EP3971128A1 - Véhicule de manutention de matériau - Google Patents

Véhicule de manutention de matériau Download PDF

Info

Publication number
EP3971128A1
EP3971128A1 EP20196449.1A EP20196449A EP3971128A1 EP 3971128 A1 EP3971128 A1 EP 3971128A1 EP 20196449 A EP20196449 A EP 20196449A EP 3971128 A1 EP3971128 A1 EP 3971128A1
Authority
EP
European Patent Office
Prior art keywords
material handling
pressure
handling vehicle
hydraulic
control unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP20196449.1A
Other languages
German (de)
English (en)
Inventor
Haider KHUDAIR
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.)
Toyota Material Handling Manufacturing Sweden AB
Original Assignee
Toyota Material Handling Manufacturing Sweden AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Material Handling Manufacturing Sweden AB filed Critical Toyota Material Handling Manufacturing Sweden AB
Priority to EP20196449.1A priority Critical patent/EP3971128A1/fr
Publication of EP3971128A1 publication Critical patent/EP3971128A1/fr
Pending legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/22—Hydraulic devices or systems

Definitions

  • the present application is related to a material handling vehicle, a method for modifying a material handling vehicle, a method for operating a material handling vehicle and a computer software .
  • Material handling vehicles are used primarily in warehouses and when loading lorries for transporting and handling goods.
  • Material handling vehicles are provided with a hydraulic system.
  • the hydraulic system is provided in order to manoeuvre different power functions of the material handling vehicle.
  • One such power function is the lift function, in which a load carrier most commonly in the form of two forks is used for lifting a lowering loads from different heights.
  • a hydraulic cylinder provides the lift force for lifting the load carrier.
  • a hydraulic pump pressurizes a hydraulic fluid which is fed to the hydraulic cylinder that is mechanically coupled to the load carrier. The increased pressure in the hydraulic cylinder provides for that the cylinder is extended and thus will lift the load carrier.
  • valve incorporated in an outlet of the hydraulic lift cylinder, wherein the valve has a mechanical function that limits the flow through the outlet valve in such a way that the lowering speed of the load carrier is kept below a predetermined maximum lowering speed. It is however a problem that the limiting of the lowering speed also limits the effectiveness of the material handling operation, in particular at a situation where the load is not maximal on the load carrier. It is desirable to achieve higher lowering speeds without jeopardizing the security in case of a malfunction. Also, it has been determined that the sensitive mechanic valves used might not activate in correct way when the load is less than maximal.
  • a material handling vehicle comprising a load carrier and a control unit.
  • the vehicle further comprises a hydraulic system for operation of hydraulic functions of the material handling vehicle.
  • the hydraulic system operations includes the lifting and lowering of the load carrier.
  • the hydraulic system comprises at least one hydraulic lift cylinder, with a passage for hydraulic fluid.
  • the hydraulic system also comprises a lowering valve and the hydraulic system comprises a lift valve.
  • a passage valve is also comprised in the hydraulic system.
  • the passage valve is arranged such that it is able to close the passage.
  • the load carrier is connected to the hydraulic lift cylinder such that the load carrier is lowered when hydraulic fluid flows out of the hydraulic lift cylinder through the passage when said lowering valve is opened.
  • the lowering of the load carrier requires that both lowering valve and passage valve are open.
  • the control unit is connected to the passage valve.
  • the control unit is able to control the hydraulic fluid flow through the passage valve by sending control commands to the passage valve.
  • the passage valve is positioned directly in the hydraulic lift cylinder and/or in
  • the advantage of the material handling vehicle above is that the effectiveness in a material handling situation can be controlled. I.e. by incorporation of a passage valve that is controlled electronically, the control of hydraulic fluid, in particular out of the hydraulic lift cylinder can be specified freely. Also it is possible to specify different passage valve openings for a specific need. With electronically is meant both control through electric voltage or controlling a serve motor of the passage valve with for example serial data signals from the control unit.
  • a material handling vehicle wherein comprised is a sensor device.
  • the sensor device is arranged to send sensor data to the control unit.
