EP3608286A1 - Chariot industriel avec système de levage hydraulique et protection électronique du système de levage contre les dysfonctionnements - Google Patents

Chariot industriel avec système de levage hydraulique et protection électronique du système de levage contre les dysfonctionnements Download PDF

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Publication number
EP3608286A1
EP3608286A1 EP19190038.0A EP19190038A EP3608286A1 EP 3608286 A1 EP3608286 A1 EP 3608286A1 EP 19190038 A EP19190038 A EP 19190038A EP 3608286 A1 EP3608286 A1 EP 3608286A1
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EP
European Patent Office
Prior art keywords
volume flow
industrial truck
pressure fluid
lifting system
load
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
EP19190038.0A
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German (de)
English (en)
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EP3608286B1 (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
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Linde Material Handling GmbH
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Publication date
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Publication of EP3608286A1 publication Critical patent/EP3608286A1/fr
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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

Definitions

  • the invention relates to an industrial truck with a lifting system, which comprises a fixed part and a vertically movable part with a load-carrying means arranged thereon and at least one hydraulic actuator, the hydraulic actuator being connected to a hydraulic system with a hydraulic control device which is set up to control the hydraulic To supply the actuator with a controlled volume flow of a pressure fluid and to bring about a controlled movement of the load-carrying means relative to the fixed part of the lifting system, and an electronically operated valve device that is operatively connected to an electronic control device is switched into the hydraulic system.
  • the known mechanical line break safety devices are each set to a fixed limit volumetric flow and suddenly come on when this limit is exceeded. At high, desired lowering speeds, the sudden impact leads to high dynamic forces on the load and the lifting system and can also cause the truck to tip over.
  • the limit volume flow must be selected with a sufficient distance from the nominal volume flow in order to prevent vibrations, e.g. B. at the lift level transition, lead to the line break protection.
  • the associated high limit volume flow then leads to the high loads mentioned above due to the dynamics when the line rupture safety device is activated.
  • the truck loses energy, with the electrically actuated valve actuated into the basic position designed as a blocking position, the lowering movement can stop abruptly, which leads to high dynamic loads on the load and the lifting system.
  • the present invention is based on the object of providing an industrial truck of the type mentioned at the outset which can be brought into a safe state in the event of a malfunction of the lifting system without the load being stopped abruptly.
  • the electronically operated valve device can be actuated automatically into a basic position causing a throttled volume flow of the pressure fluid in the event of a malfunction of the lifting system.
  • the essence of the invention is the use of an electronically actuated valve device as a line break safety device, in which the basic position is designed as a throttle position and which in its basic position allows a throttled volume flow of the pressure fluid to pass. In the operating position, the electronically operated valve device allows the volume flow to flow freely in both directions.
  • the electrically operated valve device is expediently close to the hydraulic actuator, e.g. arranged on the hydraulic cylinder.
  • the electronically operated valve device can preferably be actuated between an operating position causing an unhindered volume flow of the pressure fluid and the basic position causing a throttled volume flow of the pressure fluid.
  • the electronically actuated valve device is actuated by a spring into the basic position and by means of an electrical actuating device into the operating position. This enables in a simple and safe manner that the electronically actuated valve device is actuated by means of the spring in the event of a malfunction of the lifting system into the basic position which is designed as a throttle position and in which only a throttled volume flow can flow out of the actuator.
  • the electronically operated valve device can be designed as a switching valve.
  • a switching valve has a simple and inexpensive structure.
  • the electronically operated valve device also has intermediate positions between the operating position causing an unhindered volume flow of the pressure fluid and the basic position causing a throttled volume flow of the pressure fluid.
