WO2003040020A1 - Procede et dispositif de detection et de reglage de la hauteur d'un dispositif de levage - Google Patents

Procede et dispositif de detection et de reglage de la hauteur d'un dispositif de levage Download PDF

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Publication number
WO2003040020A1
WO2003040020A1 PCT/DE2002/003937 DE0203937W WO03040020A1 WO 2003040020 A1 WO2003040020 A1 WO 2003040020A1 DE 0203937 W DE0203937 W DE 0203937W WO 03040020 A1 WO03040020 A1 WO 03040020A1
Authority
WO
WIPO (PCT)
Prior art keywords
lifting
height
lifting device
detecting
measurement
Prior art date
Application number
PCT/DE2002/003937
Other languages
German (de)
English (en)
Inventor
Gerold Müller
Original Assignee
Robert Bosch Gmbh
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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2003040020A1 publication Critical patent/WO2003040020A1/fr

Links

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
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors

Definitions

  • the invention relates to a method and in particular to a control device for detecting and regulating the height of a component that is hydraulically variable in length, according to the preamble of the main claim.
  • the known measuring methods for determining the lifting height are, however, for applications in which the measurements also influence the tilting stability Vibration damping and for an application in vehicles, such as industrial trucks (forklift trucks), the driving speed or acceleration are also insufficient. If, for example, in applications where the absolute height, in contrast to the lifting height, can also be influenced by load influences and inclinations, a preset absolute height is to be approached, knowledge of the relative lifting height of the extended fork of the industrial truck is generally not sufficient, but rather the resulting absolute height of the fork must be determined.
  • a method for detecting and regulating the height of a lifting device in which a lifting height measurement of a hydraulically extendable part of the lifting device and a pressure measurement in the hydraulic lifting cylinder of the lifting device is carried out, is further developed according to the invention.
  • the absolute height e.g. the fork of the lifting device records the results of the lifting height measurement, the pressure measurement and other physical variables influencing the absolute height of the lifting device and processes them in a position control loop for controlling the lifting cylinder.
  • the inclination angle of the lifting device can be used as other physical variables, for example, and when the method is applied to a vehicle, for example as an industrial truck or forklift, the influences of the vehicle body and / or the wheels can also be used as other physical variables. Furthermore, it is also advantageous if the differential pressure is recorded in a tilt cylinder to determine the center of gravity of the load.
  • the center of gravity of the load also influences the height of the belspitze a forklift, this center of gravity can not be done by a pressure measurement in the lifting cylinder, since no influence can be determined here.
  • the systems known per se for lifting height measurement on an extendable mast may not be sufficient, since the tilting stability, the vibration damping and a possible limitation of the driving speed or acceleration play no role here.
  • the tilting stability the vibration damping and a possible limitation of the driving speed or acceleration play no role here.
  • the absolute height of, for example, the fork tip of a forklift is necessary.
  • the method proposed according to the invention advantageously makes it possible to determine the height of a work tool on a mast, taking into account a mast inclination and also the load influences, so that the preset height can be determined largely independently of load influences.
  • Loading and unloading functions can therefore be simplified with a forklift in that the desired fork position can automatically be approached relatively precisely. It is therefore possible to work efficiently with a forklift, since the driver is largely relieved and does not have to concentrate so much on the exact positioning of the fork.
  • the position setpoint can easily be predefined as a reference value for the variable to be regulated for the absolute height. According to a preferred embodiment, however, the position setpoint is determined from a characteristic curve which is determined from the stored characteristic variables for the physical influences. This determination can, for example, advantageously be carried out using a learning method in which the measured lifting height over the geometry of the vehicle, the mast geometry and the fork length to the theoretical fork height, here without any load influences.
  • the load influences on the deflection of the tires of the wheels and the mast deflection are then taken into account in a forklift in order to obtain the actual fork height.
