FR2541662A1 - HANDLING EQUIPMENT HAVING AT LEAST ONE FUNCTION CONTROL SYSTEM - Google Patents

Abstract

HANDLING MACHINES HAVE FUNCTION CONTROL SYSTEMS WHICH COMPRISE AT LEAST A ROLLING CONTROL MECHANISM, A STEERING MECHANISM, A LIFTING MECHANISM IN THE CASE OF A MACHINE EQUIPPED WITH A LIFTING MAST AND A CONTROL GROUP OF THE LOAD CARRIER. ELECTRIC ANDOR HYDRAULIC MOTORS AND SWITCHING ANDOR ADJUSTMENT DEVICES FOR THESE ARE MOUNTED IN THE FUNCTION CONTROL SYSTEMS AND CONNECTED TO ELECTRICAL EQUIPMENT LOCATED AT THE RUNNING GEAR AND PROVIDED WITH A COMMAND ENTRY DEVICE . ACCORDING TO THE INVENTION, A MICROPROCESSOR 22 DELIVERING CONTROL SIGNALS IS MOUNTED ON THE ELECTRICAL EQUIPMENT OF THE VEHICLE AND A MICROPROCESSOR 23 IS MOUNTED AT AT LEAST ONE OF THE FUNCTION CONTROL GROUPS. THESE TWO MICROPROCESSORS 22, 23 ASSOCIATED WITH EACH OTHER ARE CONNECTED BY A CONNECTION LINE 18, IN PARTICULAR A FIBERGLASS CABLE WITH TWO WIRES, THROUGH WHICH SIGNALS CODED IN THE MICROPROCESSOR 22 CAN BE TRANSMITTED TO THE MICROPROCESSOR 23. THE FUNCTIONS CONTROL GROUP CONCERNED IS IN PARTICULAR THE LOAD CARRIER CONTROL GROUP. THE MICROPROCESSOR 23 ASSOCIATED WITH THE FUNCTION CONTROL GROUP IS ALSO LINKED TO DETECTORS PROVIDED AT THE LEVEL OF THE LOAD RECEIVING ELEMENT. G05D

Description

Handling equipment fitted with at least one

request for functions.

  the present invention relates to a handling machine

  tion provided with at least one function control system, comprising at least one rolling control mechanism, a steering mechanism, a lifting mechanism provided in the case of a machine equipped with a lifting mast and a group load carrier control system, which

  functions include electric and / or hydraulic motors

  switching and / or regulating devices for

  and vehicle electrical equipment which, if-

  killed in the undercarriage, has a device

  of introduction of orders to which all the mechanics are connected

  nisms for controlling functions which can be controlled from the electrical equipment of the vehicle on which at least one microprocessor-issuing order is mounted

  under the form of control signals and having outputs

  ties for the function control mechanisms.

  When it comes to engines below this voca-

  ble always includes switching and / or

annex adjustment.

  It is known to provide such handling equipment with

  attention, in particular handling vehicles, of many

  large control elements which, when used, must be actuated either manually or by automated means, possibly according to a program as a function of each other, in particular when several control groups of

functions are provided.

  In this respect, the invention is generally applicable.

  general to a rolling control mechanism, which can for example be subject to a specific programming

  depending on the approach conditions of a position area-

  or depending on the height of the load, at a met

  steering gear which can be controlled under conditions

  l O tions corresponding and possibly to a lifting mechanism, but also in particular to a load carrier control group provided at the receiving element of

  load, which can be moved vertically by means of the

  lifting mechanism The load receiving element is for example a sliding lifting support The mechanisms of

  command provided at the level of it include a

  nism of lateral displacement, a pivoting mechanism and possibly also a feed mechanism whose action is also subject to correction orders from the place of positioning These control mechanisms are formed by electric or hydraulic motors as well as

  switching and / or regulating apparatus therefor

  deny. In order to receive correction orders at this level as well as to allow the other function control mechanisms to be subjected to external influences it is intended that these control mechanisms are respectively equipped with detectors for exploring external signal sources It is known to use

  such signal sources or detectors such as

  at the level of charge receiving or suppressing elements

  sliding lifting ports for exact positioning, so as to allow, when processing signals from the vehicle's electrical equipment, also accentuated control according to temporary local conditions.

