EP3556722A1 - Chariot de manutention doté d'un dispositif de levage - Google Patents

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

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Publication number
EP3556722A1
EP3556722A1 EP19166526.4A EP19166526A EP3556722A1 EP 3556722 A1 EP3556722 A1 EP 3556722A1 EP 19166526 A EP19166526 A EP 19166526A EP 3556722 A1 EP3556722 A1 EP 3556722A1
Authority
EP
European Patent Office
Prior art keywords
control valve
lifting
valve
line
switching
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
EP19166526.4A
Other languages
German (de)
English (en)
Other versions
EP3556722B1 (fr
Inventor
Hans-Ulrich Knechtel
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.)
Linde Material Handling GmbH
Original Assignee
Linde Material Handling GmbH
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Filing date
Publication date
Application filed by Linde Material Handling GmbH filed Critical Linde Material Handling GmbH
Publication of EP3556722A1 publication Critical patent/EP3556722A1/fr
Application granted granted Critical
Publication of EP3556722B1 publication Critical patent/EP3556722B1/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
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/22—Hydraulic devices or systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/044—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the return line, i.e. "meter out"
    • F15B11/0445—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the return line, i.e. "meter out" with counterbalance valves, e.g. to prevent overrunning or for braking
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/40—Flow control
    • F15B2211/405—Flow control characterised by the type of flow control means or valve
    • F15B2211/40515—Flow control characterised by the type of flow control means or valve with variable throttles or orifices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/40—Flow control
    • F15B2211/405—Flow control characterised by the type of flow control means or valve
    • F15B2211/40576—Assemblies of multiple valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/40—Flow control
    • F15B2211/405—Flow control characterised by the type of flow control means or valve
    • F15B2211/40576—Assemblies of multiple valves
    • F15B2211/40592—Assemblies of multiple valves with multiple valves in parallel flow paths
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/40—Flow control
    • F15B2211/415—Flow control characterised by the connections of the flow control means in the circuit
    • F15B2211/41554—Flow control characterised by the connections of the flow control means in the circuit being connected to a return line and a directional control valve
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/40—Flow control
    • F15B2211/42—Flow control characterised by the type of actuation
    • F15B2211/428—Flow control characterised by the type of actuation actuated by fluid pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/40—Flow control
    • F15B2211/46—Control of flow in the return line, i.e. meter-out control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/505—Pressure control characterised by the type of pressure control means
    • F15B2211/50563—Pressure control characterised by the type of pressure control means the pressure control means controlling a differential pressure
    • F15B2211/50581—Pressure control characterised by the type of pressure control means the pressure control means controlling a differential pressure using counterbalance valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/515—Pressure control characterised by the connections of the pressure control means in the circuit
    • F15B2211/5156—Pressure control characterised by the connections of the pressure control means in the circuit being connected to a return line and a directional control valve
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/52—Pressure control characterised by the type of actuation
    • F15B2211/528—Pressure control characterised by the type of actuation actuated by fluid pressure

Definitions

  • the invention relates to an industrial truck with a lifting device which has a lifting mast liftable and lowerable arranged load receiving means, wherein for lifting and lowering of the load receiving means a hydraulic Hubzylinder beautiful is provided which is actuated by a control valve means, wherein the control valve means guided to a to the lifting cylinder device Pressure medium line and connected to a guided to a container container line is connected and wherein the control valve device has a lowered position in which the pressure medium line is connected to the container line, wherein in the container line, a flow control valve (drain volume control valve) is arranged.
  • a flow control valve drain volume control valve
  • Industrial trucks are provided for handling loads with a load-receiving means, which is usually formed by a liftable on the mast and lowered lifting carriage and an attached attachment.
  • the attachment may be formed, for example, as an existing of forks fork, by means of a load, such as a pallet can be driven under.
  • the deflection of the control valve device in the lowering operation determines the lowering speed of the load-receiving means.
  • a legally prescribed limit value of 0.6 m / s is prescribed for a maximum lowering speed of the load handler or a load.
  • the control valve device is designed in generic lifting devices such that when fully actuated in a lowering position control valve device in all operating conditions a maximum pressure medium flow from the Hubzylinder nails can flow to a container.
  • a flow control valve provided in a container line leading from the control valve device to a container and in the lowered position of the Control valve means pressure fluid flows from the Hubzylinder observed to the container, a flow control valve provided in a container line leading from the control valve device to a container and in the lowered position of the Control valve means pressure fluid flows from the Hubzylinder observed to the container, a flow control valve provided in a container line leading from the control valve device to a container and in the lowered position of the Control valve means pressure fluid flows from the Hubzylinder diagnosed to the container, a flow control valve provided.
  • the arranged in the tank line flow control valve limits regardless of the load pressure of a load located on the load receiving device, the maximum volume flow in the tank line in lowering operation of the lifting device and thus the lowering speed of the load to the limit of 0.6 m / s.
