EP4389683A1 - Lasthandhabungsmaschine - Google Patents

Lasthandhabungsmaschine Download PDF

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Publication number
EP4389683A1
EP4389683A1 EP23217496.1A EP23217496A EP4389683A1 EP 4389683 A1 EP4389683 A1 EP 4389683A1 EP 23217496 A EP23217496 A EP 23217496A EP 4389683 A1 EP4389683 A1 EP 4389683A1
Authority
EP
European Patent Office
Prior art keywords
machine
ground
movement
hydraulic
load handling
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
EP23217496.1A
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English (en)
French (fr)
Inventor
Hervé MERTEN
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.)
Manitou BF SA
Original Assignee
Manitou BF SA
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 Manitou BF SA filed Critical Manitou BF SA
Publication of EP4389683A1 publication Critical patent/EP4389683A1/de
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07509—Braking

Definitions

  • the present invention relates to a load handling machine.
  • Such a handling machine is known.
  • the current trends in load handling equipment are as follows.
  • the engine is a heat engine
  • the tendency is to reduce the size of the engine, which is accompanied by a reduction in efficiency in terms of engine braking power.
  • the motor is an electric motor with motor/generator function
  • this motor exhibits strong engine braking when acting as a generator.
  • the batteries associated with said motor are full, it becomes impossible to use the motor as a generator to brake the machine.
  • Another trend observed is to try to remove the service brake and only keep the parking brake.
  • This parking brake can be used as an emergency brake but its all-or-nothing operation makes braking brutal and dangerous. Manufacturers of handling equipment are therefore looking for solutions to overcome malfunctions or insufficient engine brake power.
  • a handling machine is also known where braking takes place by action on the pump driving the rotation of the wheels as illustrated in the patent EP1985576 .
  • the document US6782961 describes a handling machine incorporating a torque converter.
  • the document US6413185 describes a truck equipped with an adjustable transmission.
  • An aim of the invention is to propose a handling machine whose design allows the exercise of a braking torque which can be variable and therefore progressive on the motor shaft without having to act on the motor.
  • Another aim of the invention is to propose a handling machine whose design allows the production of a so-called emergency brake at reduced cost.
  • the subject of the invention is a load handling machine comprising a chassis equipped with drive members moving on the ground, a motor having a rotating motor shaft, a mechanical or hydraulic transmission of the rotational movement of the motor shaft of the engine to the drive members moving on the ground, a system for controlling the speed of movement on the ground of the machine, a control unit configured at least to acquire a signal from said control system and determine a setpoint ground movement speed, a load handling system comprising at least one load handling device, at least one hydraulic actuator for controlling the handling device in operation, at least one hydraulic pump equipped with a fluid outlet and a hydraulic circuit for connecting the hydraulic pump to at least one actuator, a device for determining the actual speed of movement on the ground of the machine, characterized in that the hydraulic pump of the load handling system is, for its operation , coupled to the drive shaft of the engine forming a versatile motor for controlling the movement of the drive members in movement on the ground and the load handling system, in that the machine is equipped with at least one system for regulating the pressure and/or flow of said hydraulic
  • the control unit is configured to control the pressure and/or flow regulation system of the hydraulic circuit connecting the hydraulic pump to at least one actuator depending at least on the result of the comparison between the speed setpoint of movement on the ground and the real speed of movement on the ground of the machine determined by the device for determining the real speed of movement on the ground of the machine to allow, by variation of the pressure and/or the flow rate, in particular in the direction of an increase in pressure and/or flow rate, in the hydraulic circuit connecting the hydraulic pump to at least one actuator to generate a braking torque on the drive motor shaft in operation of the pump.
  • This braking torque results from the resistance encountered by the hydraulic pump during a variation in pressure and/or flow in the direction of an increase in pressure and/or flow in the hydraulic circuit connecting the pump. hydraulic at least one actuator. This resistance encountered by the pump is transmitted back to the motor shaft.
  • control unit is configured to control the system for regulating the pressure and/or flow of the hydraulic circuit connecting the hydraulic pump to at least one actuator in the direction of an increase in pressure and/or an increase in flow rate at the outlet of the hydraulic pump at least when the ground travel speed setpoint is lower than the actual ground travel speed of the machine determined by the device for determining the actual ground speed of the machine.
  • the control unit is configured to control the pressure and/or flow regulation system of the hydraulic circuit connecting the hydraulic pump to at least one actuator in the direction of an increase in pressure and/or an increase in flow at the output of the hydraulic pump at least when the ground travel speed setpoint is lower than the actual ground travel speed of the machine determined by the device for determining the actual travel speed on the ground of the machine to allow, by variation of the pressure and/or flow rate, in particular in the direction of an increase in pressure and/or flow rate, in the hydraulic circuit connecting the hydraulic pump to the least one actuator to generate a braking torque on the motor drive shaft in operation of the pump.
  • the motor is an electric motor/generator also called a reversible electric motor
  • the machine comprises an energy accumulator configured to supply electrical energy to the motor/generator in a first so-called operating mode.
