EP3301068A1 - Industrial truck with an operating lever and a method of operating such an industrial truck - Google Patents

Industrial truck with an operating lever and a method of operating such an industrial truck Download PDF

Info

Publication number
EP3301068A1
EP3301068A1 EP17193235.3A EP17193235A EP3301068A1 EP 3301068 A1 EP3301068 A1 EP 3301068A1 EP 17193235 A EP17193235 A EP 17193235A EP 3301068 A1 EP3301068 A1 EP 3301068A1
Authority
EP
European Patent Office
Prior art keywords
operating lever
neutral position
deflection
vehicle function
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP17193235.3A
Other languages
German (de)
French (fr)
Other versions
EP3301068B1 (en
Inventor
Hendrik Geilsdorf Dr.
Jörn Sellentin
Hartwig Grothkopp
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 EP3301068A1 publication Critical patent/EP3301068A1/en
Application granted granted Critical
Publication of EP3301068B1 publication Critical patent/EP3301068B1/en
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
    • B66F9/0759—Details of operating station, e.g. seats, levers, operator platforms, cabin suspension
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • 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
    • B66F9/07581—Remote controls
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/04—Controlling members for hand actuation by pivoting movement, e.g. levers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/05—Means for returning or tending to return controlling members to an inoperative or neutral position, e.g. by providing return springs or resilient end-stops
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04766—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 providing feel, e.g. indexing means, means to create counterforce
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G2505/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • 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
    • 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 an industrial truck with at least one operating lever having an operating means and a cooperating with the operating lever return device, which generates a restoring force depending on the deflection of the operating lever.
  • the invention also relates to a method for operating an industrial truck, which has at least one operating lever exhibiting an operating means and a cooperating with the operating lever reset device.
  • an operating element for an industrial truck with two operating levers and at least one switch arranged between them is known.
  • the control levers are each designed for a biaxial movement and spatially spaced from each other such that with a hand positioned between the levers with the fingers the operating lever without gripping and the at least one switch between the control levers is actuated.
  • the invention has for its object to provide an industrial truck and a method for its operation, in which an intuitive operation is ensured by simple means.
  • the truck according to the invention has at least one operating means, which has an operating lever.
  • vehicle functions can be triggered via associated actuators.
  • a restoring device is provided, which triggers a restoring force depending on the deflection of the operating lever.
  • the restoring device an association between restoring force and deflection of the operating lever is stored. This assignment can be arbitrarily specified by the restoring device, wherein preferably each deflection is assigned a value for the restoring force.
  • the return device for the operating lever generates a neutral position, which corresponds to a current actuation of the vehicle function.
  • the neutral position of the operating lever here is the position of the operating lever, in which no force must be applied to hold the operating lever in position.
  • the neutral position is generated for the operating lever, which would be necessary in the current control of the vehicle function.
  • At least two cases can be distinguished.
  • a first case the deflection of the operating lever from its neutral position leads to an end of the automatic mode.
  • the operating lever when the operating lever is moved out of the neutral position, preferably transferred to a manual control, in which case the current position of the operating lever is also the signal for the control.
  • an additional control for a continued automatic operation can take place. This is continued in a deflection of the operating lever from its neutral position in automatic mode and it is done via the control lever, a speed control in the continuous automatic mode. In this embodiment, the operator gets the additional possibility to continue this during the automatic operation without interrupting the automatic operation and to carry out the operations of the automatic operation with a controlled by the operating lever speed.
  • the restoring device in an automatic mode for the vehicle function, provides the neutral position for a deflection of the operating lever, which corresponds to a position of the operating lever in the case of manual activation of the vehicle function.
  • Manual control means that the control lever with its neutral position has the deflection that the control lever would possess when the vehicle function not automatically, but would be controlled by pressing the control lever. Without intervention of the operator, the operating lever always moves in an automatic mode as the operating lever would thus be moved in a manual control of the same movement of the automatic function. A movement of the operating lever is thereby clearly defined as the deflection corresponding to the control of the vehicle function.
  • the deflection of the operating lever from a neutral position of a manual control of the associated vehicle function with a deflection corresponding to a deflection relative to the neutral position.
  • a neutral position of the operating lever corresponds to a current position of the vehicle function assigned to the operating lever.
  • a measuring device which detects the current position of a component provided by the vehicle function and applies it to the restoring device. By confirming the current position, it is possible to set the neutral position according to the current position of the vehicle function.
  • the feedback also makes it possible to react to external influences, since the displaced neutral position of the control lever also indicates an external force acting on the vehicle function.
  • the method according to the invention is provided and intended for operating an industrial truck which has at least one operating means.
  • the operating means has an operating lever.
  • a restoring device is provided, which generates a restoring force depending on the deflection of the operating lever.
  • the operating means is associated with a vehicle function, which is controlled by a deflection of the operating lever.
  • a neutral position is generated on the operating lever, which corresponds to a current control of the vehicle function. Due to the adjusted neutral position, an operator always has the correct feedback from the control lever.
  • an automatic mode for the vehicle function is provided. Further, a neutral position is generated with a vanishing restoring force in a position corresponding to a manual control of the vehicle function.
  • the automatic mode takes over the control of the vehicle function. With its neutral position, the operating lever always follows the current control, so that the operating lever assumes a restoring-force-free neutral position during deflection, which corresponds to the current automatic control.
  • a deflection of the operating lever from its neutral position corresponds to a manual actuation of the vehicle function without changing the neutral position.
  • a Deflection by the amount .DELTA.% of a control with a value of x +/- .DELTA.% is carried out.
  • the deflection of the operating lever from the neutral position may correspond to the transition to a manual control of the termination of the automatic operation.
  • the automatic mode is continued, in which case the speed of the automatic function is controlled by the control of the operating lever in a position deviating from the neutral position. This means that when the operating lever is moved out of the neutral position, the automatic mode is continued, whereby it is then continued faster or slower, depending on which deflection was left by the neutral position.
  • FIG. 1 shows in a simple schematic view of an operating element 10 with a control lever 12 which can be moved independently in the directions A and B.
  • the operating lever 12 is pivotally mounted at its foot and can be pivoted independently in the directions A or B.
  • the pivoting of the operating lever 12 takes place from a neutral position out, in both positive and negative directions.
  • the deflection of the operating lever 12 is limited in each direction by a maximum deflection.
  • the invention can also be applied to a pivotable only in one direction operating lever.
  • FIG. 2 shows in connection between a restoring force R for the operating lever and the deflection of the operating lever 12.
  • the solid line 14 shows the normal force curve. In the normal force curve acts at a deflection of 0% no restoring force, here is the Neustral too. Up to the maximum rashes +/- 100%, the restoring force increases to 100%. In this embodiment, the operator receives an indication of the deflection of the operating lever by the size of the restoring force.
  • the dashed line 16 shows the force curve with shifted neutral position.
  • the restoring force disappears at a deflection of - 50%.
  • the neutral position is -50%.
  • the restoring force increases linearly, with the restoring force exceeding the 100% deflection at + 50% deflection and increasing to 150% upon deflection in the positive direction.
  • the restoring force increases to a value of up to 50%.
  • the maximum deflection is provided, so that although the restoring force has only reached a value of 50%, further adjustment of the control lever to even more negative deflection is not possible.
  • the shift of the neutral position has particular advantages when using automatic functions in industrial trucks.
  • the currently running vehicle functions are generally not controlled via the operating elements.
  • executed function remains conventionally the corresponding control always in its center position. If the operator now wants to intervene, he must turn the control element in the opposite direction, which may then lead to an ambiguous command. For example, if the vehicle lifts automatically and the driver steers towards lowering, it is not clear whether he wants to slow down or stop the automatic movement, or whether he wants to lower the load, for example, because he has already lifted it too high.
  • the position of the operating element is adapted at any time to the current command of the automatic function.
  • the automatic operation is terminated by the deflection of the operating lever from its neutral position. This means that the control is done manually by the operation of the operating lever and the current position of the operating lever.
  • One aspect relates to the variant that the neutral position specified by the automatic mode is maintained. This means that when you release the manually controlled lowering speed of - 40%, the operating lever returns to its predetermined by the automatic mode neutral position and the lowering is continued with - 50%. At this Design is changed from the automatic mode into the manual mode only as long as the operating lever is guided in a deviating from the predetermined by the automatic mode neutral position.
  • the automatic mode is finally ended and when you release the control lever that returns to its 0% position as a neutral position and there is no more control of the lifting function.
  • Another variant is when continued by a deflection of the operating lever from its neutral position in automatic mode, the automatic mode and the driving of the operating lever, the speed of the automatic mode is changed. This means that with a predetermined by the automatic mode neutral position of - 50% and a lowering speed of - 50%, a deflection of the operating lever in a position of - 40% no manual control with - 40% causes, but a continuation of the automatic mode, in the automatic mode, however, no longer with a lowering speed of - 50% is lowered, but with a corrected by the current deflection value. If the one operating lever is then released in this state, it automatically returns to its neutral position currently set by the automatic mode since the automatic mode continues to be present.
  • the operating levers of a truck specify the speed of work functions.
  • a half deflected operating element corresponds for example to half the maximum speed of this work function, if a linear relationship between deflection and control is stored.
  • the position of the vehicle function for example, a mast feed for reach trucks, a side thrust of an implement or the tilting of the mast.
  • the control is not the Speed for the vehicle function predetermined, but by the movement of the operating lever, the position of the vehicle function can be specified. To then hold the position, the neutral position of the control lever is adjusted to the current position of the vehicle.
  • force curve with shifted neutral position 14 corresponds to the neutral position by 50% pushed back mast feed a reach truck, a 50% in one direction shifted side shift or a - 50% inclined mast.
  • the neutral position is shifted, so that the control element remains unactuated in its new neutral position.
  • the neutral position may be at a front or rear stop, so be ⁇ 100% deflection for the neutral position.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Civil Engineering (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Mechanical Control Devices (AREA)

