EP3336051A1 - Dispositif de levage pour un chariot de manutention ainsi qu'un tel chariot de manutention - Google Patents

Dispositif de levage pour un chariot de manutention ainsi qu'un tel chariot de manutention Download PDF

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Publication number
EP3336051A1
EP3336051A1 EP17207700.0A EP17207700A EP3336051A1 EP 3336051 A1 EP3336051 A1 EP 3336051A1 EP 17207700 A EP17207700 A EP 17207700A EP 3336051 A1 EP3336051 A1 EP 3336051A1
Authority
EP
European Patent Office
Prior art keywords
valve
mast
lifting
return
free
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
EP17207700.0A
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German (de)
English (en)
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EP3336051B1 (fr
Inventor
Thomas Stolten
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Jungheinrich AG
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Jungheinrich AG
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Publication of EP3336051A1 publication Critical patent/EP3336051A1/fr
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/22—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
    • B66F9/075—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
    • 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
    • F15B2211/40—Flow control
    • F15B2211/405—Flow control characterised by the type of flow control means or valve
    • F15B2211/40523—Flow control characterised by the type of flow control means or valve with flow dividers
    • F15B2211/4053—Flow control characterised by the type of flow control means or valve with flow dividers using 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
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders

Definitions

  • the invention relates to a lifting device for an industrial truck and a truck with a lifting device according to the invention.
  • the mast can consist of several mast stages, which spread apart telescopically when extending the mast. In this case, usually each mast stage is moved by a hydraulic cylinder.
  • the extension of the mast is also called Masthub.
  • the load section is usually connected to the topmost mast and serves to accommodate and carry loads.
  • the load part is also moved by a hydraulic cylinder along the so-called free lift.
  • the free lift usually starts first. Only the load section is lifted without extending the mast. Thus, the load part and thus the load can be raised without increasing the height of the mast and thus the headroom of the truck. If the load part is fully extended and the free lift has thus reached its end position, the mast stroke begins and the individual mast steps of the mast are extended.
  • the stroke sequence of free lift and mast stroke is usually controlled by the area ratios of the load part or the mast stages driving hydraulic cylinder.
  • the area ratios of the hydraulic cylinders are designed such that the hydraulic pressure necessary for lifting the free-lifting cylinder is less than the hydraulic pressure necessary for lifting the mast lifting cylinder. Consequently, during a lifting process, the load part always moves first according to the free lift. Only when the free lift is completed, so the free lift cylinder has reached its final position, the mast stroke begins.
  • the lowering speed of the load part is substantially lower than the lowering speed of the mast stages of the mast.
  • at low hydraulic pressure increased flow resistance in the hydraulic lines and mechanical friction losses occur in the cylinders. This leads to a further reduction of the lowering speed and thus to a reduced handling capacity of the truck.
  • the effective piston area of the free-lifting cylinder can be reduced.
  • the hydraulic pressure is increased and the lowering speed of the load part is increased.
  • the disadvantage of this solution is that the control of the stroke sequence and the sequence of succession over the area ratios can no longer be used because the pressure difference between the individual lifting stages is too low or even reversed.
  • Hydraulic controls are known, which allows a targeted supply of mast lifting and Freihubzylinder a truck regardless of the piston area of the cylinder.
  • the supply of hydraulic cylinders with hydraulic fluid is controlled by several hydraulic valves.
  • the EP 1 593 645 A2 provides for the supply of the free-lift and the mast lift in a complex manner, the use of two separate 3/3-way proportional valves.
  • the DE 10 2009 011 865 A1 provides a 3/3-way proportional valve and two 2/2-way proportional valve or a 2/3-way proportional valve and a 3/3-way proportional valve to supply the mast lifting and free-lifting cylinders.
  • the lifting devices described in the documents mentioned are complex and have an unfavorable energy balance.
  • the invention is therefore based on the object to provide a lifting device for an industrial truck, which is simpler and more efficient.
