EP0936179B1 - Forklift control arrangement - Google Patents
Forklift control arrangement Download PDFInfo
- Publication number
- EP0936179B1 EP0936179B1 EP98120848A EP98120848A EP0936179B1 EP 0936179 B1 EP0936179 B1 EP 0936179B1 EP 98120848 A EP98120848 A EP 98120848A EP 98120848 A EP98120848 A EP 98120848A EP 0936179 B1 EP0936179 B1 EP 0936179B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- pressure
- directional control
- control
- proportional
- way
- 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
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Classifications
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- 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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/003—Systems with load-holding valves
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- 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
- B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
- B66F9/147—Whole unit including fork support moves relative to mast
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- 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
- B66F9/22—Hydraulic devices or systems
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- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/50—Pressure control
- F15B2211/505—Pressure control characterised by the type of pressure control means
- F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
- F15B2211/50545—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using braking valves to maintain a back pressure
Definitions
- the invention relates to a shelf stacker specified in the preamble of claim 1 Art.
- Require shelf stackers especially high-rack stackers, with swivel sliding fork high level of security when controlling the fork in case it is in a laterally limited Hallway, work between rows of shelves, for example. Because this corridor area is often so limited due to space constraints that uncontrolled pan and slide adjustments the fork could easily collide. For such complicated ones Maneuvering operations are therefore often operated by a stacker using a computer, which the forklift control with simultaneous swiveling and shifting the fork leads so that the fork does not collide with shelf rows. It is not for that only required that the computer provides precise information about the actual position of the fork , but that the forklift controls also run precisely through the computer lets, i.e. exactly proportional to the control signals.
- Another problem with one precise proportional control of the swivel sliding fork results from the fact that the swiveling and pushing, if necessary simultaneously, performing hydraulic motors need significantly different throughputs, e.g. in a relationship from 1: 3 to 1: 6, and the control of the hydraulic motor with the smaller amount too then must be reliably proportional, if at the same time the larger one Quantity required hydraulic motor is moved.
- a hydraulic steering control with a double-acting steering cylinder as privileged Hydromotor integrated in the truck control system which also has a lifting cylinder and controls two swivel cylinders of the fork.
- Two are separated in the forklift control contain actuatable pressure sources, of which those assigned to the steering cylinder
- the pressure source is running continuously and the pumped pressure medium via a 3-way pressure compensator if the hydraulic motors are not actuated via an unpressurized circulation through the directional spool of the lifting cylinder and the swivel cylinder to the tank leads.
- the 3-way pressure compensator is dependent on the pressure difference between the Input pressure of the directional control spool of the steering cylinder and the current working pressure piloted and regulates for the lift cylinder and the swivel cylinder only the available excess quantity that the steering cylinder does not need at the moment. Should the excess amount for proper actuation of the lifting cylinder and the swivel cylinder is not sufficient, the second pressure source is switched on.
- the two directional spool for the lifting cylinder and the swivel cylinder are connected in parallel to a common pressure line so that the swivel cylinder cannot gain priority over the lifting cylinder. All directional spool are designed with a blocked zero position, so that in the zero position each Shut off the working line to a hydraulic motor. This requires for the unpressurized Circulation in the directional control slide for the lifting cylinder and the swivel cylinder at least one additional tax level.
- the invention has for its object a shelf stacker of the aforementioned Art to create that with an inexpensive, space-saving and comfortable Forklift control the safe maneuvering of the swivel sliding fork in narrow corridors, if necessary, computer-guided, enables.
- the 3-way pressure compensator is structurally simple and inexpensive priority is always given to the swivel hydraulic motor, with simultaneous control of another hydraulic motor the risk of being no longer exactly proportional Control is given, i.e. the hydraulic motor with the lower volume throughput.
- the other one or more hydraulic motors receive by influencing the 3-way pressure compensator always only the excess quantity, so that at least the privileged Swivel hydraulic motor precisely proportional under all operating conditions to be controlled by means of the proportional directional control spool, which is for the 3-way pressure compensator also contains the control panel.
- the installation space for the forklift control and the outlay on equipment is also reduced because there are few compact components are sufficient and because of the 3-way pressure compensator also a very simple one Circulation switching is possible, via which that is usually operated electrically Hydraulic medium pumped with pressure source with low throttle resistance and low Back pressure gets into the return if no hydraulic motor can be controlled.
- the Load holding device is provided to hydraulically block and hydromotor each to be able to keep a load leak-free.
- the load holding device alternately with Load control valves that can be controlled in the working lines enable sensitive movement control under load and helps to simplify the circulation circuit because, in a load holding situation, both work lines downstream of the Directional spool valve and automatic control pressure for the 3-way pressure compensator that switches the 3-way pressure compensator to the circulation position. Furthermore, only the load holding device enables the use of one in the zero position open, and therefore short directional spool, which has no separate flow paths needed for circulation.
- control pressure for the 3-way pressure compensator and the circulation circuit tapped in a structurally simple manner, without being therefore compact Directional spool valves have to provide complex structural measures.
- the 3-way pressure compensator gives priority to the swivel hydraulic motor with respect to the further or further hydraulic motors, regardless of whether and how these are applied.
- the 3-way pressure compensator is structurally particularly simple.
- the proportional directional spool relieves the privileged Swivel hydraulic motor in the zero position the two working lines to the return, so that there is a strong control pressure drop that can be used for the circulation circuit is.
- the further hydraulic motor is controlled either only in its direction at a rate that depends on how much the privileged Hydromotor leaves, or if necessary via a conveyor control of the Pressure source (speed-controlled pump).
- the further hydraulic motor is also via the 3-way quantity regulator precisely controllable proportionally, the 3-way flow regulator, the 3-way pressure compensator and the further directional spool cooperate in the circulation circuit.
- the swivel sliding fork can be guided through the computer, when complicated movement maneuvers are to be controlled, the path and / or Position sensors provide the actual parameters for the computer.