  • the downflow control valve is in this case set such that it limits the sinking of the fastest-lowering lifting stage of the mast with its maximum setting tolerance to the limit of 0.6m
  • a lifting device of a truck which does not require flow control valve and in which controlled by means of electronic detection of the lowering speed of the load receiving means the control valve device is controlled such that the maximum permissible lowering speed of 0.6m / s is maintained in the sink operation of the lifting device.
  • the lowering speed of the lifting device with a corresponding system for example by means of a sensor device, must be detected very reliable, since in case of failure of one or more components that detect the lowering speed of the lifting device, compliance with the limit of 0.6 m / s for the maximum permissible lowering speed is no longer guaranteed and as a result, the truck must be shut down to a maintenance.
  • a very reliable system for detecting the lowering speed of the lifting device leads to a high construction cost with a corresponding high cost of the lowering speed of the lifting device detecting components or requires that this component must be provided redundant if necessary.
  • the present invention has for its object to provide an industrial truck of the type mentioned, which makes do with a low reliability of a sensor device and in case of failure of the sensor device continued operation of the truck while maintaining the limit of 0.6 m / s for the maximum permitted lowering speed allows.
  • a switching valve is arranged, which activates in a first switching position arranged in the container conduit downflow control valve, so that in the sink operation of Hubzylinder owned the pressure medium flow through the arranged in the tank line flow control valve from the Hubzylinder worn device flows to the container, and deactivated in a second switching position arranged in the container conduit outlet flow control valve, so that in the lowering operation of the Hubzylinder adopted the pressure medium flow, bypassing the arranged in the container line outflow control valve flows from the Hubzylinder observed to the container.
  • a switching valve is thus provided in the tank line, which makes it possible to switch on the arranged in the tank line flow control valve and thus to activate and turn off and thus disable. If the outflow control valve is deactivated, the pressure medium flow flows in the lowering operation of the Hubzylinder owned bypassing the arranged in the container flow control valve from the Hubzylinder worn to the container, so that a high sink speed is also possibly above the limit of 0.6m / s achievable, creating a high turnover of the truck is achievable.
  • the flow control valve can be activated so that flows in the lowering operation of Hubzylinder founded the pressure medium flow through the arranged in the container line outflow control valve from the Hubzylinder worn to the container and the outflow control valve in the container line compliance with the maximum Lowering speed on the Limit of 0,6m / s.
  • the sensor device for example a detection of the lowering speed of the lifting device, can be designed with reduced reliability, and in the event of a failure of the sensor device, further operation of the truck is possible while maintaining the limit value of 0.6 m / s for the maximum permissible lowering speed of the lifting device, for example until repair of the sensor device.
  • the switching valve is designed as a three-port two-position valve, which is connected with a first connection to the valve connected to the control valve means portion of the container line, connected at a second connection to the associated with the drain flow control valve portion of the container line is connected to a third connection to a guided to the container drain line, wherein the switching valve connects the first port to the second port in the first switching position and the third port is shut off and wherein the switching valve in the second switching position the first port with the third port connects and the second port is blocked.
  • the switching valve is actuated by means of an electronic control device.
  • an electrically operated switching valve which is connected to the actuation and control with an electronic control device can be activated in a simple manner and with little additional effort arranged in the container line flow control valve in the first switching position of the switching valve and thus switched on and in the second switching position of the switching valve deactivated and thus weggeline.
  • the switching valve is operable according to an advantageous embodiment of the invention of a spring device in the first switching position and by means of an electrical actuating device, in particular a solenoid, which is in operative connection with the electronic control device operable in the second switching position.
  • an electrical actuating device in particular a solenoid
  • the switching valve is actuated by the spring device in the first switching position, in which the arranged in the container line flow control valve is activated and thus switched on and compliance with the maximum lowering speed of the lifting device is ensured to the limit of 0.6m / s.
  • the control valve device is expediently designed as a proportional valve, which is actuated by the electronic control device.
  • the lowering speed of the load receiving means in the lowering operation can be predetermined by the electronic control device by corresponding control of the proportional valve in a simple manner.
  • the electronic control device is connected to the lowering speed of the lifting device sensing sensor device, wherein the electronic control device is designed such that in the lowering operation of the load receiving means, the electronic control device in normal operation with functional sensor device actuates the switching valve in the second switching position and in case of failure of the sensor device actuates the switching valve in the first switching position.
  • the switching valve can be operated in the second switching position and deactivated in the container conduit arranged flow control valve and thus can be switched off.
  • the pressure medium flow thus flows from the lifting cylinder device to the container, bypassing the outflow control valve arranged in the container line.
  • the control of the lowering speed of the load receiving means is carried out here by means of the electronic control device by appropriate control of the proportional valve designed as a control valve device in the lowering position.
  • Normal operation with functional sensor device is to be understood here as meaning a state in which the detection of the lowering speed of the load receiving device is available or provides a plausible signal.
  • the switching valve will be actuated in the first switching position and activated arranged in the tank line flow control valve and thus switched on.
