EP3363766A1 - Chariot de manutention doté d'un mât de levage - Google Patents

Chariot de manutention doté d'un mât de levage Download PDF

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Publication number
EP3363766A1
EP3363766A1 EP18156908.8A EP18156908A EP3363766A1 EP 3363766 A1 EP3363766 A1 EP 3363766A1 EP 18156908 A EP18156908 A EP 18156908A EP 3363766 A1 EP3363766 A1 EP 3363766A1
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EP
European Patent Office
Prior art keywords
mast
valve
vehicle frame
cylinder
truck according
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
EP18156908.8A
Other languages
German (de)
English (en)
Other versions
EP3363766B1 (fr
Inventor
Dr. Julia Leichnitz
Andreas Clauder
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
Original Assignee
Jungheinrich AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jungheinrich AG filed Critical Jungheinrich AG
Publication of EP3363766A1 publication Critical patent/EP3363766A1/fr
Application granted granted Critical
Publication of EP3363766B1 publication Critical patent/EP3363766B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B66F9/0755—Position control; Position detectors
    • 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
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • 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
    • B66F9/07559—Stabilizing means
    • 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
    • B66F9/08—Masts; Guides; Chains
    • B66F9/10—Masts; Guides; Chains movable in a horizontal direction relative to truck
    • 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

