EP3336050A1 - Industrial truck with a control unit for regulating the movement of a piston rod of a hydraulic cylinder and such a method - Google Patents

Industrial truck with a control unit for regulating the movement of a piston rod of a hydraulic cylinder and such a method Download PDF

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Publication number
EP3336050A1
EP3336050A1 EP17207698.6A EP17207698A EP3336050A1 EP 3336050 A1 EP3336050 A1 EP 3336050A1 EP 17207698 A EP17207698 A EP 17207698A EP 3336050 A1 EP3336050 A1 EP 3336050A1
Authority
EP
European Patent Office
Prior art keywords
piston rod
speed
hydraulic cylinder
acceleration
hydraulic
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
EP17207698.6A
Other languages
German (de)
French (fr)
Other versions
EP3336050B1 (en
Inventor
Dr. Julia Leichnitz
Dr. Frank Mänken
Dr. Stephan Scharf
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 EP3336050A1 publication Critical patent/EP3336050A1/en
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Publication of EP3336050B1 publication Critical patent/EP3336050B1/en
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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
    • B66F9/22—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
    • B66F9/082—Masts; Guides; Chains inclinable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/122—Platforms; Forks; Other load supporting or gripping members longitudinally movable
    • 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
    • B66F9/205—Arrangements for transmitting pneumatic, hydraulic or electric power to movable parts or devices
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/22—Other details, e.g. assembly with regulating devices for accelerating or decelerating the stroke
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/31—Directional control characterised by the positions of the valve element
    • F15B2211/3144—Directional control characterised by the positions of the valve element the positions being continuously variable, e.g. as realised by proportional valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6651—Control of the prime mover, e.g. control of the output torque or rotational speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6656—Closed loop control, i.e. control using feedback

Definitions

  • the invention relates to a truck with a control unit for controlling the movement of a piston rod at least one hydraulic cylinder and a method for controlling the movement of a piston rod at least one hydraulic cylinder of a truck.
  • Known industrial trucks usually have a vehicle frame, a mast and a drive for moving the mast relative to the vehicle frame.
  • a lifting device of the truck can be controlled, and thus a located on a load part of the mast load to be lifted.
  • the load part or the entire mast can be moved via a pusher relative to the vehicle frame on a horizontal axis.
  • tilting devices are known to tilt the load part or the entire mast relative to the vehicle frame. The lifting, sliding and tilting of the mast or the load part is usually achieved by the extension and retraction of hydraulic cylinders.
  • the desired movement of a load located on the load part is effected by a control of the corresponding hydraulic cylinder.
  • the extension speed or retraction speed of the hydraulic cylinder and thus the speed of movement of the load is usually controlled by controlling the volume flow in the hydraulic system of the truck. This happens, for example, by a change in the speed of the hydraulic pump or by a change in the valve openings of the valves of the hydraulic system.
  • a desired lifting speed of the load part by an increased pump speed and a corresponding opening to the Lifting cylinders leading lift valves can be achieved.
  • speed controls of the hydraulic systems are not sufficiently precise.
  • the actual movement speed of the load may deviate from the desired movement speed.
  • Such disturbances can be in hydraulic systems, for example, pulling loads, oil viscosities, temperature changes or a non-constant flow distribution due to different loads on the hydraulic cylinder.
  • the invention is therefore based on the object to control a transported by a truck load more precise in the movement than is possible with known hydraulic systems.
  • the invention solves the problem by an industrial truck according to claim 1 and by a method according to claim 9.
  • the truck according to the invention comprises a mast with a load part for carrying a load, a hydraulic system comprising at least one hydraulic cylinder with a piston rod and a cylinder housing, and a hydraulic unit, wherein the at least one hydraulic cylinder acts on the mast via the piston rod, at least one sensor unit is designed to determine an actual speed and / or an actual acceleration of the piston rod of the at least one hydraulic cylinder and a control unit which is adapted to a desired speed and / or a desired acceleration for the piston rod of the at least one hydraulic cylinder prescribe a control deviation of the determined by the at least one sensor unit actual speed of the target speed and / or the determined by the at least one sensor unit actual acceleration of the target acceleration to determine and to control the movement speed and / or the acceleration of the piston rod based on the determined control deviation.
  • the inventive method for controlling the movement of a force acting on a mast of a truck piston rod at least one hydraulic cylinder has the following steps: Specification of a desired speed and / or a target acceleration for the piston rod of the at least one hydraulic cylinder by a control unit of the truck, determining the actual speed and / or the actual acceleration of the piston rod by at least one sensor unit of the truck, determining a control deviation of the actual speed of the target speed and / or the actual acceleration of the target acceleration by the control unit, rules of Movement speed and / or the acceleration of the piston rod based on the determined control deviation by the control unit.
  • a desired speed, a desired acceleration or a desired speed and a desired acceleration for the piston rod of the at least one hydraulic cylinder are predetermined.
  • the control unit receives, for example, an instruction for controlling the corresponding hydraulic cylinder by an operator.
  • the control unit controls the hydraulic system of the truck according to the specification such that the piston rod of the at least one hydraulic cylinder, the target speed and / or target acceleration is specified.
  • the piston rod of the hydraulic cylinder acts on the mast and / or on the load part of the mast.
  • at least one sensor unit provided which measures an actual speed, an actual acceleration or an actual speed and an actual acceleration of the piston rod of the at least one hydraulic cylinder.
  • the at least one sensor unit may, for example, comprise a speed sensor which directly measures the speed of the piston rod. Also, the at least one sensor unit may include an acceleration sensor that directly measures the acceleration of the piston rod. The at least one sensor unit may also comprise a position sensor, wherein the sensor unit or the control unit then determines the current actual speed or actual acceleration of the piston rod from the change in the position of the piston rod.
  • the at least one sensor unit may in particular have a plurality of sensors, for example a speed sensor and an acceleration sensor.
  • the at least one sensor unit can, for example, be arranged on the hydraulic cylinder, in particular on the piston rod of the hydraulic cylinder.
  • the measured actual speed and / or actual acceleration of the piston rod is transmitted to the control unit, which then determines the control deviation of the actual speed from the setpoint speed and / or the actual acceleration from the setpoint acceleration.
  • the control deviation may therefore include a difference between the actual speed and the setpoint speed as well as between the actual speed and the desired speed. Of course, the differences may also exist as separate control deviations for speed and acceleration.
  • the control unit according to the invention regulates the speed and / or the acceleration of the piston rod on the basis of the determined control deviation.
  • the control unit thus checks whether the required values of the motion variables speed and / or acceleration of the piston rod are actually reached and regulates the speed and / or the acceleration if the respective actual values and the desired values of the motion variables the piston rod of the hydraulic cylinder should not match.
  • the supply of the at least one hydraulic cylinder takes place with hydraulic fluid.
  • the hydraulic unit may comprise at least one hydraulic pump and a hydraulic tank connected to the hydraulic pump.
  • the control according to the invention simplifies the construction of the hydraulic system. Compared to the prior art can be dispensed, for example, on load-sensing systems and pressure compensators.
  • the at least one hydraulic cylinder may, for example, be a lifting cylinder for lifting and lowering the load part. Consequently, can be controlled by the inventive regulation of the movement of the piston rod of the lifting cylinder, the lifting and lowering of the load part. Together with the load part can also be lifted or lowered the mast and thus be passed through the mast lift. If only the load part is raised or lowered, then the free lift is passed through.
  • the at least one hydraulic cylinder may be a tilt cylinder for tilting and tilting back the whole of the mast or the load part. Accordingly by controlling the movement of the piston rod of the tilting cylinder, the forward tilting and tilting back of the entire mast or the load part are controlled.
  • the at least one hydraulic cylinder may be a push cylinder for advancing and retracting the mast or the load part, so that by controlling the movement of the piston rod of the push cylinder, the forward movement and return movement of the mast is controlled.
  • a lifting operation, a tilting operation or a pushing operation can be carried out via the at least one hydraulic cylinder.
  • the truck may also have a plurality of said hydraulic cylinders. For example.
  • the truck may comprise three hydraulic cylinders, wherein a first hydraulic cylinder, a lifting cylinder for raising and lowering the load part, a second hydraulic cylinder, a tilting cylinder for tilting back and leaning the mast or the load part and a third hydraulic cylinder, a push cylinder for advancing and retracting the mast or the Load part is.
  • a load located on the load part can be moved particularly precisely in several directions of movement.
  • the at least one hydraulic cylinder may be a single-acting hydraulic cylinder or a double-acting hydraulic cylinder, in particular a differential cylinder.
  • control unit of the industrial truck is further configured to determine an actual acceleration from an actual speed determined by the at least one sensor unit and / or an actual speed of the piston rod from an actual acceleration determined by the at least one sensor unit to investigate.
  • the sensor unit comprises a speed sensor
  • the actual acceleration of the piston rod can be calculated by the control unit from the actual speed measured by the speed sensor. in particular by differentiation according to time.
  • the sensor unit comprises an acceleration sensor
  • the actual speed of the piston rod can be calculated by the control unit from the actual acceleration which the acceleration sensor has measured, in particular by integration over time. If the speed of the piston rod is calculated from a measured acceleration of the piston rod, it may also be provided that the acceleration or deceleration of the entire truck is determined and taken into account in the calculation.
  • the industrial truck may comprise 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 and / or the acceleration of the piston rod of the at least one hydraulic cylinder based on the measured deformation to regulate the mast.
  • the method may further comprise the step of measuring the deformation of the mast by at least one strain sensor and controlling the movement of the piston rod based on the measured deformation of the mast.
  • a deformation sensor may, for example, be a strain sensor.
  • a bending of the mast, in particular the mast can be determined. This information about the bending of the lifting mast can also be supplied to the control unit, which controls the at least one hydraulic cylinder.
  • vibrations or vibrations of the mast can be compensated.
  • control unit may be adapted to the speed of movement and / or the acceleration of the piston rod of the at least one hydraulic cylinder by changing the by the Hydraulic unit to generate generated volume flow of the hydraulic fluid.
  • the hydraulic system comprises at least one control valve which serves to control the supply of hydraulic fluid from the hydraulic unit to the at least one hydraulic cylinder. Accordingly, therefore, the movement speed and / or the acceleration of the piston rod of the at least one hydraulic cylinder by the change of the hydraulic unit, in particular by a hydraulic pump of the hydraulic unit, generated volume flow of the hydraulic fluid or by changing the valve position of the at least one hydraulic cylinder upstream control valve.
  • the regulation of the speed of movement or the acceleration of the piston rod can be done both by a change in the volume flow through the hydraulic unit as well as by changing the valve position.
  • the control unit of the piston rod of the hydraulic cylinder can specify a desired speed by a defined volume flow of hydraulic fluid and / or a defined valve position of the control valve.
  • the readjustment of the speed to adapt to the target specification can be done.
  • An acceleration of the piston rod can be achieved for example by changing the volume flow of hydraulic fluid.
  • the at least one control valve may, for example, be a proportional valve or a discrete switching valve. The proportional valve differs from the discrete switching valve in that it can also assume intermediate states between the valve positions.
  • the control valve can, for example, a 2/2-way proportional valve or a 2/2-way switching valve or a 3/3-way proportional valve or a 3/3-way switching valve or a 4/3-way proportional valve or be a 4/3-way switching valve.
  • a plurality of control valves may be provided which control the inflow and return of Control hydraulic fluid to several hydraulic cylinders.
  • separate control valves may be provided for the inflow and the return flow.
  • the truck according to the invention is suitable for carrying out the method according to the invention.
  • the inventive method can be carried out with the truck according to the invention.
  • FIG. 1 shows an embodiment of the truck according to the invention 10. It is a mast 12 with a load part 14 can be seen, and a hydraulic system 20 and a control unit 40th Das in FIG. 1 shown hydraulic system 20 includes a tilt cylinder 22b as a hydraulic cylinder. For measuring the speed or the acceleration of the piston rod of the tilting cylinder 22b, the tilting cylinder 22b has an in FIG. 2 shown sensor. About the tilt cylinder 22 b, the entire mast 12 can be tilted along the direction of movement B marked. Furthermore, the truck may have one or more lifting cylinders for extending the mast 12 and the load part 14 along the direction of movement marked A. Also, the truck over one or more thrust cylinder for Movement of the mast 12 and the load part 14 along the direction of movement marked C have. Moreover, in FIG. 1 the reference numeral 50 shows a deformation sensor for detecting a bend of the mast.
  • FIG. 2 is a possible embodiment of the hydraulic system 20 and its interaction with the control unit 40 shown.
  • the hydraulic system 20 comprises three hydraulic cylinders 22a, 22b, 22c, four control valves 60a, 60b, 60c, 61a and a hydraulic unit consisting of a hydraulic tank 29 and a hydraulic pump 28.
  • the hydraulic cylinders 22a, 22b, 22c each have a piston rod 24a, 24b, 24c and a cylinder housing 26a, 26b, 26c and a sensor 30a, 30b, 30c arranged on the respective cylinder housing for measuring the speed or acceleration of the piston rods 24a, 24b , 24c on.
  • further consumers 70 may be connected to the hydraulic system 20.
  • FIG. 1 In the in FIG.
  • the hydraulic cylinder 22a is a lifting cylinder
  • the hydraulic cylinder 22b is a tilting cylinder
  • the hydraulic cylinder 22c is a push cylinder.
  • the lifting cylinder 22a here is a single-acting cylinder with only one line connection and a separate supply valve 60a and return valve 61a. Both valves 60a, 61a are 2/2-way valves with two possible valve positions, flow position and blocking position.
  • the tilt cylinder 22b and the push cylinder 22c are double-acting cylinders and thus have two line connections. Via the valves 60b, 60c, the inflow and the return of hydraulic fluid to the tilt cylinder 22b and the push cylinder 22c is controlled.
  • valves 60a, 60b, 60c, 61a are electrically actuated.
  • the dashed lines represent electrical connecting lines.
  • the solid lines represent hydraulic lines.
  • the valves 60b, 60c are 3/3-way valves with three possible valve positions: a first Flow position for moving out of the respective piston rod from the respective cylinder housing, a blocking position and a second flow position for moving the respective piston rod into the respective cylinder housing.
  • the control unit 40 receives a request for the movement of a load located on the load part 14 by an operator.
  • the hydraulic pump 28 a for the desired speed of movement of the piston rods 24a, 24b, 24c of the hydraulic cylinder 22a, 22b, 22c necessary volume flow is generated.
  • the valves 60a, 60b, 60c split this volume flow according to the movement request on the hydraulic cylinders 22a, 22b, 22c. Since all the valves 60a, 60b, 60c, 61a are proportional valves, the inflow and return of hydraulic fluid to the cylinders can be precisely controlled. For example, if it is a lift request, the valves 60b and 60c are switched to the locked position while the valve 60a is switched to the flow position. Thus, only the lift cylinder 22a is supplied with hydraulic fluid. The return valve 61a is also in the blocking position. There is thus a lifting of the load by extending the mast. If, in addition to the lifting operation, the load is also to be moved forward, the valve 60c also switches to the first flow position in order to push the piston rod 24c of the push cylinder 22c out of the housing 26c.
  • a control of the hydraulic pump 28 and the valves 60a, 60b, 60c takes place, as mentioned, electrically.
  • the control unit 40 can thus pass on the corresponding desired speed or desired acceleration as electric current to the hydraulic pump 28 or as electrical currents to the respective valves 60a, 60b, 60c.
  • the thereby adjusting volume flow to the hydraulic cylinders 22a, 22b, 22c leads to a corresponding speed or acceleration of the piston rod of the respective hydraulic cylinder, which in turn causes the mast 12 or the load part 14 to move.
  • the sensors 30a, 30b, 30c measure the speed or acceleration of the piston rods 24a, 24b, 24c relative to the cylinder housing 26a, 26b, 26c.
  • the determined actual speeds or actual accelerations are transmitted back to the control unit 40, which then adjusts the manipulated variables preset speed v S and the default acceleration a S.
  • a requested speed or acceleration of the load can be achieved and maintained much more precisely.
  • external disturbance variables which lead to a deviation of the actual velocity or the actual acceleration from the nominal velocity or the nominal acceleration can be compensated by this control loop.
  • the return valve 61a is also electrically actuated in order to enable a control according to the invention also when lowering the mast 12 or load part 14 which is controlled via the lifting cylinder 22a.
  • the pump 28 does not have to operate to return the piston rod 24a because the cylinder 22a is a single-acting cylinder. This saves a complex and expensive hydraulic control and offers the possibility to regulate the lowering speed also depending on load, lifting height or other parameters.
  • an optimized movement can take place in the end regions of the hydraulic cylinder, ie near the maximum or minimum extension position of the piston rod.
  • a limitation of the speed and / or acceleration values may be provided in the end regions in order to arrive smoothly in the stop position.
  • the speed or acceleration of the piston rod can be controlled depending on the position of the axis moved via the piston rod, the lifting height, the bending of the mast and / or the mass of the load.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Civil Engineering (AREA)
  • Geology (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
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  • General Engineering & Computer Science (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