  • the lifting device according to the invention for an industrial truck comprises a mast with a movably guided load part and at least one movably guided mast step, a freehub cylinder acting on the load part and at least one mast lifting cylinder acting on the at least one mast step. Furthermore, the lifting device according to the invention comprises a hydraulic unit for supplying the Freihubzylinders and the at least one Masthubzylinders with hydraulic fluid. According to the invention, the lifting device also comprises at least one supply valve which is connected to the hydraulic unit and to the free-lifting cylinder and / or the at least one mast lifting cylinder and which is provided only for supplying hydraulic fluid from the hydraulic unit to the free-lifting cylinder and / or the mast lifting cylinder.
  • the lifting device comprises a return valve which is connected to the hydraulic unit and to the free-lifting cylinder and / or the at least one mast lifting cylinder and which is provided only for returning hydraulic fluid from the free-lifting cylinder and / or the mast lifting cylinder to the hydraulic unit.
  • the lifting device thus has at least two separate valves, namely a feed valve and a return valve.
  • the feed valve and the recirculation valve are not the same valve.
  • the supply valve is used to control the supply of hydraulic fluid from the hydraulic unit to the free-lifting cylinder or to the mast lifting cylinder.
  • the load part and thus a load located on the load part is lifted.
  • the free lift is passed through.
  • the at least one mast stage is extended and thus the mast stroke is passed through.
  • the load part is also lifted with the load.
  • the at least one mast lifting cylinder or the free lifting cylinder are retracted.
  • hydraulic fluid is led out of the corresponding cylinder back into the hydraulic unit.
  • This return of hydraulic fluid does not occur via the supply valve. Instead, the hydraulic fluid to be returned flows via the at least one return valve into the hydraulic unit.
  • the hydraulic unit has at least one hydraulic tank and a hydraulic pump connected thereto.
  • the at least one feed valve comprises a proportional valve.
  • a proportional valve This not only enables the selective supply of hydraulic fluid to the free-lift cylinder or the mast lift cylinder, but also the supply of hydraulic fluid to both cylinders simultaneously.
  • the volume flow of the hydraulic fluid can be flexibly adjusted and distributed to free lift cylinders and mast lifting cylinders.
  • the supply valve may comprise a 3/2-way proportional valve. This valve allows flexible supply of hydraulic fluid to the free-lift cylinder or to the mast lift cylinder or simultaneously to both valves simultaneously simple construction.
  • the at least one return valve may comprise a proportional valve.
  • the volume flow of the hydraulic fluid returned from the cylinders to the hydraulic unit can thus be adjusted flexibly via the at least one return valve.
  • the free lift or the mast lift can be flexibly controlled during the lowering process.
  • the free lift and the mast lift can be traversed independently or jointly depending on the valve position. In a particularly simple manner, this can be realized by a 2/2-way proportional valve.
  • the supply valve connects a supply line via a first connecting line to the free-lifting cylinder and / or via a second connecting line to the at least one mast lifting cylinder.
  • the supply line is connected to the hydraulic unit.
  • the supply valve can divide the guided via the common supply line from the hydraulic unit hydraulic fluid to the first connection line and the second connection line and thus supply the free-lift and the mast lift with hydraulic fluid.
  • the supply valve may in this case be in particular a 3/2-way proportional valve. This allows a particularly simple and efficient control of the free-lift and the mast lift. Such a valve is also inexpensive.
  • the at least one return valve connects a first return line, which branches off from the first connecting line and / or a second return line, which branches off from the second connecting line, independent of the supply valve with the hydraulic unit.
  • two return lines can be provided, which serve the return of hydraulic fluid from the cylinders.
  • the first return line branches off from the first connecting line and is thus connected via the first connecting line with the free-lifting cylinder.
  • the second return line branches off from the second connecting line and is thus connected via the second connecting line to the at least one mast lifting cylinder. Freewheeling cylinders and mast lifting cylinders can be retracted separately from each other via the separate return lines and thus the free lift or the mast lift can be traversed separately.
