EP3978420B1 - Procédé d'amortissement des vibrations de torsion d'un mât de levage dans un chariot de manutention et chariot de manutention - Google Patents

Procédé d'amortissement des vibrations de torsion d'un mât de levage dans un chariot de manutention et chariot de manutention Download PDF

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Publication number
EP3978420B1
EP3978420B1 EP21196263.4A EP21196263A EP3978420B1 EP 3978420 B1 EP3978420 B1 EP 3978420B1 EP 21196263 A EP21196263 A EP 21196263A EP 3978420 B1 EP3978420 B1 EP 3978420B1
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EP
European Patent Office
Prior art keywords
mast
load
torsion value
industrial truck
control device
Prior art date
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Application number
EP21196263.4A
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German (de)
English (en)
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EP3978420A1 (fr
EP3978420C0 (fr
Inventor
Yves-Jocelyn Francois
Björn Bullermann
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
STILL GmbH
Original Assignee
Linde Material Handling GmbH
STILL GmbH
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Priority claimed from DE102020127348.7A external-priority patent/DE102020127348A1/de
Application filed by Linde Material Handling GmbH, STILL GmbH filed Critical Linde Material Handling GmbH
Publication of EP3978420A1 publication Critical patent/EP3978420A1/fr
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Publication of EP3978420B1 publication Critical patent/EP3978420B1/fr
Publication of EP3978420C0 publication Critical patent/EP3978420C0/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • 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
    • B66F9/0755—Position control; Position detectors
    • 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
    • B66F9/08—Masts; Guides; Chains
    • 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
    • B66F9/08—Masts; Guides; Chains
    • B66F9/10—Masts; Guides; Chains movable in a horizontal direction relative to truck
    • 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
    • B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
    • B66F9/147—Whole unit including fork support moves relative to mast
    • B66F9/148—Whole unit including fork support moves sideways

