EP3760574B1 - Industrial truck - Google Patents

Industrial truck Download PDF

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Publication number
EP3760574B1
EP3760574B1 EP20177057.5A EP20177057A EP3760574B1 EP 3760574 B1 EP3760574 B1 EP 3760574B1 EP 20177057 A EP20177057 A EP 20177057A EP 3760574 B1 EP3760574 B1 EP 3760574B1
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EP
European Patent Office
Prior art keywords
load
intermediate piece
tilting cylinder
industrial truck
end region
Prior art date
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Active
Application number
EP20177057.5A
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German (de)
French (fr)
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EP3760574A1 (en
Inventor
Mark Hanke
Björn Hanke
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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Application filed by Linde Material Handling GmbH filed Critical Linde Material Handling GmbH
Publication of EP3760574A1 publication Critical patent/EP3760574A1/en
Application granted granted Critical
Publication of EP3760574B1 publication Critical patent/EP3760574B1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/16—Platforms; Forks; Other load supporting or gripping members inclinable relative to mast

Definitions

  • the invention relates to an industrial truck with a load carriage that can be raised and lowered on a lifting frame, on which a fork carriage that can be tilted about a horizontal pivot axis is arranged, on which a load handling device for taking up a load is arranged, with a tilting cylinder device being provided with which the fork carriage can be rotated the horizontal pivot axis can be tilted.
  • Such industrial trucks can be designed as stacker trucks or reach trucks, in which a load carriage can be raised and lowered on a mast.
  • a fork carriage is arranged on the load carriage, on which a load handling device for receiving a load is arranged.
  • the load handling device is usually formed by a load fork with two forks.
  • the mast is generally non-inclinable.
  • the center of gravity of a lifted mast could be determined by additionally detecting forces or the hydraulic pressure in the tilting cylinders of the mast to determine the load when the load weight is known.
  • the determination of the forces of the tilting cylinders based on the hydraulic pressure is dependent on friction and viscosity and therefore only allows limited accuracy when calculating the center of gravity of the load.
  • the present invention is based on the object of providing an industrial truck of the type mentioned at the outset which, with regard to the determination the forces acting on the tiltable fork carriage in the area of the tilting cylinder device are improved.
  • an intermediate piece is arranged between the tilting cylinder device and the fork carriage, which intermediate piece transmits the forces of the tilting cylinder device to the inclinable fork carriage, the intermediate piece being provided with a sensor system for measuring the forces acting on the inclinable fork carriage in the area of the tilting cylinder device .
  • the intermediate piece arranged between the tilting cylinder device and the fork carriage which is provided with a sensor system for measuring the forces acting on the tiltable fork carriage in the area of the tilting cylinder device and is therefore equipped with a corresponding sensor system, thus forms a measuring body with which the forces acting on the tiltable fork carriage in the Forces acting on the area of the tilting cylinder device can be determined.
  • the measuring body arranged between the tiltable fork carriage and the tilting cylinder device enables increased accuracy when determining the forces acting on the tiltable fork carriage in the area of the tilting cylinder device and thus achieves increased accuracy when determining the position of the load center of a load picked up on the load handling device, since the friction within the tilting cylinder device and the viscosity of the pressure medium do not affect the measurement result.
  • the intermediate piece extends in the transverse direction of the fork carriage and the tilting cylinder device has a first tilting cylinder, which is supported on a first end area of the intermediate piece, and a second tilting cylinder, which is supported on a second end area of the intermediate piece, wherein the sensor system has a first sensor device arranged in the first end area of the intermediate piece and a second sensor device arranged in the second end area of the intermediate piece.
  • the intermediate piece designed as a measuring body is therefore provided with two measuring points, at each of which a sensor device is provided in order to determine the forces acting on the tiltable fork carriage in the area of the tilting cylinder device.
  • the intermediate piece is provided with a recess to accommodate the sensor system.
  • the sensor device can be installed in a protected manner in a corresponding recess.
  • the recess is advantageously arranged vertically in each case.
  • the forces acting on the tiltable fork carriage in the area of the tilting cylinder device lead to deformations on the measuring body about a vertical vertical axis. If the recess is also arranged vertically, the forces on the fork carrier lead to corresponding deformations on the walls of the recesses, which can be used and measured with the sensor device for determining the forces acting on the fork carrier.
  • a strain measurement of the intermediate piece is carried out with the sensor device.
  • the force measurement to determine the forces on the fork carriage in the area of the tilting cylinder device is therefore based on the principle of strain measurement.
  • the sensor device is preferably formed by strain gauges (DMS), with which the strains occurring under load and thus deformations of the intermediate piece are detected.
  • DMS strain gauges
  • each sensor device carries out a redundant force measurement.
  • the redundancy can take place, for example, in that each sensor device has a strain gauge full bridge. This achieves a high level of operational reliability for determining the forces acting on the tiltable fork carriage in the area of the tilting cylinder device.
  • the intermediate piece is provided in each end area with a slot-shaped recess running in the transverse direction of the fork carriage, which extends along the support of the tilting cylinder device and the recess of the sensor system and divides the intermediate piece into two plate-like end area sections, with a first end area section the tilting cylinder device is supported and the recess of the sensor system is arranged and the fork carriage is supported on the second end region section.
  • a slit-shaped recess in the intermediate piece it can be achieved in a simple manner that under load, i.e. a load taken up by the load-carrying means, corresponding deformations occur on the first end region sections which, with the sensor devices arranged in the two recesses, are used to determine the forces be detected by the fork carriage.
  • a mechanical stop is provided in the area of the slot-shaped recesses, which limits the deformation of the first end area section.
  • the intermediate piece designed as a measuring body is therefore additionally provided with a mechanical stop as overload protection. Before excessive loading of the intermediate piece leads to plastic deformation of the intermediate piece, the gaps formed by the slot-shaped recesses in the intermediate piece are closed by the mechanical stop becoming effective, so that the forces are transmitted directly between the tilting cylinder device and the fork carriage via the mechanical stops will.
  • the mechanical stop is advantageously formed by an elevation arranged on the first end area section or on the second end area section, which elevation extends into the slot-shaped recess and reduces the width of the slot-shaped recess.
  • the elevation arranged on the first end area section or on the second end area section comes into mechanical contact with the second end area section or the first end area section and closes the gap between the two end area sections.
  • the survey is preferably arranged in extension of the tilting cylinder device, whereby with effective mechanical stop a favorable power flow between the tilting cylinder device and the fork carriage is achieved.
  • the intermediate piece can be designed in one piece.
  • the intermediate piece can be designed in several parts, in particular in two parts, with the second end region sections being formed by a plate which is fastened to the intermediate piece.
  • the manufacture of the slit-shaped recesses can be carried out in a simplified and more cost-effective manner in the case of a two-piece intermediate piece.
  • the sensor system is connected to an electronic control device, which is connected to a sensor device that detects the load weight of a load on the load handling device, the control device being designed in such a way that the load weight and the Forces together with values stored in the control device for the geometry of the fork carriage, the horizontal distance of the center of gravity of the load from the fork carriage and/or the load moment of the load is determined.
  • the distance between the horizontal swivel axis of the fork carriage and the support points of the tilting cylinder device on the intermediate piece is known, and the values for the geometry of the fork carriage are therefore known, if the load weight is known and by means of the forces of the fork carriage in the area of the tilting cylinder device recorded by the sensors of the intermediate piece, this can be done on the basis of a moment equilibrium around the swivel axis the horizontal distance of the center of gravity of the picked-up load from the fork carriage and/or the load moment of the picked-up load can be calculated in the electronic control device.
  • the sensor device that detects the load weight of a load located on the load-carrying means can, for example, detect the hydraulic pressure in a lifting hydraulic system of the load carriage.
  • the load weight of a load on the load handling device can be measured directly with a force measuring sensor system that, for example, records the force on a lifting chain that actuates the load carriage or that is integrated directly into the load handling device, for example fork tines with an integrated force measuring sensor system.
  • the horizontal distance of the center of gravity of the load and/or the load moment can be used for assistance and/or safety systems of the industrial truck in order to be able to determine the position of the overall center of gravity of the industrial truck. If predetermined critical results are exceeded, the assistance and/or safety systems can issue a warning and/or intervene in the vehicle control. In this way, the driver of the industrial truck can be informed and/or supported in the event of critical load conditions. For example, a warning can be given if the load is positioned too far forward on the load handling attachment for a specific load weight, so that there is a risk of the industrial truck tipping forward. It is also possible to intervene automatically in the truck control, e.g. to stop the industrial truck in such critical situations or to adjust the driving speed accordingly. In such situations, the mast can also be automatically tilted back or the lifting height can be automatically limited. Accidents and transport damage can thus be avoided.
  • the invention has a number of advantages.
  • the intermediate piece makes it possible to precisely record the forces on the inclinable fork carriage in the area of the tilting cylinder device.
  • increased accuracy can be achieved when determining the position of the center of gravity of the load and the horizontal distance from the center of gravity of the load in the longitudinal direction of the vehicle of a load picked up on the load handling device.