  • At least two return valves may be provided, wherein the first return line may have a first return valve and the second return line may have a second return valve.
  • the first return line and the second return line are combined to form a common third return line.
  • the first return line and the second return line can be brought together via the at least one return valve to form a common third return line.
  • the at least one return valve may be a returning 3/2-way proportional valve via which the first return line and the second return line are combined to form a common third return line. Via the 3/2-way proportional valve, the hydraulic fluid can either be returned from the free-lifting cylinder or from the at least one mast lifting cylinder or from both cylinders simultaneously back into the hydraulic unit.
  • a 4/2-way proportional valve which separates the first return line and the second return line optionally from the returning 3/2-way proportional valve or connects to the recirculating 3/2-way proportional valve.
  • the 4/2-way proportional valve can thus prevent backflow of hydraulic fluid in the hydraulic unit be, if a lowering of the hydraulic cylinder is not desired. If the cylinders are to be lowered, the 4/2-way proportional valve is first switched to its flow position so that the hydraulic fluid can reach the 3/2-way proportional valve.
  • This embodiment may be provided as an alternative to the use of two 2/2-way proportional valves as return valves.
  • the second connection line between the supply valve and the branch of the second return line from the second connection line may have a check valve.
  • both the first and the second connecting line may have such a check valve. The check valves ensure that no hydraulic fluid can flow back from the cylinders via the supply valve. Instead, the hydraulic fluid flowing back only remains the path via the first or second return line and thus via the at least one return valve.
  • the hydraulic unit comprises a hydraulic pump and a hydraulic tank, wherein the hydraulic pump hydraulic fluid from the hydraulic tank through the supply line and via the supply valve to the free-lifting cylinder and / or the mast lift promotes.
  • a desired lifting speed of the load can be achieved by passing the free lift and / or the mast stroke at the corresponding speed.
  • the pump speed of the hydraulic pump can be regulated.
  • the stroke speed by a corresponding valve position of the supply valve, which is supplied to the hydraulic pump by the hydraulic fluid to the Freihubzylinder and the at least one mast lifting cylinder distributed be regulated.
  • the supply line has an isolation valve in order to separate the hydraulic flow from the hydraulic unit to the supply valve.
  • the hydraulic flow through the isolation valve can be at least throttled.
  • an outgoing from the supply line function line may be provided to supply additional hydraulic elements with hydraulic fluid.
  • the isolation valve may be formed, for example, as a proportional valve or as a switching valve.
  • a control unit which is designed to actuate the at least one supply valve and / or the at least one return valve.
  • the control unit can actuate the supply valve and / or the at least one return valve electrically.
  • the supply valve and the at least one return valve may then be electrically actuatable valves.
  • the free-lifting cylinder or the at least one mast lifting cylinder may have a sensor communicating with the control unit for determining the lifting height of the load part.
  • both the free-lifting cylinder and the at least one mast lifting cylinder can each have a lifting height sensor.
  • the lifting height sensor may in particular be a position sensor which measures, for example, the position of a piston rod of the free-lifting cylinder or of the mast lifting cylinder. The further the piston rod is extended out of the respective cylinder, the further the free stroke or the mast stroke was driven through and the higher the lifting height of the load part. From the lifting height of the load part, the lifting height of a load to be transported on the load part be determined.
  • the free-lifting cylinder and / or the mast lifting cylinder has a sensor communicating with the control unit for determining the lifting speed and / or the lowering speed of the load part. It can be the same sensor that determines the lift height.
  • both the free-lifting cylinder and the at least one mast lifting cylinder can each have a speed sensor.
  • the speed sensor can, for example, measure the speed of movement of a piston rod of the free-lifting cylinder or of the mast lifting cylinder relative to the cylinder housing. From the speed of movement of the piston rods can be closed to the lifting speed of the moved by the piston rods of the two cylinders load part.
  • the control unit is then preferably designed to control the feed valve and / or the return valve depending on the lifting height of the load part determined by the sensor, in order to control the lifting speed and / or the lowering speed of the load part.
