EP3336049A1 - Industrial truck with a control unit for regulating the movement of a load and corresponding method - Google Patents
Industrial truck with a control unit for regulating the movement of a load and corresponding method Download PDFInfo
- Publication number
- EP3336049A1 EP3336049A1 EP17207695.2A EP17207695A EP3336049A1 EP 3336049 A1 EP3336049 A1 EP 3336049A1 EP 17207695 A EP17207695 A EP 17207695A EP 3336049 A1 EP3336049 A1 EP 3336049A1
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- EP
- European Patent Office
- Prior art keywords
- speed
- mast
- carriage
- control unit
- truck
- 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
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- 238000000034 method Methods 0.000 title claims description 17
- 230000001105 regulatory effect Effects 0.000 title description 8
- 239000012530 fluid Substances 0.000 claims description 8
- 230000001133 acceleration Effects 0.000 description 15
- 238000013016 damping Methods 0.000 description 13
- 230000001276 controlling effect Effects 0.000 description 7
- 230000010355 oscillation Effects 0.000 description 6
- 238000005259 measurement Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000004148 unit process Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005923 long-lasting effect Effects 0.000 description 1
Images
Classifications
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- 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
- B66F9/24—Electrical devices or systems
-
- 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
- B66F9/22—Hydraulic devices or systems
-
- 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
- B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
-
- 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
- B66F9/08—Masts; Guides; Chains
- B66F9/10—Masts; Guides; Chains movable in a horizontal direction relative to truck
Definitions
- the invention relates to an industrial truck with a control unit for controlling the movement of a force acting on a mast of a truck sliding carriage and such a method.
- Known industrial trucks usually have a vehicle frame and a mast with a load part.
- the load part and the individual mast stages of the mast can be extended and retracted and the mast to a vertical vehicle axis forward and backward inclined or pushed back and forth on a slide carriage.
- Industrial trucks with a push carriage are commonly called reach trucks.
- Known forklifts also have a control over which a given by an operator speed can be passed as a corresponding control variable to a drive.
- the drive for example, the lifting function, the tilt function and the thrust function of the truck can be realized. In most cases it is a hydraulic drive with one or more hydraulic cylinders.
- the controller translates a speed setting according to the characteristic of the hydraulic valve into a control variable.
- the volume flow of the hydraulic fluid flowing into the hydraulic cylinder is controlled.
- the hydraulic cylinder of the thrust carriage is moved at the base of the mast, resulting in a movement of the mast and thus ultimately the load.
- the speed of the sliding carriage may deviate from the speed specification.
- the sliding carriage can come by a movement of the sliding carriage to an undesirable swing of the scaffold and thus the load.
- Such oscillations can at least be reduced by particularly gently accelerating or decelerating the reach in predefined operating positions.
- Such a method is for example off WO 2008 006 928 A1 known.
- the first natural frequency of the scaffold determined.
- Active mast vibration damping systems are also known, which measure variables that are proportional to the vibration, such as, for example, an acceleration or an extension of the mast, and regulate the movement of the mast on the basis of these measured variables.
- Such active vibration damping is for example off DE 10 2007 024 817 A1 known, wherein here is a control according to a stored in the control device movement characteristic of the actuator of the mast for different operating situations of the truck.
- methods for active vibration damping are also lacking EP 1 975 114 A1 as well as out DE 10 2006 012 982 A1 known.
- the described controls can not ensure that the push slide and thus the load on the mast actually reaches a speed set by the operator.
- the invention is therefore an object of the invention to provide an industrial truck available, which allows accurate compliance with the default speed of the sliding carriage. Furthermore, the invention has for its object to provide a method for controlling the movement of a force acting on a mast of a truck sliding carriage available, which allows compliance with the speed specification.
- the truck may for example be a forklift, in particular a reach truck.
- the truck comprises a mast with a load part.
- the mast can have a mast with one or more mast stages and be connected to a drive part comprehensive chassis of the truck.
- the load part may for example be a fork.
- the load part serves to receive a load to be transported by the industrial truck, for example a pallet.
- the thrust carriage can act on a mast of the mast on the mast, in particular be connected to this. By a retraction or extension of the sliding carriage thus the mast can be moved back or forward.
- the thrust carriage is thereby moved at a predetermined target speed.
- the desired speed can be specified by an operator of the truck, for example via an operating lever arranged on the industrial truck.
- the truck includes a sensor for speed measurement of the sliding carriage. Since the push carriage acts on the mast, so the actual speed of the mast can be determined.
- the sensor can be arranged, for example, on the slide carriage. Also, the sensor may be arranged on a hydraulic cylinder acting on the slide carriage. This actual speed is transmitted to the control unit or queried by this. The control unit then compares the predetermined target speed of the sliding carriage with the actual speed measured by the sensor and thus determines a possible control deviation. Based on this control deviation, the movement speed of the sliding carriage is readjusted. For example, for this purpose, a difference between the target speed and the actual speed can be formed.
- the speed sensor can be the actual speed of the sliding carriage derived for example from a distance measurement. When moving the mast back and forth relative to a drive part or chassis of the truck, a certain distance is covered. This route can, for example, have a coding so that an incremental measuring method can be used for speed measurement.
- the control unit of the truck so not only a target speed for the thrust slide before, but regulates the speed of the sliding carriage, if they should not correspond to the desired speed.
- Such a measurement and readjustment of the actual speed of the sliding carriage allows a reliable compliance with the speed specification, which was specified by the operator of the truck.
- the influence of external disturbing factors such as manufacturing tolerances, fluctuating frictional forces and material wear or other static or dynamic forces can be compensated.
- a given speed value is often not exactly achieved in known controls due to the mentioned disturbing factors. Instead, there may be a drop below or exceed the speed default. Exceeding the specification may result in a dangerously high speed, which may even exceed the maximum speed specified by the manufacturer. Falling below the default, the workflow is slowed down.
