EP3301068B1 - Chariot de manutention doté d'un levier de commande et procédé de fonctionnement d'un tel chariot de manutention - Google Patents

Chariot de manutention doté d'un levier de commande et procédé de fonctionnement d'un tel chariot de manutention Download PDF

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Publication number
EP3301068B1
EP3301068B1 EP17193235.3A EP17193235A EP3301068B1 EP 3301068 B1 EP3301068 B1 EP 3301068B1 EP 17193235 A EP17193235 A EP 17193235A EP 3301068 B1 EP3301068 B1 EP 3301068B1
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EP
European Patent Office
Prior art keywords
operating lever
neutral position
deflection
operating
automatic mode
Prior art date
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Active
Application number
EP17193235.3A
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German (de)
English (en)
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EP3301068A1 (fr
Inventor
Hendrik Geilsdorf
Jörn Sellentin
Hartwig Grothkopp Dr.
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jungheinrich AG
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Jungheinrich AG
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Publication date
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Publication of EP3301068A1 publication Critical patent/EP3301068A1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0759—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 means having an operating lever and a restoring device which interacts with the operating lever and generates a restoring force for the operating lever as a function of its deflection.
  • the invention also relates to a method for operating an industrial truck which has at least one operating means having an operating lever and a resetting device which interacts with the operating lever.
  • 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 spaced apart from one another in such a way that with a hand positioned between the levers, the operating lever can be actuated with your fingers without reaching around and the at least one switch between the operating levers can be actuated.
  • Control elements designed as a joystick are known for controlling commercial vehicles, machines, work functions of commercial vehicles or construction machinery and attachments.
  • the use of force feedback is also known for the joysticks.
  • Force feedback is mechanical feedback, which is usually achieved by coupled torque from an electric motor using a gear.
  • Different technical configurations for the actuating lever of the joystick are known for the implementation of force feedback.
  • U.S. 2016/0179128 A1 discloses the features of the preambles of claims 1 and 6.
  • An important aspect when operating an industrial truck is the intuitive handling of the control lever. Particularly in the case of semi-automatic activation or in the case of position-dependent activation of a vehicle function, it is crucial that the operator intuitively activates the operating lever in the correct manner.
  • An ambiguity can arise when an intervention is made in an automatic operating process, when the user deflects the operating lever in the opposite direction. Either means a deflection in the opposite direction only to slow down the existing automatic process or to move in the opposite direction.
  • An ambiguity can also occur in the case of position-dependent activation, in which the position of an element of the industrial truck is predetermined by a position of the operating lever, such as the mast inclination. Here corresponds a vertical alignment of the lifting mast, for example the middle position of the control element. If the actual position of the lifting mast changes as a result of external influences, it is not intuitively understandable whether a movement of the control lever into its middle position should tilt the lifting mast by a defined distance or cause the lifting mast to be positioned vertically.
  • the object of the invention is to provide an industrial truck and a method for operating it, in which intuitive operation is ensured using simple means.
  • the industrial truck according to the invention has at least one operating means that has an operating lever. Vehicle functions can be triggered via associated actuators by moving the control lever. Furthermore, a restoring device is provided, which triggers a restoring force for the operating lever depending on its deflection. An association between the restoring force and the deflection of the operating lever is stored in the restoring device. This assignment can be specified as desired by the restoring device, with each deflection preferably being assigned a value for the restoring force.
  • the reset device for the operating lever generates a neutral position that corresponds to a current activation of the vehicle function.
  • the neutral position of the operating lever is that position of the operating lever in which no force has to be applied to hold the operating lever in its position. If the vehicle function is activated automatically, the neutral position for the operating lever is generated, which would be necessary for the current activation of the vehicle function.