25416 2

  Up to now handling vehicles have been produced each time for a specific purpose, as a function of given tasks, so as to comprise a large set of hydraulic or electric motors with their control or regulating apparatus, that is to say say each time with them

  switches, regulators and distributors of cor-

  The cost of such an installation is considered

  map 4 In practice, identical handling vehicles in their design are used for different tasks

  which only require individual control mechanisms

  specific duels or specific combinations of mechanics

  Therefore, the handling vehicles

  tion and their function control groups, in particular

  link the control mechanisms provided at the level of the

  charge receptor, are each equipped with

  tion of their purpose In the event of a change in the area of use

  tion it is necessary to change the installation, clest-à-

  practically say to dismantle the existing installation and replace it with a new installation, especially when it comes to allowing new combinations of

individual movements.

  This is the case for construction methods

  in which a microprocessor is mounted exclusively

  on the vehicle's electrical equipment

  mande delivered by this microprocessor produced and arranged in a known manner are brought through numerous

  lines to the different motors and / or switches, regulated

  fluid distributors and distributors for this purpose may be

  provided for up to 32 connections which are combined in a cg-

  flat wheat Such a flat cable represents a considerable expense

  rable This is particularly true for the connection of the load receiving element, i.e. the load carrier,

  just with regard to the weight of the flat ribbon cable relative-

  winding devices which are brought to work

  expensive depending on the vertical displacement of the element

  charge receptor In addition, such a flat cable is very inconvenient.

  nant in the lifting mast It is certainly also known to guide such flat cables parallel to the operating chains of a telescopic mast This requires however

  also a large footprint and guiding means

  Despite this, power lines are then

core necessary.

  Another drawback of the known construction method

  is that these connection cables with their names

  breux wires, made in particular in copper, are sensitive to disturbances The longer a connection cable, that is to say the more the load receiving element is brought to

  a high level and the connection cable is therefore

  quence also released, more easily will per-

  turbations due to inductive influences on the part

  other vehicle control devices, including generators

  impulse control generators and the like Such generators may already be present in the ignition device of a rolling control engine but also

  in other control devices for the di-

rection and the like.

  The multiplicity of wires of the known connection to the electrical equipment of the vehicle is due to the fact that signals delivered by detectors located at the level of

  function control mechanisms, particularly at the

  load receiving element calf for exploration

  tion of positioning zones, must be sent in particular from the load receiving element towards the undercarriage downwards in the microprocessor

  in order to influence or adjust the delicate control signals

  to the motors of the function control mechanisms, i.e. of the load carrier This not only

  expenditure on circuits but also information

  influences on the progress of processes over time.

  There are also problems with making this large number of connections as a flat cable

  mechanical guidance with regard to the orientation

  bends Elbows can give rise to faults which compromise or render the whole system inoperative.

order me.

  The object of the present invention is to improve a

  handling equipment of the kind indicated above in simpli-

  relying considerably on the entire installation and, no-

  Also, by also reducing the load on the element.

  charge receptor, i.e. the sliding support

  health, due to the connections, increased security in front of

  same time be assured in the event of a wire break.

  In this respect, it is also a question of allowing conne-

  xions to be carried out in a simpler way than in

  the prior art and so as to present an extension

  reduced mechanical sion, disruptive influences of-

  in addition to being at least reduced thanks to such con-

  nexions. This object is achieved according to the invention for a handling machine provided with at least one function control system, comprising at least one mechanism for controlling

  bearing, steering mechanism, shift mechanism

  rage expected in the case of a machine equipped with a lifting mast and a load carrier control group, which function control system comprises electric and / or hydraulic motors and switching and / or regulating devices for these, and electrical vehicle equipment which, located in the undercarriage, is provided

  of an order entry device to which are connected

  all of the function control mechanisms that can

  wind Stre controlled from the electrical equipment of the vehicle on which is mounted at least one microprocessor delivering commands in the form of control signals and having outputs for the mechanisms for controlling functions, whether by the microprocessor or by each at least two microprocessors, namely a microprocessor associated with the electrical equipment of the vehicle and a microprocessor associated with the group, are substituted by microprocessors mounted on the electrical equipment of the vehicle and issuing orders in the form of control signals function control, the microprocessor associated with the function control group being each level mounted

