EP3514103A1 - Chariot de manutention - Google Patents

Chariot de manutention Download PDF

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Publication number
EP3514103A1
EP3514103A1 EP18181069.8A EP18181069A EP3514103A1 EP 3514103 A1 EP3514103 A1 EP 3514103A1 EP 18181069 A EP18181069 A EP 18181069A EP 3514103 A1 EP3514103 A1 EP 3514103A1
Authority
EP
European Patent Office
Prior art keywords
fork
truck
load
receiving opening
driver
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
EP18181069.8A
Other languages
German (de)
English (en)
Other versions
EP3514103B1 (fr
Inventor
Björn Bullermann
Michael Voss
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.)
STILL GmbH
Original Assignee
STILL GmbH
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Filing date
Publication date
Application filed by STILL GmbH filed Critical STILL GmbH
Publication of EP3514103A1 publication Critical patent/EP3514103A1/fr
Application granted granted Critical
Publication of EP3514103B1 publication Critical patent/EP3514103B1/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
    • 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 invention relates to an industrial truck with a load receiving means, which has a mast with a movable fork lift on the mast, wherein on the fork carriage a load fork is arranged, a vehicle body and a driver's workplace for a driver.
  • Forklift trucks such as forklifts or reach trucks, are equipped with a mast system for stacking and storing transport goods.
  • the mast system includes a mast.
  • a liftable on the mast and lowered fork carriage is moved in the vertical direction, via which a load is moved to a corresponding height and to a corresponding position.
  • At the fork carrier is usually arranged a fork with two forks.
  • the load is picked up on the forks of the fork, for example via a pallet.
  • the above-mentioned trucks must be positioned by means of a traction drive so that the load fork laterally centered in relation to receiving openings of the load or the pallet or more generally, a load means.
  • Modern industrial trucks have a fork-side slide or a mast cross-stroke. These functions allow the fork to be adjusted laterally in the horizontal direction. Furthermore, equipped with such a feature trucks for receiving the load means can be positioned by means of a working hydraulics such that the load fork is laterally centered with respect to the receiving opening of the load means or the pallet. The lateral positioning must be carried out by the driver of the truck by pressing the fork side slide or Mastquerverschub. The fork side slider or the mast transverse displacement thus makes it possible for a driver of the truck to perform a fine positioning of the fork at high altitudes.
  • a disadvantage of the use of the fork side slide or Mastquerverschubs is that the movement of the fork side slide or Mastquerverschubs is mechanically limited and must be adjusted in advance by the driver so that a corresponding correction movement is possible. Furthermore, there is the problem that in these operations, the fork and the lateral position of the fork in relation to the receiving opening of the load means, for example, the pallet, the driver is not visible. Only by a corresponding knowledge or experience of the driver is this able to perform such a positioning movement properly.
  • the above-mentioned positioning of the forklift of an industrial truck can also be carried out if the forklift of a truck is equipped with a fork-type camera system.
  • a fork-type camera system allows for 2D visualization of the optical objects in front of the forklift, for example a load on a pallet, relative to the forklift.
  • the fork camera system Although the problem can be encountered that is not visible for operations in, for example, high altitude, the fork and the lateral position with respect to the receiving opening of the load means. But even when using such a system, the driver of the truck must carry out the fine positioning of the fork independently, which requires knowledge and experience of the driver. Because an assistance function for fine positioning is also not available.
  • the present invention has for its object to further develop an industrial truck with a load-receiving means, with which the above-mentioned disadvantages are avoided or at least reduced and with which it allows a driver, quickly and without much knowledge and experience, positioning the fork of the truck for receiving a load such that the forklift of the truck are positioned substantially laterally centered to a receiving opening of a load means.
  • an industrial truck with a load receiving means which has a mast with a fork carriage movable on the mast, wherein on the fork carriage a load fork is arranged, a vehicle body and a driver's workplace for a driver, comprising a position detection device which is formed detecting a lateral offset of the forklift with respect to a receiving opening of a load means, a control device configured to generate, based on the determined lateral offset of the forks with respect to the receiving opening of the load means, a movement information indicating in which movement direction the load fork is laterally to move, so that the fork is positioned substantially centrally of the receiving opening of the load means.
  • the lateral offset of the forks to the receiving opening of the load means is determined and thus recognized whether or not the load fork is positioned laterally centered to the receiving opening of the load means.
  • the control device the movement information and movement direction is generated for assisting the driver of the industrial truck in order to facilitate the fine positioning of the load fork laterally centered to the receiving opening of the load means.
  • an assistance function is formed by the position detection device and the control device, which enables the driver of the truck to assist in performing the fine positioning of the load fork laterally centered to the receiving opening of the load means.
  • the truck according to the invention has the advantage that the truck and / or the fork of the truck is optimally fine positioned with respect to a male load means so that the load means, for example, a pallet can be efficiently and quickly absorbed by the fork of the truck.
  • This is achieved by the movement information generated by the control device, which specifies exactly, that is, purposefully, how the truck and thus also its fork must be positioned so that the fork in the middle of the receiving opening or in the receiving openings of the load quickly and without Collision with the load means can be introduced.
  • the truck according to the invention also achieves the further advantage that rapid and collision-free uptake of a load by the forklift of the truck is no longer exclusively dependent on the respective experience and skill of the driver of the truck.