  • an industrial truck 1 with a mast 2 is shown in a schematic representation.
  • the industrial truck 1 can be designed as a reach truck.
  • a load carriage 3 is arranged on the mast 2 so that it can be raised and lowered in the vertical direction V by means of lifting hydraulics, which are not shown in detail.
  • the mast 2 is arranged on the industrial truck 1 such that it cannot be tilted.
  • a fork carrier 4 is arranged on the load carriage 3 so that it can be tilted about a horizontal pivot axis S, which extends in the transverse direction Q of the vehicle.
  • a load handling device 5 for receiving a load G is arranged on the fork carriage 4 .
  • the load handling device 5 is - as from the figure 2 can be seen - formed, for example, by two spaced apart in the vehicle transverse direction Q forks 5a, 5b, which are arranged on the fork carrier 4.
  • a tilting cylinder device 6 is provided.
  • the tilt cylinder device 6 - as from the figure 2 can be seen - from two tilting cylinders 6a, 6b, which are spaced apart in the vehicle transverse direction Q.
  • the horizontal pivot axis S of the fork carriage 4 is arranged in the vertically upper area of the fork carriage 4 .
  • the tilting cylinder device 6 acts in the vertically lower region of the fork carriage 4.
  • the vertical distance of the axis of rotation S from the line of action WL of the tilting cylinder device 6 in the vertical direction V is in FIG figure 1 illustrated with the dimension z.
  • the fork carrier 4 which is mounted on the load carriage 3 so that it can pivot about the pivot axis S, can thus be adjusted - as in the figure 1 is illustrated by the arrow - are tilted, the tilting angle of the fork carriage 4 and thus of the load-carrying means 5 being adjusted via the tilting cylinder device 6 acting in the vertically lower region of the fork carriage 4 .
  • an intermediate piece 10 which transmits the forces of the tilting cylinder device 6 to the inclinable fork carriage 4 .
  • the intermediate piece 10 is provided with a sensor system 11 for measuring the forces F acting on the tiltable fork carriage 4 in the area of the tilting cylinder device 6 .
  • the intermediate piece 10 provided with the sensor system 11 and arranged between the tilting cylinder device 6 and the fork carriage 4 is thus designed as a measuring body with which the forces F on the tiltable fork carriage 4 in the area of the tilting cylinder device 6 can be determined.
  • the intermediate piece 10 is designed in such a way that it allows the fork carriage 4 to be displaced laterally.
  • the intermediate piece 10 extends - as from the figure 2 can be seen - in the transverse direction Q of the fork carriage 4.
  • the first tilting cylinder 6a of the tilting cylinder device 6 is supported on a first outer end region of the intermediate piece 10.
  • the second tilting cylinder 6b of the tilting cylinder device 6 is supported on a second outer end area of the intermediate piece 10 .
  • the sensor system 11 has a first sensor device 11a arranged in the first end area of the intermediate piece 10 and a second sensor device 11b arranged in the second end area of the intermediate piece 10 .
  • the intermediate piece 10 designed as a measuring body is thus provided with two measuring points.
  • the spacer 10 is - as from the Figures 3 and 4 can be seen - provided at the two outer end regions on the vertical end face 10a facing the tilting cylinders 6 each with a recess 12a, 12b, for example a hollow spherical recess, into which the corresponding tilting cylinder 6a, 6b with a ball-like tip, which is formed, for example, on an extendable piston rod of the tilting cylinder 6a, 6b engages.
  • a recess 12a, 12b for example a hollow spherical recess
  • the fork carriage 4 rests on the vertical end face 10b of the intermediate piece 10 opposite the vertical end face 10a and the fork carriage 4 is supported.
  • the intermediate piece 10 is provided with a respective recess 15a, 15b for receiving the sensor device 11a, 11b.
  • the recesses 15a, 15b are each arranged in the vertical direction V and extend from a horizontal upper side 10c to a horizontal lower side 10d of the intermediate piece 10.
  • the recesses 15a, 15b thus form transverse recesses in the intermediate piece 10.
  • the recesses 15a, 15b for the sensors 11 are spaced inwardly in the vehicle transverse direction Q from the recesses 12a, 12b on which the tilting cylinders 6a, 6b act in the illustrated exemplary embodiments.
  • the recess 15a, 15b is designed in the illustrated embodiment as a rectangular recess with rounded corners.
  • the sensor device 11a, 11b is used to measure the strain of the intermediate piece 10.
  • the force measurement for determining the forces F of the fork carriage 4 in the area of the tilting cylinders 6a, 6b is therefore based on the principle of strain measurement.
  • the sensor device 11a, 11b is preferably formed by strain gauges (DMS), with which the strains occurring under load and thus deformations of the intermediate piece 10 are detected.
  • DMS strain gauges
  • the elongation of the intermediate piece 10 can be measured under shear loading using strain gauges or alternatively the elongation of the intermediate piece 10 can be measured under shear loading using thin-film cells or alternatively the elongation of the intermediate piece can be measured using a press-in sensor in the recesses 15a, 15b.
  • the elongation of the intermediate piece 10 can be measured according to the double bending beam principle under tensile and compressive loads.
  • the intermediate piece 10 forms in the region of the rectangular Recesses 15a, 15b each have a double bending beam with two bending beams as measuring sections 25a, 25b.
  • the recess 15a, 15b is thus limited in the longitudinal direction L of the vehicle to the front and rear by a measuring section 25a, 25b in each case.
  • a load G is picked up by the load handling device 5
  • these measuring sections 25a, 25b are subjected to bending stress and deform under a corresponding load.
  • sensor devices 11a, 11b in particular strain gauges (DMS), arranged inside the recesses 15a, 15b.
  • DMS strain gauges
  • Corresponding strain gauges can be arranged as sensors on the two inner walls of the respective recesses 15a, 15b arranged parallel to the end faces 10a, 10b at each recess 15a, 15b, so that each sensor device 11a, 11b has two sensors at each recess 15a, 15b .
  • Each sensor device 11a, 11b and thus each measuring point advantageously carries out a redundant force measurement.
  • the redundancy can take place, for example, in that the two sensors, which are arranged on the two inner walls of the recess 15a, 15b arranged parallel to the end faces 10a, 10b, each have a strain gauge full bridge.
  • the intermediate piece 10 is provided in each end region with a slot-shaped recess 20a, 20b running in the transverse direction Q of the fork carriage 4, which extends in the vehicle transverse direction Q along the support of the tilting cylinder device 6 and the recess 15a, 15b of the sensor device 11a, 11b and the intermediate piece 10 divided at the two end areas into two plate-like end area sections 30a, 30b.
  • the tilting cylinder 6a, 6b is supported on the first end area section 30a and the recess 15a, 15b of the sensor device 11a, 11b is arranged, and the fork carrier 4 is supported on the second end area section 30b.
  • the slit-shaped recesses 20a, 20b thus lead to vertically arranged gaps SP of the intermediate piece 10, which extend from the right or left outer side of the intermediate piece 10 in the vehicle transverse direction Q to a central middle section of the intermediate piece 10.
  • a mechanical stop 21a, 21b is provided in the area of the slit-shaped recesses 20a, 20b and limits the deformation of the first end area section 30a.
  • the mechanical stop 21a, 21b is formed by an elevation arranged on the first end region section 30a, which elevation extends into the slot-shaped recess 20a, 20b and reduces the width of the slot-shaped recess 20a, 20b.
  • the intermediate piece 10 designed as a measuring body is thus additionally provided with a mechanical stop 21a, 21b as overload protection.
  • a mechanical stop 21a, 21b as overload protection.
  • the gaps SP formed by the slot-shaped recesses 20a, 20b in the intermediate piece 10 are closed by the mechanical stop 21a, 21b becoming effective, since the elevation on the first end region section 30a comes into contact with the second end area section 30b, so that the forces F are transmitted directly between the tilting cylinder device 6 and the fork carrier 4 via the mechanical stops 21a, 21b.
  • the elevation arranged on the first end area section 30b comes into mechanical contact with the second end area section 30b and closes the corresponding gap SP between the two end area sections 30a, 30b.
  • the elevation is preferably arranged in the extension of the line of action WL of the tilting cylinders 6a, 6b, whereby a favorable flow of forces between the tilting cylinder device 6 and the fork carriage 4 is achieved when the mechanical stop 21a, 21b is active.
  • the intermediate piece 10 is formed in one piece.
  • the slot-shaped recesses 20a, 20b can be produced in the intermediate piece 10, for example, by wire EDM.
  • the intermediate piece 10 is in several parts, in two parts in the illustrated embodiment.
  • the second end area sections 30b are formed by a plate 40 which is attached to the intermediate piece 10 .
  • the attachment of the plate 40 to the intermediate piece 10 can be done, for example, by screw connections.
  • the slit-shaped recesses 20a, 20b can be generated by a more cost-effective milling compared to wire EDM.
  • the recesses 15a, 15b, in which the sensor devices 11a, 11b are arranged are produced by milling.
  • the sensor devices 11a, 11b are connected to an electronic control device 50.
  • FIG. The control device 50 is also connected to a sensor device that detects the load weight of the load G located on the load-carrying means 4 .
  • Control device 50 is designed in such a way that the horizontal distance x the load center LSP of the load G is determined by the fork carriage 4 and/or the load moment of the load G.
  • the horizontal distance x of the load center LSP of the load G picked up from the fork carriage 4 and/or the load moment of the load G picked up can be calculated in the electronic control unit 50.
  • the sensor device that detects the load weight of the load G located on the load handling device 5 can, for example, detect the hydraulic pressure in a lifting hydraulic system of the load carriage 3 .
  • the load weight of the load G on the load handling device 5 can be measured directly with a force measuring sensor system, which, for example, detects the force on a lifting chain that actuates the load carriage 3 .
  • the load weight of the load G located on the load handling device 5 can be measured directly with a force measuring sensor system are integrated directly into the load handling device 5, for example forks 5a, 5b with an integrated force measuring sensor.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Description

Die Erfindung betrifft ein Flurförderzeug mit einem an einem Hubgerüst anhebbar und absenkbar angeordneten Lastschlitten, an dem ein um eine horizontale Schwenkachse neigbarer Gabelträger angeordnet ist, an dem ein Lastaufnahmemittel zur Aufnahme einer Last angeordnet ist, wobei eine Neigezylindereinrichtung vorgesehen ist, mit der der Gabelträger um die horizontale Schwenkachse neigbar ist.The invention relates to an industrial truck with a load carriage that can be raised and lowered on a lifting frame, on which a fork carriage that can be tilted about a horizontal pivot axis is arranged, on which a load handling device for taking up a load is arranged, with a tilting cylinder device being provided with which the fork carriage can be rotated the horizontal pivot axis can be tilted.