  • the lifting height sensor of the free-lifting cylinder or of the mast lifting cylinder measures a current position of the piston rod of the respective cylinder.
  • the determined measured values are transmitted to the control unit, which then controls the lifting or lowering speed of the respective valve.
  • the lifting and lowering speed of the load part is controlled.
  • certain ranges of the lifting height can be defined within which different lifting or lowering speeds are to be applied.
  • the lifting speed or the lowering speed of the load part in the vicinity of the end regions of the free-lifting cylinder or the mast lifting cylinder, ie shortly before the respective piston rod of the respective cylinder is fully extended or retracted, can be reduced. It is thus a gentle stop of the piston rods to the cylinder housing and thus, among other things, a softer transition between free lift and mast stroke guaranteed.
  • control unit is designed to control the supply valve for setting a desired lifting speed and / or the return valve for setting a desired lowering speed of the load part, a control deviation between the desired lifting speed and the actual lifting speed determined by the sensor and / or to determine the target lowering speed and the actual lowering speed determined by the sensor, and based on the control deviation to control the supply valve and / or the return valve for controlling the supply of the free-lifting and / or Mast cylinder with hydraulic fluid.
  • a desired lifting speed for the load part and thus the load is set via the control unit by a specific setting of the feed valve.
  • the return valve can be controlled via the control unit such that a defined desired lowering speed of the load part and thus the load is set.
  • the actual lifting speed and / or the actual lowering speed of the load part is first determined by the said sensors on the free-lifting cylinder or on the at least one mast lifting cylinder. This can be done, for example, by measuring the speed of movement of the piston rods of the respective hydraulic cylinders relative to the respective cylinder housing. The deviation between the actual speeds and the desired speeds of the piston rods of the respective cylinders is then determined via the control unit and the position of the supply valve or of the at least one return valve is readjusted accordingly. Through this feedback, a predetermined lifting or lowering speed of the load part and thus the load can be maintained much more precise and reliable.
  • FIG. 1 shows the lifting device according to the invention in a first embodiment.
  • the lifting device has a schematically illustrated mast 10 with a movably guided load part 12 and a movably guided mast step 14.
  • the load part comprises a load fork 12.
  • the free lift cylinder 13 acts on the load part 12, while the mast lift cylinder 15 acts on the mast step 14.
  • the load part 12 can be raised or lowered in the free lift and by controlling the Masthubzylinders 15, the load part 12 can be raised or lowered in the mast stroke.
  • the load part 12 is moved together with the free-lifting cylinder 13.
  • the free-lifting cylinder 13 comprises a schematically illustrated piston rod, wherein a sensor 17 is arranged on the piston rod or in the vicinity of the piston rod.
  • the mast lifting cylinder 15 also has a corresponding piston rod on which or in the vicinity of which a sensor 18 is arranged.
  • a hydraulic tank 16 and a hydraulic pump 28 together form a hydraulic unit.
  • the hydraulic tank 16 provides hydraulic fluid for supplying the free-lifting cylinder 13 and the mast-lifting cylinder 15 through the hydraulic pump 28.
  • a supply valve 20 connects the hydraulic tank 16 with the free-lifting cylinder 13 and with the mast lift cylinder 15.
  • the supply valve is a 3/2-way proportional valve with 3 line connections and two valve positions. Via a feed line 24, the hydraulic tank 16 is connected to a terminal of the supply valve 20, while the free-lifting cylinder 13 is connected via a first connecting line 25 and the mast lift 15 via a second connecting line 26 with the remaining terminals of the supply valve 20.
  • the two possible valve positions of the supply valve 20 are denoted by the reference numerals 20a and 20b, wherein the valve position 20a, the supply line 24 to the connecting line 26 and thus with the mast cylinder 15 connects while the valve position 20b, the supply line 24 to the connecting line 25 and above with the Free lift cylinder 13 connects. Because it When the supply valve 20 is a proportional valve, any intermediate positions between the valve positions 20a and 20b are also possible, so that the supply line 24 can also be connected to the connecting lines 25 and 26 at the same time.
