EP3549901B1 - Reach truck - Google Patents

Reach truck Download PDF

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Publication number
EP3549901B1
EP3549901B1 EP19160171.5A EP19160171A EP3549901B1 EP 3549901 B1 EP3549901 B1 EP 3549901B1 EP 19160171 A EP19160171 A EP 19160171A EP 3549901 B1 EP3549901 B1 EP 3549901B1
Authority
EP
European Patent Office
Prior art keywords
attachment
load
thrust
drive
wheel arms
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.)
Revoked
Application number
EP19160171.5A
Other languages
German (de)
French (fr)
Other versions
EP3549901A9 (en
EP3549901A1 (en
Inventor
Frank Krahwinkel
Björn Bullermann
Wolfgang Mönke
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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Publication date
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Application filed by STILL GmbH filed Critical STILL GmbH
Publication of EP3549901A1 publication Critical patent/EP3549901A1/en
Publication of EP3549901A9 publication Critical patent/EP3549901A9/en
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Revoked legal-status Critical Current
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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
    • 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
    • B66F9/0755—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
    • B66F9/08—Masts; Guides; Chains
    • B66F9/10—Masts; Guides; Chains movable in a horizontal direction relative to truck

Definitions

  • the invention relates to a reach truck with two wheel arms arranged at a distance from one another in the transverse direction of the vehicle, a lifting frame being arranged between the two wheel arms so as to be displaceable in the longitudinal direction of the vehicle by means of a thrust drive, a fork carrier being arranged on the lifting frame so that it can be lowered and raised by means of a lifting drive, with the fork carrier an attachment for handling a load is arranged.
  • Reach trucks are equipped with a mast for stacking and storing transport goods (loads).
  • a fork carriage is moved in the vertical direction via the mast, i.e. raised and lowered, which is used to move the load in height and position.
  • the lifting frame is also shifted in the horizontal longitudinal direction of the vehicle, i.e. pushed out in the longitudinal direction of the vehicle forwards or withdrawn to the rear.
  • An attachment for handling the load is arranged on the fork carriage.
  • the attachment consists of a fork with two fork prongs. The load is picked up with the attachment or on the fork arms, for example by means of a pallet.
  • Reach trucks can optionally have a sideshift device of the attachment, a so-called sideshift, or of the mast, a so-called mast cross-thrust.
  • the attachment can be adjusted laterally in the horizontal transverse direction of the vehicle using the sideshift device. With the sideshift device, the attachment can be precisely positioned for receiving the load or for setting it down, for example on a shelf. The lateral positioning of the attachment by means of the sideshift device must be carried out by the driver in known reach trucks.
  • Reach trucks can optionally be equipped with a thrust / lowering lock device that prevents the load picked up by the attachment from being unintentionally lowered onto the wheel arms.
  • the thrust / lowering lock device is released or blocked depending on the thrust travel position of the mast.
  • the possibility of retraction of the mast is restricted depending on the lifting height of the fork carriage.
  • the thrust / lowering lock device is designed in such a way that the lowering of the attachment is prevented by means of the lifting drive between the two wheel arms (lowering lock) as long as the lifting frame is retracted in a position between the two wheel arms in the longitudinal direction of the vehicle. This means that large loads cannot be accidentally placed on the support arms when lowering and become unstable.
  • the driver can cancel the lowering lock of the thrust / lowering lock device by pressing an acknowledgment button.
  • the attachment In order to be able to deposit a load that has been handled with the attachment on the roadway, the attachment must be lowered to the lowering lock and then the mast be extended in the longitudinal direction of the vehicle to the front to an end stop.Then the attachment can be lowered further and the load placed on the road surface will.
  • the thrust / lowering lock device is also designed in such a way that when the mast is fully extended forward to the end stop, the attachment can be completely lowered without a lowering lock, but then the retraction and thus the retraction of the mast to the rear is blocked by the thrust drive (thrust lock ).
  • An essential part of a reach truck are the two wheel arms, in which or on which the mast in the vehicle longitudinal direction by means of the The thrust actuator is shifted.
  • the wheel arms also represent a potential hazard, since a load that has been picked up or to be picked up can collide with the wheel arms.
  • the standard process of putting a load into and out of storage with a reach truck involves pulling the load back between the wheel arms in order to move them.
  • both when lowering the attachment and when pulling back the mast there is a risk of the attachment or the load colliding with a wheel arm or both wheel arms if the attachment or the load is not positioned centrally in the transverse direction of the vehicle or is wider than the clearance between the two wheel arms. Attachments often exceed the clearance between the two wheel arms, so that a complete lowering of the fork carriage is only possible with the mast fully extended to the front.
  • the load or the attachment can be positioned symmetrically in the middle between the two wheel arms.
  • a wide attachment or an asymmetrical contour of the attachment or an asymmetrical contour of the load With a wide load, a wide attachment or an asymmetrical contour of the attachment or an asymmetrical contour of the load, a collision of the load or the attachment with one or both of the wheel arms can still occur.
  • the pushing / lowering device In known reach trucks, which are provided with a push / lowering device, the pushing / lowering device always prevents the careless lowering of the attachment or careless retraction of the mast without take into account whether the load or the attachment would actually collide with one or both of the wheel arms when the attachment is lowered or the mast is withdrawn. This interrupts the workflow.
  • the WO 2016/043998 A1 discloses a reach truck according to the preamble of independent claim 1.
  • the present invention is based on the object of providing a reach truck of the type mentioned above, which enables even inexperienced drivers to avoid collisions of the load or the attachment with one or both of the wheel arms and which has an increased handling capacity.
  • the reach truck has a sensor device with which a load handled by the attachment and / or a protrusion of the load or the attachment into the outer contour of the wheel arms is detected, and the sensor device with a thrust drive of the mast and the control device controlling the lifting drive of the fork carriage is in operative connection, the control device being designed such that the thrust drive and the lifting drive are controlled as a function of the sensor device in such a way that a movement of the thrust drive and the lifting drive are stopped in such a way that a collision of the load and / or the attachment is prevented with one or both wheel arms.
  • the sensor device is used to detect whether the load and / or the attachment protrudes into the outer contour of the wheel arms and only in the event that the load and / or the attachment protrudes into the outer contour of the wheel arms, ie the further lowering process of the Attachment or the further retraction process of the lifting frame would lead to a collision of the load or the attachment with a wheel arm or both wheel arms, the retraction movement of the lifting frame by means of the thrust drive and the lowering movement of the attachment by means of the lifting drive are stopped in such a way that a collision of the load and / or of the attachment is prevented with one or both wheel arms.
  • This provides an assistance system that effectively prevents the load or the attachment from colliding with one or both of the wheel arms and with which even inexperienced drivers can safely prevent the load or the attachment from colliding with one or both of the wheel arms. Furthermore, the lowering movement of the attachment or the retraction of the mast is only ended when this Movements would actually lead to a collision of the load or the attachment with one or both of the wheel arms, so that the work flow is not interrupted
  • the reach truck is provided with a thrust / lowering lock device of the thrust drive and the lifting drive and the control device controls the thrust / lowering lock device of the thrust drive and the lifting drive, the control device being designed in such a way that the thrust / lowering lock device is dependent on is controlled by the sensor device.
  • the control device is designed in such a way that the thrust / lowering lock device is only activated when a load handled by the attachment and / or the load or the attachment protrudes into the outer contour of a wheel arm or both wheel arms from the sensor device is detected.
  • the thrust / lowering lock device thus only limits the lowering movement of the attachment or the retraction movement of the lifting frame when there is actually a risk of the load or the attachment colliding with one or both of the wheel arms. If no such risk of collision is detected by the sensor device, the thrust / lowering lock device is deactivated so that the attachment can be lowered without a lowering lock and the mast can be pulled back without a thrust lock.
  • the control device is designed in such a way that the thrust / lowering lock device can only be deactivated if the sensor device does not handle a load or the attachment that protrudes into the outer contour of a wheel arm or both wheel arms is detected inside.
  • the thrust / lowering lock device can therefore only be deactivated by the driver when there is no risk of the load or attachment colliding with one or both of the wheel arms.
  • the thrust / lowering lock device is only activated if the sensor device detects a load handled by the attachment and / or a protrusion of the load or the attachment into the outer contour of a wheel arm or both wheel arms , and can only be deactivated if the sensor device does not detect any load handled by the attachment and / or the load or attachment does not protrude into the outer contour of a wheel arm or both wheel arms.
  • the control device controls a tilt drive of the lifting frame and / or a sideshift device of the attachment or of the lifting frame and / or an additional hydraulic function of the attachment, for example a fork positioner, the control device being designed such that the tilting drive of the lifting frame and / or the Sideshift device of the attachment or of the lifting frame and / or the auxiliary hydraulic function of the attachment are controlled as a function of the sensor device in such a way that a movement of the tilting drive of the lifting frame and / or the sideshift device of the attachment or of the lifting frame and / or the additional hydraulic function of the attachment are stopped in such a way that that a collision of the load and / or the attachment with one or both wheel arms is prevented.
  • control device to block or stop the shifting of a load or attachment located within the two wheel arms, for example by actuating the tilt drive or the sideshift device or the auxiliary hydraulic function, which could lead to a collision of the load or the attachment with a wheel arm or both wheel arms.
  • the sensor device can be designed as a load detection sensor, for example as a pressure sensor for detecting the pressure in a lifting cylinder device of the lifting drive. If a load handled by the attachment is detected with the load detection sensor, this can be indicated by the control device as a potential risk of the load colliding with a Wheel arm or both wheel arms are evaluated and the movement of the thrust drive and the lifting drive are stopped in such a way that a collision of the load with one or both wheel arms is prevented or the thrust / lowering lock device is activated.