Abstract

Flurförderzeug mit mindestens einem einen Bedienhebel aufweisenden Bedienmittel und einer mit dem Bedienhebel zusammenwirkenden Rückstelleinrichtung, die für den Bedienhebel eine Rückstellkraft abhängig von dessen Auslenkung erzeugt, wobei dem Bedienmittel eine Fahrzeugfunktion zugeordnet ist, wobei die Rückstelleinrichtung für den Bedienhebel eine Neutralstellung erzeugt, die einer aktuellen Ansteuerung der Fahrzeugfunktion entspricht.Truck with at least one control lever having an operating means and a cooperating with the control restoring device which generates a restoring force depending on the deflection of the operating lever, wherein the operating means is associated with a vehicle function, wherein the restoring means for the operating lever generates a neutral position, the current control corresponds to the vehicle function.

Description

Die Erfindung betrifft ein Flurförderzeug mit mindestens einem einen Bedienhebel aufweisenden Bedienmittel und einer mit dem Bedienhebel zusammenwirkenden Rückstelleinrichtung, die für den Bedienhebel eine Rückstellkraft abhängig von dessen Auslenkung erzeugt. Ebenfalls betrifft die Erfindung ein Verfahren zur Bedienung eines Flurförderzeugs, das mindestens ein einen Bedienhebel aufweisendes Bedienmittel und eine mit dem Bedienhebel zusammenwirkende Rückstelleinrichtung besitzt.The invention relates to an industrial truck with at least one operating lever having an operating means and a cooperating with the operating lever return device, which generates a restoring force depending on the deflection of the operating lever. The invention also relates to a method for operating an industrial truck, which has at least one operating lever exhibiting an operating means and a cooperating with the operating lever reset device.

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 the operation and control of 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 control levers are each designed for a biaxial movement and spatially spaced from each other such that with a hand positioned between the levers with the fingers the operating lever without gripping and the at least one switch between the control levers is actuated.

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 Wirkverbindung stehenden Elektromotor.Out DE 10 2005 000 633 A1 It has become known, for the feedback of vehicle states and / or vehicle information, to provide vibrations on the operating element and / or on the driver's work seat. In this case, there is a haptic feedback of vehicle states and / or vehicle information. In the embodiment of the control element as a joystick, there is a safe and direct feedback of vehicle states and / or vehicle information via a vibration-generating electromagnet or an electric motor 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 are designed as joystick controls for the control of commercial vehicles, machinery, work functions of commercial vehicles or construction machinery and attachments 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 by means of a transmission. For the implementation of force feedback different technical designs for the operating lever of the joystick are known.

Aus DE 10 2007 060 336 A1 ist eine Fahr- und Lenksteuerung für ein Flurförderzeug bekannt geworden, bei der ein Stellelement ausgehend von seiner Nullstellung innerhalb eines X-/Y-Koordinatensystems mit mindestens zwei Quadranten auslenkbar ist, wobei eine Steuervorrichtung Sollwertsignale für die Fahrgeschwindigkeit und für den Lenkwinkel aus der Stellung des Stellelements ermittelt.Out DE 10 2007 060 336 A1 is a driving and steering control for a truck has become known in which an actuating element, starting from its zero position within an X / Y coordinate system with at least two quadrants is deflected, wherein a control device setpoint signals for the driving speed and for the steering angle from the position of the Determined actuator.

Ein wichtiger Aspekt bei der Bedienung eines Flurförderzeugs ist die intuitive Handhabung des Bedienhebels. Insbesondere bei einer halbautomatischen Ansteuerung oder bei einer positionsabhängigen Ansteuerung einer Fahrzeugfunktion ist entscheidend, dass die Bedienperson intuitiv den Bedienhebel in der richtigen Art und Weise ansteuert. Bei einem Eingriff in einen automatischen Bedienvorgang, wenn der Benutzer den Bedienhebel in eine Gegenrichtung auslenkt, kann eine Mehrdeutigkeit entstehen. Entweder bedeutet ein Auslenken in Gegenrichtung lediglich den vorhandenen automatischen Vorgang zu verlangsamen oder es soll eine Bewegung in die Gegenrichtung stattfinden. Auch bei einer positionsabhängigen Ansteuerung, bei der die Position eines Elements des Flurförderzeugs durch eine Position des Bedienhebels vorgegeben ist, wie beispielsweise die Mastneigung, kann eine Mehrdeutigkeit auftreten. Hier entspricht eine senkrechte Ausrichtung des Hubmastes beispielsweise der Mittelstellung des Bedienelements. Ändert sich nun die tatsächliche Position des Hubmastes durch externe Einflüsse, so ist nicht intuitiv verständlich, ob eine Bewegung des Bedienhebels in seine Mittelstellung den Hubmast um eine definierte Strecke neigen, oder ein Senkrechtstellen des Hubmastes bewirken soll.An important aspect when operating an industrial truck is the intuitive handling of the operating lever. In particular, in a semi-automatic control or in a position-dependent control of a vehicle function is crucial that the operator intuitively controls the operating lever in the right way. In an intervention in an automatic operation, when the user deflects the operating lever in a reverse direction, an ambiguity may arise. Either deflecting in the opposite direction merely slows down the existing automatic process or it should move in the opposite direction. Even with a position-dependent control, in which the position of an element of the truck is determined by a position of the operating lever, such as the mast tilt, an ambiguity may occur. Here corresponds a vertical orientation of the mast, for example, the center position of the control. If the actual position of the lifting mast now changes as a result of external influences, it is not intuitively understandable whether a movement of the operating lever into its middle position tends the lifting mast by a defined distance, or is intended to bring about a vertical positioning of the lifting mast.