  • the lifting cylinder device thus flows from the pressure medium flow through the arranged in the container flow control valve from the Hubzylinder worn from the container, so that the flow control valve in the container line ensures compliance with the limit of 0.6m / s for the maximum lowering speed regardless of the load.
  • the arranged in the container line flow control valve is for this purpose preferably set such that in any lifting stage of the mast, the maximum allowed lowering speed of 0.6m / s is exceeded.
  • the truck can thus be safely operated in the event of a fault of the sensor device with a limited to the limit of 0.6 m / s maximum lowering speed until the repair of the sensor device.
  • the sensor device which detects the lowering speed of the load receiving means can be designed, for example, as a lifting height sensor of the load receiving means, wherein the lowering speed of the load receiving means is calculated in the electronic control device from the lifting height signal of the lifting height sensor.
  • the distance of the lifting device is measured relative to the road or to the truck.
  • the electronic control device can be calculated from the length signal of the lifting height sensor in a simple manner by a time derivative, the lowering speed of the lifting device.
  • the lifting height sensor may for example be formed as a rope length sensor, which is arranged on the mast or the vehicle body of the truck and has a cable means connected to the load receiving means.
  • a lifting height sensor With such a lifting height sensor, the lifting height to the vehicle body of the truck can be measured in a simple manner and the lowering speed of the load receiving means can be calculated from the lifting height signal in the electronic control device.
  • the sensor device which detects the lowering speed of the load-receiving means can also be designed as a flow meter. With such a flow meter can easily in the electronic Control device, the lowering speed of the lifting device are calculated.
  • a further outflow control valve is arranged in the drain line. This makes it possible with the switching valve to switch between the arranged in the container line outflow control valve and arranged in the drain line further flow control valve. This makes it possible, for certain operating conditions, such as a sink operation without load, to increase the maximum allowable lowering speed compared to the limit of 0.6m / s, in which the further outflow control valve is activated in the drain line by means of the changeover valve in such operating conditions.
  • the outflow control valve in the container line is here set according to an advantageous embodiment of the invention to a first maximum lowering speed and set the further outflow control valve in the drain line to a second maximum lowering speed, wherein the second maximum lowering speed is higher than the first maximum lowering speed. If the outlet flow control valve arranged in the drain line is set in such a way that the limit value of 0.6 m / s is maintained in the sink operation, a higher sink speed can thus be achieved in certain operating states with the further outflow control valve arranged in the drain line.
  • the electronic control device is connected to a load sensing device on the load receiving means, wherein the electronic control device is designed such that in the lowering operation of the load receiving means, the electronic control device at a load detected by the sensor device, the switching valve in the actuated first switching position and actuated at no detected by the sensor direction load the switching valve in the second switching position.
  • the arranged in the container line flow control valve is thus set to a maximum lowering speed for the operating state "with load", for example, the prescribed limit of 0.6m / s, and arranged in the drain line furtherillonstromegelventil to a higher maximum sink speed for the operating state "without Load ".
  • the switching between the two flow control valves is carried out in response to a load detection, which is carried out by means of the sensor device.
  • the sensor device which detects a load on the load-receiving means, can be designed, for example, as a pressure sensor which detects the load pressure in the pressure-medium line leading from the control valve device to the lifting-cylinder device.
  • the sensor device which detects a load on the load receiving means may be an optical sensor or a release switch to be operated by the driver.
  • the electronic control device advantageously actuates the switching valve into the first switching position in the event of a fault of the sensor device detecting the load. Since in the first switching position the sink operation takes place via the arranged in the tank line flow control valve, which is set to the lower maximum lowering speed, thus in the event of failure, the detection of the load on the load receiving means safe continued operation of the truck in compliance with the limit of 0.6 m / s are achieved for the maximum permissible lowering speed of the load handling device, for example, until repair of the load detection.
  • the switching valve is operable in response to the operation of an input device operated by a driver of the truck.
  • the input device may be formed, for example, by a switch to be actuated by the driver.
  • the driver thus consciously receives the possibility via the input device to select an increased lowering speed.
  • This also makes it possible in a simple manner to comply by appropriate actuation of the switching valve on the one hand, the limit of 0.6m / s for the lowering speed or on the other hand with an increased maximum lowering speed to lower the load receiving means, whereby an increase in the handling capacity of the truck is achieved.
  • the switching of the switching valve by actuating the input device, the driver for example, to consciously choose an increased maximum lowering speed of the load handler when, for example, the load being picked up is insensitive or the picked load is clamped.
  • the prerequisite for the increased maximum lowering speed of the load receiving means may be a functioning sensor device, with which the lowering speed of the load receiving means is detected.