  • motor of the motor/generator and for receiving and storing electrical energy from the motor/generator in a second operating mode called generator of the motor/generator, and a system for determining a parameter representative of the charge level of said energy accumulator and the control unit is configured to control the pressure and/or flow regulation system of the hydraulic circuit connecting the hydraulic pump to at least one actuator as a function of the charge level of the energy accumulator.
  • the energy accumulator comprises at least one battery and the system for determining a parameter representative of the charge level of said energy accumulator is a sensor for measuring the voltage of the or batteries.
  • the system for determining a parameter representative of the charge level of said energy accumulator is a battery controller capable of providing information to the control unit.
  • the system for controlling the ground speed of the machine comprises a braking control member mounted movable between at least two positions and/or an acceleration control member mounted movable between at least two positions and at least one member for detecting an actuation of said braking control member and/or at least one member for detecting an actuation of said acceleration control member.
  • a reduction in the speed of movement on the ground of the machine may result in particular from actuation of the braking control member and/or a release of the acceleration control member and/or the actuation of a cruise control and/or the actuation of a speed limiter.
  • control unit is configured to control the system for regulating the pressure and/or flow of the hydraulic circuit connecting the hydraulic pump to at least one actuator depending on at least the result of the comparison between, the ground movement speed setpoint determined at least as a function of the data provided by the or one of the members for detecting an actuation of said braking control member and/or the or one members for detecting an actuation of said acceleration control member, and the actual speed of movement on the ground of the machine determined by the device for determining the actual speed of movement on the ground of the machine.
  • the system for regulating the pressure and/or flow of the hydraulic circuit connecting the hydraulic pump to at least one actuator comprises at least one pressure regulator or a flow regulator arranged on the hydraulic circuit for connecting the hydraulic pump to at least one actuator or to a branch branch of said circuit.
  • This pressure and/or flow regulator may take the form of a valve, a distributor, a nozzle or the like.
  • the hydraulic pump of the load handling system is a variable displacement pump and the system for regulating the pressure and/or flow of said hydraulic circuit for connecting the hydraulic pump to at least an actuator includes a circuit for controlling the displacement of the hydraulic pump
  • the load handling device mounted on the chassis comprises at least one mast or a lifting arm and a load handling accessory carried by the mast or the arm.
  • the or at least one of the hydraulic actuators for controlling the handling device in operation is a cylinder.
  • the device for determining the actual ground movement speed of the machine comprises at least one sensor of the rotation speed of at least one of the ground drive members of the machine and/or a geolocation system.
  • the device for determining the actual ground speed of the machine may comprise at least one sensor of the rotation speed of the motor shaft, the transmission ratio of the motor shaft to the wheels being predetermined.
  • the invention relates to a load handling machine 1 of the type, for example, of that represented in figures 1 And 2 .
  • charge must be taken in the broad sense and equates a person to a charge.
  • This handling machine 1 comprises a mobile chassis 2 equipped for this purpose with drive members 3 for movement on the ground.
  • These drive members 3 moving on the ground can be formed by wheels, as illustrated in figures 1 And 2 , or, for example, by caterpillars.
  • This machine 1 comprises, again for the movement of the chassis 2 and the operation of the load handling system 9 which will be described below, a motor 4 having a rotary motor shaft 5.
  • This motor 4 can be a heat engine or an electric motor.
  • this motor is generally an electric motor/generator also called a reversible electric motor.
  • the machine 1 comprises an energy accumulator 16 configured to supply the motor/generator with electrical energy, this energy accumulator 16 being formed of at least one or more batteries arranged on the chassis 2.
  • This energy accumulator 16 is configured to supply electrical energy to the motor/generator in a first operating mode, called motor of the motor/generator, and to receive and store electrical energy from the motor/generator in a second operating mode, called generator. of the motor/generator.
  • the machine 1 can comprise in this case, a system 17 for determining a parameter representative of the charge level of the energy accumulator 16 produced, for example, in the form of a sensor for measuring the voltage of the or batteries.
  • the information relating to the charge level is sent to a control unit 8 which will be described below.
  • the machine 1 Independently of the thermal or electrical nature of the motor 4, the machine 1 comprises a mechanical transmission 61 or hydraulic 62 of the rotational movement of the motor shaft 5 to the drive members 3 for movement on the ground of the machine 1.
  • the motor shaft 5 is coaxial with the motor 4.
  • the Figure 4 illustrates a mechanical transmission 61.
  • This mechanical transmission 61 can be formed of one or more pinions or gear trains capable of meshing with each other. Part of the pinions is carried by the input shaft of the mechanical transmission 61 which is engaged or formed by the motor shaft 5. At least one of the pinions is carried by an output shaft forming the drive shaft of the drive members 3 moving on the ground, such as the wheels of the machine.
  • FIG. 3 illustrates a hydraulic transmission 62.
  • the motor shaft 5 forms the rotating drive shaft of a hydraulic pump.
  • This hydraulic pump also called a hydrostatic pump, itself powers hydraulic wheel motors or hydrostatic motors on a mechanical gearbox.
  • Each wheel motor is associated with at least one member 3 for driving movement on the ground of the machine, such as a wheel of the machine.