Der Erfindung liegt die Aufgabe zugrunde, ein Flurförderzeug und ein Verfahren zu seiner Bedienung bereitzustellen, bei dem mit einfachen Mitteln eine intuitive Bedienung sichergestellt ist.The invention has for its object to provide an industrial truck and a method for its operation, in which an intuitive operation is ensured by simple means.

Das erfindungsgemäße Flurförderzeug weist mindestens ein Bedienmittel auf, das einen Bedienhebel besitzt. Über ein Verstellen des Bedienhebels können Fahrzeugfunktionen über zugehörige Aktoren ausgelöst werden. Ferner ist eine Rückstelleinrichtung vorgesehen, die für den Bedienhebel eine Rückstellkraft abhängig von dessen Auslenkung auslöst. In der Rückstelleinrichtung ist eine Zuordnung zwischen Rückstellkraft und Auslenkung des Bedienhebels hinterlegt. Diese Zuordnung kann durch die Rückstelleinrichtung beliebig vorgegeben werden, wobei bevorzugt jeder Auslenkung ein Wert für die Rückstellkraft zugeordnet ist.The truck according to the invention has at least one operating means, which has an operating lever. By adjusting the operating lever, vehicle functions can be triggered via associated actuators. Further, a restoring device is provided, which triggers a restoring force depending on the deflection of the operating lever. In the restoring device, an association between restoring force and deflection of the operating lever is stored. This assignment can be arbitrarily specified by the restoring device, wherein preferably each deflection is assigned a value for the restoring force.

Erfindungsgemäß erzeugt die Rückstelleinrichtung für den Bedienhebel eine Neutralstellung, die einer aktuellen Ansteuerung der Fahrzeugfunktion entspricht. Die Neutralstellung des Bedienhebels ist hierbei diejenige Stellung des Bedienhebels, in der keine Kraft aufgebracht werden muss, um den Bedienhebel in seiner Position zu halten. Bei einer positionsabhängigen Ansteuerung ebenso wie bei einer automatischen Ansteuerung der Fahrzeugfunktion wird die Neutralstellung für den Bedienhebel erzeugt, die bei der aktuellen Ansteuerung der Fahrzeugfunktion notwendig wäre. Hierdurch kann die Bedienperson, die beispielsweise eine optische Rückmeldung von der aktuellen Fahrzeugfunktion und ihrer Ansteuerung besitzt, stets korrigierend eingreifen, wobei der Bedienhebel sich durch die Neutralstellung in einer Stellung befindet, die der aktuellen Ansteuerung der Fahrzeugfunktion entspricht. Eine Fehlbedienung durch eine mehrdeutige Bewegung des Bedienhebels ist hier ausgeschlossen.According to the invention, the return device for the operating lever generates a neutral position, which corresponds to a current actuation of the vehicle function. The neutral position of the operating lever here is the position of the operating lever, in which no force must be applied to hold the operating lever in position. In a position-dependent control as well as an automatic control of the vehicle function, the neutral position is generated for the operating lever, which would be necessary in the current control of the vehicle function. This allows the operator, for example, has an optical feedback from the current vehicle function and its control, always intervene corrective, wherein the operating lever is located by the neutral position in a position corresponding to the current control of the vehicle function. An incorrect operation by an ambiguous movement of the operating lever is excluded here.

Im Hinblick auf den Automatikbetrieb können mindestens zwei Fälle unterschieden werden. Bei einem ersten Fall führt die Auslenkung des Bedienhebels aus seiner Neutralstellung zu einer Beendigung des Automatikbetriebs. Bei dieser Ausgestaltung wird, wenn der Bedienhebel aus der Neutralstellung herausbewegt wird, bevorzugt zu einer manuellen Ansteuerung übergegangen, wobei dann die aktuelle Position des Bedienhebels zugleich das Signal für die Ansteuerung ist.With regard to automatic operation, at least two cases can be distinguished. In a first case, the deflection of the operating lever from its neutral position leads to an end of the automatic mode. In this embodiment, when the operating lever is moved out of the neutral position, preferably transferred to a manual control, in which case the current position of the operating lever is also the signal for the control.

In einer anderen Ausgestaltung kann eine zusätzliche Steuerung für einen fortgesetzten Automatikbetrieb erfolgen. Hierbei wird bei einer Auslenkung des Bedienhebels aus seiner Neutralstellung im Automatikbetrieb dieser fortgesetzt und es erfolgt über den Bedienhebel eine Steuerung einer Geschwindigkeit im fortgesetzten Automatikbetrieb. Bei dieser Ausgestaltung bekommt der Bediener die zusätzliche Möglichkeit, während des Automatikbetriebs diesen ohne Unterbrechung des Automatikbetriebs fortzusetzen und die Vorgänge des Automatikbetriebs mit einer durch den Bedienhebel gesteuerten Geschwindigkeit auszuführen.In another embodiment, an additional control for a continued automatic operation can take place. This is continued in a deflection of the operating lever from its neutral position in automatic mode and it is done via the control lever, a speed control in the continuous automatic mode. In this embodiment, the operator gets the additional possibility to continue this during the automatic operation without interrupting the automatic operation and to carry out the operations of the automatic operation with a controlled by the operating lever speed.

