EP1447373A1 - Verfahren zum Betrieb eines Schubmaststaplers und Schubmaststapler zur Durchführung des Verfahrens - Google Patents
Verfahren zum Betrieb eines Schubmaststaplers und Schubmaststapler zur Durchführung des Verfahrens Download PDFInfo
- Publication number
- EP1447373A1 EP1447373A1 EP04000942A EP04000942A EP1447373A1 EP 1447373 A1 EP1447373 A1 EP 1447373A1 EP 04000942 A EP04000942 A EP 04000942A EP 04000942 A EP04000942 A EP 04000942A EP 1447373 A1 EP1447373 A1 EP 1447373A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- mast
- load
- inclination
- drive
- speed
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Images
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
- B66F9/08—Masts; Guides; Chains
- B66F9/10—Masts; Guides; Chains movable in a horizontal direction relative to truck
-
- 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
-
- 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
- B66F9/08—Masts; Guides; Chains
- B66F9/082—Masts; Guides; Chains inclinable
-
- 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 method for operating a reach truck according to the preamble of claim 1.
- the load part usually has a plurality of mast sections Mast on, which is extendable to high altitudes. At a reach truck is characteristic that the mast is movable horizontally between a position near the drive part and a remote position.
- the load handling device is usually a fork, with the forks in parallel spaced radar arms, which are attached to the drive part and to extending from both sides of the mast from the drive part. It is also known that To change the inclination of the lifting device.
- Mast tilt e.g. to pivot the mast towards the drive part, to compensate for the deflection of the mast.
- Another possibility is to execute the load-carrying means itself pivotable. Also lets it through compensate for the deflection of the mast. Also, one during the Ride carried load safer stored when the fork has a slope, through which the load tends to slip towards the mast.
- the fork For the retraction of the fork in a pallet is required that the fork is essentially advanced in the same plane, in which also the range located. If the pallet is arranged horizontally, the load fork must also be substantially be aligned horizontally so that it can be retracted into the pallet. If the pallets have an inclination to the horizontal, this is an appropriate orientation the fork necessary. However, because the retraction of the fork in the pallet regardless of their inclination is usually horizontal, in particular by a forward movement of the mast, it is not possible without further manipulation complete retraction into a horizontal inclined pallet guarantee.
- the invention is based on the object, a method for operating a reach truck specify with the retraction of a lifting device in Vietnamese Horizontally inclined arranged pallets can be facilitated.
- the Speed of the feed of the mast and the lifting and lowering movement of the load-bearing means are in accordance with the measured angle of inclination so matched to each other that the load handler in the room automatically moves in the direction of the measured inclination when the feed of the mast towards the load to be picked up or set in motion becomes.
- the driver proceeds as follows: As usual, the driver positions the tip of the load handling device pallet and adjusts the load handler towards the pallet tilt. If the driver no other aids are available, this is done by sight.
- the inclination sensor takes the inclination angle of the lifting device and passes this on to a suitable controller.
- the retraction of the load-handling device in the pallet is due to two speed components determined, namely by the speed of the lifting device in lifting or lowering direction and by the speed of the mast feed. If these are adjusted accordingly, the load handling device, especially the fork, moves in the direction given by the inclination is. The fork can therefore be moved without problems quickly into the pallet become.
- a speed measuring device measures the feed speed of the mast.
- a suitable control or regulating device is a program filed in which at different angles of inclination is given, how large the lifting or lowering speed of the receiving means is when the feed mast is operated at a predetermined speed.
- the reach truck therefore has a comparison with previously known designs Inclinometer to show the inclination of the lifting device in space to investigate. This happens e.g. by attaching a sensor to the carrier for the load handling device. A reference to the location of the reach is then not possible if the mast can be inclined in turn. But even with a non-tilting reach this can experience a deflection, so that a reference of a sensor on the position of the mast inappropriate is. Rather, it is preferable that the inclination with respect to the driving part of the reach truck or the underground.
- the lifting device is then the lifting or lowering speed adjust so that the desired movement of the lifting device for unobstructed retraction into the inclined pallet can be obtained. thats why it is advantageous if the drive speed for raising and lowering the Lifting means is regulated.
- the reach truck shown in Fig. 1 is of conventional construction and has a load part 12 and a load part 12.
- the load part 12 has a mast 14, the e.g. may have multiple mast shots and e.g. in a height up to 12 m or is more extendable.
- the load part 12 also has a load receiving means, the height adjustable on mast 14 is guided.
