is also possible to noticeably increase the restoring force. This also makes an operator aware of the lack of unlocking. To reinforce this effect, it is possible to vary the restoring force in a pulsating manner, as a result of which the operator's attention is particularly attracted. Another advantage over vibrating in the control lever is that it does not change its position, but despite the position remaining the operator only changes the force required to hold it over time.

Eine bevorzugte Ausführung der Erfindung wird nachfolgend näher erläutert. Es zeigen:

Fig. 1
einen Gegengewichtsstapler in einer schematischen Ansicht von der Seite,
Fig. 2
einen Bedienhebel mit einem Entsperrschalter,
Fig. 3
ein als Klammer ausgebildetes Anbaugerät,
Fig. 4
einen Lastschlitten mit Dreheinheit,
Fig. 5
ein Zinkenverstellgerät als Anbaugerät, und
Fig. 6
den erfindungsgemäßen Verlauf der Rückstellkraft, abhängig von der Auslenkung des Bedienhebels.
A preferred embodiment of the invention is explained in more detail below. Show it:
Fig. 1
a counterbalance truck in a schematic view from the side,
Fig. 2
an operating lever with an unlocking switch,
Fig. 3
an attachment designed as a clamp,
Fig. 4
a load carriage with rotating unit,
Fig. 5
a fork positioner as an attachment, and
Fig. 6
the course of the restoring force according to the invention, depending on the deflection of the operating lever.

Fig. 1 zeigt ein Flurförderzeug 10, das ein Antriebsteil 12 und ein Lastteil 14 besitzt. Das Antriebsteil 12 besitzt zwei Vorderräder 16 und, je nach Ausgestaltung des Fahrwerks, ein oder zwei Hinterräder 18. An dem Antriebsteil 12 ist in einem Anlenkpunkt 20 ein Hubmast 22 angelenkt. Über einen Neigezylinder 24 kann der Hubmast aus der Horizontalen geneigt werden. Der Hubmast 22 besitzt hier ein gabelförmiges Lasttragmittel 26, auf dem eine Last 28 angeordnet ist. Grundsätzlich können an dem Hubmast 22 auch andere Lasttragmittel angeordnet sein. So ist es möglich, ein Zinkenverstellgerät vorzusehen, das es erlaubt, den Abstand zwischen den Gabelzinken zu variieren (vgl. Fig. 5), eine zu transportierende Last, beispielsweise in Form einer Rolle klammernd zu greifen (vgl. Fig. 3) oder eine aufgenommene Last gezielt zu verschwenken (vgl. Fig. 4). Fig. 1 shows an industrial truck 10 which has a drive part 12 and a load part 14. The drive part 12 has two front wheels 16 and, depending on the design of the undercarriage, one or two rear wheels 18. A lifting mast 22 is articulated on the drive part 12 in a pivot point 20. The mast can be inclined from the horizontal via a tilt cylinder 24. The lifting mast 22 here has a fork-shaped load-bearing means 26 on which a load 28 is arranged. In principle, other load carrying means can also be arranged on the lifting mast 22. It is thus possible to provide a tine adjustment device that allows the distance between the fork tines to be varied (cf. Fig. 5 ) to grip a load to be transported, for example in the form of a roller (cf. Fig. 3 ) or to specifically pivot a picked up load (cf. Fig. 4 ).

Da bei Flurförderzeugen es vorgeschrieben ist, dass vor gefahrbringenden Bewegungen der Last eine zusätzliche Zustimmung des Fahrers erfolgen muss, kann beispielsweise auch für die Mastneigung bei angehobener Last eine Sperrfunktion vorgesehen sein. Mit der Sperrfunktion ist ein Neigen ab einer bestimmten Lasthöhe nach vorne nur möglich, wenn der Fahrer diese Funktion entsperrt hat.Since it is mandatory for industrial trucks that the driver must give additional approval before dangerous movements of the load, a blocking function can also be provided, for example, for the mast inclination when the load is raised. With the locking function, it is only possible to tilt forward from a certain load height if the driver has unlocked this function.