Flurförderzeug, umfassend ein Hubgerüst mit einem Lastteil zum Tragen einer Last, ein hydraulisches System, umfassend mindestens einen Hydraulikzylinder mit einer Kolbenstange und einem Zylindergehäuse sowie ein Hydraulikaggregat, wobei der mindestens eine Hydraulikzylinder über die Kolbenstange auf das Hubgerüst wirkt, mindestens eine Sensoreinheit, die dazu ausgebildet ist, eine Ist-Geschwindigkeit und/oder eine Ist-Beschleunigung der Kolbenstange des mindestens einen Hydraulikzylinders zu ermitteln, eine Steuereinheit, die dazu ausgebildet ist, eine Soll-Geschwindigkeit und/oder eine Soll-Beschleunigung für die Kolbenstange des mindestens einen Hydraulikzylinders vorzugeben, eine Regelabweichung der durch die mindestens eine Sensoreinheit ermittelten Ist-Geschwindigkeit von der Soll-Geschwindigkeit und/oder der durch die mindestens eine Sensoreinheit ermittelten Ist-Beschleunigung von der Soll-Beschleunigung zu ermitteln und die Bewegungsgeschwindigkeit und/oder die Beschleunigung der Kolbenstange auf Grundlage der ermittelten Regelabweichung zu regeln.

Figure imgaf001
Truck, comprising a mast with a load part for carrying a load, a hydraulic system comprising at least one hydraulic cylinder with a piston rod and a cylinder housing and a hydraulic unit, wherein the at least one hydraulic cylinder acts on the mast via the piston rod, at least one sensor unit to the is designed to determine an actual speed and / or an actual acceleration of the piston rod of the at least one hydraulic cylinder, a control unit which is designed to specify a desired speed and / or a desired acceleration for the piston rod of the at least one hydraulic cylinder to determine a control deviation of the determined by the at least one sensor unit actual speed of the target speed and / or determined by the at least one sensor unit actual acceleration of the target acceleration and the movement speed and / or the acceleration to control the piston rod based on the determined control deviation.
Figure imgaf001

Description

Die Erfindung betrifft ein Flurförderzeug mit einer Steuereinheit zur Regelung der Bewegung einer Kolbenstange mindestens eines Hydraulikzylinders sowie ein Verfahren zur Regelung der Bewegung einer Kolbenstange mindestens eines Hydraulikzylinders eines Flurförderzeugs.The invention relates to a truck with a control unit for controlling the movement of a piston rod at least one hydraulic cylinder and a method for controlling the movement of a piston rod at least one hydraulic cylinder of a truck.