  • the advantage achieved by the truck according to the invention that a driver can reach his required handling targets for load to be transported faster or increases its handling capacity. For the driver no longer has to maneuver the truck very slowly to pick up a load and possibly time-consuming and repeated trial-and-error start-up and positioning attempts to bring the truck and forklift truck to an optimal starting position or home position so that they can insert the forklift into the loader receiving holes without collision.
  • truck according to the invention also manual corrections of the driver, for example via the drive or by means of a fork side slide or Mastquerverschubs, even under difficult conditions, such as positioning facilitates at high altitudes and thus the time required by the driver for the fine positioning of the fork laterally centered reduced to the receiving opening of the load means. Even drivers with little experience can thus absorb a load in difficult conditions in a fast manner.
  • Another advantage of the truck according to the invention is also that a driver of the truck is supported at a lateral positioning of the fork in relation to the receiving opening of the load means or at a fine positioning of the fork substantially laterally centered to the receiving opening of the load.
  • Under the fine positioning of the fork is a positionally accurate alignment of the fork with respect to the receiving opening of a load means to understand before the driver enters the fork of the truck in the receiving opening of the load.
  • a repeated alignment of the truck and / or the fork thereby eliminates what reduces the time required to accommodate the load means. This achieves a higher turnover performance.
  • Another advantage of the truck according to the invention is that an extensive complete solution for positioning at high altitudes is available.
  • the position detection device comprises a non-contact distance sensor.
  • the distance sensor may be disposed on the fork carriage or on the forklift with alignment and orientation to a male load means. This provides the advantage that a distance measurement is easy and efficient to perform.
  • the non-contact distance sensor is as a laser sensor and / or as a 2D line sensor and / or as a 2D distance camera system and / or as a 2D camera system and / or as a 3D distance camera system and / or 3D camera system formed. This provides the advantage that the quality of the distance measurement is customizable according to technical specifications.
  • the truck includes a display device configured to display the generated motion information.
  • a display device configured to display the generated motion information.
  • the driver is displayed efficiently, as he must move the truck and / or the fork and / or fork carriage accordingly and in particular must move laterally.
  • the direction of movement on the display device in which the load fork has to be moved in order to be positioned laterally centrally relative to the receiving opening of the load device is preferably displayed as movement information. This is particularly helpful for an efficient and quick fine positioning of the truck and / or the fork by the driver when the driver has no or only a limited view of the fork and / or the receiving opening of the load, in which the fork is to be inserted, to pick up the load.
  • the display device comprises at least one display.
  • This provides the advantage that the driver, the movement information displayed thereon, in which direction of movement of the truck and / or the fork carriage and / or the fork must be laterally displaced with respect to the receiving opening, even during the control of the truck to perform a corresponding movement to Fine positioning of the truck and / or fork carriage and / or the fork of the truck always has in his field of vision and may optionally perform quick and immediate corrections in the fine positioning, if carried out by him movement of the truck and / or fork carriage and / or the fork deviates from the predetermined or proposed by the movement information, in particular lateral movement or movement direction of the truck and / or fork carriage and / or the fork in relation to the receiving opening of the load means.
  • the control device is designed, based on the generated movement information, to transmit a control signal to a drive device of the industrial truck in order to limit a controllable movement or a controllable movement latitude of the industrial truck and / or the fork and / or fork carriage.
  • the control device is designed to store the generated motion information as a retrievable control command in the truck, and wherein triggering of the control command causes the control device, the drive device of the truck such that on the basis of the generated motion information, the fork and / or the fork carriage and / or the truck is automatically moved from a first current actual position to a second target position, in which the fork is laterally centered to the receiving opening of the load means.
  • This provides the advantage that the truck can be extended via the stored and retrievable control command in the truck with an assistant function for automated and efficient positioning of the truck and / or the fork and / or fork carriage with respect to the receiving opening of the load, the simple Way, for example, by a driver of the truck, is retrievable.
  • the automatically executed when calling this assistance function movement is stopped when the fork is finely positioned in relation to the receiving opening of the load means.
  • the control command in the industrial truck can be triggered by the driver by actuating a control element, for example a control button.
  • a control element for example a control button.
  • the movement information comprises information about an actual distance of the forks to the receiving opening of the load means.
  • the actual distance of the fork comprises a distance between an outer fork edge of the fork to a vertical contour edge and / or a distance between an outer fork edge of the fork to a horizontal contour edge of the receiving opening.
  • Fig. 1 shows a schematic illustration of an industrial truck 1 with a load-receiving means 2, which has a mast 2a with a liftable on the mast 2a and lowerable fork carrier 2b, wherein on the fork carriage 2b, a fork 2c is arranged.
  • the truck 1 has a vehicle body 3 and a driver's workplace 5 for a driver 6.
  • the truck 1 comprises according to the Fig. 1 a position detecting device 7, which is formed, a lateral offset of the fork 2 c with respect to a in the Fig. 2a shown receiving opening 8 of a likewise in the Fig. 2a detected load means 9 to detect.
  • the position detection device 7 can be designed as a sensor.
  • the position detection device 7 may include a non-contact distance sensor.
  • the contactless distance sensor can be embodied as a laser sensor and / or as a 2D line sensor and / or as a 2D distance camera system and / or as a 2D camera system and / or as a 3D distance camera system and / or as a 3D camera system ,