- a rack stacker in FIGS. 1 and 2 in particular a high rack stacker F, has one Vehicle 1 with actuating elements 2 of an actuation system 3 for one Fork G, and if necessary for a steering not emphasized, one Travel drive, a raise / lower and occasionally a tilt function.
- the actuator 3 is connected to a stacker controller S, and if necessary with a computer C.
- the fork G is in guides 4 horizontally across the longitudinal direction of the stack F is displaceable and, for example, on a axis 7 defining a vertical axis Mast 6 swivel mounted (swivel sliding fork).
- the mast 6 is in a support structure 5 held.
- a hydromotor H1 the shifting movement the fork G is controlled, while with at least one hydraulic motor H2 Swivel movement of the fork G around the vertical axis 7 (swivel range at least 180 °) is controlled.
- the computer C is linked to the stacker control S or switchable. Furthermore, position or path indicators 8, 9 for the current position the fork G can be provided, the signals of which are fed to the computer C.
- Fig. 2 it is indicated how the shelf stacker F in a laterally limited hall area 12 between shelf lines 10, 11 works, the hall width only slightly is wider than the width of the fork G.
- This maneuver can be performed by computer C, for example.
- the movements of the hydraulic motors H1, H2 are superimposed on one another in such a way that that the fork G does not collide with the shelf rows 10, 11.
- the hydraulic motor H1 is a rotating for the displacement movement Hydraulic motor (or a pair of hydraulic cylinders, not shown) during the Hydromotor H2 for the swiveling movement of the fork G from two loadable sides
- Hydraulic motor or a pair of hydraulic cylinders, not shown
- the Hydromotor H2 for the swiveling movement of the fork G from two loadable sides
- cylinders 13, 14 which the fork back and forth about the vertical axis 7 fro. Both cylinders 13, 14 are, for example, only on their piston rod sides pressurized while their piston sides are short-circuited.
- the stacker control S in Fig. 3 is from a pressure source 15, for. B. one electrically driven hydraulic pump, supplied with pressure medium.
- a pressure relief valve 18 to a return R secured pump line P leads to the inlet connection a 3-way pressure compensator D.
- a pressure connection 22 of the 3-way pressure compensator D is via a pressure line 16 to the pressure inlet of a proportional directional spool W1 connected in both directions by means of proportional magnets 33, 34 can be deflected from a zero position centered by springs (4/3-way control spool with open zero position). From the proportional directional spool W1 lead two working lines A1, B1 to the two cylinders 13, 14 of the Hydromotor H2.
- a load holding valve arrangement L is located in the working lines A1, B1 with two load holding valves 35, each controllable against a spring 36, and these immediate check valves 38 arranged.
- Each in a work line A1 or B1 arranged load holding valve 35 is via a control line 37 from each other working line B1, A1 openable depending on pressure.
- a cross line 31 connects the two working lines A1 and B1.
- a shuttle valve 30 with a higher pressure in a working line leading connection 32 is provided.
- a control line leads from connection 32 27 via a throttle 28 to a control side of the 3-way pressure compensator D.
- a control line 25 branches off, which is connected via a throttle 26 to the opposite one Control side of the 3-way pressure compensator D leads.
- the 3-way pressure compensator contains a control piston 21, which by means of the control pressure in the control line 25 in the closing direction of a connection between the pump line P and the pressure line 16 is acted upon. In the opposite direction, i.e. in Direction of opening of this connection, however, the control piston 21 is from the control pressure in the control line 27 and acted upon by a control spring 24.
- a second pressure connection 23 of the 3-way pressure compensator D there is another one Pressure line 17 connected to at least one further hydraulic motor, i.e. the sliding hydraulic motor H1 leads.
- a 3-way flow regulator in the pressure line 17 19 arranged, which is adjustable by means of a proportional magnet 20 is and has a connection to the return R. Downstream of the 3-way flow regulator 19 is the pressure line 17 to a connection 39 of a solenoid-operated Directional spool W2 (4/3-way spool with open zero position) connected.
- Two working lines A2, B2 lead from the directional control valve W2 to Hydromotor H1.
- the directional spool W2 could be operated with proportional magnets and work precisely proportional.
- the pressure line 17 is direct in the forklift control S in FIG. 4 to the directional spool W2 (4/3-way spool with open zero position), in which, in the central position, the transverse channel 40 has both working lines A2, B2 connects to the return, and also the pressure line 17 via its pressure connection 39 'and the cross channel 40 is connected to the return.
- a circulation circuit U is provided, via which the hydraulic medium delivered by the pressure source 15 is drained to the return line if none of the hydraulic motors H1, H2 moves and one load is held at a time.
- Part of the circulation circuit U is the 3-way pressure compensator D, which in the closed position of the connection from the pump line P leads to the pressure line 16, the hydraulic medium in the pressure line 17, from which it is in Fig. 3 reaches the return via the 3-way flow controller 19, in the stacker control in contrast, in FIG. 4 via the transverse channel 40.
- control piston K, 21 is sealed in the housing bore 42 movable according to the effective in both axial directions Control pressures from the control lines 25 and 27, the control pressure of the control line 27 nor the force of the, suitably adjustable, control spring 24 is added.
- the control spring is designed very weak, and is essentially only sufficient to do so, the control piston K in the open position of the connection from the pressure connection Hold P to pressure port 16 when the system is depressurized.
- the power the control spring 24 is essentially the relevant throttle factor, that in the unpressurized Circulation from the pressure source has to be overcome.
- a flow channel in the form of a recess 45 is formed in the control piston K, which is delimited on both sides by control edges 46 and 47.
- the control edges 46 and 47 work alternately with apertures 43, 44 or their Control edges together to throttle the pressure medium accordingly and either to lead to the pressure port 16 or to the pressure port 17, and the Directional spool W1 through the pressure difference set by the current supply keep corresponding control movements constant. It is obvious that the Control pressure acting on the left-hand side of the control piston also from the pressure connection 16 could be tapped directly in the housing 41 via a throttle bore.
