EP1447374A2 - Stapler - Google Patents
Stapler Download PDFInfo
- Publication number
- EP1447374A2 EP1447374A2 EP04001791A EP04001791A EP1447374A2 EP 1447374 A2 EP1447374 A2 EP 1447374A2 EP 04001791 A EP04001791 A EP 04001791A EP 04001791 A EP04001791 A EP 04001791A EP 1447374 A2 EP1447374 A2 EP 1447374A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- inclination
- load
- fork
- drive
- mast
- 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
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
- B66F9/20—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 the claim 1.
- Forklifts usually consist of a load section and a drive section.
- the load part has a mast that can consist of several mast sections and the can be extended to great heights if necessary.
- the load handler consists primarily of a so-called load fork, the one or more Picks up pallets.
- a specialty of forklifts is the so-called reach truck, in which the mast can be moved horizontally between a position near the Drive part and a position distant therefrom.
- the load fork mostly movable across the mast using a suitable slider.
- Such one Sideshift allows precise and quick alignment of the pallet in the Shelf or the load fork to the pallet without the forklift changing its position got to.
- the invention has for its object to provide a stacker in which the Picking up and stacking pallets in larger lifting heights in a simple manner can be carried out.
- the control and regulating device is connected in a known manner Actuators for the lifting and lowering drive as well as for the tilt drive. If the mast is to be inclined, this is the case to operate a corresponding control element. If the stacker is a reach truck, a thrust actuator is provided for the mast, which over another Control element can be actuated. If the truck finally has a sideshift, a corresponding drive for the sideshift is required, which has a separate Control in the truck's cabin is operated.
- the invention provides when actuated by a separate actuator or by the anyway existing actuator for the tilt drive that the load fork automatically occupies its horizontal position. If the usual actuation or control element for the mode of operation, the automatic start of the Correctness is ensured by the load fork.
- the inclinometer can measure the inclination of the load fork in relation to the Identify the mast or the vehicle. However, it is not always guaranteed that the fork is aligned horizontally with appropriate control, because load-dependent bending of the mast or inclination of the vehicle is not taken into account. However, for a rough determination of the fork alignment such an analog sensor is quite sufficient.
- an inclinometer e.g. a so-called Inclinometer
- the absolute horizontal in the form of an electric spirit level Position e.g. a so-called Inclinometer
- the inclination signal of the inclination sensor is evaluated in this.
- the control device regulates these signals and initiates one Control process.
- the load fork can on request from Approach the driver automatically to the horizontal position. This also happens with possible misalignment of the vehicle or one caused by the load Deflection of the mast. In any case, the fork can be easily and without Collision into the pallet.
- the control and regulating device inputs Signal on the tilt drive to move to the horizontal position, if with the actuator for lifting and lowering a signal to lower and / or lifting the load handler is generated.
- the automatic adjustment in the horizontal position enables the omission of a work step that otherwise would occur before the next stacking game.
- the On-board computers are Parameters fed in for the stability of the vehicle are decisive.
- the on-board computer calculates the maximum driving speed from the signals. It is understood that the driving speed at high Load or with a large load weight must be smaller than with an unloaded vehicle with the load handler in a lower position.
- the inclination signal can also be given in the on-board computer are also used to modify the maximum driving speed of the truck Depends on the inclination position of the load fork.
- Conventional measuring devices can be used for the inclination sensor, and the The signals from the inclination sensor are transmitted via a cable to the circuit arrangement for the control and regulation device or also via a contactless one Transfer by known means.
- the reach truck shown in Fig. 1 is of conventional construction and has a drive part 10 and a load part 12.
- the load part 12 has a mast 14, e.g. with multiple mast sections and e.g. at a height of 12 m or more extendable.
- the load part 12 also has a load suspension device that adjustable in height on the mast 14.
- only one prong 16 is one Load fork recognizable, which is attached to a carriage, not shown, which in turn is horizontally displaceable.
- the guide required for this is on mast 14 height adjustable attached, as is known per se in forklifts.
- To the Drive part 10 are attached to wheel arms, which are spaced on both sides of the parallel Mastes 14 extend.
- a wheel arm can be seen at 18 in FIG. 1.
- the wheel arms 18 each store 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 and to move on this.
- a control element not shown, for driving the mast thrust intended.
- the mast 14 can also be changed in its inclination with the aid of a corresponding inclination drive.
- the tilt drive can in turn be operated 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 sideshift 24, the sideshift with the back 26 one in total is connected to 28 designated fork.
