EP3301066B1 - 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

Info

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
Authority
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)
English (en)
Other versions
EP3301066A1 (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

Links

Images

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.

Landscapes

  • 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)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Claims (14)

  1. Procédé de commande d'un chariot de manutention doté d'un élément de commande, lequel
    - présente au moins un levier de commande (30) pour une fonction de véhicule ainsi qu'un système de déverrouillage (36) pour la fonction de véhicule, et
    - un système de rappel coopérant avec l'au moins un levier de commande (30), lequel fournit une force de rappel (62) en fonction d'une déviation de l'au moins un levier de commande (30) ,
    caractérisé en ce que
    lors d'un actionnement du levier de commande (30) sans déverrouillage préalable du levier de commande (30), la force de rappel (62) au niveau de l'au moins un levier de commande est modifiée pour indiquer la non-réalisation d'une opération de déverrouillage.
  2. Procédé selon la revendication 1, caractérisé en ce que le chariot de manutention présente un dispositif de réglage de dent et le système de déverrouillage possède un capteur de charge, dans lequel un actionnement de l'unité de réglage de dent est verrouillée lorsque le capteur de charge détecte une charge.
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce que le système de déverrouillage est actionné indépendamment du levier de commande (30).
  4. Procédé selon l'une des revendications 1 à 3, caractérisé en ce que le système de rappel bloque un mouvement de l'au moins un levier de commande (30) jusqu'à l'actionnement du système de déverrouillage.
  5. Procédé selon l'une des revendications précédentes, caractérisé en ce que le système de déverrouillage doit être actionné avant de pouvoir actionner un accessoire de serrage et/ou rotatif.
  6. Procédé selon l'une des revendications 1 à 5, caractérisé en ce que le système de rappel augmente la force de rappel (62) lors d'un mouvement de l'au moins un levier de commande (30) sans actionnement préalable du système de déverrouillage.
  7. Procédé selon la revendication 6, caractérisé en ce que le système de rappel augmente la force de rappel (62) par pulsation lors d'un mouvement de l'au moins un levier de commande (30) sans actionnement préalable du système de déverrouillage.
  8. Chariot de manutention doté d'un élément de commande, lequel présente au moins un levier de commande pour une fonction de véhicule ainsi qu'un système de déverrouillage pour la fonction de véhicule et possède un système de rappel coopérant avec l'au moins un levier de commande (30), lequel fournit une force de rappel (62) en fonction d'une déviation de l'au moins un levier de commande (30),
    caractérisé en ce que
    avant un actionnement du système de déverrouillage, le système de rappel établit la force de rappel (62) au niveau de l'au moins un levier de commande (30) de manière à indiquer la non-réalisation d'une opération de déverrouillage.
  9. Chariot de manutention selon la revendication 8, caractérisé en ce qu'il est prévu un dispositif de réglage de dent et le système de déverrouillage présente un capteur de charge, dans lequel le système d'actionnement pour le dispositif de réglage de dent est verrouillé lorsque le capteur de charge détecte une charge.
  10. Chariot de manutention selon la revendication 8 ou 9, caractérisé en ce que le système de déverrouillage présente un moyen de déverrouillage apte à être actionné indépendamment du levier de commande (30).
  11. Chariot de manutention selon l'une des revendications 8 à 10, caractérisé en ce qu'il est prévu un accessoire de serrage et/ou rotatif, pour l'actionnement duquel le système de déverrouillage doit être préalablement actionné.
  12. Chariot de manutention selon l'une des revendications 8 à 11, caractérisé en ce que le système de rappel bloque un mouvement de l'au moins un levier de commande jusqu'à l'actionnement du système de déverrouillage.
  13. Chariot de manutention selon l'une des revendications 8 à 12, caractérisé en ce que le système de rappel augmente la force de rappel (62) lors d'un mouvement de l'au moins un levier de commande (30) sans actionnement préalable du système de déverrouillage.
  14. Chariot de manutention selon l'une des revendications 8 à 13, caractérisé en ce que le système de rappel augmente la force de rappel (62) par pulsation lors d'un mouvement de l'au moins un levier de commande (30) sans actionnement préalable du système de déverrouillage.
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 EP3301066A1 (fr) 2018-04-04
EP3301066B1 true EP3301066B1 (fr) 2020-05-27

Family

ID=59982288

Family Applications (1)