In einer bevorzugten Weiterentwicklung der Erfindung sieht in einem Automatikbetrieb für die Fahrzeugfunktion die Rückstelleinrichtung die Neutralstellung für eine Auslenkung des Bedienhebels vor, die einer Position des Bedienhebels bei einer manuellen Ansteuerung der Fahrzeugfunktion entspricht. Manuelle Ansteuerung bedeutet, dass der Bedienhebel mit seiner Neutralstellung die Auslenkung besitzt, die der Bedienhebel besitzen würde, wenn die Fahrzeugfunktion nicht automatisch, sondern durch Betätigung des Bedienhebels angesteuert würde. Ohne Eingreifen der Bedienperson bewegt sich der Bedienhebel bei einem Automatikbetrieb stets so, wie der Bedienhebel also bei einer manuellen Ansteuerung der gleichen Bewegung der Automatikfunktion bewegt werden würde. Eine Bewegung des Bedienhebels ist hierdurch eindeutig festgelegt, als die Auslenkung, die der Ansteuerung der Fahrzeugfunktion entspricht. Wird also in einem Automatikbetrieb eine Fahrzeugfunktion mit x-% angesteuert, so steht auch der Bedienhebel mit seiner Neutralstellung in einer x-% entsprechenden Position. Ein Eingreifen in den Automatikbetrieb durch ein Vor- oder Zurückbewegen des Bedienhebels um eine Auslenkung von +/-Δ% bedeutet also, dass die Fahrzeugfunktion mit x+Δ% oder mit x-Δ% angesteuert wird.In a preferred further development of the invention, in an automatic mode for the vehicle function, the restoring device provides the neutral position for a deflection of the operating lever, which corresponds to a position of the operating lever in the case of manual activation of the vehicle function. Manual control means that the control lever with its neutral position has the deflection that the control lever would possess when the vehicle function not automatically, but would be controlled by pressing the control lever. Without intervention of the operator, the operating lever always moves in an automatic mode as the operating lever would thus be moved in a manual control of the same movement of the automatic function. A movement of the operating lever is thereby clearly defined as the deflection corresponding to the control of the vehicle function. Thus, if a vehicle function is activated with x% in an automatic mode, then the operating lever with its neutral position is also in a position corresponding to x%. An intervention in the automatic mode by a forward or backward movement of the operating lever by a deflection of +/- Δ% thus means that the vehicle function is controlled with x + Δ% or x-Δ%.

In dieser bevorzugten Ausgestaltung entspricht in dem Automatikbetrieb die Auslenkung des Bedienhebels aus einer Neutralstellung einer manuellen Ansteuerung der zugeordneten Fahrzeugfunktion mit einer Auslenkung, die einer Auslenkung relativ zur Neutralstellung entspricht.In this preferred embodiment corresponds in the automatic mode, the deflection of the operating lever from a neutral position of a manual control of the associated vehicle function with a deflection corresponding to a deflection relative to the neutral position.

Auch bei einer positionsabhängigen Ansteuerung kann vorgesehen sein, dass eine Neutralstellung des Bedienhebels einer aktuellen Position der dem Bedienhebel zugeordneten Fahrzeugfunktion entspricht.Even with a position-dependent activation, it can be provided that a neutral position of the operating lever corresponds to a current position of the vehicle function assigned to the operating lever.

In einer bevorzugten Ausgestaltung ist eine Messeinrichtung vorgesehen, die die aktuelle Position eines durch die Fahrzeugfunktion gestellten Bauteils erfasst und an die Rückstelleinrichtung anlegt. Über die Rückmeldung der aktuellen Position ist es möglich, die Neutralstellung entsprechend der aktuellen Position der Fahrzeugfunktion einzustellen. Die Rückmeldung erlaubt es auch auf externe Einflüsse zu reagieren, da durch die verstellte Neutralstellung des Bedienhebels auch eine extern auf die Fahrzeugfunktion wirkende Kraft angezeigt wird.In a preferred embodiment, a measuring device is provided which detects the current position of a component provided by the vehicle function and applies it to the restoring device. By confirming the current position, it is possible to set the neutral position according to the current position of the vehicle function. The feedback also makes it possible to react to external influences, since the displaced neutral position of the control lever also indicates an external force acting on the vehicle function.

Die der Erfindung zugrunde liegende Aufgabe wird ebenfalls durch ein Verfahren mit den Merkmalen nach Anspruch 6 gelöst.The object underlying the invention is also achieved by a method having the features of claim 6.

Das erfindungsgemäße Verfahren ist vorgesehen und bestimmt zur Bedienung eines Flurförderzeugs, das mindestens ein Bedienmittel besitzt. Das Bedienmittel weist einen Bedienhebel auf. Ferner ist eine Rückstelleinrichtung vorgesehen, die für den Bedienhebel eine Rückstellkraft abhängig von dessen Auslenkung erzeugt. Dem Bedienmittel ist eine Fahrzeugfunktion zugeordnet, die durch eine Auslenkung des Bedienhebels angesteuert wird. Bei dem erfindungsgemäßen Verfahren wird an den Bedienhebel eine Neutralstellung erzeugt, die einer aktuellen Ansteuerung der Fahrzeugfunktion entspricht. Durch die angepasste Neutralstellung hat eine Bedienperson stets die aktuell richtige Rückmeldung von dem Bedienhebel.The method according to the invention is provided and intended for operating an industrial truck which has at least one operating means. The operating means has an operating lever. Furthermore, a restoring device is provided, which generates a restoring force depending on the deflection of the operating lever. The operating means is associated with a vehicle function, which is controlled by a deflection of the operating lever. In the method according to the invention a neutral position is generated on the operating lever, which corresponds to a current control of the vehicle function. Due to the adjusted neutral position, an operator always has the correct feedback from the control lever.

In einer bevorzugten Weiterbildung des erfindungsgemäßen Verfahrens ist ein Automatikbetrieb für die Fahrzeugfunktion vorgesehen. Ferner wird eine Neutralstellung mit einer verschwindenden Rückstellkraft in einer Position erzeugt, die einer manuellen Ansteuerung der Fahrzeugfunktion entspricht. In der Ausgestaltung des Verfahrens übernimmt der Automatikbetrieb die Ansteuerung der Fahrzeugfunktion. Der Bedienhebel folgt mit seiner Neutralstellung hierbei stets der aktuellen Ansteuerung, sodass der Bedienhebel eine rückstellkraftfreie Neutralstellung bei der Auslenkung einnimmt, die der aktuellen, automatischen Ansteuerung entspricht.In a preferred development of the method according to the invention, an automatic mode for the vehicle function is provided. Further, a neutral position is generated with a vanishing restoring force in a position corresponding to a manual control of the vehicle function. In the embodiment of the method, the automatic mode takes over the control of the vehicle function. With its neutral position, the operating lever always follows the current control, so that the operating lever assumes a restoring-force-free neutral position during deflection, which corresponds to the current automatic control.

In einer bevorzugten Weiterbildung ist vorgesehen, dass in dem Automatikbetrieb eine Auslenkung des Bedienhebels aus seiner Neutralstellung einer manuellen Ansteuerung der Fahrzeugfunktion ohne veränderte Neutralstellung entspricht. Dies bedeutet, dass wenn die Neutralstellung sich bei der Position +x% befindet, eine Auslenkung um den Betrag Δ-% einer Ansteuerung mit einem Wert von x+/- Δ-% erfolgt. Hierdurch ist im besonderen Maße sichergestellt, dass eine Bedienperson intuitiv den Bedienhebel richtig ergreift und stellt, so wie bei einer manuellen Ansteuerung.In a preferred embodiment, it is provided that in the automatic mode, a deflection of the operating lever from its neutral position corresponds to a manual actuation of the vehicle function without changing the neutral position. This means that when the neutral position is at the position + x%, a Deflection by the amount .DELTA.% of a control with a value of x +/- .DELTA.% is carried out. As a result, it is particularly ensured that an operator intuitively grips and sets the operating lever correctly, as with a manual control.