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Description
Die Erfindung betrifft einen Regalstapler der im Oberbegriff des Anspruchs 1 angegebenen
Art.The invention relates to a shelf stacker specified in the preamble of
Regalstapler, insbesondere Hochregalstapler, mit Schwenkschiebegabel erfordern hohe Sicherheit bei der Steuerung der Gabel, falls sie in einem seitlich begrenzten Flurbereich, beispielsweise zwischen Regalzeilen, arbeiten. Denn dieser Flurbereich ist aus Platzgründen häufig so begrenzt, dass unkontrollierte Schwenk- und Schiebeverstellungen der Gabel leicht zu Kollisionen führen könnten. Für solche komplizierte Manövdervorgänge sind deshalb Regalstapler oftmals mittels eines Computers betreibbar, der die Staplersteuerung unter gleichzeitiger Verschwenkung und Verschiebung der Gabel führt, damit die Gabel nicht mit Regalzeilen kollidiert. Dazu ist es nicht nur erforderlich, dass der Computer über die Ist-Stellung der Gabel präzise informiert ist, sondern dass sich die Staplersteuerung auch präzise durch den Computer führen lässt, d.h. genau proportional mit den Steuersignalen. Ein weiteres Problem bei einer präzisen proportionalen Steuerung der Schwenkschiebegabel resultiert daraus, dass das Schwenken und Schieben, gegebenenfalls gleichzeitig, ausführende Hydromotoren deutlich unterschiedliche Durchsatzmengen benötigen, z.B. in einem Verhältnis von 1 : 3 bis 1 : 6, und die Steuerung des Hydromotors mit der kleineren Menge auch dann zuverlässig proportional sein muss, wenn gleichzeitig auch der die größere Menge benötigende Hydromotor bewegt wird.Require shelf stackers, especially high-rack stackers, with swivel sliding fork high level of security when controlling the fork in case it is in a laterally limited Hallway, work between rows of shelves, for example. Because this corridor area is often so limited due to space constraints that uncontrolled pan and slide adjustments the fork could easily collide. For such complicated ones Maneuvering operations are therefore often operated by a stacker using a computer, which the forklift control with simultaneous swiveling and shifting the fork leads so that the fork does not collide with shelf rows. It is not for that only required that the computer provides precise information about the actual position of the fork , but that the forklift controls also run precisely through the computer lets, i.e. exactly proportional to the control signals. Another problem with one precise proportional control of the swivel sliding fork results from the fact that the swiveling and pushing, if necessary simultaneously, performing hydraulic motors need significantly different throughputs, e.g. in a relationship from 1: 3 to 1: 6, and the control of the hydraulic motor with the smaller amount too then must be reliably proportional, if at the same time the larger one Quantity required hydraulic motor is moved.
Es ist aus der Praxis bekannt, in der Staplersteuerung eines Regalstaplers jedem Hydromotor einen 3-Wege-Mengenregler und einen Proportionalwegesteuerschieber mit vorgesetztem Zulaufregler zuzuordnen, um jeweils eine präzise Proportionalität bei der Steuerung zu erreichen, wie sie z.B. für das Manövrieren in engen Flurbereichen erforderlich ist. Diese Staplersteuerung ist nicht nur sehr aufwendig und teuer, sondem beansprucht aufgrund der komplizierten hydraulischen Komponenten viel Platz, der bei Regalstaplern nicht ohne weiteres zur Verfügung steht. Diese Staplersteuerung ist auch deshalb sehr aufwendig, weil für die Umlaufsteuerung des von der Druckquelle geförderten Hydraulikmediums eine spezielle Umlaufschaltung, z.B. mit Steuerdruckabzapfungen (PSL-Prinzip) in den Wegesteuerschiebem erforderlich ist.It is known from practice, in the stacker control of a shelf stacker, every hydraulic motor a 3-way flow controller and a proportional travel control spool with assigned to the inflow regulator to ensure precise proportionality the control system, e.g. for maneuvering in narrow hallways is required. This stacker control is not only very complex and expensive, but also takes up a lot of space due to the complicated hydraulic components, which is not readily available on shelf stackers. This stacker control is also very expensive because for the circulation control of the Pressure medium pumped hydraulic medium a special circulation circuit, e.g. With Control pressure tapping (PSL principle) is required in the directional spool.
Ferner ist es aus der Praxis bekannt, die Staplersteuerung solcher Regalstapler mit mehreren Druckwaagen, Wegesteuerschiebem und Senkbremsventilen auszustatten, um Platz und Kosten zu sparen. Jedoch lässt sich hiermit keine ausreichend proportionale Steuerung erzielen, wie sie beispielsweise für Manöver in begrenzten Flurbereichen gebraucht wird. Diese Regalstapler müssen zur Schwenk-Schiebeverstellung der Gabel aus dem Flurbereich herausfahren, und mit verstellter Gabel wieder in den Flur einfahren oder es sind die Flurbereiche zwischen Regalzeilen im relativ zur Gabelbreite entsprechend breit zu machen.Furthermore, it is known from practice to use the stacker control of such shelf stackers to equip several pressure scales, directional spool valves and lowering brake valves, to save space and costs. However, this cannot be a sufficiently proportional one Achieve control, such as for maneuvers in limited hall areas is needed. These stackers need to be swivel-slide drive the fork out of the hallway area and back into the with an adjusted fork Drive in the corridor or there are the corridor areas between shelf rows in relation to the fork width to make it correspondingly wide.