  • the electronically operated valve device is designed as a proportional valve, which enables a continuous transition between the operating position, which causes an unhindered volume flow of the pressure fluid, and the basic position, which causes a throttled volume flow of the pressure fluid.
  • the dynamic forces can be further reduced by the regulated or controlled transition to the basic position. As a result, even higher lowering speeds of the load handler are possible.
  • At least one sensor device that is operatively connected to the electronic control device is provided.
  • This sensor device is set up to record operating states of the lifting system as sensor data and to pass the sensor data on to the electronic control device.
  • the control device is set up to compare the recorded sensor data with data, in particular stored data, which are assigned to regular operating states, and to detect a malfunction of the lifting system in the event of a defined deviation. If a malfunction of the lifting system is detected, the electronic control device automatically actuates the electronically operated valve device into the basic position causing a throttled volume flow of the pressure fluid.
  • the sensor device is preferably designed as a speed sensor for detecting the speed of the load suspension device.
  • the sensor device is designed as a lift height sensor for detecting the actual position of the load suspension device and the electronic control device is set up to calculate the speed of the load suspension device from the sensor data of the lift height sensor.
  • the actual position of the load suspension device and thus the lift height of the load suspension device can be measured with a sensor device designed as a lifting height sensor. From the length signal supplied by the lifting height sensor, the lowering speed of the load suspension device can be calculated in a simple manner in the electronic control device by a time derivative.
  • the sensor device is designed as a pressure sensor for detecting the pressure in the hydraulic system.
  • the sensor device can also be designed as a volume flow sensor for detecting the volume flow in the hydraulic system.
  • the electronic control device is set up to throttle the lowering speed to an emergency lowering speed in the event of a defined deviation of the detected sensor data of the lowering speed of the load handler from the data of the regular lowering speed.
  • a further development of the invention provides that the electronic control device is set up to actuate the defined deviation of the detected sensor data from the data, in which a malfunction of the lifting system is recognized and the electronically operated valve device is automatically actuated into the basic position causing the throttled volume flow of the pressure fluid will continuously adapt to the current speed of the load handler.
  • the limit volume flow at which the electronically actuated valve device is brought into the basic position can be continuously adapted to the currently selected sink speed, so that in the event of a fault, the load is not accelerated up to the maximum volume flow before the line break safety device is activated.
  • the lower loads occurring in the invention allow higher sink speeds in regular operation than is possible with mechanical line break protection.
  • the electronic control device is set up to convert the defined deviation of the detected sensor data from the data, in which a malfunction of the lifting system is detected, and the electronically operated valve device automatically into the throttled volume flow of the pressure fluid effecting, basic position is actuated to continuously adapt to the current speed of the load handling device.
  • Influences of temperature and viscosity of the hydraulic fluid can also be taken into account in the event of a fault detection, and thus when the line break safety device is activated.
  • the electronic control device is set up to convert the defined deviation of the sensed sensor data from the data, in which a malfunction of the lifting system is recognized and the electronically operated valve device automatically causes the throttled volume flow of the pressure fluid , Basic position is actuated, continuously adapt to the temperature and / or viscosity of the pressure fluid in the hydraulic system.
  • a non-return valve is arranged in a bypass line to the electronically operated valve device, which enables the hydraulic actuator to be filled with pressurized fluid without actuating the electronically operated valve device, and a backflow of pressurized fluid from the hydraulic actuator via the bypass line prevented by the electronically operated valve device.
  • the electronically operated valve device need not be actuated, since the pressure fluid can flow past the valve via the check valve.