Die Auslenkung des Bedienhebels aus der Neutralstellung heraus kann mit dem Übergang zu einer manuellen Ansteuerung der Beendigung des Automatikbetriebs entsprechen. Alternativ ist es auch möglich, dass der Automatikbetrieb fortgesetzt wird, wobei dann durch die Steuerung des Bedienhebels in eine Position abweichend von der Neutralstellung die Geschwindigkeit der Automatikfunktion gesteuert wird. Dies bedeutet, wenn der Bedienhebel aus der Neutralstellung herausbewegt wird, der Automatikbetrieb fortgesetzt wird, wobei er dann schneller oder langsamer fortgesetzt wird, je nachdem, durch welche Auslenkung die Neutralstellung verlassen wurde.The deflection of the operating lever from the neutral position may correspond to the transition to a manual control of the termination of the automatic operation. Alternatively, it is also possible that the automatic mode is continued, in which case the speed of the automatic function is controlled by the control of the operating lever in a position deviating from the neutral position. This means that when the operating lever is moved out of the neutral position, the automatic mode is continued, whereby it is then continued faster or slower, depending on which deflection was left by the neutral position.

Ein bevorzugtes Ausführungsbeispiel der Erfindung wird nachfolgend näher erläutert.A preferred embodiment of the invention will be explained in more detail below.

Es zeigen:

Fig. 1
ein zweiachsig verschwenkbares Bedienelement und
Fig. 2
eine schematische Ansicht für eine verschobene Neutralstellung.
Show it:
Fig. 1
a biaxially pivoting control element and
Fig. 2
a schematic view of a shifted neutral position.

Figur 1 zeigt in einer einfachen schematischen Ansicht ein Bedienelement 10 mit einem Bedienhebel 12, der unabhängig in die Richtungen A und B bewegt werden kann. In der Regel ist der Bedienhebel 12 an seinem Fuß verschwenkbar gelagert und kann in die Richtungen A oder B unabhängig voneinander verschwenkt werden. Das Verschwenken des Bedienhebels 12 erfolgt dabei aus einer Neutralstellung heraus, sowohl in positiver als auch in negativer Richtung. Die Auslenkung des Bedienhebels 12 ist dabei in jeder Richtung durch eine Maximalauslenkung beschränkt. Die Erfindung kann auch bei einem nur in einer Richtung verschwenkbaren Bedienhebel zur Anwendung gelangen. FIG. 1 shows in a simple schematic view of an operating element 10 with a control lever 12 which can be moved independently in the directions A and B. In general, the operating lever 12 is pivotally mounted at its foot and can be pivoted independently in the directions A or B. The pivoting of the operating lever 12 takes place from a neutral position out, in both positive and negative directions. The deflection of the operating lever 12 is limited in each direction by a maximum deflection. The invention can also be applied to a pivotable only in one direction operating lever.

Figur 2 zeigt in Zusammenhang zwischen einer rückstellenden Kraft R für den Bedienhebel und der Auslenkung des Bedienhebels 12. Die durchgezogene Linie 14 zeigt den normalen Kraftverlauf. Bei dem normalen Kraftverlauf wirkt bei einer Auslenkung von 0 % keine rückstellende Kraft, hier ist die Neustralstellung. Bis zu den Maximalausschlägen +/- 100 % nimmt die rückstellende Kraft dann jeweils auf 100 % zu. In dieser Ausgestaltung erhält die Bedienperson durch die Größe der rückstellenden Kraft einen Hinweis auf die Auslenkung des Bedienhebels. FIG. 2 shows in connection between a restoring force R for the operating lever and the deflection of the operating lever 12. The solid line 14 shows the normal force curve. In the normal force curve acts at a deflection of 0% no restoring force, here is the Neustralstellung. Up to the maximum rashes +/- 100%, the restoring force increases to 100%. In this embodiment, the operator receives an indication of the deflection of the operating lever by the size of the restoring force.

Die gestrichelte Linie 16 zeigt den Kraftverlauf bei verschobener Neutralstellung. Hierbei verschwindet die rückstellende Kraft bei einer Auslenkung von - 50 %. Die Neutralstellung liegt bei -50%. Hin zu einer größer werdenden Auslenkung nimmt die rückstellende Kraft linear zu, wobei die rückstellende Kraft bei + 50 % Auslenkung die 100 %-Marke übersteigt und bis auf 150 % bei einer Auslenkung in positiver Richtung anwächst. Bei weiter negativer Auslenkung von bis zu + 100 % Auslenkung nimmt die rückstellende Kraft auf einen Wert von dann bis 50 % zu. Bei - 100 % ist der Maximalausschlag vorgesehen, sodass obwohl die rückstellende Kraft nur einen Wert von 50 % erreicht hat, eine weitere Verstellung des Bedienhebels hin zu noch negativeren Auslenkung nicht möglich ist.The dashed line 16 shows the force curve with shifted neutral position. Here, the restoring force disappears at a deflection of - 50%. The neutral position is -50%. Towards an increasing deflection, the restoring force increases linearly, with the restoring force exceeding the 100% deflection at + 50% deflection and increasing to 150% upon deflection in the positive direction. With a further negative deflection of up to + 100% deflection, the restoring force increases to a value of up to 50%. At - 100% the maximum deflection is provided, so that although the restoring force has only reached a value of 50%, further adjustment of the control lever to even more negative deflection is not possible.

Die Verschiebung der Neutralstellung hat insbesondere bei der Verwendung von Automatikfunktionen in Flurförderzeugen besondere Vorteile. Bei einer Automatikfunktion werden die aktuell ausgeführten Fahrzeugfunktionen in der Regel nicht über die Bedienelemente angesteuert. Trotz ausgeführter Funktion bleibt herkömmlich das entsprechende Bedienelement immer in seiner Mittelstellung. Will der Bediener nun eingreifen, muss er das Bedienelement in die Gegenrichtung ausschlagen, was dann unter Umständen zu einem nicht eindeutigen Kommando führt. Hebt das Fahrzeug beispielsweise automatisch und der Fahrer lenkt in Richtung Senken aus, so ist nicht eindeutig klar, ob er die automatische Bewegung verlangsamen bzw. stoppen will, oder ob er die Last absenken will, beispielsweise weil bereits zu hoch gehoben wurde.The shift of the neutral position has particular advantages when using automatic functions in industrial trucks. In an automatic function, the currently running vehicle functions are generally not controlled via the operating elements. Despite executed function remains conventionally the corresponding control always in its center position. If the operator now wants to intervene, he must turn the control element in the opposite direction, which may then lead to an ambiguous command. For example, if the vehicle lifts automatically and the driver steers towards lowering, it is not clear whether he wants to slow down or stop the automatic movement, or whether he wants to lower the load, for example, because he has already lifted it too high.