Bei einem aus WO86/06142 A bekannten Regalstapler ist eine hydraulische Lenksteuerung mit einem doppelseitig beaufschlagbaren Lenkzylinder als bevorrechtigten Hydromotor in die Staplersteuerung eingegliedert, die zusätzlich einen Hubzylinder und zwei Schwenkzylinder der Gabel steuert. In der Staplersteuerung sind zwei getrennt betätigbare Druckquellen enthalten, von denen die den Lenkzylinder zugeordnete Druckquelle permanent läuft und das geförderte Druckmittel über eine 3-Wege-Druckwaage bei Nichtbetätigung der Hydromotoren über einen drucklosen Umlauf durch die Wegesteuerschieber des Hubzylinders und der Schwenkzylinder zum Tank führt. Die 3-Wege-Druckwaage wird abhängig von der Druckdifferenz zwischen dem Eingangsdruck des Wegesteuerschiebers des Lenkzylinders und dem aktuellen Arbeitsdruck vorgesteuert und regelt für den Hubzylinder und die Schwenkzylinder nur die jeweils verfügbare Überschussmenge ein, die der Lenkzylinder gerade nicht benötigt. Sollte die Überschussmenge zur ordnungsgemäßen Betätigung des Hubzylinders und der Schwenkzylinder nicht ausreichen, wird die zweite Druckquelle zugeschaltet. Die beiden Wegesteuerschieber für den Hubzylinder und die Schwenkzylinder sind parallel an eine gemeinsame Druckleitung angeschlossen, so dass die Schwenkzylinder keinen Vorrang gegenüber dem Hubzylinder gewinnen können. Alle Wegesteuerschieber sind mit blockierter Nullstellung ausgelegt, so dass in der Nullstellung jede Arbeitsleitung zu einem Hydromotor absperren. Dies erfordert für den drucklosen Umlauf in den Wegesteuerschiebem für den Hubzylinder und die Schwenkzylinder wenigstens eine zusätzliche Steuerebene.In a rack stacker known from WO86 / 06142 A there is a hydraulic steering control with a double-acting steering cylinder as privileged Hydromotor integrated in the truck control system, which also has a lifting cylinder and controls two swivel cylinders of the fork. Two are separated in the forklift control contain actuatable pressure sources, of which those assigned to the steering cylinder The pressure source is running continuously and the pumped pressure medium via a 3-way pressure compensator if the hydraulic motors are not actuated via an unpressurized circulation through the directional spool of the lifting cylinder and the swivel cylinder to the tank leads. The 3-way pressure compensator is dependent on the pressure difference between the Input pressure of the directional control spool of the steering cylinder and the current working pressure piloted and regulates for the lift cylinder and the swivel cylinder only the available excess quantity that the steering cylinder does not need at the moment. Should the excess amount for proper actuation of the lifting cylinder and the swivel cylinder is not sufficient, the second pressure source is switched on. The two directional spool for the lifting cylinder and the swivel cylinder are connected in parallel to a common pressure line so that the swivel cylinder cannot gain priority over the lifting cylinder. All directional spool are designed with a blocked zero position, so that in the zero position each Shut off the working line to a hydraulic motor. This requires for the unpressurized Circulation in the directional control slide for the lifting cylinder and the swivel cylinder at least one additional tax level.
Bei aus US-A-3 911 942, US-A-3 987 623 und DE-A-195 49150 bekannten Steuervorrichtungen wird einer ausgewählten Verbrauchergruppe Steuerpriorität gegenüber anderen Verbrauchern eingeräumt. In den Steuervorrichtungen sind 3-Wege-Druckwaagen bzw. Mehrwegeventile enthalten, die der Stromregelung dienen.In control devices known from US-A-3 911 942, US-A-3 987 623 and DE-A-195 49150 becomes tax priority over a selected consumer group granted to other consumers. There are 3-way pressure compensators in the control devices or contain multi-way valves that are used for current control.
Weiterer Stand der Technik ist enthalten in US-A-4 517 800, US-A-4 733 533, DE-A-301 61 57 und US-A-45 43 031.Further prior art is contained in US-A-4,517,800, US-A-4,733,533, DE-A-301 61 57 and US-A-45 43 031.
Der Erfindung liegt die Aufgabe zugrunde, einen Regalstapler der eingangs genannten Art zu schaffen, der mit einer kostengünstigen, platzsparenden und komfortablen Staplersteuerung das sichere Manövrieren der Schwenkschiebegabel in engen Flurbereichen, gegebenenfalls computergeführt, ermöglicht.The invention has for its object a shelf stacker of the aforementioned Art to create that with an inexpensive, space-saving and comfortable Forklift control the safe maneuvering of the swivel sliding fork in narrow corridors, if necessary, computer-guided, enables.