Fig. 2 zeigt einen Bedienhebel 30, der in Richtung der Doppelpfeile A, B verschwenkbar ist. Der Bedienhebel 30 besitzt einen ballenförmigen Kopf, auf dem beispielsweise die Handfläche des Bedieners ruht. Gegenüber dem Untergrund 32 besitzt der Bedienhebel 30 an seinem unteren Ende eine elastische Manschette 34, die eine Bewegung des Hebels 30 zulässt. Nicht weit von dem Bedienhebel 30 entfernt ist ein Entsperrschalter 36 schematisch dargestellt. Der Entsperrschalter (Ausführung als Taster) kann zur Entsperrung durch eine Bewegung entlang des Doppelpfeils C betätigt werden. Fig. 2 shows an operating lever 30 which is pivotable in the direction of the double arrows A, B. The control lever 30 has a ball-shaped head on which, for example, the palm of the operator rests. Compared to the base 32, the operating lever 30 has an elastic sleeve 34 at its lower end, which allows the lever 30 to move. An unlocking switch 36 is shown schematically not far from the operating lever 30. The unlock switch (Execution as a button) can be actuated to unlock by moving along the double arrow C.

Durch eine Betätigung des Bedienhebels 30 entweder in Richtung B oder in Richtung A können unterschiedliche Fahrzeugfunktionen hinterlegt sein. Durch eine Bewegung in der durch die Richtungen A und B aufgespannten Ebene, können beide Funktionen einander überlagert werden. Mit der Rückstelleinrichtung kann für jede der Richtungen A und B eine rückstellende Kraft erzeugt werden. Die rückstellende Kraft ist in der Regel proportional zur Auslenkung, um der Bedienperson eine haptische Rückmeldung zu geben. Für die Erfindung kann auch ein Bedienhebel mit einer eindimensionalen Betätigung vorgesehen sein.Different vehicle functions can be stored by actuating the operating lever 30 either in direction B or in direction A. By moving in the plane spanned by directions A and B, both functions can be superimposed on one another. The resetting device can generate a resetting force for each of the directions A and B. The restoring force is usually proportional to the deflection in order to give the operator haptic feedback. An operating lever with a one-dimensional actuation can also be provided for the invention.

Fig. 3 zeigt ein klammerndes Anbaugerät, das zwei flache, kastenförmige Klammern 38 besitzt. Über zwei Verstellzylinder 40 kann der Abstand zwischen den Klammern in D verstellt werden. Die Klammern 38 werden entlang einem Lastschlitten 42 verfahren, der an einem Hubmast 44 höhenverstellbar angebracht ist. Der Abstand D zwischen den Klammern 38 wird beispielsweise über den Bedienhebel 30 durch eine Betätigung in Richtung A gestellt. In diesem Fall ist eine Betätigung des Bedienhebels in Richtung A nur möglich, wenn die Entsperreinrichtung 36 zuvor betätigt wurde und damit das Verstellen des Abstands D möglich ist, sonst ist die Betätigung des Bedienhebels in Richtung A gesperrt. Fig. 3 shows a clipping attachment that has two flat, box-shaped brackets 38. The distance between the brackets in D can be adjusted via two adjusting cylinders 40. The brackets 38 are moved along a load carriage 42, which is attached to a lifting mast 44 so that it can be adjusted in height. The distance D between the brackets 38 is set, for example, via the operating lever 30 by actuation in the direction A. In this case, an actuation of the operating lever in direction A is only possible if the unlocking device 36 has been actuated beforehand and thus the adjustment of the distance D is possible, otherwise the actuation of the operating lever in direction A is blocked.

Fig. 4 zeigt einen drehbaren Gabelträger 46, der an einem Lastschlitten 48 über eine Dreheinheit (nicht sichtbar) in Richtung E schwenkbar gelagert ist. Der Lastschlitten 48 ist entlang dem Hubmast 50 in der Höhe verstellbar. Ein Verschwenken des Gabelträgers entlang der Richtung E kann beispielsweise verwendet werden, um Schüttgüter oder Flüssigkeiten, die in einem Behälter auf dem Gabelträger angeordnet sind, kontrolliert auszuschütten. Aber auch andere Anwendungen für den drehbaren Gabelträger sind denkbar. Auch hier ist eine Drehbewegung entlang der Richtung E gesperrt und kann erst angesteuert werden, wenn die zugeordnete Entsperreinrichtung betätigt wurde. Fig. 4 shows a rotatable fork carriage 46 which is pivotally mounted in the direction E on a load carriage 48 via a rotating unit (not visible). The height of the load carriage 48 can be adjusted along the mast 50. A pivoting of the fork carriage along the direction E can be used, for example, in order to dispense bulk goods or liquids which are arranged in a container on the fork carriage in a controlled manner. But other applications for the rotatable fork carriage are also conceivable. Here too is a rotational movement along the Locked in direction E and can only be activated when the assigned unlocking device has been actuated.