- the double arrow 30 gives that Mast thrust on and the curved double arrow 32 the possibility of inclination Mastes 14.
- a curved double arrow 34 gives the change in inclination the tines 16 or the fork 28 again.
- the drives for the described Adjustment movements are not shown, not even for adjusting the Fork tilt.
- An analog tilt sensor is assigned to the fork 28, which in FIG. 3 is 40 is designated.
- the inclination sensor determines the inclination of the tines 16 with respect to the horizontal, in the simplest case opposite the mast 14 or the forklift or - more precisely - absolutely compared to the horizontal.
- the tilt signal will in a control and regulating device 42 for the operation of the mast or the load handling device given.
- the inclination signal also reaches a display 42a, which is installed in the truck cabin. The driver can always tilt recognize the fork 28 relative to the horizontal.
- Fig. 3 44 denotes an operating element for lifting and lowering the load fork 28 or the guide 22 for the slide 24 of the load fork 28, 46 denotes a Control element for the inclination of the mast 14. 48 denotes a control element for the feed of the mast 14. 50 denotes an operating element for actuating the Sideshift 24 and thus referred to the side shift of the load fork 28. 52 a control element for changing the fork inclination. 54 denotes a Control element, e.g. a push button switch whose signal is like that of the others Operating elements 44 to 52 are given in the control and regulating device 42.
- the signal of the inclination sensor 40 thus serves as an actual signal for one Control loop, while the target signal by a set or measured and stored value is formed, the horizontal position of the fork equivalent.
- control element 44 in the control and Control device It is also possible to operate the control element 44 in the control and Control device to initiate a process, after which the fork 28 automatically in the horizontal is driven before a lifting or lowering process is initiated becomes.
- the inclination signal from the inclination sensor 40 can also be input to an on-board computer 56 be fed.
- the on-board computer 56 calculates the maximum speed for the traction motor, not shown, according to the criteria of stability.
- Known stability criteria are e.g. the load weight on the fork 28, the Height of the fork 28, the inclination of the mast 14, etc.
- With the inclination signal of the inclination sensor is another stability criterion in the on-board computer 56 given to determine a modification of the maximum driving speed. It goes without saying that an attempt is made to set the maximum driving speed as high as as possible to maximize throughput. By considering A large number of stability criteria can be used in this way Achieve optimization of stability on the one hand and driving speed on the other.
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
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.
Claims (4)
- Stapler mit einem Mast, einem eine Lastgabel aufweisenden Lastaufnahmemittel, das am Mast gelagert und mit Hilfe eines Heben- und Senkenantriebs in der Höhe verstellbar ist, wobei die Lastgabel mit Hilfe eines Neigungsantriebs gegenüber der Horizontalen verstellbar ist sowie einer mit Betätigungsorganen für den Heben- und Senkenantrieb und den Neigungsantrieb verbundene elektrische Steuer- und Regelvorrichtung für die entsprechenden Antriebe, dadurch gekennzeichnet, dass ein die Neigeposition der Lastgabel (28) erfassender Analogsensor (40) vorgesehen ist, dessen Neigungssignal auf die Steuer- und Regelvorrichtung (42) gegeben wird und die Steuer- und Regelvorrichtung (42) mit einem gesonderten Betätigungsorgan (54) für den Neigungsantrieb verbunden oder das Betätigungsorgan (52) für den Neigungsantrieb so ausgebildet ist, dass bei dessen Betätigung die Lastgabel (28) automatisch in eine vorgegebene, vorzugsweise waagerechte Position gefahren wird.
- Stapler nach Anspruch 1, dadurch gekennzeichnet, dass der Neigungssensor (40) die Neigungsposition der Lastgabel (28) relativ zur Waagerechten misst.
- Stapler nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die Steuer- und Regelvorrichtung (42) ein Signal auf den Neigungsantrieb zum Anfahren der Waagerechten gibt, wenn mit dem Betätigungsorgan (46) für den Heben- und Senkenbetrieb ein Signal zum Absenken oder Anheben des Lastaufnahmemittels (28) erzeugt wird.