  • the operator who has, for example, visual feedback from the current vehicle function and its activation, always take corrective action, with the operating lever being in the neutral position in a position that corresponds to the current activation of the vehicle function. Incorrect operation due to an ambiguous movement of the operating lever is excluded here.
  • At least two cases can be distinguished.
  • a first case the deflection of the operating lever from its neutral position leads to the automatic mode being terminated.
  • the operating lever when the operating lever is moved out of the neutral position, there is preferably a transition to manual activation, with the current position of the operating lever then also being the signal for the activation.
  • an additional control for continued automatic operation can take place.
  • the operator has the additional option of continuing the automatic mode without interrupting the automatic mode and of carrying out the processes of the automatic mode at a speed controlled by the operating lever.
  • the reset 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 when the vehicle function is activated manually.
  • Manual control means that the operating lever with its neutral position has the deflection that the operating lever would have if the vehicle function would not be controlled automatically, but by actuating the operating lever. Without intervention by the operator, the operating lever always moves in automatic mode in the same way that the operating lever would be moved in the case of manual activation of the same movement of the automatic function. A movement of the control lever is thus clearly defined as the deflection that corresponds to the activation of the vehicle function.
  • the operating lever is also in a position corresponding to x% with its neutral position. Intervening in the automatic mode by moving the operating lever forwards or backwards by a deflection of +/- ⁇ % means that the vehicle function is controlled with x+ ⁇ % or with x- ⁇ %.
  • the deflection of the operating lever from a neutral position corresponds to a manual activation of the associated vehicle function with a deflection that corresponds 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 set by the vehicle function and applies it to the reset device. Via the feedback of 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 adjusted neutral position of the control lever also indicates an external force acting on the vehicle function.
  • the object on which the invention is based is also achieved by a method having the features of claim 6 .
  • the method according to the invention is provided and intended for operating an industrial truck that has at least one operating means.
  • the operating means has an operating lever.
  • a restoring device is provided, which generates a restoring force for the operating lever depending on its deflection.
  • a vehicle function is assigned to the operating means, which is controlled by a deflection of the operating lever.
  • a neutral position is generated on the control lever, which corresponds to a current activation of the vehicle function. Due to the adjusted neutral position, an operator always has the currently correct feedback from the operating lever.
  • automatic operation is provided for the vehicle function. Furthermore, a neutral position with a vanishing restoring force is generated in a position that corresponds to manual activation of the vehicle function.
  • the automatic mode takes over the control of the vehicle function. With its neutral position, the control lever always follows the current control, so that the control lever assumes a neutral position with no restoring force when it is deflected, which corresponds to the current, automatic control.
  • a deflection of the operating lever from its neutral position corresponds to a manual activation of the vehicle function without changing the neutral position.
  • a Deflection by the amount ⁇ % of a control with a value of x+/- ⁇ % takes place. This ensures to a particular degree that an operator intuitively grips and positions the operating lever correctly, as with manual control.
  • the deflection of the control lever out of the neutral position can correspond to the transition to manual activation of the termination of automatic mode.
  • figure 1 shows in a simple schematic view an operating element 10 with an operating lever 12 which can be moved independently in directions A and B.
  • the operating lever 12 is pivotably mounted at its foot and can be pivoted in directions A or B independently of one another.
  • the operating lever 12 is pivoted 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 used with an operating lever that can only be pivoted in one direction.
