SE457072B - Industrial mechanical handling truck - Google Patents
Industrial mechanical handling truckInfo
- Publication number
- SE457072B SE457072B SE8405088A SE8405088A SE457072B SE 457072 B SE457072 B SE 457072B SE 8405088 A SE8405088 A SE 8405088A SE 8405088 A SE8405088 A SE 8405088A SE 457072 B SE457072 B SE 457072B
- Authority
- SE
- Sweden
- Prior art keywords
- motor
- winding
- generator
- battery
- during
- Prior art date
Links
- 238000004804 winding Methods 0.000 claims abstract description 33
- 150000001875 compounds Chemical class 0.000 claims abstract description 4
- 239000004065 semiconductor Substances 0.000 claims description 4
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 239000012530 fluid Substances 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/14—Energy-recuperation means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
-
- 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
- B66F9/205—Arrangements for transmitting pneumatic, hydraulic or electric power to movable parts or devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/08—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a dc motor
- H02P3/14—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a dc motor by regenerative braking
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Geology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Civil Engineering (AREA)
- Combustion & Propulsion (AREA)
- Analytical Chemistry (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Eletrric Generators (AREA)
- Control Of Direct Current Motors (AREA)
Abstract
Description
457 072 veckling av uppfinningen väljs storleken på den del av serie- lindningen som skall vara verksam vid laddningen så att största möjliga generatorström erhålls utan att sänkrörelsen blir störande långsam. Ett lämpligt sådant val har visat sig vara 50% av serielindningen men även andra procenttal är möjliga samt även att göra inkopplingsgraden exempelvis beroende på sänkhastigheten, så att en större del av lindningen kopplas in med ökande sänkhastighet. Enligt en ytterligare vidareutveck- ling av uppfinningen är styrorgan anordnade för styrning av strömmen genom xshuntlindningen, så att en större ström tilläts gå genom denna, när sânkhastigheten överskrider en viss nivå. 457 072 development of the invention, the size of the part of the series winding that is to be active during charging is selected so that the largest possible generator current is obtained without the lowering movement becoming disturbingly slow. A suitable such choice has proven to be 50% of the series winding, but other percentages are also possible and also to make the degree of connection, for example, depending on the lowering speed, so that a larger part of the winding is connected with increasing lowering speed. According to a further development of the invention, control means are arranged for controlling the current through the xshunt winding, so that a larger current is allowed to pass through it, when the sanding speed exceeds a certain level.
Med hjälp av detta system uppnås att största möjliga lägesenergi kan återvinnas, utan att sänkhastigheten eller några andra av lyftaggregatets prestanda menligt pâverkas. Ytterligare ändamål och fördelar med uppfinningen framgår av den följande beskriv- ningen.With the help of this system it is achieved that the greatest possible positional energy can be recovered, without the lowering speed or any other of the performance of the lifting unit being adversely affected. Further objects and advantages of the invention will become apparent from the following description.
Uppfinningen skall nu närmare beskrivas under hänvisning till bifogad ritning, på vilken: Fig. 1 är en sidovy pä en schematiskt framställd industri- truck av det slag som lämpligen kan utrustas med en anordning enligt uppfinningen.The invention will now be described in more detail with reference to the accompanying drawing, in which: Fig. 1 is a side view of a schematically manufactured industrial truck of the type which can be suitably equipped with a device according to the invention.
Fig. 2 är ett förenklat kopplingsschema på en anordning för återvinning av lägesenergi enligt uppfinningen.Fig. 2 is a simplified wiring diagram of a position energy recovery device according to the invention.
Industritrucken enligt fig. 1 innefattar ett hjulburet chassi 11, vilket i sin tur uppbär en förarhytt 12 och en mast 13 med en lastbärare 14. Lastbäraren i form av en lyftgaffel är förskjutbar längs masten 13 med hjälp av en hydraulisk motor eller arbetscylinder 15, som pá något lämpligt sätt är kopplad till lyftgaffeln. Arbetscylindern 15 drivs pà sedvanligt sätt av en hydraulpump 16, som i sin tur drivs av en elektrisk motor 457 072 17. Strömförsörjníngen till motorn 17 är ordnad genom ett batteripaket 18, som uppbärs på chassit 11.The industrial truck according to Fig. 1 comprises a wheel-mounted chassis 11, which in turn carries a cab 12 and a mast 13 with a load carrier 14. The load carrier in the form of a lifting fork is displaceable along the mast 13 by means of a hydraulic motor or working cylinder 15, which in any suitable way is connected to the lifting fork. The working cylinder 15 is driven in the usual manner by a hydraulic pump 16, which in turn is driven by an electric motor 457 072 17. The power supply to the motor 17 is arranged by a battery pack 18, which is carried on the chassis 11.