Definitions

  • the invention relates to a method for damping lifting mast torsional vibrations in an industrial truck, in particular a reach truck, with a load handling device comprising a lifting mast with at least two mast profiles for picking up a load, the center of gravity of a picked up load being laterally displaceable by means of a side shift device, which by means of a Control device is controlled.
  • the invention further relates to an industrial truck for carrying out the method.
  • Industrial trucks include, for example, forklifts, especially counterbalanced forklifts, and reach trucks.
  • Such industrial trucks are equipped with a load handling device for stacking and storing transported goods.
  • the load handling device usually includes a lifting mast with at least one mast profile.
  • the lifting mast can also be provided with a tilting device so that the mast profiles can be tilted towards the vertical.
  • a load carriage in particular a fork carrier, on which forks are typically mounted, can be moved vertically on the mast profiles, for example by means of a lifting cylinder device of a working hydraulic system, and thus raised and lowered.
  • a load can be picked up on the forks, for example via a pallet.
  • a side shift device is often also provided, with which the center of gravity of the load picked up can be moved laterally.
  • the load carriage can be moved laterally relative to the mast profiles of the lifting mast using a side thrust cylinder.
  • reach trucks When picking up or placing heavy loads at high lifting heights, the problem of vibrations in the lifting mast generally occurs. While this behavior is not particularly noticeable with counterbalanced forklifts, it is with Reach trucks tend to be superficial and disruptive. Compared to counterbalanced forklifts, reach trucks usually have much higher mast profiles and hardly any components that can absorb and dissipate the vibration energy. For example, reach trucks usually do not have rubber tires and have a mast connection without rubber buffering.
  • a pilot-controlled model-based control of the side shift device is known, based on the essential variables of lifting height and load weight, which is designed to minimize the torsional vibrations of the lifting mast after the end of the operation of the side shift device.
  • a pre-control filter is used for this purpose, the transfer function of which is based on the inverse function of the transfer function of the controlled system and strives for the best possible compensation in an open circle of the poles and zeros of the controlled system.
  • torsional vibrations of the lifting mast around the vertical axis may not be as noticeable as pitching vibrations of the lifting mast to the front and back, but torsional vibrations of the lifting mast around the vertical axis are virtually undamped when they occur and therefore require a lot of time to decay.
  • the DE 10 2008 020 595 A1 and the DE 10 2008 020 592 A1 each disclose a method for vibration damping of torsional vibrations of a lifting mast of an industrial truck.
  • a side thrust cylinder can be controlled accordingly, with a sensor being disclosed for detecting the torsional vibrations of the lifting mast, which detects the pressure fluctuations of the side thrust cylinder or the pressure curve in the side thrust cylinder or the force acting on the articulation point of the cylinder.
  • the EP 3 670 428 A1 discloses a method for determining the load of an industrial truck, with which the load mass and the center of gravity of the load are determined based on the elastic deformations of the mast profile recorded by a sensor.
  • the US 2014/216853 A1 discloses a control system with which torsional vibrations of the entire industrial truck can be reduced about a vertical axis Z.
  • the present invention is based on the object of designing a method of the type mentioned at the outset and an industrial truck for carrying out the method in such a way that lifting mast torsional vibrations can be reliably dampened in all operating situations.
  • a closed control loop is therefore provided which enables a targeted, active counter-reaction when lifting mast torsional vibrations around the vertical axis are detected.
  • elastic deformations are measured in both main mast profiles of the lifting mast.
  • the lifting mast usually comprises two mast profiles that are aligned parallel and laterally spaced apart. In this case, the elastic deformations are measured in both mast profiles.
  • a difference in the elastic deformations in the various mast profiles can be used to conclude that the lifting mast is torsioning around the vertical axis. For example, a torsion value can be calculated from the difference in the bending moments of the mast profiles recorded by the sensors.
  • a lateral torsion offset is used as the torsion value.
  • the resulting lateral torsion offset is used.
  • the control device expediently specifies a side push speed setpoint for a side push speed.
