WO2001070619A1

WO2001070619A1 - Multiple way lift truck

Info

Publication number: WO2001070619A1
Application number: PCT/EP2001/002891
Authority: WO
Inventors: Wolfgang Berk; Winfried Heger
Original assignee: Hubtex Maschinenbau Gmbh & Co. Kg
Priority date: 2000-03-20
Filing date: 2001-03-15
Publication date: 2001-09-27
Also published as: DE20114962U1

Abstract

The invention relates to a multiple way lift truck. The functions of said truck are comprised in a central control or regulating system (18) for controlling or regulating. Said system comprises a storage device for storing the parameters required for controlling or regulating the multiple way lift truck.

Description

Multi-way trucks

The invention relates to a reusable stacker of the type corresponding to the preamble of claim 1.

Such forklifts are used to transport goods, especially in factories or on factory premises. They include facilities for picking up and depositing goods. These devices can be a transport fork arranged on a mast that can be raised and lowered, or a device that is adapted to the goods to be transported.

In order to be able to use these transport vehicles, in particular in workshops, in which usually relatively little space is available, they are designed as so-called reusable vehicles, in which all of their at least three, preferably four, wheel sets are steered. The transport vehicle can thus change direction without rotating about a vertical axis.

The individual wheel sets can consist of a single or also of several wheels, for example arranged in pairs, the latter being particularly advantageous when the transport vehicle is to be used for relatively heavy loads. In order to coordinate the steering angle of the steered wheelsets, these multi-way transport vehicles regularly include a control system which can include the following different steering programs, between which the operator can choose both in longitudinal travel and transverse travel offset by 90 °:

Positioning of all wheels in the longitudinal or transverse direction, i.e. the transport vehicle moves straight ahead in the longitudinal or transverse direction.

All-wheel steering, i.e. all steered wheels are preferably steered in relation to the steering pole when the steering is actuated by means of a control member, so that a correct steering geometry results, which means that the axes of rotation of all the wheels intersect at one point - the so-called steering pole.

Diagonal steering, i.e. the wheels are steered from their longitudinal or transverse direction during a steering process in the same direction of rotation, so that their axes of rotation continue to run parallel.

Front or rear axle steering, i.e. the wheels arranged at the front or rear in relation to the respective direction of travel are steered, preferably again in relation to the steering pole.

Furthermore, the control system can also include special steering programs, such as for carousel travel, the wheels being steered so that the vehicle rotates in a circle about a vertical axis, or for parking, the rotation axes of at least part of the vehicle being avoided to prevent the vehicle from rolling away the wheels of the

Vehicle are aligned perpendicular to each other. It is also known to equip the vehicle with sensors which detect a predetermined lane, the steering program being used to steer the wheels of the vehicle in such a way that it follows the lane as best as possible.

The operator always switches between the individual steering programs when another steering program appears more suitable for reaching the destination after the operator has brought the vehicle to a standstill.

The steering is actuated by means of hydraulic or electrical actuating elements which act on the steered wheel sets and are actuated by an upstream control or regulating device - the so-called steering transmitter - in accordance with the steering commands specified by the operator.

Electric motors that act on at least two of the existing wheel sets regularly serve to drive the reusable forklift. Batteries carried on the vehicle are usually used to provide the electrical energy required for their operation. To control or regulate the power output by the traction motors, a power control device is connected between the battery and the traction motors, which can be actuated by the operator of the transport vehicle.

The device for picking up and depositing goods - for example the transport fork arranged on the mast so that it can be raised and lowered - is actuated in turn by an electric or hydraulic motor, the corresponding motors being controlled by an upstream control or regulating unit. The input of control commands are used by the operator to use input means, for example so-called joysticks. The invention has for its object to develop a generic reusable truck in such a way that its operational safety is increased. Furthermore, the user-friendliness, maintenance and repair friendliness of the reusable forklift should be increased.

This object is achieved by the invention reproduced in claim 1.

The fact that, according to the invention, all of the control or regulating functions of the reusable forklift

Control devices are combined in a central control system that a storage device for storing the parameters required for controlling the reusable forklift includes improved repair and maintenance friendliness of the reusable forklift, because in the event of an error the central control - or control system can be exchanged for an intact, the stored parameters can be transferred to the newly installed control or regulation system.

It is particularly preferred if the central control system has a serial data bus system, in particular a CAN bus. It is then possible, in particular, to bring about a data exchange between the control or regulating devices combined in the central control or regulating system for controlling or regulating the functions of the reusable forklift.

This can be used in particular to rule out incorrect operation by the user. For example, a start-up command entered by the operator via the corresponding actuating element cannot be implemented if the control or regulating device responsible for actuating the device for picking up and depositing goods reports via the data bus that the device is outside the position permitted for a trip.

The attempt at incorrect operation can be illustrated acoustically and / or optically by the operator via a corresponding output terminal.

