EP3608286B1 - 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
EP3608286B1
EP3608286B1 EP19190038.0A EP19190038A EP3608286B1 EP 3608286 B1 EP3608286 B1 EP 3608286B1 EP 19190038 A EP19190038 A EP 19190038A EP 3608286 B1 EP3608286 B1 EP 3608286B1
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European Patent Office
Prior art keywords
volume flow
industrial truck
hydraulic
sensor
load
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EP19190038.0A
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German (de)
English (en)
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EP3608286A1 (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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    • 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-handling device arranged thereon, as well as at least one hydraulic actuator, the hydraulic actuator being connected to a hydraulic system with a hydraulic control device which is configured 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-bearing means relative to the stationary part of the lifting system, and an electronically operated valve device that is operatively connected to an electronic control device is switched on in the hydraulic system.
  • the electrically operated valve from the EP 1 828 045 B1 is determined by the design of the basic position as a shut-off position that it is closed in the basic position. If it is brought into the basic position after a fault has been detected, hydraulic fluid can no longer flow out of the lifting cylinder. This can have the consequence that the load can no longer be lowered, which requires further measures, e.g. B. for towing the truck, can be dangerous.
  • the electronically actuated valve device is actuated into the basic position by a spring and into the operating position by means of an electrical actuating device.
  • This enables the electronically operated valve device to be operated in a simple and safe manner in the event of a malfunction of the lifting system by means of the spring in the basic position designed as a throttle position, in which only a throttled volume flow can flow out of the actuator.
  • the electronically actuated valve device is designed as a proportional valve, which enables a continuous transition between the operating position causing an unimpeded volume flow of the pressure fluid and the normal position causing a throttled volume flow of the pressure fluid.
  • the regulated or controlled transition to the basic position can further reduce the dynamic forces. As a result, even higher lowering speeds of the load handling device are possible.
  • the sensor device is designed as a lifting height sensor for detecting the actual position of the load handling device and the electronic control device is set up to calculate the speed of the load handling device from the sensor data of the lifting height sensor.
  • the sensor device designed as a lifting height sensor the actual position of the load handling device and thus the lifting height of the load handling device can be measured. From the length signal supplied by the lifting height sensor, the lowering speed of the load-bearing means can be calculated in a simple manner in the electronic control device by deriving it over time.
  • the electronic control device is set up to reduce the lowering speed to an emergency lowering speed in the event of a defined discrepancy between the detected sensor data of the lowering speed of the load handling device and the data of the regular lowering speed.
  • a further development of the invention provides that the electronic control device is set up to control the defined deviation of the recorded sensor data from the data in which a malfunction of the lifting system is detected and the electronically operated valve device is automatically moved into the basic position causing the throttled volume flow of the pressure fluid is to continuously adapt to the current speed of the load handling device.
  • a check valve is arranged in a bypass line to the electronically actuated valve device, which enables the hydraulic actuator to be filled with pressure fluid without actuating the electronically actuated valve device, and pressure fluid to flow back from the hydraulic actuator via the bypass line prevented by the electronically operated valve device.
  • the invention offers a number of advantages: The invention results in significantly lower loads on the load, the lifting system and the entire industrial truck.
  • the lower loads that occur allow higher lowering speeds of the load handling device in regular operation of, for example, 1.1 m / s or more than is possible with mechanical line break protection devices.
  • the lifting system 1 comprises a lifting frame 2, on which a load-carrying means 4 can be raised and lowered for handling a load Q.
  • the load-bearing means 4 consists of a lifting carriage which is vertically movable in the lifting frame 2 and to which, for example, a load fork formed by fork prongs is attached as an attachment.
  • the lifting frame 2 has a fixed part 2a, for example a standing mast, and a vertically movable part 2b, for example an extending mast, which can be raised and lowered on the fixed part 2a.
  • the load suspension means 4 can be raised and lowered on the vertically movable part 2b.
  • 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 raising and lowering the load-bearing means 4.
  • the hydraulic actuator 3 designed as a lifting cylinder, has a cylinder housing 3a, which is arranged on the stationary part 2a, and an extendable piston rod 3b, which is connected to the vertically movable part 2b.
  • the flexible traction means 6 is fastened to the load suspension means 4 with a first end.
  • the traction means 6 is guided over a pulley 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 control valve 30 can be actuated electrically by means of an electronic control device 20.
  • an electrical actuating device 37 is provided, when activated, the control valve 30 is actuated in the direction of the lowering position 30c.
  • the control valve 30 can be actuated in the direction of the lifting 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 sensor device 10 is designed as a lift height sensor 10, with which the lift height of the load-bearing means 4 can be measured.
  • the lifting height sensor 10 can be designed as a cable length sensor 10, which comprises a housing fastened to the stationary part 2a of the lifting system 1 and a cable means 10a connected to the load handling means 4 of the lifting system 1.
  • 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 unhindered flow of pressure medium from the pressure medium line 36 into the actuator 3 or an unhindered 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 that can flow out of the actuator 3 into the pressure medium line 36.
  • the valve device 5 is actuated by a spring 7 into the basic position 5a. In the direction of the operating position 5b, the valve device 5 can be actuated by the electronic control device 20.
  • an electrical actuating device 8 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 control.
  • valve device 5 is designed as a switching valve 15.
  • the electrical actuating device 8 can be designed as a switching magnet.
  • the lifting system of the Figures 1 and 2 works as follows: If a request to lift 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.
  • the electrically operated valve device 5 is also controlled by the electronic control device 20 in such a way that the electrical operating 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 illustrated embodiment is designed as a hydraulic lifting cylinder 3, in particular a plunger cylinder, with a piston rod 3b and a cylinder tube 3a.
  • the throttled volume flow that can flow out of the actuator 3 is preferably dimensioned in such a way that a lowering speed of the load handling device 4 and thus the load Q is limited to a value ⁇ 0.6 m / s.
  • valve device 5 In the non-actuated state of the lifting system 1, the valve device 5 is also in the basic position 5a, so that the speed of the load-bearing means 4 does not need to be monitored.
  • 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 detect operating states of the lifting system 1, for example the actual lowering speed of the load-bearing means 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 recorded sensor data, for example the actual lowering speed of the load-bearing 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, for example, be the specified target lowering speed assigned to the actuation of the actuator 11 of the load suspension device 4.
  • the valve device 5 can be automatically actuated into the basic position 5a, which is designed as a throttle position the lowering speed of the load suspension device 4 can be limited to a permissible value of ⁇ 0.6 m / s.