  • the torsion value is returned to the side thrust speed setpoint in a closed control loop proportionally with an inverted sign. If a lateral torsional offset is used as the torsion value, the side shift device can be actively counteracted even at a small offset, whereby torsional vibrations of the lifting mast can be effectively dampened from the start.
  • strain sensors are preferably used as sensors, with at least one strain sensor being provided on each mast profile.
  • Strain gauges so-called strain gauges, are expediently used as strain sensors.
  • the use of strain gauges is in itself a proven method for measuring stress and strain. Strain gauges are used in a wide variety of applications to indirectly determine forces via strain measurement.
  • a particularly advantageous embodiment of the invention provides that the torsion value is determined from the difference between signals from the strain sensors on the different mast profiles.
  • the measurement is preferably carried out continuously, so that the current torsion value can be determined at any time.
  • a high-pass filter is advantageously used to form the torsion value.
  • a predetermined amplification factor is preferably used.
  • the resulting amplifications refer to the current considered working point in particular for a given lifting mast, a given lifting height and a given load center.
  • the invention also relates to an industrial truck, in particular a reach truck, for carrying out the method with a load handling device comprising a lifting mast with at least two mast profiles for picking up a load, and a side shift device, which is operatively connected to a control device, for laterally shifting the center of gravity of a picked up load.
  • a load handling device comprising a lifting mast with at least two mast profiles for picking up a load
  • a side shift device which is operatively connected to a control device, for laterally shifting the center of gravity of a picked up load.
  • the task is solved by providing a sensor system which is designed to determine elastic deformations of the mast profiles of the lifting mast and to form a torsion value of the lifting mast from the difference in the elastic deformations of the different mast profiles of the lifting mast, and a closed one Control circuit is provided, which includes a feedback of the torsion value of the lifting mast to the control device, and the control device is set up to adapt the control of the side shift device to the torsion value of the lifting mast for active damping of the lifting mast torsional vibrations.
  • the sensor system expediently includes strain sensors, with at least one strain sensor being arranged on each mast profile.
  • the strain sensors are preferably designed as strain gauges.
  • FIG. 1 a signal flow diagram for modeling the sideshift function of a sideshift device of an industrial truck is shown.
  • a side shift speed setpoint for a side shift speed y' of the (desired shift speed) of the side shift device (Plant) P is specified by a control device (controller) C.
  • the sideshift setpoint is converted into a setpoint for a cylinder speed y' cyl for a sideshift cylinder.
  • the resulting lateral torsion offset ⁇ y (elastic deflection) and the first and second derivatives y' and y" of the lateral position of the load center in space are used.
  • ⁇ y elastic deflection
  • y' and y the first and second derivatives y' and y" of the lateral position of the load center in space are used.
  • the resulting amplifications relate to the currently considered working point, especially for a given lifting mast, a given lifting height and a given load center.
  • the controlled system can be simplified as a typical second-order mass spring system, the damping of which depends on the torsional speed ⁇ y' directly via the gain with the gain factor k dp (passive damping).
  • the problem here is that the gain k dp is very low and causes a very weak damping of the system (extremely weak).
  • the Figure 2 shows the signal flow diagram for modeling the sideshift function from the Figure 1 with the active vibration damping according to the invention.
  • Hydraulic systems such as forklift hydrostats that work with hydraulic oil, are often dampened by leakage effects.
  • the damping effect is created by a certain proportionality between the quantity that creates force, for example high oil pressure, and a (parasitic) reduction in the speed requirement, for example oil flow.
  • the torsion of the lifting mast due to the torsional vibration is detected as a torsional offset ⁇ y (elastic deflection) by means of a sensor system S from the difference in the signals from two strain sensors, one of which is attached to a mast profile of the lifting mast is.
  • the value of the torsional offset ⁇ y (elastic deflection) is proportionally returned with an inverted sign to the side thrust speed setpoint for the side thrust speed y' of the (desired shift speed).
  • An active amplification factor k da active damping