However, it is also possible, as an alternative or in addition, to design the respective actuating device, which is connected to the central control or regulating unit, for actuating at least one function of the reusable forklift in such a way that when attempting to cause unauthorized actuation states, it is operated by the central control or Control unit is influenced. "Interference" here means any measure that is suitable for preventing the unauthorized operating state. Blocking, decoupling,

Vibrating the respective actuator mentioned.

The central control or regulating system preferably comprises control or regulating devices for at least one traction motor, for at least one steering valve, for at least one hydraulic valve for controlling the working movements of the industrial truck, such as lifting movement, etc. for at least one input / output terminal, for at least one Steering wheel and for at least one joystick. All of the functions required to operate the reusable forklift can then be controlled or regulated centrally.

If the central control system also includes at least one control device for at least one pump motor for supplying the working and / or steering hydraulics with oil, the performance of the pump motor can be optimally adapted to the respective operating state of the reusable forklift. It is also advantageous if the control system comprises at least one control or regulating device for a pressure relief valve, with which the oil pressure provided on the working and / or steering hydraulics can be limited to the respectively required value.

The control or regulating system preferably comprises control or regulating devices for

up to four, preferably two traction motors,

up to eight, preferably four steering valves,

up to ten, preferably five working hydraulic valves.

Furthermore, up to four, preferably one,

Output terminal (s) and four, preferably one electronic steering wheel / steering wheel are provided. In addition or alternatively, four, preferably one joystick (s) can be provided.

The joystick (s) can be designed such that they can be used either to control the working hydraulics - for example to raise and lower the transport device - or to control the drive control. A button can be used for selection, which is preferably provided on the joystick.

The invention will be described in more detail below with reference to the accompanying drawings. Show it:

Fig. 1 - schematically - a multi-way transport vehicle using the example of a multi-way forklift in a view from above; Fig. 2 is a schematic diagram of the control or provided in a multi-way stacker according to the invention. Control system.

The multi-way forklift shown as a whole in FIG. 1 comprises an approximately U-shaped chassis 1 in supervision. It carries an upright mast 3 on the crossbar 2 of the U, on which a fork arrangement 4 is arranged so that it can be raised and lowered. The latter is designed in such a way that its tines 5, 6 can be displaced between a distant position shown in solid lines in FIG. 1 and an adjacent position shown in broken lines in FIG. 1, so that their distance can be adapted to the goods to be transported.

On the crossbar 2 of the U, a housing 7 is also arranged, which requires a large part of the operation of the reusable forklift 100

Units and devices as well as a battery arrangement 13 accommodates.

1 at the bottom and top of the crossbar 2 - the latter covered by the representation of a control position 8 - a wheel 9 is indicated, which is driven by a motor, not shown in the drawing. On the segments 10, 11 of the chassis 1, which extend from the crossbar 2 to the right in accordance with FIG. 1, wheel arrangements 12 are provided in the end region, which are designed as twin wheels.

All wheels or wheel assemblies 9 or 12 are arranged to be steerable about a steering axis running perpendicular to the plane of the drawing by a steering angle of at least 90 °.

The control station 8 shown in FIG. 1 at the upper end of the crossbar 2 contains the one for operating the reusable forklift 100 Operator to be operated control devices, including a control wheel 14 and a pivotable about two mutually perpendicular axes (as shown by the arrows P, P 'in Fig. 1) joystick 15, which control the control, not shown in the drawing, conventionally designed steering devices serve via a central control system 18, as will be described below.

Furthermore, the control station includes a device (not shown in more detail), for example a “gas pedal”, which specifies the setpoint value for the drive power of the traction motors, not shown in the drawing, which is provided by control units 16, 17.

As illustrated in FIG. 2, the steering wheel 14 is connected to a steering sensor 19, which converts the position of the steering wheel 14 into correlated electrical signals. The latter are fed via electrical lines 20 to an input / output terminal 21 which communicates with the central control system 18 via data lines 22, 23. The latter converts the received data into signals, which are assigned via lines 24 to hydraulic valves 25 for the purpose of actuation

Steering devices of the wheel sets of the reusable forklift are supplied.

A joystick 15 equipped with a signal transmitter 47 and having the central control system is also connected via a line 26

18 connected. It is used either to control the working hydraulics or the travel drive control. A button 27 provided on the joystick 15 is used to switch its function.

If the actuation of the working hydraulics is selected by means of the button 27, then the corresponding data supplied by the signal generator 47 via the line 26 to the central control or regulating unit 18 optionally after suitable conversion via lines 28 to the working hydraulic valves 29, which are used, for example, to actuate the transport device of the reusable forklift.

If the drive control has been switched to by means of the button 27, the data supplied by the signal generator 47 via the line 26 to the central control system 18 are converted into the parameters required to achieve the desired driving state and power control devices 16 and 17 are supplied that have a distribution of electrical energy to the

Carry out traction motors 30 and 31 via lines 32, 33.