  • a hydraulic transmission 62 will not be described in more detail because it is well known to those skilled in this art and its design is of little importance for the invention.
  • the machine 1 also includes a load handling system 9.
  • This load handling system 9 comprises at least one load handling device 10, at least one hydraulic actuator 11 for controlling the handling device 10 in operation, at least one hydraulic pump 12 equipped with a fluid outlet and a circuit hydraulic connection of the hydraulic pump 12, in particular of the fluid outlet of said hydraulic pump 12, to at least one actuator 11.
  • the load handling machine 1, also called here forklift comprises, for the production of the handling device 10, a mast 101 carrying a handling accessory 103, here formed by forks.
  • a first hydraulic actuator 11, such as a jack, ensures the inclination of the mast, while a second hydraulic actuator allows movement up and down of the accessory 103 along the mast 101.
  • the load handling device 10 is called an arm.
  • This load handling device 10 comprises a lifting arm 102 mounted on the chassis 2 to pivot around a so-called horizontal axis for pivoting movement of the arm 102 between a low position and a high position.
  • This lifting arm 102 can carry a load handling accessory, such as a bucket, a nacelle or for example a fork.
  • a hydraulic actuator (not shown), such as a jack, is arranged between the chassis 2 and the lifting arm 102, to allow the pivoting movement of the lifting arm 102 to be driven.
  • actuators can be provided at the level of the lifting arm 102, when the lifting arm 102 is a telescopic arm, and at the level of the connection between the lifting arm 102 and the accessory, when the accessory is orientable .
  • All the hydraulic actuators 11, regardless of their number and their position and the design of the handling device 10, are powered by the hydraulic pump 12, the drive of which is carried out using the motor shaft 5 which is a shaft 5 versatile motor allowing, on the one hand, the actuation of the mechanical transmission 61 or hydraulic 62, on the other hand, the actuation of the hydraulic pump 12 of the handling system 9.
  • This hydraulic pump 12 is connected by a circuit hydraulic, shown at 13 in the figures, to the actuator(s) 11 described above.
  • This hydraulic circuit 13 conventionally comprises one or more distributors making it possible to power the actuators 11 based on instructions provided by the control unit 8.
  • the control unit 8 can itself control this or these distributors according to control instructions delivered for example via the actuation of a pivoting lever, also called Joystick, actuable by the operator and arranged at the station driving the machine.
  • the machine 1 comprises a system 15 for regulating the pressure and/or flow rate of the hydraulic circuit 13 for connecting the hydraulic pump 12 to at least one hydraulic actuator 11 for controlling the load handling device 10 in operation.
  • This regulation system 15 can have a large number of shapes.
  • the system 15 for regulating the pressure and/or flow of the hydraulic circuit 13 of the connection of the hydraulic pump 12 to at least one actuator 11 comprises at least one pressure regulator 151 or a flow regulator 152 arranged on the circuit 13 hydraulic connection of the hydraulic pump 12 to at least one actuator 11, or on a branch 131 of bypass of said circuit 13.
  • FIG. 4 illustrates a pressure regulator 151 in the form of a 2/2 valve arranged, upstream of the supply distributor of the hydraulic actuator 11 for controlling the handling device 10 in operation, between said distributor and the hydraulic pump 12 fluid supply of the hydraulic circuit 13 for connection of the hydraulic pump 12 to at least one actuator 11 for controlling the handling device 10 in operation.
  • This 2/2 valve is movable between a closed position and an open position. In the closed position, this 2/2 valve here makes it possible to prevent the supply of fluid to the hydraulic actuator 11 for controlling the handling device 10 in operation.
  • This 2/2 valve authorizes, by closing said circuit 13, an increase of the pressure of this circuit. This results, by increasing the pressure at the level of circuit 13, in the indirect creation of a braking torque on the motor shaft 5 which ensures the rotational drive of the hydraulic pump 12 for supplying fluid to the hydraulic circuit 13.
  • This braking action can be modulated depending on the degree of closure of the valve.
  • the hydraulic circuit 13 for connecting the hydraulic pump 12 to at least one hydraulic actuator 11 for controlling the handling device 10 in operation also comprises, in the example shown in figures 3 And 4 , a branch 131 for bypassing circuit 13, opening into a tank.
  • This branch 131 of diversion can be equipped with a pressure regulator 151 and/or a flow regulator 152.
  • branch 131 can be removed and circuit 13 can also include only one main branch.
  • a pressure regulator and/or a flow regulator can be considered in another form than that described above, without departing from the scope of the invention.
  • the hydraulic pump 12 of the load handling system 9 can be a variable displacement pump.
  • the system 15 for regulating the pressure and/or flow of the hydraulic circuit 13 for connecting the hydraulic pump 12 to at least one actuator 11 may comprise a control circuit 153 for the displacement of the hydraulic pump 12.
  • an increase in the displacement of the hydraulic pump 12, coupled with pressure control, can generate, indirectly, a braking action on the motor shaft 5 driving the rotation of the hydraulic pump 12.
  • the machine 1 also includes a device 14 for determining the real speed Vr of movement on the ground of the machine.
  • This device 14 is shown in the figures in the form of a sensor of the rotation speed of at least one of the ground drive members 3 of the machine, that is to say a speed sensor rotation of at least one wheel of the machine.
  • the system 14 for determining the real speed Vr of movement on the ground of the machine could have integrated a geolocation system to provide location data to the control unit 8.
  • the information from the sensor of the rotation speed of at least one of the ground drive members 3 of the machine relating to the real speed Vr of movement on the ground of the machine 1 is sent to the unit 8 piloting.