Die gestellte Aufgabe wird mit den Merkmalen des Anspruchs 1 gelöst.The object is achieved with the features of
Auf baulich einfache und kostengünstige Weise wird mit der 3-Wege-Druckwaage dem Schwenk-Hydromotor stets Vorrang verliehen, bei dem bei gleichzeitiger Steuerung eines weiteren Hydromotors die Gefahr einer nicht mehr exakt proportionalen Steuerung gegeben ist, d.h. dem Hydromotor mit dem geringeren Mengendurchsatz. Der weitere oder die weiteren Hydromotoren erhalten durch die Einflussnahme der 3-Wege-Druckwaage stets nur die überschüssige Menge, so dass zumindest der bevorrechtigte Schwenk-Hydromotor unter allen Betriebsbedingungen präzise proportional mittels des Proportional-Wegesteuerschiebers zu steuern ist, der für die 3-Wege-Druckwaage auch die Regelblende enthält. Der Einbauraum für die Staplersteuerung und auch der Ausstattungsaufwand sind reduziert, weil wenige kompakte Komponenten ausreichen und weil mittels der 3-Wege-Druckwaage auch eine sehr einfache Umlaufschaltung möglich ist, über die das von der im Regelfall elektrisch betriebenen Druckquelle geförderte Hydraulikmedium mit geringem Drosselwiderstand und geringem Gegendruck in den Rücklauf gelangt, wenn kein Hydromotor zu steuern ist. Die Lasthaltevorrichtung ist vorgesehen, um jeden Hydromotor hydraulisch blockieren und eine Last leckagefrei halten zu können. Die Lasthaltevorrichtung mit wechselseitig aus den Arbeitsleitungen aufsteuerbaren Lasthalteventilen ermöglicht eine feinfühlige Bewegungssteuerung unter Last und trägt vor allem zur Vereinfachung der Umlaufschaltung bei, da in einer Lasthaltesituation beide Arbeitsleitungen stromab des Wegesteuerschiebers entlastet sind und automatisch Steuerdruck für die 3-Wege-Druckwaage vorliegt, der die 3-Wege-Druckwaage in die Umlaufstellung schaltet. Ferner ermöglicht erst die Lasthaltevorrichtung die Verwendung eines in der Nullstellung offenen, und dadurch kurzen Wegesteuerschiebers, der keine getrennten Strömungswege für den Umlauf benötigt.The 3-way pressure compensator is structurally simple and inexpensive priority is always given to the swivel hydraulic motor, with simultaneous control of another hydraulic motor the risk of being no longer exactly proportional Control is given, i.e. the hydraulic motor with the lower volume throughput. The other one or more hydraulic motors receive by influencing the 3-way pressure compensator always only the excess quantity, so that at least the privileged Swivel hydraulic motor precisely proportional under all operating conditions to be controlled by means of the proportional directional control spool, which is for the 3-way pressure compensator also contains the control panel. The installation space for the forklift control and the outlay on equipment is also reduced because there are few compact components are sufficient and because of the 3-way pressure compensator also a very simple one Circulation switching is possible, via which that is usually operated electrically Hydraulic medium pumped with pressure source with low throttle resistance and low Back pressure gets into the return if no hydraulic motor can be controlled. The Load holding device is provided to hydraulically block and hydromotor each to be able to keep a load leak-free. The load holding device alternately with Load control valves that can be controlled in the working lines enable sensitive movement control under load and helps to simplify the circulation circuit because, in a load holding situation, both work lines downstream of the Directional spool valve and automatic control pressure for the 3-way pressure compensator that switches the 3-way pressure compensator to the circulation position. Furthermore, only the load holding device enables the use of one in the zero position open, and therefore short directional spool, which has no separate flow paths needed for circulation.
Gemäß Anspruch 2 wird der Steuerdruck für die 3-Wege-Druckwaage und die Umlaufschaltung
auf baulich einfache Weise abgegriffen, ohne im deshalb kompakten
Wegesteuerschieber aufwendige bauliche Maßnahmen vorsehen zu müssen.According to
Gemäß Anspruch 3 gibt die 3-Wege-Druckwaage dem Schwenk-Hydromotor Zuführvorrang gegenüber dem weiteren oder den weiteren Hydromotoren, unabhängig davon, ob und wie diese beaufschlagt werden.According to claim 3, the 3-way pressure compensator gives priority to the swivel hydraulic motor with respect to the further or further hydraulic motors, regardless of whether and how these are applied.
Gemäß Anspruch 4 ist die 3-Wege-Druckwaage baulich besonders einfach ausgebildet.According to
Gemäß Anspruch 5 entlastet der Proportional-Wegesteuerschieber des bevorrechtigten Schwenk-Hydromotors in der Nullstellung die beiden Arbeitsleitungen zum Rücklauf, so dass ein für die Umlaufschaltung nutzbarer starker Steuerdruckabfall gegeben ist.According to claim 5, the proportional directional spool relieves the privileged Swivel hydraulic motor in the zero position the two working lines to the return, so that there is a strong control pressure drop that can be used for the circulation circuit is.
Gemäß Anspruch 6 wird in der Umlaufschaltung, falls kein weiterer Hydromotor beaufschlagt
wird, das von der Druckquelle geförderte Druckmittel über den Wegesteuerschieber
des weiteren Hydromotors oder diesen Wegesteuerschieber und dem diesen
vorgesetzten 3-Wege-Mengenregler mit geringem Drosselverlust in den Rücklauf
geführt. According to
Gemäß Anspruch 7 wird der weitere Hydromotor entweder nur in seiner Richtung gesteuert
mit einer Geschwindigkeit, die davon abhängt, welche Menge der bevorrechtigte
Hydromotor übrig lässt, oder gegebenenfalls über eine Fördersteuerung der
Druckquelle (drehzahlgeregelte Pumpe).According to
Gemäß Anspruch 8 ist über den 3-Wege-Mengenregler auch der weitere Hydromotor präzise proportional steuerbar, wobei der 3-Wege-Mengenregler, die 3-Wege-Druckwaage und der weitere Wegesteuerschieber bei der Umlaufschaltung kooperieren.According to claim 8, the further hydraulic motor is also via the 3-way quantity regulator precisely controllable proportionally, the 3-way flow regulator, the 3-way pressure compensator and the further directional spool cooperate in the circulation circuit.
Gemäß Anspruch 9 lässt sich die Schwenkschiebegabel durch den Computer führen,
wenn komplizierte Bewegungsmanöver zu steuern sind, wobei die Wege- und/oder
Positionsmelder die Ist-Parameter für den Computer bereitstellen. According to
Anhand der Zeichnung werden Ausführungsformen des Erfindungsgegenstandes erläutert. Es zeigen:
- Fig. 1
- eine schematische Seitenansicht eines Regalstaplers,
- Fig. 2
- eine schematische Draufsicht auf einen Regalstapler beim Arbeiten in einem begrenzten Flurbereich,
- Fig. 3
- ein Blockschaltbild einer ersten Ausführungsform einer Staplersteuerung,
- Fig. 4
- ein Blockschaltbild einer weiteren Ausführungsform einer Staplersteuerung, und
- Fig. 5
- einen schematischen Längsschnitt eines Details.
- Fig. 1
- a schematic side view of a shelf stacker,
- Fig. 2
- 1 shows a schematic top view of a rack stacker when working in a limited corridor area,
- Fig. 3
- 2 shows a block diagram of a first embodiment of a forklift control,
- Fig. 4
- a block diagram of another embodiment of a stacker control, and
- Fig. 5
- a schematic longitudinal section of a detail.