Application Number Title Priority Date Filing Date
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)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7188298B2 (ja) * 2019-07-02 2022-12-13 株式会社豊田自動織機 産業車両の操作レバー装置
CN110615386B (zh) * 2019-10-14 2020-08-07 周木森 一种物流领域使用的叉车

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
DE19861141B4 (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
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

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Also Published As

Publication number Publication date
EP3301066A1 (fr) 2018-04-04
US10336594B2 (en) 2019-07-02
DE102016118458A1 (de) 2018-03-29
US20180086613A1 (en) 2018-03-29

Similar Documents

Publication Publication Date Title
EP1953618B1 (fr) Dispositif de commande pour un véhicule
EP1980441B1 (fr) Levier de commande pour un véhicule
EP0950634B1 (fr) Chariot de manutention avec une manette à fonctions multiples
DE102005047766A1 (de) Lenkbetätigungseinrichtung für ein Fahrzeug, insbesondere für ein Flurförderzeug
EP3301066B1 (fr) Procédé de commande d'un chariot de manutention doté d'un élément de commande
EP2650197B1 (fr) Finisseur de route et console d'assise
EP0411335B1 (fr) Elément de commande de véhicules de transport
DE102017105008A1 (de) Bedienhebel mit aktiver Rückmeldeeinheit
EP3800143A1 (fr) Dispositif de positionnement précis d'une palette de transport
DE102007047838A1 (de) Antrieb für ein Flurförderzeug
DE202010006436U1 (de) Lenkbarer Rollwagen
EP3301065B1 (fr) Procédé de commande d'un chariot de manutention doté d'un élément de commande ainsi qu'un chariot de manutention
EP2383220B1 (fr) Chariot de manutention doté d'un dispositif de commande
EP3054367B1 (fr) Vehicule, en particulier vehicule a chenille destine a l'entretien et au damage de pistes de ski
DE102010035515B4 (de) Rolle für verfahrbare Gegenstände
DE4215547C2 (de) Kombidrehgriff zur Zweihandbedienung zwangsgeführter Flurförderzeuge
DE102006008035B4 (de) Lenker
DE202005006433U1 (de) Rolle mit einer Bremsvorrichtung
EP0147582B1 (fr) Dispositif de blocage pour deux pédales situées côte à côte, en particulier pédales de frein
DE2821157C3 (de) Feststellvorrichtung an einer Lenkrolle
DE10013076A1 (de) Flurförderzeug mit einer einrastbaren Lenksäule
DE102020117691A1 (de) Lenkvorrichtung für Fahrzeuge
DE102010052211A1 (de) Rollhilfe für Müllbehälter
EP2927776A2 (fr) Pédale à pied
DE102004017859A1 (de) Deichselgeführter Hubwagen mit Hilfskraftlenkung

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20181001

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

RIC1 Information provided on ipc code assigned before grant

Ipc: B66F 17/00 20060101ALI20180220BHEP

Ipc: B66F 9/20 20060101AFI20180220BHEP

Ipc: B66F 9/14 20060101ALI20180220BHEP

Ipc: G05G 9/047 20060101ALI20180220BHEP

Ipc: G05G 5/03 20080401ALI20180220BHEP

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

RIC1 Information provided on ipc code assigned before grant

Ipc: B66F 17/00 20060101ALI20200130BHEP

Ipc: B66F 9/14 20060101ALI20200130BHEP

Ipc: G05G 5/03 20080401ALI20200130BHEP

Ipc: G05G 5/00 20060101ALI20200130BHEP

Ipc: G05G 9/047 20060101ALI20200130BHEP

Ipc: B66F 9/20 20060101AFI20200130BHEP

INTG Intention to grant announced

Effective date: 20200220

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502017005430

Country of ref document: DE

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1274364

Country of ref document: AT

Kind code of ref document: T

Effective date: 20200615

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200827

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200527

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200828

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200928

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200527

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200927

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200527

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20200527

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200827

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200527

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200527

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200527

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200527

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200527

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200527

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200527

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200527

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200527

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200527

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200527

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200527

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200527

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200527

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502017005430

Country of ref document: DE

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

26N No opposition filed

Effective date: 20210302

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200527

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20200930

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200926

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200926

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200930

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200930

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200930

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200527

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200527

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200527

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200527

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200527

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230628

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20230921

Year of fee payment: 7

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 1274364

Country of ref document: AT

Kind code of ref document: T

Effective date: 20220926

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20230918

Year of fee payment: 7

Ref country code: DE

Payment date: 20230919

Year of fee payment: 7

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20220926