  • the control unit 8 is therefore configured to acquire data from the device 14 for determining the real speed Vr of movement on the ground of the machine corresponding to said real speed Vr.
  • the machine 1 also comprises, as mentioned above, a control unit 8 in the form of an electronic and computer system which includes for example a microprocessor and a working memory.
  • the control unit can be in the form of a programmable controller.
  • the functions and steps described can be implemented in the form of a computer program or via hardware components (e.g. programmable gate arrays).
  • the functions and steps operated by the control unit or its modules can be carried out by instruction sets or computer modules implemented in a processor or controller or be carried out by dedicated electronic components or logic circuit type components.
  • programmable or FPGA which is the acronym for field-programmable gate array, which literally corresponds to in-situ programmable gate array
  • ASIC application-specific integrated circuit type
  • the unit or means or modules of said unit are configured to carry out a given operation, this means that the unit comprises computer instructions and the corresponding execution means which make it possible to carry out said operation and/or or that the unit includes corresponding electronic components
  • the machine 1 further comprises a control system 7 for the speed of movement on the ground of the machine, and the control unit 8 is configured to acquire a signal from said control system 7, and to determine a setpoint speed Vc of movement on the ground of the machine 1.
  • the control system 7 of the speed of movement on the ground of the machine 1 comprises a braking control member 71 mounted movably between two positions.
  • This braking control member 71 is here in the form of a brake pedal.
  • This control system 7 also includes a detection member 73 for actuation of said braking control member 71.
  • This detection member 73 is presented here in the form of a brake pedal position sensor.
  • the data from said detection member 73 of an actuation of the braking control member 71 are sent to the control unit 8.
  • This unit 8 control determines, from this information, the speed setpoint Vc for ground movement of the machine.
  • the sensor provides information on the depression of the brake pedal and the control unit 8 determines, from this pedal depression value, the speed setpoint Vc, that is to say the speed of movement on the ground of the machine expected after braking.
  • the control unit 8 compares the speed setpoint values Vc and the actual speed Vr.
  • the control unit 8 is configured to control the regulation system 15 of the pressure and/or flow of the hydraulic circuit 13 connecting the hydraulic pump 12 to at least one actuator 11 in the direction of an increase in pressure and/or an increase in the flow rate at the outlet of the hydraulic pump 12 at least when the speed setpoint Vc of movement on the ground is lower than the actual speed Vr of movement on the ground of the machine determined by the device 14 for determining the actual speed of movement on the ground of the machine 1.
  • control unit 8 does not act on the regulation system 15 of the pressure and/or the flow rate of the hydraulic circuit 13 connecting the hydraulic pump 12 to at least one actuator 11 for controlling the handling device 10 in operation.
  • the control unit 8 compensates for insufficient braking by acting on the pressure regulation system 15 and /or the flow rate of the hydraulic circuit 13 to increase the pressure in said circuit 13 and thus generate a mechanical resistance inducing, indirectly, a braking torque on the motor shaft 5 of the rotational drive of the hydraulic pump 12 to complete the braking action controlled via the braking control member 71.
  • acceleration control member 72 Similar operation can be obtained with an acceleration control member 72 and a detection member 74 of an actuation of said acceleration control member 72.
  • the acceleration control member 72 is an accelerator pedal
  • the detection member 74 of an actuation said acceleration control member 72 may be a sensor for detecting the position of said accelerator pedal.
  • the data from the detection member 74 of an actuation of the acceleration control member 72 are sent to the control unit 8.
  • Unity. 8 control determines, from this information, the speed setpoint Vc for ground movement of the machine.
  • the senor here provides information on the release of the accelerator pedal and the control unit 8, based on this value of release of the accelerator pedal, determines the speed setpoint Vc, i.e. that is to say the speed of movement on the ground of the machine expected after the deceleration of machine 1.
  • the control unit 8 compares the speed setpoint values Vc and actual speed Vr and acts on the system 15 for regulating the pressure and/or flow of the hydraulic circuit 13, in a manner similar to what has been described below -above in the case of actuation of the braking control member.
  • the braking control member 71 can take the form of a speed variator or a speed limiter 75.
  • the acceleration control member 72 can take the form of a speed variator or a speed limiter 75.
  • control unit 8 can, in addition, be configured to control the system 15 for regulating the pressure and/or the flow of the hydraulic circuit 13 connecting the hydraulic pump 12 to at least one actuator 11, depending on the charge level of the energy accumulator 16.
  • a braking action can be obtained by acting on the system of regulation 15 of the pressure and/or flow of the hydraulic circuit 13 by increasing the pressure and flow in said hydraulic circuit 13, as described above, or even by increasing the displacement of the hydraulic pump 12.
  • control unit 8 makes it possible to use a part of the handling device 10 and in particular the fluid circuit of the handling device 10, as an emergency brake for the machine 1.
  • This emergency braking action can be modulated as a function of the action on the pressure and/or flow regulation system 15.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Operation Control Of Excavators (AREA)
  • Control Of Fluid Gearings (AREA)
EP23217496.1A 2022-12-23 2023-12-18 Lasthandhabungsmaschine Pending EP4389683A1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR2214414A FR3144125A1 (fr) 2022-12-23 2022-12-23 Engin de manutention de charge