Bekannte Flurförderzeuge weisen üblicherweise einen Fahrzeugrahmen, ein Hubgerüst sowie einen Antrieb zur Bewegung des Hubgerüsts relativ zu dem Fahrzeugrahmen auf. Über den Antrieb kann beispielsweise eine Hubvorrichtung des Flurförderzeugs angesteuert werden und somit eine auf einem Lastteil des Hubgerüstes befindliche Last gehoben werden. Auch kann das Lastteil oder das gesamte Hubgerüst über eine Schubvorrichtung relativ zum Fahrzeugrahmen auf einer horizontalen Achse verschoben werden. Weiterhin sind Neigevorrichtungen bekannt, um das Lastteil oder das gesamte Hubgerüst gegenüber dem Fahrzeugrahmen zu neigen. Das Heben, das Schieben sowie das Neigen des Hubgerüsts bzw. des Lastteils wird üblicherweise durch das Ein- bzw. Ausfahren von hydraulischen Zylindern erreicht.Known industrial trucks usually have a vehicle frame, a mast and a drive for moving the mast relative to the vehicle frame. About the drive, for example, a lifting device of the truck can be controlled, and thus a located on a load part of the mast load to be lifted. Also, the load part or the entire mast can be moved via a pusher relative to the vehicle frame on a horizontal axis. Furthermore, tilting devices are known to tilt the load part or the entire mast relative to the vehicle frame. The lifting, sliding and tilting of the mast or the load part is usually achieved by the extension and retraction of hydraulic cylinders.

Die gewünschte Bewegung einer auf dem Lastteil befindlichen Last erfolgt durch eine Ansteuerung der entsprechenden Hydraulikzylinder. Die Ausfahrgeschwindigkeit bzw. Einfahrgeschwindigkeit der Hydraulikzylinder und somit die Bewegungsgeschwindigkeit der Last wird üblicherweise über eine Regelung des Volumenstroms im hydraulischen System des Flurförderzeugs geregelt. Dies geschieht bspw. durch eine Veränderung der Drehzahl der hydraulischen Pumpe oder durch eine Veränderung der Ventilöffnungen der Ventile des hydraulischen Systems. So kann bspw. eine gewünschte Hubgeschwindigkeit des Lastteils durch eine erhöhte Pumpendrehzahl und ein entsprechendes Öffnen der zu den Hubzylindern führenden Hubventile erreicht werden. Häufig sind solche Geschwindigkeitsregelungen der hydraulischen Systeme jedoch nicht ausreichend präzise. So kann es durch unterschiedliche äußere Einflüsse zu einer Abweichung der tatsächlichen Bewegungsgeschwindigkeit der Last von der gewünschten Bewegungsgeschwindigkeit kommen. Derartige Störgrößen können in hydraulischen Systemen bspw. ziehende Lasten, Ölviskositäten, Temperaturänderungen oder eine nicht konstante Durchflussaufteilung aufgrund unterschiedlicher Belastungen am Hydraulikzylinder sein.The desired movement of a load located on the load part is effected by a control of the corresponding hydraulic cylinder. The extension speed or retraction speed of the hydraulic cylinder and thus the speed of movement of the load is usually controlled by controlling the volume flow in the hydraulic system of the truck. This happens, for example, by a change in the speed of the hydraulic pump or by a change in the valve openings of the valves of the hydraulic system. Thus, for example, a desired lifting speed of the load part by an increased pump speed and a corresponding opening to the Lifting cylinders leading lift valves can be achieved. Often, however, such speed controls of the hydraulic systems are not sufficiently precise. Thus, due to different external influences, the actual movement speed of the load may deviate from the desired movement speed. Such disturbances can be in hydraulic systems, for example, pulling loads, oil viscosities, temperature changes or a non-constant flow distribution due to different loads on the hydraulic cylinder.

Der Erfindung liegt daher die Aufgabe zugrunde, eine durch ein Flurförderzeug transportierte Last präziser in der Bewegung zu regeln als dies mit bekannten hydraulischen Systemen möglich ist.The invention is therefore based on the object to control a transported by a truck load more precise in the movement than is possible with known hydraulic systems.

Die Erfindung löst die Aufgabe durch ein Flurförderzeug gemäß Anspruch 1 sowie durch ein Verfahren gemäß Anspruch 9.The invention solves the problem by an industrial truck according to claim 1 and by a method according to claim 9.

Das erfindungsgemäße Flurförderzeug umfasst ein Hubgerüst mit einem Lastteil zum Tragen einer Last, ein hydraulisches System umfassend mindestens einen Hydraulikzylinder mit einer Kolbenstange und einem Zylindergehäuse, sowie ein Hydraulikaggregat, wobei der mindestens eine Hydraulikzylinder über die Kolbenstange auf das Hubgerüst wirkt, mindestens eine Sensoreinheit, die dazu ausgebildet ist, eine Ist-Geschwindigkeit und/oder eine Ist-Beschleunigung der Kolbenstange des mindestens einen Hydraulikzylinders zu ermitteln sowie eine Steuereinheit, die dazu ausgebildet ist, eine Soll-Geschwindigkeit und/oder eine Soll-Beschleunigung für die Kolbenstange des mindestens einen Hydraulikzylinders vorzugeben, eine Regelabweichung der durch die mindestens eine Sensoreinheit ermittelten Ist-Geschwindigkeit von der Soll-Geschwindigkeit und/oder der durch die mindestens eine Sensoreinheit ermittelten Ist-Beschleunigung von der Soll-Beschleunigung zu ermitteln und die Bewegungsgeschwindigkeit und/oder die Beschleunigung der Kolbenstange auf Grundlage der ermittelten Regelabweichung zu regeln.The truck according to the invention comprises a mast with a load part for carrying a load, a hydraulic system comprising at least one hydraulic cylinder with a piston rod and a cylinder housing, and a hydraulic unit, wherein the at least one hydraulic cylinder acts on the mast via the piston rod, at least one sensor unit is designed to determine an actual speed and / or an actual acceleration of the piston rod of the at least one hydraulic cylinder and a control unit which is adapted to a desired speed and / or a desired acceleration for the piston rod of the at least one hydraulic cylinder prescribe a control deviation of the determined by the at least one sensor unit actual speed of the target speed and / or the determined by the at least one sensor unit actual acceleration of the target acceleration to determine and to control the movement speed and / or the acceleration of the piston rod based on the determined control deviation.

Das erfindungsgemäße Verfahren zur Regelung der Bewegung einer auf ein Hubgerüst eines Flurförderzeugs wirkenden Kolbenstange mindestens eines Hydraulikzylinders weist die folgenden Schritte auf: Vorgabe einer Soll-Geschwindigkeit und/oder einer Soll-Beschleunigung für die Kolbenstange des mindestens einen Hydraulikzylinders durch eine Steuereinheit des Flurförderzeugs, Ermitteln der Ist-Geschwindigkeit und/oder der Ist-Beschleunigung der Kolbenstange durch mindestens eine Sensoreinheit des Flurförderzeugs, Ermitteln einer Regelabweichung der Ist-Geschwindigkeit von der Soll-Geschwindigkeit und/oder der Ist-Beschleunigung von der Soll-Beschleunigung durch die Steuereinheit, Regeln der Bewegungsgeschwindigkeit und/oder der Beschleunigung der Kolbenstange auf Grundlage der ermittelten Regelabweichung durch die Steuereinheit.The inventive method for controlling the movement of a force acting on a mast of a truck piston rod at least one hydraulic cylinder has the following steps: Specification of a desired speed and / or a target acceleration for the piston rod of the at least one hydraulic cylinder by a control unit of the truck, determining the actual speed and / or the actual acceleration of the piston rod by at least one sensor unit of the truck, determining a control deviation of the actual speed of the target speed and / or the actual acceleration of the target acceleration by the control unit, rules of Movement speed and / or the acceleration of the piston rod based on the determined control deviation by the control unit.