  • the check valve itself prevents the pressure fluid from flowing out of the Lift cylinder can flow past the valve.
  • the invention offers a number of advantages: The invention results in significantly lower loads for the load, the lifting system and the entire industrial truck.
  • the lower loads that occur allow higher sink speeds of the load suspension device in regular operation, for example 1.1 m / s or more, than is possible with mechanical line break protection.
  • FIG. 1 shows a lifting system 1 of an industrial truck, not shown, for example a forklift or reach truck.
  • the lifting system 1 comprises a lifting frame 2, on which a load suspension device 4 is arranged to be raised and lowered for handling a load Q.
  • the load-carrying means 4 consists of a lifting carriage which can be moved vertically in the mast 2, to which, for example, a load fork formed by fork tines is attached as an attachment.
  • the mast 2 has a fixed part 2a, for example a standing mast, and a vertically movable part 2b, for example an extension mast, which is arranged on the fixed part 2a and can be raised and lowered.
  • the load suspension device 4 is arranged on the vertically movable part 2b so that it can be raised and lowered.
  • the lifting system 1 is actuated by a hydraulic actuator 3, which in the exemplary embodiment shown is designed as a hydraulic cylinder which is provided for lifting and lowering the load-carrying means 4.
  • the hydraulic actuator 3 designed as a lifting cylinder has a cylinder housing 3a, which is arranged on the fixed part 2a, and an extendable piston rod 3b, which is connected to the vertically movable part 2b.
  • a flexible traction means 6, for example a lifting chain, is provided for lifting and lowering the load suspension means 4.
  • the flexible traction means 6 is attached to the load suspension means 4 with a first end.
  • the traction means 6 is guided over a deflection roller 7 and attached with a second end to the fixed part 2a of the mast 2.
  • the deflection roller 7 is arranged on the vertically movable part 2b.
  • the hydraulic actuator 3 can be actuated by means of a hydraulic control device 30 for raising and lowering the load suspension means 4.
  • the hydraulic control device 30 is designed as a control valve 30 throttling in intermediate positions with a blocking position 30a designed as a neutral position, a lifting position 30b and a lower position 30c.
  • the control valve 30 is connected to a delivery line 34 of a pump 31, a container line 35 led to a container 32 and a pressure medium line 36 led to the actuator 3.
  • the pump 31 draws pressure medium from the container 32 by means of a suction line 33.
  • the blocking position 30a of the control valve 30 the connection of the pressure line 36 to the delivery line 34 and the container line 35 is blocked.
  • the delivery line 34 is connected to the pressure line 36.
  • the pressure line 36 is connected to the container line 35.
  • the control valve 30 can be actuated electrically by means of an electronic control device 20.
  • an electrical actuation device 37 is provided, the control valve 30 of which is actuated in the direction of the lower position 30c.
  • the control valve 30 can be actuated in the direction of the raised position 30b by means of a further electrical actuating device 38.
  • the actuating devices 37, 38 are designed, for example, as magnets, in particular proportional magnets.
  • control valve 30 is actuated in the non-activated and de-energized state into the blocking position 30a designed as a neutral position.
  • the electronic control device 20 is connected on the input side to an actuator 11 which can be actuated by an operator, for example a joystick, by the actuation of which a lifting or lowering process of the load-carrying device 4 can be initiated and by its actuation a lifting speed and a lowering operation in the lifting operation Lowering speed can be specified.
  • an actuator 11 which can be actuated by an operator, for example a joystick, by the actuation of which a lifting or lowering process of the load-carrying device 4 can be initiated and by its actuation a lifting speed and a lowering operation in the lifting operation Lowering speed can be specified.
  • a sensor device 10 is provided, which is connected to the electronic control device 20.
  • the sensor device 10 is designed as a lifting height sensor 10 with which the lifting height of the load suspension device 4 can be measured.
  • the lifting height sensor 10 can be designed as a rope length sensor 10 which comprises a housing fastened to the fixed part 2a of the lifting system 1 and a rope means 10a connected to the load-carrying means 4 of the lifting system 1.
  • the lowering speed of the load suspension device 4 is calculated in the electronic control device 20 from the length signal supplied by the lifting height sensor 10 by a time derivative.