  • the supply valve 20 is electrically actuated via a control unit 70.
  • a first and second check valve 40, 42 is provided, which prevents a backflow of hydraulic fluid from the cylinders 13, 15 to the feed valve 20.
  • FIG. 1 two return valves 30, 30 'can be seen, wherein the first return valve 30 is connected via a first return line 31 to the free-lifting cylinder 13 and to the hydraulic tank 16, while the second return valve 30' via a second return line 32 to the mast lift cylinder 15 and to the hydraulic tank 16 connected is.
  • the first return line 31 and the second return line 32 are combined via a common return line 33.
  • the first return line 31 branches off from the first connecting line 25 above the check valve 40, while the second return line 32 branches off from the second connecting line 26 above the check valve 42.
  • the two return valves 30, 30 ' are 2/2-way proportional valves, which have two ports and two valve positions.
  • first return valve 30 In a first valve position 30a, the first return valve 30 allows the return of hydraulic fluid from the free-lifting cylinder 13 in the hydraulic tank 16. In the second valve position 30b, the first return valve 30 blocks the return of hydraulic fluid from the free-lifting cylinder 13.
  • the second supply valve 30 ' is constructed accordingly and thus has a flow position 30a 'and a blocking position 30b'. Since the return valves 30, 30 'are proportional valves, any intermediate positions are also possible here. It can thus be controlled via the valve position, the volume flow of the return flow from the free-lifting cylinder 13 and the mast lift 15.
  • the return valves 30, 30 ' are electrically actuated via the control device 70.
  • FIG. 2 Lifting device shown differs from the in FIG. 1 illustrated embodiment only by a further provided isolation valve 60, which regulate the hydraulic flow from the hydraulic tank 16 to the feed valve 20, in particular can separate.
  • the isolation valve 60 is in the present embodiment, a 2/2-way proportional valve with a flow position and a blocking position.
  • the isolation valve 60 may also be designed as a switching valve.
  • this proportional valve can take any intermediate positions to control the flow.
  • the separating valve 60 can thus restrict or interrupt the inflow of hydraulic fluid to the free-lifting cylinder 13 or the mast lifting cylinder 15 in order to provide a part of the volume flow of the hydraulic fluid for further functions of the industrial truck via a branch line 62.
  • FIG. 3 shows a further embodiment of the lifting device according to the invention.
  • This embodiment differs from the in FIG. 1 illustrated embodiment through the use of other valves as return valves.
  • the branch for supplying hydraulic fluid to the cylinders is the same as in FIG. 1 ,
  • a 3/2-way proportional valve is provided as the first return valve 30 ", via which the first return line 31 and the second return line 32 are brought together to form a common third return line 33.
  • a 4/2-way proportional valve 50 is the second return valve provided, via which the first return line 31 and the second return line 32 can be separated from the 3/2-way proportional valve 30 "or connected to this.
  • Via the supply valve 20 can be translated by the control unit 70 predetermined speed for the movement of the load part 12 (and thus the load) into a volume flow of the hydraulic fluid to the free-lift cylinder or the mast lift.
  • an operator of the control unit 70 may make a speed command v .
  • the control unit 70 controls the valve position of the supply valve 20 via a control current i 1 in accordance with this predetermined setpoint speed v .
  • the supply valve 20 then divides the volume flow of hydraulic fluid coming from the hydraulic pump 28 into two volume flows q m and q f , wherein the volume flow q m the mast lift cylinder 15 and the flow rate q f the free lift cylinder 13 moves.
  • the desired set stroke speed v is controlled by the pump speed of the hydraulic pump 28, while the feed valve 20, the hydraulic fluid to the two Cylinders 13, 15 distributed.
  • the actual lifting speed v f of the load part or the actual lifting speed v m of the mast step 14 is determined by the sensors 17, 18 provided on the free-lifting cylinder 13 or the mast lifting cylinder 15. This can be done, for example, by measuring the speed of movement of the piston rod of the respective valve relative to the respective piston housing.