Erfindungsgemäß wird also eine Soll-Geschwindigkeit, eine Soll-Beschleunigung oder eine Soll-Geschwindigkeit und eine Soll-Beschleunigung für die Kolbenstange des mindestens einen Hydraulikzylinders vorgegeben. Entsprechend einer gewünschten Bewegung einer auf dem Lastteil befindlichen Last erhält die Steuereinheit bspw. durch eine Bedienperson eine Vorgabe zur Ansteuerung der entsprechenden Hydraulikzylinder. Die Steuereinheit steuert das hydraulische System des Flurförderzeugs entsprechend der Vorgabe derart an, dass der Kolbenstange des mindestens einen Hydraulikzylinders die Soll-Geschwindigkeit und/oder Soll-Beschleunigung vorgegeben wird. Die Kolbenstange des Hydraulikzylinders wirkt dabei auf das Hubgerüst und/oder auf das Lastteil des Hubgerüsts. Weiterhin ist erfindungsgemäß mindestens eine Sensoreinheit vorgesehen, die eine Ist-Geschwindigkeit, eine Ist-Beschleunigung oder eine Ist-Geschwindigkeit und eine Ist-Beschleunigung der Kolbenstange des mindestens einen Hydraulikzylinders misst. Die mindestens eine Sensoreinheit kann bspw. einen Geschwindigkeitssensor umfassen, der direkt die Geschwindigkeit der Kolbenstange misst. Auch kann die mindestens eine Sensoreinheit einen Beschleunigungssensor umfassen, der direkt die Beschleunigung der Kolbenstange misst. Auch kann die mindestens eine Sensoreinheit einen Positionssensor umfassen, wobei dann die Sensoreinheit oder die Steuereinheit aus der Veränderung der Position der Kolbenstange die aktuelle Ist-Geschwindigkeit bzw. Ist-Beschleunigung der Kolbenstange ermittelt. Die mindestens eine Sensoreinheit kann insbesondere mehrere Sensoren, beispielsweise einen Geschwindigkeitssensor und einen Beschleunigungssensor aufweisen. Die mindestens eine Sensoreinheit kann bspw. an dem Hydraulikzylinder, insbesondere an der Kolbenstange des Hydraulikzylinders angeordnet sein. Die gemessene Ist-Geschwindigkeit und/oder Ist-Beschleunigung der Kolbenstange wird an die Steuereinheit übertragen, welche daraufhin die Regelabweichung der Ist-Geschwindigkeit von der Soll-Geschwindigkeit und/oder der Ist-Beschleunigung von der Soll-Beschleunigung ermittelt. Die Regelabweichung kann also eine Differenz zwischen Ist- und Soll-Geschwindigkeit sowie zwischen Ist- und Soll-Beschleunigung umfassen. Natürlich können die Differenzen auch als separate Regelabweichungen für Geschwindigkeit und Beschleunigung vorliegen. Anschließend regelt die Steuereinheit erfindungsgemäß die Geschwindigkeit und/oder die Beschleunigung der Kolbenstange auf Grundlage der ermittelten Regelabweichung nach. Die Steuereinheit prüft also, ob die für die Bewegungsanforderung notwendigen Soll-Werte der Bewegungsgrößen Geschwindigkeit und/oder Beschleunigung der Kolbenstange tatsächlich erreicht sind und regelt die Geschwindigkeit und/oder die Beschleunigung nach, falls die jeweiligen Ist-Werte und die Soll-Werte der Bewegungsgrößen der Kolbenstange des Hydraulikzylinders nicht übereinstimmen sollten. Über das Hydraulikaggregat erfolgt dabei die Versorgung des mindestens einen Hydraulikzylinders mit Hydraulikflüssigkeit. Das Hydraulikaggregat kann mindestens eine Hydraulikpumpe und einen mit der Hydraulikpumpe verbundenen Hydrauliktank umfassen.According to the invention, therefore, a desired speed, a desired acceleration or a desired speed and a desired acceleration for the piston rod of the at least one hydraulic cylinder are predetermined. In accordance with a desired movement of a load located on the load part, the control unit receives, for example, an instruction for controlling the corresponding hydraulic cylinder by an operator. The control unit controls the hydraulic system of the truck according to the specification such that the piston rod of the at least one hydraulic cylinder, the target speed and / or target acceleration is specified. The piston rod of the hydraulic cylinder acts on the mast and / or on the load part of the mast. Furthermore, according to the invention at least one sensor unit provided which measures an actual speed, an actual acceleration or an actual speed and an actual acceleration of the piston rod of the at least one hydraulic cylinder. The at least one sensor unit may, for example, comprise a speed sensor which directly measures the speed of the piston rod. Also, the at least one sensor unit may include an acceleration sensor that directly measures the acceleration of the piston rod. The at least one sensor unit may also comprise a position sensor, wherein the sensor unit or the control unit then determines the current actual speed or actual acceleration of the piston rod from the change in the position of the piston rod. The at least one sensor unit may in particular have a plurality of sensors, for example a speed sensor and an acceleration sensor. The at least one sensor unit can, for example, be arranged on the hydraulic cylinder, in particular on the piston rod of the hydraulic cylinder. The measured actual speed and / or actual acceleration of the piston rod is transmitted to the control unit, which then determines the control deviation of the actual speed from the setpoint speed and / or the actual acceleration from the setpoint acceleration. The control deviation may therefore include a difference between the actual speed and the setpoint speed as well as between the actual speed and the desired speed. Of course, the differences may also exist as separate control deviations for speed and acceleration. Subsequently, the control unit according to the invention regulates the speed and / or the acceleration of the piston rod on the basis of the determined control deviation. The control unit thus checks whether the required values of the motion variables speed and / or acceleration of the piston rod are actually reached and regulates the speed and / or the acceleration if the respective actual values and the desired values of the motion variables the piston rod of the hydraulic cylinder should not match. About the hydraulic unit The supply of the at least one hydraulic cylinder takes place with hydraulic fluid. The hydraulic unit may comprise at least one hydraulic pump and a hydraulic tank connected to the hydraulic pump.

Es erfolgt erfindungsgemäß somit nicht lediglich eine Vorgabe der Bewegungsparameter, also der Geschwindigkeit bzw. Beschleunigung, für die Last, sondern eine Informationsverarbeitung über die tatsächliche Bewegung der Kolbenstange des mindestens einen Hydraulikzylinders und somit der Last und eine entsprechende Nachregelung. Durch die erfindungsgemäße Regelung der Bewegung der Kolbenstange des Hydraulikzylinders und somit der Bewegung der Last auf dem Lastteil kann eine gewünschte Lastbewegung wesentlich präziser und zuverlässiger erreicht und eingehalten werden. Insbesondere können so äußere Störgrößen wie bspw. ziehende Lasten bedingt durch Bremsvorgänge oder Beschleunigungen des Flurförderzeus sowie Öltemperaturänderungen ausgeglichen werden. Auch ist so eine gleichzeitige Bewegung mehrerer Hydraulikzylinder, insbesondere entlang unterschiedlicher Achsen, bspw. bei gleichzeitigem Hubvorgang und Schubvorgang, zuverlässiger und stabiler möglich. Weiterhin vereinfacht die erfindungsgemäße Regelung den Aufbau des Hydrauliksystems. Gegenüber dem Stand der Technik kann bspw. auf Load-Sensing-Systeme und auf Druckwaagen verzichtet werden.Thus, according to the invention, it is not merely a specification of the movement parameters, ie the speed or acceleration, for the load, but rather an information processing about the actual movement of the piston rod of the at least one hydraulic cylinder and thus the load and a corresponding readjustment. By the inventive regulation of the movement of the piston rod of the hydraulic cylinder and thus the movement of the load on the load part, a desired load movement can be achieved and maintained much more precise and reliable. In particular, such external disturbance variables as, for example, pulling loads due to braking processes or accelerations of the forklift and oil temperature changes can be compensated. Also, a simultaneous movement of several hydraulic cylinders, in particular along different axes, eg. With simultaneous lifting and pushing operation, more reliable and stable possible. Furthermore, the control according to the invention simplifies the construction of the hydraulic system. Compared to the prior art can be dispensed, for example, on load-sensing systems and pressure compensators.

Der mindestens eine Hydraulikzylinder kann bspw. ein Hubzylinder zum Heben und Senken des Lastteils sein. Folglich kann durch die erfindungsgemäße Regelung der Bewegung der Kolbenstange des Hubzylinders das Heben und Senken des Lastteils gesteuert werden. Gemeinsam mit dem Lastteil kann dabei auch das Hubgerüst gehoben oder gesenkt und somit der Masthub durchfahren werden. Wird lediglich das Lastteil gehoben oder gesenkt, so wird der Freihub durchfahren. Auch kann der mindestens eine Hydraulikzylinder ein Neigezylinder zum Vorneigen und Zurückneigen des gesamten Hubgerüstet oder des Lastteils sein. Entsprechend kann durch das Regeln der Bewegung der Kolbenstange des Neigezylinders das Vorneigen und Zurückneigen des gesamten Hubgerüstes oder des Lastteils gesteuert werden. Auch kann der mindestens eine Hydraulikzylinder ein Schubzylinder zum Vorbewegen und Zurückbewegen des Hubgerüstes oder des Lastteils sein, sodass durch das Regeln der Bewegung der Kolbenstange des Schubzylinders die Vorbewegung und Rückbewegung des Hubgerüstes gesteuert wird. Über den mindestens einen Hydraulikzylinder kann also entweder ein Hubvorgang, ein Neigevorgang oder ein Schubvorgang durchgeführt werden. Das Flurförderzeug kann auch mehrere der genannten Hydraulikzylinder aufweisen. Bspw. kann das Flurförderzeug drei Hydraulikzylinder umfassen, wobei ein erster Hydraulikzylinder ein Hubzylinder zum Heben und Senken des Lastteils, ein zweiter Hydraulikzylinder ein Neigezylinder zum Vorneigen und Zurückneigen des Hubgerüsts bzw. des Lastteils und ein dritter Hydraulikzylinder ein Schubzylinder zum Vorbewegen und Zurückbewegen des Hubgerüstes bzw. des Lastteils ist. Somit kann eine auf dem Lastteil befindliche Last in mehreren Bewegungsrichtungen besonders präzise bewegt werden. Grundsätzlich kann es sich bei dem mindestens einen Hydraulikzylinder um einen einfach wirkenden Hydraulikzylinder oder einen doppelt wirkenden Hydraulikzylinder, insbesondere einen Differentialzylinder, handeln.The at least one hydraulic cylinder may, for example, be a lifting cylinder for lifting and lowering the load part. Consequently, can be controlled by the inventive regulation of the movement of the piston rod of the lifting cylinder, the lifting and lowering of the load part. Together with the load part can also be lifted or lowered the mast and thus be passed through the mast lift. If only the load part is raised or lowered, then the free lift is passed through. Also, the at least one hydraulic cylinder may be a tilt cylinder for tilting and tilting back the whole of the mast or the load part. Accordingly by controlling the movement of the piston rod of the tilting cylinder, the forward tilting and tilting back of the entire mast or the load part are controlled. Also, the at least one hydraulic cylinder may be a push cylinder for advancing and retracting the mast or the load part, so that by controlling the movement of the piston rod of the push cylinder, the forward movement and return movement of the mast is controlled. Thus, either a lifting operation, a tilting operation or a pushing operation can be carried out via the at least one hydraulic cylinder. The truck may also have a plurality of said hydraulic cylinders. For example. The truck may comprise three hydraulic cylinders, wherein a first hydraulic cylinder, a lifting cylinder for raising and lowering the load part, a second hydraulic cylinder, a tilting cylinder for tilting back and leaning the mast or the load part and a third hydraulic cylinder, a push cylinder for advancing and retracting the mast or the Load part is. Thus, a load located on the load part can be moved particularly precisely in several directions of movement. In principle, the at least one hydraulic cylinder may be a single-acting hydraulic cylinder or a double-acting hydraulic cylinder, in particular a differential cylinder.

