EP1669319B1 - Floor conveyor comprising a liftable device for picking up loads - Google Patents

Floor conveyor comprising a liftable device for picking up loads Download PDF

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Publication number
EP1669319B1
EP1669319B1 EP05026402.7A EP05026402A EP1669319B1 EP 1669319 B1 EP1669319 B1 EP 1669319B1 EP 05026402 A EP05026402 A EP 05026402A EP 1669319 B1 EP1669319 B1 EP 1669319B1
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EP
European Patent Office
Prior art keywords
floor conveyor
load
picking
loads
devices
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EP05026402.7A
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German (de)
French (fr)
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EP1669319A1 (en
Inventor
Francois Brouart
Paulo Ferreira
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Still SpA
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Om Carrelli Elevatori SpA
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Publication of EP1669319A1 publication Critical patent/EP1669319A1/en
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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
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors

Definitions

  • the invention relates to an industrial truck with a liftable load-receiving means.
  • trucks are used to record loads in the in-house goods transport both near the ground and at higher altitudes or can settle. Since industrial buildings were frequently constructed before such trucks were used, sometimes heights in certain areas and heights under obstacles are lower than the maximum lifting height of a truck. If such a situation is not noticed by the truck operator in time and the maximum permitted lifting height in these areas is exceeded, severe damage to the load or the truck may occur. To avoid this, the maximum lifting height can be limited to a safe level, but it is no longer possible to exploit the greater height of other building parts for storage purposes.
  • the invention is therefore an object of the invention to provide an industrial truck with a liftable load-carrying, in which the reliability of the truck improved and the risk of damage to cargo and / or truck is excluded, especially at very high lifting heights.
  • Non-contact distance determination is possible over longer distances. By avoiding contact, there is no risk of damaging both the measuring means and the obstacle to be detected.
  • the means for determining the distance comprise at least one transmitting unit and / or at least one receiving unit for electromagnetic radiation, preferably with a wavelength in the range of a few centimeters.
  • Decency measurement by electromagnetic radiation is particularly simple and reliable feasible, for example, upper transit time measurements.
  • the radar technology which works in a wavelength range of a few centimeters, offers advantages, since it is insensitive to disturbing influences, such as, for example, soiling in the air.
  • the means for distance determination comprise at least one transmitting unit and / or at least one receiving unit for sound waves, preferably with a wavelength outside the human hearing range.
  • Sound waves provide a simple via run time measurements Possibility for distance measurement. There is no potentially interfering electromagnetic radiation. If a wavelength outside the human hearing range is selected, disturbances of the operator or bystanders are avoided.
  • the means for determining the distance are arranged in the area of a lifting mast, preferably at the highest point of the lifting mast and / or on the load receiving means. As a result, the distances to be measured are short and disturbances of the measuring path, for example by objects stored on the transmitting or receiving units, are avoided. If the means for determining the distance are attached to a movable part of the lifting device, such as the load receiving means, the change in the distance is detected directly.
  • the means for determining the distance with an electrical control unit of the truck preferably by means of wireless transmission means in operative connection.
  • a limitation of the lifting height of the lifting device to a value is vorappelbar, which precludes a collision between located above and / or below the lifting device obstacles and parts of the truck and / or the load. Since the distance to the obstacle detected and known in the control unit, the load-receiving means is stopped before reaching a lifting height, which can cause damage to the truck or the load. The operator does not have to concentrate on avoiding a possible collision between obstacle and load / truck and can perform the lifting operations quickly.
  • the means for determining the distance comprise at least one device independent of the power supply of the truck for supplying energy, preferably a battery. As a result, no additional cabling on the truck occurs, which is very high especially when attached to moving parts.
  • FIG. 1 schematically shows a stacker 1 according to the invention with four different stroke positions of the load receiving means 2.
  • the stacker 1 is divided into a drive part 3 and a load part 4.
  • drive motor for the steerable drive wheel 4 and a control unit 5 for controlling the drive - and lifting functions housed.
  • a arranged in the drive part 2 battery to power the high-lift truck 1 serves.
  • the vehicle 1 is steered by means of a drawbar 6, wherein operating elements 8 for controlling the functions of the industrial truck 1 are mounted on the tiller head 7.
  • the load part 3 of the truck 1 comprises a mast 9 on which a liftable load-receiving means 2 is guided.
  • the mast 9 is composed of an outer, fixed part, the so-called stationary mast 10 and an inner part which can be extended upward, the so-called mast 11.
  • the load-carrying means 2 is fork-shaped and located in the position I, in for example, pallets or lattice boxes can be picked up from the ground.
  • the load-receiving means 2 is moved upwards on the mast 9 via a hydraulic cylinder, not shown here, and thus finally reaches position II.