Fig. 5 zeigt ein Zinkenverstellgerät, bei dem der Abstand F zwischen den Gabelzinken 52 und 54 über zwei Verstellzylinder 56 verstellbar ist. Die Verstellzylinder 56 mit den Gabelzinken 52, 54 sind an einem Lastschlitten 58 angeordnet, der entlang dem Hubmast 60 in der Höhe verstellbar ist. Auch hier kann ein Verstellen des Abstandes F zwischen den Gabelzinken 52 und 54 über einen Entsperrschalter 36 gesperrt sein. Auch ist es möglich, einen Lastsensor für die Gabelzinken 52, 54 vorzusehen. Der Lastsensor detektiert eine auf den Gabelzinken befindliche Last. Im Falle, dass sich eine Last auf den Gabelzinken befindet, ist grundsätzlich ein Verstellen des Abstandes F zwischen den Gabelzinken gesperrt. Lediglich in dem Fall, dass keine Last sich auf den Gabelzinken befindet, kann eine Verstellung des Abstandes F erfolgen. Bei der Verwendung eines Lastsensors ist es möglich, dass in dem Fall einer fehlenden Last, ein Verstellen des Abstandes F direkt freigegeben ist. Alternativ ist es auch möglich, dass auch bei fehlender Last noch zusätzlich ein Entsperrschalter betätigt werden muss, um den Abstand zwischen den Gabelzinken zu verstellen. Fig. 5 shows a tine adjusting device in which the distance F between the fork tines 52 and 54 is adjustable via two adjusting cylinders 56. The adjusting cylinders 56 with the fork tines 52, 54 are arranged on a load carriage 58, the height of which can be adjusted along the lifting mast 60. Here, too, an adjustment of the distance F between the fork tines 52 and 54 can be blocked via an unlocking switch 36. It is also possible to provide a load sensor for the fork tines 52, 54. The load sensor detects a load on the forks. In the event that there is a load on the forks, an adjustment of the distance F between the forks is blocked. The distance F can only be adjusted in the event that there is no load on the fork tines. When using a load sensor, it is possible that in the event of a missing load, an adjustment of the distance F is directly enabled. Alternatively, it is also possible that an unlocking switch must also be actuated to adjust the distance between the forks, even when there is no load.

Fig. 6 zeigt den Verlauf einer rückstellenden Kraft 62a, 62b, abhängig von der Auslenkung des Bedienhebels. Die mit durchgehender Linie eingezeichneten normalen Kraftverläufe entsprechen bei 100 % Auslenkung einer rückstellenden Kraft von 100 %. Die rückstellende Kraft ist hierbei ohne Vorzeichen, sondern mit Absolutbetrag in willkürlichen Einheiten aufgetragen. Bei einer Auslenkung um + 20 % ist die rückstellende Kraft entlang der Linie 62a gleich groß wie die rückstellende Kraft entlang der Linie 62b, beide rückstellenden Kräfte sind dabei ausgerichtet, den Bedienhebel in seine Nullstellung bei Auslenkung 0 % zurückzustellen. 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 solid line correspond to a restoring force of 100% at 100% deflection. The restoring force is here unsigned, but with an absolute amount in arbitrary units. With a deflection of + 20%, the restoring force along line 62a is the same as the restoring force along line 62b, both restoring forces are oriented to return the operating lever to its zero position with 0% deflection.