Derartige Flurförderzeuge können als Hochhubwagen oder Schubmaststapler ausgebildet sein, bei denen ein Lastschlitten an einem Hubgerüst anhebbar und absenkbar angeordnet. An dem Lastschlitten ist ein Gabelträger angeordnet, an dem ein Lastaufnahmemittel zur Aufnahme einer Last angeordnet ist. Das Lastaufnahmemittel ist in der Regel von einer Lastgabel mit zwei Gabelzinken gebildet. Bei derartigen Flurförderzeugen ist in der Regel das Hubgerüst nicht-neigbar ausgeführt. Um dennoch eine Neigbarkeit des an dem Lastschlitten angeordneten Gabelträgers mit den an diesem angeordneten Lastaufnahmemittel zu ermöglichen, ist es bei derartigen Flurförderzeugen bekannt, den Gabelträger um eine horizontale Schwenkachse neigbar am Lastschlitten anzuordnen und eine Neigezylindereinrichtung vorzusehen ist, mit der der Gabelträger um die horizontale Schwenkachse am Lastschlitten neigbar ist.Such industrial trucks can be designed as stacker trucks or reach trucks, in which a load carriage can be raised and lowered on a mast. A fork carriage is arranged on the load carriage, on which a load handling device for receiving a load is arranged. The load handling device is usually formed by a load fork with two forks. In industrial trucks of this type, the mast is generally non-inclinable. In order to still be able to tilt the fork carriage arranged on the load carriage with the load handling attachments arranged on it, it is known in industrial trucks of this type to arrange the fork carriage on the load carriage so that it can be tilted about a horizontal pivot axis and to provide a tilting cylinder device with which the fork carriage can be tilted about the horizontal pivot axis can be tilted on the load carriage.

Bei Flurförderzeugen ist bekannt, das Lastgewicht einer mit dem Lastaufnahmemittel aufgenommene Last zu erfassen. Eine häufig hierfür genutzte Möglichkeit ist die Erfassung der Hubkraft in einem Hubantrieb des Lastaufnahmemittels, beispielsweise bei einem Hubzylinder über die Erfassung des hydraulischen Drucks. Für die Stabilitätsberechnung des Flurförderzeugs ist jedoch auch entscheidend, wo sich der Schwerpunkt der aufgenommenen Last befindet, da vom horizontalen Abstand des Lastschwerpunkts der Last das durch die Last aufgebrachte Lastmoment abhängt.In the case of industrial trucks, it is known to detect the load weight of a load picked up by the load handling device. A frequently used option for this is the recording of the lifting force in a lifting drive of the load handling device, for example in a lifting cylinder by recording the hydraulic pressure. For the stability calculation of the industrial truck, however, it is also important to know where the center of gravity of the load is, because of the horizontal distance the load moment applied by the load depends on the center of gravity of the load.

Soweit ein Flurförderzeug mit einem neigbaren Hubgerüst ausgestattet ist, ist es denkbar, durch die zusätzliche Erfassung von Kräften oder des hydraulischen Druckes in den Neigezylindern des Hubgerüstes den Lastschwerpunkt einer aufgenommenen Last zu bestimmen, wenn das Lastgewicht bekannt ist. Die Ermittlung der Kräfte der Neigezylinder anhand des hydraulischen Druckes ist jedoch reibungs- und viskositätsabhängig und lässt daher nur eine begrenzte Genauigkeit bei der Berechnung des Lastschwerpunktes zu.If an industrial truck is equipped with an inclinable mast, it is conceivable that the center of gravity of a lifted mast could be determined by additionally detecting forces or the hydraulic pressure in the tilting cylinders of the mast to determine the load when the load weight is known. However, the determination of the forces of the tilting cylinders based on the hydraulic pressure is dependent on friction and viscosity and therefore only allows limited accuracy when calculating the center of gravity of the load.

Bei einem feststehenden, nicht-neigbaren Hubgerüst kann auf diesem Wege keine Aussage über den Lastschwerpunkt einer aufgenommenen Last getroffen werden.With a fixed, non-inclinable mast, no statement can be made in this way about the load center of a load that has been picked up.

Aus der DE 10 2013 114 940 A1 ist ein gattungsgemäßes Flurförderzeug mit ein um eine horizontale Schwenkachse neigbaren Gabelträger bekannt, bei dem der Gabelträger um eine an einem oberen Lagerungspunkt angeordnete Schwenkachse drehbar gelagert ist und sich an einem unteren Lagerungspunkt gegen eine Neigezylindereinrichtung abstützt. Die Abstützkraft des neigbaren Gabelträgers im Bereich der Neigezylindereinrichtung wird über den hydraulischen Druck im Neigezylinder gemessen. Aus dem Abstand des oberen Lagerungspunktes vom unteren Lagerungspunkt, der über den hydraulischen Druck im Neigezylinder gemessenen Abstützkraft und dem Lastgewicht einer aufgenommenen Last wird die Position des Lastschwerpunkts einer mit dem Lastaufnahmemittel aufgenommenen Last bestimmt. Die Ermittlung der Abstützkräfte im Bereich der Neigezylindereinrichtung anhand des hydraulischen Druckes in der Neigezylindereinrichtung ist jedoch reibungs- und viskositätsabhängig und lässt daher nur eine begrenzte Genauigkeit bei der Berechnung der Position des Lastschwerpunktes zu.From the DE 10 2013 114 940 A1 discloses a generic industrial truck with a fork carriage that can be tilted about a horizontal pivot axis, in which the fork carriage is rotatably mounted about a pivot axis arranged at an upper bearing point and is supported at a lower bearing point against a tilting cylinder device. The supporting force of the inclinable fork carriage in the area of the inclining cylinder device is measured via the hydraulic pressure in the inclining cylinder. The position of the center of gravity of a load picked up by the load handling attachment is determined from the distance between the upper bearing point and the lower bearing point, the supporting force measured via the hydraulic pressure in the tilting cylinder and the load weight of a picked-up load. However, the determination of the supporting forces in the area of the tilting cylinder device using the hydraulic pressure in the tilting cylinder device is dependent on friction and viscosity and therefore only allows limited accuracy when calculating the position of the center of gravity of the load.

Eine exakte Bestimmung der Position des Lastschwerpunktes einer mit dem Lastaufnahmemittel aufgenommenen Last, insbesondere des horizontalen Abstands des Lastschwerpunktes der Last von dem Gabelträger in Fahrzeuglängsrichtung, ist jedoch bei gattungsgemäßen Flurförderzeugen mit einem neigbaren Gabelträger gewünscht, da die Position des Lastschwerpunktes für Assistenz- und/oder Sicherheitssysteme des Flurförderzeugs benötigt wird, um die Lage des Gesamtschwerpunktes des Flurförderzeugs ermitteln zu können.An exact determination of the position of the load center of a load picked up with the load handling device, in particular the horizontal distance of the load center of the load from the fork carriage in the longitudinal direction of the vehicle, is desirable in generic industrial trucks with an inclinable fork carriage, since the position of the load center of assistance and / or Safety systems of the truck is required to determine the position of the overall center of gravity of the truck.

Der vorliegenden Erfindung liegt die Aufgabe zugrunde, ein Flurförderzeug der eingangs genannten Gattung zur Verfügung zu stellen, das hinsichtlich der Ermittlung der auf den neigbaren Gabelträger im Bereich der Neigezylindereinrichtung einwirkenden Kräfte verbessert ist.The present invention is based on the object of providing an industrial truck of the type mentioned at the outset which, with regard to the determination the forces acting on the tiltable fork carriage in the area of the tilting cylinder device are improved.

Diese Aufgabe wird erfindungsgemäß dadurch gelöst, dass zwischen der Neigezylindereinrichtung und dem Gabelträger ein Zwischenstück angeordnet, das die Kräfte der Neigezylindereinrichtung auf den neigbaren Gabelträger überträgt, wobei das Zwischenstück mit einer Sensorik zur Kraftmessung der auf den neigbaren Gabelträger im Bereich der Neigezylindereinrichtung einwirkenden Kräfte versehen ist. Das zwischen der Neigezylindereinrichtung und dem Gabelträger angeordnete Zwischenstück, das mit einer Sensorik zur Kraftmessung der auf den neigbaren Gabelträger im Bereich der Neigezylindereinrichtung einwirkenden Kräfte versehen und somit mit einer entsprechenden Sensorik bestückt ist, bildet somit einen Messkörper, mit dem die auf den neigbaren Gabelträger im Bereich der Neigezylindereinrichtung einwirkenden Kräfte ermittelt werden. Im Vergleich zu einer Ermittlung der Abstützkräfte des neigbaren Gabelträgers im Bereich der Neigezylindereinrichtung über den hydraulischen Druck in der Neigezylindereinrichtung wird mit dem zwischen dem neigbaren Gabelträger und der Neigezylindereinrichtung angeordneten Messkörper eine erhöhte Genauigkeit bei der Ermittlung der auf den neigbaren Gabelträger im Bereich der Neigezylindereinrichtung einwirkenden Kräfte und somit eine erhöhte Genauigkeit bei der Ermittlung der Position des Lastschwerpunktes einer auf dem Lastaufnahmemittel aufgenommene Last erzielt, da die Reibung innerhalb der Neigezylindereinrichtung und die Viskosität des Druckmittels das Messergebnis nicht beeinflusst.This object is achieved according to the invention in that an intermediate piece is arranged between the tilting cylinder device and the fork carriage, which intermediate piece transmits the forces of the tilting cylinder device to the inclinable fork carriage, the intermediate piece being provided with a sensor system for measuring the forces acting on the inclinable fork carriage in the area of the tilting cylinder device . The intermediate piece arranged between the tilting cylinder device and the fork carriage, which is provided with a sensor system for measuring the forces acting on the tiltable fork carriage in the area of the tilting cylinder device and is therefore equipped with a corresponding sensor system, thus forms a measuring body with which the forces acting on the tiltable fork carriage in the Forces acting on the area of the tilting cylinder device can be determined. Compared to determining the supporting forces of the tiltable fork carriage in the area of the tilting cylinder device via the hydraulic pressure in the tilting cylinder device, the measuring body arranged between the tiltable fork carriage and the tilting cylinder device enables increased accuracy when determining the forces acting on the tiltable fork carriage in the area of the tilting cylinder device and thus achieves increased accuracy when determining the position of the load center of a load picked up on the load handling device, since the friction within the tilting cylinder device and the viscosity of the pressure medium do not affect the measurement result.