- the speed control according to the invention achieves the preset value with high accuracy, which enables a high speed of work while maintaining the safety regulations.
- the industrial truck further comprises at least one deformation sensor, which is designed to measure a deformation of the mast, wherein the control unit is further adapted to the speed of movement of the sliding carriage based on the measured Deformation of the mast to regulate.
- a deformation of the mast is measured by at least one deformation sensor and regulated either by the first control unit, which is also responsible for the speed control, or by a separate second control unit, the movement of the sliding carriage based on the measured deformation.
- the deformation sensor of the mast can determine the deformation of the mast, for example via a relative acceleration of an upper end of the mast relative to the base of the mast.
- the deformation sensor may be an acceleration sensor, which is arranged, for example, at an upper end of the mast.
- the deformation sensor can also be designed as a strain sensor, for example as a strain gauge.
- the deformation sensor can then measure an extension of the mast, wherein the strain can be caused for example by a bending of the mast. In particular, a change in the elongation can be measured.
- Information about the deformation of the mast, measured by the deformation sensor, is transmitted to or interrogated by the control unit, which then regulates the speed of the sliding carriage in such a way that the deformation of the lifting mast is compensated.
- two deformation sensors preferably acceleration sensors, can be provided. A first of the two deformation sensors can be arranged at an upper end of the mast and a second deformation sensor at a lower end of the mast.
- At least one second deformation sensor allows the determination of a reference acceleration.
- an active mast damping that is to say a compensation of undesired mast oscillations, can thus additionally be achieved. It is thus ensured that even when occurring mast oscillations, the speed set by the operator speed of the sliding carriage can be reliably maintained.
- a second control unit may be provided, which is designed to regulate the movement speed of the sliding carriage on the basis of the measured deformation of the lifting frame.
- two control units can be provided, wherein the first control unit processes the actual speed of the sliding carriage measured by the sensor, while the second control unit processes the deformation of the lifting frame measured by the deformation sensor. On the basis of the measured data of both sensors, the first and / or the second control unit can then regulate the speed.
- Two separate control units have the advantage that they can both be designed independently of each other. However, it is also possible to realize the two control units as independent software modules of a single physical control unit.
- the truck has a hydraulic unit with at least one hydraulic cylinder acting on the slide carriage, wherein the control unit is adapted to control the movement speed of the sliding carriage by changing the volume flow of hydraulic fluid flowing into the hydraulic cylinder.
- the control unit can control a hydraulic unit of the truck.
- This hydraulic unit may comprise one or more hydraulic cylinders acting on the push carriages.
- the slide carriage can thus be moved by a hydraulic cylinder.
- By regulating the volume flow in or out of the at least one hydraulic cylinder it can be extended or retracted, which leads to a corresponding movement of the sliding carriage.
- the mast and the load located on the load part of the mast are moved.
- the hydraulic unit may comprise further hydraulic cylinders, via which, for example, a lifting function and / or a tilting function of the load part or the mast are made possible. If the control unit detects a deviation between the set speed and the actual speed of the sliding carriage, this can determine the volume flow of the in readjust the hydraulic fluid flowing hydraulic cylinder such that the desired target speed is reached. It may be provided to arrange the speed sensor according to the invention on the hydraulic cylinder acting on the slide carriage. For example, the sensor can measure the speed of movement of a piston rod of the hydraulic cylinder relative to a cylinder housing of the hydraulic cylinder. For this purpose, in particular an incremental measuring method can be provided, wherein the piston rod then has a coding at regular intervals.
- the hydraulic unit has a hydraulic pump and / or at least one control valve, wherein the volume flow of hydraulic fluid flowing into the hydraulic cylinder is controlled by the hydraulic pump and / or the at least one control valve.
- the control unit can then increase or decrease the volume flow through the hydraulic pump in case of a possible speed deviation of the sliding carriage.
- the control unit for controlling the flow rate, the at least one control valve open or close.
- FIG. 1 an industrial truck 10 with a mast 12, a slide carriage 20, a sensor 30 and a control unit 40 is shown.
- the sensor 30 is arranged at a base of the mast 12.
- the mast 12 includes a load part 14 with a load 16 thereon.
- a hydraulic unit 18 is also arranged, which comprises a hydraulic pump, not shown, and at least one acting on the slide slide hydraulic cylinder.
- a deformation sensor 50 is arranged at the top of the mast 12.
- the mast 12 can be extended over the thrust carriage 20 in the direction of arrow marked v carriage and retracted in the opposite direction. Accordingly, the load 16 located on the load part 14 is moved forward or backward at a speed v load .
- a person operating the reach truck 10 can transmit a speed preset r to the control unit 40 via an operating unit (not shown).
- the control unit 40 then transmits a control variable u corresponding to the speed setting r to the hydraulic unit 18, in particular to the hydraulic pump or the at least one hydraulic cylinder, and thus to the slide carriage 20.
- the slide carriage 20 is thus moved at the speed v slide .
- About the thrust carriage 20 is consequently the mast 12 and thus the Load 16 moves.
- the actual slide carriage speed v slide ie the speed of the base point of the mast, can deviate from the speed default r. This is, as explained, external influences such as manufacturing tolerances, fluctuating frictional forces and material wear owed.
- a movement of the sliding carriage 20 can also lead to undesired vibrations of the load 16 located on the load part 14.
- a deviation occurs between the speed v carriage of the sliding carriage 20 and the speed v load of the load 16.
- Fig. 3 is shown a scheme for active mast damping, which suppresses such vibrations.
- controller are taken into account here on the one hand operating variables of the truck and on the other a deformation of the mast 12.
- Operating variables can be, for example, the mass of the load 16 and the lifting height of the mast 12.
- the deformation sensor 50 is presently an acceleration sensor, which measures the acceleration of the upper end of the mast 12 relative to the base of the mast 12.
- the acceleration measured value and the measured operating variables enter the control unit 40.