  • the mast on at least two lifting stages and is provided for each lifting step of the lifting stage associated flow control valve, wherein the arranged in the container line flow control valve is associated with the first lifting stage and the discharge flow control valve arranged in the discharge line is associated with the second lifting stage, wherein the electronic control device is connected to a sensor device which detects the lifting stages, wherein the electronic control device is designed such that in the lowering operation of the load receiving means the electronic control device actuates the switching valve into the second switching position and the second lifting position is detected by the sensor device and in one of the sensor device detected first stroke, the switching valve is actuated in the first switching position.
  • Such lifting stages can be designed as a first lifting stage and a mast stroke as a second lifting stage in a mast of a free lift.
  • a corresponding lifting step associated flow control valve is provided for each lifting stage of the mast in this case.
  • a number of outflow control valves are thus provided.
  • the down flow control valves are each set to limit the maximum lowering speed of the associated lift, for example to the limit of 0.6 m / s.
  • the lifting step is detected, which is currently undergoing the load receiving means, and the lifting stage associated flow control valve activated by appropriate control of the switching valve, so that in each case the appropriate outflow control valve switched to the currently active stroke becomes.
  • the sensor device, with which the lifting stages of the mast are detected may be formed, for example, by one switching contact or a plurality of switching contacts.
  • the sensor device with which the lifting stages of the mast are detected, may also be formed by a pressure sensor which detects the load pressure in the pressure medium line leading from the control valve device to the lifting cylinder device. Since different lifting cylinders are used for each lifting step, the load pressures in the corresponding lifting stages also differ for the same load on the load handling device, so that the currently active lifting step can also be detected with a pressure sensor which detects the pressure in the pressure medium line.
  • the arranged in the container line flow control valve is assigned to the fastest lowering stroke and limits the maximum lowering speed of this stroke and the other flow control valve is associated with a slower lowering stroke and limits the maximum lowering speed of this stroke, the electronic control device in case of failure the sensor device actuates the switching valve in the first switching position.
  • the outflow control valves advantageously limit the maximum lowering speed of the different lifting stages in each case to the same limit value of, for example, 0.6 m / s.
  • the fastest lowering lifting stage of a mast is usually the free lift of the mast and the mast lift forms with respect to the free lift a slower lowering lowering stroke.
  • the electronic control device in the event of a fault of the sensor device with which the corresponding stroke can be detected, actuates the switching valve in the first switching position, a high reliability can be achieved and a safe operation of the truck in compliance with the limit of 0.6 m / s for the maximum permissible lowering speed of the load receiving means are achieved, for example, until repair of the Hubméner charged, since in the first switching position of the changeover valve arranged in the tank line flow control valve limits the maximum lowering speed of all strokes and thus switched to the lowest sink speed in case of failure of the sensor device.
  • FIG. 1 is a schematic structure of a lifting device 1 of a truck, not shown in the prior art shown.
  • the lifting device 1 consists of a mast 2, on which a load-receiving means 3 is arranged raised and lowered.
  • the load-receiving means 3 consists in the illustrated embodiment of a vertically movable in the mast 2 lifting 4, on which, for example, a load fork 5 formed by forks is attached as an attachment.
  • a hydraulic lifting cylinder device 11 For lifting and lowering the load receiving means 3, a hydraulic lifting cylinder device 11 is provided.
  • the mast consists of a stationary mast 2a and a raised to the stationary mast 2a and lowered extendable mast 2b, on which the load-receiving means 3 is arranged raised and lowered.
  • the lifting cylinder device 11 serves to raise and lower the extension mast 2b relative to the stationary mast 2a.
  • a flexible traction means 6, for example a lifting chain is provided, which is fastened with a first end to the lifting carriage 4.
  • the traction means 6 is guided over a deflection roller 7 at the upper end of the extension mast 2b and secured with a second end to the stationary mast 2a.
  • the lifting cylinder device 11 can be actuated by means of a control valve device 12 for raising and lowering the load-receiving means 3.
  • the control valve device 12 is formed in the illustrated embodiment as throttling in intermediate positions proportional valve 13 with a designed as a neutral position blocking position 13a, a lifting position 13b and a lowered position 13c.
  • the proportional valve 13 is connected to a delivery line 14 of a pump 15, which draws pressure medium from a container 17 by means of a suction line 16, to a container line 18 guided to the container 17 and to a pressure medium line 19 guided to the lifting cylinder device 11.
  • the blocking position 13a of the control valve device 12 the connection of the pressure medium line 19 to the delivery line 14 and the container line 18 is shut off.
  • the delivery line 14 is connected to the pressure medium line 19.
  • the pressure medium line 19 communicates with the container line 18 in connection.
  • the control valve device 12 is electrically actuated.
  • an electrical actuating device 20a is provided, in the control of which the control valve device 12 is actuated in the direction of the lowering position 13c.
  • a further electrical actuating device 20b the control valve device 12 can be actuated in the direction of the lifting position 13b.
  • the actuators 20a, 20b are formed, for example, as a magnet, in particular a proportional magnet.
  • an electronic control device 25 is provided which is in communication with the actuating devices 20a, 20b.