  • a load detection sensor for example as a pressure sensor for detecting the pressure in a lifting cylinder device of the lifting drive.
  • the sensor device can be designed as a sensor device that monitors the outer contour of the wheel arms. With such a sensor device it can be detected in a simple manner whether a load or the attachment protrudes into the outer contour of the wheel arms and thus a risk of collision of the load or the attachment with a wheel arm or both wheel arms can be detected.
  • the sensor device can be designed as a line sensor that detects a line, or as an area sensor that detects a collision surface.
  • the collision surfaces which are formed by the outer surfaces of the wheel arms, can be monitored for possible collisions with the load or the attachment in a simple manner.
  • the spanning collision area can be calculated from the movement (lowering / retraction) of the load by the control device.
  • area sensors all or part of the collision areas can be measured directly.
  • the sensor device can be designed as an optical sensor, for example LED or laser, or as a distance sensor (1D, 2D or 3D) or as a switch or as an ultrasonic sensor or as an inductive sensor or as a capacitive sensor or as a magnetic sensor or as a camera.
  • an optical sensor for example LED or laser
  • the driver is supported to the effect that the picked-up load can be lowered to the optimum level without causing a collision with one or both wheel arms. This enables an optimally low center of gravity of the reach truck with the load picked up and safe operation.
  • the driver is supported by the control device when handling load contours that are smaller than the clear width between the two wheel arms, since the control device supports such loads with no risk of collision the wheel arms, the thrust / lowering lock device is deactivated so that the attachment can be lowered without a lowering lock and the mast can be pulled back without a thrust lock. Interruptions in the work flow are thus avoided, so that an increased handling capacity of the industrial truck is made possible.
  • the driver of the reach truck is supported by the control device when handling a load located within the two wheel arms, since the control device limits the movement of a sideshift device and / or a tilting drive and / or the actuation of an additional hydraulic function of the attachment, for example a fork positioner, in such a way that the load collides with one or both wheel arms.
  • a reach truck 1 which has a vehicle frame 2 which has two wheel arms 2a, 2b arranged at a distance from one another in the transverse direction Q of the vehicle.
  • a load wheel 4a, 4b is arranged at each of the front ends of the wheel arms 2a, 2b.
  • a steerable drive wheel 5 is arranged on the vehicle frame 2 at a distance from the load wheels 4a, 4b in the vehicle longitudinal direction L.
  • the reach truck 1 is supported by the drive wheel 5 and the two load wheels 4a, 4b on a roadway.
  • a lifting frame 10 is arranged displaceably in the vehicle longitudinal direction L by means of a thrust drive, not shown in detail.
  • the lifting frame 10 is arranged on a push slide 11, which can be displaced in the longitudinal direction L of the vehicle by means of the push drive on the wheel arms 2a, 2b.
  • a fork carriage 12 can be lowered and raised by means of a lifting drive 13 on the lifting frame 10.
  • An attachment 15 for handling a load is arranged on the fork carriage 12.
  • the attachment 15 is formed by two fork prongs 16a, 16b.
  • the load is in the illustrated embodiment Figure 1 formed by a pallet P.
  • the mast 10 can be inclined about a horizontal tilting axis N, about which the mast 10 can be tilted forwards V and H to the rear by means of a tilt drive, not shown in detail can.
  • the tilt axis N is arranged between the push slide 11 and the lifting frame 10.
  • a sideshift device can be provided in the reach truck 1 with which the attachment 15 or the lifting frame 10 can be moved in the transverse direction Q of the vehicle.
  • the attachment 15 can be moved relative to the lifting frame 10 in the vehicle transverse direction Q with the sideshifter device or the lifting frame 10 can be moved relative to the thrust carriage 11 in the vehicle transverse direction Q.
  • the mast 10 is in a position that has been completely retracted to the rear by means of the thrust drive.
  • the lifting frame 10 can be moved forward in the horizontal vehicle longitudinal direction by means of the thrust drive.
  • a pallet P located on the fork tines 16a, 16b is shown.
  • the pallet P has an outer contour and width that is less than the clear width between the two wheel arms 2a, 2b, so that the pallet P can be lowered onto the road surface between the two wheel arms 2a, 2b.
  • the reach truck 1 is provided with a thrust / lowering lock device which prevents the load (pallet P) picked up by the attachment 15 from being unintentionally lowering onto the wheel arms 2a, 2b.
  • the thrust / lowering lock device is released or locked depending on the thrust travel position of the lifting frame 10.
  • the possibility of retraction of the mast 10 is restricted depending on the lifting height of the fork carriage 12.
  • the thrust / lowering lock device is designed in such a way that the lowering of the attachment 15 is prevented by means of the lifting drive between the two wheel arms 2a, 2b (lowering lock) as long as the mast 10 is retracted by means of the thrust drive in a position located between the two wheel arms 2a, 2b in the vehicle longitudinal direction L.
  • the thrust / lowering lock device is also designed in such a way that when the lifting frame is fully extended in the vehicle longitudinal direction L forwards to the end stop 10 the attachment 15 can be completely lowered by means of the lifting drive without a lowering lock, but then the retraction and thus the retraction of the lifting frame 10 to the rear is blocked by means of the thrust drive (thrust lock).
  • the reach truck 1 has a sensor device 20 with which a load handled by the attachment 15 and / or a protrusion of the load or the attachment 15 into the outer contour of the wheel arms 2a, 2b is detected.
  • the sensor device 20 is in operative connection with a control device 21 controlling the thrust drive and the lifting drive, in particular an electronic control device.
  • the control device 21 is designed such that the thrust drive and the lifting drive are controlled depending on the sensor device 20 in such a way that a movement of the thrust drive and the lifting drive are stopped in such a way that the load and / or the attachment 15 collide with a wheel arm 2a or 2b or both wheel arms 2a, 2b is prevented.
  • control device 21 controls the thrust / lowering lock device of the thrust drive and the lifting drive and is designed such that the thrust / lowering lock device is activated as a function of the sensor device 20.
  • the sensor device 20 is preferably designed as a sensor device 22 that monitors the outer contour of the wheel arms 2a, 2b.
  • the sensor device 22 can be designed as a line sensor or area sensor.
  • a disturbance control is detected by the sensor device 20, ie the detection of a protrusion of the load or the attachment 15 into the contour of the wheel arms 2a, 2b, in that collision surfaces KF on the wheel arms 2a, 2b, which are in the Figures 1 and 2 are illustrated by the hatching, is monitored for possible interfering contours, ie a load protruding into the collision area KF or an attachment 15 protruding into the collision area KF.
  • the detection of the interfering contour by means of the sensor device 20 is further processed in the control device 21 and linked to the function of the thrust / lowering lock device.
  • This connection can alternatively or additionally be designed in such a way that the thrust / lowering lock device can only be switched off when there is no interfering contour.
  • this connection can be so pronounced that the thrust / lowering lock device is only activated when an interfering contour is present, and the thrust / lowering locking device can only be switched off if there is no interfering contour.
  • the control device 21 is designed in such a way that the thrust / lowering lock device is only activated if the sensor device 20 has a load handled by the attachment 15 and / or the load or the attachment 15 protrudes into the collision area KF and thus into the outer contour the wheel arms 2a, 2b is detected inside.
  • the load (pallet P) is smaller than the clear width between the two wheel arms 2a, 2b and thus the load (pallet P) does not protrude into the collision surfaces KF and thus into the outer contour of the wheel arms 2a, 2b
  • the thrust / lowering lock device is deactivated so that the attachment 15 with the load on it can be completely lowered, although the lifting frame 10 is in the retracted position by means of the thrust drive.
  • the control device 21 terminates the lowering movement of the fork carriage 12 and / or the pushing back movement of the lifting frame 10 in such a way that there is no collision of the attachment 15 or the load picked up by it with the wheel arms 2a, 2b.
  • the control device 21 initiates a corresponding braking process of the lowering movement of the attachment 15 and / or the pushing back movement of the lifting frame 10, so that the attachment 15 or the load is stopped before contact with the outer contour of the wheel arms 2a, 2b.
  • the collision areas KF monitored by the sensor device 20 are larger than the outer contour (width and height) of the wheel arms 2a, 2b.
  • control device 21 is designed in such a way that the thrust / lowering lock device can only be deactivated if the sensor device 20 does not handle a load by the attachment 15 and / or the load or the attachment 15 does not protrude into the collision surface KF and thus into the outer contour the wheel arms 2a, 2b is detected inside.
  • the control device 20 can also control the tilt drive of the mast 10 and / or a sideshift device of the attachment 15 or of the mast 10 and / or any additional hydraulic function of the attachment 15, for example a fork positioner, and can be designed such that the tilt drive of the mast 10 and / or the sideshift device of the attachment 15 or of the lifting frame 10 and / or the additional hydraulic function of the attachment are controlled as a function of the sensor device 20 in such a way that a movement of the tilt drive of the lifting frame 10 and / or the sideshift device of the attachment 15 or of the lifting frame 10 and / or the auxiliary hydraulic function of the attachment can be stopped in such a way that a collision of the load and / or the attachment 15 with a wheel arm 2a or 2b or both wheel arms 2a, 2b is prevented.
  • the control device 21 thus blocks the shifting of a load by means of the tilt drive and / or the sideshift device and / or the additional hydraulic function of the attachment 15 within both wheel arms 2a, 2b, which could lead to a collision with the wheel arms 2a, 2b.
  • load detection can alternatively also be used.
  • the sensor device can be designed as a load detection sensor, for example as a pressure sensor for detecting the pressure in a lifting cylinder device of the lifting drive. Every load picked up is then detected as an interfering contour and the thrust / lowering lock device is activated when a load picked up is determined. If there is no load on the attachment, the thrust / lowering lock device is deactivated accordingly.

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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)
  • Forklifts And Lifting Vehicles (AREA)

Description

Die Erfindung betrifft einen Schubmaststapler mit einem zwei in Fahrzeugquerrichtung voneinander beabstandet angeordneten Radarmen, wobei zwischen den beiden Radarmen ein Hubgerüst in Fahrzeuglängsrichtung mittels eines Schubantriebs verschiebbar angeordnet ist, wobei an dem Hubgerüst ein Gabelträger mittels eines Hubantriebs absenkbar und anhebbar angeordnet ist, wobei an dem Gabelträger ein Anbaugerät zum Handhaben einer Last angeordnet ist.The invention relates to a reach truck with two wheel arms arranged at a distance from one another in the transverse direction of the vehicle, a lifting frame being arranged between the two wheel arms so as to be displaceable in the longitudinal direction of the vehicle by means of a thrust drive, a fork carrier being arranged on the lifting frame so that it can be lowered and raised by means of a lifting drive, with the fork carrier an attachment for handling a load is arranged.