Definitions

  • the present invention relates to a truck with a mast, which has a relative to a vehicle frame adjustable mast and a height-adjustable along the mast load bearing means.
  • the forces can be caused for example by starting or braking the truck or by adjusting the mast.
  • the forces vibrations can occur on the mast.
  • the dominant variables for the frequency and amplitude of the vibrations that occur are essentially the acceleration due to the force applied, the flexural rigidity of the mast, the lifting height and the weight of a load taken up.
  • Vibrations of the mast are to be avoided, since these heavily load the mast and its components, can lead to a collision of forks or load with an adjacent shelf and in the worst case to a dropped load or parts of the load being able to lead.
  • Out DE 32 10 951 C2 is a stacker with mast known in which an active mast damping including sensed values for load and Lifting height and evaluation of acceleration sensors takes place.
  • the compensating movement is effected by a drive control for shifting the load-receiving means.
  • a stacking vehicle has become known with a mast, to which a load carrier is mounted vertically movable, wherein the mast is articulated in the lower region via a bearing on the vehicle and at a distance from the bearing a movable support against the vehicle is provided.
  • the movable support has guide pins, which are movable in vehicle-fixed guides substantially parallel to the vehicle footprint and perpendicular to the mast level.
  • a spring / damper system is provided which dampens movements of the guide pin.
  • a further damper is provided, which counteracts a tilt of the mast.
  • a reach truck with a mast is known in which the mast is horizontally movable relative to a vehicle frame. The movement takes place via an actuator, which is activated for active vibration damping. At least one sensor detects a vibration movement of the mast and generates via the actuator a counteracting the oscillatory motion counterforce on the mast.
  • the sensor, with which the oscillatory motion of the mast is detected, is a force sensor.
  • Out EP 1 975 114 A1 is a vibration compensation on the mast of a truck known.
  • the control device for controlling the actuator calculates the compensatory movements, depending on the current state of the mast.
  • a reach truck in which an actuator for moving the mast relative to a vehicle frame is driven via a control device that is controlled by the operation of the control element, the course of the movement speed of the actuator such that a swing of the mast is largely avoided.
  • the invention has for its object to provide a truck, can be effectively counteracted with the simplest possible means of vibration of the mast.
  • the truck according to the invention has a mast, which has a relative to a vehicle frame adjustable mast and a height-adjustable along the mast load bearing means. Furthermore, a measuring device is provided with which a deflection of the lifting mast and / or the load carrying means, relative to the vehicle frame, can be detected. Further, a controller is provided which can actuate a lifting mast adjusting hydraulic cylinder for a controlled mast damping via a valve. The lifting mast cylinder is also provided for the adjustment of the lifting mast relative to the vehicle frame. According to the invention, the controller compares a measured value for the current displacement of the lifting mast with a predetermined minimum value and determines when the minimum value for the valve is exceeded Control curve, which defines and determines an opening degree of the valve for mast damping.
  • a control curve is determined on the basis of the current deflection of the mast when the minimum value is exceeded.
  • the degree of opening may in this case also include a complete opening of the valve.
  • the invention is based on the recognition that a mast damping can be achieved by a total or partial opening of the valve. If, for example, one imagines that due to a braking process of the vehicle, the lifting mast experiences an acceleration in the direction of travel, then the entire lifting mast can move in the direction of travel as a result of a partial opening of the valve relative to the vehicle frame. As a result, a vibration triggering moment is reduced to the mast or even avoided altogether.
  • the mast moves due to its deflection and its inertia relative to the vehicle frame with the valve open.
  • the open valve preferably leads to a movement of the cylinder, in which case hydraulic medium flows into the cylinder. This leads to a compensation of the oil volumes and thus the pressures between the piston chambers, d. H. from piston chamber to rod-side piston chamber and vice versa.
  • a control of the hydraulic pump to actively attenuate using externally supplied energy is not required.
  • the control of the valves is sufficient for the controlled mast damping.
  • the damping curve of the oscillating lifting mast is varied over time by the control cam.
  • the degree of opening of the controlled valves varies with time.
  • the control curve does not necessarily dictate a constant opening degree, but also a time-varying control of the valve can describe.
  • a constant open or closed position of the controlled valve (s) for the duration of the controlled damping is also variable in time, in that the position of the valves during the controlled mast damping differs from the position before and / or after the controlled mast damping.
  • the time varying degree of opening of the valve can in particular also avoid the vibration excitation caused by the damping on the mast.
  • the valve is driven at a predetermined time with the control cam.
  • the control sets to a defined position of the mast, for example, a maximum deflection or a zero crossing in order to damp an existing vibration.
  • the predetermined time at which the control cam starts with an opening of the valve results from a position and / or a direction of movement of the lifting mast relative to the vehicle frame.
  • the measuring device which detects a deflection of the lifting mast and / or the load bearing means
  • further position sensors and motion sensors may be provided on the mast.
  • control curve for the degree of opening of the valve is determined depending on a current lifting height of the load bearing means.
  • the lifting height, together with the flexural rigidity of the lifting mast, has an influence on the frequency of the oscillation occurring on the lifting mast.
  • control curve can be determined depending on a current load on the load carrying means.
  • the absorbed load also has an influence on the frequency of the vibrations occurring on the framework, so that it must be explicitly taken into account in the attenuation.
  • control curve is determined depending on a speed change of the truck or the lifting mast.
  • the speed change of the truck or the mast determines the vibration of the mast and thus can also be used to select a suitable cam.
  • the speed change of the truck can be used on the one hand as a change of the actual value for selecting the control curve. It is also possible to select the control curve based on changes in the speed set point.
  • the particular advantage of the latter embodiment is that the setpoint values for the driving speed already exist and can be converted directly into change signals. In this way, an additional sensor for the selection of the cam is avoided.