  • the sensor device is arranged to detect a pressure corresponding to the pressure at the outlet of the passage valve of the passage.
  • the detector can also be arranged in a hydraulic line directly connected to the outlet.
  • a lowering speed in normal operation can set other than the predetermined lowering speed, e.g. at a higher value than the norm value if the weight of the load on the load carrier is lower than the maximal load weight.
  • a material handling vehicle wherein the control unit is arranged such that it is able to control the passage valve.
  • the control unit is arranged such that it is able to control the passage valve.
  • the lowering speed of the load carrier is below or equal to a predetermined emergency lowering speed.
  • the control of the lowering speed is based on that a predetermined pressure condition is fulfilled.
  • the predetermined pressure condition comprises at least one of the following predetermined pressure conditions:
  • a material handling vehicle wherein the passage valve is arranged such that a maximal fluid outlet flow through the passage valve corresponds to a lowering speed of the load carrier that is higher than the predetermined emergency lowering speed.
  • the passage valve is arranged to allow for the lowering speed that is higher than the predetermined emergency lowering speed at a weight of load on the load carrier range from 0 % to 100 % of the maximal allowed weight of the load. It is even more preferred at any weight of the load less than 100 % of the maximal allowed weight of the load.
  • the advantage for material handling operations is improved as a lowering speed in normal operation that is higher than the predetermined emergency lowering speed can be set. This will speed up the material handling situation considerably
  • the passage valve is mounted in the bottom section of the hydraulic lift cylinder.
  • a material handling vehicle wherein a further sensor device is comprised in the material handling vehicle.
  • the further sensor device is arranged to detect the pressure in the hydraulic lift cylinder.
  • the control unit is arranged to receive sensor data from the further sensor device together with the sensor data from the first sensor device.
  • the control unit is arranged to determine the pressure condition as a pressure difference between he first sensor device and the second sensor device. The determination of the pressure condition is made at the same moment in time. If the control unit determines that there is a pressure difference, the pressure condition is fulfilled and the control unit is arranged to control the passage valve (5) such that the fluid flow out through the passage valve correspond to a lowering speed of the load carrier that is below or equal to a predetermined emergency lowering speed.
  • the control unit is arranged to check if the passage valve is already set to correspond to, or below the predetermined emergency lowering speed at evaluation of the pressure difference.
  • the advantage of having a further sensor is that the pressure in the hydraulic cylinder and the pressure in the hydraulic line running from the cylinder can be compared at any moment. This provides for a very quick control, and an improved safety, when evaluating if there is a lower pressure outside the hydraulic cylinder than inside the hydraulic cylinder, thus allowing for a safe determination that the pressure condition is fulfilled.
  • a material handling vehicle wherein the material handling vehicle comprises a further sensor that is arranged such that it can detect the speed in vertical direction of the load carrier.
  • the further sensor is connected to the control unit such that the control unit is able use input from the sensor to control the vertical speed of the load carrier.
  • the vertical speed is controlled by controlling the opening of the passage valve.
  • the control can be combined with controlling the opening of the lowering valve or by only controlling the lowering valve.
  • the advantage of the incorporation of a sensor that is arranged to detect the vertical speed of the load carrier is that for example calibration of the vertical speed as a function of load weight applied to the load carrier is simplified, or can be avoided. Vertical speed is more important to determine in the lowering mode, than when lifting, thus the sensor need mandatory be able to detect the lowering speed but not mandatory the lifting speed.
  • the advantage of the method is that an older material handling vehicle can be upgraded so as to implement the aspects of the present disclosure and achieve the advantages mentioned above.
  • a control unit that is arranged to receive data from sensors and valves on the material handling vehicle.
  • the material handling vehicle being arranged to control the hydraulic system of the material handling vehicle.
  • the method comprises the step of, detecting a first pressure at the outlet of a passage valve in a hydraulic lift cylinder of the material handling vehicle.