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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)

Claims (12)

  1. Procédé permettant d'amortir des vibrations de torsion d'un mât de levage sur un chariot de manutention, en particulier un gerbeur à fourche rétractable, comprenant un dispositif de manutention pourvu d'un mât de levage avec au moins deux profilés de mât et destiné à recevoir une charge, dans lequel le centre d'application de charge d'une charge reçue peut être décalé latéralement à l'aide d'un moyen de gerbeur latéral (P) qui est commandé à l'aide d'un moyen de commande (C), dans lequel des déformations élastiques des profilés de mât sont déterminées à l'aide d'un système de capteurs (S), dans lequel une valeur de torsion est formée à partir de la différence des déformations élastiques des différents profilés de mât, ladite valeur est ramenée au moyen de commande (C) dans une boucle d'asservissement fermée et est utilisée pour l'amortissement actif des vibrations de torsion de mât de levage par un pilotage adapté du moyen de gerbeur latéral (P).
  2. Procédé selon la revendication 1, caractérisé en ce qu'un décalage de torsion latéral (δy) est utilisé comme valeur de torsion.
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce que le moyen de commande (C) spécifie une valeur de consigne de vitesse de poussée latérale pour une vitesse de poussée latérale (y'des).
  4. Procédé selon la revendication 3, caractérisé en ce que la valeur de torsion est ramenée dans une boucle d'asservissement fermée proportionnellement avec un signe inversé à la valeur de consigne de vitesse de poussée latérale pour la vitesse de poussée latérale (y'des).
  5. Procédé selon l'une quelconque des revendications 1 à 4, caractérisé en ce que des capteurs de contrainte sont utilisés comme système de capteurs (S), dans lequel au moins un capteur de contrainte est prévu au niveau de chaque profilé de mât.
  6. Procédé selon la revendication 5, caractérisé en ce que des extensomètres sont utilisés comme capteurs de contrainte.
  7. Procédé selon la revendication 5 ou 6, caractérisé en ce que la valeur de torsion est déterminée à partir de la différence de signaux des capteurs de contrainte au niveau des différents profilés de mât.
  8. Procédé selon l'une quelconque des revendications 1 à 7, caractérisé en ce qu'un filtre passe-haut est utilisé pour former la valeur de torsion.
  9. Procédé selon l'une quelconque des revendications 1 à 8, caractérisé en ce qu'un facteur d'amplification (kda) prédéfini est appliqué lorsque la valeur de torsion est ramenée au moyen de commande (C) dans une boucle d'asservissement fermée.
  10. Chariot de manutention, en particulier gerbeur à fourche rétractable, aménagé pour exécuter le procédé selon l'une quelconque des revendications 1 à 9, comprenant un dispositif de manutention pourvu d'un mât de levage avec au moins deux profilés de mât et destiné à recevoir une charge, et un moyen de gerbeur latéral (P), en relation active avec le moyen de commande (C), pour le décalage latéral du centre d'application de charge d'une charge reçue, dans lequel un système de capteurs (S) est prévu qui est réalisé pour déterminer des déformations élastiques des profilés de mât et pour former une valeur de torsion à partir de la différence des déformations élastiques des différents profilés de mât, et une boucle d'asservissement fermée est prévu qui comprend un retour de la valeur de torsion au moyen de commande (C), et le dispositif de commande (C) est aménagé, en vue d'un amortissement actif des vibrations de torsion de mât de levage, pour adapter le pilotage du moyen de gerbeur latéral (P) à la valeur de torsion.
  11. Chariot de manutention selon la revendication 10, caractérisé en ce que le système de capteurs (S) comprend des capteurs de contrainte, dans lequel au moins un capteur de contrainte est associé à chaque profilé de mât.
  12. Chariot de manutention selon la revendication 11, caractérisé en ce que les capteurs de contrainte sont réalisés sous forme d'extensomètres.
EP21196263.4A 2020-09-30 2021-09-13 Procédé d'amortissement des vibrations de torsion d'un mât de levage dans un chariot de manutention et chariot de manutention Active EP3978420B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020125529 2020-09-30
DE102020127348.7A DE102020127348A1 (de) 2020-09-30 2020-10-16 Verfahren zur Dämpfung von Hubmast-Torsionsschwingungen bei einem Flurförderzeug und Flurförderzeug

Publications (3)

Publication Number Publication Date
EP3978420A1 EP3978420A1 (fr) 2022-04-06
EP3978420B1 true EP3978420B1 (fr) 2024-03-27
EP3978420C0 EP3978420C0 (fr) 2024-03-27

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Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4093091A (en) * 1976-06-30 1978-06-06 Towmotor Corporation Load moment sensing system for lift trucks
DE10054789A1 (de) * 2000-11-04 2002-05-08 Still Wagner Gmbh & Co Kg Flurförderzeug mit einem Hubgerüst und einer zusätzlichen Bewegungsvorrichtung für ein Lastaufnahmemittel
DE102008020595B4 (de) * 2008-04-24 2022-02-10 Linde Material Handling Gmbh Verfahren zur Schwingungsdämpfung bei Flurförderzeugen
DE102008020592B4 (de) * 2008-04-24 2022-02-10 Linde Material Handling Gmbh Verfahren zur Schwingungsdämpfung bei Flurförderzeugen
US9302893B2 (en) * 2013-02-07 2016-04-05 The Raymond Corporation Vibration control systems and methods for industrial lift trucks
DE102015102368A1 (de) * 2015-02-19 2016-08-25 Schwing Gmbh Positionsregelung Mastspitze
DE102016124506A1 (de) * 2016-12-15 2018-06-21 Jungheinrich Aktiengesellschaft Flurförderzeug mit einer Steuereinheit zur Regelung der Bewegung einer Last sowie ein entsprechendes Verfahren
DE102018133095A1 (de) * 2018-12-20 2020-06-25 Still Gmbh Verfahren zur Lastbestimmung bei einem Flurförderzeug und Flurförderzeug

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EP3978420A1 (fr) 2022-04-06
EP3978420C0 (fr) 2024-03-27

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