Schubmaststapler sind mit einem Hubgerüst zum Stapeln und Einlagern von Transportgütern (Lasten) ausgestattet. Über das Hubgerüst wird ein Gabelträger in vertikaler Richtung verschoben, d.h. angehoben und abgesenkt, über den die Last in Höhe und Position bewegt wird. Bei einem Schubmaststapler wird beim Stapelvorgang der Last zusätzlich das Hubgerüst in horizontaler Fahrzeuglängsrichtung verschoben, d.h. in Fahrzeuglängsrichtung nach Vorne ausgeschoben bzw. nach Hinten zurückgezogen. Am Gabelträger ist für die Handhabung der Last ein Anbaugerät angeordnet. In der Regel ist das Anbaugerät von einer Lastgabel mit zwei Gabelzinken gebildet. Mit dem Anbaugerät bzw. auf den Gabelzinken wird die Last, beispielsweise mittels einer Palette, aufgenommen.Reach trucks are equipped with a mast for stacking and storing transport goods (loads). A fork carriage is moved in the vertical direction via the mast, i.e. raised and lowered, which is used to move the load in height and position. In the case of a reach truck, when the load is stacked, the lifting frame is also shifted in the horizontal longitudinal direction of the vehicle, i.e. pushed out in the longitudinal direction of the vehicle forwards or withdrawn to the rear. An attachment for handling the load is arranged on the fork carriage. As a rule, the attachment consists of a fork with two fork prongs. The load is picked up with the attachment or on the fork arms, for example by means of a pallet.

Schubmaststapler können optional eine Seitenschiebereinrichtung des Anbaugeräts, einen sogenannten Seitenschieber, oder des Hubgerüstes, einen sogenannten Hubgerüstquerschub, aufweisen. Über die Seitenschiebereinrichtung kann das Anbaugerät in horizontaler Fahrzeugquerrichtung seitlich verstellt werden. Mit der Seitenschiebereinrichtung kann eine Feinpositionierung des Anbaugeräts zur Aufnahme der Last bzw. zum Absetzen der Last, beispielsweise in einem Regal, durchgeführt werden. Die seitliche Positionierung des Anbaugeräts mittels der Seitenschiebereinrichtung muss bei bekannten Schubmaststaplern vom Fahrer durchgeführt werden.Reach trucks can optionally have a sideshift device of the attachment, a so-called sideshift, or of the mast, a so-called mast cross-thrust. The attachment can be adjusted laterally in the horizontal transverse direction of the vehicle using the sideshift device. With the sideshift device, the attachment can be precisely positioned for receiving the load or for setting it down, for example on a shelf. The lateral positioning of the attachment by means of the sideshift device must be carried out by the driver in known reach trucks.

Schubmaststapler können optional einen sogenannten Mittequerschub des Hubgerüstes bzw. Mitteseitenschieber des Anbaugeräts aufweisen. Mit dem Mittequerschub des Hubgerüstes bzw. Mitteseitenschieber des Anbaugeräts wird auf Tastendruck der Hubgerüstquerschub bzw. die Seitenschiebereinrichtung des Anbaugeräts in die Mittelposition betätigt. Von der Mittelposition aus kann der Hubgerüstquerschub bzw. die Seitenschiebereinrichtung des Anbaugeräts in beide Bewegungsrichtungen den gleichen Weg zurücklegen.Reach trucks can optionally have a so-called center transverse thrust of the lifting frame or center sideshift of the attachment. With the center transverse thrust of the mast or center sideshift of the attachment, the Press the button to move the mast crossbar or the sideshift device of the attachment to the middle position. From the central position, the mast cross-thrust or the sideshift device of the attachment can cover the same path in both directions of movement.

Schubmaststapler können optional mit einer Schub-/Senksperreinrichtung versehen sein, die ein unbeabsichtigtes Absenken der mit dem Anbaugerät aufgenommenen Last auf die Radarme verhindert. Die Schub-/Senksperreinrichtung wird in Abhängigkeit der Schubwegposition des Hubgerüstes freigegebene oder gesperrt. Zusätzlich wird die Rückzugmöglichkeit des Hubgerüstes eingeschränkt in Abhängigkeit der Hubhöhe des Gabelträgers. Die Schub-/Senksperreinrichtung ist derart ausgeführt, dass das Absenken des Anbaugeräts mittels des Hubantriebs zwischen die beiden Radarme verhindert wird (Senksperre), solange das Hubgerüst in einer zwischen den beiden Radarmen befindlichen Position in Fahrzeuglängsrichtung eingefahren ist. Dadurch können breite Lasten beim Senken nicht versehentlich auf die Radarme abgelegt und instabil werden. Der Fahrer kann die Senksperre der Schub-/Senksperreinrichtung durch Betätigen einer Quittiertaste aufheben. Um eine mit dem Anbaugerät gehandhabte Last auf der Fahrbahn absetzen zu können, muss das Anbaugerät bis zur Senksperre abgesenkt werden und anschließend das Hubgerüst in Fahrzeuglängsrichtung nach Vorne bis zu einem Endanschlag ausgefahren werden Anschließend kann das Anbaugerät weiter abgesenkt werden und die Last auf die Fahrbahnoberfläche abgesetzt werden. Die Schub-/Senksperreinrichtung ist weiterhin derart ausgeführt, dass bei vollständig in Fahrzeuglängsrichtung nach Vorne bis zum Endanschlag ausgefahrenem Hubgerüst das Anbaugerät ohne Senksperre ganz abgesenkt werden kann, jedoch dann das Einfahren und somit das Zurückziehen des Hubgerüstes nach Hinten mittels des Schubantriebs gesperrt ist (Schubsperre). Dadurch wird verhindert, dass eine mit dem Anbaugerät aufgenommene Last beim Zurückziehen des Hubgerüstes durch Kontakt mit den Radarmen von dem Anbaugeräts, beispielswiese den Gabelzinken, abgestreift wird. Der Fahrer muss zum Zurückziehen des Hubgerüstes zuerst die Last wieder auf eine Hubhöhe oberhalb der Radarme anhheben oder die Schubsperre der Schub-/Senksperreinrichtung durch Quittieren aufheben.Reach trucks can optionally be equipped with a thrust / lowering lock device that prevents the load picked up by the attachment from being unintentionally lowered onto the wheel arms. The thrust / lowering lock device is released or blocked depending on the thrust travel position of the mast. In addition, the possibility of retraction of the mast is restricted depending on the lifting height of the fork carriage. The thrust / lowering lock device is designed in such a way that the lowering of the attachment is prevented by means of the lifting drive between the two wheel arms (lowering lock) as long as the lifting frame is retracted in a position between the two wheel arms in the longitudinal direction of the vehicle. This means that large loads cannot be accidentally placed on the support arms when lowering and become unstable. The driver can cancel the lowering lock of the thrust / lowering lock device by pressing an acknowledgment button. In order to be able to deposit a load that has been handled with the attachment on the roadway, the attachment must be lowered to the lowering lock and then the mast be extended in the longitudinal direction of the vehicle to the front to an end stop.Then the attachment can be lowered further and the load placed on the road surface will. The thrust / lowering lock device is also designed in such a way that when the mast is fully extended forward to the end stop, the attachment can be completely lowered without a lowering lock, but then the retraction and thus the retraction of the mast to the rear is blocked by the thrust drive (thrust lock ). This prevents a load picked up by the attachment from being stripped off the attachment, for example the fork prongs, when the lifting frame is withdrawn through contact with the wheel arms. To retract the mast, the driver must first raise the load again to a height above the wheel arms or cancel the push lock of the push / lowering lock device by acknowledging.

Ein wesentlicher Bestandteil eines Schubmaststaplers sind die beiden Radarme, in denen bzw. auf denen das Hubgerüst in Fahrzeuglängsrichtung mittels des Schubantriebs verschoben wird. Die Radarme stellen jedoch auch ein Gefahrenpotential dar, da eine aufgenommene bzw. aufzunehmende Last mit den Radarmen kollidieren kann. Zum Standardein- und auslagerprozess einer Last mit einem Schubmaststapler gehört es, dass die Last zwischen die Radarme zurückgezogen wird, um diese zu verfahren. Sowohl beim Absenken des Anbaugeräts als auch beim Zurückziehen des Hubgerüstes besteht jedoch die Gefahr der Kollision des Anbaugeräts oder der Last mit einem Radarm oder beiden Radarmen, wenn das Anbaugerät bzw. die Last nicht in Fahrzeugquerrichtung mittig positioniert ist oder aber breiter als das lichte Maß zwischen den beiden Radarmen ist. Oftmals Überschreiten Anbaugeräten das lichte Maß zwischen den beiden Radarmen, so dass ein vollständiges Absenken des Gabelträgers nur mit vollständig nach Vorne ausgeschobenem Hubgerüst möglich ist.An essential part of a reach truck are the two wheel arms, in which or on which the mast in the vehicle longitudinal direction by means of the The thrust actuator is shifted. However, the wheel arms also represent a potential hazard, since a load that has been picked up or to be picked up can collide with the wheel arms. The standard process of putting a load into and out of storage with a reach truck involves pulling the load back between the wheel arms in order to move them. However, both when lowering the attachment and when pulling back the mast there is a risk of the attachment or the load colliding with a wheel arm or both wheel arms if the attachment or the load is not positioned centrally in the transverse direction of the vehicle or is wider than the clearance between the two wheel arms. Attachments often exceed the clearance between the two wheel arms, so that a complete lowering of the fork carriage is only possible with the mast fully extended to the front.

Bei bekannten Schubmaststaplern beenden bei der Handhabung einer Last geübte Fahrer den Senkvorgang des Anbaugeräts und den Rückzugvorgang des Hubgerüstes nach hinten bevor es zu einer Kollision der Last bzw. des Anbaugeräts mit einem Radarm oder beiden Radarmen kommt.In known reach trucks, drivers experienced in handling a load terminate the lowering process of the attachment and the retraction process of the mast to the rear before the load or attachment collides with a wheel arm or both wheel arms.

