EP3336049A1 - Chariot de manutention pourvu d'une unité de commande permettant de régler le mouvement d'une charge ainsi que procédé correspondant - Google Patents

Chariot de manutention pourvu d'une unité de commande permettant de régler le mouvement d'une charge ainsi que procédé correspondant Download PDF

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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
Authority
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
Application number
EP17207695.2A
Other languages
German (de)
English (en)
Other versions
EP3336049B1 (fr
Inventor
Christian Puke
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
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 EP3336049A1 publication Critical patent/EP3336049A1/fr
Application granted granted Critical
Publication of EP3336049B1 publication Critical patent/EP3336049B1/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
    • B66F9/20—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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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP17207695.2A 2016-12-15 2017-12-15 Chariot de manutention pourvu d'une unité de commande permettant de régler le mouvement d'une charge ainsi que procédé correspondant Active EP3336049B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102016124506.2A DE102016124506A1 (de) 2016-12-15 2016-12-15 Flurförderzeug mit einer Steuereinheit zur Regelung der Bewegung einer Last sowie ein entsprechendes Verfahren

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EP3336049A1 true EP3336049A1 (fr) 2018-06-20
EP3336049B1 EP3336049B1 (fr) 2020-07-22

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US (1) US10549973B2 (fr)
EP (1) EP3336049B1 (fr)
DE (1) DE102016124506A1 (fr)

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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 (fr) * 2020-09-30 2024-03-27 STILL GmbH Procédé d'amortissement des vibrations de torsion d'un mât de levage dans un chariot de manutention et chariot de manutention

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Publication number Publication date
EP3336049B1 (fr) 2020-07-22
US20180170734A1 (en) 2018-06-21
DE102016124506A1 (de) 2018-06-21
US10549973B2 (en) 2020-02-04

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