  • the mast 11 remains in its position during this process. If greater lifting heights are to be achieved, the vertical movement of the load receiving means 2 is generated by the extension of the traveling mast 11, while the load receiving means 2 does not change its position relative to the traveling mast 11. In this way, the position III is achieved on continuation of the lifting movement and finally in the maximum extended position IV.
  • a radar unit 12 is attached as means for determining the distance of obstacles located above the lifting device.
  • the basic structure of this radar unit 12 is shown schematically in FIG FIG. 2 shown.
  • An electronic control unit 13 is in operative connection with a transmitting unit 14 for transmitting radar waves.
  • the radar waves emitted by the transmitting unit 14 are reflected by an obstacle and detected by a receiving unit 15.
  • the distance to an obstacle is calculated from the transit time from the emission of the signal to the arrival of the echo.
  • a transmitting device 16 connected to the control unit 13 sends this information to the control unit 5 of the industrial truck.
  • a battery 17 is used to power the radar device 12.
  • the radar unit 12 is attached to the upper end of the traveling mast 11.
  • An attachment as far above the truck 1 is advantageous because then no components of the truck 1 protrude into the measuring range.
  • the attachment to the mast 11 is advantageous because on the one hand the risk of damage to the radar unit 12 during operation is low and the radar unit 12 is still easily accessible, for example, for maintenance.
  • the mast 11 is extended to achieve greater heights, whereby the distance between an obstacle, such as a building ceiling, and the radar unit 12 is reduced.
  • the detected distance values are transmitted in the above-described manner to the control unit 5 of the truck 1.
  • the control unit 5 transmits the data to a display device 18, which indicates the distance of the uppermost part of the truck 1, which is the radar unit 12 in the embodiment shown, to the obstacle.
  • a display device 18 indicates the distance of the uppermost part of the truck 1, which is the radar unit 12 in the embodiment shown, to the obstacle.
  • different colored lighting elements are also provided, which are activated as a function of the distance to an obstacle. If there is no obstacle within the lifting height of the truck 1, no lighting element is active, there is an obstacle within the possible lifting height, but still a sufficient safety distance is maintained with the highest possible load, a green light element is active. As a result, the operator recognizes at a glance that the risk of a collision continues as the load is lifted further.
  • a yellow indicator element lights up If the load-carrying means 2 and thus the traveling mast 11 reaches a lifting height at which, in addition to an appropriate safety area, the highest expected load would collide with the obstacle, a yellow indicator element lights up. Now the operator knows that they have to be very careful, because depending on the height of the load a collision is possible. If the radar unit 12, and thus the uppermost point of the industrial truck 1, comes into an area in which the distance to an obstacle is less than a suitably selected safety area when the lifting device 2 is lifted further, a red indicator element lights up. The operator now knows that a collision of the traveling mast 11 of the industrial truck 1 with the obstacle is imminent. Immediately before a collision of the radar unit 12 as the uppermost point of the truck 1 with the obstacle of the lifting drive is disabled and the red indicator flashes.
  • the security areas are each selected so that with a reasonable reaction time of the operator still a safe stopping of the lifting device is possible before the actually assigned to the mecanicmeni area is reached.
  • means for detecting the height of the load are present.
  • This can be both measuring devices that determine the height of the load, for example, also via non-contact methods, as well Devices by means of which the height of the load can be entered by the operator or, in particular in standardized load-handling devices such as lattice boxes, can be detected automatically.
  • the specification of the load height by the operator can be carried out, for example, via a keyboard, but also by a scanner device which reads coded information on the load or in freight documents.
  • the control device 5 of the distance value which is detected by the radar device 12
  • the difference between the height of the load and subtracts the distance between the highest point of the truck and the upper edge 18 of the prong 19 of the lifting device 2 of this distance value is the distance between the upper edge of the load and the obstacle and can therefore be processed in the manner described above, ie displayed in a display unit or used to limit the lifting height.
  • a location other than that shown for the means for detecting an obstacle for example the driver's safety roof of a counterbalanced forklift or of a reach truck.
  • the mounting location is also decisive for the choice of the power supply and the information transmission between the device for detecting an obstacle and the control unit of the truck.
  • a stand-alone power supply and wireless transmission of the distance information is advantageous because it significantly reduces the cabling. Even with retrofittable devices for detecting an obstacle, such a solution is advantageous.
  • a connection via cable for the transmission of energy and / or information is very secure and requires little maintenance.
  • the transmitting unit 14 and the receiving unit 15 for the radar signal as well as the electronic control unit 13 used for the evaluation can be mounted at different locations of the industrial truck 1.
  • Such means are in particular also advantageous when working in shelves or at a loading dock where too much lowering of the load handling device may cause damage to the truck or the ramp or the rack.
  • the display device may differ in type and attachment of the described embodiment, for example, by an acoustic warning is provided or a visual display in the form of a scale.

