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EP1447374B2 - Chariot élévateur - Google Patents
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EP1447374B2 - Chariot élévateur - Google Patents

Chariot élévateur Download PDF

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Publication number
EP1447374B2
EP1447374B2 EP04001791A EP04001791A EP1447374B2 EP 1447374 B2 EP1447374 B2 EP 1447374B2 EP 04001791 A EP04001791 A EP 04001791A EP 04001791 A EP04001791 A EP 04001791A EP 1447374 B2 EP1447374 B2 EP 1447374B2
Authority
EP
European Patent Office
Prior art keywords
fork
inclination
mast
load
drive
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.)
Expired - Lifetime
Application number
EP04001791A
Other languages
German (de)
English (en)
Other versions
EP1447374B1 (fr
EP1447374A3 (fr
EP1447374A2 (fr
Inventor
Uwe Dipl.-Ing. Allerding
Carsten Dipl.-Ing. Oestmann
Matthias Dipl.-Ing. Düwel
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.)
Jungheinrich AG
Original Assignee
Jungheinrich AG
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=32668046&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP1447374(B2) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Jungheinrich AG filed Critical Jungheinrich AG
Publication of EP1447374A2 publication Critical patent/EP1447374A2/fr
Publication of EP1447374A3 publication Critical patent/EP1447374A3/fr
Publication of EP1447374B1 publication Critical patent/EP1447374B1/fr
Application granted granted Critical
Publication of EP1447374B2 publication Critical patent/EP1447374B2/fr
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • B66F9/20—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
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/16—Platforms; Forks; Other load supporting or gripping members inclinable relative to mast