Landscapes

  • 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)

Claims (15)

  1. Chariot de manutention pourvu d'un système de levage (1) comprenant une partie fixe (2a) et une partie mobile en hauteur (2b) avec un moyen de suspension de charge (4) disposé sur celle-ci, ainsi qu'un actionneur hydraulique (3), l'actionneur hydraulique (3) étant raccordé à un système hydraulique pourvu d'un dispositif de commande hydraulique (30) qui est aménagé pour alimenter l'actionneur hydraulique (3) par un débit volumique d'un fluide sous pression et pour provoquer un déplacement commandé du moyen de suspension de charge (4) du système de levage (1) par rapport à la partie fixe (2a) du système de levage (1), et un dispositif de vanne à actionnement électronique (5) en relation fonctionnelle avec un dispositif de commande électronique (20) étant mis en circuit dans le système hydraulique, caractérisé en ce que le dispositif de vanne à actionnement électronique (5) peut être actionné automatiquement vers une position de base (5a) provoquant un débit volumique réduit du fluide sous pression en cas de dysfonctionnement du système de levage (1).
  2. Chariot de manutention selon la revendication 1, caractérisé en ce que le dispositif de vanne à actionnement électronique (5) peut être actionné entre une position de fonctionnement (5b) provoquant un débit volumique libre du fluide sous pression et la position de base (5a) provoquant un débit volumique réduit du fluide sous pression.
  3. Chariot de manutention selon la revendication 2, caractérisé en ce que le dispositif de vanne (5) est actionné dans la position de base (5a) par un ressort (7) et est actionné dans la position de fonctionnement (5b) au moyen d'un dispositif d'actionnement électrique (8) .
  4. Chariot de manutention selon la revendication 2 ou 3, caractérisé en ce que le dispositif de vanne à actionnement électronique (5) est réalisé sous la forme d'une vanne de commutation (15).
  5. Chariot de manutention selon la revendication 2 ou 3, caractérisé en ce que le dispositif de vanne à actionnement électronique (5) présente des positions intermédiaires entre la position de fonctionnement (5b) provoquant un débit volumique libre du fluide sous pression et la position de base (5a) provoquant un débit volumique réduit du fluide sous pression.
  6. Chariot de manutention selon la revendication 5, caractérisé en ce que le dispositif de vanne à actionnement électronique (5) est réalisé sous la forme d'une vanne proportionnelle (16) qui permet une transition continue entre la position de fonctionnement (5b) provoquant un débit volumique libre du fluide sous pression et la position de base (5a) provoquant un débit volumique réduit du fluide sous pression.
  7. Chariot de manutention selon l'une quelconque des revendications 1 à 6, caractérisé en ce qu'au moins un dispositif capteur (10) en relation fonctionnelle avec le dispositif de commande électronique (20) est prévu et aménagé pour détecter des états de fonctionnement du système de levage (1) sous forme de données de capteur et pour transmettre les données de capteur au dispositif de commande électronique (20), et le dispositif de commande électronique (20) est aménagé pour comparer les données de capteur détectées avec des données, en particulier des données mémorisées, qui sont associées à des états de fonctionnement normaux, et pour identifier un dysfonctionnement du système de levage (1) dans le cas d'un écart défini, et dans le cas d'un dysfonctionnement identifié du système de levage (1), pour actionner le dispositif de vanne à actionnement électronique (5) automatiquement dans la position de base (5a) provoquant un débit volumique réduit du fluide sous pression.