- Stapler nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die Steuer- und Regelvorrichtung (42) mit einem Bordcomputer (56) verbunden und/oder Teil davon ist, der Bordcomputer (56) nach Maßgabe von Stabilitätskriterien die Fahr- und/oder Kurvengeschwindigkeit des Staplers begrenzt und das Neigungssignal des Neigungssensors (40) auf den Bordcomputer (56) gegeben wird zur Modifikation der maximalen Fahrgeschwindigkeit des Staplers in Abhängigkeit von dem Neigungssignal des Neigungssensors (40).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10305900.8A DE10305900C5 (de) | 2003-02-13 | 2003-02-13 | Stapler |
DE10305900 | 2003-02-13 |
Publications (4)
Publication Number | Publication Date |
---|---|
EP1447374A2 true EP1447374A2 (de) | 2004-08-18 |
EP1447374A3 EP1447374A3 (de) | 2004-08-25 |
EP1447374B1 EP1447374B1 (de) | 2008-03-05 |
EP1447374B2 EP1447374B2 (de) | 2011-09-14 |
Family
ID=32668046
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP04001791A Expired - Fee Related EP1447374B2 (de) | 2003-02-13 | 2004-01-28 | Stapler |
Country Status (4)
Country | Link |
---|---|
US (1) | US7322444B2 (de) |
EP (1) | EP1447374B2 (de) |
CN (1) | CN100447072C (de) |
DE (2) | DE10305900C5 (de) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9932213B2 (en) | 2014-09-15 | 2018-04-03 | Crown Equipment Corporation | Lift truck with optical load sensing structure |
US10430073B2 (en) | 2015-07-17 | 2019-10-01 | Crown Equipment Corporation | Processing device having a graphical user interface for industrial vehicle |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10305901B4 (de) * | 2003-02-13 | 2006-11-30 | Jungheinrich Aktiengesellschaft | Schubmaststapler |
EP1896665A1 (de) * | 2005-06-22 | 2008-03-12 | Volvo Construction Equipment Holding Sweden AB | System und verfahren zur steuerung der neigung eines lasttragenden geräts einer beweglichen arbeitsmaschine und bewegliche arbeitsmaschine |
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 (de) * | 2010-11-01 | 2013-04-17 | BT Products AB | Industriefahrzeug, Verfahren und Computerprogramm zum Steuern eines Industriefahrzeugs |
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 |
DK2982639T3 (en) * | 2014-08-04 | 2018-12-17 | Manitou Italia Srl | LATERAL STABILIZATION SYSTEM |
DE102015101201A1 (de) | 2014-12-16 | 2016-06-16 | Still Gmbh | Verfahren zur Neigungserfassung einer Lastaufnahmevorrichtung |
US10315853B2 (en) | 2015-08-10 | 2019-06-11 | Superior Industries, Inc. | Conveyor leveling systems and methods |
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 |
KR102447587B1 (ko) | 2016-11-22 | 2022-09-28 | 크라운 이큅먼트 코포레이션 | 산업용 차량을 위한 사용자 인터페이스 디바이스 |
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***和方法 |
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 |
Citations (8)
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 |
JPH09156895A (ja) * | 1995-12-14 | 1997-06-17 | Komatsu Forklift Co Ltd | フォークリフトトラックのチルト自動水平停止装置 |
JPH09295800A (ja) * | 1996-05-01 | 1997-11-18 | Toyota Autom Loom Works Ltd | フォークリフトのティルト制御装置 |
EP0866027A2 (de) † | 1997-03-21 | 1998-09-23 | Kabushiki Kaisha Toyoda Jidoshokki Seisakusho | Hydraulisches Steuergerät für Flurförderzeuge |
DE10028808A1 (de) † | 2000-06-15 | 2002-01-03 | Martin Pfeil Trawid Gmbh | Hubfahrzeug |
JP2002167193A (ja) * | 2000-11-29 | 2002-06-11 | Komatsu Forklift Co Ltd | フォークリフトの荷役制御装置 |
DE10100357A1 (de) † | 2001-01-05 | 2002-08-01 | Still Gmbh | Gabelstapler mit einem neigbaren Hubgerüst |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
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US3619458A (en) * | 1969-03-26 | 1971-11-09 | Cefilac | Method of making a gasket |