  • the hydraulic cylinder can be controlled via a throttle valve according to the control cam.
  • the throttle valve is driven in accordance with the control curve and restricts hydraulic flow into or out of the cylinder in accordance with the opening degree.
  • the volumes of piston chamber and rod-side piston chamber are equalized, with hydraulic fluid flowing into the piston chamber when the piston chamber increases and hydraulic fluid flowing out of the piston chamber as the piston-side piston chamber increases.
  • the hydraulically actuated cylinder may be designed to be opened via a switching valve according to the control curve.
  • the switching valve opens, dispensing with a throttling effect, a supply or discharge to the hydraulic cylinder and thus ensures that flow for a predetermined period of the control cam hydraulic fluid and the Cylinder can ask. Also, this can be counteracted controlled mast vibration, even if no throttling of the fluid takes place directly on the cylinder.
  • the mast is tiltably mounted on the vehicle frame and the actuator for tilting the mast formed relative to the vehicle frame.
  • the mast damping via the tilting cylinder.
  • the mast is slidably mounted on the vehicle frame.
  • These vehicles are also referred to as reach trucks.
  • For controlled mast damping here is used for moving the mast relative to the vehicle frame formed cylinder.
  • a particular advantage of the two last-mentioned embodiments is that it is not necessary to provide an additional hydraulic cylinder for mast damping on the vehicle.
  • the controller has a memory in which a plurality of control cams is stored.
  • the cams are predetermined according to the mechanical properties, such as the flexural rigidity of the mast used, and can be retrieved from the memory.
  • the controller has a processor that calculates the control curve for the detected deflection.
  • a sensor may, for example, be an acceleration sensor which is arranged on the load-bearing means. From the detected acceleration data, a deflection of the load bearing means relative to the vehicle frame can then be determined.
  • the acceleration sensor may also be attached to an inner mast frame that can be extended furthest.
  • a strain gauge can be provided on the mast. The strain gauge measures the forces acting on it and can also deduce the deflection of the mast (strain gauge measures deformations on the mast).
  • the deflection detected from the read-out sensor data is compared with a threshold value serving as the threshold value. If the deflection is less than the predetermined limit value, then the method for reading out the sensor data returns. If, on the other hand, the deflection detected from the sensor data is greater than the limit value, the amplitude and frequency of the oscillation are determined from the deflection. In order to be able to determine the amplitude and frequency of the oscillation, it may be necessary for the acquired sensor data to be smoothed or filtered to form a complex oscillation of the lifting mast. It is also possible to break the oscillation into modes and to switch off in the method according to the invention to the oscillation to the first natural frequency.
  • the map is read out depending on the determined amplitude and frequency of Hubmastschwingung in process step. It is also possible to read the map based on the determined frequency or the amplitude of the oscillation of the mast.
  • a control curve is determined which prescribes an opening start, an opening duration and an opening degree for the valve.
  • the beginning of the opening may be predetermined as a time or defined relative to a phase position of the oscillation.
  • the controller may use when the vibration has a maximum deflection in a certain direction.
  • the opening duration of the control cam specifies for which period of time a control of the hydraulic valve is provided.
  • the opening duration may be predetermined in a period of time or may be defined by the vibrations, for example by the duration between two maximum excursions.
  • the cam read out from the map prescribes the degree of opening for the hydraulic valve.
  • the degree of opening is a crucial factor, which is the placement of the valve and the movement of the mast relative to Vehicle frame determined. This makes it possible, for example, with less deflection, the valve less open and thus have a more throttling effect than larger deflections.
  • step 18 it is waited to see whether the beginning of the opening defined by the control cam is present. If the time for the start of opening is reached, then in step 20, the hydraulic valve according to the control cam is opened. This means that the hydraulic valve is opened with the opening degree specified by the control cam. The valve 20 remains open until the time for the opening end is reached in step 22. Thereafter, in process step 24, the hydraulic valve is closed again.
  • the hydraulic valve actuated in the method may in this case be provided for a push cylinder which is intended to displace the mast relative to the vehicle frame.
  • the hydraulic cylinder used for the mast damping can also be provided for a tilting cylinder, with which an angular position of the lifting mast can be adjusted relative to the vehicle frame.
  • a mast damping depending on vibration frequency and amplitude.
  • the instantaneous deflection on the mast relative to the vehicle frame is detected by a sensor.
  • a control curve is read from a characteristic field, which is used as the basis for controlling the hydraulic cylinder.
  • the amplitude and frequency are determined from the first half-wave.
  • the amplitude of the mast vibration is dependent on the recorded load and a change in the speed of the truck when the vibration is mainly caused by a change in speed.
  • the frequency of the mast oscillation essentially results from the lifting height and the associated flexural rigidity on the mast.
  • the degree of opening can be varied during the opening period and be selected, for example, so that there is less damping with decreasing deflection. Based on the control curve, the damping can also have the value zero.
  • the damping then always assumes the value zero, so there is no throttling on the valve.
  • the valve is opened for the opening period.
  • the opening duration can also be determined, for example, by a determined path of the push mast. To determine the path, it is possible to resort to a position sensor in the push cylinder or to provide a travel sensor arranged on the vehicle frame.
  • a switching valve waiving a throttling effect can at the point of maximum deflection of the mast, so when the instantaneous speed is zero, the valve can be opened so that the mast can follow the deflection of the mast and thus effectively reduced before the load swing back can.
  • the speed change can be determined by reference values derived from a truck speed sensor or actual speed values.