Definitions

  • the invention relates to a stacker according to the preamble of patent claim 1.
  • Staplers usually consist of a load part and a drive part.
  • the load part has a mast, which can consist of several mast shots and which can be extended to high heights if necessary.
  • a load-carrying means by means of a lifting and lowering drive in height is movable.
  • the load handling device consists primarily of a so-called fork, which receives one or more pallets.
  • a specialty of forklifts is the so-called reach truck, in which the mast can be moved horizontally between a position close to the drive part and a position away from it.
  • the fork is usually traversable across the mast with the aid of a suitable slider. Such a side slide allows an accurate and fast alignment of the pallet on the shelf or the forks to the pallet, without the truck has to change its position.
  • JP-A-20021671932 a stacker has become known whose mast can be adjusted by means of a tilt drive in its inclination relative to the vertical.
  • a lifting and lowering drive ensures the height adjustment of the fork on the mast.
  • a potentiometer measures the inclination of the mast and gives a signal to a control and regulating device to adjust or automatically adjust a predetermined inclination angle.
  • This stacker corresponds to the preamble of independent claim 1.
  • the invention has for its object to provide a truck in which the inclination position in the horizontal regardless of the position and deflection of the mast and the position of the truck itself is achieved.
  • a tilt sensor detecting the tilting position of the analog sensor is provided, the tilt signal is given to the control and regulating device.
  • the control and regulating device is in a known manner in conjunction with actuators for the lifting and lowering drive and for the tilt drive. If a change in inclination of the mast is to be made, this is a corresponding control to operate. If the truck is a reach truck, a push drive for the mast is provided which can be actuated via another operating element. Finally, if the stacker has a side gate, a corresponding drive is required for the side gate which is actuated via a separate operating element in the cab of the truck.
  • the invention ensures when actuated by a separate actuator or by the already existing actuator for the tilt drive that the fork automatically assumes its horizontal position. If this is the usual operating or operating element for the actuation method, the automatic start of the horizontal is ensured by the fork.
  • a so-called inclinometer is used, which is capable of detecting the absolute horizontal position in the form of an electric spirit level.
  • the inclination signal of the inclination sensor is evaluated in this.
  • the control and regulating device links these signals and initiates a control process.
  • the load fork can automatically approach the horizontal position at the request of the driver. This also happens with a possible misalignment of the vehicle or at a deflection of the mast caused by the load. In any case, the fork can be retracted easily and without collision in the pallet.
  • control and regulating device outputs a signal to the tilt drive for starting the horizontal position when the signal for lowering and / or lifting of the lifting device is generated with the actuator for the lifting and lowering operation.
  • the automatic adjustment to the horizontal position makes it possible to omit a work process that would otherwise occur before the next stacking game.
  • the on-board computer calculates the maximum driving speed from the signals. It is understood that the travel speed must be smaller with a high load or with a high load weight than when the vehicle is unloaded with the load handling device in a lower position.
  • the inclination signal can also be given in the on-board computer for modification of the maximum driving speed of the truck also in dependence on the inclination position of the fork.
  • Conventional measuring means can be used for the tilt sensor, and the signals from the tilt sensor are transmitted via a cable to the tilt sensor Circuit arrangement for the control and regulating device or via a contactless transmission by known means.
  • the in Fig. 1 Reach truck shown is of conventional design and has a drive part 10 and a load part 12.
  • the load part 12 has a mast 14, which may have, for example with multiple mast shots and, for example, in a height of 12 m or more extendable.
  • the load part 12 also has a load-receiving means, which is guided adjustable in height on the mast 14.
  • Fig. 1 is only a prong 16 of a fork recognizable, which is mounted on a carriage, not shown, which in turn is horizontally displaceable.
  • the required leadership is mounted vertically adjustable on the mast 14, as is known in forklift trucks per se.
  • wheel arms are mounted, which extend in parallel spaced on both sides of the mast 14.
  • a wheel arm is in Fig. 1 to recognize at 18.
  • the wheel arms 18 each store load wheels.
  • a steerable drive wheel is shown at 19.
  • the mast 14 is by means of a guide, not shown, horizontally away from the drive part 10 and to move on this.
  • a not shown operating element for driving the Mastschubs is provided in the cab of the drive part 10.
  • the mast 14 In the cabin there is also a control for the lifting and lowering operation of the fork or the mast 14.
  • the mast 14 is also changeable in its inclination by means of a corresponding inclination drive.
  • the tilt drive is in turn actuated via a separate control element.
  • Fig. 2 the individual adjustment movements are indicated by double arrows.
  • the double arrow 20 indicates the height adjustability of a horizontal guide 22 for a side slider 24, wherein the side slider is connected to the back 26 of a load fork generally designated 28.
  • the double arrow 30 indicates the mast thrust and the curved double arrow 32 the inclination possibility of the mast 14.
  • a curved double arrow 34 the inclination change of the tines 16 and the fork 28 again.
  • the drives for the described adjustment movements are not shown, not even for adjusting the fork inclination.
  • the fork 28 is associated with an analog tilt sensor, which in Fig. 3 denoted by 40.
  • the tilt sensor determines the inclination of the tines 16 relative to the horizontal, in the simplest case with respect to the mast 14 or the stacker or - more accurately - absolutely opposite to the horizontal.
  • the tilt signal is fed to a control and regulating device 42 for the operation of the mast or the lifting device.
  • the tilt signal also enters a display 42a mounted in the cab of the truck. The driver can thus always recognize the inclination of the fork 28 relative to the horizontal.
  • the control and regulating device for driving the inclination of the fork 28 Due to the signals from the tilt sensor 40 and the operating element 54, the control and regulating device for driving the inclination of the fork 28 generates a corresponding actuating signal until the forks 16 have assumed their horizontal position.
  • the signal of the tilt sensor 40 thus serves as an actual signal for a control loop, while the desired signal is formed by a set or measured and stored value corresponding to the horizontal position of the fork.
  • the tilt signal from the tilt sensor 40 may also be fed to an on-board computer 56.
  • the on-board computer 56 calculates the maximum speed for the traction motor, not shown, according to the requirements of stability criteria.
  • Known stability criteria are, for example, the load weight on the forks 28, the height of the fork 28, the inclination of the mast 14, etc.
  • another stability criterion is given in the on-board computer 56 to determine a modification of the maximum driving speed. It is understood that an attempt is made to set the maximum travel speed as high as possible in order to maximize handling performance.
  • an optimization of stability on the one hand and driving speed on the other hand can be achieved in this way.