  • the position detection device 7 is positioned on the truck 1 such that the sensing of the distance A of a surface F or of surface points parallel to the mast 2a, in particular in the region of the fork tines of the fork 2c, is possible and assured.
  • the load means 9 can, as in the Fig. 2a and the Fig. 2b shown to be a pallet on which a load can be stored.
  • the palette can, as in the Fig. 2a and the Fig. 2b represents, have two receiving openings 8a, 8b, in which the fork 2c is inserted.
  • the forks 2c may consist of two individual forks 2c1, 2c2, which are each in one of the receiving openings 8a, 8b of the load-bearing device designed as a pallet 9 in the direction of the movement arrow 18 and again random Concretebar.
  • the truck 1 comprises according to the Fig. 1
  • a control device 10 which is formed on the basis of the determined lateral offset of the load fork 2c in With respect to the receiving opening 8, 8a, 8b of the load means 9 to generate a movement information indicating in which direction of movement, shown as movement arrow 19 in the Fig. 2a , the load fork 2c is to be displaced laterally so that the load fork 2c is positioned substantially centrally of the receiving opening 8, 8a, 8b of the load means 9.
  • the truck 1 according to the Fig. 1 may include a display device 12 configured to display the generated motion information.
  • the display device 12 include at least one display 12a.
  • the driver 6 of the industrial truck 1 can be displayed and visualized the movement information and the direction of movement of the load fork 2c generated by the control device 10.
  • the driver knows at any time 6 how he (not) still position or align the truck 1 and / or the fork 2c and / or fork carriage 2b with respect to the receiving opening 10 of the load means, if there are deviations of the set orientation
  • the display 12a may be installed in a cockpit of the driver's workplace 5. With the display device 12, the driver is visualized in a first variant of the invention, the direction of movement, in which the fork 2c must be moved so that it is laterally centered to the receiving opening 8, 8a, 8c of the load means 9.
  • the control device 10 of the truck 1 may be formed on the basis of the generated motion information to transmit a control signal to a drive device 13 of the truck 1 to limit a controllable movement or a controllable range of motion of the truck 1 and / or the fork 2c and / or the fork carriage 2b.
  • a controllable movement or a controllable range of motion of the truck 1 and / or the fork 2c and / or the fork carriage 2b As a result, in a second variant of the invention, the direction of movement, in which the fork 2c must be moved laterally so that it is laterally centered to the receiving opening 8, 8a, 8c of the load means 9, assisted by the control device 10 limited.
  • the driver of the truck can thereby start the fine positioning of the fork 2c laterally centered to the receiving opening 8, 8a, 8b of the load means 9 assisted by operating the drive device 13.
  • control device 10 may be formed, the generated motion information as a retrievable control command in the truck 1 in a designated, but not in the Fig. 1 store memory device shown.
  • a triggering of the control command causes the control device 10, the drive device 13 of the truck 1 so controls that based on the generated movement information, the fork 2c and / or the fork carriage 2b and / or the truck 1 from a first current actual position in a second target position in the direction of by the in the Fig. 2a shown movement arrow 19 is automatically movable, in which the load fork 2c is laterally centered to the receiving opening 8, 8a, 8b of the load means 9.
  • the control command in the truck 1 can by the in the Fig. 1 shown driver 6 by pressing a control element 14 triggers.
  • the operating element 14 can be designed, for example, as a key.
  • the system of the industrial truck 1 in the form of the control device 10 then takes over the automated positioning of the industrial truck 1 and / or the fork carriage 2b and / or the fork 2c - without the driver having to intervene directly - in the corresponding movement direction to be executed on the basis of the determined movement information,
  • the fork 2c can be laterally moved centrally in relation to the receiving opening 10 of the load means 9 or moved.
  • the movement or the orientation of the truck 1 and / or the fork carriage 2b and / or the fork 2c is automatically terminated when the truck 1 and / or the fork carriage 2b and / or the fork 2c with respect to the receiving opening 8, 8a, 8b the load means 9 is finely positioned or aligned by the predetermined movement information.
  • the fine positioning of the load fork 2c laterally centered on the receiving opening 8, 8a, 8b of the load means 9 is carried out automatically after actuation of the operating element 12 by the driver.
  • the industrial truck 1 according to the invention can be combined with a so-called lifting height pre-selection assistant of the load fork 2c.
  • the above-described assistance function for aligning the load fork 2c laterally centered with respect to the receiving opening 8, 8a, 8b of the load means 9 can by actuating a control element, For example, a key, be operated in parallel to the Hubtownnvorassistenten.
  • Fig. 2a shows a schematic illustration of a section of a load fork 2c shown in plan view of an only schematically illustrated truck 1 with respect to a male load means 9, which is shown as a pallet.
  • the fork 2c is mounted on a fork carriage 2b and comprises two forks 2c1, 2c2. These show in the Fig. 2a an actual distance 15 to the load means 9.
  • the motion information generated by the control device 10 may be information about one as shown in FIG Fig. 2a illustrated, actual distance 15 of the fork 2c to the receiving opening 8, 8a, 8b of the load means 9 include. This actual distance 15 is in the Fig. 2a shown as a corresponding arrow 15.
  • Fig. 2b shows a schematic illustration of a load means 9 and the two prongs of a fork 2c, 2c1, 2c2, which are either arranged in front of the load means 9 or already introduced into the receiving openings 8a, 8b of the load means 9 in side view.
  • the actual distance 15 of the fork 2c may alternatively or additionally to a distance 15a between an outer fork edge 11b of the fork 2c, 2c1 to a vertical contour edge 8d and / or a distance 15b between an outer fork edge 11a of the fork 2c, 2c1 a horizontal contour edge 8c of the receiving opening 8, 8a, 8b include.
  • the distances 15a, 15b of the actual distance 15 may be part of the movement information generated by the control device 10.
  • the two forks 2c1, 2c2 are laterally centered with respect to the receiving openings 8a, 8b of the load means 9, which can be achieved with the assistance function according to the invention.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP18181069.8A 2017-07-24 2018-07-02 Chariot de manutention Active EP3514103B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102017116626.2A DE102017116626A1 (de) 2017-07-24 2017-07-24 Flurförderzeug