  • control valve device 12 By means of a spring device formed by two springs 24a, 24b, the control valve device 12 is operated in the non-driven and de-energized state in the form of a neutral position blocking position 13a.
  • the electronic control device 25 is on the input side with an operable by an operator control element 26 in conjunction, for example, a joystick, by the actuation of a lifting operation or a lowering operation of the lifting device 3 can be initiated and in lift mode, a lifting speed and lowering a sink speed can be specified.
  • an operator control element 26 in conjunction, for example, a joystick, by the actuation of a lifting operation or a lowering operation of the lifting device 3 can be initiated and in lift mode, a lifting speed and lowering a sink speed can be specified.
  • a flow control valve 30 is arranged in the container line 18.
  • the flow control valve 30 is designed as a throttling in intermediate positions proportional valve with a flow position 30a and a blocking position 30b.
  • the downflow control valve 30 is actuated by a spring 31 and in the container line 18 between the control valve device 12 and the downflow control valve 30 pending pressure in the direction of the flow position 30a.
  • a corresponding control line 32 is guided from the container line 18 to a control pressure surface of the outflow control valve 30 which acts in the direction of the flow position 30a.
  • a throttle 33 is arranged.
  • the flow control valve 30 is actuated by the pressure in the pressure medium line 19 in the direction of the blocking position 30b.
  • a corresponding control line 34 is guided by the pressure medium line 19 to a control pressure surface of the outflow control valve 30 which acts in the direction of the blocking position 30b.
  • a throttle 35 is arranged.
  • control valve device 12 and the downflow control valve 30 are arranged in a control valve block 40.
  • the control valve device 12 For lifting the load-receiving means 3, the control valve device 12 is actuated in the lifting position 13b, so that sucked by the pump 15 pressure fluid from the container 17 by means of the suction line 16 and conveyed into the delivery line 14 to the control valve device 12. In the lifting position 13b, the control valve device 12 connects the delivery line 14 with the pressure medium line 19, so that the pump 15 delivers pressure medium to the lifting cylinder device 11.
  • control valve device 12 is actuated in the lowered position 13c. Pressure medium thus flows from the lifting cylinder device 11 via the pressure medium line 19 into the container line 18 and to the outflow control valve 30.
  • the flow control valve 30 limits the flow from the lifting cylinder 11 to the tank 17 flowing maximum volume flow load independent to a fixed value.
  • the downflow control valve 30 is in this case set such that a maximum permissible sink speed of the load receiving means 3 of 0.6 m / s is maintained. Smaller lowering speeds are called by the Proportional valve 13 formed control valve means 12 controlled by varying the lowering position 13c.
  • FIG. 2 is a schematic structure of a first embodiment of the lifting device 1 of a truck according to the invention, not shown. Same components with the FIG. 1 are hereby provided with the same reference numerals.
  • a switching valve 45 is disposed between the control valve device 12 and the flow control valve 30, which activates the arranged in the container line 18 downflow control valve 30 in a first switching position 45a, so that in the sink operation of Hubzylinder owned 11 of the pressure medium flow through the arranged in the container line 18 Outflow control valve 30 flows from the lifting cylinder device 11 to the container 17, and deactivated in a second switching position 45b disposed in the container line 18 spatialstromregelventil 30, so that in the sink operation of Hubzylinder adopted 11 of the pressure medium flow bypassing arranged in the container line 18 downflow control valve 30 of the Hubzylinder learned 11th flows to the container 17.
  • the switching valve 45 thus arranged in the container line 18 downflow control valve 45 can be switched on in the first switching position 45a and switched off in the second switching position 45b.
  • the switching valve 45 is designed as a three-port two-position valve, which is connected with a first port A1 to the communicating with the control valve device 12 portion of the tank line 18, at a second port A2 to the associated with the flow control valve 30 portion of the tank line 18th is connected and connected to a third port A3 to a guided to the container 17 drain line 46.
  • the drain line 46 forms a bypass line, which bypasses the arranged in the container line 18 downflow control valve 30.
  • the switching valve 45 connects the first port A1 to the second port A2 and blocks the third port A3.
  • the switching valve 45 connects in the second Switching position 45b the first port A1 with the third port A3 and blocks the second port A2.
  • the switching valve 45 is electrically actuated and is for driving with the electronic control device 25 in connection.
  • the switching valve 45 is in the illustrated embodiment of a spring means 47 in the first switching position 45a actuated and by means of an electric actuator 48, in particular a solenoid, which is in operative connection with the electronic control device 25, actuated in the second switching position 45b.
  • the electronic control device 25 is connected to a sensor device 50 which detects the lowering speed of the load-receiving means 3.
  • the sensor device 50 is designed as a lifting height sensor 51, with which the lifting height of the load-receiving means 3 can be measured.
  • the lifting height sensor 51 is formed in the illustrated embodiment as a rope length sensor 52 which comprises a fixed to the stationary mast 2a housing and connected to the load receiving means 3 cable means 53.
  • the lowering speed of the load receiving means 3 is calculated in the electronic control device 25 by a time derivation.