- only one prong 16 is one Forklift recognizable, which guided in a known manner on the mast 14 adjustable in height and operated by means of a suitable lifting and lowering drive.
- wheel arms are mounted, which are spaced apart in parallel extend on both sides of the mast 14.
- a wheel arm can be seen in Fig. 1 at 18.
- the Radarme 18 store each load wheels.
- a steerable drive wheel is shown at 19.
- the mast 14 is horizontally by means of a guide, not shown the drive part 10 continues and to proceed to this.
- This is in the cabin of the Drive part 10 a not shown control element for driving the Mastschubs intended.
- the mast 14 is also changeable in its inclination with the help of a corresponding Tilt drive.
- the tilt drive is in turn on a separate Operating element operable.
- a Operating element for actuating a tilt drive for the fork.
- the forks are within the space bounded by the wheel arms 18, when the mast 14 is in the more or less retracted position. In the extended position, the prongs 16 are more or less in front of the Radar arms 18, but within the space defined by them.
- the double arrow 20 indicates the height adjustment a horizontal guide 22 for a side gate 24, wherein the side shifter connected to the back 26 of a load fork 28 generally designated is.
- the double arrow 30 indicates the mast thrust and the curved double arrow 32 the inclination possibility of the mast 14. Finally there is a curved double arrow 34, the inclination change of the tines 16 and the forks 28 again.
- the Drives for the described adjustment movements are not shown, too not for adjusting the fork inclination. On the lateral shiftability of the fork 18 will not be discussed in detail.
- the fork 28 is a. Tilt sensor assigned, which is designated in Fig. 3 with 40.
- the tilt sensor detects the inclination of the prongs 16 absolutely opposite to the horizontal.
- the tilt signal or the inclination angle ⁇ is given to the computer 42. It may also be on a display device 44 which is mounted in the cab of the truck. The driver can thus always recognize the inclination of the fork 28 relative to the horizontal.
- a drive 46 for advancing the mast 48 can be seen. He will operated by a control device 50, which is controlled by a control element 52 in the Cabin of the truck is operated. Upon actuation of the operating element 52, for example a button, the drive 46 drives the mast from the drive part 10th or towards it, wherein a fixed speed can be set. However, it's hardly possible to set the speed to a specific one To hold value, as they are naturally different conditions, in particular the load depends.
- a speed measuring device 54 therefore measures the adjustment speed or pushing speed of the mast 48 and also gives it on the computer 42. In the computer 42 is a program included, in which for different Inclination angle and given speeds of the mast 48 the adjustment speed for the lifting and lowering operation is entered.
- a drive 56 for raising and lowering of the receiving means 58 to detect.
- a control device 60 is controlled by the signal of the computer 42 applied for the speed of the load receiving means 58.
- the lifting and lowering speed of the load receiving means 58 can be measured and thus predetermined, so that then the speed of the mast is tracked depending on the inclination angle ⁇ and the measured lifting or lowering speed of the lifting device 58th
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
Description
- Fig. 1
- zeigt schematisch perspektivisch einen Schubmaststapler.
- Fig. 2
- zeigt äußerst schematisch die Seitenansicht des vorderen Teils des Schubmaststaplers nach Fig. 1.
- Fig. 3
- zeigt ein Blockschaltbild zum Betrieb von Teilen des Schubmaststaplers nach Fig. 1 und 2.
Claims (4)
- Verfahren zum Betrieb eines Schubmaststaplers mit einem Schubmast, der mittels eines Mastantriebs auf eine aufzunehmende Last zu und von dieser fort auf einer horizontalen Führung verschiebbar ist, einem Lastaufnahmemittel, das am Schubmast höhenverstellbar gelagert und mit Hilfe eines Heben- und Senkenantriebs betätigbar ist, wobei die Neigung des Schubmastes mittels eines ersten Neigungsantriebs und/oder die Neigung des Lastaufnahmemittels mittels eines zweiten Neigungsantriebs willkürlich einstellbar ist, dadurch gekennzeichnet, dass die eingestellte Neigung des Mastes zur Vertikalen oder des Lastaufnahmemittels zur Horizontalen gemessen wird und die Geschwindigkeit des Vorschubs des Schubmastes und der Hub- bzw. Senkbewegung des Lastaufnahmemittels nach Maßgabe des gemessenen Neigungswinkels so aufeinander abgestimmt werden, dass das Lastaufnahmemittel im Raum in Richtung der gemessenen Neigung bewegt wird, wenn der Vorschub des Mastes in Gang gesetzt wird.
- Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass die Vorschubgeschwindigkeit des Schubmastes gemessen und die Hub- oder Senkgeschwindigkeit des Lastaufnahmemittels nach einem vorgegebenen Algorithmus nach Maßgabe der Vorschubgeschwindigkeit und des Neigungswinkels berechnet und eingestellt wird.
- Schubmaststapler mit einem Schubmast, der mittels eines Mastantriebs auf eine aufzunehmende Last zu und von dieser fort auf einer horizontalen Führung verschiebbar ist, einem am Schubmast höhenverstellbar geführten Lastaufnahmemittel, das mittels eines Heben- und Senken-Antriebs betätigbar ist, wobei der Schubmast mittels eines Neigungsantriebs und/oder das Lastaufnahmemittel mittels eines zweiten Neigungsantriebs in der Neigung gegenüber der Vertikalen bzw. der Horizontalen veränderbar ist, dadurch gekennzeichnet, dass ein Neigungssensor (40) vorgesehen ist, der die Neigung des Lastaufnahmemittels (58) zur Horizontalen ermittelt, eine Geschwindigkeitsmessvorrichtung (54) vorgesehen ist, die die Geschwindigkeit des Schubmastes (48) und/oder des Lastaufnahmemittels (58) misst, eine Steuer- oder Regelvorrichtung (42, 60) vorgesehen ist, in die das Signal des Neigungssensors (40) und der Geschwindigkeitsmessvorrichtung (54) gegeben werden und in der Steuer- oder Regelvorrichtung (42, 60) ein Programm gespeichert ist, das nach Maßgabe des Neigungssignals und des Geschwindigkeitssignals die Hub- oder Senkgeschwindigkeit des Lastaufnahmemittels (58) oder die Vorschubgeschwindigkeit des Schubmastes (48) errechnet zur Ermittlung eines Stellsignals für den Heben- und Senken-Antrieb (56) bzw. den Mastantrieb (46).
- Schubmaststapler nach Anspruch 3, dadurch gekennzeichnet, dass u.a. Bedienelemente für den Schubmastantrieb (46) und den ersten und/oder zweiten Neigungsantrieb vorgesehen sind und die Steuer- und Regelvorrichtung (42, 60) die Hub- oder Senkgeschwindigkeit des Lastaufnahmemittels (58) nach Maßgabe der Mastgeschwindigkeit und des Neigungswinkels automatisch so einstellt, dass das Lastaufnahmemittel in Richtung der gemessenen Neigung bewegt wird, wenn durch Betätigung des Betätigungselements (52) für den Schubmastantrieb (46) dieser in Gang gesetzt wird.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE2003105902 DE10305902B4 (de) | 2003-02-13 | 2003-02-13 | Verfahren zum Betrieb eines Schubmaststaplers und Schubmaststapler zur Durchführung des Verfahrens |
DE10305902 | 2003-02-13 |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1447373A1 true EP1447373A1 (de) | 2004-08-18 |
EP1447373B1 EP1447373B1 (de) | 2006-08-23 |
Family
ID=32668048
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20040000942 Expired - Lifetime EP1447373B1 (de) | 2003-02-13 | 2004-01-17 | Verfahren zum Betrieb eines Schubmaststaplers und Schubmaststapler zur Durchführung des Verfahrens |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP1447373B1 (de) |
CN (1) | CN100339295C (de) |
DE (2) | DE10305902B4 (de) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105540493A (zh) * | 2016-02-01 | 2016-05-04 | 阿特拉斯科普柯(南京)建筑矿山设备有限公司 | 流动换电车 |
CN106115554A (zh) * | 2016-08-18 | 2016-11-16 | 甘培嘉 | 一种新型叉车 |
EP3336049A1 (de) * | 2016-12-15 | 2018-06-20 | Jungheinrich Aktiengesellschaft | Flurförderzeug mit einer steuereinheit zur regelung der bewegung einer last sowie ein entsprechendes verfahren |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102007015488A1 (de) | 2007-03-30 | 2008-10-02 | Still Wagner Gmbh | Schwingungskompensation am Hubgerüst eines Flurförderzeugs |