  • the distribution of the mass and the bending stiffness are dependent on the design of the mast. While the lifting height and the recorded load can be sensed easily and thus the instantaneous distribution of the mass is known, the bending stiffness of the mast can be difficult to fully calculate, as this is not constant for the entire height of a mast and with the extension from inner and middle mast to a mast discontinuous changes. Nevertheless, the flexural rigidity can be modeled in a simplified model and, to a certain extent, even calculated analytically. It is also possible to determine the flexural rigidity and the vibration behavior experimentally as a function of load and lifting height. Regardless of whether the model or the test is selected, values for the mast damping can be calculated using an approximation function or stored in a characteristic map, intermediate values then being interpolated.
  • Fig. 2 shows in a schematic view the hydraulic actuation for a cylinder 26.
  • the cylinder 26 may be a tilt cylinder or a mast feed cylinder.
  • the cylinder 26 is formed as a differential cylinder having on both sides of a piston via a supply line 28, 30 fillable chamber 32, 34.
  • chamber 32 is a piston chamber
  • chamber 34 is a rod-side piston chamber of the cylinder 26.
  • the hydraulic cylinder is provided via a directional control valve 35, which has three positions. In its middle position, the supply line 28, 30 are locked against a pump unit 36 and a tank 38. In an off-center position of the directional control valve 35, the supply line 30 is connected to a pump unit 36 and the supply line 28 to the tank 38.
  • a directional control valve 40 is further provided, which blocks in the position shown via a check valve 41, a derivative in a tank 42. In its switched position, the directional control valve 40 connects the line 28 with the tank 42.
  • a directional control valve 44 with a check valve 45 with an associated tank 46 is provided accordingly for the discharge line 30.
  • the check valves 41, 45 allow, if necessary, hydraulic fluid to flow into the cylinder 26.
  • a pressure relief valve 48 is also provided in the supply line 28 and limits the applied pressure to the cylinder 26.
  • a pressure relief valve 50 is provided in the supply line 52 between the pump unit 36 and directional control valve 35, which forms a protection against overpressure.
  • the hydraulic cylinder 26 is set by a control of the directional control valve 35 and held by closing this valve in its struck position.
  • the valves 40 or 44 can be controlled.
  • the control curve may also provide that these valves are controlled alternately and / or sequentially.
  • valves 40 and 44 can then be controlled in duration and opening degree.
  • valve 35 When activated mast damping is provided that the valve 35 is locked. If, for example, valve 40 is opened, hydraulic fluid can flow out of piston chamber 32. This means that the piston chamber decreases in size and the rod-side piston chamber 34 increases. The hydraulic fluid required for this purpose is sucked out of the tank via the line 30 and the check valve 45. The piston rod thus moves in the direction A. On the other hand, the valve 40 is left in its blocking position and the valve 44 is brought wholly or partially in its open position, so hydraulic fluid flows from the rod side piston chamber 34 and via the check valve 41 hydraulic fluid for the piston chamber 32 is sucked.
  • the mast damping can be activated.
  • the respective pressure-side valve 40 or 44 can be opened briefly, whereby the pressure is reduced and the mast feed speed slows down.
  • Fig. 3 shows an alternative embodiment in which the valves 40 and 44 have been replaced in the leads 28 and 30 by a central valve 48.
  • Fig. 2 just the differences from the circuit Fig. 2 explained. All unexplained parts of the Fig. 3 are formed according to the preceding figure.
  • the control valve 48 is designed as a 4/2-way valve. In one position, the connection between the inlet and outlet of the valve is blocked. In a second position, the supply lines 28 and 30 are crossed to the hydraulic cylinder 26 with each other. The output line of the valve 48 leads via a line 53 with a check valve 54 in the supply line 28. In the switched state, the supply line 30 is connected to the supply line 28, wherein the check valve 54 blocks a connection from the piston chamber 32 to the rod-side piston chamber 34. Likewise, the connection of the rod-side piston chamber 34 to the piston chamber 32 via a check valve 56 in line 51 is blocked. In contrast to the conduit 52, the conduit 51 has a branch 60 into a tank 58. In this way hydraulic fluid is supplied from the chamber 32 via the conduit 28 into the tank 58.
  • the supply lines 28 and 30 are cross-connected to the lines 52 and 51.
  • the rod-side piston chamber 34 is increased and the piston chamber 32 is reduced. Hydraulic fluid flows from the piston chamber 32 via the check valve 56 into the conduit 51 to the conduit 30 in the rod-side piston chamber 34. Since this receives less hydraulic fluid, the excess part of the hydraulic fluid flows via the line 60 into the tank 58. Accordingly, in the opposite movement in Direction B, in which the rod-side piston chamber 34 is reduced and the piston chamber 32 increases. In this case, hydraulic fluid flows via the line 30 and the check valve 54 into the chamber 32. Since the volume of the piston chamber 32 is greater, 55 further hydraulic fluid is sucked from the tank via the check valve.
  • the control valve 48 can also be operated briefly during the mast thrust, be it in the direction A or B, whereby the mast feed speed is reduced in the short term.
  • Fig. 4 shows an alternative embodiment with also a switchable valve 62.
  • the valve 62 has at its input a transverse line 64 with two oppositely arranged check valves 66, 68.
  • the check valve is opened at which a greater pressure in the supply lines 28 or 30 is present.
  • the valve 62 On the output side, the valve 62 also has a transverse line 70, which is connected via two check valves 72, 74 again to the supply lines 28 and 30. In addition, the transverse line 70 is connected via a branch line 76 to a tank 78. About the valve 62 is in its switched position, the supply line 28, 30 connected to the higher pressure with the supply line to the lower pressure. In this way, the hydraulic cylinder 26 is set.
  • check valves In the illustrated arrangement of the check valves is a so-called Graetz circuit, which forms the equivalent of the Wheatstone bridge circuit as a hydraulic bridge circuit.
  • hydraulic fluid is passed into the rod-side piston chamber 34 via the check valves 66 and 74. Excess hydraulic fluid is discharged via the check valve 75 and via line 76 into a tank.
  • hydraulic fluid from the rod-side piston chamber is guided via the check valves 68 and 72 in the piston chamber 32. Additional hydraulic fluid is withdrawn via the check valve 77 to the tank.
  • Fig. 5 shows a substantially same embodiment as Fig. 4 except that the cross line 70 is missing with its check valves and thus the hydraulic fluid from the higher pressure line is connected to the tank 78.
  • valve 62 If the valve 62 is switched, hydraulic fluid is discharged via the check valve 66 into the tank 78 during a movement in the direction A.
  • the rod-side piston chamber 34 is filled via the check valve 79 from the tank.
  • hydraulic fluid is discharged from the rod-side piston chamber 34 via the check valve 68 into the tank 78.
  • the piston chamber 32 is filled via the check valve 81 from the tank.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP18156908.8A 2017-02-15 2018-02-15 Chariot de manutention doté d'un mât de levage Active EP3363766B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102017103043.3A DE102017103043A1 (de) 2017-02-15 2017-02-15 Flurförderzeug mit einem Hubgerüst