  • the electronic control device 25 also outputs corresponding control commands to the control valve device 12 and the switching valve 45.
  • the electronic control device 25 is designed such that in the lowering operation of the load receiving means 3, the electronic control device 25 in normal operation at functioning sensor device 50, the switching valve 45 is actuated in the second switching position 45b and actuates the switching valve 45 in the first switching position 45a in case of failure of the sensor device.
  • a fault of the sensor device 50 is present, for example, in the event of failure of the sensor device 50 or if the sensor device 50 does not deliver a plausible signal.
  • the switching valve 45 connects in the first position 45a, which represents the de-energized basic position, in the lowering operation of the load receiving means 3 coming from the control valve means 12 pressure medium flow with the flow control valve 30, so that the maximum lowering speed to the value set on the flow control valve 30, for example, from 0 , 6m / s, is complied with.
  • the first position 45a of the switching valve 45 thus the maximum lowering speed of the load receiving means 3 is analogous to the FIG. 1 limited to the set value of the flow control valve 30.
  • the switching valve 45 is by energizing the actuator 48 of the electronic control device operated in the second switching position 45b.
  • the pressure medium coming from the control valve device 12 located in the lowering position 13c flows via the drain line 46 and thus into the container 17, bypassing the outflow control valve 30 arranged in the container line 18.
  • the downflow control valve 30 arranged in the container line 18 is therefore deactivated and switched off.
  • the lowering speed of the load receiving means 3 is controlled or regulated solely by the position of the valve spool of the proportional valve 13 in the direction of the lowering position 13c.
  • the proportional control valve 13 is controlled by the electronic control device 25, for example, such that the maximum permissible lowering speed of 0.6m / s, regardless of the load and the viscosity of the pressure medium is not exceeded, but best approximated.
  • the switching valve 45 is not actuated by the electronic control device 25 and the switching valve 45 is actuated by the spring 47 into the first switching position 45a ,
  • the pressure medium coming from the control valve device 12 located in the drain position 13c flows through the drain flow control valve 30 arranged in the tank line 18 arranged in the container line 18 downflow control valve 30 is thus activated and activated.
  • the downflow control valve 30 is in this case set such that regardless of the load on the load receiving means 3 in each lifting stage of the mast 2, the maximum permissible lowering speed of the load receiving means 3 of 0.6m / s is maintained.
  • the truck can thus continue to operate safely with a reduced lowering speed of the load receiving means 3 until repair of the sensor device 50 and in compliance with the maximum permissible lowering speed of the load receiving means 3 of 0.6 m / s.
  • FIG. 2 makes it possible to make the best possible use of the maximum permissible lowering speed of the load receiving means 3 of 0.6 m / s in the case of a mast 2 with several lifting stages, as a result of which an increase in the handling capacity of the industrial truck can be achieved.
  • Lower reliability requirements performance levels
  • the truck can continue to operate in case of failure of the sensor device 50 and thus a failure of the electronic Senk Anthonyser charged of the load receiving means 3 with slight restrictions on the achievable maximum lowering speed to repair the sensor device 50, so that there is a high availability of the truck.
  • FIG. 3 is a schematic structure of a second embodiment of the lifting device 1 of a truck according to the invention, not shown. Same components with the FIGS. 1 and 2 are hereby provided with the same reference numerals.
  • a further flow control valve 60 is arranged in the drain line 46.
  • the flow control valve 60 is designed as a throttling in intermediate positions proportional valve with a flow position 60a and a blocking position 60b.
  • the downflow control valve 60 is actuated by a spring 61 and the pending in the drain line 46 between the switching valve 45 and the flow control valve 60 pressure in the direction of the flow position 60a.
  • a corresponding control line 62 from the drain line 46 to one in the direction of Flow position 60a acting control pressure surface of the flow control valve 60 out.
  • a throttle 63 is arranged in the control line 62.
  • the flow control valve 60 is actuated by the pressure in the pressure medium line 19 in the direction of the blocking position 60b.
  • a corresponding control line 64 is connected to the control line 34 of the outflow control valve 30 and guided by the control line 34 to a control pressure surface of the outflow control valve 60 acting in the direction of the blocking position 60b.
  • the downflow control valve 30 in the tank line 18 is set to a first maximum sink rate, for example the value of 0.6 m / s, and the further downflow control valve 60 in the downcomer 46 is set to a second maximum sink rate, the second maximum sink rate being higher than the first maximum Lowering speed is.
  • the electronic control device 25 is connected to a load on the load-receiving means 3 detecting sensor device 65 in connection.
  • the sensor device 65 is formed in the illustrated embodiment as a pressure sensor 66 which detects the pressure in the pressure medium line 19.
  • the sensor device 65 may be formed as an optical sensor which detects a load located on the load receiving means 3.