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)

Claims (3)

  1. Chariot élévateur comportant un mât (14), un moyen de prise de la charge présentant une fourche de charge (28) qui est monté contre le mât (14) et qui est positionnable en hauteur à l'aide d'un entraînement de levage et d'abaissement, le mât (14) et la fourche de charge étant positionnables par rapport à la verticale chacun au moyen d'un entraînement d'inclinaison, un dispositif électrique de commande et de réglage relié à des organes d'actionnement pour l'entraînement de levage et d'abaissement et l'entraînement d'inclinaison, pour les entraînements correspondants, et un détecteur analogique d'inclinaison, qui donne le signal d'inclinaison pour le dispositif de commande et de réglage (42), caractérisé en ce que le détecteur d'inclinaison (40) est associé à la fourche de charge (28) sous la forme d'un niveau horizontal électrique et en ce que le dispositif de commande et de réglage (42) est relié à un organe d'actionnement particulier (54) pour l'entraînement d'inclinaison du mât, ou l'organe d'actionnement (52) pour l'entraînement d'inclinaison du mât est réalisé de telle façon que, lors de leur actionnement, la fourche de charge (28) soit automatiquement déplacée dans la position horizontale.
  2. Chariot élévateur suivant la revendication 1, caractérisé en ce que le dispositif (42) de commande et de réglage envoie un signal à l'entraînement d'inclinaison pour produire la position horizontale, quand, avec l'organe d'actionnement (46) pour l'opération de levage ou d'abaissement, un signal est produit pour abaisser ou lever la fourche de charge (28).
  3. Chariot élévateur suivant l'une des revendications 1 à 3, caractérisé en ce que le dispositif de commande et de réglage (42) est relié à un ordinateur de bord (56), et/ou partie de celui-ci, l'ordinateur de bord (56), d'après détermination de critères de stabilité, limite la vitesse en déplacement ou en courbe du chariot élévateur, et le signal d'inclinaison du détecteur d'inclinaison (40) est envoyé à l'ordinateur de bord (56) pour modifier la vitesse maximale de déplacement du chariot élévateur en fonction du signal d'inclinaison du détecteur d'inclinaison (40).
EP04001791A 2003-02-13 2004-01-28 Chariot élévateur Expired - Lifetime EP1447374B2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10305900 2003-02-13
DE10305900.8A DE10305900C5 (de) 2003-02-13 2003-02-13 Stapler

Publications (4)

Publication Number Publication Date
EP1447374A2 EP1447374A2 (fr) 2004-08-18
EP1447374A3 EP1447374A3 (fr) 2004-08-25
EP1447374B1 EP1447374B1 (fr) 2008-03-05
EP1447374B2 true EP1447374B2 (fr) 2011-09-14

Family

ID=32668046

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04001791A Expired - Lifetime EP1447374B2 (fr) 2003-02-13 2004-01-28 Chariot élévateur

Country Status (4)

Country Link
US (1) US7322444B2 (fr)
EP (1) EP1447374B2 (fr)
CN (1) CN100447072C (fr)
DE (2) DE10305900C5 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015101201A1 (de) 2014-12-16 2016-06-16 Still Gmbh Verfahren zur Neigungserfassung einer Lastaufnahmevorrichtung