Bei bekannten Schubmaststaplern, die mit einer Seitenschiebereinrichtung des Anbaugeräts oder des Hubgerüstes versehen sind, können geübte Fahrer die Anbaugerätekontur und die Kontur der Ladung mit der Seitenschiebereinrichtung gezielt zwischen den beiden Radarmen positionieren, um eine Kollision der Last bzw. des Anbaugeräts mit einem Radarm oder beiden Radarmen zu vermeiden.In known reach trucks that are provided with a sideshift device of the attachment or the lifting frame, experienced drivers can position the attachment contour and the contour of the load with the sideshift device between the two wheel arms in order to avoid a collision of the load or the attachment with a wheel arm or both Avoid wheel arms.

Bei bekannten Schubmaststaplern, die einen Mittequerschub des Hubgerüstes bzw. Mitteseitenschieber des Anbaugeräts aufweisen, kann zwar die Last oder das Anbaugerät in der Mitte symmetrisch zwischen den beiden Radarmen positioniert werden. Bei einer breiten Last, einem breiten Anbaugerät oder einer asymmetrischen Kontur des Anbaugeräts oder einer asymmetrischen Kontur der Last kann jedoch weiterhin eine Kollision der Last bzw. des Anbaugeräts mit einem Radarm oder beiden Radarmen auftreten.In known reach trucks, which have a center transverse thrust of the mast or center sideshift of the attachment, the load or the attachment can be positioned symmetrically in the middle between the two wheel arms. With a wide load, a wide attachment or an asymmetrical contour of the attachment or an asymmetrical contour of the load, a collision of the load or the attachment with one or both of the wheel arms can still occur.

Bei bekannten Schubmaststapler, die mit einer Schub-/Senksperreinrichtung versehen sind, verhindert die Schub-/Senksperreinrichtung immer das unachtsame Absenken des Anbaugeräts oder unachtsame Zurückziehen des Hubgerüstes ohne zu berücksichtigen, ob es beim Senken des Anbaugeräts oder dem Zurückziehen des Hubgerüstes durch die aufgenommene Last oder das Anbaugerät tatsächlich zu einer Kollision mit einem Radarm oder beiden Radarmen kommen würde. Dadurch kommt es zu einer Unterbrechung des Arbeitsflusses. Die WO 2016/043998 A1 offenbart einen Schubmaststapler gemäß den Oberbegriff des unabhängigen Anspruchs 1.In known reach trucks, which are provided with a push / lowering device, the pushing / lowering device always prevents the careless lowering of the attachment or careless retraction of the mast without take into account whether the load or the attachment would actually collide with one or both of the wheel arms when the attachment is lowered or the mast is withdrawn. This interrupts the workflow. The WO 2016/043998 A1 discloses a reach truck according to the preamble of independent claim 1.

Der vorliegenden Erfindung liegt die Aufgabe zugrunde, einen Schubmaststapler der eingangs genannten Gattung zur Verfügung zu stellen, der es auch ungeübten Fahrern ermöglicht, Kollisionen der Last bzw. des Anbaugeräts mit einem Radarm oder beiden Radarmen zu vermeiden und der eine erhöhte Umschlagsleistung aufweist.The present invention is based on the object of providing a reach truck of the type mentioned above, which enables even inexperienced drivers to avoid collisions of the load or the attachment with one or both of the wheel arms and which has an increased handling capacity.

Diese Aufgabe wird erfindungsgemäß dadurch gelöst, dass der Schubmaststapler eine Sensoreinrichtung aufweist, mit der eine von dem Anbaugerät gehandhabte Last und/oder ein Überstehen der Last oder des Anbaugeräts in die Außenkontur der Radarme hinein detektiert wird, und die Sensoreinrichtung mit einer den Schubantrieb des Hubgerüstes und den Hubantrieb des Gabelträgers steuernden Steuereinrichtung in Wirkverbindung steht, wobei die Steuereinrichtung derart ausgebildet ist, dass der Schubantriebs und der Hubantrieb derart in Abhängigkeit von der Sensoreinrichtung angesteuert werden, dass eine Bewegung des Schubantriebs und des Hubantriebs derart gestoppt werden, dass eine Kollision der Last und/oder des Anbaugeräts mit einem Radarm oder beiden Radarmen verhindert wird.
Erfindungsgemäß wird somit mit der Sensoreinrichtung detektiert, ob die Last und/oder das Anbaugerät in die Außenkontur der Radarme hinein übersteht und nur für den Fall, dass die Last und/oder das Anbaugerät in die Außenkontur der Radarme hinein übersteht, d.h. der weitere Senkvorgang des Anbaugeräts oder der weitere Rückzugvorgang des Hubgerüstes zu einer Kollision der Last oder des Anbaugeräts mit einem Radarm oder beiden Radarmen führen würde, die Rückzugbewegung des Hubgerüstes mittels des Schubantriebs und die Senkenbewegung des Anbaugeräts mittels des Hubantriebs derart gestoppt, dass eine Kollision der Last und/oder des Anbaugeräts mit einem Radarm oder beiden Radarmen verhindert wird. Dadurch wird ein Assistenzsystem erzielt, das wirksam eine Kollision der Last bzw. des Anbaugeräts mit einem Radarme oder beiden Radarmen verhindert und mit dem auch ungeübte Fahrer sicher Kollisionen der Last bzw. des Anbaugeräts mit einem Radarme oder beiden Radarmen verhindert können. Weiterhin wird die Senkenbewegung des Anbaugeräts oder das Zurückziehen des Hubgerüstes nur dann beendet, wenn diese Bewegungen tatsächlich zu einer Kollision der Last bzw. des Anbaugeräts mit einem Radarm oder beiden Radarmen führen würden, so dass der Arbeitsfluss nicht unterbrochen wirdThis object is achieved according to the invention in that the reach truck has a sensor device with which a load handled by the attachment and / or a protrusion of the load or the attachment into the outer contour of the wheel arms is detected, and the sensor device with a thrust drive of the mast and the control device controlling the lifting drive of the fork carriage is in operative connection, the control device being designed such that the thrust drive and the lifting drive are controlled as a function of the sensor device in such a way that a movement of the thrust drive and the lifting drive are stopped in such a way that a collision of the load and / or the attachment is prevented with one or both wheel arms.
According to the invention, the sensor device is used to detect whether the load and / or the attachment protrudes into the outer contour of the wheel arms and only in the event that the load and / or the attachment protrudes into the outer contour of the wheel arms, ie the further lowering process of the Attachment or the further retraction process of the lifting frame would lead to a collision of the load or the attachment with a wheel arm or both wheel arms, the retraction movement of the lifting frame by means of the thrust drive and the lowering movement of the attachment by means of the lifting drive are stopped in such a way that a collision of the load and / or of the attachment is prevented with one or both wheel arms. This provides an assistance system that effectively prevents the load or the attachment from colliding with one or both of the wheel arms and with which even inexperienced drivers can safely prevent the load or the attachment from colliding with one or both of the wheel arms. Furthermore, the lowering movement of the attachment or the retraction of the mast is only ended when this Movements would actually lead to a collision of the load or the attachment with one or both of the wheel arms, so that the work flow is not interrupted

Gemäß einer Weiterbildung der Erfindung ist der Schubmaststapler mit einer Schub-/Senksperreinrichtung des Schubantriebs und des Hubantriebs versehen und steuert die Steuereinrichtung die Schub-/Senksperreinrichtung des Schubantriebs und des Hubantriebs, wobei die Steuereinrichtung derart ausgebildet ist, dass die Schub-/Senksperreinrichtung in Abhängigkeit von der Sensoreinrichtung angesteuert wird. Dadurch wird es auf einfache Weise möglich, die Schub-/Senksperreinrichtung situationsabhängig nur dann zu aktivieren, wenn es beim Senken des Anbaugeräts oder dem Zurückziehen des Hubgerüstes durch die aufgenommene Last oder das Anbaugerät tatsächlich zu einer Kollision mit einem Radarm oder beiden Radarmen kommen würde. Dadurch können Unterbrechung des Arbeitsflusses verhindert werden.According to a further development of the invention, the reach truck is provided with a thrust / lowering lock device of the thrust drive and the lifting drive and the control device controls the thrust / lowering lock device of the thrust drive and the lifting drive, the control device being designed in such a way that the thrust / lowering lock device is dependent on is controlled by the sensor device. This makes it possible in a simple manner to activate the thrust / lowering lock device, depending on the situation, only if the load or the attachment would actually collide with one or both of the wheel arms when the attachment is lowered or the mast is withdrawn. This prevents interruption of the workflow.

Die Steuereinrichtung ist gemäß einer Ausgestaltungsform der Erfindung derart ausgebildet, dass die Schub-/Senksperreinrichtung nur aktiviert wird, wenn von der Sensoreinrichtung eine von dem Anbaugerät gehandhabte Last und/oder ein Überstehen der Last oder des Anbaugeräts in die Außenkontur eines Radarms oder beider Radarme hinein detektiert wird. Die Schub-/Senksperreinrichtung begrenzt somit nur dann die Senkenbewegung des Anbaugeräts oder die Rückzugsbewegung des Hubgerüstes, wenn tatsächlich die Gefahr einer Kollision der Last oder das Anbaugeräts mit einem Radarm oder beiden Radarmen besteht. Wird von der Sensoreinrichtung keine derartige Kollisionsgefahr detektiert, ist die Schub-/Senksperreinrichtung deaktiviert, so dass das Anbaugeräts ohne Senksperre abgesenkt werden kann und das Hubgerüst ohne Schubsperre nach Hinten zurückgezogen werden kann.According to one embodiment of the invention, the control device is designed in such a way that the thrust / lowering lock device is only activated when a load handled by the attachment and / or the load or the attachment protrudes into the outer contour of a wheel arm or both wheel arms from the sensor device is detected. The thrust / lowering lock device thus only limits the lowering movement of the attachment or the retraction movement of the lifting frame when there is actually a risk of the load or the attachment colliding with one or both of the wheel arms. If no such risk of collision is detected by the sensor device, the thrust / lowering lock device is deactivated so that the attachment can be lowered without a lowering lock and the mast can be pulled back without a thrust lock.