  • the electronic control device 25 is configured such that in the lowering operation of the load receiving means 3, the electronic control device 25 actuates the switching valve 45 in the first switching position 45a at a load detected by the sensor device 65 and the switching valve 45 in the second in no detected by the sensor direction 65 load Switching position 45b actuated.
  • the electronic control device actuates the switching valve 45 in the first switching position 45a.
  • the switching valve 45 connects in the first position 45 a, which represents the de-energized basic position, in the lowering operation of the load receiving means 3 coming from the control valve means 12 pressure medium flow with the in the Container line 18 arranged outflow control valve 30, which is set to the lower maximum lowering speed.
  • the switching valve 45 is actuated into the first switching position 45a when a load on the load receiving means 3 and thus the operating state sinks "with load” is detected by the sensor device 65 and if there is a fault of the sensor device 65, for example the sensor device 65 has failed or not provides plausible signal.
  • the pressure medium coming from the control valve device 12 located in the lowering position 13c flows through the flow control valve 30 arranged in the container line 18, which in each lifting step of the mast 2, the maximum permissible lowering speed of the lifting device 3 to the value of 0.6m / s limited.
  • the switching valve 45 is actuated by the electronic control device 25 by energizing the actuating device 48 into the second switching position 45b.
  • the pressure medium coming from the control valve device 12 located in the lowering position 13 c flows into the container 17 via the drain line 46 and via the further outflow control valve 60, which is set to a higher maximum lowering speed, so that a higher maximum lowering speed of the empty lifting device 3 can be achieved with a maximum lowering speed above 0.6 m / s.
  • the execution of FIG. 3 allows switching with the switching valve 45 between two flow control valves 30, 60, the downflow control valve 30 is set to a maximum allowable lowering speed of the load receiving means 3 with load and the downflow control valve 60 to a maximum allowable lowering speed of the load receiving means 3 without load.
  • the switching of the switching valve 45 takes place as a function of the load detection by the sensor device 65. In the event of failure of the load detection, the lower maximum permissible lowering speed is selected.
  • the maximum permissible lowering speed of the load handling device can be increased for the no-load operating condition from the limit of 0.6 m / s, which increases the handling capacity of the truck.
  • the truck can continue to operate in case of failure of the sensor device 65 and thus a failure of the load detection with little restrictions in the achievable maxialmen lowering speed until the repair of the sensor device 65, so that there is a high availability of the truck.
  • FIG. 4 is a schematic structure of a third embodiment of the lifting device 1 of a truck according to the invention, not shown. Same components with the FIGS. 1 to 3 are hereby provided with the same reference numerals.
  • the mast 2 of FIG. 4 has at least two lifting stages.
  • a hydraulic lifting cylinder device 11a is provided for lifting and lowering the load-receiving means 3 relative to the extension mast 2b.
  • the lifting cylinder device 11a forms a first lifting stage (free lift).
  • the flexible traction means 6, for example a lifting chain provided in the FIG. 4 is fixed at a first end to the lifting carriage 4, is guided via a guide roller 7 on the extendable piston rod of the lifting cylinder device 11a and is attached with a second end to the extension mast 2b.
  • the hydraulic lifting cylinder device 11b serves to raise and lower the extension mast 2b relative to the stationary mast 2a.
  • the lifting cylinder device 11b forms a second lifting stage (mast lift).
  • the lifting cylinder device 11a is connected to the lifting cylinder device 11b by means of a pressure medium line 75.
  • each lifting step one of the lifting stage associated flow control valve 30, 60 is provided.
  • the arranged in the container line 18 downflow control valve 30 is in this case the first stroke (free lift) associated with and arranged in the drain line 46 downflow control valve 60 of the second lifting stage (mast lift).
  • the electronic control device 25 is connected to a sensor device 70 which detects the lifting stages.
  • the sensor device 70 is formed in the illustrated embodiment as a pressure sensor 66 which detects the pressure in the pressure medium line 19. Since the two lifting cylinder devices 11a, 11b have different cross-sectional areas, the respective lifting step can be detected via the pressure sensor 66.
  • the sensor device 70 may be formed as one or more switches 71.
  • the electronic control device 25 is configured in such a way that the electronic control device 25 actuates the switching valve 45 in the second switching position 45b when the second lifting step (mast lift) is detected by the sensor device 70 and at a first lifting step (free stroke detected by the sensor device 70) in the lowering operation of the load receiving means 3 ) the switching valve 45 is operated in the first switching position 45a.
  • the first stroke forms in the mast 2 of FIG. 4 the fastest lowering lowering step.
  • the downflow control valve 30 in the container line 18 is thus assigned to the fastest lowering lifting stage (free lift) and limits the maximum lowering speed of this lifting stage (free lift), for example to the value of 0.6 m / s.
  • the further outflow control valve 60 in the drain line 46 is assigned to the slower lowering lifting stage (mast lift) and limits the maximum lowering speed of this lifting stage (mast lift), for example, also to the value of 0.6 m / s.
  • the electronic control device 25 actuates the switching valve 45 in the first switching position 45a in the event of a fault of the sensor device.