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10305901B4 (de) * 2003-02-13 2006-11-30 Jungheinrich Aktiengesellschaft Schubmaststapler
EP1896665A1 (fr) * 2005-06-22 2008-03-12 Volvo Construction Equipment Holding Sweden AB Systeme et methode permettant de commander le basculement d un instrument porteur de charge d une machine de travaux deplacable, et machine de travaux deplacable
DE102007015485A1 (de) * 2007-03-30 2008-10-02 Linde Material Handling Gmbh Schubmaststapler
JP4859257B2 (ja) * 2009-03-10 2012-01-25 コマツＮｔｃ株式会社 メインローラ用リフタ
JP5645069B2 (ja) * 2010-10-21 2014-12-24 株式会社ジェイテクト 車両用操舵装置
EP2447203B1 (fr) * 2010-11-01 2013-04-17 BT Products AB Camion industriel, procédé et programme information pour le commander
CN103112802B (zh) * 2013-02-06 2015-09-30 南京沃力机电科技有限公司 一种电动搬运车
EP2982639B1 (fr) * 2014-08-04 2018-10-17 Manitou Italia S.r.l. Système de stabilité latérale
BR112017003874A2 (pt) * 2014-09-15 2018-01-23 Crown Equip Corp empilhadeira.
US10430073B2 (en) 2015-07-17 2019-10-01 Crown Equipment Corporation Processing device having a graphical user interface for industrial vehicle
CA2994171C (fr) 2015-08-10 2020-06-16 Superior Industries, Inc. Systemes et procedes de mise a niveau de convoyeur
CN105217533B (zh) * 2015-10-15 2017-10-03 诺力机械股份有限公司 一种适用于工业车辆的自动调平装置
WO2018098025A1 (fr) 2016-11-22 2018-05-31 Crown Equipment Corporation Dispositif d'interface utilisateur pour véhicule industriel
CN107102585A (zh) * 2017-05-03 2017-08-29 昆明理工大学 一种实时嵌入式的自适应推行装置
DE102017214171B4 (de) 2017-08-15 2019-07-04 Vetter Industrie GmbH Flurförderzeug mit heb- und senkbaren Lastaufnahmemitteln mit einer Belastungsmesseinrichtung
CN112654578B (zh) 2018-09-13 2023-03-14 克朗设备公司 基于计算负载的工业车辆最大车辆速度控制系统和方法
KR102757112B1 (ko) 2019-12-03 2025-01-21 가부시키가이샤 도요다 지도숏키 산업 차량
CN111060015B (zh) * 2019-12-10 2021-08-13 太原昂迈威电子科技有限公司 一种堆垛机运动垂直方向的小幅度位移检测装置
IT202300028245A1 (it) * 2023-12-28 2025-06-28 Cnh Ind Italia Spa Veicolo da lavoro comprendente un braccio supportante forche

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DE3018225A1 (de) † 1980-05-13 1981-11-26 Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg Sicherheitseinrichtung fuer fahrbare arbeitsmaschinen, insbesondere hublader sowie hublader mit einer solchen sicherheitseinrichtung
DE4440604A1 (de) † 1993-12-29 1995-07-06 Samsung Heavy Ind Vorrichtung zum Anzeigen des Neigungswinkels einer Verladeeinrichtung
EP0866027A2 (fr) † 1997-03-21 1998-09-23 Kabushiki Kaisha Toyoda Jidoshokki Seisakusho Appareil de contrÔle hydraulique de véhicules industriels
DE10028808A1 (de) † 2000-06-15 2002-01-03 Martin Pfeil Trawid Gmbh Hubfahrzeug
DE10100357A1 (de) † 2001-01-05 2002-08-01 Still Gmbh Gabelstapler mit einem neigbaren Hubgerüst

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Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3018225A1 (de) † 1980-05-13 1981-11-26 Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg Sicherheitseinrichtung fuer fahrbare arbeitsmaschinen, insbesondere hublader sowie hublader mit einer solchen sicherheitseinrichtung
DE4440604A1 (de) † 1993-12-29 1995-07-06 Samsung Heavy Ind Vorrichtung zum Anzeigen des Neigungswinkels einer Verladeeinrichtung
EP0866027A2 (fr) † 1997-03-21 1998-09-23 Kabushiki Kaisha Toyoda Jidoshokki Seisakusho Appareil de contrÔle hydraulique de véhicules industriels
DE10028808A1 (de) † 2000-06-15 2002-01-03 Martin Pfeil Trawid Gmbh Hubfahrzeug
DE10100357A1 (de) † 2001-01-05 2002-08-01 Still Gmbh Gabelstapler mit einem neigbaren Hubgerüst

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015101201A1 (de) 2014-12-16 2016-06-16 Still Gmbh Verfahren zur Neigungserfassung einer Lastaufnahmevorrichtung

Also Published As

Publication number Publication date
US7322444B2 (en) 2008-01-29
EP1447374B1 (fr) 2008-03-05
DE10305900B4 (de) 2007-04-05
DE10305900A1 (de) 2004-09-02
CN1521115A (zh) 2004-08-18
EP1447374A3 (fr) 2004-08-25
CN100447072C (zh) 2008-12-31
US20040159499A1 (en) 2004-08-19
DE10305900C5 (de) 2014-04-17
EP1447374A2 (fr) 2004-08-18
DE502004006372D1 (de) 2008-04-17

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