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

Description

Die Erfindung betrifft ein Flurförderzeug mit einem anhebbaren Lastaufnahmemittel. Derartige Flurförderzeuge werden verwendet, um im innerbetrieblichen Warentransport Lasten sowohl bodennah als auch in größeren Höhen aufnehmen beziehungsweise absetzen zu können. Da Gebäude von Industriebetrieben häufig erstellt wurden, bevor derartige Flurförderzeuge zum Einsatz kamen, sind bisweilen in einzelnen Bereichen Deckenhöhen und Durchfahrtshöhen unter Hindernissen niedriger als die maximale Hubhöhe eines Flurförderzeugs. Wird eine solche Situation von der Bedienperson des Flurförderzeugs nicht rechtzeitig bemerkt und die in diesen Bereichen maximal zulässige Hubhöhe überschritten, kann es zu schweren Beschädigungen des Ladegutes oder des Flurförderzeugs kommen. Um dies zu vermeiden, kann die maximale Hubhöhe auf ein ungefährliches Maß begrenzt werden, doch ist damit eine Ausnutzung der größeren Höhe anderer Gebäudeteile für Lagerzwecke nicht mehr möglich.The invention relates to an industrial truck with a liftable load-receiving means. Such trucks are used to record loads in the in-house goods transport both near the ground and at higher altitudes or can settle. Since industrial buildings were frequently constructed before such trucks were used, sometimes heights in certain areas and heights under obstacles are lower than the maximum lifting height of a truck. If such a situation is not noticed by the truck operator in time and the maximum permitted lifting height in these areas is exceeded, severe damage to the load or the truck may occur. To avoid this, the maximum lifting height can be limited to a safe level, but it is no longer possible to exploit the greater height of other building parts for storage purposes.

Wenn eine Bedienperson die Gefahr einer Berührung mit einem Hindernis erkannt hat, ist es dennoch häufig schwierig, insbesondere bei großen Hubhöhen, den Abstand der Last oder des Hubmastes von einem Hindernis richtig einzuschätzen. Die Bedienperson wird darum in diesen Bereichen mit besonderer Sorgfalt arbeiten und dementsprechend eine langsame Hubgeschwindigkeit wählen, so dass die Produktivität des Flurförderzeugs deutlich sinkt.Nevertheless, when an operator has recognized the risk of contact with an obstacle, it is often difficult, especially at high lifting heights, to correctly estimate the distance of the load or mast from an obstacle. The operator will therefore work in these areas with particular care and accordingly choose a slow lifting speed, so that the productivity of the truck drops significantly.

Aus der US 5,906,648 A ist ein Flurförderzeug mit einem anhebbaren Lastaufnahmemittel bekannt. Weiter ist aus der Druckschrift eine Hubsteuerung bekannt, um das Lastaufnahmemittel zwischen einer festgelegten sicheren Stellung und einer angehobenen Stellung zu bewegen. Durch Sensoren wird die Stellung festgestellt sowie erfasst, ob ein Benutzer über die sichere Stellung anheben will. Ist dies nicht der Fall, wird automatisch in die sichere Stellung gefahren.From the US 5,906,648 A is known an industrial truck with a liftable load-carrying means. Further, from the document a stroke control is known to move the load-carrying means between a fixed safe position and a raised position. Sensors determine the position and determine whether a user wants to lift over the safe position. If this is not the case, it automatically moves to the safe position.