Ein Regalstapler in den Fig. 1 und 2, insbesondere ein Hochregalstapler F, weist einen
Fahrkörper 1 mit Betätigungselementen 2 eines Betätigungssystems 3 für eine
Gabel G, und gegebenenfalls für eine nicht näher vorgehobene Lenkung, einen
Fahrantrieb, eine Heben/Senken- und fallweise eine Kippfunktion auf. Die Betätigungseinrichtung
3 ist mit einer Staplersteuerung S verbunden, und gegebenenfalls
mit einem Computer C. Die Gabel G ist in Führungen 4 horizontal quer zur Längsrichtung
des Staples F verschiebbar und beispielsweise an einem eine Hochachse 7 definierenden
Mast 6 schwenkbar angebracht (Schwenkschiebegabel). Der Mast 6 ist in
einer Stützkonstruktion 5 gehalten. Mit einem Hydromotor H1 wird die Verschiebebewegung
der Gabel G gesteuert, während mit wenigstens einem Hydromotor H2 die
Schwenkbewegung der Gabel G um die Hochachse 7 (Schwenkbereich mindestens
180°) gesteuert wird. Der Computer C ist mit der Staplersteuerung S verknüpft oder
zuschaltbar. Ferner können Positions- oder Wegmelder 8, 9 für die Momentanposition
der Gabel G vorgesehen sein, deren Signale dem Computer C zugeführt werden.A rack stacker in FIGS. 1 and 2, in particular a high rack stacker F, has one
In Fig. 2 ist angedeutet, wie der Regalstapler F in einem seitlich begrenzten Flurbereich
12 zwischen Regalzeilen 10, 11 arbeitet, wobei die Flurbreite nur geringfügig
breiter als die Breite der Gabel G ist. Mit gleichzeitigen Schwenk- und Schiebebewegungen
der Gabel G wird diese innerhalb der Flurweite aus der in ausgezogenen
Linien gezeigten Grundstellung, in der die Gabelzinken in Fahrtrichtung weisen, um
ca. 90° zur einen oder anderen Seite verschwenkt, bis die Gabelzinken zu den Regalzeilen
weisen. Dieses Manöver kann beispielsweise vom Computer C geführt werden.
Die Bewegungen der Hydromotoren H1, H2 werden dabei einander derart überlagert,
daß die Gabel G nicht mit den Regalzeilen 10, 11 kollidiert.In Fig. 2 it is indicated how the shelf stacker F in a laterally
Gemäß den Fig. 3 und 4 ist der Hydromotor H1 für die Verschiebebewegung ein drehender
Hydraulikmotor (oder ein Hydraulikzylinderpaar, nicht gezeigt), während der
Hydromotor H2 für die Schwenkbewegung der Gabel G aus zwei einseitig beaufschlagbaren
Zylindern 13, 14 besteht, die die Gabel um die Hochachse 7 hin- und
herschwenken. Beide Zylinder 13, 14 werden beispielsweise nur an ihren Kolbenstangenseiten
beaufschlagt, während ihre Kolbenseiten kurzgeschlossen sind.3 and 4, the hydraulic motor H1 is a rotating for the displacement movement
Hydraulic motor (or a pair of hydraulic cylinders, not shown) during the
Hydromotor H2 for the swiveling movement of the fork G from two loadable sides
There are
Die Staplersteuerung S in Fig. 3 wird aus einer Druckquelle 15, z. B. einer elektrisch
getriebenen Hydraulikpumpe, mit Druckmittel versorgt. Eine über ein Druckbegrenzungsventil
18 zu einem Rücklauf R abgesicherte Pumpenleitung P führt zum Einlaßanschluß
einer 3-Wege-Druckwaage D. Ein Druckanschluß 22 der 3-Wege-Druckwaage
D ist über eine Druckleitung 16 mit dem Druckeinlaß eines Proportional-Wegesteuerschiebers
W1 verbunden, der in beiden Stellrichtungen mittels Proportionalmagneten
33, 34 aus einer durch Federn zentrierten Nullstellung auslenkbar ist
(4/3-Wegesteuerschieber mit offener Nullstellung). Vom Proportional-Wegesteuerschieber
W1 führen zwei Arbeitsleitungen A1, B1 zu den beiden Zylindern 13, 14 des
Hydromotors H2. In den Arbeitsleitungen A1, B1 ist eine Lasthalteventilanordnung L
mit zwei jeweils gegen eine Feder 36 aufsteuerbaren Lasthalteventilen 35 und diesen
umgehenden Rückschlagventilen 38 angeordnet. Jedes in einer Arbeitsleitung A1
oder B1 angeordnete Lasthalteventil 35 ist über eine Steuerleitung 37 aus der jeweils
anderen Arbeitsleitung B1, A1 druckabhängig aufsteuerbar.The stacker control S in Fig. 3 is from a
Zwischen dem Proportional-Wegesteuerschieber W1 und der Lasthaltevorrichtung L
verbindet eine Querleitung 31 die beiden Arbeitsleitungen A1 und B1. In der Querleitung
31 ist ein Wechselventil 30 mit einem den jeweils höheren Druck in einer Arbeitsleitung
führenden Anschluß 32 vorgesehen. Vom Anschluß 32 führt eine Steuerleitung
27 über eine Drossel 28 zu einer Steuerseite der 3-Wege-Druckwaage D. Zwischen
der 3-Wege-Druckwaage D und dem Proportional-Wegesteuerschieber W1
zweigt an einem Punkt 29 eine Steuerleitung 25 ab, die über eine Drossel 26 zur gegenüberliegenden
Steuerseite der 3-Wege-Druckwaage D führt. Die 3-Wege-Druckwaage
enthält einen Regelkolben 21, der mittels des Steuerdrucks in der Steuerleitung
25 in Schließrichtung einer Verbindung zwischen der Pumpenleitung P und
der Druckleitung 16 beaufschlagt wird. In der entgegengesetzten Richtung, d.h. in
Öffnungsrichtung dieser Verbindung, wird der Regelkolben 21 hingegen vom Steuerdruck
in der Steuerleitung 27 und durch eine Regelfeder 24 beaufschlagt.Between the proportional directional control valve W1 and the load holding device L
a
An einem zweiten Druckanschluß 23 der 3-Wege-Druckwaage D ist eine weitere
Druckleitung 17 angeschlossen, die zu wenigstens einem weiteren Hydromotor, d.h.