Gemäß einer vorteilhaften Ausgestaltungsform der Erfindung erstreckt sich das Zwischenstück in Querrichtung des Gabelträgers und weist die Neigezylindereinrichtung einen ersten Neigezylinder auf, der an einem ersten Endbereich des Zwischenstücks abgestützt ist, und einen zweiten Neigezylinder aufweist, der an einem zweiten Endbereich des Zwischenstücks abgestützt ist, wobei die Sensorik eine im ersten Endbereich des Zwischenstücks angeordnete erste Sensoreinrichtung und eine im zweiten Endbereich des Zwischenstücks angeordnete zweite Sensoreinrichtung aufweist. Das als Messkörper ausgestaltete Zwischenstück ist somit mit zwei Messtellen versehen, an denen jeweils eine Sensoreinrichtung vorgesehen ist, um die auf den neigbaren Gabelträger im Bereich der Neigezylindereinrichtung einwirkenden Kräfte zu ermitteln.According to an advantageous embodiment of the invention, the intermediate piece extends in the transverse direction of the fork carriage and the tilting cylinder device has a first tilting cylinder, which is supported on a first end area of the intermediate piece, and a second tilting cylinder, which is supported on a second end area of the intermediate piece, wherein the sensor system has a first sensor device arranged in the first end area of the intermediate piece and a second sensor device arranged in the second end area of the intermediate piece. The intermediate piece designed as a measuring body is therefore provided with two measuring points, at each of which a sensor device is provided in order to determine the forces acting on the tiltable fork carriage in the area of the tilting cylinder device.

Gemäß einer vorteilhaften Ausgestaltungsform der Erfindung ist das Zwischenstück zur Aufnahme der Sensorik jeweils mit einer Ausnehmung versehen. In einer entsprechenden Ausnehmung kann die Sensoreinrichtung geschützt eingebaut werden.According to an advantageous embodiment of the invention, the intermediate piece is provided with a recess to accommodate the sensor system. The sensor device can be installed in a protected manner in a corresponding recess.

Die Ausnehmung ist vorteilhafterweise jeweils vertikal angeordnet. Die auf den neigbaren Gabelträger im Bereich der Neigezylindereinrichtung einwirkenden Kräfte führen an dem Messkörper zu Verformungen um eine vertikale Hochachse. Sofern die Ausnehmung ebenfalls vertikal angeordnet ist, führen die Kräfte auf den Gabelträger an den Wänden der Ausnehmungen zu entsprechenden Verformungen, die mit der Sensoreinrichtung für die Ermittlung der auf den Gabelträger einwirkenden Kräfte genutzt und gemessen werden können.The recess is advantageously arranged vertically in each case. The forces acting on the tiltable fork carriage in the area of the tilting cylinder device lead to deformations on the measuring body about a vertical vertical axis. If the recess is also arranged vertically, the forces on the fork carrier lead to corresponding deformations on the walls of the recesses, which can be used and measured with the sensor device for determining the forces acting on the fork carrier.

Gemäß einer vorteilhaften Ausführungsform der Erfindung erfolgt mit der Sensoreinrichtung jeweils eine Dehnungsmessung des Zwischenstücks. Die Kraftmessung zur Ermittlung der Kräfte auf den Gabelträger im Bereich der Neigezylindereinrichtung basiert somit auf dem Prinzip der Dehnungsmessung.According to an advantageous embodiment of the invention, a strain measurement of the intermediate piece is carried out with the sensor device. The force measurement to determine the forces on the fork carriage in the area of the tilting cylinder device is therefore based on the principle of strain measurement.

Die Sensoreinrichtung ist bevorzugt von Dehnmessstreifen (DMS) gebildet, mit denen die unter Belastung auftretenden Dehnungen und somit Verformungen des Zwischenstücks erfasst werden. Dabei kann die Messung der Dehnung des Zwischenstücks unter Schubbelastung durch Dehnungsmesstreifen oder alternativ die Messung der Dehnung des Zwischenstücks unter Schubbelastung durch Dünnfilmzellen oder alternativ die Messung der Dehnung des Zwischenstücks nach dem Prinzip Doppelbiegebalken unter Zug- und Druckbelastung oder alternativ die Messung der Dehnung des Zwischenstücks über einen Einpresssensor erfolgen.The sensor device is preferably formed by strain gauges (DMS), with which the strains occurring under load and thus deformations of the intermediate piece are detected. The measurement of the elongation of the intermediate piece under shear loading by strain gauges or alternatively the measurement of the elongation of the intermediate piece under shear loading by thin-film cells or alternatively the measurement of the elongation of the intermediate piece according to the double bending beam principle under tensile and compressive loads or alternatively the measurement of the elongation of the intermediate piece via a press-in sensor.

Gemäß einer vorteilhaften Weiterbildung der Erfindung führt jede Sensoreinrichtung eine redundante Kraftmessung durch. Die Redundanz kann beispielsweise dadurch erfolgen, dass jede Sensoreinrichtung jeweils eine DMS-Vollbrücke aufweist. Dadurch wird eine hohe Betriebssicherheit für die Ermittlung der auf den neigbaren Gabelträger im Bereich der Neigezylindereinrichtung einwirkenden Kräfte erzielt.According to an advantageous development of the invention, each sensor device carries out a redundant force measurement. The redundancy can take place, for example, in that each sensor device has a strain gauge full bridge. This achieves a high level of operational reliability for determining the forces acting on the tiltable fork carriage in the area of the tilting cylinder device.

Gemäß einer vorteilhaften Ausführungsform der Erfindung ist das Zwischenstück in jedem Endbereich mit einer in Querrichtung des Gabelträgers verlaufenden schlitzförmigen Aussparung versehen, die sich entlang der Abstützung der Neigezylindereinrichtung und der Ausnehmung der Sensorik erstreckt und das Zwischenstück in zwei plattenartige Endbereichsabschnitte unterteilt, wobei an einem ersten Endbereichsabschnitt die Neigezylindereinrichtung abgestützt ist und die Ausnehmung der Sensorik angeordnet ist und an dem zweiten Endbereichsabschnitt der Gabelträger abgestützt ist. Mit einer derartigen schlitzförmigen Ausnehmung in dem Zwischenstück kann auf einfache Weise erzielt werden, dass unter Belastung, d.h. einer mit dem Lastaufnahmemittel aufgenommenen Last, an den ersten Endbereichsabschnitten entsprechende Verformungen auftreten, die mit den in den beiden Ausnehmungen angeordneten Sensoreinrichtungen für die Ermittlung der Kräfte auf den Gabelträger erfasst werden.According to an advantageous embodiment of the invention, the intermediate piece is provided in each end area with a slot-shaped recess running in the transverse direction of the fork carriage, which extends along the support of the tilting cylinder device and the recess of the sensor system and divides the intermediate piece into two plate-like end area sections, with a first end area section the tilting cylinder device is supported and the recess of the sensor system is arranged and the fork carriage is supported on the second end region section. With such a slit-shaped recess in the intermediate piece, it can be achieved in a simple manner that under load, i.e. a load taken up by the load-carrying means, corresponding deformations occur on the first end region sections which, with the sensor devices arranged in the two recesses, are used to determine the forces be detected by the fork carriage.

Gemäß einer vorteilhaften Ausführungsform der Erfindung ist im Bereich der schlitzförmigen Aussparungen jeweils ein mechanischer Anschlag vorgesehen, der die Verformung des ersten Endbereichsabschnitts begrenzt. Das als Messkörper ausgebildete Zwischenstück ist somit zusätzlich mit einem mechanischen Anschlag als Überlastschutz versehen. Bevor eine zu große Belastung des Zwischenstücks zu plastischen Verformungen des Zwischenstücks führt, werden die von den schlitzförmigen Ausnehmungen in dem Zwischenstück gebildeten Spalte geschlossen, indem der mechanische Anschlag wirksam wird, so dass die Kräfte über die mechanischen Anschläge direkt zwischen der Neigezylindereinrichtung und dem Gabelträger übertragen werden.According to an advantageous embodiment of the invention, a mechanical stop is provided in the area of the slot-shaped recesses, which limits the deformation of the first end area section. The intermediate piece designed as a measuring body is therefore additionally provided with a mechanical stop as overload protection. Before excessive loading of the intermediate piece leads to plastic deformation of the intermediate piece, the gaps formed by the slot-shaped recesses in the intermediate piece are closed by the mechanical stop becoming effective, so that the forces are transmitted directly between the tilting cylinder device and the fork carriage via the mechanical stops will.

Der mechanische Anschlag ist vorteilhafterweise von einer an dem ersten Endbereichsabschnitt oder an dem zweiten Endbereichsabschnitt angeordneten Erhebung gebildet, die sich in die schlitzförmige Ausnehmung hineinerstreckt und die Breite der schlitzförmige Ausnehmung verringert. Bei einer entsprechend hohen Belastung gelangt somit die an dem ersten Endbereichsabschnitt bzw. an dem zweiten Endbereichsabschnitt angeordnete Erhebung in mechanischen Kontakt mit dem zweiten Endbereichsabschnitt bzw. dem ersten Endbereichsabschnitt und schließt den Spalt zwischen den beiden Endbereichsabschnitten. Die Erhebung ist bevorzugt in Verlängerung der Neigezylindereinrichtung angeordnet, wodurch bei wirksamem mechanischen Anschlag ein günstiger Kraftfluss zwischen der Neigezylindereinrichtung und dem Gabelträger erzielt wird.The mechanical stop is advantageously formed by an elevation arranged on the first end area section or on the second end area section, which elevation extends into the slot-shaped recess and reduces the width of the slot-shaped recess. With a correspondingly high load, the elevation arranged on the first end area section or on the second end area section comes into mechanical contact with the second end area section or the first end area section and closes the gap between the two end area sections. The survey is preferably arranged in extension of the tilting cylinder device, whereby with effective mechanical stop a favorable power flow between the tilting cylinder device and the fork carriage is achieved.