  • figure 2 shows the 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 course of the force. With the normal course of force, there is no restoring force at a deflection of 0%; this is the neutral position. The restoring force then increases to 100% up to the maximum deflections +/- 100%. In this embodiment, the operator receives an indication of the deflection of the operating lever through the magnitude of the restoring force.
  • the dashed line 16 shows the course of the force when the neutral position is shifted.
  • the restoring force disappears at a deflection of - 50%.
  • the neutral position is at -50%.
  • the restoring force increases linearly as the deflection increases, with the restoring force exceeding the 100% mark at +50% deflection and increasing to 150% with a deflection in the positive direction. With a further negative deflection of up to +100% deflection, the restoring force increases to a value of then up to 50%.
  • the maximum deflection is provided at - 100%, so that although the restoring force has only reached a value of 50%, it is not possible to adjust the operating lever further towards an even more negative deflection.
  • the shifting of the neutral position has particular advantages when using automatic functions in industrial trucks.
  • the vehicle functions currently being executed are generally not controlled via the operating elements. Remains in spite of the function being carried out conventionally, the corresponding control element is always in its middle position. If the operator now wants to intervene, he must deflect the operating element in the opposite direction, which may then lead to an ambiguous command. For example, if the vehicle lifts automatically and the driver steers in the direction of lowering, it is not entirely clear whether he wants to slow down or stop the automatic movement, or whether he wants to lower the load, for example because the load was already lifted too high.
  • the position of the control element can be adapted to the current command of the automatic function at any time.
  • control is currently carried out with a - 50% deflection. This means it is currently lowered by the automatic mode at half speed. If the driver now wants to intervene in this automatic function, he must logically control the lever starting from this neutral position at -50% deflection.
  • the automatic mode is ended by deflecting the operating lever from its neutral position. This means that it is controlled manually by actuating the operating lever and the current position of the operating lever.
  • manual control mode two further aspects can be distinguished.
  • One aspect relates to the variant that the neutral position specified by the automatic mode is retained. This means that when the manually controlled lowering speed of - 40% is released, the control lever returns to its neutral position specified by automatic operation and the lowering process continues at - 50%. At this Configuration is changed from automatic mode to manual mode only as long as the operating lever is moved to a position that deviates from the neutral position specified by automatic mode.
  • the automatic mode is finally ended and when the operating lever is released, it returns to its 0% position as the neutral position and the lifting function is no longer activated.
  • Another variant is when the automatic mode is continued by deflecting the operating lever from its neutral position in automatic mode and the speed of the automatic mode is changed by actuating the operating lever. This means that with a neutral position of - 50% and a lowering speed of - 50% specified by the automatic mode, a deflection of the operating lever to a position of - 40% does not result in manual activation with - 40%, but a continuation of the automatic mode, whereby in the automatic mode the lowering speed is no longer - 50%, but with a value corrected by the current deflection. If one operating lever is then released in this state, it automatically returns to its neutral position currently specified by the automatic mode, since the automatic mode is still present.
  • the operating levers of an industrial truck usually 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 activation is stored.
  • the position of the vehicle function can be specified instead of the speed, for example for a mast advance in reach trucks, a side shift of an attachment or the tilting of the lifting mast.
  • the Speed specified for the vehicle function but by moving the control lever, the position of the vehicle function can be specified. In order to then hold the position, the neutral position of the control lever is adjusted to the current position of the vehicle.
  • the neutral position corresponds to a mast advance of a reach truck pushed back by 50%, a sideshift shifted by 50% in one direction or a lifting mast inclined by 50%.
  • the neutral position is shifted so that the operating element remains in its new neutral position even when not actuated.
  • the neutral position can be at a front or rear stop, i.e. ⁇ 100% deflection for the neutral position.