Gemäß einer weiteren Ausgestaltung ist die Steuereinheit des Flurförderzeugs weiterhin dazu ausgebildet, eine Ist-Beschleunigung aus einer durch die mindestens eine Sensoreinheit ermittelten Ist-Geschwindigkeit zu ermitteln und/oder eine Ist-Geschwindigkeit der Kolbenstange aus einer durch die mindestens eine Sensoreinheit ermittelten Ist-Beschleunigung zu ermitteln. Umfasst die Sensoreinheit beispielsweise einen Geschwindigkeitssensor, so kann die Ist-Beschleunigung der Kolbenstange durch die Steuereinheit aus der Ist-Geschwindigkeit, die der Geschwindigkeitssensor gemessen hat, errechnet werden, insbesondere durch Differenzierung nach der Zeit. Umfasst die Sensoreinheit beispielsweise einen Beschleunigungssensor, so kann die Ist-Geschwindigkeit der Kolbenstange durch die Steuereinheit aus der Ist-Beschleunigung, die der Beschleunigungssensor gemessen hat, errechnet werden, insbesondere durch eine Integration über die Zeit. Wird die Geschwindigkeit der Kolbenstange aus einer gemessenen Beschleunigung der Kolbenstange errechnet, kann zudem auch vorgesehen sein, dass die Beschleunigung oder Verzögerung des gesamten Flurförderzeugs ermittelt und bei der Berechnung berücksichtigt wird.According to a further embodiment, the control unit of the industrial truck is further configured to determine an actual acceleration from an actual speed determined by the at least one sensor unit and / or an actual speed of the piston rod from an actual acceleration determined by the at least one sensor unit to investigate. If, for example, the sensor unit comprises a speed sensor, the actual acceleration of the piston rod can be calculated by the control unit from the actual speed measured by the speed sensor. in particular by differentiation according to time. If, for example, the sensor unit comprises an acceleration sensor, the actual speed of the piston rod can be calculated by the control unit from the actual acceleration which the acceleration sensor has measured, in particular by integration over time. If the speed of the piston rod is calculated from a measured acceleration of the piston rod, it may also be provided that the acceleration or deceleration of the entire truck is determined and taken into account in the calculation.

Nach einer weiteren Ausgestaltung kann das Flurförderzeug mindestens einen Verformungssensor umfassen, der dazu ausgebildet ist, eine Verformung des Hubgerüstes zu messen, wobei die Steuereinheit weiterhin dazu ausgebildet ist, die Bewegungsgeschwindigkeit und/oder die Beschleunigung der Kolbenstange des mindestens einen Hydraulikzylinders auf Grundlage der gemessenen Verformung des Hubgerüstes zu regeln. Entsprechend kann das Verfahren weiterhin den Schritt des Messens der Verformung des Hubgerüstes durch mindestens einen Verformungssensor und das Regeln der Bewegung der Kolbenstange auf Grundlage der gemessenen Verformung des Hubgerüstes umfassen. Ein solcher Verformungssensor kann bspw. ein Dehnungssensor sein. Über den Verformungssensor kann eine Biegung des Hubgerüstes, insbesondere des Hubmastes, ermittelt werden. Diese Informationen über die Biegung des Hubmastes können ebenso der Steuereinheit zugeführt werden, welche den mindestens einen Hydraulikzylinder ansteuert. Somit können Schwingungen oder Vibrationen des Mastes ausgeglichen werden.According to a further embodiment, the industrial truck may comprise 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 and / or the acceleration of the piston rod of the at least one hydraulic cylinder based on the measured deformation to regulate the mast. Accordingly, the method may further comprise the step of measuring the deformation of the mast by at least one strain sensor and controlling the movement of the piston rod based on the measured deformation of the mast. Such a deformation sensor may, for example, be a strain sensor. About the deformation sensor, a bending of the mast, in particular the mast can be determined. This information about the bending of the lifting mast can also be supplied to the control unit, which controls the at least one hydraulic cylinder. Thus, vibrations or vibrations of the mast can be compensated.

Nach einer weiteren Ausgestaltung kann die Steuereinheit dazu ausgebildet sein, die Bewegungsgeschwindigkeit und/oder die Beschleunigung der Kolbenstange des mindestens einen Hydraulikzylinders durch Veränderung des durch das Hydraulikaggregat erzeugten Volumenstroms der Hydraulikflüssigkeit zu steuern. Nach einer weiteren bevorzugten Ausgestaltung kann vorgesehen sein, dass das hydraulische System mindestens ein Steuerventil umfasst, das der Steuerung der Versorgung des mindestens einen Hydraulikzylinders mit Hydraulikflüssigkeit aus dem Hydraulikaggregat dient. Entsprechend kann also die Bewegungsgeschwindigkeit und/oder die Beschleunigung der Kolbenstange des mindestens einen Hydraulikzylinders durch die Veränderung des durch das Hydraulikaggregat, insbesondere durch eine Hydraulikpumpe des Hydraulikaggregats, erzeugten Volumenstroms der Hydraulikflüssigkeit oder durch Veränderung der Ventilstellung eines dem mindestens einen Hydraulikzylinder vorgeschalteten Steuerventils erfolgen. Auch kann das Regeln der Bewegungsgeschwindigkeit bzw. der Beschleunigung der Kolbenstange sowohl durch eine Veränderung des Volumenstroms durch das Hydraulikaggregat wie auch durch ein Verändern der Ventilstellung erfolgen. So kann bspw. die Steuereinheit der Kolbenstange des Hydraulikzylinders eine Soll-Geschwindigkeit durch einen definierten Volumenstrom an Hydraulikflüssigkeit und/oder eine definierte Ventilstellung des Steuerventils vorgeben. Auch kann die Nachregelung der Geschwindigkeit zur Anpassung an die Soll-Vorgabe so erfolgen. Eine Beschleunigung der Kolbenstange kann beispielsweise durch eine Änderung des Volumenstroms an Hydraulikflüssigkeit erreicht werden. Bei dem mindestens einen Steuerventil kann es sich bspw. um ein Proportionalventil oder ein diskretes Schaltventil handeln. Das Proportionalventil unterscheidet sich dabei von dem diskreten Schaltventil darin, dass es auch Zwischenzustände zwischen den Ventilstellungen einnehmen kann. Das Steuerventil kann bspw. ein 2/2-Wege-Proportionalventil oder ein 2/2-Wege-Schaltventil oder ein 3/3-Wege-Proportionalventil oder ein 3/3-Wege-Schaltventil oder ein 4/3-Wege-Proportionalventil oder ein 4/3-Wege-Schaltventil sein. Insbesondere können mehrere Steuerventile vorgesehen sein, die den Zufluss und Rückfluss von Hydraulikflüssigkeit zu mehreren Hydraulikzylindern regeln. Auch können separate Steuerventile für den Zufluss und den Rückfluss vorgesehen sein.According to a further embodiment, the control unit may be adapted to the speed of movement and / or the acceleration of the piston rod of the at least one hydraulic cylinder by changing the by the Hydraulic unit to generate generated volume flow of the hydraulic fluid. According to a further preferred embodiment, it may be provided that the hydraulic system comprises at least one control valve which serves to control the supply of hydraulic fluid from the hydraulic unit to the at least one hydraulic cylinder. Accordingly, therefore, the movement speed and / or the acceleration of the piston rod of the at least one hydraulic cylinder by the change of the hydraulic unit, in particular by a hydraulic pump of the hydraulic unit, generated volume flow of the hydraulic fluid or by changing the valve position of the at least one hydraulic cylinder upstream control valve. Also, the regulation of the speed of movement or the acceleration of the piston rod can be done both by a change in the volume flow through the hydraulic unit as well as by changing the valve position. Thus, for example, the control unit of the piston rod of the hydraulic cylinder can specify a desired speed by a defined volume flow of hydraulic fluid and / or a defined valve position of the control valve. Also, the readjustment of the speed to adapt to the target specification can be done. An acceleration of the piston rod can be achieved for example by changing the volume flow of hydraulic fluid. The at least one control valve may, for example, be a proportional valve or a discrete switching valve. The proportional valve differs from the discrete switching valve in that it can also assume intermediate states between the valve positions. The control valve can, for example, a 2/2-way proportional valve or a 2/2-way switching valve or a 3/3-way proportional valve or a 3/3-way switching valve or a 4/3-way proportional valve or be a 4/3-way switching valve. In particular, a plurality of control valves may be provided which control the inflow and return of Control hydraulic fluid to several hydraulic cylinders. Also, separate control valves may be provided for the inflow and the return flow.

Das erfindungsgemäße Flurförderzeug ist zur Durchführung des erfindungsgemäßen Verfahrens geeignet. Das erfindungsgemäße Verfahren kann mit dem erfindungsgemäßen Flurförderzeug durchgeführt werden.The truck according to the invention is suitable for carrying out the method according to the invention. The inventive method can be carried out with the truck according to the invention.

Die Erfindung wird im Folgenden anhand von drei Figuren erläutert. Es zeigen

Figur 1
ein erfindungsgemäßes Flurförderzeug in einer schematischen Ansicht,
Figur 2
das hydraulische System des erfindungsgemäßen Flurförderzeugs in einer Ausgestaltung,
Figur 3
ein Flussdiagramm des erfindungsgemäßen Regelkreises.
The invention will be explained below with reference to three figures. Show it
FIG. 1
an inventive truck in a schematic view,
FIG. 2
the hydraulic system of the truck according to the invention in one embodiment,
FIG. 3
a flowchart of the control circuit according to the invention.