Das Zwischenstück kann gemäß einer vorteilhaften Ausgestaltungsform der Erfindung einteilig ausgebildet sein.According to an advantageous embodiment of the invention, the intermediate piece can be designed in one piece.

Das Zwischenstück kann gemäß einer alternativen und ebenfalls vorteilhaften Ausgestaltungsform der Erfindung mehrteilig, insbesondere zweiteilig, ausgebildet sein, wobei die zweiten Endbereichsabschnitte von einer Platte gebildet sind, die an dem Zwischenstück befestigt ist. Gegenüber einer einteiligen Ausführung des Zwischenstücks kann bei einem zweiteiligen Zwischenstück die Herstellung der schlitzförmigen Ausnehmungen vereinfacht und kostengünstiger erfolgen.According to an alternative and likewise advantageous embodiment of the invention, the intermediate piece can be designed in several parts, in particular in two parts, with the second end region sections being formed by a plate which is fastened to the intermediate piece. Compared to a one-piece design of the intermediate piece, the manufacture of the slit-shaped recesses can be carried out in a simplified and more cost-effective manner in the case of a two-piece intermediate piece.

Gemäß einer vorteilhaften Weiterbildung der Erfindung steht die Sensorik mit einer elektronischen Steuereinrichtung in Verbindung, die mit einer das Lastgewicht einer auf dem Lastaufnahmemittel befindlichen Last erfassenden Sensorvorrichtung in Verbindung steht, wobei die Steuereinrichtung derart ausgebildet ist, dass aus dem Lastgewicht und der mittels der Sensorik erfassten Kräfte zusammen mit in der Steuereinrichtung hinterlegten Werten zur Geometrie des Gabelträgers der horizontale Abstand des Lastschwerpunkts der Last vom Gabelträger und/oder das Lastmoment der Last bestimmt wird. Bei bekanntem Abstand der horizontalen Schwenkachse des Gabelträgers von den Abstützpunkten der Neigezylindereinrichtung an dem Zwischenstück und somit bekannten Werten zur Geometrie des Gabelträgers kann bei bekanntem Lastgewicht und mittels der von der Sensorik des Zwischenstücks erfassten Kräften des Gabelträgers im Bereich der Neigezylindereinrichtung anhand eines Momentengleichgewichts um die Schwenkachse der horizontale Abstand des Lastschwerpunkts der aufgenommenen Last vom Gabelträger und/oder das Lastmoment der aufgenommenen Last in der elektronischen Steuereinrichtung berechnet werden. Die das Lastgewicht einer auf dem Lastaufnahmemittel befindlichen Last erfassenden Sensorvorrichtung kann hierbei beispielsweise den hydraulischen Druck in einer Hubhydraulik des Lastschlittens erfassen. Alternativ kann das Lastgewicht einer auf dem Lastaufnahmemittel befindlichen Last direkt mit einer Kraftmesssensorik gemessen werden, die beispielsweise die Kraft an einer den Lastschlitten betätigenden Hubkette erfasst oder die direkt in das Lastaufnahmemittel integriert ist, beispielsweise Gabelzinken mit einer integrierten Kraftmesssensorik.According to an advantageous development of the invention, the sensor system is connected to an electronic control device, which is connected to a sensor device that detects the load weight of a load on the load handling device, the control device being designed in such a way that the load weight and the Forces together with values stored in the control device for the geometry of the fork carriage, the horizontal distance of the center of gravity of the load from the fork carriage and/or the load moment of the load is determined. If the distance between the horizontal swivel axis of the fork carriage and the support points of the tilting cylinder device on the intermediate piece is known, and the values for the geometry of the fork carriage are therefore known, if the load weight is known and by means of the forces of the fork carriage in the area of the tilting cylinder device recorded by the sensors of the intermediate piece, this can be done on the basis of a moment equilibrium around the swivel axis the horizontal distance of the center of gravity of the picked-up load from the fork carriage and/or the load moment of the picked-up load can be calculated in the electronic control device. The sensor device that detects the load weight of a load located on the load-carrying means can, for example, detect the hydraulic pressure in a lifting hydraulic system of the load carriage. Alternatively, the load weight of a load on the load handling device can be measured directly with a force measuring sensor system that, for example, records the force on a lifting chain that actuates the load carriage or that is integrated directly into the load handling device, for example fork tines with an integrated force measuring sensor system.

Der horizontale Abstand des Lastschwerpunktes und/oder das Lastmoment kann für Assistenz- und/oder Sicherheitssysteme des Flurförderzeugs verwendet werden, um die Lage des Gesamtschwerpunktes des Flurförderzeugs ermitteln zu können. Bei Überschreiten vorgegebener kritischer Ergebnisse kann von den Assistenz- und/oder Sicherheitssysteme eine Warnmeldung ausgegeben und/oder in die Fahrzeugsteuerung eingegriffen wird. Auf diese Weise kann der Fahrer des Flurförderzeugs bei kritischen Lastbedingungen informiert und/oder unterstützt werden. Beispielsweise kann gewarnt werden, wenn die Last bei einem bestimmten Lastgewicht zu weit vorne am Lastaufnahmemittel positioniert ist, so dass die Gefahr eines Kippens des Flurförderzeugs nach vorne besteht. Es kann auch automatisch in die Fahrzeugsteuerung eingegriffen werden, um z.B. das Flurförderzeug bei solchen kritischen Situationen zu stoppen oder die Fahrgeschwindigkeit entsprechend anzupassen. Auch ein automatisches Rückneigen des Hubgerüstes oder eine automatische Begrenzung der Hubhöhe kann in solchen Situationen erfolgen. Somit können Unfälle und Transportschäden vermieden werden.The horizontal distance of the center of gravity of the load and/or the load moment can be used for assistance and/or safety systems of the industrial truck in order to be able to determine the position of the overall center of gravity of the industrial truck. If predetermined critical results are exceeded, the assistance and/or safety systems can issue a warning and/or intervene in the vehicle control. In this way, the driver of the industrial truck can be informed and/or supported in the event of critical load conditions. For example, a warning can be given if the load is positioned too far forward on the load handling attachment for a specific load weight, so that there is a risk of the industrial truck tipping forward. It is also possible to intervene automatically in the truck control, e.g. to stop the industrial truck in such critical situations or to adjust the driving speed accordingly. In such situations, the mast can also be automatically tilted back or the lifting height can be automatically limited. Accidents and transport damage can thus be avoided.

Die Erfindung weist eine Reihe von Vorteilen auf.The invention has a number of advantages.

Das Zwischenstück ermöglicht es, bei einem Flurförderzeug mit einem neigbaren Gabelträger die Kräfte auf den neigbaren Gabelträger im Bereich der Neigezylindereinrichtung genau zu erfassen. Dadurch ist eine erhöhte Genauigkeit bei der Ermittlung der Position des Lastschwerpunktes und des horizontalen Abstands des Lastschwerpunktes der Last in Fahrzeuglängsrichtung einer auf dem Lastaufnahmemittel aufgenommene Last erzielbar.In the case of an industrial truck with an inclinable fork carriage, the intermediate piece makes it possible to precisely record the forces on the inclinable fork carriage in the area of the tilting cylinder device. As a result, increased accuracy can be achieved when determining the position of the center of gravity of the load and the horizontal distance from the center of gravity of the load in the longitudinal direction of the vehicle of a load picked up on the load handling device.

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

Figur 1
ein erfindungsgemäßes Flurförderzeug in einer Seitenansicht,
Figur 2
eine Draufsicht auf einen Ausschnitt der Figur 1,
Figur 3
eine erste Ausführungsform eines bei der Erfindung eingesetzten Zwischenstücks in einer perspektivischen Darstellung des Zwischenstücks und
Figur 4
eine zweite Ausführungsform eines bei der Erfindung eingesetzten Zwischenstücks in einer perspektivischen Darstellung des Zwischenstücks.
Further advantages and details of the invention are explained in more detail with reference to the exemplary embodiments illustrated in the schematic figures. Here shows
figure 1
an industrial truck according to the invention in a side view,
figure 2
a top view of a section of the figure 1 ,
figure 3
a first embodiment of an intermediate piece used in the invention in a perspective view of the intermediate piece and
figure 4
a second embodiment of an intermediate piece used in the invention in a perspective view of the intermediate piece.

In der Figur 1 ist in einer schematischen Darstellung ein Flurförderzeug 1 mit einem Hubgerüst 2 dargestellt. Das Flurförderzeug 1 kann als Schubmaststapler ausgebildet sein.In the figure 1 an industrial truck 1 with a mast 2 is shown in a schematic representation. The industrial truck 1 can be designed as a reach truck.

An dem Hubgerüst 2 ist mittels einer nicht näher dargestellten Hubhydraulik ein Lastschlitten 3 in vertikaler Richtung V anhebbar und absenkbar angeordnet. Das Hubgerüst 2 ist an dem Flurförderzeug 1 nicht-neigbar angeordnet.A load carriage 3 is arranged on the mast 2 so that it can be raised and lowered in the vertical direction V by means of lifting hydraulics, which are not shown in detail. The mast 2 is arranged on the industrial truck 1 such that it cannot be tilted.

An dem Lastschlitten 3 ist ein Gabelträger 4 um eine horizontale Schwenkachse S neigbar angeordnet, die sich in Fahrzeugquerrichtung Q erstreckt. An dem Gabelträger 4 ist ein Lastaufnahmemittel 5 zur Aufnahme einer Last G angeordnet. Das Lastaufnahmemittel 5 ist - wie aus der Figur 2 ersichtlich ist - beispielsweise von zwei in Fahrzeugquerrichtung Q voneinander beabstandet angeordneten Gabelzinken 5a, 5b gebildet, die an dem Gabelträger 4 angeordnet sind.A fork carrier 4 is arranged on the load carriage 3 so that it can be tilted about a horizontal pivot axis S, which extends in the transverse direction Q of the vehicle. A load handling device 5 for receiving a load G is arranged on the fork carriage 4 . The load handling device 5 is - as from the figure 2 can be seen - formed, for example, by two spaced apart in the vehicle transverse direction Q forks 5a, 5b, which are arranged on the fork carrier 4.