Bei der Erfindung wird nun die rückstellende Kraft entlang dem gestrichelten Verlauf 64a, 64b verstellt. Der Verlauf 64a bewirkt, dass bei einer geringsten Auslenkung in positiver Richtung bereits eine sehr große rückstellende Kraft erfahren wird, so dass eine weitere Betätigung des Bedienhebels nicht möglich ist. Die steilen Verläufe 64a, 64b wirken wie Endanschläge und sperren damit eine Betätigung des Bedienelements in die entsprechende Richtung. Das Blockieren erfolgt, wie in Fig. 6 dargestellt, wahlweise für die einzelnen Richtungen. So ist es beispielsweise möglich, mit der Rückstelleinrichtung einen Verlauf von 62b und 64a vorzugeben, wodurch nur eine Sperrung zur positiven Auslenkung hin erfolgt. Ebenfalls kann anders herum durch die Kombination 64b und 62a eine einseitige Sperrung für eine negative Auslenkung erfolgen.In the invention, the restoring force is now adjusted along the dashed curve 64a, 64b. The course 64a has the effect that, with the slightest deflection in the positive direction, a very large restoring force is already experienced, so that a further actuation of the operating lever is not possible. The steep gradients 64a, 64b act like end stops and thus block actuation of the operating element in the corresponding direction. The blocking is done as in Fig. 6 shown, optionally for the individual directions. For example, it is possible to specify a course of 62b and 64a with the resetting device, as a result of which there is only a blockage for positive deflection. The other way round, the combination 64b and 62a can also result in a one-sided blocking for a negative deflection.

Der besondere Vorteil der Verwendung der Rückstelleinrichtung liegt darin, dass diese flexibel an dem Bedienelement eingesetzt werden kann.The particular advantage of using the reset device is that it can be used flexibly on the control element.

In einer Weiterbildung des in Fig. 6 gezeigten Verlaufs der rückstellenden Kraft kann in gewissen Grenzen auch die Steigung der rückstellenden Kräfte 64a und 64b pulsierend variiert werden. Durch eine Variation über der Zeit mit den rückstellenden Kräften erfährt eine Bedienperson, die den Bedienhebel entgegen der rückstellenden Kraft drückt, eine pulsierende rückstellende Kraft, die ihn zudem daran erinnert, dass die Funktion gesperrt ist.In a further training of the in Fig. 6 shown course of the restoring force, the slope of the restoring forces 64a and 64b can be varied in a pulsating manner. Through a variation over time with the resetting forces, an operator who presses the operating lever against the resetting force experiences a pulsating resetting force which also reminds him that the function is blocked.

BezugszeichenlisteReference symbol list

1010th
FlurförderzeugIndustrial truck
1212
Antrieb steilSteep drive
1414
LastteilLoad part
1616
VorderradFront wheel
1818th
HinterradRear wheel
2020th
AnlenkpunktPivot point
2222
HubmastMast
2424th
NeigezylinderTilt cylinder
2626
LasttragmittelLoad carrying means
2828
Lastload
3030th
BedienhebelOperating lever
3232
UntergrundUnderground
3434
elastische Manschetteelastic cuff
3636
EntsperreinrichtungUnlocking device
3838
kastenförmige Klammerbox-shaped bracket
4040
VerstellzylinderAdjustment cylinder
4242
LastschlittenLoad sledge
4444
HubmastMast
4848
LastschlittenLoad sledge
5050
HubmastMast
5252
GabelzinkenForks
5454
GabelzinkenForks
5656
VerstellzylinderAdjustment cylinder
5858
LastschlittenLoad sledge
6060
HubmastMast
62a62a
rückstellende Kraftresetting force
62b62b
rückstellende Kraftresetting force
64a64a
rückstellende Kraftresetting force
64b64b
rückstellende Kraftresetting force

Claims (14)