Mittels der in Linie 16 dargestellten verschobenen Neutralstellung wird die Position des Bedienelements jederzeit an das aktuelle Kommando der Automatikfunktion angepasst. Im dargestellten Beispiel von Figur 2 erfolgt aktuell eine Ansteuerung mit einer - 50 %-igen Auslenkung. Dies bedeutet, es wird aktuell durch den Automatikbetrieb mit halber Geschwindigkeit gesenkt. Will der Fahrer nun in diese Automatikfunktion eingreifen, so muss er sinnrichtig den Hebel ausgehend von dieser Neutralstellung bei -50 %-Auslenkung steuern. Bei einem Eingriff in den Automatikbetrieb mit seiner Neutralstellung sind nun mehrere Varianten zu unterscheiden. Bei der ersten Variante wird durch die Auslenkung des Bedienhebels aus seiner Neutralstellung der Automatikbetrieb beendet. Dies bedeutet, die Steuerung erfolgt manuell durch die Betätigung des Bedienhebels und die aktuelle Stellung des Bedienhebels. In dem Beispiel der Hubfunktion bedeutet dies, dass bei einem Verstellen des Bedienhebels zu einer Senkgeschwindigkeit von - 40% nicht länger automatisch mit - 50 % gesenkt wird, sondern der Senkvorgang automatisch mit - 40 % erfolgt. Bei diesem Wechsel in den manuellen Steuerbetrieb kann man zwei weitere Aspekte unterscheiden. Der eine Aspekt betrifft die Variante, dass die vom Automatikbetrieb vorgegebene Neutralstellung erhalten bleibt. Dies bedeutet, dass beim Loslassen der manuell angesteuerten Senkgeschwindigkeit von - 40 % kehrt der Bedienhebel in seine durch den Automatikbetrieb vorgegebene Neutralstellung zurück und der Senkvorgang wird mit - 50 % fortgesetzt. Bei dieser Ausgestaltung wird aus dem Automatikbetrieb heraus in den manuellen Betrieb nur so lange gewechselt, wie der Bedienhebel in eine von der durch den Automatikbetrieb vorgegebenen Neutralstellung abweichende Stellung geführt wird. In einer anderen Ausgestaltung wird der Automatikbetrieb endgültig beendet und bei einem Loslassen des Bedienhebels kehrt dieser in seine 0 %-Stellung als Neutralstellung zurück und es erfolgt keine Ansteuerung der Hubfunktion mehr. Eine andere Variante liegt vor, wenn durch ein Auslenken des Bedienhebels aus seiner Neutralstellung im Automatikbetrieb der Automatikbetrieb fortgesetzt und durch das Ansteuern des Bedienhebels die Geschwindigkeit des Automatikbetriebs verändert wird. Dies bedeutet, dass bei einer durch den Automatikbetrieb vorgegebenen Neutralstellung von - 50 % und einer Senkgeschwindigkeit von - 50 %, eine Auslenkung des Bedienhebels in eine Position von - 40 % keine manuelle Ansteuerung mit - 40 % herbeiführt, sondern eine Fortsetzung des Automatikbetriebs, wobei in dem Automatikbetrieb dann allerdings nicht länger mit einer Senkgeschwindigkeit von - 50 % gesenkt wird, sondern mit einer durch die aktuelle Auslenkung korrigierten Wert. Wird in diesem Zustand der eine Bedienhebel dann losgelassen, kehrt er automatisch, da weiterhin der Automatikbetrieb vorliegt, in seine durch den Automatikbetrieb aktuell vorgegebene Neutralstellung zurück.By means of the shifted neutral position shown in line 16, the position of the operating element is adapted at any time to the current command of the automatic function. In the example of FIG. 2 is currently a control with a - 50% deflection. This means that it is currently being lowered by the automatic mode at half speed. If the driver now wants to intervene in this automatic function, then he must sincerely control the lever from this neutral position at -50% deflection. In an intervention in the automatic mode with its neutral position, several variants are now to be distinguished. In the first variant, the automatic operation is terminated by the deflection of the operating lever from its neutral position. This means that the control is done manually by the operation of the operating lever and the current position of the operating lever. In the example of the lifting function, this means that when adjusting the operating lever to a lowering speed of - 40% is no longer automatically lowered - 50%, but the lowering automatically with - 40%. There are two other aspects to consider when switching to manual control mode. One aspect relates to the variant that the neutral position specified by the automatic mode is maintained. This means that when you release the manually controlled lowering speed of - 40%, the operating lever returns to its predetermined by the automatic mode neutral position and the lowering is continued with - 50%. At this Design is changed from the automatic mode into the manual mode only as long as the operating lever is guided in a deviating from the predetermined by the automatic mode neutral position. In another embodiment, the automatic mode is finally ended and when you release the control lever that returns to its 0% position as a neutral position and there is no more control of the lifting function. Another variant is when continued by a deflection of the operating lever from its neutral position in automatic mode, the automatic mode and the driving of the operating lever, the speed of the automatic mode is changed. This means that with a predetermined by the automatic mode neutral position of - 50% and a lowering speed of - 50%, a deflection of the operating lever in a position of - 40% no manual control with - 40% causes, but a continuation of the automatic mode, in the automatic mode, however, no longer with a lowering speed of - 50% is lowered, but with a corrected by the current deflection value. If the one operating lever is then released in this state, it automatically returns to its neutral position currently set by the automatic mode since the automatic mode continues to be present.

Üblicherweise geben die Bedienhebel eines Flurförderzeugs die Geschwindigkeit von Arbeitsfunktionen vor. Ein halb ausgelenktes Bedienelement entspricht beispielsweise der halben maximalen Geschwindigkeit dieser Arbeitsfunktion, wenn ein linearer Zusammenhang zwischen Auslenkung und Ansteuerung hinterlegt ist. Für einige Funktionen am Flurförderzeug kann vorgesehen sein, anstatt der Geschwindigkeit die Position der Fahrzeugfunktion vorzugeben, beispielsweise für einen Mastvorschub bei Schubmaststaplern, einen Seitenschub eines Anbaugeräts oder das Neigen des Hubmastes. Bei dieser Steuerung wird nicht die Geschwindigkeit für die Fahrzeugfunktion vorgegeben, sondern durch die Bewegung des Bedienhebels kann die Position der Fahrzeugfunktion vorgegeben werden. Um die Position dann zu halten, wird die Neutralstellung des Bedienhebels der aktuellen Position des Fahrzeugs angepasst. Bei dem in Figur 2 dargestellten Kraftverlauf bei verschobener Neutralstellung 14 entspricht die Neutralstellung einen um - 50 % zurückgeschobenen Mastvorschub eines Schubmaststaplers, eines um 50 % in eine Richtung verschobenen Seitenschiebers oder eines um - 50 % geneigten Hubmastes. Um die Stellung dann zu halten, ist die Neutralstellung verschoben, sodass das Bedienelement auch unbetätigt in seiner neuen Neutralstellung bleibt. Bei einem Mastvorschub kann die Neutralstellung bei einem vorderen oder hinteren Anschlag liegen, also ± 100 % Auslenkung für die Neutralstellung sein. Ein besonderer Vorteil bei dieser Ausgestaltung liegt darin, dass der Bediener die Position der Fahrzeugfunktion direkt an seinem Bedienelement fühlen kann, auch wenn externe Kräfte die Position der Fahrzeugfunktion verstellt haben.Usually, the operating levers of a truck specify the speed of work functions. A half deflected operating element corresponds for example to half the maximum speed of this work function, if a linear relationship between deflection and control is stored. For some functions on the truck can be provided, instead of the speed to specify the position of the vehicle function, for example, a mast feed for reach trucks, a side thrust of an implement or the tilting of the mast. In this control is not the Speed for the vehicle function predetermined, but by the movement of the operating lever, the position of the vehicle function can be specified. To then hold the position, the neutral position of the control lever is adjusted to the current position of the vehicle. At the in FIG. 2 shown force curve with shifted neutral position 14 corresponds to the neutral position by 50% pushed back mast feed a reach truck, a 50% in one direction shifted side shift or a - 50% inclined mast. In order to then hold the position, the neutral position is shifted, so that the control element remains unactuated in its new neutral position. In a mast feed, the neutral position may be at a front or rear stop, so be ± 100% deflection for the neutral position. A particular advantage with this embodiment is that the operator can feel the position of the vehicle function directly on his control element, even if external forces have adjusted the position of the vehicle function.