Um eine Neigefunktion des Gabelträgers 4 mit dem daran angeordneten Lastaufnahmemittel 5 zu erzielen, ist eine Neigezylindereinrichtung 6 vorgesehen. Im dargestellten Ausführungsbeispiel besteht die Neigezylindereinrichtung 6 - wie aus der Figur 2 ersichtlich ist - aus zwei Neigezylindern 6a, 6b, die in Fahrzeugquerrichtung Q voneinander beabstandet angeordnet sind.In order to achieve a tilting function of the fork carriage 4 with the load handling device 5 arranged thereon, a tilting cylinder device 6 is provided. In the illustrated embodiment, the tilt cylinder device 6 - as from the figure 2 can be seen - from two tilting cylinders 6a, 6b, which are spaced apart in the vehicle transverse direction Q.

Die horizontale Schwenkachse S des Gabelträgers 4 ist im vertikal oberen Bereich des Gabelträgers 4 angeordnet. Die Neigezylindereinrichtung 6 wirkt im vertikal unteren Bereich des Gabelträgers 4. Der vertikale Abstand der Drehachse S von der Wirklinie WL der Neigezylindereinrichtung 6 in vertikaler Richtung V ist in der Figur 1 mit dem Maß z verdeutlicht. Mittels der Neigezylindereinrichtung 6 kann somit der um die Schwenkachse S schwenkbar an dem Lastschlitten 3 gelagerte Gabelträger 4 - wie in der Figur 1 mit dem Pfeil verdeutlicht ist - geneigt werden, wobei der Neigewinkel des Gabelträgers 4 und somit des Lastaufnahmemittels 5 über die im vertikal unteren Bereich des Gabelträgers 4 wirkende Neigezylindereinrichtung 6 eingestellt wird.The horizontal pivot axis S of the fork carriage 4 is arranged in the vertically upper area of the fork carriage 4 . The tilting cylinder device 6 acts in the vertically lower region of the fork carriage 4. The vertical distance of the axis of rotation S from the line of action WL of the tilting cylinder device 6 in the vertical direction V is in FIG figure 1 illustrated with the dimension z. By means of the tilting cylinder device 6, the fork carrier 4, which is mounted on the load carriage 3 so that it can pivot about the pivot axis S, can thus be adjusted - as in the figure 1 is illustrated by the arrow - are tilted, the tilting angle of the fork carriage 4 and thus of the load-carrying means 5 being adjusted via the tilting cylinder device 6 acting in the vertically lower region of the fork carriage 4 .

Erfindungsgemäß ist - wie in den Figuren 1 und 2 ersichtlich ist - in Fahrzeuglängsrichtung L zwischen der Neigezylindereinrichtung 6 und dem Gabelträger 4 ein Zwischenstück 10 angeordnet, das die Kräfte der Neigezylindereinrichtung 6 auf den neigbaren Gabelträger 4 überträgt. Das Zwischenstück 10 ist mit einer Sensorik 11 zur Kraftmessung der auf den neigbaren Gabelträger 4 im Bereich der Neigezylindereinrichtung 6 einwirkenden Kräfte F versehen. Das mit der Sensorik 11 versehene und zwischen der Neigezylindereinrichtung 6 und dem Gabelträger 4 angeordnete Zwischenstück 10 ist somit als Messkörper ausgebildet, mit dem die Kräfte F auf den neigbaren Gabelträger 4 im Bereich der Neigezylindereinrichtung 6 ermittelt werden können.According to the invention - as in the Figures 1 and 2 can be seen - in the longitudinal direction L of the vehicle between the tilting cylinder device 6 and the fork carriage 4 there is an intermediate piece 10 which transmits the forces of the tilting cylinder device 6 to the inclinable fork carriage 4 . The intermediate piece 10 is provided with a sensor system 11 for measuring the forces F acting on the tiltable fork carriage 4 in the area of the tilting cylinder device 6 . The intermediate piece 10 provided with the sensor system 11 and arranged between the tilting cylinder device 6 and the fork carriage 4 is thus designed as a measuring body with which the forces F on the tiltable fork carriage 4 in the area of the tilting cylinder device 6 can be determined.

Sofern der Gabelträger 4 in Fahrzeugquerrichtung Q seitlich verschiebbar ist, um eine Seitenschieberfunktion des Lastaufnahmemittels 5 zu ermöglichen, ist das Zwischenstück 10 derart ausgebildet, dass es die seitliche Verschiebung des Gabelträgers 4 zulässt.If the fork carriage 4 can be displaced laterally in the transverse direction Q of the vehicle in order to enable a sideshift function of the load handling device 5 , the intermediate piece 10 is designed in such a way that it allows the fork carriage 4 to be displaced laterally.

Das Zwischenstück 10 erstreckt sich - wie aus der Figur 2 ersichtlich ist - in Querrichtung Q des Gabelträgers 4. Der erste Neigezylinder 6a der Neigezylindereinrichtung 6 ist an einem ersten äußeren Endbereich des Zwischenstücks 10 abgestützt. Der zweite Neigezylinder 6b der Neigezylindereinrichtung 6 ist an einem zweiten äußeren Endbereich des Zwischenstücks 10 abgestützt. Die Sensorik 11 weist eine im ersten Endbereich des Zwischenstücks 10 angeordnete erste Sensoreinrichtung 11a und eine im zweiten Endbereich des Zwischenstücks 10 angeordnete zweite Sensoreinrichtung 11b auf. Das als Messkörper ausgebildete Zwischenstück 10 ist somit mit zwei Messstellen versehen.The intermediate piece 10 extends - as from the figure 2 can be seen - in the transverse direction Q of the fork carriage 4. The first tilting cylinder 6a of the tilting cylinder device 6 is supported on a first outer end region of the intermediate piece 10. The second tilting cylinder 6b of the tilting cylinder device 6 is supported on a second outer end area of the intermediate piece 10 . The sensor system 11 has a first sensor device 11a arranged in the first end area of the intermediate piece 10 and a second sensor device 11b arranged in the second end area of the intermediate piece 10 . The intermediate piece 10 designed as a measuring body is thus provided with two measuring points.

Das Zwischenstück 10 ist - wie aus den Figuren 3 und 4 ersichtlich ist - an den beiden äußeren Endbereichen an der den Neigezylindern 6 zugewandten vertikalen Stirnseite 10a jeweils mit einer Aussparung 12a, 12b, beispielsweise einer hohlkugelartigen Aussparung, versehen, in die der entsprechende Neigezylinder 6a, 6b mit einer kugelartigen Spitze, die beispielsweise an einer ausfahrbaren Kolbenstange der Neigezylinder 6a, 6b angeformt ist, eingreift.The spacer 10 is - as from the Figures 3 and 4 can be seen - provided at the two outer end regions on the vertical end face 10a facing the tilting cylinders 6 each with a recess 12a, 12b, for example a hollow spherical recess, into which the corresponding tilting cylinder 6a, 6b with a ball-like tip, which is formed, for example, on an extendable piston rod of the tilting cylinder 6a, 6b engages.

An der der vertikalen Stirnseite 10a gegenüberliegenden vertikalen Stirnseite 10b des Zwischenstücks 10 liegt der Gabelträger 4 an und ist der Gabelträger 4 abgestützt.The fork carriage 4 rests on the vertical end face 10b of the intermediate piece 10 opposite the vertical end face 10a and the fork carriage 4 is supported.

Das Zwischenstück 10 ist zur Aufnahme der Sensoreinrichtung 11a, 11b jeweils mit einer entsprechenden Ausnehmung 15a, 15b versehen. Die Ausnehmung 15a, 15b ist jeweils in vertikaler Richtung V angeordnet und erstreckt sich von einer horizontalen Oberseite 10c zu einer horizontalen Unterseite 10d des Zwischenstücks 10. Die Ausnehmungen 15a, 15b bilden somit Querausnehmungen in dem Zwischenstück 10.The intermediate piece 10 is provided with a respective recess 15a, 15b for receiving the sensor device 11a, 11b. The recesses 15a, 15b are each arranged in the vertical direction V and extend from a horizontal upper side 10c to a horizontal lower side 10d of the intermediate piece 10. The recesses 15a, 15b thus form transverse recesses in the intermediate piece 10.

Die Ausnehmungen 15a, 15b für die Sensorik 11 sind in den dargestellten Ausführungsbeispielen in Fahrzeugquerrichtung Q von den Aussparung 12a, 12b, an denen die Neigezylinder 6a, 6b angreifen, nach Innen beabstandet.The recesses 15a, 15b for the sensors 11 are spaced inwardly in the vehicle transverse direction Q from the recesses 12a, 12b on which the tilting cylinders 6a, 6b act in the illustrated exemplary embodiments.

Die Ausnehmung 15a, 15b ist im dargestellten Ausführungsbeispiel jeweils als rechteckförmige Ausnehmung mit abgerundeten Eckbereichen ausgeführt.The recess 15a, 15b is designed in the illustrated embodiment as a rectangular recess with rounded corners.

Mit der Sensoreinrichtung 11a, 11b erfolgt jeweils eine Dehnungsmessung des Zwischenstücks 10. Die Kraftmessung zur Ermittlung der Kräfte F des Gabelträgers 4 im Bereich der Neigezylinder 6a, 6b basiert somit auf dem Prinzip der Dehnungsmessung.The sensor device 11a, 11b is used to measure the strain of the intermediate piece 10. The force measurement for determining the forces F of the fork carriage 4 in the area of the tilting cylinders 6a, 6b is therefore based on the principle of strain measurement.