Der Erfindung liegt daher die Aufgabe zugrunde, ein Flurförderzeug mit einem anhebbaren Lastaufnahmemittel zu schaffen, bei dem die Betriebssicherheit des Flurförderzeugs verbessert und die Gefahr einer Beschädigung von Ladegut und/oder Flurförderzeug insbesondere bei besonders hohen Hubhöhen ausgeschlossen wird.The invention is therefore an object of the invention to provide an industrial truck with a liftable load-carrying, in which the reliability of the truck improved and the risk of damage to cargo and / or truck is excluded, especially at very high lifting heights.

Diese Aufgabe wird durch Flurförderzeuge nach Anspruch 1 oder 2 gelöst. Wenn der Abstand zwischen Hindernissen und einer Last beziehungsweise dem Flurförderzeug bekannt ist, können Maßnahmen getroffen werden, die geeignet sind, eine Kollision verhindern. Aufgrund dieser Maßnahmen muss die Bedienperson weniger Aufmerksamkeit auf die Vermeidung von Kollisionen richten und kann dadurch ermüdungsfreier und schneller arbeiten. Als Hindernisse oberhalb beziehungsweise unterhalb des Lastaufnahmemittels werden Hindernisse angesehen, die sich in einem Bereich befinden, der oberhalb beziehungsweise unterhalb der durch das Lastaufnahmemittel, insbesondere die Zinken eines gabelförmigen Lastaufnahmemittels definierten annähernd waagerechten Ebene liegt und parallel zu dieser Ebene eine Ausdehnung besitzt, die maximal in etwa der Ausdehnung der größten zu erwartenden Last zuzüglich eines Sicherheitsabstands von einigen Dezimetern entspricht. Durch Mittel zur Erfassung der Höhe der Last kann festgestellt werden, ob die Last beim Anheben über das höchste Teil des Flurförderzeugs hinausragt. In diesem Fall ist der Abstand zwischen dem höchsten Teil der Last und dem niedrigsten Teil des Hindernisses maßgebend für die Gefahr einer Kollision.This object is achieved by trucks according to claim 1 or 2. If the distance between obstacles and a load or the truck is known, measures can be taken that are suitable to prevent a collision. As a result of these measures, the operator must pay less attention to the avoidance of collisions and thus be able to work more fatigue-free and faster. As obstacles above or below the lifting device obstacles are considered, which are located in an area which is above or below the load receiving means, in particular the tines of a fork-shaped load-receiving device defined approximately horizontal plane and parallel to this plane has an extent, the maximum in corresponds approximately to the extent of the largest expected load plus a safety margin of a few decimeters. By means of detecting the height of the load, it can be determined whether the load protrudes beyond the highest part of the truck during lifting. In this case, the distance between the highest part of the load and the lowest part of the obstacle is decisive for the risk of a collision.

Es ist besonders vorteilhaft, wenn die Mittel zur Abstandsbestimmung einem berührungslosen Wirkprinzip folgen. Eine berührungslose Abstandsbestimmung ist auch über größere Entfernungen möglich. Indem Berührung vermieden wird, besteht keine Gefahr einer Beschädigung sowohl des Messmittels als auch des zu erfassenden Hindernisses.It is particularly advantageous if the means for distance determination follow a non-contact principle of action. Non-contact distance determination is possible over longer distances. By avoiding contact, there is no risk of damaging both the measuring means and the obstacle to be detected.

In einer besonders vorteilhaften Ausgestaltung der Erfindung umfassen die Mittel zur Abstandsbestimmung mindestens eine Sendeeinheit und/oder mindestens eine Empfangseinheit für elektromagnetische Strahlung, vorzugsweise mit einer Wellenlänge im Bereich von einigen Zentimetern. Anstandsmessung durch elektromagnetische Strahlung ist besonders einfach und zuverlässig durchführbar, beispielsweise Ober Laufzeitmessungen. Gegenüber Verfahren mit sichtbarem Licht oder Infrarotstrahlung bietet die Radartechnik, die in einem Wellenlängenbereich von einigen Zentimetern arbeitet, Vorteile, da diese gegenüber Störeinflüssen, wie beispielsweise Verschmutzungen in der Luft, unempfindlich ist.In a particularly advantageous embodiment of the invention, the means for determining the distance comprise at least one transmitting unit and / or at least one receiving unit for electromagnetic radiation, preferably with a wavelength in the range of a few centimeters. Decency measurement by electromagnetic radiation is particularly simple and reliable feasible, for example, upper transit time measurements. Compared with processes with visible light or infrared radiation, the radar technology, which works in a wavelength range of a few centimeters, offers advantages, since it is insensitive to disturbing influences, such as, for example, soiling in the air.