Claims (14)

Flurförderzeug mit mindestens einem einen Bedienhebel aufweisenden Bedienmittel und einer mit dem Bedienhebel zusammenwirkenden Rückstelleinrichtung, die für den Bedienhebel eine Rückstellkraft abhängig von dessen Auslenkung erzeugt, wobei dem Bedienmittel eine Fahrzeugfunktion zugeordnet ist,
dadurch gekennzeichnet, dass
die Rückstelleinrichtung für den Bedienhebel eine Neutralstellung erzeugt, die einer aktuellen Ansteuerung der Fahrzeugfunktion entspricht.Truck with at least one control lever having an operating means and a cooperating with the control restoring device which generates a restoring force for the operating lever depending on the deflection, wherein the operating means is assigned a vehicle function,
characterized in that
the restoring device for the operating lever generates a neutral position that corresponds to a current actuation of the vehicle function. Flurförderzeug nach Anspruch 1, dadurch gekennzeichnet, dass in einem Automatikbetrieb die Rückstelleinrichtung die Neutralstellung für eine Auslenkung des Bedienhebels vorgibt, die einer Position des Bedienhebels bei einer manuellen Ansteuerung der Fahrzeugfunktion entspricht.Truck according to claim 1, characterized in that in an automatic operation, the restoring device specifies the neutral position for a deflection of the operating lever, which corresponds to a position of the operating lever in a manual control of the vehicle function. Flurförderzeug nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass in dem Automatikbetrieb die Auslenkung des Bedienhebels aus seiner Neutralstellung einer manuellen Ansteuerung der zugeordneten Fahrzeugfunktion mit einer Auslenkung relativ zur Neutralstellung entspricht.Truck according to claim 1 or 2, characterized in that corresponds to the deflection of the operating lever from its neutral position of a manual control of the associated vehicle function with a deflection relative to the neutral position in the automatic mode. Flurförderzeug nach Anspruch 3, dadurch gekennzeichnet, dass in dem Automatikbetrieb die Auslenkung des Bedienhebels aus seiner Neutralstellung den Automatikbetrieb beendet.Truck according to claim 3, characterized in that in the automatic mode, the deflection of the operating lever from its neutral position ends the automatic mode. Flurförderzeug nach Anspruch 3, dadurch gekennzeichnet, dass in dem Automatikbetrieb die Auslenkung des Bedienhebels aus seiner Neutralstellung eine Steuerung der Geschwindigkeit in dem fortgesetzten Automatikbettrieb zulässt.Truck according to claim 3, characterized in that in the automatic mode, the deflection of the operating lever from its neutral position allows control of the speed in the continued automatic drive. Flurförderzeug nach Anspruch 1, dadurch gekennzeichnet, dass eine Neutralstellung des Bedienhebels einer aktuellen Position der dem Bedienhebel zugeordneten Fahrzeugfunktion entspricht.Truck according to claim 1, characterized in that a neutral position of the operating lever corresponds to a current position of the control lever associated vehicle function. Flurförderzeug nach Anspruch 6, dadurch gekennzeichnet, dass eine Messeinrichtung vorgesehen ist, die die aktuelle Position eines durch die Fahrzeugfunktion gestellten Bauteils erfasst und an die Rückstelleinrichtung anliegt.Truck according to claim 6, characterized in that a measuring device is provided which detects the current position of a component provided by the vehicle function and rests against the return device. Verfahren zur Bedienung eines Flurförderzeugs, das mindestens ein einen Bedienhebel aufweisendes Bedienmittel und eine mit dem Bedienhebel zusammenwirkende Rückstelleinrichtung aufweist, die für den Bedienhebel eine Rückstellkraft abhängig von dessen Auslenkung erzeugt, wobei dem Bedienmittel eine Fahrzeugfunktion zugeordnet ist,
dadurch gekennzeichnet, dass
an den Bedienhebel eine Neutralstellung erzeugt wird, die einer aktuellen Ansteuerung der Fahrzeugfunktion entspricht.Method for operating an industrial truck, which has at least one operating lever exhibiting a control lever and a cooperating with the control restoring device, which generates a restoring force for the operating lever depending on the deflection, wherein the operating means is associated with a vehicle function,
characterized in that
a neutral position is generated on the operating lever, which corresponds to a current activation of the vehicle function. Verfahren nach Anspruch 8, dadurch gekennzeichnet, dass • ein Automatikbetrieb für die Fahrzeugfunktion vorgesehen ist, und • eine Neutralstellung mit verschwindender Rückstellkraft in einer Position erzeugt wird, die einer Position des Bedienhebels bei einer manuellen Ansteuerung der Fahrzeugfunktion entspricht. A method according to claim 8, characterized in that • an automatic mode is provided for the vehicle function, and • a neutral position is created with a vanishing restoring force in a position corresponding to a position of the operating lever in a manual control of the vehicle function. Verfahren nach Anspruch 9, dadurch gekennzeichnet, dass in dem Automatikbetrieb eine Auslenkung des Bedienhebels aus seiner Neutralstellung einer manuellen Ansteuerung der zugeordneten Fahrzeugfunktion mit einer Auslenkung relativ zur Neutralstellung entspricht.A method according to claim 9, characterized in that in the automatic mode, a deflection of the operating lever from its neutral position corresponds to a manual control of the assigned vehicle function with a deflection relative to the neutral position. Verfahren nach Anspruch 10, dadurch gekennzeichnet, dass der Automatikbetrieb durch die Auslenkung des Bedienhebels aus seiner Neutralstellung beendet wird.A method according to claim 10, characterized in that the automatic mode is terminated by the deflection of the operating lever from its neutral position. Verfahren nach Anspruch 10, dadurch gekennzeichnet, dass in dem Automatikbetrieb durch die Auslenkung des Bedienhebels aus seiner Neutralstellung eine Geschwindigkeit für den fortgesetzten Automatikbetrieb durch den Bedienhebel gesteuert wird.A method according to claim 10, characterized in that in the automatic mode by the deflection of the operating lever from its neutral position, a speed for the continued automatic operation is controlled by the operating lever. Verfahren nach Anspruch 8, dadurch gekennzeichnet, dass die Neutralstellung des Bedienhebels einer aktuellen Position eines durch die Fahrzeugfunktion betätigten Bauteils entspricht.A method according to claim 8, characterized in that the neutral position of the operating lever corresponds to a current position of an actuated by the vehicle function component. Verfahren nach Anspruch 13, dadurch gekennzeichnet, dass die aktuelle Position des Bauteils gemessen wird.A method according to claim 13, characterized in that the current position of the component is measured.
EP17193235.3A 2016-09-29 2017-09-26 Industrial truck with an operating lever and a method of operating such an industrial truck Active EP3301068B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102016118460.8A DE102016118460A1 (en) 2016-09-29 2016-09-29 Truck with a control lever and method for operating such a truck

Publications (2)

Publication Number Publication Date
EP3301068A1 true EP3301068A1 (en) 2018-04-04
EP3301068B1 EP3301068B1 (en) 2023-07-26

Family

ID=59974173

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17193235.3A Active EP3301068B1 (en) 2016-09-29 2017-09-26 Industrial truck with an operating lever and a method of operating such an industrial truck