  • the parameters or characteristic curves required for this calculation can be stored in a data memory, which can be complete parameter sets that characterize the vehicle geometry, the tire types and the mast.
  • a further learning function can advantageously be carried out by manually correcting the lifting height, the difference between the manually set lifting height and the regulated lifting height being used to improve the characteristic curve. If the height automatically reached with the lifting device is too imprecise, the driver can correct the position manually. This correction can be used in a defined time window after reaching the automatically approached position to improve the aforementioned characteristic.
  • a control unit for controlling a valve for the pressure in the hydraulic lifting cylinder is provided. Furthermore, a sensor for detecting the pressure and, for example, a radar sensor for detecting the lifting height of the extendable part of the lifting device and a sensor for the angle of inclination of the lifting device are provided. The difference between the evaluation of the sensor signals and a specifiable setpoint for the absolute height can then be applied to a position controller for controlling the control device in a simple manner.
  • FIG. 1 shows a lifting device for the fork of a forklift with a sensor arrangement for measuring the lifting height
  • Figure 2 is a block diagram of a control device with a self-learning function for improving the control characteristic
  • Figure 3 shows the self-learning function with the course of the lifting height of the fork of the forklift over time.
  • FIG. 1 shows a mast 1 of a lifting device 2 for a forklift shown here only symbolically by a coordinate system 3 of its body as an industrial truck.
  • a cylinder 4 can be extended hydraulically from the mast 1 of the lifting device 2, a crossbeam 5 being present at the end of the mast 1 and also a fork 6 which can be actuated via a chain 14 by the lifting device 2.
  • the lifting device 2 is shown in a further coordinate system 7 with a pivot point 8, which can execute the tilting movements shown by arrows 9 and 10.
  • the body of the vehicle is indicated on the basis of the first coordinate system 3 by bearing points 11.
  • a sensor arrangement for measuring the lifting height of the extendable cylinder 4 is formed with an integrated radar transmitter and sensor 12 on the mast 1 and with a triple mirror 13 on the cross member 5 of the extendable cylinder 4.
  • the radar transmitter 12 emits an upward radiation, for example a microwave radar beam, and is reflected on the triple mirror 13 and sent back to the radar sensor 12 on the mast 1.
  • the lifting height can then be determined from the running time of the radar beam.
  • FIG. 2 shows a block diagram of a control circuit in which an electrical proportional valve 20 controls the movement of the lifting cylinder 21, which can be attached in the mast 1 of the lifting device 2 according to FIG. 1.
  • the pressure p in the lifting cylinder 21 is set as a function of the load, with oil being supplied or discharged with the valve 20, so that this results in a movement of the lifting cylinder 21.
  • the mast inclination angle ⁇ must also be taken into account.
  • a position controller 24 is then intended to h with the difference between a position command value and acts upon the value of h fork and with the output signal of the position controller 24, a control unit 25 is formed for the electric proportional valve 20th
  • the position setpoint h should be determined from a characteristic curve which is determined from the stored parameters for the physical influences on the lifting device 2. This determination can be carried out using a learning method symbolically represented in block 26 in which the lift height measured for a forklift is converted to the theoretical fork height using the geometry of the vehicle, the mast geometry and the fork length. This is preferably not necessarily done without load influences, since the load is not always the same, for example, with different loadable pallets that are transported with the fork.
  • Another learning function is symbolically represented in block 27, with which the lifting height is manually corrected with an operating device, for example with a so-called joystick 28.
  • the oil flow V aoll for the lifting cylinder 21 in the control unit 20 can be specified directly as an alternative to using the controlled variable of the position controller 24.
  • FIG. 3 shows the height h of the fork 6 according to FIG. 1 over the time t until the desired height h target is reached , automatic operation being carried out up to a line 30 and manual operation being carried out in a time window 31. If the height h automatically approached by the lifting device 2 is too imprecise with ⁇ > ⁇ max , the vehicle driver can correct the position manually. This correction can be used in the defined time window 31 after reaching the automatically approached position to improve the ⁇ ⁇ max of the previously mentioned characteristic curve.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