Figur 1 zeigt eine Ausgestaltung des erfindungsgemäßen Flurförderzeugs 10. Es ist ein Hubgerüst 12 mit einem Lastteil 14 ersichtlich, sowie ein hydraulisches System 20 und eine Steuereinheit 40. Das in Figur 1 gezeigte hydraulische System 20 umfasst einen Neigezylinder 22b als Hydraulikzylinder. Zur Messung der Geschwindigkeit bzw. der Beschleunigung der Kolbenstange des Neigezylinders 22b weist der Neigezylinder 22b einen in Figur 2 gezeigten Sensor auf. Über den Neigezylinder 22b kann das gesamte Hubgerüst 12 entlang der mit B gekennzeichneten Bewegungsrichtung geneigt werden. Weiterhin kann das Flurförderzeug einen oder mehrere Hubzylinder zum Ausfahren des Hubgerüstes 12 bzw. des Lastteils 14 entlang der mit A gekennzeichneten Bewegungsrichtung verfügen. Auch kann das Flurförderzeug über einen oder mehrere Schubzylinder zur Bewegung des Hubgerüstes 12 bzw. des Lastteils 14 entlang der mit C gekennzeichneten Bewegungsrichtung verfügen. Zudem ist in Figur 1 mit dem Bezugszeichen 50 ein Verformungssensor zur Erkennung einer Biegung des Mastes ersichtlich. FIG. 1 shows an embodiment of the truck according to the invention 10. It is a mast 12 with a load part 14 can be seen, and a hydraulic system 20 and a control unit 40th Das in FIG. 1 shown hydraulic system 20 includes a tilt cylinder 22b as a hydraulic cylinder. For measuring the speed or the acceleration of the piston rod of the tilting cylinder 22b, the tilting cylinder 22b has an in FIG. 2 shown sensor. About the tilt cylinder 22 b, the entire mast 12 can be tilted along the direction of movement B marked. Furthermore, the truck may have one or more lifting cylinders for extending the mast 12 and the load part 14 along the direction of movement marked A. Also, the truck over one or more thrust cylinder for Movement of the mast 12 and the load part 14 along the direction of movement marked C have. Moreover, in FIG. 1 the reference numeral 50 shows a deformation sensor for detecting a bend of the mast.

In Figur 2 ist eine mögliche Ausgestaltung des hydraulischen Systems 20 und dessen Zusammenwirken mit der Steuereinheit 40 dargestellt. Das hydraulische System 20 umfasst drei Hydraulikzylinder 22a, 22b, 22c, vier Steuerventile 60a, 60b, 60c, 61a sowie ein aus einem Hydrauliktank 29 und einer Hydraulikpumpe 28 bestehendes Hydraulikaggregat. Die Hydraulikzylinder 22a, 22b, 22c weisen jeweils eine Kolbenstange 24a, 24b, 24c sowie ein Zylindergehäuse 26a, 26b, 26c und einen an dem jeweiligen Zylindergehäuse angeordneten Sensor 30a, 30b, 30c zur Messung der Geschwindigkeit bzw. der Beschleunigung der Kolbenstangen 24a, 24b, 24c auf. Zudem können weitere Verbraucher 70 an das hydraulische System 20 angeschlossen sein. In dem in Figur 2 dargestellten Ausführungsbeispiel ist der Hydraulikzylinder 22a ein Hubzylinder, der Hydraulikzylinder 22b ein Neigezylinder und der Hydraulikzylinder 22c ein Schubzylinder. Der Hubzylinder 22a ist hierbei ein einfach wirkender Zylinder mit lediglich einem Leitungsanschluss und einem getrenntem Zuführventil 60a und Rückführventil 61a. Beide Ventile 60a, 61a sind 2/2-Wege-Ventile mit zwei möglichen Ventilstellungen, Durchflussstellung und Sperrstellung. Der Neigezylinder 22b sowie der Schubzylinder 22c sind doppelt wirkende Zylinder und verfügen somit über zwei Leitungsanschlüsse. Über die Ventile 60b, 60c wird der Zufluss sowie die Rückführung von Hydraulikflüssigkeit zu dem Neigezylinder 22b bzw. dem Schubzylinder 22c geregelt. Durch die Steuereinheit 40 sind die Ventile 60a, 60b, 60c, 61a elektrisch betätigbar. Dabei stellen die gestrichelten Linien elektrische Verbindungsleitungen dar. Die durchgezogenen Linien stellen Hydraulikleitungen dar. Die Ventile 60b, 60c sind 3/3-Wege-Ventile mit drei möglichen Ventilstellungen: Eine erste Durchflussstellung zum Herausbewegen der jeweiligen Kolbenstange aus dem jeweiligen Zylindergehäuse, eine Sperrstellung sowie eine zweite Durchflussstellung zum Hineinbewegen der jeweiligen Kolbenstange in das jeweilige Zylindergehäuse.In FIG. 2 is a possible embodiment of the hydraulic system 20 and its interaction with the control unit 40 shown. The hydraulic system 20 comprises three hydraulic cylinders 22a, 22b, 22c, four control valves 60a, 60b, 60c, 61a and a hydraulic unit consisting of a hydraulic tank 29 and a hydraulic pump 28. The hydraulic cylinders 22a, 22b, 22c each have a piston rod 24a, 24b, 24c and a cylinder housing 26a, 26b, 26c and a sensor 30a, 30b, 30c arranged on the respective cylinder housing for measuring the speed or acceleration of the piston rods 24a, 24b , 24c on. In addition, further consumers 70 may be connected to the hydraulic system 20. In the in FIG. 2 illustrated embodiment, the hydraulic cylinder 22a is a lifting cylinder, the hydraulic cylinder 22b is a tilting cylinder and the hydraulic cylinder 22c is a push cylinder. The lifting cylinder 22a here is a single-acting cylinder with only one line connection and a separate supply valve 60a and return valve 61a. Both valves 60a, 61a are 2/2-way valves with two possible valve positions, flow position and blocking position. The tilt cylinder 22b and the push cylinder 22c are double-acting cylinders and thus have two line connections. Via the valves 60b, 60c, the inflow and the return of hydraulic fluid to the tilt cylinder 22b and the push cylinder 22c is controlled. By the control unit 40, the valves 60a, 60b, 60c, 61a are electrically actuated. The dashed lines represent electrical connecting lines. The solid lines represent hydraulic lines. The valves 60b, 60c are 3/3-way valves with three possible valve positions: a first Flow position for moving out of the respective piston rod from the respective cylinder housing, a blocking position and a second flow position for moving the respective piston rod into the respective cylinder housing.

Im Folgenden wird die Funktionsweise der Erfindung anhand der Figuren 2 und 3 erläutert. Entsprechend einer Bewegungsanforderung der durch das Flurförderzeug transportierten Last 16 erhält die Steuereinheit 40 bspw. durch eine Bedienperson eine Anforderung für die Bewegung einer auf dem Lastteil 14 befindlichen Last. Entsprechend dieser Vorgabe gibt die Steuereinrichtung 40 der hydraulischen Pumpe 28 sowie den Zuführventilen 60a, 60b, 60c eine Soll-Geschwindigkeit vS bzw. eine Soll-Beschleunigung aS vor. Dies kann beispielsweise durch Vorgabe entsprechender Steuerströme geschehen. Durch die Hydraulikpumpe 28 wird ein für die gewünschte Bewegungsgeschwindigkeit der Kolbenstangen 24a, 24b, 24c der Hydraulikzylinder 22a, 22b, 22c notwendiger Volumenstrom erzeugt. Die Ventile 60a, 60b, 60c teilen diesen Volumenstrom entsprechend der Bewegungsanforderung auf die Hydraulikzylinder 22a, 22b, 22c auf. Da es sich bei allen Ventilen 60a, 60b, 60c, 61a um Proportionalventile handelt, kann der Zufluss und Rückfluss von Hydraulikflüssigkeit zu den Zylindern präzise gesteuert werden. Handelt es sich bspw. um eine Hubanforderung, so werden die Ventile 60b und 60c in die Sperrstellung geschaltet, während das Ventil 60a in die Durchflussstellung schaltet. Somit wird lediglich der Hubzylinder 22a mit Hydraulikflüssigkeit versorgt. Das Rückführventil 61a ist hierbei ebenfalls in der Sperrstellung. Es erfolgt somit ein Anheben der Last durch Ausfahren des Hubgerüstes. Soll zusätzlich zu dem Hubvorgang die Last auch nach vorne bewegt werden, so schaltet zudem das Ventil 60c in die erste Durchflussstellung, um die Kolbenstange 24c des Schubzylinders 22c aus dem Gehäuse 26c herauszuschieben.In the following, the operation of the invention will be described with reference to FIG Figures 2 and 3 explained. In accordance with a movement request of the load 16 transported by the industrial truck, the control unit 40, for example, receives a request for the movement of a load located on the load part 14 by an operator. According to this specification, the control device 40 of the hydraulic pump 28 and the supply valves 60a, 60b, 60c, a target speed v S and a target acceleration a S before. This can be done, for example, by specifying appropriate control currents. By the hydraulic pump 28 a for the desired speed of movement of the piston rods 24a, 24b, 24c of the hydraulic cylinder 22a, 22b, 22c necessary volume flow is generated. The valves 60a, 60b, 60c split this volume flow according to the movement request on the hydraulic cylinders 22a, 22b, 22c. Since all the valves 60a, 60b, 60c, 61a are proportional valves, the inflow and return of hydraulic fluid to the cylinders can be precisely controlled. For example, if it is a lift request, the valves 60b and 60c are switched to the locked position while the valve 60a is switched to the flow position. Thus, only the lift cylinder 22a is supplied with hydraulic fluid. The return valve 61a is also in the blocking position. There is thus a lifting of the load by extending the mast. If, in addition to the lifting operation, the load is also to be moved forward, the valve 60c also switches to the first flow position in order to push the piston rod 24c of the push cylinder 22c out of the housing 26c.