Publications (1)

Publication Number Publication Date
EP4389683A1 true EP4389683A1 (de) 2024-06-26

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP23217496.1A Pending EP4389683A1 (de) 2022-12-23 2023-12-18 Lasthandhabungsmaschine

Country Status (2)

Country Link
EP (1) EP4389683A1 (de)
FR (1) FR3144125A1 (de)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6413185B1 (en) 1999-11-17 2002-07-02 Jungheinrich Aktiengesellschaft Driving system for an industrial truck
US6782961B1 (en) 1999-10-18 2004-08-31 Kabushiki Kaisha Toyoda Jidoshokki Seisakusho Driving control apparatus for industrial vehicle
EP1985576A2 (de) 2007-04-25 2008-10-29 Jungheinrich Aktiengesellschaft Verfahren und Vorrichtung zur Kippvermeidung eines Gegengewichtsstaplers

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6782961B1 (en) 1999-10-18 2004-08-31 Kabushiki Kaisha Toyoda Jidoshokki Seisakusho Driving control apparatus for industrial vehicle
US6413185B1 (en) 1999-11-17 2002-07-02 Jungheinrich Aktiengesellschaft Driving system for an industrial truck
EP1985576A2 (de) 2007-04-25 2008-10-29 Jungheinrich Aktiengesellschaft Verfahren und Vorrichtung zur Kippvermeidung eines Gegengewichtsstaplers

Also Published As

Publication number Publication date
FR3144125A1 (fr) 2024-06-28

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