Die Sensoreinrichtung 11a, 11b ist bevorzugt jeweils von Dehnmessstreifen (DMS) gebildet, mit denen die unter Belastung auftretenden Dehnungen und somit Verformungen des Zwischenstücks 10 erfasst werden. Dabei kann die Messung der Dehnung des Zwischenstücks 10 unter Schubbelastung durch Dehnungsmesstreifen oder alternativ die Messung der Dehnung des Zwischenstücks 10 unter Schubbelastung durch Dünnfilmzellen oder alternativ die Messung der Dehnung des Zwischenstücks über einen Einpresssensor in den Ausnehmungen 15a, 15b erfolgen.The sensor device 11a, 11b is preferably formed by strain gauges (DMS), with which the strains occurring under load and thus deformations of the intermediate piece 10 are detected. The elongation of the intermediate piece 10 can be measured under shear loading using strain gauges or alternatively the elongation of the intermediate piece 10 can be measured under shear loading using thin-film cells or alternatively the elongation of the intermediate piece can be measured using a press-in sensor in the recesses 15a, 15b.

Alternativ kann die Messung der Dehnung des Zwischenstücks 10 nach dem Prinzip Doppelbiegebalken unter Zug- und Druckbelastung. Im dargestellten Ausführungsbeispiel bildet das Zwischenstück 10 im Bereich der rechteckförmigen Ausnehmungen 15a, 15b jeweils einen Doppelbiegebalken mit zwei Biegebalken als Messabschnitte 25a, 25b. Die Ausnehmung 15a, 15b ist somit in Fahrzeuglängsrichtung L nach vorne und hinten durch jeweils einen Messabschnitt 25a, 25b begrenzt. Bei einer mit dem Lastaufnahmemittel 5 aufgenommenen Last G werden diese Messabschnitte 25a, 25b auf Biegung beansprucht und verformen sich bei entsprechender Belastung. Diese Verformungen, die als Stauchungen (Druckbelastung) und Dehnungen (Zugbelastung) an den Randfasern der Oberflächen der Messabschnitte 25a, 25b auftreten, werden bevorzugt durch innerhalb der Ausnehmungen 15a, 15b angeordnete Sensoreinrichtungen 11a, 11b, insbesondere Dehnmesstreifen (DMS), gemessen. Hierbei können an jeder Ausnehmung 15a, 15b jeweils entsprechende Dehnmesstreifen als Sensoren an den beiden parallel zu den Stirnseiten 10a, 10b angeordneten Innenwänden der jeweiligen Ausnehmungen 15a, 15b angeordnet sein, so dass an jeder Ausnehmung 15a, 15b jede Sensoreinrichtung 11a, 11b zwei Sensoren aufweist.Alternatively, the elongation of the intermediate piece 10 can be measured according to the double bending beam principle under tensile and compressive loads. In the illustrated embodiment, the intermediate piece 10 forms in the region of the rectangular Recesses 15a, 15b each have a double bending beam with two bending beams as measuring sections 25a, 25b. The recess 15a, 15b is thus limited in the longitudinal direction L of the vehicle to the front and rear by a measuring section 25a, 25b in each case. When a load G is picked up by the load handling device 5, these measuring sections 25a, 25b are subjected to bending stress and deform under a corresponding load. These deformations, which occur as compression (compressive load) and expansion (tensile load) on the edge fibers of the surfaces of the measuring sections 25a, 25b, are preferably measured by sensor devices 11a, 11b, in particular strain gauges (DMS), arranged inside the recesses 15a, 15b. Corresponding strain gauges can be arranged as sensors on the two inner walls of the respective recesses 15a, 15b arranged parallel to the end faces 10a, 10b at each recess 15a, 15b, so that each sensor device 11a, 11b has two sensors at each recess 15a, 15b .

Vorteilhafterweise führt jede Sensoreinrichtung 11a, 11b und somit jede Messstelle eine redundante Kraftmessung durch. Die Redundanz kann beispielsweise dadurch erfolgen, dass die beiden Sensoren, die an den beiden parallel zu den Stirnseiten 10a, 10b angeordneten Innenwänden der Ausnehmung 15a, 15b angeordnet sind, jeweils eine DMS-Vollbrücke aufweist.Each sensor device 11a, 11b and thus each measuring point advantageously carries out a redundant force measurement. The redundancy can take place, for example, in that the two sensors, which are arranged on the two inner walls of the recess 15a, 15b arranged parallel to the end faces 10a, 10b, each have a strain gauge full bridge.

Das Zwischenstück 10 ist in jedem Endbereich mit einer in Querrichtung Q des Gabelträgers 4 verlaufenden schlitzförmigen Aussparung 20a, 20b versehen ist, die sich in Fahrzeugquerrichtung Q entlang der Abstützung der Neigezylindereinrichtung 6 und der Ausnehmung 15a, 15b der Sensoreinrichtung 11a, 11b erstreckt und das Zwischenstück 10 an den beiden Endbereichen jeweils in zwei plattenartige Endbereichsabschnitte 30a, 30b unterteilt. An dem ersten Endbereichsabschnitt 30a ist der Neigezylinder 6a, 6b abgestützt und die Ausnehmung 15a, 15b der Sensoreinrichtung 11a, 11b angeordnet und an dem zweiten Endbereichsabschnitt 30b ist der Gabelträger 4 abgestützt.The intermediate piece 10 is provided in each end region with a slot-shaped recess 20a, 20b running in the transverse direction Q of the fork carriage 4, which extends in the vehicle transverse direction Q along the support of the tilting cylinder device 6 and the recess 15a, 15b of the sensor device 11a, 11b and the intermediate piece 10 divided at the two end areas into two plate-like end area sections 30a, 30b. The tilting cylinder 6a, 6b is supported on the first end area section 30a and the recess 15a, 15b of the sensor device 11a, 11b is arranged, and the fork carrier 4 is supported on the second end area section 30b.

Die schlitzförmigen Ausnehmungen 20a, 20b führen somit zu vertikal angeordneten Spalten SP des Zwischenstücks 10, die sich von der rechten bzw. linken Außenseite des Zwischenstücks 10 in Fahrzeugquerrichtung Q zu einem zentralen Mittenabschnitt des Zwischenstücks 10 erstrecken.The slit-shaped recesses 20a, 20b thus lead to vertically arranged gaps SP of the intermediate piece 10, which extend from the right or left outer side of the intermediate piece 10 in the vehicle transverse direction Q to a central middle section of the intermediate piece 10.

Im Bereich der schlitzförmigen Aussparungen 20a, 20b ist jeweils ein mechanischer Anschlag 21a, 21b vorgesehen, der jeweils die Verformung des ersten Endbereichsabschnitts 30a begrenzt. Der mechanische Anschlag 21a, 21b ist im dargestellten Ausführungsbeispiel von einer an dem ersten Endbereichsabschnitt 30a angeordneten Erhebung gebildet, die sich in die schlitzförmige Ausnehmung 20a, 20b hineinerstreckt und die Breite der schlitzförmigen Ausnehmung 20a, 20b verringert.A mechanical stop 21a, 21b is provided in the area of the slit-shaped recesses 20a, 20b and limits the deformation of the first end area section 30a. In the exemplary embodiment shown, the mechanical stop 21a, 21b is formed by an elevation arranged on the first end region section 30a, which elevation extends into the slot-shaped recess 20a, 20b and reduces the width of the slot-shaped recess 20a, 20b.

Das als Messkörper ausgebildete Zwischenstück 10 ist somit zusätzlich mit einem mechanischen Anschlag 21a, 21b als Überlastschutz versehen. Bevor eine zu große Belastung des Zwischenstücks 10 zu plastischen Verformungen des Zwischenstücks führt, werden die von den schlitzförmigen Ausnehmungen 20a, 20b in dem Zwischenstück 10 gebildeten Spalte SP geschlossen, indem der mechanische Anschlag 21a, 21b wirksam wird, da die Erhebung an dem ersten Endbereichsabschnitt 30a mit dem zweiten Endbereichsabschnitt 30b in Kontakt gelangt, so dass die Kräfte F über die mechanischen Anschläge 21a, 21b direkt zwischen der Neigezylindereinrichtung 6 und dem Gabelträger 4 übertragen werden. Bei einer entsprechend hohen Belastung gelangt hierbei die an dem ersten Endbereichsabschnitt 30b angeordnete Erhebung in mechanischen Kontakt mit dem zweiten Endbereichsabschnitt 30b und schließt den entsprechenden Spalt SP zwischen den beiden Endbereichsabschnitten 30a, 30b. Die Erhebung ist bevorzugt in Verlängerung der Wirklinie WL der Neigezylinder 6a 6b angeordnet, wodurch bei wirksamem mechanischen Anschlag 21a, 21b ein günstiger Kraftfluss zwischen der Neigezylindereinrichtung 6 und dem Gabelträger 4 erzielt wird.The intermediate piece 10 designed as a measuring body is thus additionally provided with a mechanical stop 21a, 21b as overload protection. Before excessive loading of the intermediate piece 10 leads to plastic deformation of the intermediate piece, the gaps SP formed by the slot-shaped recesses 20a, 20b in the intermediate piece 10 are closed by the mechanical stop 21a, 21b becoming effective, since the elevation on the first end region section 30a comes into contact with the second end area section 30b, so that the forces F are transmitted directly between the tilting cylinder device 6 and the fork carrier 4 via the mechanical stops 21a, 21b. With a correspondingly high load, the elevation arranged on the first end area section 30b comes into mechanical contact with the second end area section 30b and closes the corresponding gap SP between the two end area sections 30a, 30b. The elevation is preferably arranged in the extension of the line of action WL of the tilting cylinders 6a, 6b, whereby a favorable flow of forces between the tilting cylinder device 6 and the fork carriage 4 is achieved when the mechanical stop 21a, 21b is active.

In der Figur 3 ist das Zwischenstück 10 einteilig ausgebildet. Die schlitzförmigen Ausnehmungen 20a, 20b können beispielswiese durch Drahterodieren in dem Zwischenstück 10 erzeugt werden.In the figure 3 the intermediate piece 10 is formed in one piece. The slot-shaped recesses 20a, 20b can be produced in the intermediate piece 10, for example, by wire EDM.