CN100575239C (zh) * | 2007-06-14 | 2009-12-30 | 王树生 | 轮对堆垛机 |
CN103601137A (zh) * | 2013-10-30 | 2014-02-26 | 安徽威玛重型机械制造有限公司 | 一种电动叉车的液压起升机构 |
CN104071577A (zh) * | 2014-06-30 | 2014-10-01 | 广西大学 | 一种可便捷堆取货物的移动堆垛机 |
AU2015318258B2 (en) | 2014-09-15 | 2019-02-14 | Crown Equipment Corporation | Lift truck with optical load sensing structure |
DE102014115152B4 (de) * | 2014-10-17 | 2023-09-28 | Jungheinrich Aktiengesellschaft | Schubmaststapler |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2308450A1 (de) * | 1973-02-21 | 1974-09-05 | Jungheinrich & Co Maschf | Hochregalstapler und regalstapelanlage |
DE2407756A1 (de) * | 1974-02-18 | 1975-08-28 | Norbert Karl Acker | Vorrichtung zum entspeichern von warenkanaelen |
US5131801A (en) * | 1990-12-10 | 1992-07-21 | Tandy Corporation | Forklift fork tilt angle indicator |
DE19641192A1 (de) * | 1996-09-24 | 1998-03-26 | Mannesmann Ag | Handhabungsgerät, insbesondere Regalbediengerät |
DE10101705A1 (de) * | 2000-01-21 | 2001-07-26 | Nippon Yusoki Co Ltd | Gabelstapler |
JP2003034495A (ja) * | 2001-07-17 | 2003-02-07 | Toyota Industries Corp | 産業車両における荷役制御装置及び産業車両 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3865265A (en) * | 1973-08-20 | 1975-02-11 | Brudi Equipment | Lift truck safety accessory |
GB2097959B (en) * | 1981-03-31 | 1984-09-12 | Toyoda Automatic Loom Works | Fork lift control system |
JPH11171494A (ja) * | 1997-12-11 | 1999-06-29 | Toyota Autom Loom Works Ltd | 産業車両のシリンダ制御装置 |
-
2003
- 2003-02-13 DE DE2003105902 patent/DE10305902B4/de not_active Expired - Fee Related
-
2004
- 2004-01-17 EP EP20040000942 patent/EP1447373B1/de not_active Expired - Lifetime
- 2004-01-17 DE DE200450001226 patent/DE502004001226D1/de not_active Expired - Lifetime
- 2004-02-13 CN CNB2004100049211A patent/CN100339295C/zh not_active Expired - Lifetime
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2308450A1 (de) * | 1973-02-21 | 1974-09-05 | Jungheinrich & Co Maschf | Hochregalstapler und regalstapelanlage |
DE2407756A1 (de) * | 1974-02-18 | 1975-08-28 | Norbert Karl Acker | Vorrichtung zum entspeichern von warenkanaelen |
US5131801A (en) * | 1990-12-10 | 1992-07-21 | Tandy Corporation | Forklift fork tilt angle indicator |
DE19641192A1 (de) * | 1996-09-24 | 1998-03-26 | Mannesmann Ag | Handhabungsgerät, insbesondere Regalbediengerät |
DE10101705A1 (de) * | 2000-01-21 | 2001-07-26 | Nippon Yusoki Co Ltd | Gabelstapler |
JP2003034495A (ja) * | 2001-07-17 | 2003-02-07 | Toyota Industries Corp | 産業車両における荷役制御装置及び産業車両 |
Non-Patent Citations (1)
Title |
---|
PATENT ABSTRACTS OF JAPAN vol. 2003, no. 06 3 June 2003 (2003-06-03) * |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105540493A (zh) * | 2016-02-01 | 2016-05-04 | 阿特拉斯科普柯(南京)建筑矿山设备有限公司 | 流动换电车 |
CN106115554A (zh) * | 2016-08-18 | 2016-11-16 | 甘培嘉 | 一种新型叉车 |
EP3336049A1 (de) * | 2016-12-15 | 2018-06-20 | Jungheinrich Aktiengesellschaft | Flurförderzeug mit einer steuereinheit zur regelung der bewegung einer last sowie ein entsprechendes verfahren |
US10549973B2 (en) | 2016-12-15 | 2020-02-04 | Jungheinrich Aktiengesellschaft | Industrial truck having a control unit for regulating the movement of a load and method therefor |
Also Published As
Publication number | Publication date |
---|---|
CN100339295C (zh) | 2007-09-26 |
CN1526635A (zh) | 2004-09-08 |
EP1447373B1 (de) | 2006-08-23 |
DE10305902A1 (de) | 2004-09-02 |
DE10305902B4 (de) | 2006-11-30 |
DE502004001226D1 (de) | 2006-10-05 |
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