Drivningen av arbetscylindern eller hydraulmotorn 15 framgår mer i detalj i fig. 2. Den elektriska motorn 17 är av kompound- typ och innefattar således en rotorlindning 21, en seríelind- ning 22 och en shuntlindning 23. Rotorn 21 är sammankopplad med hydraulpumpen 16 med en drivaxel 24 så att hydraulvätska kan pumpas från tanken 25 till hydraulmotorn 15. Motorns rörelseriktning bestäms med hjälp av en lägesventil 26 med en manöverspak 27. Ett manöverdon 28 för en tvàpolíg kontaktor 29, 30 styrs av en strömbrytare 31 i lägesventilen 26, så att kon- taktorerna 29, 30 sluts, när ventilen 26 förs till läget för inmatning av hydraulvätska till hydraulmotorn 15, medan kon- taktorerna förblir brutna under det visade neutralläget och läget för återföring av hydraulvätska från hydraulmotorn, vilket är läget då lastbäraren 14 sänkes. En första förbindelse- ledning 32 är anordnad mellan rotorlindningen 21 och batteriets 18 pluspol, medan en andra förbindelseledning 33 är inkopplad mellan batteriets minuspol och en del av serielindningen 22, företrädesvis ungeför mitt i denna. I vardera förbindelseled- ningen 32 och 33 är en strömríktare i form av en diod 34 resp. 35 inkopplad. Motorn kan även utrustas med en anordning för styrning av strömmen genom shuntlindningen 23. Denna anordning består lämpligen av en styrd halvledare 36, som lämpligen styrs som funktion av motorns varvtal via något lämpligt känt elektro- niskt styrdon 37.The drive of the working cylinder or hydraulic motor 15 is shown in more detail in Fig. 2. The electric motor 17 is of the compound type and thus comprises a rotor winding 21, a serial winding 22 and a shunt winding 23. The rotor 21 is connected to the hydraulic pump 16 with a drive shaft 24 so that hydraulic fluid can be pumped from the tank 25 to the hydraulic motor 15. The direction of movement of the motor is determined by means of a position valve 26 with a control lever 27. An actuator 28 for a two-pole contactor 29, 30 is controlled by a switch 31 in the position valve 26. the tactors 29, 30 are closed when the valve 26 is moved to the position for supplying hydraulic fluid to the hydraulic motor 15, while the contactors remain broken during the shown neutral position and the position for returning hydraulic fluid from the hydraulic motor, which is the position when the load carrier 14 is lowered. A first connecting line 32 is arranged between the rotor winding 21 and the positive pole of the battery 18, while a second connecting line 33 is connected between the negative pole of the battery and a part of the serial winding 22, preferably approximately in the middle thereof. In each connecting line 32 and 33, a converter in the form of a diode 34 and 34, respectively. 35 connected. The motor can also be equipped with a device for controlling the current through the shunt winding 23. This device suitably consists of a controlled semiconductor 36, which is suitably controlled as a function of the motor speed via some suitably known electronic control device 37.
När en last skall lyftas med lyftgaffeln 14 förs manöverspaken 27 i fig. 2 ät vänster, så att hydraulvätska kan föras till arbetscylindern 15. Samtidigt sluts kontakten 31 för manöver- donet 28, så att detta aktiveras och sluter den tvàpoliga kon- taktorn 29, 30. Därmed är elmotorn kopplad som en vanlig kompoundmotor, eftersom dioderna 34, 35 förhindrar att ström kan flyta genom förbíndelseledningarna 32, 33. För att und- vika övervarvning exempelvis vid lyftning av lyftgaffeln utan last kan varvtalsregleringen via halvledaren 36 och styrdonet 37 457 072 vara inkopplad.When a load is to be lifted with the lifting fork 14, the control lever 27 in Fig. 2 is moved to the left, so that hydraulic fluid can be conveyed to the working cylinder 15. At the same time, the contact 31 of the actuator 28 is closed, so that it is activated and closes the two-pole contactor 29. 30. The electric motor is thus connected as a normal compound motor, since the diodes 34, 35 prevent current from flowing through the connecting lines 32, 33. To avoid over-acceleration, for example when lifting the lifting fork without load, the speed control via the semiconductor 36 and the control device 37 457 072 be connected.