In einer weiteren zweckmäßigen Ausgestaltung der Erfindung umfassen die Mittel zur Abstandsbestimmung mindestens eine Sendeeinheit und/oder mindestens eine Empfangseinheit für Schallwellen, vorzugsweise mit einer Wellenlänge außerhalb des menschlichen Hörbereichs. Schallwellen bieten über Laufzeitmessungen eine einfache Möglichkeit zur Entfernungsmessung. Es entsteht keine möglicherweise störende elektromagnetische Strahlung. Wird eine Wellenlänge außerhalb des menschlichen Hörbereichs gewählt, werden Störungen der Bedienperson oder umstehender Personen vermieden.In a further expedient embodiment of the invention, the means for distance determination comprise at least one transmitting unit and / or at least one receiving unit for sound waves, preferably with a wavelength outside the human hearing range. Sound waves provide a simple via run time measurements Possibility for distance measurement. There is no potentially interfering electromagnetic radiation. If a wavelength outside the human hearing range is selected, disturbances of the operator or bystanders are avoided.

Es ist vorteilhaft, wenn die Mittel zur Abstandsbestimmung im Bereich eines Hubmastes, vorzugsweise am höchsten Punkt des Hubmastes und/oder am Lastaufnahmemittel, angeordnet sind. Dadurch sind die zu messenden Abstände kurz und Störungen des Messwegs, beispielsweise durch auf den Sende- oder Empfangseinheiten abgelegte Gegenstände werden vermieden. Werden die Mittel zur Abstandsbestimmung an einem beweglichen Teil der Hubvorrichtung, wie beispielsweise dem Lastaufnahmemittel, angebracht, wird die Veränderung des Abstandes direkt erfasst.It is advantageous if the means for determining the distance are arranged in the area of a lifting mast, preferably at the highest point of the lifting mast and / or on the load receiving means. As a result, the distances to be measured are short and disturbances of the measuring path, for example by objects stored on the transmitting or receiving units, are avoided. If the means for determining the distance are attached to a movable part of the lifting device, such as the load receiving means, the change in the distance is detected directly.

In einer besonders vorteilhaften Ausgestaltung der Erfindung stehen die Mittel zur Abstandsbestimmung mit einer elektrischen Steuereinheit des Flurförderzeugs vorzugsweise mittels drahtloser Übertragungsmittel in Wirkverbindung. Dadurch wird die Information über den Abstand zwischen einem Hindernis und Teilen des Flurförderzeugs oder der Last für die Steuereinheit verfügbar und kann zu Steuerungszwecken verwendet werdenIn a particularly advantageous embodiment of the invention, the means for determining the distance with an electrical control unit of the truck preferably by means of wireless transmission means in operative connection. Thereby, the information about the distance between an obstacle and parts of the truck or the load for the control unit becomes available and can be used for control purposes

Es ist von Vorteil, wenn mittels der elektrischen Steuereinheit eine Begrenzung der Hubhöhe des Lastaufnahmemittels auf einen Wert vornehmbar ist, der eine Kollision zwischen oberhalb und/oder unterhalb des Lastaufnahmemittels befindlichen Hindernissen und Teilen des Flurförderzeugs und/oder der Last ausschließt. Da der Abstand zum Hindernis erfasst und in der Steuereinheit bekannt ist, wird vor Erreichen einer Hubhöhe, die zu Beschädigungen am Flurförderzeug oder der Last führen kann, das Lastaufnahmemittel gestoppt. Die Bedienperson muss sich nicht auf die Vermeidung einer möglichen Kollision zwischen Hindernis und Last/Flurförderzeug konzentrieren und kann die Hubvorgänge zügig durchführen.It is advantageous if by means of the electrical control unit, a limitation of the lifting height of the lifting device to a value is vornehmbar, which precludes a collision between located above and / or below the lifting device obstacles and parts of the truck and / or the load. Since the distance to the obstacle detected and known in the control unit, the load-receiving means is stopped before reaching a lifting height, which can cause damage to the truck or the load. The operator does not have to concentrate on avoiding a possible collision between obstacle and load / truck and can perform the lifting operations quickly.