Eine Ansteuerung der Hydraulikpumpe 28 sowie der Ventile 60a, 60b, 60c erfolgt, wie erwähnt, elektrisch. Die Steuereinheit 40 kann also die entsprechende Soll-Geschwindigkeit bzw. Soll-Beschleunigung als elektrischen Strom an die Hydraulikpumpe 28 bzw. als elektrische Ströme an die jeweiligen Ventile 60a, 60b, 60c weitergeben. Der sich dadurch einstellende Volumenstrom zu den Hydraulikzylindern 22a, 22b, 22c führt zu einer entsprechenden Geschwindigkeit bzw. Beschleunigung der Kolbenstange der jeweiligen Hydraulikzylinder wodurch wiederum das Hubgerüst 12 bzw. das Lastteil 14 bewegt werden. Während der Bewegung der Kolbenstangen 24a, 24b, 24c der entsprechenden Hydraulikzylinder 22a, 22b, 22b messen die Sensoren 30a, 30b, 30c die Geschwindigkeit bzw. die Beschleunigung der Kolbenstangen 24a, 24b, 24c gegenüber dem Zylindergehäuse 26a, 26b, 26c. Die ermittelten Ist-Geschwindigkeiten bzw. Ist-Beschleunigungen werden zurück an die Steuereinheit 40 gegeben, welche daraufhin die Stellgrößen Vorgabegeschwindigkeit vS bzw. Vorgabebeschleunigung aS anpasst. Durch diesen kontinuierlichen Regelkreis kann eine angeforderte Geschwindigkeit oder Beschleunigung der Last wesentlich präziser erreicht und eingehalten werden. Insbesondere können durch diesen Regelkreis externe Störgrößen, welche zu einer Abweichung der Ist-Geschwindigkeit bzw. der Ist-Beschleunigung von der Soll-Geschwindigkeit bzw. der Soll-Beschleunigung führen, ausgeglichen werden.A control of the hydraulic pump 28 and the valves 60a, 60b, 60c takes place, as mentioned, electrically. The control unit 40 can thus pass on the corresponding desired speed or desired acceleration as electric current to the hydraulic pump 28 or as electrical currents to the respective valves 60a, 60b, 60c. The thereby adjusting volume flow to the hydraulic cylinders 22a, 22b, 22c leads to a corresponding speed or acceleration of the piston rod of the respective hydraulic cylinder, which in turn causes the mast 12 or the load part 14 to move. During the movement of the piston rods 24a, 24b, 24c of the respective hydraulic cylinders 22a, 22b, 22b, the sensors 30a, 30b, 30c measure the speed or acceleration of the piston rods 24a, 24b, 24c relative to the cylinder housing 26a, 26b, 26c. The determined actual speeds or actual accelerations are transmitted back to the control unit 40, which then adjusts the manipulated variables preset speed v S and the default acceleration a S. Through this continuous control loop, a requested speed or acceleration of the load can be achieved and maintained much more precisely. In particular, external disturbance variables which lead to a deviation of the actual velocity or the actual acceleration from the nominal velocity or the nominal acceleration can be compensated by this control loop.

Auch das Rückführventil 61a wird elektrisch angesteuert, um eine erfindungsgemäße Regelung auch beim Senken des über den Hubzylinder 22a angesteuerten Hubgerüstes 12 bzw. Lastteils 14 zu ermöglichen. Im Gegensatz zu den Ventilen 60b, 60c muss die Pumpe 28 nicht arbeiten, um die Kolbenstange 24a zurückzuführen, da es sich bei dem Zylinder 22a um einen einfach wirkenden Zylinder handelt. Dies erspart eine aufwändige und teure hydraulische Regelung und bietet die Möglichkeit, die Senkgeschwindigkeit ggf. auch abhängig von Last, Hubhöhe oder anderen Parametern zu regeln.The return valve 61a is also electrically actuated in order to enable a control according to the invention also when lowering the mast 12 or load part 14 which is controlled via the lifting cylinder 22a. Unlike the valves 60b, 60c, the pump 28 does not have to operate to return the piston rod 24a because the cylinder 22a is a single-acting cylinder. This saves a complex and expensive hydraulic control and offers the possibility to regulate the lowering speed also depending on load, lifting height or other parameters.

Außerdem kann in den Endbereichen des Hydraulikzylinders, also nahe der maximalen oder minimalen Ausfahrposition der Kolbenstange, eine optimierte Bewegung stattfinden. Beispielsweise kann eine Begrenzung der Geschwindigkeits- und/oder Beschleunigungswerte in den Endbereichen vorgesehen sein, um sanft in die Anschlagposition zu gelangen. Auch kann die Geschwindigkeit bzw. Beschleunigung der Kolbenstange abhängig von der Lage der über die Kolbenstange bewegten Achse, der Hubhöhe, der Biegung des Mastes und/oder der Masse der Last geregelt werden.In addition, an optimized movement can take place in the end regions of the hydraulic cylinder, ie near the maximum or minimum extension position of the piston rod. For example, a limitation of the speed and / or acceleration values may be provided in the end regions in order to arrive smoothly in the stop position. Also, the speed or acceleration of the piston rod can be controlled depending on the position of the axis moved via the piston rod, the lifting height, the bending of the mast and / or the mass of the load.

Claims (15)