  corresponding motors and their communication devices

  tation and / or adjustment, and associated microprocessors

  between them, provided respectively on the electrical equipment

  the vehicle and at the level of a function control group, having a serial interface and being interconnected each time by two connection lines by

  through which signals encoded in the micro-

  processor associated with the vehicle's electrical equipment can be sent to the microprocessor associated with the function control group, which last microprocessor

  converts these signals into control signals for devices

  control, switching and / or motor adjustment

  teurs. Microprocessors are bodies having negligible bulk and weight. Consequently, a microprocessor can be mounted without disadvantage at the level of the control group of functions. This offers the important advantage, in particular from the mechanical point of view and in what

  concerns sensitivity to disturbances, avoiding a connection

  directly to the function control group by a pre-

  feeling a multiplicity of threads and made of a material

  prone to incidents when the multiplicity of con

  xions is reduced to two wires only such a bond

  becomes more mechanically manageable, less extended and at the same

  time of negligible weight Special advantages arise from the design of the electrical installation

  as a whole which can be carried out so as to present

  to take up less space than in the prior art

  re This makes it better to obtain that in the case of a ruptu-

  re wire the incident can be detected immediately He re

  it also leads to better surveillance possibilities.

  In this regard, it is particularly advisable to provide a two-wire connection line made under

form of fiberglass cable.

  In the event that the operating control mechanisms

  are equipped with detectors to explore signal sources, it is advisable to provide connections between the detectors and the microprocessor associated with the

  function control o This also provides

  simplified connections, in particular shorter than before, which moreover no longer need to be operated in the case of control mechanisms for functions displaceable relative to the undercarriage Thanks to such connections, a simplification is therefore obtained while retaining the

  evaluation possibilities and influences of commands.

  Realization as a fiberglass target

  brings in this respect not only a multiplication or

  improved signal transmission possibilities but

  above all the property of insensitivity to disturbances

  tions, in particular with regard to electromagnetic pulses.

  The characteristic of the signals is preserved and a

  lighter, thinner and more reliable connection is also

  obtained and assured As for the connection between deteo-

  ters and the control group of functions it offers itself the-

  wind of a more direct action of the commands.

  It is particularly advantageous that the micropro-

  stopper associated with the function control group is also

  is also equipped with a program memory and is connected to the middle

  croprocessor associated with the vehicle's electrical equipment.

  In this regard, the microprocessor associated with the control group

  of functions has switching and com-

  parison which according to signals from the associated microprocessor

  linked to the vehicle's electrical equipment and the program memory trigger a program sequence in the

  microprocessor associated with the load receiving element.

  This allows a particularly simple arrangement of the equi-

pement in question.

  Insofar as it is a question above of mechanics

  Function control nisms which also include the load carrier control group, the embodiment

  particularly preferred of the invention is the con-

  corresponding connection of the carrier control motors

  load and their switching and / or regulating devices for a lateral movement mechanism, a pivoting mechanism and possibly a feed mechanism In this embodiment a microprocessor for the function control group is particularly

  advantageous mounted on the load receiving element, the

  also being mounted on the receiver element of

  load In this case the program memory is advantageous-

  provided on the microprocessor mounted at the level of the

charge receptor.

  It is precisely in the case where the microprocessor

  associated with the function control group is mounted at the

  calf of the load receiving element that the in-

  mentioned above are particularly felt.

  so especially since the connection lines are wound

  bent or deflected depending on the height of the sliding support

  health, i.e. of the load receiving element At this

  due to the reduced weight and greater flexibility

  very advantageous In addition, the considerably reduced dimensions of this embodiment contribute, in the case of guiding the connection along the mast, to substantially

  improved vision for the driver -

  The invention is described below using a

  preferred embodiment which is depicted in the

attached sins on which:

  Figure 1 shows a forklift with oven-

  che as a handling device schematically, in side view, to elucidate the control mechanisms; Figure 2 is a schematic representation of a known construction method; and

  Figure 3 is a schematic representation of the mo-

  of construction according to the invention, certain subsets

  bles corresponding to those of the latter being indicated in FIG. 1 e The handling machine comprises, as the vehicle represented in FIG. 1, a running gear 1, which

  can be controlled by means of motor 2, a seat

  ductor 3 with a control panel 4 presented under the

  form of an instruction introduction device and, as-

  associated with a steering wheel 5, at least one wheel di-

  rectrix 6 which can also be driven The other wheels, one of which is designated by 7, can be produced

  rigidly or as freely driven rollers.