  • the method also comprises applying a predetermined pressure condition.
  • the application of applying a predetermined pressure condition comprises the step of, determining that the first pressure is close to or equal to zero, and no lowering command has been requested by the control unit and/or an operator.
  • the pressure condition may in addition or alternatively comprise determining a consecutive second detected pressure within a predetermined time and determining that the first detected pressure is higher than the second detected pressure and no lowering command has been requested by the control unit/and/or an operator.
  • the pressure condition may alternatively comprise an alternative pressure condition where the pressure inside the hydraulic cylinder is determined, this pressure condition may be combined with the previous pressure condition. The pressure inside the hydraulic cylinder is compared with the first pressure where both pressures are measured at the same moment in time.
  • the method further may comprises the step to determine that the predetermined pressure condition is fulfilled if there is detected a difference between the first pressure and the pressure inside the hydraulic cylinder (3).
  • the method further comprise the step if the predetermined pressure condition is fulfilled, to apply an opening ratio to the passage valve such that a lowering speed of the load carrier is equal to or below a predetermined emergency lowering speed.
  • the advantage of the method is that the operation of the material handling vehicle is improved, and the vehicle is more versatile. A more safe and better control of the predetermined lowering of the load carrier is also achieved.
  • a method for operating a material handling vehicle further comprising is the step to determine that the pressure condition is not fulfilled, and then apply the step to apply an opening ratio to the passage valve that allows a fluid flow out from the hydraulic lift cylinder such that a load carrier lifted by the hydraulic lift cylinder may be lowered at a higher speed than the predetermined emergency lowering speed.
  • the load weight on the load carrier corresponds to a predetermined max value, in which case the maximal lowering speed is the same as the predetermined emergency lowering speed.
  • the advantage is that a much more efficient material handling can be achieved where the lowering speed can be higher than a predetermined emergency lowering speed, in normal operation.
  • a general advantage of the method above is that the operation of the material handling vehicle can be faster.
  • a computer software when stored and run on a control unit of a material handling vehicle makes the material handling vehicle perform one or all steps according to the aspects above.
  • the advantage of the above aspect is that the methods can be automatic, and no manual interaction of an operator is needed.
  • a further advantage is that, the control can be easily adjusted by adapting the software to the desired requirements.
  • the present disclosure is related to material handling vehicles.
  • the vehicle can also be named a truck not to be confused with a lorry.
  • the material handling vehicle may have a load carrier in the shape of two forks.
  • the load carrier can also be a gripping device, a lifting module comprising an operator.
  • the material handling vehicle is powered by a motor that provides the ability to move the material handling vehicle.
  • the vehicle also has a hydraulic system.
  • the hydraulic system comprises a pump that is driven by a motor.
  • the power source in the vehicle is in general a battery.
  • the battery may be a lead acid battery or a Lithium Ion battery or any other type of battery.
  • the battery is rechargeable.
  • the material handling vehicle is mainly designed to operate indoors, thus the vehicle is not provided with tires and suspension that allows it to travel long term outside. The vehicle is preferred to not release any exhaust gas.
  • the vehicle has the ability through the hydraulic system to lift pallets, goods, material from floor level to a higher level.
  • the present disclosure is related to a material handling vehicle as exemplified in Fig. 1 , which discloses a reach-truck.
  • the material handling vehicle 1 can be any load lifting material handling vehicle, such as a stacker, an order picking truck, a very narrow isle truck, etc.
  • the material handling vehicle 1 has a load carrier 2.
  • the load carrier may be slidably connected to a mast 11.
  • the material handling vehicle 1 further comprises a hydraulic system 20, see fig. 3 .
  • the material handling vehicle 1 comprises a control unit 6 also.
  • Fig. 3 there is also disclosed a passage valve 5 that when closed does not allow any hydraulic fluid out from the hydraulic cylinder 3.