  • control unit 70 calculates this deviation of the actual lift speed v f of the free lift and the actual lift speed v m of the mast lift to the controlled variable v and adjusts the valve current i 1 and thus the valve position of the supply valve 20.
  • the actual speeds are continuously adjusted to the target speed. This leads to a much more precise control of the movement of the load.
  • hydraulic fluid can be passed from the free lift cylinder 13, from the mast lift cylinder 15 or from both back to the hydraulic tank 16 via the return valves 30, 30 '.
  • the return valve 30 is actuated, that is brought into the valve position 30a.
  • the valve 30a is actuated, that is brought into its valve position 30a '.
  • Hydraulic fluid flowing out of the free-lifting cylinder 13 flows via the connecting line 25 through the branch into the first return line 31 and via the first return valve 30 into the hydraulic tank 16.
  • Hydraulic fluid returning from the mast cylinder 15 flows via the connecting line 26, the branch and via the second return line 32 through the second return valve 30 'in the hydraulic tank 16.
  • the control unit 70 is a default lowering speed v as electrical control currents i 4 , i 5 to the two return valves 30, 30 '.
  • the electric control current i 4 By the electric control current i 4 , the valve position of the return valve 30 is controlled, so that a volume flow hydraulic fluid q m reaches the mast lift 15.
  • the valve position of the second return valve 30 ' is controlled by the electrical control current i 5 so that a volume flow q f of hydraulic fluid reaches the free-lifting cylinder 13.
  • the actual lowering speeds v f of the free lift and v m of the mast lift are determined via the sensors 17, 18 and transmitted to the control unit 70.
  • the control unit 70 calculates the control deviation of the actual lowering speeds v f, v m to the manipulated variable v and calculates the necessary adjustment of electric control currents i 4, i 5, As with the lifting operation so interference can be eliminated and the control of the lowering operation is carried out more precisely.
  • the lifting height, ie the mast position of the load part 12 is also used during the lowering process in order to control the lowering speed in certain areas.
  • the lowering speed can thus be reduced in the end regions of the free-lifting cylinder 13 or the mast-lifting cylinder 15, so that the countersink stop is achieved in a damped manner.
  • the electric currents i 4 , i 5 are calculated such that the lowering speed of the load also remains constant in the transition region between the mast lift and free lift. Both during the lifting process as well as during the lowering process, the free-lifting cylinder then moves into its stroke stop at a speed v f ⁇ v m .
  • the lifting height of the load section or the mast step is as in FIG. 4 and 5 shown as mast position in the control unit.
  • a corresponding regulation can also be made for the mast lifting cylinder 15. If, for example, a lowering operation is initiated from the mast stroke, the return valve 30 'is displaced so far in the direction of the valve position 30a' until the desired lowering speed is reached. Shortly before the mast lift cylinder 15 is fully retracted, the flow rate of the mast lift 15 is successively reduced by the return valve 30 'is successively brought into the blocking position 30b'. While the return valve 30 'is closed, that becomes Return valve 30 is opened, so moved into the valve position 30a and thus ensures the lowering process by the free lift.
  • FIG. 6 illustrated embodiment of the lifting device differs from the lifting device of FIG. 1 in that, instead of the 3/2-way proportional valve, a 2/2-way proportional valve 100 arranged in the connecting line 25 leading to the free-lifting cylinder 13 is provided as a feed valve.
  • the feed valve 100 has a blocking position 100a and a flow position 100b, wherein the feed valve 100 can also assume any intermediate positions.
  • the supply line 24 is divided in this case upstream of the hydraulic pump in the connecting lines 25 and 26, wherein the connecting line 26 has no supply valve.
  • the stroke sequence and the lifting speed of the mast stage and the load part can also be controlled in this embodiment.
  • the position of the piston rod of the free-lifting cylinder 13 can be monitored by a position sensor and transmitted to the control unit 70.
  • the supply valve 100 is successively switched by the control unit 70 into the valve position 100a.