  • the lifting system 1 is also provided with an electronically operated valve device 5, which is connected to the pressure medium line 36 and is arranged on the hydraulic actuator 3 close to the cylinder.
  • the valve device 5 is arranged on the cylinder base of the actuator 3 designed as a hydraulic cylinder.
  • the valve device 5 has an operating position 5b, which is designed as a flow position and enables an unimpeded flow of pressure medium from the pressure medium line 36 into the actuator 3 or an unimpeded flow of pressure medium from the actuator 3 into the pressure medium line 36, and a basic position 5a , which is designed as a throttle position and causes a throttled volume flow of the pressure fluid, which can flow out of the actuator 3 into the pressure medium line 36.
  • the valve device 5 is actuated by a spring 7 in the basic position 5a.
  • the valve device 5 can be actuated by the electronic control device 20 in the direction of the operating position 5b.
  • an electrical actuating device 8 is provided which actuates the valve device 5 against the force of the spring 7 into the operating position 5b and which is connected to the electronic control device 20 for actuation.
  • valve device 5 is designed as a switching valve 15.
  • the electrical actuating device 8 can be designed as a switching magnet.
  • the Figure 2 shows a variant of the lifting system 1 Figure 1 , the same components being designated with the same reference numerals.
  • the electronically operated valve device 5 is designed as a proportional valve 16 throttling in intermediate positions.
  • the electrical actuating device 8 can be designed as a proportional magnet, which acts on the proportional valve 16 from the basic position 5a against the force of the spring 7 in the direction of the operating position 5b.
  • the lifting system of the Figures 1 and 2 works as follows: If a request for lifting the load Q is transmitted to the electronic control device 20 via the actuator 11, for example a joystick, the electronic control device 20 controls the hydraulic control device 30 in the direction of the lifting position 30b, so that the pressure fluid, in the present case hydraulic fluid, is conveyed from the container 32 via the suction line 33, the pump 31 and the delivery line 34 of the pump 31 into the pressure line 36. Likewise controlled by the electronic control device 20 is the electrically actuated valve device 5 such that the electrical actuating device 8 acts on the valve device 5 from the basic position 5a against the force of the spring 7 into the operating position 5b.
  • the pressure fluid can now flow unhindered into the actuator 3, which in the exemplary embodiment shown is designed as a hydraulic lifting cylinder 3, in particular a plunger cylinder, with a piston rod 3b and a cylinder tube 3a.
  • the actuator 11 If the actuator 11 signals a request to lower the load Q to the electronic control unit 20, the latter controls the hydraulic control device 30 in the direction of the lower position 30c, so that the pressure line 36 is connected to the container line 35.
  • the actuating device 8 of the valve device 5 is also actuated, so that the valve device 5 is actuated into the operating position 5b and the hydraulic fluid flows freely from the Actuator 3 can flow into the container 32 via the pressure line 36, the hydraulic control device 30 and the container line 35.
  • the electronic control device 20 detects a fault in one of these operating states (lifting / lowering), in particular an uncontrolled lowering of the load Q, for example caused by a leak in the pressure medium line 36, the actuation of the actuating device 8 is ended, so that the spring 7 the valve device 5 is actuated into the basic position 5a designed as a throttle position, in which only a throttled volume flow can emerge and flow out of the actuator 3.
  • the throttling of the volume flow flowing out of the actuator 3 in the basic position 5a is selected in such a way that all known legal and normative requirements are met.
  • the throttled volume flow that can flow away from the actuator 3 is preferably dimensioned such that a lowering speed of the load-carrying means 4 and thus the load Q is limited to a value ⁇ 0.6 m / s.
  • a malfunction of the lifting system 1 can be detected with the sensor device 10, which detects the speed of the load suspension device 4 and transmits it to the electronic control 20.
  • valve device 5 When the lifting system 1 is not actuated, the valve device 5 is also in the basic position 5a, so that it is not necessary to monitor the speed of the load-carrying means 4.
  • a malfunction of the lifting system 1 is preferably detected in the electronic control device 20, which is in operative connection with the sensor device 10.