- a further acceleration sensor 51 may be provided at the lower end of the mast in order to be able to determine a reference acceleration. Its measured value also enters the control unit 40, which is represented by the double line extending from the mast 12 to the control unit 40.
- the control unit 40 then controls via the hydraulic unit 18, the movement of the sliding carriage 20 such that the vibration of the load 16 is compensated.
- Fig. 4 the inventive control of the speed of the sliding carriage is shown.
- a speed input r of an operator enters into the control unit 40, which then actuates the hydraulic unit 18 and above the thrust carriage 20 via a manipulated variable u .
- a sensor 30 measures the actual speed v carriage of the sliding carriage 20 and transmits it to the control unit 40.
- the control unit 40 determines a possible deviation between the desired speed, that is the speed default r, and the actual speed, ie the carriage speed v Slide , and if necessary adjusts the manipulated variable u .
- a corresponding control of the hydraulic drive unit 18 thus takes place an adaptation of the speed of the sliding carriage 20.
- This measurement and readjustment of the speed of the carriage 20 can be continuous or in steps.
- further operating variables of the vehicle are ascertained, which likewise enter the control unit 40.
- the thrust carriage 20 and thus the mast 12 can be accelerated or decelerated as gently as possible in order to prevent a possible mast oscillation as much as possible.
- Fig. 5 is a development of the design of the Fig. 4 , extended by an active mast damping.
- active mast damping here, as already Fig. 3 explains about two acceleration sensors 50, 51 a deformation of the mast 12 determined and passed to the control unit 40.
- the inventive cruise control is combined with an active mast damping. While the speed control via the sensor 30 determines the actual speed of the slider carriage 20 and thus ensures that the actual speed v carriage of the sliding carriage 20 of the speed preset r corresponds, the second control loop (the active mast damping) ensures that the speed v load of the mast 12 and thus the moving load 16 of the speed v carriage of the sliding carriage 20 corresponds.
- the velocity v Last is equal to the velocity v slide .
- the measured Speed v slide of the slide carriage 20 of the default speed r it is ensured that the load 16 moves at the predetermined speed r.
- Fig. 6 is also a speed control according to the invention shown together with a vibration damping.
- this is a cascaded scheme.
- a speed default r is again input to the control unit 40, which then forwards a corresponding control variable u 1 to a second control unit 42.
- the second control unit 42 in turn gives the specification as a controlled variable u 2 to the hydraulic unit 18 and above to the slide carriage 20, resulting in a transmission of the speed v carriage on the mast 12 and thus to a speed v load of the load 16.
- the speed is regulated by means of a first control loop in that a speed sensor 30 determines the actual speed v m, carriage of the slide carriage 20 and the first control unit 40 determines a possible control deviation between the speed command r and the measured carriage speed v m, slide .
- the control unit 40 transmits an altered manipulated variable u 1 to the second control unit 42.
- the second control unit 42 receives the actual acceleration a m, load of the load 16 from the deformation sensors 50, 51 configured as acceleration sensors.
- only one deformation sensor can be provided.
- the second control unit 42 transmits a modified manipulated variable u 2 to the hydraulic unit 18, which leads to an adaptation of the speed v slide of the sliding carriage 20.
- the speed of the sliding carriage 20 is thus regulated to the speed setting r and, on the other hand, the load speed v load is regulated to the carriage speed v slide . This ensures that the speed of the load actually corresponds to the speed specification.
- the design Fig. 6 has opposite the embodiment of Fig. 5 the advantage that the two independent control units 40, 42 can be designed arbitrarily and independently. It is also possible to realize the two control units 40, 42 as independent software modules of a single physical control unit.
- Fig. 7 shows the behavior of the load speed v load over time.
- an operator begins to specify a speed. This speed specification corresponds to the curve marked "Default”.
- the speed increases continuously, then the default speed is constant.
- An undamped system behaves at such a speed setting according to the solid line marked "undamped". This would correspond to a controller according to Fig. 2 ,
- the speed of the load initially increases slowly and then faster and faster and shoots due to a vibration of the mast beyond the default speed.
- the load speed v load drops shortly thereafter again far below the default speed to then rise again due to a renewed Nachvorneschwingens the mast.
- the inventive method or truck for speed control of the sliding carriage can be achieved. This corresponds to the in the FIGS. 4 and 5 illustrated control circuits.
- the load speed is now also regulated within a short time to the actual desired preset speed. It can thus achieve a high work pace while ensuring the required safety.
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Abstract
Flurförderzeug, umfassend ein Hubgerüst mit einem Lastteil zum Tragen einer Last, einen auf das Hubgerüst wirkenden Schubschlitten zum Vorbewegen und Zurückbewegen des Hubgerüsts, mindestens einen Sensor, der dazu ausgebildet ist, eine Ist-Geschwindigkeit des Schubschlittens zu messen, sowie eine Steuereinheit, die dazu ausgebildet ist, eine Soll-Geschwindigkeit für den Schubschlitten vorzugeben, eine Regelabweichung der durch den mindestens einen Sensor gemessenen Ist-Geschwindigkeit von der Soll-Geschwindigkeit zu ermitteln und die Bewegungsgeschwindigkeit des Schubschlittens auf Grundlage der ermittelten Geschwindigkeitsabweichung zu regeln.Truck, comprising a mast with a load part for carrying a load, acting on the mast thrust carriage for advancing and moving back of the mast, at least one sensor which is adapted to measure an actual speed of the sliding carriage, and a control unit to the is designed to specify a desired speed for the thrust carriage to determine a control deviation of the measured by the at least one sensor actual speed of the target speed and to control the movement speed of the sliding carriage based on the determined speed deviation.
Description
Die Erfindung betrifft ein Flurförderzeug mit einer Steuereinheit zur Regelung der Bewegung eines auf ein Hubgerüst eines Flurförderzeugs wirkenden Schubschlittens sowie ein solches Verfahren.The invention relates to an industrial truck with a control unit for controlling the movement of a force acting on a mast of a truck sliding carriage and such a method.