Country Status (3)

Country Link
US (1) US20180093872A1 (en)
EP (1) EP3301068B1 (en)
DE (1) DE102016118460A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019003510B4 (en) * 2019-05-20 2023-02-23 Florian Maier Process and device for controlling motors in film and broadcasting

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998024180A2 (en) * 1996-11-13 1998-06-04 Immersion Human Interface Corporation Method and apparatus for shaping force signals for a force feedback device
DE102007060336A1 (en) * 2007-12-14 2009-06-25 Jungheinrich Ag Travel and steering control for industrial truck has control device which from direction of deflection of actuating element determines desired steering angle, and from extent of deflection determines desired speed of travel
US20160179128A1 (en) * 2009-06-01 2016-06-23 Enovation Controls, Llc Tactile Feedback for Joystick Position/Speed Controls

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2643502B1 (en) * 1989-02-20 1996-01-19 Aerospatiale SWITCHING HANDLE CONTROL DEVICE, PARTICULARLY FOR AIRCRAFT, AND SYSTEM COMPRISING SUCH A DEVICE
DE19613386A1 (en) * 1996-04-03 1997-10-09 Fiat Om Carrelli Elevatori Industrial truck, which can be operated either manually or automatically
US6112839A (en) * 1997-05-08 2000-09-05 Case Corporation Automatic remote auxiliary implement control
US6227066B1 (en) * 1999-07-26 2001-05-08 Mpc Products Corporation Joystick centering device supporting multiple compound torque profiles
DE19951379C2 (en) 1999-10-26 2001-12-13 Jungheinrich Ag Manually operated steering element for an industrial truck
DE10204742B4 (en) 2002-01-19 2014-05-28 Linde Material Handling Gmbh Truck with a joystick to control the traction drive, the steering system and the brake system
DE102005000633A1 (en) 2005-01-03 2006-07-13 Linde Ag Industrial truck used as a forklift truck comprises a repeater mechanism for repeating the vehicle state and/or vehicle information as a vibration on the operating element and/or on the drivers working area
TW201321640A (en) * 2011-11-25 2013-06-01 tian-qiao Zuo One-hand operated pressure controller
FR3001176B1 (en) * 2013-01-18 2015-02-27 Leoni Cia Cable Systems GUIDING AND RECALL DEVICE
JP6224734B2 (en) * 2013-01-30 2017-11-01 ポール スミス デイビッド Operator-controlled electrical output signal device with variable feel and hold feedback, automated calibration, and learnable performance optimization
DE102013012175A1 (en) 2013-07-22 2015-01-22 Personal Medsystems Gmbh Kabelentwirrer, electrode harness with Kabelentwirrer and Elektrokardiogrammgerät
DE102014103988A1 (en) 2014-03-24 2015-09-24 Elobau Gmbh & Co. Kg Joystick with intrinsically safe force feedback

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998024180A2 (en) * 1996-11-13 1998-06-04 Immersion Human Interface Corporation Method and apparatus for shaping force signals for a force feedback device
DE102007060336A1 (en) * 2007-12-14 2009-06-25 Jungheinrich Ag Travel and steering control for industrial truck has control device which from direction of deflection of actuating element determines desired steering angle, and from extent of deflection determines desired speed of travel
US20160179128A1 (en) * 2009-06-01 2016-06-23 Enovation Controls, Llc Tactile Feedback for Joystick Position/Speed Controls

Also Published As

Publication number Publication date
DE102016118460A1 (en) 2018-03-29
EP3301068B1 (en) 2023-07-26
US20180093872A1 (en) 2018-04-05

Similar Documents

Publication Publication Date Title
DE102007015262B4 (en) actuator
DE102010037955B4 (en) Electronic switching device for a vehicle
EP2176568B1 (en) Actuating device for selecting fixed gear ratios of a gear changing transmission
DE102004054264B4 (en) Actuation device with rotary switch
EP2148998B1 (en) Actuating device comprising a locking mechanism
DE102012002303B4 (en) Driver assistance system for a motor vehicle, motor vehicle and method for operating a driver assistance system
WO2013117323A1 (en) Method for operating a motor vehicle and motor vehicle having a driver assistance system
WO2013079275A1 (en) Activation device for a transmission of a motor vehicle
EP1953618A1 (en) Operating device for a vehicle
EP2126419A1 (en) Operating device with selector lever return
DE102010021052A1 (en) Reversing aid device for controlling a reverse drive of a vehicle combination
DE102005043288A1 (en) Electrical switching device for a motor vehicle
DE102008054625A1 (en) Accelerator pedal module
EP3343311B1 (en) Operating lever with active feedback unit
DE102007014745B4 (en) Electrical switching device for a motor vehicle
DE102007058823B4 (en) Actuator with variable range of motion
EP3301068B1 (en) Industrial truck with an operating lever and a method of operating such an industrial truck
DE102005033702A1 (en) Truck with a drive with different characteristics
EP1933066A2 (en) Shift device for a range-change transmission with a locking device and method for controlling such a shift device
WO2019063516A1 (en) Shifting device
EP3301067B1 (en) Industrial truck with a control unit having a control lever, and a method of operating such an industrial truck
DE102010053481B4 (en) Operating device for the method of a vehicle
DE102007058849A1 (en) Actuation device for an automatic gearbox comprises a blocking unit having blocking stops arranged at different distances from the center of rotation of a selecting lever and a blocking element connected to the selecting lever
WO2008022618A1 (en) Actuating device for motor vehicle gearboxes
WO2016037822A1 (en) Shifting device for electromechanically actuating an automatic transmission for a vehicle

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: 20181002

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

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

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

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

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20210422

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

Free format text: STATUS: EXAMINATION IS IN PROGRESS

RIC1 Information provided on ipc code assigned before grant

Ipc: G05G 9/047 20060101ALN20221201BHEP

Ipc: B66F 9/20 20060101AFI20221201BHEP

RIC1 Information provided on ipc code assigned before grant

Ipc: G05G 9/047 20060101ALN20221205BHEP

Ipc: B66F 9/20 20060101AFI20221205BHEP

RIC1 Information provided on ipc code assigned before grant

Ipc: G05G 9/047 19900101ALN20230110BHEP

Ipc: B66F 9/20 19680901AFI20230110BHEP

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

INTG Intention to grant announced

Effective date: 20230223

RIN1 Information on inventor provided before grant (corrected)

Inventor name: GROTHKOPP DR., HARTWIG

Inventor name: SELLENTIN, JOERN

Inventor name: GEILSDORF, HENDRIK

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: CH

Ref legal event code: EP

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

Effective date: 20230628

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502017015095

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

REG Reference to a national code

Ref country code: SE

Ref legal event code: TRGR

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20230726

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: 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: 20230726

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

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: 20231027

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

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: 20231126

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

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: 20230726

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: 20231127

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: 20231026

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: 20230726

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: 20230726

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: 20231126

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: 20230726

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: 20231027

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: 20230726

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

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: 20230726

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: 20230726

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502017015095

Country of ref document: DE

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

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: 20230726

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: 20230726

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: 20230726

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: 20230726

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: 20230726

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: 20230726

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: 20230726

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

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: 20230926

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20230930

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: 20230926

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: 20230726

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: 20230726

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