Die Steuereinrichtung ist gemäß einer alternativen oder zusätzlichen Ausgestaltungsform der Erfindung derart ausgebildet, dass die Schub-/Senksperreinrichtung nur deaktivierbar ist, wenn von der Sensoreinrichtung keine von dem Anbaugerät gehandhabte Last und/oder kein Überstehen der Last oder des Anbaugeräts in die Außenkontur eines Radarms oder beider Radarme hinein detektiert wird. Die Schub-/Senksperreinrichtung kann somit nur dann vom Fahrer deaktiviert werden, wenn keine Gefahr einer Kollision der Last oder das Anbaugeräts mit einem Radarm oder beiden Radarmen besteht.According to an alternative or additional embodiment of the invention, the control device is designed in such a way that the thrust / lowering lock device can only be deactivated if the sensor device does not handle a load or the attachment that protrudes into the outer contour of a wheel arm or both wheel arms is detected inside. The thrust / lowering lock device can therefore only be deactivated by the driver when there is no risk of the load or attachment colliding with one or both of the wheel arms.

Es ist auch eine Kombination beider Maßnahmen möglich, d.h. die Schub-/Senksperreinrichtung wird nur aktiviert, wenn von der Sensoreinrichtung eine von dem Anbaugerät gehandhabte Last und/oder ein Überstehen der Last oder des Anbaugeräts in die Außenkontur eines Radarms oder beider Radarme hinein detektiert wird, und kann nur deaktiviert werden, wenn von der Sensoreinrichtung keine von dem Anbaugerät gehandhabte Last und/oder kein Überstehen der Last oder des Anbaugeräts in die Außenkontur eines Radarms oder beider Radarme hinein detektiert wird.A combination of both measures is also possible, i.e. the thrust / lowering lock device is only activated if the sensor device detects a load handled by the attachment and / or a protrusion of the load or the attachment into the outer contour of a wheel arm or both wheel arms , and can only be deactivated if the sensor device does not detect any load handled by the attachment and / or the load or attachment does not protrude into the outer contour of a wheel arm or both wheel arms.

Gemäß einer Weiterbildung der Erfindung steuert die Steuereinrichtung einen Neigeantrieb des Hubgerüstes und/oder eine Seitenschiebereinrichtung des Anbaugeräts oder des Hubgerüstes und/oder eine Zusatzhydraulikfunktion des Anbaugeräts, beispielsweise ein Zinkenverstellgerät, wobei die Steuereinrichtung derart ausgebildet ist, dass der Neigeantrieb des Hubgerüstes und/oder die Seitenschiebereinrichtung des Anbaugeräts oder des Hubgerüstes und/oder die Zusatzhydraulikfunktion des Anbaugeräts derart in Abhängigkeit von der Sensoreinrichtung angesteuert werden, dass eine Bewegung des Neigeantriebs des Hubgerüstes und/oder der Seitenschiebereinrichtung des Anbaugeräts oder des Hubgerüstes und/oder der Zusatzhydraulikfunktion des Anbaugeräts derart gestoppt werden, dass eine Kollision der Last und/oder des Anbaugeräts mit einem Radarm oder beiden Radarmen verhindert wird. Dies ermöglicht es, dass die Steuereinrichtung das Verschieben, beispielsweise durch Betätigen des Neigeantriebs oder der Seitenschiebereinrichtung oder der Zusatzhydraulikfunktion, einer innerhalb der beiden Radarme befindlichen Last bzw. Anbaugeräts sperrt bzw. beendet, welches zu einer Kollision der Last bzw. des Anbaugeräts mit einem Radarm oder beiden Radarmen führen würde.According to a development of the invention, the control device controls a tilt drive of the lifting frame and / or a sideshift device of the attachment or of the lifting frame and / or an additional hydraulic function of the attachment, for example a fork positioner, the control device being designed such that the tilting drive of the lifting frame and / or the Sideshift device of the attachment or of the lifting frame and / or the auxiliary hydraulic function of the attachment are controlled as a function of the sensor device in such a way that a movement of the tilting drive of the lifting frame and / or the sideshift device of the attachment or of the lifting frame and / or the additional hydraulic function of the attachment are stopped in such a way that that a collision of the load and / or the attachment with one or both wheel arms is prevented. This enables the control device to block or stop the shifting of a load or attachment located within the two wheel arms, for example by actuating the tilt drive or the sideshift device or the auxiliary hydraulic function, which could lead to a collision of the load or the attachment with a wheel arm or both wheel arms.

Die Sensoreinrichtung kann gemäß einer Ausgestaltungsform der Erfindung als Lasterkennungssensor ausgebildet sein, beispielsweise als Drucksensor zur Erfassung des Drucks in einer Hubzylindereinrichtung des Hubantriebs. Sofern mit dem Lasterkennungssensor eine von dem Anbaugerät gehandhabte Last detektiert wird, kann dies von der Steuereinrichtung als potentielle Kollisionsgefahr der Last mit einem Radarm oder beiden Radarmen gewertet werden und die Bewegung des Schubantriebs und des Hubantriebs derart gestoppt werden, dass eine Kollision der Last mit einem Radarm oder beiden Radarmen verhindert wird oder die Schub-/Senksperreinrichtung aktiviert werden.According to one embodiment of the invention, the sensor device can be designed as a load detection sensor, for example as a pressure sensor for detecting the pressure in a lifting cylinder device of the lifting drive. If a load handled by the attachment is detected with the load detection sensor, this can be indicated by the control device as a potential risk of the load colliding with a Wheel arm or both wheel arms are evaluated and the movement of the thrust drive and the lifting drive are stopped in such a way that a collision of the load with one or both wheel arms is prevented or the thrust / lowering lock device is activated.

Die Sensoreinrichtung kann gemäß einer Ausgestaltungsform der Erfindung als eine die Außenkontur der Radarme überwachende Sensorvorrichtung ausgebildet sein. Mit einer derartigen Sensorvorrichtung kann auf einfache Weise detektiert werden, ob eine Last oder das Anbaugerät in die Außenkontur der Radarme hinein übersteht und somit eine Kollisionsgefahr der Last oder des Anbaugeräts mit einem Radarm oder beiden Radarmen detektiert werden.According to one embodiment of the invention, the sensor device can be designed as a sensor device that monitors the outer contour of the wheel arms. With such a sensor device it can be detected in a simple manner whether a load or the attachment protrudes into the outer contour of the wheel arms and thus a risk of collision of the load or the attachment with a wheel arm or both wheel arms can be detected.

Die Sensorvorrichtung kann als Liniensensor, der eine Linie detektiert, oder als Flächensensor ausgebildet sein, der eine Kollisionsfläche detektiert. Mit derartigen Sensorvorrichtungen können auf einfache Weise die Kollisionsflächen, die von den Außenflächen der Radarme gebildet sind, auf mögliche Kollision mit der Last oder dem Anbaugerät überwacht werden. Mit einem Liniensensor, der eine Linie detektiert, kann die sich aufspannende Kollisionsfläche aus dem Verfahren (Senken/Zurückziehen) der Last von der Steuereinrichtung berechnet werden. Mit Flächensensoren können die gesamten Kollisionsflächen oder Teilflächen davon direkt gemessen werden.The sensor device can be designed as a line sensor that detects a line, or as an area sensor that detects a collision surface. With such sensor devices, the collision surfaces, which are formed by the outer surfaces of the wheel arms, can be monitored for possible collisions with the load or the attachment in a simple manner. With a line sensor that detects a line, the spanning collision area can be calculated from the movement (lowering / retraction) of the load by the control device. With area sensors, all or part of the collision areas can be measured directly.

Die Sensorvorrichtung kann als optischer Sensor, beispielsweise LED oder Laser, oder als Abstandssensor (1D, 2D oder 3D) oder als Schalter oder als Ultraschallsensor oder als induktiver Sensor oder als kapazitiver Sensor oder als magnetischer Sensor oder als Kamera ausgebildet sein.The sensor device can be designed as an optical sensor, for example LED or laser, or as a distance sensor (1D, 2D or 3D) or as a switch or as an ultrasonic sensor or as an inductive sensor or as a capacitive sensor or as a magnetic sensor or as a camera.

Mit der Erfindung werden eine Reihe von Vorteilen erzielt:A number of advantages are achieved with the invention:

Ungeübte Fahrer werden bei der Handhabung einer Last assistiert, da das Beenden des Senkvorgangs des Anbaugeräts oder des Rückschubvorgangs des Hubgerüstes automatisch von der Steuereinrichtung beendet wird, bevor es zu einer Kollision der Last oder des Anbaugeräts mit einem oder beiden Radarmen kommt. Auch geübte Fahrer werden im Arbeitsablauf unterstützt und können schneller arbeiten, indem der Abbremsvorgang der Senkenbewegung des Anbaugeräts und der Rückschubbewegung des Hubgerüstes von der Steuereinrichtung derart eingeleitet und durchgeführt wird, dass das Anbaugerät bzw. die Last mit knappem aber sicherem Abstand zur Außenkontur der Radarme zum Stehen kommt, so dass der Fahrer möglichst lange schnelle Senkenbewegungen des Anbaugeräts und Rückzugsbewegungen des Hubgerüstes ausführen kann.Inexperienced drivers are assisted in handling a load, since the end of the lowering process of the attachment or the pushing back process of the mast is automatically terminated by the control device before the load or the attachment collides with one or both wheel arms. Even experienced drivers are supported in the workflow and can work more quickly by initiating the braking process of the lowering movement of the attachment and the backward movement of the lifting frame by the control device and it is carried out that the attachment or the load comes to a standstill with a tight but safe distance from the outer contour of the wheel arms so that the driver can carry out rapid lowering movements of the attachment and retraction movements of the mast as long as possible.