  1. Method for servicing an industrial truck with a control element, which has
    - at least one operating lever (30) for a vehicle function and an unlocking device (36) for the vehicle function and
    - a resetting device which interacts with the at least one operating lever (30) and which specifies a resetting force (62) as a function of a deflection of the at least one operating lever (30),
    characterized in that
    when the operating lever (30) is actuated without previously unlocking the operating lever (30), the resetting force (62) at the at least one operating lever is changed in order to indicate that an unlocking operation has not been performed.
  2. Method according to claim 1, characterized in that the industrial truck has a fork positioner device and the unlocking device has a load sensor, wherein actuation of the fork positioner device is blocked when the load sensor detects a load.
  3. Method according to claim 1 or 2, characterized in that the unlocking device is actuated independently of the operating lever (30).
  4. Method according to one of claims 1 to 3, characterized in that the resetting device blocks a movement of the at least one operating lever (30) until the unlocking device has been actuated.
  5. Method according to one of the preceding claims, characterized in that the unlocking device is actuated before a clamping and/or rotating attachment can be actuated.
  6. Method according to one of claims 1 to 5, characterized in that the resetting device increases the resetting force (62) when the at least one operating lever (30) is moved without prior operation of the unlocking device.
  7. Method according to claim 6, characterized in that the resetting device increases the resetting force (62) in a pulsating manner when the at least one operating lever (30) is moved without prior actuation of the unlocking device.
  8. Industrial truck having an operating element which has at least one operating lever for a vehicle function as well as an unlocking device for the vehicle function and has a resetting device which interacts with the at least one operating lever (30) and specifies a resetting force (62) as a function of a deflection of the at least one operating lever (30),
    characterized in that
    before the unlocking device is actuated, the resetting device presets the resetting force (62) at the at least one operating lever (30) in such a way that a non-executed unlocking operation is indicated back.
  9. Industrial truck according to claim 8, characterized in that a fork positioner is provided and the unlocking device comprises a load sensor, wherein the actuating device for the fork positioner is blocked when the load sensor detects a load.
  10. Industrial truck according to claim 8 or 9, characterized in that the unlocking device has an unlocking means which can be operated independently of the operating lever (30).
  11. Industrial truck according to one of claims 8 to 10, characterized in that a clamping and/or rotating attachment is provided, for the operation of which the unlocking device must have been actuated.
  12. Industrial truck according to one of claims 8 to 11, characterized in that the resetting device blocks a movement of the at least one operating lever until the unlocking device has been actuated.
  13. Industrial truck according to one of claims 8 to 12, characterized in that the resetting device increases the resetting force (62) when the at least one operating lever (30) is moved without prior actuation of the unlocking device.
  14. Industrial truck according to one of claims 8 to 13, characterized in that the resetting device changes the resetting force (62) in a pulsating manner when the at least one operating lever (30) is moved without prior actuation of the unlocking device.
EP17193227.0A 2016-09-29 2017-09-26 Method for servicing an industrial truck with a control element Active EP3301066B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102016118458.6A DE102016118458A1 (en) 2016-09-29 2016-09-29 Method for operating an industrial truck with a control element

Publications (2)

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

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EP17193227.0A Active EP3301066B1 (en) 2016-09-29 2017-09-26 Method for servicing an industrial truck with a control element

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US (1) US10336594B2 (en)
EP (1) EP3301066B1 (en)
DE (1) DE102016118458A1 (en)

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JP7188298B2 (en) * 2019-07-02 2022-12-13 株式会社豊田自動織機 Operation lever device for industrial vehicles
CN111362196B (en) * 2019-10-14 2021-06-25 周木森 Fork truck device that commodity circulation field used

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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
DE19861141B4 (en) * 1998-08-21 2006-11-02 ITT Manufacturing Enterprises, Inc., Wilmington joystick
DE19949802A1 (en) 1999-10-15 2001-04-19 Mannesmann Rexroth Ag Manual input control of hydraulic and electrohydraulic valves through joystick movement and operation of switches
DE10015707A1 (en) 2000-03-29 2001-10-04 Digalog Gmbh Detecting critical driving states for transport vehicles with height adjustable load position involves comparing measurement signal dynamic component analysis result with boundary values
JP2002196883A (en) * 2000-12-22 2002-07-12 Alps Electric Co Ltd Manual input device and on-vehicle equipment controller using the manual input device
DE10304658A1 (en) 2003-02-05 2004-08-19 Bosch Rexroth Ag Industrial truck
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Also Published As

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DE102016118458A1 (en) 2018-03-29
US10336594B2 (en) 2019-07-02
EP3301066A1 (en) 2018-04-04
US20180086613A1 (en) 2018-03-29

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