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

Claims (10)

  1. Chariot de manutention avec au moins un moyen de commande présentant un levier de commande et un dispositif de rappel coopérant avec le levier de commande, lequel dispositif produit une force de rappel pour le levier de commande en fonction de sa déviation, une fonction de véhicule étant attribuée au moyen de commande,
    le dispositif de rappel produisant une position neutre pour le levier de commande, laquelle correspond à une excitation actuelle de la fonction de véhicule, la position neutre étant la position du levier de commande dans laquelle aucune force ne doit être exercée pour maintenir le levier de commande dans sa position, caractérisé en ce que, dans un mode automatique, le dispositif de rappel spécifie la position neutre pour une déviation du levier de commande qui correspond à une position du levier de commande lors d'une excitation manuelle de la fonction de véhicule,
    la déviation du levier de commande hors de sa position neutre correspondant à une excitation manuelle de la fonction de véhicule attribuée, avec une déviation relativement à la position neutre, dans le mode automatique.
  2. Chariot de manutention selon la revendication 1, caractérisé en ce que, dans le mode automatique, la déviation du levier de commande hors de sa position neutre arrête le mode automatique.
  3. Chariot de manutention selon la revendication 1, caractérisé en ce que, dans le mode automatique, la déviation du levier de commande hors de sa position neutre permet un contrôle de la vitesse dans le mode automatique continué.
  4. Chariot de manutention selon la revendication 1, caractérisé en ce qu'une position neutre du levier de commande correspond à une position actuelle de la fonction de véhicule attribuée au levier de commande.
  5. Chariot de manutention selon la revendication 4, caractérisé en ce qu'un dispositif de mesure est prévu, lequel détecte la position actuelle d'un élément posé par la fonction de véhicule et l'applique au dispositif de rappel.
  6. Procédé pour la commande d'un chariot de manutention, lequel présente au moins un moyen de commande présentant un levier de commande et un dispositif de rappel coopérant avec le levier de commande, lequel dispositif produit une force de rappel pour le levier de commande en fonction de sa déviation, une fonction de véhicule étant attribuée au moyen de commande,
    une position neutre étant produite sur le levier de commande, laquelle correspond à une excitation actuelle de la fonction de véhicule, caractérisé en ce que
    • un mode automatique est prévu pour la fonction de véhicule,
    • une position neutre avec force de rappel disparaissante est produite dans une position qui correspond à une position du levier de commande lors d'une excitation manuelle de la fonction de véhicule, et
    dans le mode automatique, une déviation du levier de commande hors de sa position neutre correspondant à une excitation manuelle de la fonction de véhicule attribuée avec une déviation relativement à la position neutre.
  7. Procédé selon la revendication 6, caractérisé en ce que le mode automatique est arrêté par la déviation du levier de commande hors de sa position neutre.
  8. Procédé selon la revendication 6, caractérisé en ce que, dans le mode automatique, une vitesse pour le mode automatique continué est contrôlée par le levier de commande, par la déviation du levier de commande hors de sa position neutre.
  9. Procédé selon la revendication 6, caractérisé en ce que la position neutre du levier de commande correspond à une position actuelle d'un élément actionné par la fonction de véhicule.
  10. Procédé selon la revendication 9, caractérisé en ce que la position actuelle de l'élément est mesurée.
EP17193235.3A 2016-09-29 2017-09-26 Chariot de manutention doté d'un levier de commande et procédé de fonctionnement d'un tel chariot de manutention Active EP3301068B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102016118460.8A DE102016118460A1 (de) 2016-09-29 2016-09-29 Flurförderzeug mit einem Bedienhebel sowie Verfahren zur Bedienung eines solchen Flurförderzeugs

Publications (2)

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EP3301068A1 EP3301068A1 (fr) 2018-04-04
EP3301068B1 true EP3301068B1 (fr) 2023-07-26

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EP17193235.3A Active EP3301068B1 (fr) 2016-09-29 2017-09-26 Chariot de manutention doté d'un levier de commande et procédé de fonctionnement d'un tel chariot de manutention

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US (1) US20180093872A1 (fr)
EP (1) EP3301068B1 (fr)
DE (1) DE102016118460A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019003510B4 (de) * 2019-05-20 2023-02-23 Florian Maier Verfahren und Vorrichtung zur Steuerung von Motoren im Film- und Broadcastbereich

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US20140214273A1 (en) * 2013-01-30 2014-07-31 Prince Industries, Inc. Operator controlled electrical output signal device with variable feel and hold feedback and automated calibration and learnable performance optimization

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DE10204742B4 (de) 2002-01-19 2014-05-28 Linde Material Handling Gmbh Flurförderzeug mit einem Joystick zur Steuerung des Fahrantriebs, der Lenkanlage und der Bremsanlage
DE102005000633A1 (de) 2005-01-03 2006-07-13 Linde Ag Flurförderzeug
DE102007060336B4 (de) 2007-12-14 2014-03-20 Jungheinrich Aktiengesellschaft Fahr- und Lenksteuerung für ein Flurförderzeug
US9568939B2 (en) * 2009-06-01 2017-02-14 Enovation Controls, Llc Tactile feedback for joystick position/speed controls
TW201321640A (zh) * 2011-11-25 2013-06-01 tian-qiao Zuo 單手操作的氣壓控制裝置
FR3001176B1 (fr) * 2013-01-18 2015-02-27 Leoni Cia Cable Systems Dispositif de guidage et de rappel
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Publication number Priority date Publication date Assignee Title
US5125602A (en) * 1989-02-20 1992-06-30 Aerospatiale Societe Nationale Industrielle Tilting stick control device, especially for an aircraft, and system comprising two such devices
US20140214273A1 (en) * 2013-01-30 2014-07-31 Prince Industries, Inc. Operator controlled electrical output signal device with variable feel and hold feedback and automated calibration and learnable performance optimization

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EP3301068A1 (fr) 2018-04-04
US20180093872A1 (en) 2018-04-05
DE102016118460A1 (de) 2018-03-29

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