Zusätzlich wird der Fahrer dahingehend unterstützt, dass die aufgenommene Last optimal tief, ohne eine Kollision mit einem oder beiden Radarmen hervorzurufen, abgesenkt werden kann. Dieses ermöglicht einen optimal tiefen Lastschwerpunkt des Schubmaststaplers mit aufgenommener Last und einen sicheren Betrieb.In addition, the driver is supported to the effect that the picked-up load can be lowered to the optimum level without causing a collision with one or both wheel arms. This enables an optimally low center of gravity of the reach truck with the load picked up and safe operation.

Bei einem Schubmaststapler mit einer Seitenschiebereinrichtung des Anbaugeräts oder des Hubgerüstes können ungeübte Fahrer und auch geübte Fahrer mit schwereinsehbaren Lasten überprüft werden, ob die Last bzw. das Anbaugerät innerhalb der Außenkontur der Radarme positioniert ist.In the case of a reach truck with a sideshift device of the attachment or of the lifting frame, inexperienced drivers and also experienced drivers with heavily visible loads can be checked whether the load or the attachment is positioned within the outer contour of the wheel arms.

Bei einem Schubmaststapler, der einen Mittequerschub des Hubgerüstes bzw. Mitteseitenschieber des Anbaugeräts aufweist, wird der Fahrer beim Lasthandling mit asymmetrischen Anbaugerätekonturen oder asymmetrischen Lastkonturen oder breiteren Konturen des Anbaugeräts oder breiteren Konturen der Last, als die lichte Weite zwischen den Radarmen hergibt, unterstützt, da mit der Steuereinrichtung Kollisionen der Last oder des Anbaugeräts mit einem Radarm oder beiden Radarmen vermieden werden.In the case of a reach truck that has a center transverse thrust of the mast or center sideshift of the attachment, the driver is supported in load handling with asymmetrical attachment contours or asymmetrical load contours or wider contours of the attachment or wider contours of the load than the clear width between the radar arms gives, since with the control device collisions of the load or the attachment with a wheel arm or both wheel arms can be avoided.

Bei einem Schubmaststapler, der eine Schub-/Senksperreinrichtung aufweist, wird beim Lasthandling von Lastkonturen, die kleiner sind als die lichte Weite zwischen den beiden Radarmen, der Fahrer von der Steuereinrichtung unterstützt, da von der Steuereinrichtung bei derartigen Lasten, bei denen keine Kollisionsgefahr mit den Radarmen besteht, die Schub-/Senksperreinrichtung deaktiviert ist, so dass das Anbaugerät ohne Senksperre abgesenkt werden kann und das Hubgerüst ohne Schubsperre nach Hinten zurückgezogen werden kann. Unterbrechungen des Arbeitsflusses werden somit vermieden, so dass eine erhöhte Umschlagsleistung des Flurförderzeugs ermöglicht wird.In the case of a reach truck that has a thrust / lowering lock device, the driver is supported by the control device when handling load contours that are smaller than the clear width between the two wheel arms, since the control device supports such loads with no risk of collision the wheel arms, the thrust / lowering lock device is deactivated so that the attachment can be lowered without a lowering lock and the mast can be pulled back without a thrust lock. Interruptions in the work flow are thus avoided, so that an increased handling capacity of the industrial truck is made possible.

Zusätzlich wird der Fahrer des Schubmaststaplers von der Steuereinrichtung unterstützt beim Lasthandling einer innerhalb der beiden Radarme befindlichen Last, da von der Steuereinrichtung die Verfahrbewegungen einer Seitenschiebereinrichtung und/oder eines Neigeantriebs und/oder die Betätigung einer Zusatzhydraulikfunktion des Anbaugeräts, beispielsweise eines Zinkenverstellgeräts, derart begrenzt werden, dass Kollisionen der Last mit einem oder beiden Radarmen vermieden werden.In addition, the driver of the reach truck is supported by the control device when handling a load located within the two wheel arms, since the control device limits the movement of a sideshift device and / or a tilting drive and / or the actuation of an additional hydraulic function of the attachment, for example a fork positioner, in such a way that the load collides with one or both wheel arms.

Weitere Vorteile und Einzelheiten der Erfindung werden anhand des in den schematischen Figuren dargestellten Ausführungsbeispiels näher erläutert. Hierbei zeigt

Figur 1
ein erfindungsgemäßer Schubmaststapler in einer Draufsicht und
Figur 2
eine Seitenansicht des Schubmaststaplers der Figur 1 ohne Last.
Further advantages and details of the invention are explained in more detail with reference to the exemplary embodiment shown in the schematic figures. Here shows
Figure 1
an inventive reach truck in a plan view and
Figure 2
a side view of the reach truck of Figure 1 no load.

In den Figuren 1 und 2 ist ein erfindungsgemäßer Schubmaststapler 1 dargestellt, der einen Fahrzeugrahmen 2 aufweist, der zwei in Fahrzeugquerrichtung Q voneinander beabstandet angeordneten Radarme 2a, 2b aufweist. An den vorderen Enden der Radarme 2a, 2b ist jeweils ein Lastrad 4a, 4b angeordnet. In Fahrzeuglängsrichtung L beabstandet von den Lasträdern 4a, 4b ist an dem Fahrzeugrahmen 2 ein lenkbares Antriebsrad 5 angeordnet. Der Schubmaststapler 1 stützt sich mit dem Antriebsrad 5 und den beiden Lasträdern 4a, 4b auf einer Fahrbahn ab.In the Figures 1 and 2 a reach truck 1 according to the invention is shown which has a vehicle frame 2 which has two wheel arms 2a, 2b arranged at a distance from one another in the transverse direction Q of the vehicle. A load wheel 4a, 4b is arranged at each of the front ends of the wheel arms 2a, 2b. A steerable drive wheel 5 is arranged on the vehicle frame 2 at a distance from the load wheels 4a, 4b in the vehicle longitudinal direction L. The reach truck 1 is supported by the drive wheel 5 and the two load wheels 4a, 4b on a roadway.

Zwischen den beiden Radarmen 2a, 2b ist ein Hubgerüst 10 in Fahrzeuglängsrichtung L mittels eines nicht näher dargestellten Schubantriebs verschiebbar angeordnet. Hierzu ist das Hubgerüst 10 an einem Schubschlitten 11 angeordnet, der mittels des Schubantriebs an den Radarmen 2a, 2b in Fahrzeuglängsrichtung L verschiebbar ist.Between the two wheel arms 2a, 2b, a lifting frame 10 is arranged displaceably in the vehicle longitudinal direction L by means of a thrust drive, not shown in detail. For this purpose, the lifting frame 10 is arranged on a push slide 11, which can be displaced in the longitudinal direction L of the vehicle by means of the push drive on the wheel arms 2a, 2b.

An dem Hubgerüst 10 ist ein Gabelträger 12 mittels eines Hubantriebs 13 absenkbar und anhebbar angeordnet ist. An dem Gabelträger 12 ist ein Anbaugerät 15 zum Handhaben einer Last angeordnet. Im dargestellten Ausführungsbeispiel ist das Anbaugerät 15 von zwei Gabelzinken 16a, 16b gebildet. Die Last ist im dargestellten Ausführungsbeispiel der Figur 1 von einer Palette P gebildetA fork carriage 12 can be lowered and raised by means of a lifting drive 13 on the lifting frame 10. An attachment 15 for handling a load is arranged on the fork carriage 12. In the illustrated embodiment, the attachment 15 is formed by two fork prongs 16a, 16b. The load is in the illustrated embodiment Figure 1 formed by a pallet P.

Weiterhin kann bei dem Schubmaststapler 1 das Hubgerüst 10 um eine horizontale Neigeachse N neigbar angeordnet sein, um die das Hubgerüst 10 mittels eines nicht näher dargestellten Neigeantriebs nach Vorne V und nach hinten H geneigt werden kann. Die Neigeachse N ist im dargestellten Ausführungsbeispiel zwischen dem Schubschlitten 11 und dem Hubgerüst 10 angeordnet.Furthermore, in the reach truck 1, the mast 10 can be inclined about a horizontal tilting axis N, about which the mast 10 can be tilted forwards V and H to the rear by means of a tilt drive, not shown in detail can. In the exemplary embodiment shown, the tilt axis N is arranged between the push slide 11 and the lifting frame 10.

Weiterhin kann bei dem Schubmaststapler 1 eine Seitenschiebereinrichtung vorgesehen sein, mit dem das Anbaugerät 15 oder das Hubgerüst 10 in Fahrzeugquerrichtung Q verschoben werden kann. Hierzu kann mit der Seitenschiebereinrichtung das Anbaugerät 15 relativ zum Hubgerüst 10 in Fahrzeugquerrichtung Q verschoben werden oder das Hubgerüst 10 relativ zum dem Schubschlitten 11 in Fahrzeugquerrichtung Q verschoben werden.Furthermore, a sideshift device can be provided in the reach truck 1 with which the attachment 15 or the lifting frame 10 can be moved in the transverse direction Q of the vehicle. For this purpose, the attachment 15 can be moved relative to the lifting frame 10 in the vehicle transverse direction Q with the sideshifter device or the lifting frame 10 can be moved relative to the thrust carriage 11 in the vehicle transverse direction Q.

In den Figuren 1 und 2 befindet sich das Hubgerüst 10 in einer vollständig mittels des Schubantriebs nach Hinten zurückgezogenen Position. Ausgehend von der dargestellten Position kann das Hubgerüst 10 mittels des Schubantriebs in horizontaler Fahrzeuglängsrichtung nach Vorne verschoben werden.In the Figures 1 and 2 the mast 10 is in a position that has been completely retracted to the rear by means of the thrust drive. Starting from the position shown, the lifting frame 10 can be moved forward in the horizontal vehicle longitudinal direction by means of the thrust drive.

In den Figuren 1 und 2 befindet sich der Gabelträger 12 mit dem Anbaugerät 15 in einer vollständig abgesenkten Stellung.In the Figures 1 and 2 the fork carriage 12 with the attachment 15 is in a completely lowered position.