In der Figur 4 ist das Zwischenstück 10 mehrteilig, im dargestellten Ausführungsbeispiel zweiteilig, ausgebildet. Die zweiten Endbereichsabschnitte 30b sind von einer Platte 40 gebildet sind, die an dem Zwischenstück 10 befestigt ist. Die Befestigung der Platte 40 an dem Zwischenstück 10 kann beispielsweise durch Schraubverbindungen erfolgen. Die schlitzförmigen Ausnehmungen 20a, 20b können hierbei durch eine gegenüber einem Drahterodieren kostengünstigere Fräsbearbeitung erzeugt werden.In the figure 4 the intermediate piece 10 is in several parts, in two parts in the illustrated embodiment. The second end area sections 30b are formed by a plate 40 which is attached to the intermediate piece 10 . The attachment of the plate 40 to the intermediate piece 10 can be done, for example, by screw connections. The slit-shaped recesses 20a, 20b can be generated by a more cost-effective milling compared to wire EDM.

In den Ausführungsbeispielen der Figuren 3 und 4 sind die Ausnehmungen 15a, 15b, in denen die Sensoreinrichtungen 11a, 11b angeordnet sind, durch eine Fräsbearbeitung hergestellt.In the embodiments of Figures 3 and 4 the recesses 15a, 15b, in which the sensor devices 11a, 11b are arranged, are produced by milling.

Die Sensoreinrichtungen 11a, 11b stehen mit einer elektronischen Steuereinrichtung 50 in Verbindung. Die Steuereinrichtung 50 steht weiterhin mit einer das Lastgewicht der auf dem Lastaufnahmemittel 4 befindlichen Last G erfassenden Sensorvorrichtung in Verbindung. Die Steuereinrichtung 50 ist hierbei derart ausgebildet, dass aus dem mittels der Sensorvorrichtung erfassten Lastgewicht der Last G und der mittels der Sensoreinrichtungen 11a, 11b des Zwischenstücks 10 erfassten Kräfte F zusammen mit in der Steuereinrichtung 50 hinterlegten Werten zur Geometrie des Gabelträgers 4 der horizontale Abstand x des Lastschwerpunkts LSP der Last G vom Gabelträger 4 und/oder das Lastmoment der Last G bestimmt wird.The sensor devices 11a, 11b are connected to an electronic control device 50. FIG. The control device 50 is also connected to a sensor device that detects the load weight of the load G located on the load-carrying means 4 . Control device 50 is designed in such a way that the horizontal distance x the load center LSP of the load G is determined by the fork carriage 4 and/or the load moment of the load G.

Bei bekanntem Abstand z der horizontalen Schwenkachse S des Gabelträgers 4 von den Abstützpunkten/Wirklinien WL der Neigezylindereinrichtung 6 an dem Zwischenstück 10 und somit bekannten Werten zur Geometrie des Gabelträgers 4 kann bei bekanntem Lastgewicht der Last G und mittels der Sensoreinrichtungen 11a, 11b des Zwischenstücks 10 erfassten Kräften F des Gabelträgers 4 im Bereich der Neigezylindereinrichtung 6 anhand eines Momentengleichgewichts um die Schwenkachse S der horizontale Abstand x des Lastschwerpunkts LSP der aufgenommenen Last G vom Gabelträger 4 und/oder das Lastmoment der aufgenommenen Last G in der elektronischen Steuereinrichtung 50 berechnet werden.With a known distance z of the horizontal pivot axis S of the fork carriage 4 from the support points/acting lines WL of the tilting cylinder device 6 on the intermediate piece 10 and thus known values for the geometry of the fork carriage 4, with a known load weight of the load G and by means of the sensor devices 11a, 11b of the intermediate piece 10 detected forces F of the fork carriage 4 in the area of the tilting cylinder device 6 based on a moment equilibrium about the pivot axis S, the horizontal distance x of the load center LSP of the load G picked up from the fork carriage 4 and/or the load moment of the load G picked up can be calculated in the electronic control unit 50.

Die das Lastgewicht der auf dem Lastaufnahmemittel 5 befindlichen Last G erfassende Sensorvorrichtung kann hierbei beispielsweise den hydraulischen Druck in einer Hubhydraulik des Lastschlittens 3 erfassen. Alternativ kann das Lastgewicht der auf dem Lastaufnahmemittel 5 befindlichen Last G direkt mit einer Kraftmesssensorik gemessen werden, die beispielsweise die Kraft an einer den Lastschlitten 3 betätigenden Hubkette erfasst. Alternativ kann das Lastgewicht der auf dem Lastaufnahmemittel 5 befindlichen Last G direkt mit einer Kraftmesssensorik gemessen werden, die direkt in das Lastaufnahmemittel 5 integriert ist, beispielsweise Gabelzinken 5a, 5b mit einer integrierten Kraftmesssensorik.The sensor device that detects the load weight of the load G located on the load handling device 5 can, for example, detect the hydraulic pressure in a lifting hydraulic system of the load carriage 3 . Alternatively, the load weight of the load G on the load handling device 5 can be measured directly with a force measuring sensor system, which, for example, detects the force on a lifting chain that actuates the load carriage 3 . Alternatively, the load weight of the load G located on the load handling device 5 can be measured directly with a force measuring sensor system are integrated directly into the load handling device 5, for example forks 5a, 5b with an integrated force measuring sensor.

Claims (12)

  1. Industrial truck (1) having a load carriage (3) which is disposed so as to be able to be lifted and lowered on a lifting rack (2) and on which a fork carrier (4) which is able to be tilted about a horizontal pivot axis (S) is disposed, a load receiving means (5) for receiving a load (G) being disposed on said fork carrier (4), wherein a tilting cylinder installation (6) by way of which the fork carrier (4) is able to be tilted about the horizontal pivot axis (S) is provided, characterized in that an intermediate piece (10) which transmits the forces of the tilting cylinder installation (6) to the tiltable fork carrier (4) is disposed between the tilting cylinder installation (6) and the fork carrier (4), wherein the intermediate piece (10) for measuring the force of the forces (F) acting on the tiltable fork carrier (4) in the region of the tilting cylinder installation (6) is provided with a sensor mechanism (11).
  2. Industrial truck according to Claim 1, characterized in that the intermediate piece (10) extends in the transverse direction (Q) of the fork carrier (4), and the tilting cylinder installation (6) has a first tilting cylinder (6a) which is supported on a first end region of the intermediate piece (10), and has a second tilting cylinder (6b) which is supported on a second end region of the intermediate piece (10), wherein the sensor mechanism (11) has a first sensor installation (11a) disposed in the first end region of the intermediate piece (10), and a second sensor installation (11b) disposed in the second end region of the intermediate piece (10).
  3. Industrial truck according to Claim 1 or 2, characterized in that the intermediate piece (10) for receiving the sensor mechanism (11) is in each case provided with one recess (15a, 15b).
  4. Industrial truck according to Claim 3, characterized in that the recess (15a, 15b) is vertically disposed.
  5. Industrial truck according to one of Claims 1 to 4, characterized in that a strain measurement of the intermediate piece (10) takes place in each case by the sensor mechanism (11).
  6. Industrial truck according to one of Claims 1 to 5, characterized in that the sensor mechanism (11) carries out a redundant force measurement.
  7. Industrial truck according to one of Claims 1 to 6, characterized in that the intermediate piece (10) in each end region is provided with a slot-shaped clearance (20a, 20b) which runs in the transverse direction (Q) of the fork carrier (4) and extends along the support of the tilting cylinder installation (6) and the recess (15a, 15b) of the sensor mechanism (11), dividing the intermediate piece (10) into two plate-type end region portions (30a, 30b), wherein the tilting cylinder installation (6) is supported on a first end region portion (30a) and the recess (15) of the sensor mechanism (11) is disposed on the latter, and the fork carrier (4) is supported on the second end region portion (30b).
  8. Industrial truck according to Claim 7, characterized in that one mechanical detent (21a, 21b) which restricts the deformation of the first end region portion (30a) is in each case provided in the region of the slot-shaped clearances (20a, 20b).
  9. Industrial truck according to Claim 8, characterized in that the mechanical detent (21a, 21b) is formed by an elevation disposed on the first end region portion (30a) or on the second end region portion (30b), said elevation extending into the slot-shaped clearance (20a, 20b) and reducing the width of the slot-shaped clearance (20a, 20b).
  10. Industrial truck according to one of Claims 1 to 9, characterized in that the intermediate piece (10) is configured in one part.
  11. Industrial truck according to one of Claims 1 to 9, characterized in that the intermediate piece (10) is configured in multiple parts, in particular two parts, wherein the second end region portions (30b) are formed by a plate (40) which is fastened to the intermediate piece (10).
  12. Industrial truck according to one of Claims 1 to 11, characterized in that the sensor mechanism (11) is connected to an electronic control installation (50) which is connected to a sensor device that detects the load weight of a load (G) situated on the load receiving means (5), wherein the control installation (50) is configured in such a manner that the horizontal spacing (x) of the load centre of gravity (LSP) of the load (G) from the fork carrier (4) and/or the load torque of the load (G) are/is determined from the load weight of the load (G) and the forces (F) detected by means of the sensor mechanism (11), conjointly with values pertaining to the geometry of the fork carrier (4) that are stored in the control installation (50).
EP20177057.5A 2019-07-04 2020-05-28 Industrial truck Active EP3760574B1 (en)

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US11999603B2 (en) * 2021-02-25 2024-06-04 Illinois Tool Works Inc. Forklift scale sensor attachment and mounting

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DE102008035574A1 (en) * 2008-07-30 2010-02-04 Linde Material Handling Gmbh Load center determining method for load at load-carrying equipment of e.g. reach truck, involves detecting pressure of lift drive as reference value for determination of balance point distance of load in unloaded condition
DE102013114940A1 (en) 2013-12-30 2015-07-02 Still Gesellschaft Mit Beschränkter Haftung Method for determining the load center of a forklift
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