Bekannte Flurförderzeuge weisen üblicherweise einen Fahrzeugrahmen und einen Hubmast mit einem Lastteil auf. Das Lastteil sowie die einzelnen Maststufen des Hubmastes können aus- und eingefahren sowie der Hubmast um eine senkrechte Fahrzeugachse vor- und zurückgeneigt oder auch über einen Schubschlitten vor- und zurückgeschoben werden. Flurförderzeuge mit einem Schubschlitten werden üblicherweise Schubmaststapler genannt. Bekannte Flurförderzeuge weisen zudem eine Steuerung auf, über die eine von einer Bedienperson vorgegebene Geschwindigkeit als entsprechende Stellgröße an einen Antrieb weitergegeben werden kann. Über den Antrieb können dann beispielsweise die Hubfunktion, die Neigefunktion sowie die Schubfunktion des Flurförderzeugs realisiert werden. Zumeist handelt es sich um einen hydraulischen Antrieb mit einem oder mehreren Hydraulikzylindern. Beispielsweise zur Steuerung der Bewegungsgeschwindigkeit des Schubschlittens des Hubgerüstes übersetzt die Steuerung eine Geschwindigkeitsvorgabe entsprechend der Kennlinie des Hydraulikventils in eine Stellgröße. Entsprechend dieser Stellgröße wird der Volumenstrom der in den Hydraulikzylinder fließenden Hydraulikflüssigkeit gesteuert. Über den Hydraulikzylinder wird der Schubschlitten am Fußpunkt des Hubgerüstes bewegt, was zu einer Bewegung des Hubgerüstes und somit letztlich der Last führt. Aufgrund äußerer Einflüsse, beispielsweise aufgrund von Fertigungstoleranzen, schwankenden Reibungskräften, Materialverschleiß oder sonstigen statischen oder dynamischen Kräften, kann die Geschwindigkeit des Schubschlittens jedoch von der Geschwindigkeitsvorgabe abweichen.Known industrial trucks usually have a vehicle frame and a mast with a load part. The load part and the individual mast stages of the mast can be extended and retracted and the mast to a vertical vehicle axis forward and backward inclined or pushed back and forth on a slide carriage. Industrial trucks with a push carriage are commonly called reach trucks. Known forklifts also have a control over which a given by an operator speed can be passed as a corresponding control variable to a drive. About the drive then, for example, the lifting function, the tilt function and the thrust function of the truck can be realized. In most cases it is a hydraulic drive with one or more hydraulic cylinders. For example, to control the speed of movement of the lifting slide of the mast, the controller translates a speed setting according to the characteristic of the hydraulic valve into a control variable. In accordance with this manipulated variable, the volume flow of the hydraulic fluid flowing into the hydraulic cylinder is controlled. About the hydraulic cylinder of the thrust carriage is moved at the base of the mast, resulting in a movement of the mast and thus ultimately the load. However, due to external influences, for example due to manufacturing tolerances, fluctuating frictional forces, material wear or other static or dynamic forces, the speed of the sliding carriage may deviate from the speed specification.
Weiterhin kann es durch eine Bewegung des Schubschlittens zu einem unerwünschten Schwingen des Schubgerüstes und somit der Last kommen. Derartige Schwingungen können zumindest verringert werden, indem der Schubmast in vordefinierten Betriebspositionen besonders sanft beschleunigt bzw. verzögert wird. Ein solches Verfahren ist beispielsweise aus
Auch sind aktive Mastschwingungsdämpfungen bekannt, welche zur Schwingung proportionale Größen, wie beispielsweise eine Beschleunigung oder eine Dehnung des Hubgerüstes, messen und auf Grundlage dieser Messgrößen die Bewegung des Schubmastes regeln. Eine solche aktive Schwingungsdämpfung ist beispielsweise aus
Die erläuterten Steuerungen bzw. Regelungen können jedoch nicht sicherstellen, dass der Schubschlitten und somit die auf dem Hubgerüst befindliche Last auch tatsächlich eine durch die Bedienperson vorgegebene Geschwindigkeit erreicht.However, the described controls can not ensure that the push slide and thus the load on the mast actually reaches a speed set by the operator.
Der Erfindung liegt daher die Aufgabe zugrunde, ein Flurförderzeug zur Verfügung zu stellen, welches eine genaue Einhaltung der Vorgabegeschwindigkeit des Schubschlittens ermöglicht. Des Weiteren liegt der Erfindung die Aufgabe zugrunde, ein Verfahren zur Regelung der Bewegung eines auf ein Hubgerüst eines Flurförderzeugs wirkenden Schubschlittens zur Verfügung zu stellen, welches die Einhaltung der Geschwindigkeitsvorgabe ermöglicht.The invention is therefore an object of the invention to provide an industrial truck available, which allows accurate compliance with the default speed of the sliding carriage. Furthermore, the invention has for its object to provide a method for controlling the movement of a force acting on a mast of a truck sliding carriage available, which allows compliance with the speed specification.
Die Aufgabe wird gelöst durch ein Flurförderzeug gemäß Anspruch 1. Weiterhin wird die Erfindung gelöst durch ein Verfahren nach Anspruch 5. Vorteilhafte Ausgestaltungen finden sich in den Unteransprüchen, der Beschreibung sowie den Figuren.The object is achieved by a truck according to claim 1. Furthermore, the invention is achieved by a method according to claim 5. Advantageous embodiments can be found in the subclaims, the description and the figures.