A pump motor 36 and an electrically adjustable pressure relief valve 37 are also connected to the central control or regulating system via lines 34 and 35. Both of the above-mentioned components serve to provide hydraulic energy, for example for actuating the transport device and / or steering the reusable forklift, which Central control or regulating system 18 adapts the pressure and the flow rate to the respective operating state of the reusable forklift by correspondingly controlling the pump motor and the electrically adjustable pressure relief valve.

In the exemplary embodiment of the central control system 18 shown in FIG. 2, a second control station, designated as a whole by 50, is provided, the components of which correspond to those described above. They are therefore labeled with the same reference numerals, only with an '. To avoid repetition, please refer to the description above.

The central control system 18 comprises a memory (not shown in the drawing) of the parameters required for controlling the multi-way stacker. In the event of a defect the central control system 18 can be removed and the parameters can be transferred to a newly installed system. The downtime of the reusable forklift in the event of a defect is therefore minimized.

LIST OF REFERENCE NUMBERS

Chassis 30 drive motor

Crossbeam 31 drive motor

Mast 32 line

Fork assembly 33 line

Prongs 34 lines

Prongs 35 line

Housing 36 pump motor

Control position 37 valve

Wheel 47 signal transmitter

Segment 50 steering position

segment

Wheel arrangements 100 reusable forklifts

Battery arrangement P, P 'axes

Steering wheel

joystick

control unit

Control unit central control system

steering transmitter

management

An output terminal

management

cables

valves

management

button

cables

working valves

Claims

Expectations:

Reusable forklift, with control or regulating devices for controlling or regulating functions of the reusable forklift, characterized in that the control or regulating devices are combined in a central control or regulating system (18) which is a storage device for storing the for control or control of the reusable stacker (100) comprises the required parameters.

2. Multi-way stacker according to claim 1, characterized in that the control or regulating system (18) control or regulating devices for at least one power control device for controlling at least one traction motor (30, 31), for at least one steering valve (25), for at least a hydraulic valve (29) for controlling the working movements of the reusable forklift, such as lifting movement, etc., for at least one input / output terminal (21, 21 '), for at least one steering wheel (14, 14') and for at least one joystick (15, 15 ') ) includes.

3. Multi-way forklift according to claim 1 or 2, characterized in that the control or regulating system (18) at least one control or regulating device for at least one performance control device for controlling at least one pump motor (36) for supplying the work and / or steering hydraulics with oil.

4. reusable forklift according to one of claims 1 to 3, characterized in that the control or regulating system (18) comprises at least one control or regulating device for a pressure relief valve (37) with which the intended for the work and / or steering hydraulics Oil pressure can be limited to the required value.

5. Multi-way stacker according to one of claims 1 to 4, characterized in that the control or regulating system (18) comprises control or regulating devices for up to four, preferably two, power control devices for modulating up to four traction motors (30, 31).

6. Multi-way stacker according to one of claims 1 to 5, characterized in that the control system (18) comprises control devices for up to eight, preferably four, steering valves (25).

7. Multi-way forklift according to one of claims 1 to 6, characterized in that the control or regulating system (18) comprises control or regulating devices for up to ten, preferably five working hydraulic valves (29).

8. Multi-way stacker according to one of claims 4 to 7, characterized in that the at least one pressure relief valve (37), preferably electrically, is adjustable.

9. Multi-way stacker according to one of claims 1 to 8, characterized in that up to four, preferably an input-output terminal (s) (21, 21 ') are / is provided.

10. Multi-way stacker according to one of claims 1 to 9, characterized in that four, preferably an electronic (s)

Steering wheels / wheel (14, 14 ') are / is provided.

11. Multi-way stacker according to one of claims 1 to 10, characterized in that four, preferably a joystick (s) (15, 15 ') are / is provided for steering actuation.

12. Multi-way stacker according to one of claims 1 to 11, characterized in that the control or regulating system (18) is designed such that all control or regulating variables in a conventional manner via individual electrical conductor tracks or

Cables or via a serial data bus system, in particular via a CAN bus, can be transmitted to the actuators, sensors or actuators required for actuating the functions of the reusable forklift.

13. Multi-way forklift according to one of claims 1 to 12, characterized in that the joystick (s) (15, 15 ') can optionally be used to control the working hydraulics or to control the travel drive control.

14. Multi-way forklift according to claim 13, characterized in that the choice between the control of the working hydraulics and the control of the drive control by means of a button (27, 27 ').

15. Multi-way stacker according to claim 14, characterized in that the button (27, 27 ') on the joystick (15, 15') is provided.

16. reusable forklift according to one of claims 1 to 15, characterized in that at least one with the central control or regulating system (18) connected actuating device for actuating at least one function of the reusable forklift is provided by an operator, the actuating device and the central Control or regulating systems are designed in such a way that the actuating device is influenced in certain operating states which are recorded and / or stored by the central control or regulating unit.