dem Schiebe-Hydromotor H1 führt. In der Druckleitung 17 ist in Fig. 3 ein 3-Wege-Mengen-regler
19 angeordnet, der mittels eines Proportionalmagneten 20 verstellbar
ist und eine Verbindung zum Rücklauf R besitzt. Stromab des 3-Wege-Mengenreglers
19 ist die Druckleitung 17 an einen Anschluß 39 eines magnetbetätigten
Wegesteuerschiebers W2 (4/3-Wegesteuerschieber mit offener Nullstellung) angeschlossen.
Vom Wegesteuerschieber W2 führen zwei Arbeitsleitungen A2, B2 zum
Hydromotor H1. Zwischen dem Wegesteuerschieber W2 und dem Hydromotor H1 ist
eine weitere Lasthaltevorrichtung L entsprechend der Lasthaltevorrichtung L des Hydromotors
H2 vorgesehen. Offene Nullstellung bedeutet für die Wegesteuerschieber
W1, W2, daß - angedeutet in W2 - in einer durch Federn zentrierten Mittelstellung
beide Arbeitsleitungen über einen Querkanal 40 mit dem Rücklauf R verbunden ist,
während der Druckanschluß 39 abgesperrt ist. Auch der Wegesteuerschieber W2
könnte mit Proportionalmagneten betätigt werden und präzise proportional arbeiten.At a
In der Staplersteuerung S in Fig. 4 ist im Unterschied zur Fig. 3 die Druckleitung 17 direkt
zum Wegesteuerschieber W2 geführt (4/3-Wegesteuerschieber mit offener Nullstellung),
bei dem in der Mittelstellung der Querkanal 40 beide Arbeitsleitungen A2, B2
mit dem Rücklauf verbindet, und auch die Druckleitung 17 über ihren Druckanschluß
39' und den Querkanal 40 mit dem Rücklauf verbunden ist. In contrast to FIG. 3, the
Bei beiden Ausführungsformen der Staplersteuerung S der Fig. 3 und 4 ist eine Umlaufschaltung
U vorgesehen, über die das von der Druckquelle 15 geförderte Hydraulikmittel
zum Rücklauf abgelassen wird, falls keiner der Hydromotoren H1, H2 bewegt
und jeweils eine Last gehalten wird. Ein Teil der Umlaufschaltung U ist die 3-Wege-Druckwaage
D, die in der Schließstellung der Verbindung von der Pumpenleitung P
zur Druckleitung 16 das Hydraulikmedium in die Druckleitung 17 führt, von der es in
Fig. 3 über den 3-Wege-Mengenregler 19 zum Rücklauf gelangt, in der Staplersteuerung
in Fig. 4 hingegen über den Querkanal 40.In both embodiments of the stacker control S of FIGS. 3 and 4, there is a circulation circuit
U is provided, via which the hydraulic medium delivered by the
Bei der Staplersteuerung S in Fig. 4 könnte eine präzisierte Steuerung des Schiebe-Hydromotors beispielsweise mittels einer drehzahlregelbaren Hydraulikpumpe erfolgen.In the case of the stacker control system S in FIG. 4, precise control of the sliding hydraulic motor could be achieved for example by means of a speed-controllable hydraulic pump.
In Fig. 5 ist eine einfache Ausführungsform der 3-Wege-Druckwaage D der vorhergehenden
Figuren im Längsschnitt gezeigt. In einem Gehäuse 41 mit einer Gehäusebohrung
42 sind zwei Druckanschlüsse 16, 17 mit Steuerkanten definierenden Einstichen
43, 44 vorgesehen. In der Gehäusebohrung 42 ist der Regelkolben K, 21 abgedichtet
verschieblich nach Maßgabe der in beiden axialen Richtungen wirksamen
Steuerdrücke aus den Steuerleitungen 25 bzw. 27, wobei zum Steuerdruck der Steuerleitung
27 noch die Kraft der, zweckmäßigerweise einstellbaren, Regelfeder 24 hinzukommt.
Die Regelfeder ist sehr schwach ausgelegt, und reicht im wesentlichen nur
dazu aus, den Regelkolben K in der Öffnungsstellung der Verbindung vom Druckanschluß
P zum Druckanschluß 16 zu halten, wenn das System drucklos ist. Die Kraft
der Regelfeder 24 ist im wesentlichen der maßgebliche Drosselfaktor, der bei drucklosem
Umlauf von der Druckquelle zu überwinden ist.5 is a simple embodiment of the 3-way pressure compensator D of the previous one
Figures shown in longitudinal section. In a
Im Regelkolben K ist ein Strömungskanal in Form eines Einstiches 45 ausgebildet,
der beiderseits durch Steuerkanten 46 und 47 begrenzt wird. Die Steuerkanten 46
und 47 arbeiten blendenartig wechselweise mit den Einstichen 43, 44 bzw. deren
Steuerkanten zusammen, um das Druckmittel entsprechend abzudrosseln und entweder
zum Druckanschluß 16 oder zum Druckanschluß 17 zu leiten, und dabei die im
Wegesteuerschieber W1 durch die Bestromung eingestellte Druckdifferenz durch
entsprechende Regelbewegungen konstant zu halten. Es liegt auf der Hand, daß der
linksseitig auf den Regelkolben wirkende Steuerdruck auch aus dem Druckanschluß
16 über eine Drosselbohrung direkt im Gehäuse 41 abgegriffen werden könnte.A flow channel in the form of a
Claims (9)
- Racking truck, in particular a high-reach truck (F), comprising a pivoting and reach fork (G) which can be pivoted at least about a vertical axis (7) and displaced horizontally by hydraulic motors (H1, H2) controlled hydraulically by a possibly computer-guided truck control system (S) via magnetically operated directional control spools (W1, W2) connected to a common pressure source (15), characterized in that, in the truck control system (S), in a pressure line (16) between the pressure source (15, P) and the directional control spools (W1, W2) for prioritising the hydraulic pivoting motor (H2), there is provided a three-way pressure compensator (D), which is controlled by control pressures tapped off upstream and downstream of the directional control spools (W1, W2) of the prioritised hydraulic pivoting motor (H2), in that at least the directional control spool (W1) of the prioritised hydraulic pivoting motor (H2) is constructed as a proportional directional control spool with a zero position open to the tank, in that the three-way pressure compensator (D) is part of a circulation circuit (U) from the pressure source (15, P) to the tank, led via the control system of the further hydraulic motor (H1), and in that the hydraulic pivoting motor (H2) and a further hydraulic motor (H1) are in each case connected to two operating lines (A1, B1, A2, B2) in which, between the directional control spool (W1, W2) and the hydraulic motor (H1, H2), provision is made for a load-holding device (L) with load-holding valves (35) that can be controlled alternately from the operating lines.