Das erfindungsgemäße Flurförderzeug umfasst
- ein Hubgerüst mit einem Lastteil zum Tragen einer Last,
- einen auf das Hubgerüst wirkenden Schubschlitten zum Vorbewegen und Zurückbewegen des Hubgerüsts,
- mindestens einem Sensor, der dazu ausgebildet ist, eine Ist-Geschwindigkeit des Schubschlittens zu messen, sowie
- eine Steuereinheit, die dazu ausgebildet ist, eine Soll-Geschwindigkeit für den Schubschlitten vorzugeben, eine Regelabweichung der durch den mindestens einen Sensor gemessenen Ist-Geschwindigkeit von der Soll-Geschwindigkeit zu ermitteln und die Bewegungsgeschwindigkeit des Schubschlittens auf Grundlage der ermittelten Geschwindigkeitsabweichung zu regeln.
- a mast with a load part for carrying a load,
- a thrust carriage acting on the mast for advancing and retracting the mast,
- at least one sensor, which is adapted to measure an actual speed of the sliding carriage, and
- a control unit which is designed to predetermine a setpoint speed for the push carriage, to determine a control deviation of the actual speed measured by the at least one sensor from the setpoint speed and to regulate the movement speed of the push carriage on the basis of the ascertained speed deviation.
Das erfindungsgemäße Verfahren zur Regelung der Bewegung eines auf ein Hubgerüst eines Flurförderzeugs wirkenden Schubschlittens weist die folgenden Schritte auf:
- Vorgabe einer Soll-Geschwindigkeit für den Schubschlitten durch eine Steuereinheit des Flurförderzeugs,
- Messen der Ist-Geschwindigkeit des Schubschlittens durch mindestens einen Sensor des Flurförderzeugs,
- Ermitteln einer Regelabweichung der Ist-Geschwindigkeit von der Soll-Geschwindigkeit durch die Steuereinheit,
- Regeln der Bewegungsgeschwindigkeit des Schubschlittens auf Grundlage der ermittelten Geschwindigkeitsabweichung durch die Steuereinheit.
- Specification of a desired speed for the thrust carriage by a control unit of the truck,
- Measuring the actual speed of the sliding carriage by at least one sensor of the truck,
- Determining a control deviation of the actual speed from the setpoint speed by the control unit,
- Controlling the speed of movement of the sliding carriage on the basis of the determined speed deviation by the control unit.
Das Flurförderzeug kann beispielsweise ein Gabelstapler, insbesondere ein Schubmaststapler sein. Erfindungsgemäß umfasst das Flurförderzeug ein Hubgerüst mit einem Lastteil. Das Hubgerüst kann einen Hubmast mit einer oder mehreren Maststufen aufweisen und mit einem einen Antriebsteil umfassenden Chassis des Flurförderzeugs verbunden sein. Das Lastteil kann beispielsweise eine Lastgabel sein. Das Lastteil dient der Aufnahme einer durch das Flurförderzeug zu transportierenden Last, beispielsweise einer Palette. Über einen Schubschlitten kann das Hubgerüst vor- und zurückbewegt werden, wobei darunter eine Bewegung in der Fahrtrichtung oder entgegen der Fahrtrichtung des Flurförderzeugs zu verstehen ist. Der Schubschlitten kann dabei an einem Fußpunkt des Hubgerüsts auf das Hubgerüst wirken, insbesondere mit diesem verbunden sein. Durch ein Einfahren bzw. Ausfahren des Schubschlittens kann somit das Hubgerüst nach zurück- bzw. vorbewegt werden. Der Schubschlitten wird dabei mit einer vorgegebenen Soll-Geschwindigkeit bewegt. Die Soll-Geschwindigkeit kann durch eine Bedienperson des Flurförderzeugs vorgeben werden, beispielsweise über einen an dem Flurförderzeug angeordneten Bedienhebel.The truck may for example be a forklift, in particular a reach truck. According to the invention, the truck comprises a mast with a load part. The mast can have a mast with one or more mast stages and be connected to a drive part comprehensive chassis of the truck. The load part may for example be a fork. The load part serves to receive a load to be transported by the industrial truck, for example a pallet. About a slide carriage, the mast can be moved back and forth, including movement in the direction of travel or against the direction of travel of the truck is to be understood. The thrust carriage can act on a mast of the mast on the mast, in particular be connected to this. By a retraction or extension of the sliding carriage thus the mast can be moved back or forward. The thrust carriage is thereby moved at a predetermined target speed. The desired speed can be specified by an operator of the truck, for example via an operating lever arranged on the industrial truck.
Weiterhin umfasst das Flurförderzeug einen Sensor zur Geschwindigkeitsmessung des Schubschlittens. Da der Schubschlitten auf das Hubgerüst wirkt, kann so die tatsächliche Geschwindigkeit des Hubgerüsts ermittelt werden. Der Sensor kann beispielsweise an dem Schubschlitten angeordnet sein. Auch kann der Sensor an einem auf den Schubschlitten wirkenden Hydraulikzylinder angeordnet sein. Diese Ist-Geschwindigkeit wird an die Steuereinheit übermittelt oder von dieser abgefragt. Die Steuereinheit vergleicht daraufhin die vorgegebene Soll-Geschwindigkeit des Schubschlittens mit der durch den Sensor gemessenen Ist-Geschwindigkeit und ermittelt so eine eventuelle Regelabweichung. Basierend auf dieser Regelabweichung wird die Bewegungsgeschwindigkeit des Schubschlittens nachgeregelt. Beispielsweise kann hierfür eine Differenz zwischen der Soll-Geschwindigkeit und der Ist-Geschwindigkeit gebildet werden. Der Geschwindigkeitssensor kann die Ist-Geschwindigkeit des Schubschlittens beispielsweise aus einer Wegmessung ableiten. Beim Vor- und Zurückbewegen des Hubgerüstes gegenüber einem Antriebsteil bzw. Chassis des Flurförderzeugs wird eine gewisse Wegstrecke zurückgelegt. Diese Wegstrecke kann beispielsweise über eine Kodierung verfügen, sodass ein Inkremente zählendes Messverfahren zur Geschwindigkeitsmessung verwendet werden kann.Furthermore, the truck includes a sensor for speed measurement of the sliding carriage. Since the push carriage acts on the mast, so the actual speed of the mast can be determined. The sensor can be arranged, for example, on the slide carriage. Also, the sensor may be arranged on a hydraulic cylinder acting on the slide carriage. This actual speed is transmitted to the control unit or queried by this. The control unit then compares the predetermined target speed of the sliding carriage with the actual speed measured by the sensor and thus determines a possible control deviation. Based on this control deviation, the movement speed of the sliding carriage is readjusted. For example, for this purpose, a difference between the target speed and the actual speed can be formed. The speed sensor can be the actual speed of the sliding carriage derived for example from a distance measurement. When moving the mast back and forth relative to a drive part or chassis of the truck, a certain distance is covered. This route can, for example, have a coding so that an incremental measuring method can be used for speed measurement.