  • the sensor device 10 is set up to record operating states of the lifting system 1, for example the actual lowering speed of the load suspension device 4, as sensor data and to forward the sensor data to the electronic control device 20.
  • the electronic control device 20 is set up to compare the sensed sensor data, for example the actual lowering speed of the load suspension means 4, with data, in particular stored data, which are assigned to regular operating states. These data, which are assigned to regular operating states, can be, for example, the target lowering speed assigned and predetermined to the actuation of the actuator 11 of the load suspension device 4.
  • the electronic control device 20 detects a malfunction of the lifting system 1 and actuates the electronically actuated valve device 5 automatically by ending the actuation of the actuating device 8 into the basic position 5a which causes a throttled volume flow of the pressure fluid and is designed as a throttle position.
  • the electronic control device 20 detects a malfunction in one of the lifting / lowering operating states, in particular an uncontrolled lowering of the load Q, for example caused by a leak in the pressure medium line 36, automatic actuation of the valve device 5 can thus result in the basic position 5a designed as a throttle position the lowering speed of the load handler 4 is limited to a permissible value of ⁇ 0.6 m / s.
  • valve device 5 remains in its basic position 5a or is brought into it.
  • valve device 5 as a proportional valve 16 according to the Figure 2 enables a regulated or controlled transition to the basic position 5a, as a result of which the dynamic forces can be reduced further. As a result, even higher speeds of the load suspension device 4 are possible in regular operation (no malfunction).
  • FIG. 3 A detailed illustration of an arrangement is shown in which the electrically operated valve device 5 is also used as a proportional valve 16 according to FIG Figure 2 is formed with the spring 7 and the electrical actuator 8.
  • the pressure line 36 is connected to the proportional valve 16.
  • a check valve 40 is arranged, which opens in the direction of the actuator 3.
  • the proportional valve 16 is designed in such a way that in the basic position 5a it only produces a throttled volume flow allows the actuator 3 to flow. In the operating position 5b, the hydraulic fluid can flow out of the actuator 3 unhindered. Any intermediate positions can be taken.
  • the proportional valve 16 does not need to be actuated to fill the actuator 3 in the lifting mode, since the hydraulic fluid can flow past the proportional valve 16 via the opening check valve 40.
  • the check valve 40 itself prevents hydraulic fluid from flowing past the proportional valve 16 when it flows out of the lifting cylinder 3. The advantage of this arrangement is that energy can be saved for the lifting function by eliminating the actuation of the proportional valve 16.
  • bypass line 45 with the check valve 40 is also in an arrangement of the Figure 1 can be used with an electronically operated valve device 5 designed as a switching valve.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Fluid-Pressure Circuits (AREA)
EP19190038.0A 2018-08-08 2019-08-05 Chariot industriel avec système de levage hydraulique et protection électronique du système de levage contre les dysfonctionnements Active EP3608286B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102018119347.5A DE102018119347A1 (de) 2018-08-08 2018-08-08 Flurförderzeug mit hydraulischem Hubsystem und elektronischer Fehlfunktionsabsicherung des Hubsystems

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EP3608286A1 true EP3608286A1 (fr) 2020-02-12
EP3608286B1 EP3608286B1 (fr) 2021-05-19

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3971128A1 (fr) * 2020-09-16 2022-03-23 Toyota Material Handling Manufacturing Sweden AB Véhicule de manutention de matériau

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102022120009A1 (de) * 2022-08-09 2024-02-15 Linde Material Handling Gmbh Hydraulisches System für ein Flurförderzeug
DE102023100629A1 (de) 2023-01-12 2024-07-18 Still Gesellschaft Mit Beschränkter Haftung Hydraulisches Hubsystem für ein Flurförderzeug und Flurförderzeug

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1828045A2 (fr) 2004-09-23 2007-09-05 Crown Equipment Corporation Vanne commandee electroniquement pour vehicule de manipulation de materiaux

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1828045A2 (fr) 2004-09-23 2007-09-05 Crown Equipment Corporation Vanne commandee electroniquement pour vehicule de manipulation de materiaux

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3971128A1 (fr) * 2020-09-16 2022-03-23 Toyota Material Handling Manufacturing Sweden AB Véhicule de manutention de matériau

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DE102018119347A1 (de) 2020-02-13
EP3608286B1 (fr) 2021-05-19

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