  • the passage valve 5 may also allow to control the hydraulic fluid entering the hydraulic cylinder 3.
  • the control unit 6 is in electric communication with the passage valve 5.
  • the material handling vehicle also may comprise a pressure sensor device 10.
  • the sensor device 10 is connected to hydraulic line 8 to detect the pressure and send the sensor data to the control unit 6.
  • the sensor device 10 is preferred to be connect at the outlet of the passage valve 5 into the hydraulic line 8. But it is possible to position the sensor device 10 at any position along the hydraulic line 8.
  • the load carrier 2 on figure 1 is a pair of forks. This is in general the normal configuration of the load carrier in a material handling vehicle 1 related to the disclosure.
  • a pair of forks is very good for handling pallets and goods stored on pallets. In particular in a warehouse situation where the material handling vehicle is mostly intended to be used, the pair of forks is very suitable.
  • the pair of forks can be of different lengths and carry for example two pallets if they have the appropriate length.
  • the load carrier can have any shape and form for lifting a load.
  • the control unit 6, is in general the central computer of the material handling vehicle 1. This means that the control unit 6 may be the main centre for processing power in the material handling vehicle.
  • the control unit 6 is programmable, and can store and change software for the operation of the material handling vehicle.
  • the control unit 6 may also be a dedicated control unit that is only used for the hydraulic system 20. This makes reparation and maintenance a bit easier as the replacement of the complete unit does not affect other functions on the material handling vehicle.
  • Any control unit on the material handling vehicle is arranged to be able to communicate with devices or units in the material handling vehicle, generally by a serial protocol such as CAN. The communication may be through cable or wireless through a wireless interface such as Wi-Fi, Bluetooth or the like.
  • the external communication is preferably done via a local wireless protocol, but can also be made by for example GSM/3G/4G/5G communication etc.
  • the control unit 6 is arranged to communicate with the passage valve 5. It is in this to be understood that the communication can be bi-directional.
  • the passage valve 5 may send information to the control unit 6 related to the open area of the valve 5.
  • Fig. 2 discloses a prior art hydraulic system comprising a passage valve in the form of a mechanical valve 5', that shuts down at a certain top value of flow out from the hydraulic lift cylinder 3. This flow is set at the maximal allowed flow for a required maximal lowering velocity of a raised load carrier.
  • a spring loaded valve 5' that reduces the flow out of the cylinder to a maximal value regardless of the pressure in the hydraulic cylinder. Thus if a rupture in the hydraulic line 8 occurs the spring loaded valve 5' will limit the flow out of the cylinder such that a load carrier will not lower itself faster than a predetermined emergency lowering speed.
  • the prior art hydraulic system also has an operation lowering valve 15, and also a pressure compensator 16. Further there is also a valve 21 used for raising the load carrier powered by the hydraulic lift cylinder 3. The valve 15 is always closed at lifting as the hydraulic fluid otherwise will be circulating back to the reservoir 12.
  • Predetermined emergency lowering speed is to be understood to be applicable when the load carrier 2 is moving downwards from a raised position without direct control from an operator.
  • the predetermined emergency lowering speed is applicable to a situation where there is an unexpected pressure drop in the hydraulic line 8 that runs from the hydraulic lift cylinder, this in practise is due to a rupture of an hydraulic hose or the couplings that attached this hose.
  • the emergency lowering speed is predetermined by norms, and is usually 0,6 m/s or lower for material handling vehicles that does not lift the operator. For material handling vehicle that lift the operator the predetermined emergency lowering speed is normally required to be 0,4 m/s or lower.
  • the exact control of the passage valve 5 above in order to achieve this predetermined emergency lowering speed must be determined for each material handling vehicle, and is dependent on dimensions in the hydraulic lift cylinder 3, maximal load 19 allowed etc.
  • An alternative way is to add a sensor that is able to detect the lowering speed of the load carrier 2. I.e. in this way the control unit 6 is able to detect the speed of load carrier 2 in vertical direction. The control unit 6 may then control the maximal lowering speed by adjusting the opening of the passage valve 5.
  • the hydraulic system 20 is mandatory for the present disclosure as disclosed in Fig. 3 .