Erfindungsgemäß gibt die Steuereinheit des Flurförderzeugs also nicht nur eine Soll-Geschwindigkeit für den Schubschlitten vor, sondern regelt die Geschwindigkeit des Schubschlittens nach, falls diese nicht der Soll-Geschwindigkeit entsprechen sollte. Eine derartige Messung und Nachregelung der tatsächlichen Geschwindigkeit des Schubschlittens ermöglicht eine zuverlässige Einhaltung der Geschwindigkeitsvorgabe, die durch den Bediener des Flurförderzeugs vorgegeben wurde. Somit kann der Einfluss äußerer Störfaktoren, wie beispielsweise Fertigungstoleranzen, schwankende Reibungskräfte und Materialverschleiß oder sonstige statische oder dynamische Kräfte, ausgeglichen werden. Wie einleitend erläutert, wird ein vorgegebener Geschwindigkeitswert bei bekannten Steuerungen aufgrund der genannten Störfaktoren häufig nicht exakt erreicht. Stattdessen kann es zu einer Unterschreitung oder einem Übertreffen der Geschwindigkeitsvorgabe kommen. Bei Übertreffen der Vorgabe kann es zu einer gefährlich hohen Geschwindigkeit kommen, die gegebenenfalls sogar die vom Hersteller vorgegebene Maximalgeschwindigkeit überschreiten kann. Bei einem Unterschreiten der Vorgabe unterschritten, wird der Arbeitsablauf verlangsamt. Durch die erfindungsgemäße Geschwindigkeitsregelung hingegen wird der Vorgabewert mit hoher Genauigkeit erreicht, was ein hohes Arbeitstempo bei gleichzeitiger Einhaltung der Sicherheitsbestimmungen ermöglicht.According to the invention, the control unit of the truck so not only a target speed for the thrust slide before, but regulates the speed of the sliding carriage, if they should not correspond to the desired speed. Such a measurement and readjustment of the actual speed of the sliding carriage allows a reliable compliance with the speed specification, which was specified by the operator of the truck. Thus, the influence of external disturbing factors, such as manufacturing tolerances, fluctuating frictional forces and material wear or other static or dynamic forces can be compensated. As explained in the introduction, a given speed value is often not exactly achieved in known controls due to the mentioned disturbing factors. Instead, there may be a drop below or exceed the speed default. Exceeding the specification may result in a dangerously high speed, which may even exceed the maximum speed specified by the manufacturer. Falling below the default, the workflow is slowed down. On the other hand, the speed control according to the invention achieves the preset value with high accuracy, which enables a high speed of work while maintaining the safety regulations.
Nach einer Ausgestaltung umfasst das Flurförderzeug weiterhin mindestens einen Verformungssensor, der dazu ausgebildet ist, eine Verformung des Hubgerüsts zu messen, wobei die Steuereinheit weiterhin dazu ausgebildet ist, die Bewegungsgeschwindigkeit des Schubschlittens auf Grundlage der gemessenen Verformung des Hubgerüsts zu regeln. Nach dieser Ausgestaltung wird also eine Verformung des Hubgerüstes durch mindestens einen Verformungssensor gemessen und entweder durch die erste Steuereinheit, welche auch für die Geschwindigkeitsregelung zuständig ist, oder durch eine separate, zweite Steuereinheit die Bewegung des Schubschlittens auf Basis der gemessenen Verformung geregelt. Der Verformungssensor des Hubgerüstes kann die Verformung des Hubgerüsts beispielsweise über eine relative Beschleunigung eines oberen Endes des Hubgerüsts gegenüber dem Fußpunkt des Hubgerüsts ermitteln. Der Verformungssensor kann ein Beschleunigungssensor sein, der beispielsweise an einem oberen Ende des Hubgerüsts angeordnet ist. Auch kann der Verformungssensor als ein Dehnungssensor, beispielweise als Dehnungsmesstreifen, ausgebildet sein. Der Verformungssensor kann dann eine Dehnung des Hubgerüsts messen, wobei die Dehnung beispielsweise durch eine Verbiegung des Hubgerüsts bedingt sein kann. Insbesondere kann dabei eine Veränderung der Dehnung gemessen werden. Informationen über die durch den Verformungssensor gemessene Verformung des Hubgerüsts werden an die Steuereinheit weitergeben bzw. durch diese abgefragt, welche daraufhin die Geschwindigkeit des Schubschlittens derart regelt, dass die Verformung des Hubmastes ausgeglichen wird. Es können insbesondere zwei Verformungssensoren, bevorzugt Beschleunigungssensoren vorgesehen sein. Ein erster der beiden Verformungssensoren kann dabei an einem oberen Mastende und ein zweiter Verformungssensor an einem unteren Mastende angeordnet sein. Das vorsehen mindestens eines zweiten Verformungssensors erlaubt das Ermitteln einer eine Referenzbeschleunigung. Durch diese Ausgestaltung kann somit zusätzlich eine aktive Mastdämpfung, also ein Ausgleich von unerwünschten Mastschwingungen, erreicht werden. Es wird somit sichergestellt, dass auch bei auftretenden Mastschwingungen die durch die Bedienperson vorgegebene Geschwindigkeit des Schubschlittens zuverlässig eingehalten werden kann.According to one embodiment, the industrial truck further comprises at least one deformation sensor, which is designed to measure a deformation of the mast, wherein the control unit is further adapted to the speed of movement of the sliding carriage based on the measured Deformation of the mast to regulate. According to this embodiment, therefore, a deformation of the mast is measured by at least one deformation sensor and regulated either by the first control unit, which is also responsible for the speed control, or by a separate second control unit, the movement of the sliding carriage based on the measured deformation. The deformation sensor of the mast can determine the deformation of the mast, for example via a relative acceleration of an upper end of the mast relative to the base of the mast. The deformation sensor may be an acceleration sensor, which is arranged, for example, at an upper end of the mast. The deformation sensor can also be designed as a strain sensor, for example as a strain gauge. The deformation sensor can then measure an extension of the mast, wherein the strain can be caused for example by a bending of the mast. In particular, a change in the elongation can be measured. Information about the deformation of the mast, measured by the deformation sensor, is transmitted to or interrogated by the control unit, which then regulates the speed of the sliding carriage in such a way that the deformation of the lifting mast is compensated. In particular, two deformation sensors, preferably acceleration sensors, can be provided. A first of the two deformation sensors can be arranged at an upper end of the mast and a second deformation sensor at a lower end of the mast. The provision of at least one second deformation sensor allows the determination of a reference acceleration. As a result of this embodiment, an active mast damping, that is to say a compensation of undesired mast oscillations, can thus additionally be achieved. It is thus ensured that even when occurring mast oscillations, the speed set by the operator speed of the sliding carriage can be reliably maintained.