  8. Chariot de manutention selon la revendication 7, caractérisé en ce que le dispositif capteur (10) est réalisé sous la forme d'un capteur de vitesse destiné à détecter la vitesse du moyen de suspension de charge (4) .
  9. Chariot de manutention selon la revendication 7, caractérisé en ce que le dispositif capteur (10) est réalisé sous la forme d'un capteur de hauteur de levage destiné à détecter la position réelle du moyen de suspension de charge (4), et le dispositif de commande électronique (20) est aménagé pour calculer la vitesse du moyen de suspension de charge (4) à partir des données de capteur du capteur de hauteur de levage.
  10. Chariot de manutention selon la revendication 7, caractérisé en ce que le dispositif capteur (10) est réalisé sous la forme d'un capteur de pression destiné à détecter la pression dans le système hydraulique.
  11. Chariot de manutention selon la revendication 7, caractérisé en ce que le dispositif capteur (10) est réalisé sous la forme d'un capteur de débit volumique destiné à détecter le débit volumique dans le système hydraulique.
  12. Chariot de manutention selon l'une quelconque des revendications 7 à 11, caractérisé en ce que le dispositif de commande électronique (20) est aménagé pour réduire la vitesse d'abaissement à une vitesse d'abaissement de secours dans le cas d'un écart défini des données de capteur détectées de la vitesse d'abaissement du moyen de suspension de charge (4) par rapport aux données de la vitesse d'abaissement normale.
  13. Chariot de manutention selon l'une quelconque des revendications 7 à 12, caractérisé en ce que le dispositif de commande électronique (20) est aménagé pour adapter en continu à la vitesse actuelle du moyen de suspension de charge (4) l'écart défini des données de capteur détectées par rapport aux données, pour lequel un dysfonctionnement du système de levage (1) est identifié et le dispositif de vanne à actionnement électronique (5) est actionné automatiquement dans la position de base (5a) provoquant le débit volumique réduit du fluide sous pression.
  14. Chariot de manutention selon l'une quelconque des revendications 7 à 13, caractérisé en ce que le dispositif de commande électronique (20) est aménagé pour adapter en continu à la température et/ou à la viscosité du fluide sous pression dans le système hydraulique l'écart défini des données de capteur détectées par rapport aux données, pour lequel un dysfonctionnement du système de levage (1) est identifié et le dispositif de vanne à actionnement électronique (5) est actionné automatiquement dans la position de base (5a) provoquant le débit volumique réduit du fluide sous pression.
  15. Chariot de manutention selon l'une quelconque des revendications 1 à 14, caractérisé en ce que dans une conduite de dérivation (45) jusqu'au dispositif de vanne à actionnement électronique (5) est disposé un clapet antiretour (40) qui permet un remplissage de l'actionneur hydraulique (3) avec du fluide sous pression sans actionner le dispositif de vanne à actionnement électronique (5), et qui empêche un refoulement de fluide sous pression de l'actionneur hydraulique (3) par la conduite de dérivation (45) en passant devant le dispositif de vanne à actionnement électronique (5).
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 EP3608286A1 (fr) 2020-02-12
EP3608286B1 true EP3608286B1 (fr) 2021-05-19

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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
DE102022120009A1 (de) * 2022-08-09 2024-02-15 Linde Material Handling Gmbh Hydraulisches System für ein Flurförderzeug

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US7344000B2 (en) 2004-09-23 2008-03-18 Crown Equipment Corporation Electronically controlled valve for a materials handling vehicle

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DE102018119347A1 (de) 2020-02-13

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