In der Figur 1 ist eine auf den Gabelzinken 16a, 16b befindliche Palette P dargestellt. Die Palette P hat eine Außenkontur und Breite, die geringer als die lichte Weite zwischen den beiden Radarmen 2a, 2b ist, so dass die Palette P zwischen den beiden Radarmen 2a, 2b auf die Fahrbahnoberfläche abgesenkt werden kann.In the Figure 1 a pallet P located on the fork tines 16a, 16b is shown. The pallet P has an outer contour and width that is less than the clear width between the two wheel arms 2a, 2b, so that the pallet P can be lowered onto the road surface between the two wheel arms 2a, 2b.

Der Schubmaststapler 1 ist mit einer Schub-/Senksperreinrichtung versehen, die ein unbeabsichtigtes Absenken der mit dem Anbaugerät 15 aufgenommenen Last (Palette P) auf die Radarme 2a, 2b verhindert. Die Schub-/Senksperreinrichtung wird in Abhängigkeit der Schubwegposition des Hubgerüstes 10 freigegebene oder gesperrt. Zusätzlich wird die Rückzugmöglichkeit des Hubgerüstes 10 eingeschränkt in Abhängigkeit der Hubhöhe des Gabelträgers 12. Die Schub-/Senksperreinrichtung ist derart ausgeführt, dass das Absenken des Anbaugeräts 15 mittels des Hubantriebs zwischen die beiden Radarme 2a, 2b verhindert wird (Senksperre), solange das Hubgerüst 10 mittels des Schubantriebs in einer zwischen den beiden Radarmen 2a, 2b befindlichen Position in Fahrzeuglängsrichtung L eingefahren ist. Die Schub-/Senksperreinrichtung ist weiterhin derart ausgeführt, dass bei vollständig in Fahrzeuglängsrichtung L nach Vorne bis zum Endanschlag ausgefahrenem Hubgerüst 10 das Anbaugerät 15 mittels des Hubantriebs ohne Senksperre ganz abgesenkt werden kann, jedoch dann das Einfahren und somit das Zurückziehen des Hubgerüstes 10 nach Hinten mittels des Schubantriebs gesperrt ist (Schubsperre).The reach truck 1 is provided with a thrust / lowering lock device which prevents the load (pallet P) picked up by the attachment 15 from being unintentionally lowering onto the wheel arms 2a, 2b. The thrust / lowering lock device is released or locked depending on the thrust travel position of the lifting frame 10. In addition, the possibility of retraction of the mast 10 is restricted depending on the lifting height of the fork carriage 12. The thrust / lowering lock device is designed in such a way that the lowering of the attachment 15 is prevented by means of the lifting drive between the two wheel arms 2a, 2b (lowering lock) as long as the mast 10 is retracted by means of the thrust drive in a position located between the two wheel arms 2a, 2b in the vehicle longitudinal direction L. The thrust / lowering lock device is also designed in such a way that when the lifting frame is fully extended in the vehicle longitudinal direction L forwards to the end stop 10 the attachment 15 can be completely lowered by means of the lifting drive without a lowering lock, but then the retraction and thus the retraction of the lifting frame 10 to the rear is blocked by means of the thrust drive (thrust lock).

Erfindungsgemäß weist der Schubmaststapler 1 eine Sensoreinrichtung 20 auf, mit der eine von dem Anbaugerät 15 gehandhabte Last und/oder ein Überstehen der Last oder des Anbaugeräts 15 in die Außenkontur der Radarme 2a, 2b hinein detektiert wird. Die Sensoreinrichtung 20 steht mit einer den Schubantrieb und den Hubantrieb steuernden Steuereinrichtung 21, insbesondere einer elektronischen Steuereinrichtung, in Wirkverbindung. Die Steuereinrichtung 21 ist derart ausgebildet, dass der Schubantriebs und der Hubantrieb derart in Abhängigkeit von der Sensoreinrichtung 20 angesteuert werden, dass eine Bewegung des Schubantriebs und des Hubantriebs derart gestoppt werden, dass eine Kollision der Last und/oder des Anbaugeräts 15 mit einem Radarm 2a bzw. 2b oder beiden Radarmen 2a, 2b verhindert wird.According to the invention, the reach truck 1 has a sensor device 20 with which a load handled by the attachment 15 and / or a protrusion of the load or the attachment 15 into the outer contour of the wheel arms 2a, 2b is detected. The sensor device 20 is in operative connection with a control device 21 controlling the thrust drive and the lifting drive, in particular an electronic control device. The control device 21 is designed such that the thrust drive and the lifting drive are controlled depending on the sensor device 20 in such a way that a movement of the thrust drive and the lifting drive are stopped in such a way that the load and / or the attachment 15 collide with a wheel arm 2a or 2b or both wheel arms 2a, 2b is prevented.

Die Steuereinrichtung 21 steuert hierzu die Schub-/Senksperreinrichtung des Schubantriebs und des Hubantriebs und ist derart ausgebildet, dass die Schub-/Senksperreinrichtung in Abhängigkeit von der Sensoreinrichtung 20 angesteuert wird.To this end, the control device 21 controls the thrust / lowering lock device of the thrust drive and the lifting drive and is designed such that the thrust / lowering lock device is activated as a function of the sensor device 20.

Die Sensoreinrichtung 20 ist bevorzugt als eine die Außenkontur der Radarme 2a, 2b überwachende Sensorvorrichtung 22 ausgebildet. Die Sensorvorrichtung 22 kann als Liniensensor oder Flächensensor ausgebildet sein.The sensor device 20 is preferably designed as a sensor device 22 that monitors the outer contour of the wheel arms 2a, 2b. The sensor device 22 can be designed as a line sensor or area sensor.

Mit der Sensoreinrichtung 20 wird ein Überstehen der Last oder des Anbaugeräts 15 in die Kontur der Radarme 2a, 2b hinein detektiert. Diese Detektion wird im Folgenden als Störkontur bezeichnet.With the sensor device 20, a protrusion of the load or the attachment 15 into the contour of the wheel arms 2a, 2b is detected. This detection is referred to below as an interference contour.

Von der Sensoreinrichtung 20 erfolgt die Erfassung einer Störkontor, d.h. die Detektion eines Überstehens der Last oder des Anbaugeräts 15 in die Kontur der Radarme 2a, 2b hinein, indem Kollisionsflächen KF an den Radarmen 2a, 2b, die in den Figuren 1 und 2 mit den Schraffuren verdeutlicht sind, auf mögliche Störkonturen, d.h. eine in die Kollisionsfläche KF hineinragende Last oder ein in die Kollisionsfläche KF hineinragende hineinragendes Anbaugerät 15, überwacht wird.A disturbance control is detected by the sensor device 20, ie the detection of a protrusion of the load or the attachment 15 into the contour of the wheel arms 2a, 2b, in that collision surfaces KF on the wheel arms 2a, 2b, which are in the Figures 1 and 2 are illustrated by the hatching, is monitored for possible interfering contours, ie a load protruding into the collision area KF or an attachment 15 protruding into the collision area KF.

Die Detektion der Störkontur mittels der Sensoreinrichtung 20 wird in der Steuereinrichtung 21 weiterverarbeitet und mit der Funktion der Schub-/Senksperreinrichtung verbunden.The detection of the interfering contour by means of the sensor device 20 is further processed in the control device 21 and linked to the function of the thrust / lowering lock device.

Diese Verbindung kann derart ausgeprägt sein, dass die Schub-/Senksperreinrichtung nur aktiviert wird, wenn eine Störkontur vorhanden ist.This connection can be so pronounced that the thrust / lowering lock device is only activated if an interfering contour is present.

Diese Verbindung kann alternativ oder zusätzlich derart ausgeprägt sein, dass die Schub-/Senksperreinrichtung nur abschaltbar ist, wenn keine Störkontur vorhanden ist.This connection can alternatively or additionally be designed in such a way that the thrust / lowering lock device can only be switched off when there is no interfering contour.

Zudem kann diese Verbindung derart ausgeprägt sein, dass die Schub-/Senksperreinrichtung nur aktiviert wird, wenn eine Störkontur vorhanden ist, und die Schub-/Senksperreinrichtung nur abschaltbar ist, wenn keine Störkontur vorhanden ist.In addition, this connection can be so pronounced that the thrust / lowering lock device is only activated when an interfering contour is present, and the thrust / lowering locking device can only be switched off if there is no interfering contour.

Die Steuereinrichtung 21 ist hierbei derart ausgebildet, dass die Schub-/Senksperreinrichtung nur aktiviert wird, wenn von der Sensoreinrichtung 20 eine von dem Anbaugerät 15 gehandhabte Last und/oder ein Überstehen der Last oder des Anbaugeräts 15 in die Kollisionsfläche KF und somit in die Außenkontur der Radarme 2a, 2b hinein detektiert wird. Sofern wie in der Figur 1 dargestellt ist, die Last (Palette P) kleiner als die lichte Weite zwischen den beiden Radarmen 2a, 2b ist und somit die Last (Palette P) nicht in die Kollisionsflächen KF und somit in die Außenkontur der Radarme 2a, 2b hinein übersteht, ist die Schub-/Senksperreinrichtung deaktiviert, so dass das Anbaugerät 15 mit der darauf befindlichen Last vollständig abgesenkt werden kann, obwohl sich das Hubgerüst 10 mittels des Schubantriebs in der zurückgezogen Stellung befindet. Sofern eine Last oder das Anbaugerät 15 beim Senken mittels des Hubantriebs oder beim Zurückziehen des Hubgerüstes 10 mittels des Schubantriebs in die Kollisionsfläche KF und somit in die Außenkontur einer oder beider Radarme 2a, 2b hineinragt, beendet die Steuereinrichtung 21 die Senkenbewegung des Gabelträgers 12 und/oder die Rückschubbewegung des Hubgerüstes 10 derart, dass es zu keiner Kollision des Anbaugeräts 15 bzw. der damit aufgenommenen Last mit den Radarmen 2a, 2b kommt. Die Steuereinrichtung 21 leitet hierzu einen entsprechenden Abbremsvorgang der Senkenbewegung des Anbaugeräts 15 und/oder der Rückschubbewegung des Hubgerüstes 10 ein, so dass das Anbaugerät 15 oder die Last vor Kontakt mit der Außenkontur der Radarme 2a, 2b gestoppt werden. Hierzu sind die von der Sensoreinrichtung 20 überwachten Kollisionsflächen KF größer als die Außenkontur (Breite und Höhe) der Radarme 2a, 2b.The control device 21 is designed in such a way that the thrust / lowering lock device is only activated if the sensor device 20 has a load handled by the attachment 15 and / or the load or the attachment 15 protrudes into the collision area KF and thus into the outer contour the wheel arms 2a, 2b is detected inside. Unless as in the Figure 1 is shown, the load (pallet P) is smaller than the clear width between the two wheel arms 2a, 2b and thus the load (pallet P) does not protrude into the collision surfaces KF and thus into the outer contour of the wheel arms 2a, 2b The thrust / lowering lock device is deactivated so that the attachment 15 with the load on it can be completely lowered, although the lifting frame 10 is in the retracted position by means of the thrust drive. If a load or the attachment 15 protrudes into the collision surface KF and thus into the outer contour of one or both wheel arms 2a, 2b when lowering by means of the lifting drive or when retracting the lifting frame 10 by means of the thrust drive, the control device 21 terminates the lowering movement of the fork carriage 12 and / or the pushing back movement of the lifting frame 10 in such a way that there is no collision of the attachment 15 or the load picked up by it with the wheel arms 2a, 2b. For this purpose, the control device 21 initiates a corresponding braking process of the lowering movement of the attachment 15 and / or the pushing back movement of the lifting frame 10, so that the attachment 15 or the load is stopped before contact with the outer contour of the wheel arms 2a, 2b. For this the collision areas KF monitored by the sensor device 20 are larger than the outer contour (width and height) of the wheel arms 2a, 2b.