SE415018B (sv) * | 1977-11-30 | 1980-09-01 | Sven Petersson | Indikator for visande av lutningen hos griporganen pa en gaffeltruck |
GB2097959B (en) * | 1981-03-31 | 1984-09-12 | Toyoda Automatic Loom Works | Fork lift control system |
DE3639218A1 (de) * | 1986-11-15 | 1988-05-26 | Karl Joh Gummiwarenfab | Ventildeckel fuer den zylinderkopf eines verbrennungsmotors |
US4942529A (en) * | 1988-05-26 | 1990-07-17 | The Raymond Corporation | Lift truck control systems |
US5217663A (en) * | 1989-03-23 | 1993-06-08 | Cabot Safety Corporation | Molding method for scrubbing sponge |
US5031924A (en) * | 1989-11-30 | 1991-07-16 | Blackstone Corporation | Twist indicator gasket |
US5076557A (en) * | 1989-11-30 | 1991-12-31 | Blackstone Corporation | Twist indicator gasket |
US5263444A (en) * | 1993-02-16 | 1993-11-23 | General Motors Corporation | Seal, and sealed T-joint |
CN2191204Y (zh) * | 1993-09-01 | 1995-03-08 | 中国人民解放军军械研究所 | 叉车门架相对垂直状态传感控制器 |
IT1269440B (it) * | 1994-01-19 | 1997-04-01 | Fita Om Carrelli Elevatori S P | Carrello elevatore a motorizzazione elettrica |
FR2738126B1 (fr) * | 1995-08-30 | 1997-10-03 | Oreal | Mascara transportable |
JPH1135298A (ja) * | 1997-07-15 | 1999-02-09 | Toyota Autom Loom Works Ltd | 産業車両用揺動制御装置 |
-
2003
- 2003-02-13 DE DE10305900.8A patent/DE10305900C5/de not_active Expired - Lifetime
-
2004
- 2004-01-28 EP EP04001791A patent/EP1447374B2/de not_active Expired - Fee Related
- 2004-01-28 DE DE502004006372T patent/DE502004006372D1/de not_active Expired - Lifetime
- 2004-02-10 US US10/775,420 patent/US7322444B2/en active Active
- 2004-02-13 CN CNB2004100049264A patent/CN100447072C/zh not_active Expired - Lifetime
Patent Citations (8)
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 |
JPH09156895A (ja) * | 1995-12-14 | 1997-06-17 | Komatsu Forklift Co Ltd | フォークリフトトラックのチルト自動水平停止装置 |
JPH09295800A (ja) * | 1996-05-01 | 1997-11-18 | Toyota Autom Loom Works Ltd | フォークリフトのティルト制御装置 |
EP0866027A2 (de) † | 1997-03-21 | 1998-09-23 | Kabushiki Kaisha Toyoda Jidoshokki Seisakusho | Hydraulisches Steuergerät für Flurförderzeuge |
DE10028808A1 (de) † | 2000-06-15 | 2002-01-03 | Martin Pfeil Trawid Gmbh | Hubfahrzeug |
JP2002167193A (ja) * | 2000-11-29 | 2002-06-11 | Komatsu Forklift Co Ltd | フォークリフトの荷役制御装置 |
DE10100357A1 (de) † | 2001-01-05 | 2002-08-01 | Still Gmbh | Gabelstapler mit einem neigbaren Hubgerüst |
Non-Patent Citations (3)
Title |
---|
PATENT ABSTRACTS OF JAPAN Bd. 1997, Nr. 10, 31. Oktober 1997 (1997-10-31) -& JP 09 156895 A (KOMATSU FORKLIFT CO LTD), 17. Juni 1997 (1997-06-17) * |
PATENT ABSTRACTS OF JAPAN Bd. 1998, Nr. 03, 27. Februar 1998 (1998-02-27) -& JP 09 295800 A (TOYOTA AUTOM LOOM WORKS LTD), 18. November 1997 (1997-11-18) * |
PATENT ABSTRACTS OF JAPAN Bd. 2002, Nr. 10, 10. Oktober 2002 (2002-10-10) -& JP 2002 167193 A (KOMATSU FORKLIFT CO LTD), 11. Juni 2002 (2002-06-11) * |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9932213B2 (en) | 2014-09-15 | 2018-04-03 | Crown Equipment Corporation | Lift truck with optical load sensing structure |
US10430073B2 (en) | 2015-07-17 | 2019-10-01 | Crown Equipment Corporation | Processing device having a graphical user interface for industrial vehicle |
Also Published As
Publication number | Publication date |
---|---|
CN1521115A (zh) | 2004-08-18 |
DE502004006372D1 (de) | 2008-04-17 |
DE10305900B4 (de) | 2007-04-05 |
DE10305900A1 (de) | 2004-09-02 |
EP1447374B1 (de) | 2008-03-05 |
US20040159499A1 (en) | 2004-08-19 |
EP1447374B2 (de) | 2011-09-14 |
DE10305900C5 (de) | 2014-04-17 |
CN100447072C (zh) | 2008-12-31 |
EP1447374A3 (de) | 2004-08-25 |
US7322444B2 (en) | 2008-01-29 |
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