- Racking truck according to Claim 1, characterized in that the operating lines (A1, B1) of the prioritised hydraulic pivoting motor (H2) between the proportional directional control spool (W1) and the load-holding device (L) are connected by a transverse line (31), in which a changeover valve (30) with an output (32) leading to the respectively higher operating line pressure is contained, and in that a control line (27) leads from the output (32) to the three-way pressure compensator (D).
- Racking truck according to Claim 1, characterized in that the three-way pressure compensator (D) contains a control piston (K, 21) which, in the closing direction of a connection from the pressure source (15, P) to the proportional directional control spool (W1) of the hydraulic pivoting motor (H2), is acted on by the higher control pressure upstream of the proportional control spool (W1) and, in the opening direction of the connection, is acted on by the lower control pressure downstream of the proportional directional control spool (W1) and by a control spring (24).
- Racking truck according to Claim 3, characterized in that the control piston (K) can be displaced in a housing bore (42) having two pressure connections (43, 44), has a flow path (45) bounded by two opposite control edges (46, 47), and with the two control edges (46, 47) interacts in the manner of a diaphragm and alternately with the two pressure connections.
- Racking truck according to Claim 1, characterized in that, in the zero position, the proportional directional control spool (W1) connects both operating lines (A1, B1) to the tank and shuts off the pressure line (16) coming from the three-way pressure compensator (D).
- Racking truck according to Claim 1, characterized in that the circulation circuit (U) additionally runs via a further pressure line (17) via the directional control spool (W2) of the further hydraulic motor (H1) or via a three-way flow controller (19) placed in front of this directional control spool (W2), preferably through a three-way flow controller actuated by a proportional solenoid (20).
- Racking truck according to Claim 6, characterized in that the directional control spool (W2) of the further hydraulic motor (H1), constructed as a solenoid-operated directional control spool, is connected directly via the further pressure line (17) to the three-way pressure compensator (D) and, in its zero position, connects both the operating lines (A2, B2) of the further hydraulic motor (H1) and the further pressure line (17) to the return (R).
- Racking truck according to Claim 6, characterized in that the directional control spool (W2) of the further hydraulic motor (H1), constructed as a solenoid-operated directional control spool, is connected to the three-way pressure compensator (D) via the further pressure line (17), in which there is arranged a three-way flow controller (19) which is connected to the return (R) and can be adjusted by means of a proportional solenoid (20), and in that, in its zero position, the directional control spool (W2) connects both the operating lines (A2, B2) to the return (R) and shuts off the further pressure line (17).
- Racking truck according to Claim 1, characterized in that a master computer (C) has a control connection to the solenoids or proportional solenoids (33, 34, 20) of the directional control spools (W1, W2) and, if appropriate, the three-way flow controller (19), and in that travel and/or position feedback sensors (8, 9) of the pivoting and reaching fork (G) are connected to the master computer (C).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE29802498U | 1998-02-13 | ||
| DE29802498U DE29802498U1 (en) | 1998-02-13 | 1998-02-13 | Forklift control |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP0936179A1 EP0936179A1 (en) | 1999-08-18 |
| EP0936179B1 true EP0936179B1 (en) | 2004-05-26 |
Family
ID=8052632
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP98120848A Expired - Lifetime EP0936179B1 (en) | 1998-02-13 | 1998-11-03 | Forklift control arrangement |
Country Status (3)
| Country | Link |
|---|---|
| US (1) | US6220027B1 (en) |
| EP (1) | EP0936179B1 (en) |
| DE (2) | DE29802498U1 (en) |
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| DE4105459A1 (en) * | 1991-02-21 | 1992-08-27 | Heilmeier & Weinlein | HYDRAULIC CONTROL DEVICE |
| KR0166131B1 (en) * | 1994-12-30 | 1998-12-01 | 석진철 | Oil pressure circuit for lift car |
| US5653569A (en) * | 1996-01-10 | 1997-08-05 | Sears; David E. | Turn-table attachment for fork lift vehicle |
-
1998
- 1998-02-13 DE DE29802498U patent/DE29802498U1/en not_active Expired - Lifetime
- 1998-11-03 EP EP98120848A patent/EP0936179B1/en not_active Expired - Lifetime
- 1998-11-03 DE DE59811468T patent/DE59811468D1/en not_active Expired - Lifetime
-
1999
- 1999-01-06 US US09/226,757 patent/US6220027B1/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| DE59811468D1 (en) | 2004-07-01 |
| US6220027B1 (en) | 2001-04-24 |
| DE29802498U1 (en) | 1998-04-16 |
| EP0936179A1 (en) | 1999-08-18 |
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