  • FIG. 4 makes it possible to make the best possible use of the maximum permissible lowering speed of the load receiving means 3 of 0.6 m / s in the case of a mast 2 with several lifting stages, as a result of which an increase in the handling capacity of the industrial truck can be achieved.
  • Lower reliability requirements performance levels
  • the truck can continue to operate in case of failure of the sensor device 70 and thus a failure of the Hubménerkennung with little restrictions on the achievable maximum lowering speed until the repair of the sensor device 70, so that there is a high availability of the truck.
  • control valve device 12 may be actuated electro-hydraulically, wherein the actuators 20a, 20b actuate electrically controllable pilot valves, with which the control valve device 12 in the lowered position 13c and the lifting position 13b actuating control pressure is generated.
  • control valve device 12 with separate control valves for lifting and lowering operation is possible.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Civil Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP19166526.4A 2018-04-16 2019-04-01 Chariot de manutention doté d'un dispositif de levage Active EP3556722B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102018108946.5A DE102018108946A1 (de) 2018-04-16 2018-04-16 Flurförderzeug mit einer Hubvorrichtung

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Cited By (1)

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Publication number Priority date Publication date Assignee Title
IT202000008767A1 (it) * 2020-04-23 2021-10-23 Cnh Ind Italia Spa Disposizione idraulica per gestire il flusso di olio di ritorno in un veicolo da lavoro

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DE102020131046B4 (de) 2020-11-24 2025-05-22 Buchholz Hydraulik Gmbh Hydraulisches Hubsystem
DE102021105748A1 (de) * 2021-03-10 2022-09-15 Still Gesellschaft Mit Beschränkter Haftung Verfahren und Vorrichtung zum Steuern eines hydraulischen Hubantriebs einer mobilen Arbeitsmaschine
DE102022106679A1 (de) * 2022-03-22 2023-09-28 Still Gesellschaft Mit Beschränkter Haftung Hydraulisches Steuerungssystem eines Hubantriebs eines Hubgerüstes eines Flurförderzeugs und Flurförderzeug
CN117108567B (zh) * 2023-08-09 2025-12-09 北京九天行歌航天科技有限公司 一种导弹提升机4缸加载装置

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US3512072A (en) * 1967-11-13 1970-05-12 Allis Chalmers Mfg Co Elevated load potential energy recovery in an electric truck
EP1593645A2 (fr) * 2004-05-03 2005-11-09 BT Industries Appareil de levage hydraulique pour le mât télescopique d'un chariot élévateur à fourches
CN102628465A (zh) * 2012-04-17 2012-08-08 安徽合力股份有限公司 起重运输机械用能量回收式举升液压系统
DE102012101949A1 (de) 2012-03-08 2013-09-12 Linde Material Handling Gmbh Hubvorrichtung eines Flurförderzeugs
DE102012024647A1 (de) * 2012-12-17 2014-06-18 Jungheinrich Aktiengesellschaft Hydraulische Hubvorrichtung für ein batteriebetriebenes Flurförderzeug
EP2962981A1 (fr) * 2013-02-27 2016-01-06 Kabushiki Kaisha Toyota Jidoshokki Dispositif de commande hydraulique pour élévateur à fourche
DE102016103256A1 (de) * 2015-12-29 2017-06-29 Still Gmbh Flurförderzeug mit einem Hubgerüst

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Publication number Priority date Publication date Assignee Title
US3512072A (en) * 1967-11-13 1970-05-12 Allis Chalmers Mfg Co Elevated load potential energy recovery in an electric truck
EP1593645A2 (fr) * 2004-05-03 2005-11-09 BT Industries Appareil de levage hydraulique pour le mât télescopique d'un chariot élévateur à fourches
DE102012101949A1 (de) 2012-03-08 2013-09-12 Linde Material Handling Gmbh Hubvorrichtung eines Flurförderzeugs
CN102628465A (zh) * 2012-04-17 2012-08-08 安徽合力股份有限公司 起重运输机械用能量回收式举升液压系统
DE102012024647A1 (de) * 2012-12-17 2014-06-18 Jungheinrich Aktiengesellschaft Hydraulische Hubvorrichtung für ein batteriebetriebenes Flurförderzeug
EP2962981A1 (fr) * 2013-02-27 2016-01-06 Kabushiki Kaisha Toyota Jidoshokki Dispositif de commande hydraulique pour élévateur à fourche
DE102016103256A1 (de) * 2015-12-29 2017-06-29 Still Gmbh Flurförderzeug mit einem Hubgerüst

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT202000008767A1 (it) * 2020-04-23 2021-10-23 Cnh Ind Italia Spa Disposizione idraulica per gestire il flusso di olio di ritorno in un veicolo da lavoro
EP3901492A1 (fr) * 2020-04-23 2021-10-27 CNH Industrial Italia S.p.A. Dispositif hydraulique pour la gestion du flux d'huile de retour dans un véhicule de travail

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