  • the hydraulic system 20, which relates to the present disclosure comprises hoses, lines, a pressure device, such as a pump 4.
  • the hydraulic system 20 comprises a hydraulic fluid.
  • the hydraulic system 20 comprises a reservoir 12 for the hydraulic fluid.
  • the pump 4 is powered by a motor 13.
  • the hydraulic system 20 comprises the valves 5, 15 necessary for operation of the hydraulic functions.
  • the hydraulic functions that is in general powered by the hydraulic system includes lifting and lowering of goods by means of the load carrier 2.
  • the hydraulic functions may also comprise other functions, such as reach function, tilting functions of the mast 11, spreading of the forks, gripping movement or other functions.
  • the hydraulic system comprises a lowering valve 15, and a passage valve 5.
  • the hydraulic system 20 comprises at least one hydraulic lift cylinder 3.
  • the hydraulic lift cylinder 3 is connected to the load carrier 2 in order to be able to lift and lower the load carrier 2, see Fig. 1 .
  • the hydraulic cylinder 3 can be combined with further hydraulic lift cylinders in order to provide more lift capacity and/or higher lifting heights.
  • the further hydraulic lift cylinders are not disclosed but can be installed in parallel in the with the current hydraulic lift cylinder 3. It is possible to apply the present disclosure and to all or part of the group of hydraulic lift cylinders. It is preferred to use the present disclosure with the hydraulic lift cylinder that is operative from floor level.
  • the hydraulic lift cylinder 3 has a passage 9.
  • the passage 9 is used by the hydraulic fluid to exit the hydraulic lift cylinder 3.
  • the passage 9 may only be used for this purpose, in combination with a further passage for the hydraulic fluid for entering the hydraulic lift cylinder 3.
  • the preferred way is that the passage 9 is used both as inlet and outlet for the hydraulic fluid to the hydraulic lift cylinder 3.
  • the passage 9 is preferred to be situated close to the bottom of the hydraulic lift cylinder 3. This is an advantage as the hydraulic lift cylinder 3 is easier to empty.
  • the passage has in general the shape of an opening in the bottom of the hydraulic lift cylinder 3.
  • the opening is preferably circle shaped.
  • a hydraulic line section 8a can be attached to the passage 9.
  • the hydraulic line section 8a has its other end attached to a passage valve 5, however the hydraulic line section 8a, is not to be understood as a long line, it is to be understood that this is part of the passage 9 and the passage 9 is preferably comprised directly in the hydraulic lift cylinder 3.
  • the passage valve 5 is preferred to arranged directly in the passage 9.
  • no other valve, restriction or other device is to be positioned between the passage valve 5 and the inner volume of the hydraulic lift cylinder 3.
  • the passage valve 5 should thus be in direct fluid communication with the inner volume of the hydraulic lift cylinder 3. It should be understood thus that the passage valve 5 is preferred to be positioned directly in the passage 9.
  • the passage valve 5 can be mounted directly in the bottom section 17 of the hydraulic lift cylinder 3.
  • Bottom section 17 is to be construed a position that allows the piston 18 of the hydraulic lift cylinder 3 to fully operate for emptying the hydraulic lift cylinder 3.
  • the passage 9 and the passage valve 5 is discussed in terms of having an outlet and an inlet.
  • the outlet 22 of the passage 9 and the valve 5 is actually an outlet when the lowering movement of the load carrier 2 is in occurring. Also in at lowering the inlet to the passage 9, and the passage valve 5 is in direction from the hydraulic lift cylinder 3 out from the hydraulic.
  • the passage valve 5 is controllable by electronic input.
  • the electronic input comes from the control unit 6.
  • the electronic input can either be a serial data package sent to a control module on the passage vale 5, or an electric current that acts directly on an actuator on the passage valve 5.
  • the control of the passage valve 5 can either be through cable or wirelessly.
  • the passage valve 5 may be arranged to send back data to the control unit. Data sent back can include, opening percentage of the valve area, control signal for status, confirmation on command data received etc.
  • the passage valve 5 is preferred to have a dual function as a safety valve in case of rupture in the hydraulic line 8, but also as a valve 5 that opens at lowering and lifting for participation in the lifting and lowering of loads on the load carrier.
  • the passage valve 5 should be able to attain at least three positions, corresponding to closed, fully open/high-speed lowering and emergency speed lowering.
  • the opening of the passage valve 5 may be referred to be the opening ratio of the passage valve 5.