  • the volume flow to Freihubzylinder 13 is reduced.
  • the piston rod of the free-lifting cylinder 13 thus reaches its stop at a slower speed.
  • the system pressure p in the supply line 24 and in the connecting line 26 increases, which leads to actuation of the mast lifting cylinder 15 as soon as p ⁇ p 2 .
  • the volume flow coming from the hydraulic pump 28 is successively directed to the mast lift cylinder 15.
  • the lifting movement of the load part 12 also remains at least approximately constant during this switching process between the valve positions.
  • the feed valve 100 is completely in its blocking position 100a and the free-lifting cylinder 13 is fully extended.
  • the control of the stroke sequence and the lifting speeds can be carried out according to the above-explained control.
  • a predetermined by the control unit 70 target speed for the movement of the load part 12 can be translated into a volume flow of the hydraulic fluid to the free-lifting cylinder or the Mast cylinder.
  • an operator of the control unit 70 may make a speed command v .
  • the control unit 70 controls the control unit via a control current i 1 Valve position of the supply valve 100.
  • the feed valve 100 also communicates in this embodiment, the volume flow of hydraulic fluid coming from the hydraulic pump 28 in the two volume flows q m and q f .
  • volume flow q m flows constantly to the mast lift cylinder 15.
  • the volume flow q m has no effect as long as the pressure generated by this volume flow in the mast lift cylinder 15 does not reach p ⁇ p 2 .
  • a control of the stroke sequence and the lifting speed of the cylinders 13, 15 is thus carried out by the supply valve 100 and by the different area ratios of the piston Freehubzylinder 13 and mast lift 15.
  • the desired target stroke speed v can also be controlled via the pump speed of the hydraulic pump 28 ,
  • the actual lifting speeds of the cylinders 13, 15 can be controlled by changing the valve position of the supply valve 100 by the control unit 70.
  • the lowering process takes place via the return valves 30, 30 '.
  • the two return valves can be controlled completely independently of each other and thus the movement of the lifting stages, i. Last part and mast level, completely independent of each other.
  • a smooth transition between the lifting stages can be achieved when lowering.
  • FIG. 7 Lifting device shown differs from the lifting device FIG. 6 only in that instead of the 2/2-way proportional valve, a proportional biasing valve 110 is provided as a feed valve. Analogous to the embodiment of FIG. 6 During the free lift, the supply valve 110 is fully open. During the transition from the free lift to the mast lift, the feed valve 110 is activated and thus the pressure in the connecting line 26 leading to the mast lifting cylinder 15 is increased successively.
  • Lifting device shown differs from the lifting device FIG. 6 merely in that instead of the 2/2-way proportional valve with blocking position and flow position, a proportional biasing valve 120 is provided with a throttle position 120a and a flow position 120b as a feed valve.
  • Lifting is basically as already done FIG. 6 explained.
  • the valve 120 can not be completely closed, but also allows in the throttle position 120a still a flow to the free-lifting cylinder 13. This thus moves slowly in its attack without further additional measures - such as the above-mentioned position sensor for measuring the piston position - would be necessary , This also allows controlled control of the free lift to the mast lift be reversed.
  • the lifting device of FIG. 9 is different from the one in FIG. 6 shown on the one hand that a 2/2-way proportional valve 130 is provided instead of in the connecting line 25 in the leading to the mast lift 15 connecting line 26.
  • the 2/2-way proportional valve 130 has a blocking position 130a acting in the direction of the connecting line 26, realized by a non-return valve, and a flow-through position 130b. Basically, however, this could also be the same feed valve as in FIG. 6 be provided.
  • this lifting device is a prerequisite that the required pressure p 1 for actuating the free-lifting cylinder 13 is always higher than the pressure required for actuating the mast lift cylinder 15 p 2 . So it must hold p 1 > p 2 . This can be achieved, in particular, by virtue of the fact that the effective piston surface of the free-lifting cylinder 13 is smaller than the effective piston surface of the mast lift cylinder 15.