Weiterhin ist die Steuereinrichtung 21 derart ausgebildet, dass die Schub-/Senksperreinrichtung nur deaktivierbar ist, wenn von der Sensoreinrichtung 20 keine von dem Anbaugerät 15 gehandhabte Last und/oder kein Überstehen der Last oder des Anbaugeräts 15 in die Kollisionsfläche KF und somit in die Außenkontur der Radarme 2a, 2b hinein detektiert wird.Furthermore, the control device 21 is designed in such a way that the thrust / lowering lock device can only be deactivated if the sensor device 20 does not handle a load by the attachment 15 and / or the load or the attachment 15 does not protrude into the collision surface KF and thus into the outer contour the wheel arms 2a, 2b is detected inside.

Die Steuereinrichtung 20 kann weiterhin den Neigeantrieb des Hubgerüstes 10 und/oder eine Seitenschiebereinrichtung des Anbaugeräts 15 oder des Hubgerüstes 10 und/oder eine gegebenenfalls vorhandene Zusatzhydraulikfunktion des Anbaugeräts 15, beispielsweise ein Zinkenverstellgerät, steuern und derart ausgebildet sein, dass der Neigeantrieb des Hubgerüstes 10 und/oder die Seitenschiebereinrichtung des Anbaugeräts 15 oder des Hubgerüstes 10 und/oder die Zusatzhydraulikfunktion des Anbaugeräts derart in Abhängigkeit von der Sensoreinrichtung 20 angesteuert werden, dass eine Bewegung des Neigeantriebs des Hubgerüstes 10 und/oder der Seitenschiebereinrichtung des Anbaugeräts 15 oder des Hubgerüstes 10 und/oder der Zusatzhydraulikfunktion des Anbaugeräts derart gestoppt werden, dass eine Kollision der Last und/oder des Anbaugeräts 15 mit einem Radarm 2a bzw. 2b oder beiden Radarmen 2a, 2b verhindert wird. Von der Steuereinrichtung 21 wird somit das Verschieben einer Last mittels des Neigeantriebs und/oder der Seitenschiebereinrichtung und/oder der Zusatzhydraulikfunktion des Anbaugeräts 15 innerhalb beiden Radarme 2a, 2b gesperrt, die zu einer Kollision mit der den Radarmen 2a, 2b führen könnte.The control device 20 can also control the tilt drive of the mast 10 and / or a sideshift device of the attachment 15 or of the mast 10 and / or any additional hydraulic function of the attachment 15, for example a fork positioner, and can be designed such that the tilt drive of the mast 10 and / or the sideshift device of the attachment 15 or of the lifting frame 10 and / or the additional hydraulic function of the attachment are controlled as a function of the sensor device 20 in such a way that a movement of the tilt drive of the lifting frame 10 and / or the sideshift device of the attachment 15 or of the lifting frame 10 and / or the auxiliary hydraulic function of the attachment can be stopped in such a way that a collision of the load and / or the attachment 15 with a wheel arm 2a or 2b or both wheel arms 2a, 2b is prevented. The control device 21 thus blocks the shifting of a load by means of the tilt drive and / or the sideshift device and / or the additional hydraulic function of the attachment 15 within both wheel arms 2a, 2b, which could lead to a collision with the wheel arms 2a, 2b.

Alternativ zu der die Kollisionsflächen KF überwachenden Sensoreinrichtung 20 kann alternativ auch eine Lasterkennung genutzt werden. Die Sensoreinrichtung kann hierzu als Lasterkennungssensor ausgebildet ist, beispielsweise als Drucksensor zur Erfassung des Drucks in einer Hubzylindereinrichtung des Hubantriebs. Hierbei wird dann jede aufgenommene Last als Störkontur detektiert und bei Ermittlung einer aufgenommenen Last die Schub-/Senksperreinrichtung aktiviert. Befindet sich keine Last auf dem Anbaugerät ist entsprechend die Schub-/Senksperreinrichtung deaktiviert.As an alternative to the sensor device 20 monitoring the collision surfaces KF, load detection can alternatively also be used. For this purpose, the sensor device can be designed as a load detection sensor, for example as a pressure sensor for detecting the pressure in a lifting cylinder device of the lifting drive. Every load picked up is then detected as an interfering contour and the thrust / lowering lock device is activated when a load picked up is determined. If there is no load on the attachment, the thrust / lowering lock device is deactivated accordingly.

Claims (8)

  1. Reach truck (1) having two wheel arms (2a, 2b) which are arranged spaced apart from one another in the transverse direction (Q) of the vehicle, wherein a lifting mast (10) is arranged between the two wheel arms (2a, 2b) in such a way that it can be shifted in the longitudinal direction (L) of the vehicle by means of a thrust drive, wherein a fork carrier (12) is arranged on the lifting mast (10) in such a way that said fork carrier (12) can be lowered and raised by means of a lifting drive, wherein an attachment (15) for handling a load is arranged on the fork carrier (12), characterized in that the reach truck (1) has a sensor device (20) with which a load which is handled by the attachment (15) and/or protrusion of the load or of the attachment (15) into the outer contour of the wheel arms (2a; 2b) is detected, and the sensor device (20) is operatively connected to a control device (21) which controls the thrust drive and the lifting drive, wherein the control device (21) is embodied in such a way that the thrust drive and the lifting drive are actuated as a function of the control device (21) in such a way that a movement of the thrust drive and of the lifting drive is stopped in such a way that a collision of the load and/or of the attachment (15) with a wheel arm (2a; 2b) or with both wheel arms (2a; 2b) is prevented.
  2. Reach truck according to Claim 1, characterized in that the reach truck (1) is provided with a thrust/lowering lock device of the thrust drive and of the lifting drive, and the control device (21) controls the thrust/lowering lock device of the thrust drive and of the lift drive, wherein the control device (21) is embodied in such a way that the thrust/lowering lock device is actuated as a function of the sensor device (20).
  3. Reach truck according to Claim 2, characterized in that the control device (21) is embodied in such a way that the thrust/lowering lock device is actuated only if a load which is handled by the attachment (15) and/or protrusion of the load or of the attachment (15) into the outer contour of a wheel arm (2a; 2b) or of both wheel arms (2a; 2b) is detected by the sensor device (20).
  4. Reach truck according to Claim 2 or 3, characterized in that the control device (21) is embodied in such a way that the thrust/lowering lock device can be deactivated only if a load which is handled by the attachment (15) and/or protrusion of the load or of the attachment (15) into the outer contour of a wheel arm (2a; 2b) or of both wheel arms (2a; 2b) is not detected by the sensor device (20).
  5. Reach truck according to one of Claims 1 to 4, characterized in that the control device (21) controls an inclination drive of the lifting mast and/or a side shifting device of the attachment (15) or of the lifting mast (10) and/or an additional hydraulic function of the attachment (15), wherein the control device (21) is embodied in such a way that the inclination drive of the lifting mast (10) and/or of the side shifting device of the attachment (15) or of the lifting mast (10) and/or the additional hydraulic function of the attachment (15) are actuated as a function of the sensor device (20) in such a way that a movement of the inclination drive of the lifting mast (10) and/or of the side shifting device of the attachment (15) or of the lifting mast (10) and/or of the additional hydraulic function of the attachment (15) are/is stocked in such a way that a collision of the load and/or of the attachment (15) with a wheel arm (2a; 2b) or with both wheel arms (2a; 2b) is prevented.
  6. Reach truck according to one of Claims 1 to 5, characterized in that the sensor device (20) is embodied as a load-detection sensor, for example as a pressure sensor, for sensing the pressure in a lifting cylinder device of the lifting drive.
  7. Reach truck according to one of Claims 1 to 5, characterized in that the sensor device (20) is embodied as a sensor device (22) which monitors the outer contour of the wheel arms (2a; 2b).
  8. Reach truck according to Claim 7, characterized in that the sensor device (22) is embodied as a line sensor, which detects a line, or is a surface sensor which detects a collision surface (KF).
EP19160171.5A 2018-03-13 2019-03-01 Reach truck Revoked EP3549901B1 (en)

Applications Claiming Priority (2)

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DE102018105698 2018-03-13
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DE102018128406B4 (en) * 2018-11-13 2023-05-11 Jungheinrich Aktiengesellschaft Industrial truck with an emergency stop system
CN113335940A (en) * 2021-05-20 2021-09-03 南京驭逡通信科技有限公司 Intelligent manufactured stacking industrial robot and stacking method thereof
DE102022132171A1 (en) 2022-12-05 2024-06-06 Jungheinrich Aktiengesellschaft Procedure for the automatic testing of at least one protection area on an industrial truck

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