Procédé et dispositif permettant de détecter la hauteur de la partie de levage (6) d'un dispositif de levage (2). Selon ledit procédé, la hauteur de levage d'une partie à déplacement hydraulique du dispositif de levage (2) et la pression dans le vérin de levage hydraulique (21) du dispositif de levage (2) sont mesurées. La hauteur absolue du dispositif de levage (2) est déterminée sur la base des résultats de la mesure de hauteur de levage et de pression et d'autres grandeurs physiques influençant la hauteur absolue du dispositif de levage, qui sont traités dans un circuit de réglage de position en vue de la commande du vérin de levage (21).
PCT/DE2002/003937 2001-10-30 2002-10-18 Procede et dispositif de detection et de reglage de la hauteur d'un dispositif de levage WO2003040020A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE2001153529 DE10153529A1 (de) 2001-10-30 2001-10-30 Verfahren und Vorrichtung zur Erfassung und Regelung der Höhe einer Hubvorrichtung
DE10153529.5 2001-10-30

Publications (1)

Publication Number Publication Date
WO2003040020A1 true WO2003040020A1 (fr) 2003-05-15

Family

ID=7704211

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2002/003937 WO2003040020A1 (fr) 2001-10-30 2002-10-18 Procede et dispositif de detection et de reglage de la hauteur d'un dispositif de levage

Country Status (2)

Country Link
DE (1) DE10153529A1 (fr)
WO (1) WO2003040020A1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004018021A1 (de) * 2004-04-14 2005-11-03 Bosch Rexroth Ag Lasthebevorrichtung
DE102007020182A1 (de) 2007-04-28 2008-10-30 Robert Bosch Gmbh Verfahren zur Messung und Regelung der Höhe eines beweglichen Bauteils einer Arbeitsmaschine und Arbeitsmaschine mit einem Basisbauteil und einem beweglichen Bauteil
DE102007050702A1 (de) * 2007-10-24 2009-04-30 Robert Bosch Gmbh Verfahren und Vorrichtung zur Unterstützung eines Bedieners einer Arbeitsmaschine
DE102007055363A1 (de) 2007-11-20 2009-05-28 Robert Bosch Gmbh Verfahren zur Messung und Regelung der Höhe eines beweglichen Bauteils einer Arbeitsmaschine und Arbeitsmaschine mit einem Basisbauteil und einem beweglichen Bauteil
DE102009060644A1 (de) 2009-12-28 2011-06-30 Robert Bosch GmbH, 70469 Flurförderfahrzeug mit einem durch einen Aktor in seiner Neigung verstellbaren Mast
DE102017104507A1 (de) 2017-03-03 2018-09-06 Jungheinrich Aktiengesellschaft Flurförderzeug mit einem Antriebsrahmen und einem in der Höhe verstellbaren Lastrahmen

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4520443A (en) * 1981-03-31 1985-05-28 Kabushiki Kaisha Toyoda Jidoh Shokki Seisakusho Control device for loading and unloading mechanism
DE4430056A1 (de) * 1993-08-25 1995-03-02 Shinko Electric Co Ltd Lasthebe-Steuereinrichtung
US5528843A (en) * 1994-08-18 1996-06-25 Caterpillar Inc. Control system for automatically controlling a work implement of an earthworking machine to capture material
EP0866027A2 (fr) * 1997-03-21 1998-09-23 Kabushiki Kaisha Toyoda Jidoshokki Seisakusho Appareil de contrÔle hydraulique de véhicules industriels
EP1079118A2 (fr) * 1999-08-27 2001-02-28 Kabushiki Kaisha Toyoda Jidoshokki Seisakusho Dispositif de détection de position pour un vérin hydraulique, et procédé de détection

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4520443A (en) * 1981-03-31 1985-05-28 Kabushiki Kaisha Toyoda Jidoh Shokki Seisakusho Control device for loading and unloading mechanism
DE4430056A1 (de) * 1993-08-25 1995-03-02 Shinko Electric Co Ltd Lasthebe-Steuereinrichtung
US5528843A (en) * 1994-08-18 1996-06-25 Caterpillar Inc. Control system for automatically controlling a work implement of an earthworking machine to capture material
EP0866027A2 (fr) * 1997-03-21 1998-09-23 Kabushiki Kaisha Toyoda Jidoshokki Seisakusho Appareil de contrÔle hydraulique de véhicules industriels
EP1079118A2 (fr) * 1999-08-27 2001-02-28 Kabushiki Kaisha Toyoda Jidoshokki Seisakusho Dispositif de détection de position pour un vérin hydraulique, et procédé de détection

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Publication number Publication date
DE10153529A1 (de) 2003-05-15

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