  • Lifting device shown differs from the lifting device FIG. 6 by a 2/2-way valve 140 disposed in the Hubzweig before dividing the supply line 24 in the connecting lines 25, 26, arranged by two as 2/2-way proportional valves return valves 150, 152 respectively in one of the hydraulic pump 28 ' leading return line 35, 36, by two in each case one of the return lines 35, 36 arranged check valves 44, 46 and in that the hydraulic pump 28 'can also work regeneratively.
  • the lifting process takes place here as in the lifting device FIG. 6 , wherein first the supply line 24 must be enabled by the 2/2-way valve 140.
  • the 2/2-way valve 140 assumes its flow position 140b. Due to the check valves 44, 46, a flow of hydraulic fluid to the valves 150, 152 is prevented.
  • the hydraulic pump 28 which operates as a generator in this case, by means of the hydraulic fluid flowing back to the tank 16.
  • the hydraulic fluid from the free-lifting cylinder 13 or from the mast lifting cylinder 15 is not guided via the return valves 30, 30 'to the hydraulic tank 16 during the lowering process. Instead, the return of the hydraulic fluid from the free-lifting cylinder 13 via the return lines 31, 35th through the return valve 150, which is now in the flow position 150a, and through the check valve 44 to the pump 28 '.
  • the return of hydraulic fluid from the Masthubzylinder 15 takes place in accordance with the return lines 32, 36 through the return valve 152, which is now in the flow position 152a, as well as through the check valve 46 to the pump 28 '.
  • the hydraulic pump 28 ' is driven by the recirculated liquid. If no regenerative operation of the hydraulic pump 28 'take place, the return valves 150, 152 are moved into their blocking positions 150b, 152b and the return takes place in the manner already explained via the return valves 30, 30' directly to the hydraulic tank 16.
  • a 2/2-way proportional valve 130 is provided instead of in the connecting line 25 in the connecting line 26 leading to the mast lifting cylinder 15. This corresponds to the illustration in FIG. 9 with the additional, the generator operation serving characteristics of FIG. 10 , Accordingly, a regenerative operation of the hydraulic pump 28 'can also be achieved here. It is based on the comments FIG. 10 directed.
EP17207700.0A 2016-12-15 2017-12-15 Dispositif de levage pour un chariot de manutention ainsi qu'un tel chariot de manutention Active EP3336051B1 (fr)

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DE102016124504.6A DE102016124504A1 (de) 2016-12-15 2016-12-15 Hubvorrichtung für ein Flurförderzeug sowie ein solches Flurförderzeug

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EP3459904A1 (fr) * 2017-09-20 2019-03-27 Jungheinrich Aktiengesellschaft Chariot de manutention, système hydraulique pour un chariot de manutention et procédé de fonctionnement d'un système hydraulique
EP3597588A1 (fr) * 2018-07-18 2020-01-22 Jungheinrich Aktiengesellschaft Chariot de manutention doté d'un système hydraulique ainsi que procédé de fonctionnement d'un système hydraulique

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US11655130B2 (en) 2019-05-22 2023-05-23 Cascade Corporation Synchronized hybrid clamp force controller for lift truck attachment
JP2023530922A (ja) * 2020-06-18 2023-07-20 カスケード コーポレイション リフトトラックアタッチメント用の同期されたハイブリッドクランプ力コントローラ

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EP2508465A1 (fr) * 2011-04-08 2012-10-10 Jungheinrich Aktiengesellschaft Chariot de manutention, en particulier chariot gerbeur doté d'un cadre de levage
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EP3597588A1 (fr) * 2018-07-18 2020-01-22 Jungheinrich Aktiengesellschaft Chariot de manutention doté d'un système hydraulique ainsi que procédé de fonctionnement d'un système hydraulique

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US10941027B2 (en) 2021-03-09
DE102016124504A1 (de) 2018-06-21
US20180170732A1 (en) 2018-06-21
EP3336051B1 (fr) 2023-08-23

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