Publications (2)

Publication Number Publication Date
EP3363766A1 true EP3363766A1 (fr) 2018-08-22
EP3363766B1 EP3363766B1 (fr) 2019-09-25

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EP18156908.8A Active EP3363766B1 (fr) 2017-02-15 2018-02-15 Chariot de manutention doté d'un mât de levage

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EP (1) EP3363766B1 (fr)
DE (1) DE102017103043A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020216135A1 (de) 2020-12-17 2022-06-23 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Ausgeben eines Signals an eine Einheit einer Einrichtung, insbesondere einer mobilen Arbeitsmaschine

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3879212B2 (ja) * 1997-12-15 2007-02-07 株式会社豊田自動織機 産業車両における電磁弁のディザ制御装置及び産業車両
EP1975114A1 (fr) * 2007-03-30 2008-10-01 STILL WAGNER GmbH Compensation des oscillations sur un châssis de levage d'un chariot de manutention
DE102007024817A1 (de) * 2007-03-30 2008-10-09 Linde Material Handling Gmbh Flurförderzeug mit einem Hubgerüst und einem Stellglied zur Kompensation von Schwingungen
DE102008020592A1 (de) * 2008-04-24 2009-10-29 Linde Material Handling Gmbh Verfahren zur Schwingungsdämpfung bei Flurförderzeugen

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10219739A1 (de) 2002-05-02 2003-11-13 Still Wagner Gmbh & Co Kg Flurförderzeug mit einer Vorrichtung zum Bewegen eines Hubgerüsts

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3879212B2 (ja) * 1997-12-15 2007-02-07 株式会社豊田自動織機 産業車両における電磁弁のディザ制御装置及び産業車両
EP1975114A1 (fr) * 2007-03-30 2008-10-01 STILL WAGNER GmbH Compensation des oscillations sur un châssis de levage d'un chariot de manutention
DE102007024817A1 (de) * 2007-03-30 2008-10-09 Linde Material Handling Gmbh Flurförderzeug mit einem Hubgerüst und einem Stellglied zur Kompensation von Schwingungen
DE102008020592A1 (de) * 2008-04-24 2009-10-29 Linde Material Handling Gmbh Verfahren zur Schwingungsdämpfung bei Flurförderzeugen

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020216135A1 (de) 2020-12-17 2022-06-23 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Ausgeben eines Signals an eine Einheit einer Einrichtung, insbesondere einer mobilen Arbeitsmaschine

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EP3363766B1 (fr) 2019-09-25
DE102017103043A1 (de) 2018-08-16

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