När lyftgaffeln 14 återigen skall sänkas, dras manöverspaken 27 åt höger i fig. 2, varvid den trycksatta hydraulvätskan i arbetscylindern 15 bringas att strömma genom hydraulpumpen 16 till tanken 25. I detta läge fungerar alltså hydraulpumpen 16 som en motor, som via axeln 24 roterar rotorn 21 i lyftmotorn (17), som därigenom nu kommer att fungera som generator.When the lifting fork 14 is to be lowered again, the control lever 27 is pulled to the right in Fig. 2, whereby the pressurized hydraulic fluid in the working cylinder 15 is caused to flow through the hydraulic pump 16 to the tank 25. In this position the hydraulic pump 16 thus functions as a motor the rotor 21 in the lifting motor (17), which will thereby now function as a generator.
När lägesventilen 26 ställs om, bryts också kontakten 31, vilket medför att även den dubbla kontaktorn 29, 30 kommer att inta det visade brutna läget. Den genererade strömmen kommer då att ledas från rotorn 21 genom förbindelseledningen 32, batteriet 18 och förbindelseledningen 33 fram till serielindningen 22.When the position valve 26 is switched, the contact 31 is also broken, which means that also the double contactor 29, 30 will assume the shown broken position. The generated current will then be conducted from the rotor 21 through the connecting line 32, the battery 18 and the connecting line 33 to the serial winding 22.
Genom att förbindelseledningen 33 ansluter ungefär mitt i serie- lindningen 22 uppnås en lämplig optimering av generatoreffekten utan att lyftgaffeln 14 bromsas alltför mycket vid sänkningen.By connecting the connecting line 33 approximately in the middle of the series winding 22, a suitable optimization of the generator power is achieved without the lifting fork 14 being braked too much during lowering.
Under motorskedet är däremot hela serielindningen verksam, vilket ger motorn god segdragningsförmàga samt goda start-, stopp- och fininställningsmöjligheter. Det är också möjligt att ansluta förbindelseledningen 33 till serielindningen 22 via något lämpligt, ej visat, styrorgan, som kan inkoppla en varier- bar del av serielindningen i motorns strömkrets, lämpligen som funktion av motorns 17 varvtal. En del av laddningsströmmen kommer också att ledas genom shuntlindningen 23. Storleken av denna ström kan även i detta skede regleras med hjälp av den styrda halvledaren 36, som via styrdonet 37 bringas att släppa igenom en högre strömstyrka, när motorn 17 får en ökande has- tighet. Denna större strömstyrka ger ökande bromsverkan, vari- genom alltför hastig sänkrörelse undvikes.During the engine stage, on the other hand, the entire series winding is active, which gives the engine good traction and good starting, stopping and fine-tuning possibilities. It is also possible to connect the connecting line 33 to the series winding 22 via some suitable, not shown, control means, which can connect a variable part of the series winding in the motor circuit, suitably as a function of the motor 17 speed. A part of the charging current will also be conducted through the shunt winding 23. The magnitude of this current can also be regulated at this stage by means of the controlled semiconductor 36, which is caused to pass through a higher current via the control device 37, when the motor 17 has an increasing speed. tighet. This greater current gives an increasing braking effect, as a result of which excessive lowering movement is avoided.
Uppfinningen är givetvis inte begränsad till det visade ut- föringsexemplet utan kan varieras pà många andra sätt inom ramen för efterföljande patentkrav. Exempelvis kan dioderna 34, 35 utbytas mot kontaktorer, som slutes när kontaktorparet 29, 30 brytes.The invention is of course not limited to the exemplary embodiment shown, but can be varied in many other ways within the scope of the appended claims. For example, the diodes 34, 35 can be exchanged for contactors, which are closed when the contactor pair 29, 30 is broken.
Claims (1)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE8405088A SE457072B (en) | 1984-10-11 | 1984-10-11 | Industrial mechanical handling truck |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE8405088A SE457072B (en) | 1984-10-11 | 1984-10-11 | Industrial mechanical handling truck |
Publications (3)
Publication Number | Publication Date |
---|---|
SE8405088D0 SE8405088D0 (en) | 1984-10-11 |
SE8405088L SE8405088L (en) | 1986-04-12 |
SE457072B true SE457072B (en) | 1988-11-28 |
Family
ID=20357320
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SE8405088A SE457072B (en) | 1984-10-11 | 1984-10-11 | Industrial mechanical handling truck |
Country Status (1)
Country | Link |
---|---|
SE (1) | SE457072B (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9975426B2 (en) | 2013-06-26 | 2018-05-22 | Parker-Hannifin Manufacturing Limited | Energy efficient electric vehicle control system |
-
1984
- 1984-10-11 SE SE8405088A patent/SE457072B/en not_active IP Right Cessation
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9975426B2 (en) | 2013-06-26 | 2018-05-22 | Parker-Hannifin Manufacturing Limited | Energy efficient electric vehicle control system |
Also Published As
Publication number | Publication date |
---|---|
SE8405088D0 (en) | 1984-10-11 |
SE8405088L (en) | 1986-04-12 |
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