Publications (2)

Publication Number Publication Date
EP3514103A1 true EP3514103A1 (fr) 2019-07-24
EP3514103B1 EP3514103B1 (fr) 2023-01-25

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EP18181069.8A Active EP3514103B1 (fr) 2017-07-24 2018-07-02 Chariot de manutention

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EP (1) EP3514103B1 (fr)
DE (1) DE102017116626A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11820634B2 (en) 2020-02-21 2023-11-21 Crown Equipment Corporation Modify vehicle parameter based on vehicle position information

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5208753A (en) * 1991-03-28 1993-05-04 Acuff Dallas W Forklift alignment system
US20040073359A1 (en) * 2002-01-23 2004-04-15 Hisashi Ichijo Position control device and position control method of stevedoring apparatus in industrial vehicle
EP2468678A1 (fr) * 2010-12-23 2012-06-27 Jungheinrich Aktiengesellschaft Chariot de manutention équipé d'un capteur pour détecter l'environnement spatial et procédé de fonctionnement d'un tel chariot de manutention
EP2653429A1 (fr) * 2012-04-20 2013-10-23 STILL GmbH Procédé de commande pour chariot de manutention et chariot de manutention

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5208753A (en) * 1991-03-28 1993-05-04 Acuff Dallas W Forklift alignment system
US20040073359A1 (en) * 2002-01-23 2004-04-15 Hisashi Ichijo Position control device and position control method of stevedoring apparatus in industrial vehicle
EP2468678A1 (fr) * 2010-12-23 2012-06-27 Jungheinrich Aktiengesellschaft Chariot de manutention équipé d'un capteur pour détecter l'environnement spatial et procédé de fonctionnement d'un tel chariot de manutention
EP2653429A1 (fr) * 2012-04-20 2013-10-23 STILL GmbH Procédé de commande pour chariot de manutention et chariot de manutention

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11820634B2 (en) 2020-02-21 2023-11-21 Crown Equipment Corporation Modify vehicle parameter based on vehicle position information
US11912550B2 (en) 2020-02-21 2024-02-27 Crown Equipment Corporation Position assistance system for a materials handling vehicle

Also Published As

Publication number Publication date
DE102017116626A1 (de) 2019-01-24
EP3514103B1 (fr) 2023-01-25

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