  • a closed passage valve 5 has an opening ratio of 0 %
  • a half open valve has an opening ratio of 50 %
  • a fully open passage valve 5 has an opening ratio of 100 %.
  • high-speed lowering means that the passage valve 5 is fully open and hydraulic fluid can flow from the hydraulic cylinder (3) at the highest possible speed. It should be understood that fully open area and high-speed lowering area could correspond to two different opening areas of the passage valve 5. I.e.
  • the passage valve 5 could have a less open area at high-speed lowering than when the passage valve 5 is fully open.
  • the emergency lowering speed opening ratio of the passage valve 5 may mandatory have a lower opening area than the fully open valve, i.e. opening ratio 100 %, and also may thus have a mandatory lower opening area than the high-speed lowering area of opening of the passage valve 5.
  • the passage valve 5 can have an analogue open area valve setting. This means that the open area of the passage valve 5 can be set from fully open to fully closed without any steps. Regardless of this the high-speed lowering mode always has a larger area opening than the emergency lowering mode area.
  • the emergency lowering speed is equal to that the hydraulic line 8, e.g. a hose on this line has ruptured and the hydraulic fluid would flow out of the hydraulic lift cylinder 3 without control. I.e. the risk for an operator would be sever and the load carrier would fall down very quickly without possibility of control.
  • Lowering valve 15 is used for controlling normal lowering, in which case the passage valve 5 is preferred to be fully open, i.e. at an opening ratio of 100 %.
  • a sensor device 10, see figure 3 is incorporated in the hydraulic system 20.
  • the sensor device 20 is a pressure sensor, that can detect hydraulic pressures in a hydraulic line 8 that extends from the passage valve 5 and away from the hydraulic cylinder 3.
  • the pressure sensor 8 can be of any type.
  • the pressure sensor device 10 send sensor data to the control unit 6, either through cable or wirelessly, according to general communication protocols as already mentioned above.
  • the pressure sensor device 10 is arranged such that it can measure pressures continuously as the material handling vehicle 1 is operating.
  • the control unit 6 as arranged to compare continuously pressure data that comes from the pressure sensor device 10. In particular it measures a pressure difference between a first measured pressure P1 and a consecutive pressure P2. I.e. P1 is measured before P2 in time. Each pressure is detected within a predetermined time period t, which could be for example 0,1 second long, or 0,0020 seconds or any suitable time period.
  • control unit 6 may evaluate the pressures.
  • control unit 6 is arranged to set the passage valve 5 so that the emergency lowering speed of the load carrier 2 is not exceed.
  • the pressure difference can be enlarged without the emergency lowering speed is set, by allowing the pressure drop in hydraulic line 8 to be lowered slower than the pressure condition, or as said above if no command for lowering has been issued. From this it should be understood also that the maximal outlet flow through the passage valve 5 can be higher than the flow allowed for when the emergency lowering speed is set. In other words the emergency lowering speed will only be set if the pressure drop P1-P2 is attained too quickly, i.e. in a time period equal to or shorter than t.
  • the Pcond is not set precisely at 1 atm, but for example 1,1 atm which gives a better response time for the system.
  • a further sensor device 14 is added.
  • This sensor device 14 is arranged to detect the pressure inside the hydraulic lift cylinder 3, see figure 4 .
  • one of the first Pcond and second Pcond' corresponding to PDiff' may be predetermined as the main criterion and the other Pcond is used as a confirmation criterion before setting the lowering speed to the predetermined lowering speed by means of the passage valve 9.
  • P1 is preferred to be detected close to the outlet 22 of the passage valve 5 to the hydraulic line 8.
  • a method for operating a material handling vehicle see also Fig. 5 .
  • the first step being:
  • the second step being
  • the first step of the pressure condition being:
  • the second/or optional first step of the pressure condition being:
  • a predetermined time t may be for example be a time range of 0,020 seconds or a suitable time period.
  • the method further comprises a concluding step of:
  • the method optionally comprising the steps of:
  • the method alternatively or together with the first determination of the pressure condition Pcond' can comprise the steps of:
  • the computer is preferably the control unit 6 of the material handling vehicle 1 described above. It could also be a special control unit that is dedicated to only perform the method.