  In addition, there is provided a lifting mast 8, in particular a telescopic mast, provided with suitable control members 9 On this lifting mast can be moved vertically the load receiving element 10 presented in the form of a

  sliding lifting support For this, a mo-

  11 The load receiving element is fitted with a

  load carrier 12 A 13 as motor is provided for this

  associated with a lateral movement mechanism, a motor 14 associated with a pivoting mechanism and possibly

  in addition to a motor 15 associated with a feed mechanism.

  In this regard, it may be electric motors or

  hydraulics with which are associated at the same time

  switching and / or adjusting elements which are supposed to be part of the motors shown in FIG. 1 The three motors mentioned 13 to 15 constitute the control group

  representing the carrier control group

  charge. These motors 13 to 15, including their

  switching and / or adjustment, are linked by means of

  re of a link 18, shown in phantom, to a balance

  electrical element 16 intended for the vehicle and connected to the panel

  control line 4 per line 17 Other connections

  can in this case still extend from the team-

  electric vehicle from other so-called function control mechanisms such as a rolling mechanism,

  a steering mechanism and / or a lifting mechanism.

  Other such connections or connections are made in a manner analogous to that shown for the function control group referred to as the control group.

load carrier control.

  Its connection 18 is essential To the various engines

  13 to 15 mounted on the load receiving element 10 appears

  hold switching and / or adjustment devices

  integrated with the control devices There are also further provided service or supply lines, designated as a whole by 19, which extend from a

  power source 32 mounted in the vehicle and comprising

  both an electric voltage source and a hydraulic pressure source For the latter can be provided at the top at the load receiving element of the shutters or regulators, and for the first of the

  electrical switches and / or regulators.

  Service or supply lines 19 lead to the different motors 13 to 15, including their devices

switching and / or adjustment.

  It is known to mount a microprocessor 20 on the electrical equipment 16 of the vehicle, as shown in Figure 2 The link 18 shown in phantom

  must then be widened in the form of a cable

  multiple torers 21 for conveying the instructions intended for the motors 13 to 15 and for the switching and / or regulating apparatus associated with the latter The cost is thus

  increased In the case of such a microprocessor arrangement

  sor 20 the number of conductors of the connecting cable is

  is further increased if it is a question of transmitting

  additional signals to microprocessor 20 from -detected

  such as may be expected at the level of the

  charge receptor and are designated in Figure 3

  par 27 and 28 The guiding of such a cable with multiple conductors

  multiple depending on the height adjustment of the receiving element

  load counter 10 requires mechanical and

costly orders.

  the cable 21 with multiple conductors which in FIG. 2 starts from the electrical equipment 16 provided with the microprocessor 20 is a line extending towards the load receiving element 10 and comprising approximately 20 to 30 wires. This gives rise to considerable difficulties,

  These difficulties are avoided by providing 2 as re-

  shown in Figure 3, instead of the single microprocessor

  20 two microprocessors associated respectively with the team-

  electric vehicle 16 and to the load receiving element 10, one 22 of the microprocessors being mounted on

  the electrical equipment 16 of the vehicle and the other microprocessor

  stopper 23 corresponding to the first and associated with the function control group being mounted on the load receiving element 10 and comprising a bus 24 for transmitting

  instructions to motors 13, 14, 15, i.e. to devices

  control or switching reils 25 located upstream of

these latter.