Flurförderzeug (10), umfassend - ein Hubgerüst (12) mit einem Lastteil (14) zum Tragen einer Last (16), - ein hydraulisches System (20), umfassend mindestens einen Hydraulikzylinder (22a, 22b, 22c) mit einer Kolbenstange (24a, 24b, 24c) und einem Zylindergehäuse (26a, 26b, 26c), sowie ein Hydraulikaggregat (28, 29), wobei der mindestens eine Hydraulikzylinder (22a, 22b, 22c) über die Kolbenstange (24a, 24b, 24c) auf das Hubgerüst (12) wirkt, - mindestens eine Sensoreinheit (30a, 30b, 30c), die dazu ausgebildet ist, eine Ist-Geschwindigkeit und/oder eine Ist-Beschleunigung der Kolbenstange (24a, 24b, 24c) des mindestens einen Hydraulikzylinders (22a, 22b, 22c) zu ermitteln, - eine Steuereinheit (40), die dazu ausgebildet ist, eine Soll-Geschwindigkeit und/oder eine Soll-Beschleunigung für die Kolbenstange (24a, 24b, 24c) des mindestens einen Hydraulikzylinders (22a, 22b, 22c) vorzugeben, eine Regelabweichung der durch die mindestens eine Sensoreinheit ermittelten Ist-Geschwindigkeit von der Soll-Geschwindigkeit und/oder der durch die mindestens eine Sensoreinheit ermittelten Ist-Beschleunigung von der Soll-Beschleunigung zu ermitteln und die Bewegungsgeschwindigkeit und/oder die Beschleunigung der Kolbenstange (24a, 24b, 24c) auf Grundlage der ermittelten Regelabweichung zu regeln. Industrial truck (10) comprising a mast (12) having a load part (14) for carrying a load (16), - A hydraulic system (20) comprising at least one hydraulic cylinder (22a, 22b, 22c) with a piston rod (24a, 24b, 24c) and a cylinder housing (26a, 26b, 26c), and a hydraulic unit (28, 29), wherein the at least one hydraulic cylinder (22a, 22b, 22c) acts on the mast (12) via the piston rod (24a, 24b, 24c), - At least one sensor unit (30a, 30b, 30c) which is adapted to determine an actual speed and / or an actual acceleration of the piston rod (24a, 24b, 24c) of the at least one hydraulic cylinder (22a, 22b, 22c) . - A control unit (40) which is adapted to set a desired speed and / or a desired acceleration for the piston rod (24 a, 24 b, 24 c) of the at least one hydraulic cylinder (22 a, 22 b, 22 c), a control deviation by determine the at least one sensor unit determined actual speed of the target speed and / or determined by the at least one sensor unit actual acceleration of the target acceleration and the movement speed and / or the acceleration of the piston rod (24a, 24b, 24c) based on the determined control deviation. Flurförderzeug nach Anspruch 1, dadurch gekennzeichnet, dass der mindestens eine Hydraulikzylinder mindestens ein Hubzylinder (22a) zum Heben und Senken des Lastteils (14) ist oder dass der mindestens eine Hydraulikzylinder mindestens ein Neigezylinder (22b) zum Vorneigen und Zurückneigen des Hubgerüsts (12) ist oder dass der mindestens eine Hydraulikzylinder mindestens ein Schubzylinder (22c) zum Vorbewegen und Zurückbewegen des Hubgerüsts (12) ist.Industrial truck according to claim 1, characterized in that the at least one hydraulic cylinder is at least one lifting cylinder (22a) for lifting and lowering the load part (14) or that the at least one hydraulic cylinder has at least one tilting cylinder (22b) for tilting and tilting back the lifting frame (12). or that the at least one hydraulic cylinder is at least one push cylinder (22c) for advancing and retracting the mast (12). Flurförderzeug nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass der mindestens eine Hydraulikzylinder (22a, 22b, 22c) ein einfach wirkender Hydraulikzylinder oder ein doppelt wirkender Hydraulikzylinder, insbesondere ein Differentialzylinder, ist.Truck according to claim 1 or 2, characterized in that the at least one hydraulic cylinder (22a, 22b, 22c) is a single-acting hydraulic cylinder or a double-acting hydraulic cylinder, in particular a differential cylinder. Flurförderzeug nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Steuereinheit (40) weiterhin dazu ausgebildet ist, eine Ist-Beschleunigung der Kolbenstange (24a, 24b, 24c) aus einer durch die mindestens eine Sensoreinheit (30a, 30b, 30c) ermittelten Ist-Geschwindigkeit der Kolbenstange (24a, 24b, 24c) zu ermitteln und/oder eine Ist-Geschwindigkeit der Kolbenstange (24a, 24b, 24c) aus einer durch die mindestens eine Sensoreinheit (30a, 30b, 30c) ermittelten Ist-Beschleunigung zu ermitteln.Truck according to one of the preceding claims, characterized in that the control unit (40) is further adapted to an actual acceleration of the piston rod (24a, 24b, 24c) from an at least one sensor unit (30a, 30b, 30c) determined Ist Speed of the piston rod (24a, 24b, 24c) and / or to determine an actual speed of the piston rod (24a, 24b, 24c) from an at least one sensor unit (30a, 30b, 30c) determined actual acceleration. Flurförderzeug nach einem der vorhergehenden Ansprüche, gekennzeichnet durch mindestens einen Verformungssensor (50), der dazu ausgebildet ist, eine Verformung des Hubgerüsts (12) zu messen, wobei die Steuereinheit (40) weiterhin dazu ausgebildet ist, die Bewegungsgeschwindigkeit und/oder die Beschleunigung der Kolbenstange (24a, 24b, 24c) des mindestens einen Hydraulikzylinders (22a, 22b, 22c) auf Grundlage der gemessenen Verformung des Hubgerüsts (12) zu regeln.Truck according to one of the preceding claims, characterized by at least one deformation sensor (50) which is adapted to measure a deformation of the mast (12), wherein the control unit (40) is further adapted to the speed of movement and / or the acceleration of Piston rod (24a, 24b, 24c) of the at least one Hydraulic cylinder (22a, 22b, 22c) based on the measured deformation of the mast (12) to regulate. Flurförderzeug nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Steuereinheit (40) dazu ausgebildet ist, die Bewegungsgeschwindigkeit und/oder die Beschleunigung der Kolbenstange (24a, 24b, 24c) des mindestens einen Hydraulikzylinders (22a, 22b, 22c) durch Veränderung des durch das Hydraulikaggregat (28, 29), insbesondere durch eine Hydraulikpumpe (28) des Hydraulikaggregats (28, 29), erzeugten Volumenstroms der Hydraulikflüssigkeit zu steuern.Truck according to one of the preceding claims, characterized in that the control unit (40) is adapted to the speed of movement and / or the acceleration of the piston rod (24a, 24b, 24c) of the at least one hydraulic cylinder (22a, 22b, 22c) by changing the by the hydraulic unit (28, 29), in particular by a hydraulic pump (28) of the hydraulic unit (28, 29) to control the generated volume flow of the hydraulic fluid. Flurförderzeug nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass das hydraulische System (20) mindestens ein Steuerventil (60a, 60b, 60c), insbesondere ein Proportionalventil und/oder ein diskretes Schaltventil, zur Steuerung der Versorgung des mindestens einen Hydraulikzylinders (22a, 22b, 22c) mit Hydraulikflüssigkeit aus dem Hydraulikaggregat (28, 29) umfasst.Truck according to one of the preceding claims, characterized in that the hydraulic system (20) at least one control valve (60a, 60b, 60c), in particular a proportional valve and / or a discrete switching valve, for controlling the supply of the at least one hydraulic cylinder (22a, 22b , 22c) with hydraulic fluid from the hydraulic unit (28, 29). Flurförderzeug nach Anspruch 7, dadurch gekennzeichnet, dass die Steuereinheit (40) dazu ausgebildet ist, die Bewegungsgeschwindigkeit und/oder die Beschleunigung der Kolbenstange (24a, 24b, 24c) des mindestens einen Hydraulikzylinders (22a, 22b, 22c) durch Verändern der Ventilstellung des mindestens einen Steuerventils (60a, 60b, 60c) zu regeln.Truck according to claim 7, characterized in that the control unit (40) is adapted to the speed of movement and / or the acceleration of the piston rod (24a, 24b, 24c) of the at least one hydraulic cylinder (22a, 22b, 22c) by changing the valve position of the at least one control valve (60a, 60b, 60c) to regulate. Verfahren zur Regelung der Bewegung einer auf ein Hubgerüst (12) eines Flurförderzeugs (10) wirkenden Kolbenstange (24a, 24b, 24c) mindestens eines Hydraulikzylinders (22a, 22b, 22c) des Flurförderzeugs (10), wobei das Verfahren die folgenden Schritte aufweist - Vorgabe einer Soll-Geschwindigkeit und/oder einer Soll-Beschleunigung für die Kolbenstange (24a, 24b, 24c) des mindestens einen Hydraulikzylinders (22a, 22b, 22c) durch eine Steuereinheit (40) des Flurförderzeugs (10), - Ermitteln der Ist-Geschwindigkeit und/oder der Ist-Beschleunigung der Kolbenstange (24a, 24b, 24c) durch mindestens eine Sensoreinheit (30a, 30b, 30c) des Flurförderzeugs, - Ermitteln einer Regelabweichung der Ist-Geschwindigkeit von der Soll-Geschwindigkeit und/oder der Ist-Beschleunigung von der Soll-Beschleunigung durch die Steuereinheit (40), - Regeln der Bewegungsgeschwindigkeit und/oder der Beschleunigung der Kolbenstange (24a, 24b, 24c) auf Grundlage der ermittelten Regelabweichung durch die Steuereinheit (40). Method for regulating the movement of a piston rod (24a, 24b, 24c) of at least one hydraulic cylinder (22a, 22b, 22c) of the industrial truck (10) acting on a mast (12) of an industrial truck (10), the method comprising the following steps - Specification of a desired speed and / or a target acceleration for the piston rod (24a, 24b, 24c) of the at least one hydraulic cylinder (22a, 22b, 22c) by a control unit (40) of the truck (10), Determining the actual speed and / or the actual acceleration of the piston rod (24a, 24b, 24c) by at least one sensor unit (30a, 30b, 30c) of the industrial truck, Determining a control deviation of the actual speed from the setpoint speed and / or the actual acceleration from the setpoint acceleration by the control unit (40), - Controlling the speed of movement and / or the acceleration of the piston rod (24a, 24b, 24c) on the basis of the determined control deviation by the control unit (40). Verfahren nach Anspruch 9, dadurch gekennzeichnet, dass der mindestens eine Hydraulikzylinder mindestens ein Hubzylinder (22a) ist, sodass durch das Regeln der Bewegung der Kolbenstange (24a) des Hubzylinders (22a) das Heben und Senken des Lastteils (14) gesteuert wird.A method according to claim 9, characterized in that the at least one hydraulic cylinder is at least one lifting cylinder (22a), so that by regulating the movement of the piston rod (24a) of the lifting cylinder (22a) the lifting and lowering of the load part (14) is controlled. Verfahren nach Anspruch 9 oder 10, dadurch gekennzeichnet, dass der mindestens eine Hydraulikzylinder mindestens ein Neigezylinder (22b) ist, sodass durch das Regeln der Bewegung der Kolbenstange (24b) des Neigezylinders (22b) das Vorneigen und Zurückneigen des Hubgerüsts (12) gesteuert wird.A method according to claim 9 or 10, characterized in that the at least one hydraulic cylinder is at least one tilting cylinder (22b), so that by controlling the movement of the piston rod (24b) of the tilting cylinder (22b) the tilting and tilting back of the mast (12) is controlled , Verfahren nach einem der Ansprüche 9 bis 11, dadurch gekennzeichnet, dass der mindestens eine Hydraulikzylinder mindestens ein Schubzylinder (22c) ist, sodass durch das Regeln der Bewegung der Kolbenstange (24c) des Schubzylinders (22c) die Vorbewegung und Rückbewegung des Hubgerüsts (12) gesteuert wird.Method according to one of claims 9 to 11, characterized in that the at least one hydraulic cylinder is at least one push cylinder (22c), so that by regulating the movement of the piston rod (24c) of the Push cylinder (22c), the forward movement and return movement of the mast (12) is controlled. Verfahren nach einem der Ansprüche 9 bis 12, dadurch gekennzeichnet, dass das Verfahren weiterhin die Schritte umfasst: Ermitteln einer Ist-Beschleunigung der Kolbenstange (24a, 24b, 24c) aus einer durch die mindestens eine Sensoreinheit (30a, 30b, 30c) ermittelten Ist-Geschwindigkeit der Kolbenstange (24a, 24b, 24c) und/oder Ermitteln einer Ist-Geschwindigkeit der Kolbenstange (24a, 24b, 24c) aus einer durch die mindestens eine Sensoreinheit (30a, 30b, 30c) ermittelten Ist-Beschleunigung durch die Steuereinheit (40).Method according to one of claims 9 to 12, characterized in that the method further comprises the steps of: determining an actual acceleration of the piston rod (24a, 24b, 24c) from an at least one sensor unit (30a, 30b, 30c) determined Ist Speed of the piston rod (24a, 24b, 24c) and / or determining an actual speed of the piston rod (24a, 24b, 24c) from an actual acceleration determined by the at least one sensor unit (30a, 30b, 30c) by the control unit ( 40). Verfahren nach einem der 9 bis 13, dadurch gekennzeichnet, dass dadurch gekennzeichnet, dass das Verfahren weiterhin die folgenden Schritte umfasst: Messen der Verformung des Hubgerüstes (12) durch mindestens einen Verformungssensor (50), Regeln der Bewegung der Kolbenstange (24a, 24b, 24c) auf Grundlage der gemessenen Verformung des Hubgerüsts (12).Method according to one of the claims 9 to 13, characterized in that the method further comprises the following steps: measuring the deformation of the mast (12) by at least one deformation sensor (50), controlling the movement of the piston rod (24a, 24b, 24c) based on the measured deformation of the mast (12). Verfahren nach einem der 9 bis 14, dadurch gekennzeichnet, dass das Regeln der Bewegungsgeschwindigkeit und/oder der Beschleunigung der Kolbenstange (24a, 24b, 24c) des mindestens einen Hydraulikzylinders (22a, 22b, 22c) durch Veränderung des durch ein Hydraulikaggregat (28, 29) erzeugten Volumenstroms der Hydraulikflüssigkeit und/oder durch Verändern der Ventilstellung eines dem mindestens einen Hydraulikzylinder (22a, 22b, 22c) vorgeschalteten Steuerventils (60a, 60b, 60c) erfolgt.Method according to one of the 9 to 14, characterized in that the regulation of the movement speed and / or the acceleration of the piston rod (24a, 24b, 24c) of the at least one hydraulic cylinder (22a, 22b, 22c) by changing the by a hydraulic unit (28, 29) generated volume flow of the hydraulic fluid and / or by changing the valve position of the at least one hydraulic cylinder (22a, 22b, 22c) upstream control valve (60a, 60b, 60c) takes place.
EP17207698.6A 2016-12-15 2017-12-15 Industrial truck with a control unit for regulating the movement of a piston rod of a hydraulic cylinder and such a method Active EP3336050B1 (en)

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US20180170733A1 (en) 2018-06-21
CN108217541A (en) 2018-06-29
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EP3336050B1 (en) 2019-11-13

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