Auch kann eine zweite Steuereinheit vorgesehen sein, die dazu ausgebildet ist, die Bewegungsgeschwindigkeit des Schubschlittens auf Grundlage der gemessenen Verformung des Hubgerüsts zu regeln. Es können also zwei Steuereinheiten vorgesehen sein, wobei die erste Steuereinheit die durch den Sensor gemessene Ist-Geschwindigkeit des Schubschlittens verarbeitet, während die zweite Steuereinheit die durch den Verformungssensor gemessene Verformung des Hubgerüsts verarbeitet. Auf Grundlage der Messdaten beider Sensoren kann dann die erste und/oder die zweite Steuereinheit die Geschwindigkeit regeln. Zwei separate Steuereinheiten haben den Vorteil, dass diese beide unabhängig voneinander ausgelegt werden können. Es ist dabei jedoch auch möglich die beiden Steuereinheiten als unabhängige Softwaremodule einer einzigen physischen Steuereinheit zu realisieren.Also, a second control unit may be provided, which is designed to regulate the movement speed of the sliding carriage on the basis of the measured deformation of the lifting frame. Thus, two control units can be provided, wherein the first control unit processes the actual speed of the sliding carriage measured by the sensor, while the second control unit processes the deformation of the lifting frame measured by the deformation sensor. On the basis of the measured data of both sensors, the first and / or the second control unit can then regulate the speed. Two separate control units have the advantage that they can both be designed independently of each other. However, it is also possible to realize the two control units as independent software modules of a single physical control unit.
Nach einer weiteren Ausgestaltung weist das Flurförderzeug ein Hydraulikaggregat mit mindestens einem auf den Schubschlitten wirkenden Hydraulikzylinder auf, wobei die Steuereinheit ist dazu ausgebildet, die Bewegungsgeschwindigkeit des Schubschlittens durch Veränderung des Volumenstroms der in den Hydraulikzylinder fließenden Hydraulikflüssigkeit zu steuern. Gemäß dieser Ausgestaltung kann die Steuereinheit ein Hydraulikaggregat des Flurförderzeugs ansteuern. Dieses Hydraulikaggregat kann einen oder mehrere Hydraulikzylinder umfassen, die auf den Schubschlitten wirken. Der Schubschlitten kann also durch einen Hydraulikzylinder bewegt werden. Durch eine Regelung des Volumenstroms in bzw. aus dem mindestens einen Hydraulikzylinder kann dieser ausgefahren bzw. eingefahren werden, was zu einer entsprechenden Bewegung des Schubschlittens führt. Über die Bewegung des Schubschlittens werden dann das Hubgerüst sowie die auf dem Lastteil des Hubgerüstes befindliche Last bewegt. Auch kann das Hydraulikaggregat weitere Hydraulikzylinder umfassen, über welche beispielsweise eine Hubfunktion und/oder eine Neigefunktion des Lastteils bzw. des Hubgerüsts ermöglicht werden. Stellt die Steuereinheit eine Abweichung zwischen Soll- und Ist-Geschwindigkeit des Schubschlittens fest, so kann diese den Volumenstrom der in den Hydraulikzylinder fließenden Hydraulikflüssigkeit derart nachregeln, dass die gewünschte Soll-Geschwindigkeit erreicht wird. Es kann dabei vorgesehen sein, den erfindungsgemäßen Geschwindigkeitssensor an dem auf den Schubschlitten wirkenden Hydraulikzylinder anzuordnen. Beispielsweise kann der Sensor die Bewegungsgeschwindigkeit einer Kolbenstange des Hydraulikzylinders gegenüber einem Zylindergehäuse des Hydraulikzylinders messen. Hierfür kann insbesondere ein inkrementelles Messverfahren vorgesehen sein, wobei die Kolbenstange dann in gleichmäßigen Abständen eine Kodierung aufweist.According to a further embodiment, the truck has a hydraulic unit with at least one hydraulic cylinder acting on the slide carriage, wherein the control unit is adapted to control the movement speed of the sliding carriage by changing the volume flow of hydraulic fluid flowing into the hydraulic cylinder. According to this embodiment, the control unit can control a hydraulic unit of the truck. This hydraulic unit may comprise one or more hydraulic cylinders acting on the push carriages. The slide carriage can thus be moved by a hydraulic cylinder. By regulating the volume flow in or out of the at least one hydraulic cylinder, it can be extended or retracted, which leads to a corresponding movement of the sliding carriage. About the movement of the sliding carriage then the mast and the load located on the load part of the mast are moved. Also, the hydraulic unit may comprise further hydraulic cylinders, via which, for example, a lifting function and / or a tilting function of the load part or the mast are made possible. If the control unit detects a deviation between the set speed and the actual speed of the sliding carriage, this can determine the volume flow of the in readjust the hydraulic fluid flowing hydraulic cylinder such that the desired target speed is reached. It may be provided to arrange the speed sensor according to the invention on the hydraulic cylinder acting on the slide carriage. For example, the sensor can measure the speed of movement of a piston rod of the hydraulic cylinder relative to a cylinder housing of the hydraulic cylinder. For this purpose, in particular an incremental measuring method can be provided, wherein the piston rod then has a coding at regular intervals.