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)
EP20196449.1A 2020-09-16 2020-09-16 Véhicule de manutention de matériau Pending EP3971128A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP20196449.1A EP3971128A1 (fr) 2020-09-16 2020-09-16 Véhicule de manutention de matériau

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP20196449.1A EP3971128A1 (fr) 2020-09-16 2020-09-16 Véhicule de manutention de matériau

Publications (1)

Publication Number Publication Date
EP3971128A1 true EP3971128A1 (fr) 2022-03-23

Family

ID=72521535

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20196449.1A Pending EP3971128A1 (fr) 2020-09-16 2020-09-16 Véhicule de manutention de matériau

Country Status (1)

Country Link
EP (1) EP3971128A1 (fr)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3016046A (en) * 1960-05-05 1962-01-09 Clark Equipment Co Regulator valve
US20060060409A1 (en) * 2004-09-23 2006-03-23 Dammeyer Karl L Electronically controlled valve for a materials handling vehicle
AU2009101163A4 (en) * 2009-11-15 2009-12-17 Nijhuis, Joahannes Hans Environmentally save hose break system (Green valve)
EP2636637A1 (fr) * 2012-03-08 2013-09-11 Linde Material Handling GmbH Dispositif de levage d'un chariot de manutention
DE102012107971A1 (de) * 2012-08-29 2014-03-06 Linde Material Handling Gmbh Hydraulisches Antriebssystem einer mobilen Arbeitsmaschine
WO2015149138A1 (fr) * 2014-04-04 2015-10-08 Blue Planet Hydrogen N.V. Véhicule alimenté à l'hydrogène
EP3608286A1 (fr) * 2018-08-08 2020-02-12 Linde Material Handling GmbH Chariot industriel avec système de levage hydraulique et protection électronique du système de levage contre les dysfonctionnements

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3016046A (en) * 1960-05-05 1962-01-09 Clark Equipment Co Regulator valve
US20060060409A1 (en) * 2004-09-23 2006-03-23 Dammeyer Karl L Electronically controlled valve for a materials handling vehicle
AU2009101163A4 (en) * 2009-11-15 2009-12-17 Nijhuis, Joahannes Hans Environmentally save hose break system (Green valve)
EP2636637A1 (fr) * 2012-03-08 2013-09-11 Linde Material Handling GmbH Dispositif de levage d'un chariot de manutention
DE102012107971A1 (de) * 2012-08-29 2014-03-06 Linde Material Handling Gmbh Hydraulisches Antriebssystem einer mobilen Arbeitsmaschine
WO2015149138A1 (fr) * 2014-04-04 2015-10-08 Blue Planet Hydrogen N.V. Véhicule alimenté à l'hydrogène
EP3608286A1 (fr) * 2018-08-08 2020-02-12 Linde Material Handling GmbH Chariot industriel avec système de levage hydraulique et protection électronique du système de levage contre les dysfonctionnements

Similar Documents

Publication Publication Date Title
EP1828045B1 (fr) Vanne commandee electroniquement pour vehicule de manipulation de materiaux
EP1019315B2 (fr) Ensemble ameliorant la productivite
US7353959B2 (en) Variable-speed load-dependent drive and hoist system
JP2005532968A (ja) 積荷取扱装置用の制御システム
EP2637961B1 (fr) Système de surveillance de stabilité longitudinale
CN102910534B (zh) 一种用于折臂式随车起重机的直线起吊装置及其控制方法
CN111051160B (zh) 制动系统
CN107188086A (zh) 自动控制平衡叉车
CN108884846B (zh) 故障诊断装置
JP5543741B2 (ja) クレーンの転倒防止装置
US7970499B2 (en) Method and apparatus for moving a swing tail cargo door on an aircraft
US10759635B2 (en) SIDAS—spreader impact damage avoidance system
EP3971128A1 (fr) Véhicule de manutention de matériau
CN202924612U (zh) 一种用于折臂式随车起重机的直线起吊装置
US11866304B2 (en) Apparatus and method for controlling a slewing gear and crane
CN106458076A (zh) 具有移动式车体的自动化控制的车辆
JP4425047B2 (ja) 油圧式昇降装置
JP2624030B2 (ja) フォ−クリフトの制御装置
US7850122B2 (en) Compliance mechanism
JP3681298B2 (ja) 高所作業車の過積載作動規制装置
WO2021085569A1 (fr) Dispositif de prévention contre les surcharges
WO2021085566A1 (fr) Dispositif de prévention de surcharge
EP3743563B1 (fr) Excavateur comprenant un corps oscillant supérieur ayant une fonction d'oscillation libre
CA2932383C (fr) Sidas - systeme permettant d'eviter les dommages d'impact de palonnier
JPH0756318Y2 (ja) フォークリフトの制御装置

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20220916

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20230904