  In this embodiment it is not found

  be microprocessor 22 associated with electrical equipment

  of the vehicle and the microprocessor 23 associated with the element

  load cell only one connection line 26 with two wires as a communication channel This line is advantageously a fiberglass cable having two wires which are gimped, that is to say insulated, and have

  the advantages mentioned above Since the mid-

* croprocessor associated with the pre-charge receiver element

  feels in itself a small footprint and a low weight, this gives significant advantages which are added to the possibility of processing directly at the load receiving element also signals received at this element On the receiving element load cells are for example provided with detectors 27 and 28 which cooperate with reflectors, signal generators and the like installed on a rack or a positioning device

  and are connected by links or lines 29, 30 to the micro-

  processor associated with the load receiving element So

  rectification or correction signals caused by

  detectors 27, 28 can be processed directly at the load receiving element by multiple use. It is also planned to provide the microprocessor 23 associated with the load receiving element with a program memory 31. From this latter, a program sequence at the level of the load receiving element 10 can then also be called, for example. via connection line 26, by means of pulses from the

  microprocessor 22 associated with the electrical equipment of the

  hicule This also leads to a simplification of the

known installations.

  If in Figure 1 is represented in a general way

  neral a microprocessor 20 located at the level of the electrical equipment 16 of the vehicle, this figure nevertheless indicates

  already replacing this single microprocessor -20 of the micro-

  processor 22 associated with the vehicle electrical equipment, on the one hand, and a microprocessor associated with a function control group, in this case a microprocessor 23 associated with the load receiving element, on the other hand , which microprocessors are located in distant locations from each other and can be connected together

  by a two-wire line by means of plug contacts

  laterally simple This also offers an advantage over broadband cables, for example

  or 32 wires, used so far.

Claims (3)

  1 Handling machine provided with at least one function control system, comprising at least one mechanism   control, a steering mechanism, a   lifting mechanism provided in the case of a machine equipped with a   lifting mast and load carrier control group, the-   which function control system includes motors   electrical and / or hydraulic and switchgear   tion and / or adjustment for these, and of electrical equipment   vehicle body which, located in the undercarriage, is provided with an order entry device to which are connected all the function control mechanisms which can be controlled from the electrical equipment   of the vehicle on which at least one microprocessor is mounted   seur delivering orders in the form of control signals and having outputs for the function control mechanisms, characterized in that at the microprocessor (20) or at each of the microprocessors mounted on the electrical equipment of the vehicle and issuing orders in the form of   at least two microprocessor control signals are substituted   stoppers, namely a microprocessor (22) associated with the equipment   vehicle electrical system and a microprocessor (23)   associated with the function control group, the microprocessor   seur associated with the function control group being each time mounted on the corresponding motors (13 to 15) and their switching and / or regulating apparatus (25), and the microprocessors (22, 23) associated with each other, provided respectively on the electrical equipment (16) of the vehicle   and at the level of a function control group, present   both a serial interface and being interconnected each   times by two connecting wires (18, 26) via   area from which signals coded in the microprocessor (22) associated with the electrical equipment of the vehicle can be sent to the microprocessor (23) associated with the group of   function control, which last microprocessor con-   turns these signals into control signals for motor control, switching and regulating devices (25) (13 to 15).   2 Handling machine according to claim 1, characterized in that a connection line (18, 26) with two wires is produced in the form of a glass fiber cable. 3 Handling machine according to claim 1 or 2, comprising detectors at the level of the function control mechanisms for exploring signal sources,   characterized in that connections (29, 30) are provided between   the detectors (27, 28) and the associated microprocessor (23)   linked to the function control group O 4 Handling machine according to any one of the   claims 1 to 3 characterized in that the microprocessor   sor (23) associated with the function control group is mutated   nor a program memory (31) and is connected to the micropro.   stopper (22) associated with the electrical equipment of the vehicle and in that the microprocessor (23) associated with the function control group comprises switching members   and comparison which as a function of micropro-   stopper (22) associated with the electrical equipment of the vehicle and according to the program memory (31) trigger a program sequence in the microprocessor (23)   associated with the load receiving element.   Handling equipment according to any one of   Claims I to 4, in which the load carrier comprises   motors and switching and / or regulating devices for a lateral displacement mechanism, a   pivoting and possibly an advance mechanism, charac-   characterized in that the microprocessor (23) associated with the function control group is mounted at the level of the load receiving element (10), the detectors (27, 28) also being mounted at the level of the load receiving element (10),   6 Handling machine according to claim 4 or 5, characterized in that the program memory (31) is mounted at the microprocessor (23) associated with the element charge receiver.