Nach einer weiteren Ausgestaltung weist das Hydraulikaggregat eine Hydraulikpumpe und/oder mindestens ein Steuerventil auf, wobei der Volumenstrom der in den Hydraulikzylinder fließenden Hydraulikflüssigkeit durch die Hydraulikpumpe und/oder das mindestens eine Steuerventil geregelt werden wird. Die Steuereinheit kann dann bei einer eventuellen Geschwindigkeitsabweichung des Schubschlittens den Volumenstrom über die Hydraulikpumpe erhöhen oder verringern. Auch kann die Steuereinheit zur Regelung des Volumenstroms das mindestens eine Steuerventil weiter öffnen oder schließen.According to a further embodiment, the hydraulic unit has a hydraulic pump and / or at least one control valve, wherein the volume flow of hydraulic fluid flowing into the hydraulic cylinder is controlled by the hydraulic pump and / or the at least one control valve. The control unit can then increase or decrease the volume flow through the hydraulic pump in case of a possible speed deviation of the sliding carriage. Also, the control unit for controlling the flow rate, the at least one control valve open or close.
Die Erfindung wird im Folgenden anhand von Figuren näher erläutert. Es zeigen:
- Fig. 1
- ein erfindungsgemäßes Flurförderzeug,
- Fig. 2
- ein Schema zur Geschwindigkeitssteuerung des Schubschlittens,
- Fig. 3
- ein Regelungsschema zum Ausgleich von Mastschwingungen,
- Fig. 4
- ein Regelungsschema zur Geschwindigkeitsregelung des Schubschlittens,
- Fig. 5
- das Regelschema aus
Fig. 4 in Kombination mit einer aktiven Mastdämpfung, - Fig. 6
- eine kaskadierte Kombination der Geschwindigkeitssteuerung einschließlich einer aktiven Mastdämpfung, und
- Fig. 7
- ein Diagramm des schematisch dargestellten Verhaltens der Lastgeschwindigkeit über der Zeit.
- Fig. 1
- an industrial truck according to the invention,
- Fig. 2
- a scheme for controlling the speed of the sliding carriage,
- Fig. 3
- a control scheme to compensate for mast oscillations,
- Fig. 4
- a control scheme for controlling the speed of the sliding carriage,
- Fig. 5
- the rule scheme
Fig. 4 in combination with an active mast damping, - Fig. 6
- a cascaded combination of speed control including active mast damping, and
- Fig. 7
- a diagram of the schematically illustrated behavior of the load speed over time.
In
Eine den Schubmaststapler 10 bedienende Person kann über eine nicht dargestellte Bedieneinheit eine Geschwindigkeitsvorgabe r an die Steuereinheit 40 übermitteln. Die Steuereinheit 40 übermittelt daraufhin eine der Geschwindigkeitsvorgabe r entsprechende Stellgröße u an das Hydraulikaggregat 18, insbesondere an die Hydraulikpumpe bzw. den mindestens einen Hydraulikzylinder, und somit an den Schubschlitten 20. Der Schubschlitten 20 wird so mit der Geschwindigkeit vSchlitten bewegt. Über den Schubschlitten 20 wird folglich das Hubgerüst 12 und somit die Last 16 bewegt. Dies ist in
Wie ebenfalls eingangs erwähnt, kann es durch eine Bewegung des Schubschlittens 20 auch zu unerwünschten Schwingungen der auf dem Lastteil 14 befindlichen Last 16 kommen. Hierbei tritt eine Abweichung zwischen der Geschwindigkeit vSchlitten des Schubschlittens 20 und der Geschwindigkeit vLast der Last 16 auf. In
In
Die Ausgestaltung in
In
Durch das erfindungsgemäße Verfahren bzw. Flurförderzeug zur Geschwindigkeitsregelung des Schubschlittens kann jedoch die mit "Geschwindigkeitsregelung" gekennzeichnete Kurve erreicht werden. Dies entspricht den in den
Claims (9)
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DE102016124506.2A DE102016124506A1 (en) | 2016-12-15 | 2016-12-15 | Truck with a control unit for controlling the movement of a load and a corresponding method |
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EP3336049A1 true EP3336049A1 (en) | 2018-06-20 |
EP3336049B1 EP3336049B1 (en) | 2020-07-22 |
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EP17207695.2A Active EP3336049B1 (en) | 2016-12-15 | 2017-12-15 | Industrial truck with a control unit for regulating the movement of a load and corresponding method |
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US (1) | US10549973B2 (en) |
EP (1) | EP3336049B1 (en) |
DE (1) | DE102016124506A1 (en) |
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US11969882B2 (en) | 2019-11-21 | 2024-04-30 | The Raymond Corporation | Material handling vehicle behavior modification based on task classification |
EP3978420B1 (en) * | 2020-09-30 | 2024-03-27 | STILL GmbH | Method for damping mast torsional vibration in an industrial truck and industrial truck |
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EP3336049B1 (en) | 2020-07-22 |
US10549973B2 (en) | 2020-02-04 |
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