Es Ist besonders zweckmäßig, wenn mindestens eine Anzeigevorrichtung zur Signalisierung des Abstandes zwischen oberhalb und/oder unterhalb des Lastaufnahmemittels befindlichen Hindernissen und/oder der Last vorgesehen ist. Dadurch wird die Bedienperson auf eine mögliche Gefahr aufmerksam gemacht und kann diese besonders gut einschätzen. Sie kann zügig und dennoch umsichtig die Hubfunktionen bedienen. Zweckmäßigerweise umfassen die Mittel zur Abstandsbestimmung mindestens eine von der Energieversorgung des Flurförderzeugs unabhängige Vorrichtung zur Energieversorgung, vorzugsweise eine Batterie. Dadurch tritt kein zusätzlicher Verkabelungsaufwand am Flurförderzeug auf, der insbesondere bei einer Anbringung an beweglichen Teilen sehr hoch ist.It is particularly expedient if at least one display device for signaling the distance between above and / or below the lifting device located obstacles and / or the load is provided. As a result, the operator is alerted to a possible danger and can assess this particularly well. It can quickly and yet carefully operate the lifting functions. Expediently, the means for determining the distance comprise at least one device independent of the power supply of the truck for supplying energy, preferably a battery. As a result, no additional cabling on the truck occurs, which is very high especially when attached to moving parts.

Weitere Vorteile und Einzelheiten der Erfindung werden anhand der in den schematischen Figuren dargestellten Ausführungsbeispiele näher erläutert. Dabei zeigt

Figur 1
die Seitenansicht eines erfindungsgemäßen Hochhubwagens mit vier verschiedenen Hubpositionen des Lastaufnahmemittels.
Figur 2
den schematischen Aufbau einer Vorrichtung zur Abstandsbestimmung von oberhalb und/oder unterhalb des Lastaufnahmemittels befindlichen Hindernissen zu Teilen des Flurförderzeugs und/oder einer auf dem Lastaufnahmemittel befindlichen Last.
Further advantages and details of the invention will be explained in more detail with reference to the embodiments illustrated in the schematic figures. It shows
FIG. 1
the side view of a high-lift truck according to the invention with four different stroke positions of the lifting device.
FIG. 2
the schematic structure of a device for determining the distance of located above and / or below the lifting device obstacles to parts of the truck and / or located on the load-carrying load.

Figur 1 zeigt schematisch einen erfindungsgemäßen Hochhubwagen 1 mit vier verschiedenen Hubpositionen des Lastaufnahmemittels 2. Der Hochhubwagen 1 gliedert sich in einen Antriebsteil 3 und einen Lastteil 4. Im Antriebsteil 2 ist der hier nicht dargestellte Antriebsmotor für das lenkbare Antriebsrad 4 und eine Steuerungseinheit 5 zur Ansteuerung der Antriebs- und Hubfunktionen untergebracht. Nicht dargestellt ist eine im Antriebsteil 2 angeordnete Batterie, die zur Energieversorgung des Hochhubwagens 1 dient. Gelenkt wird das Fahrzeug 1 über eine Deichsel 6, wobei am Deichselkopf 7 Bedienelemente 8 zur Steuerung der Funktionen des Flurförderzeugs 1 angebracht sind.
Der Lastteil 3 des Flurförderzeugs 1 umfasst ein Hubgerüst 9 an dem ein anhebbares Lastaufnahmemittel 2 geführt ist. Das Hubgerüst 9 setzt sich aus einem äußeren, feststehenden Teil, dem so genannten Standmast 10 und einem inneren Teil zusammen, der nach oben ausfahrbar ist, dem so genannten Fahrmast 11. Das Lastaufnahmemittel 2 ist gabelförmig ausgeführt und befindet sich in der Position I, in der beispielsweise Paletten oder Gitterboxen vom Boden aufgenommen werden können. Um die Last anzuheben, wird das Lastaufnahmemittel 2 über einen hier nicht dargestellten Hydraulikzylinder am Hubgerüst 9 nach oben bewegt und erreicht so schließlich die Position II. Der Fahrmast 11 bleibt bei diesem Vorgang in seiner Position. Sollen größere Hubhöhen erreicht werden, wird die Vertikalbewegung des Lastaufnahmemittels 2 durch das Ausfahren des Fahrmasts 11 erzeugt, während das Lastaufnahmemittel 2 gegenüber dem Fahrmast 11 seine Position nicht mehr ändert. Auf diese Weise wird bei Fortführung der Hubbewegung die Position III und schließlich in maximal ausgefahrenem Zustand die Position IV erreicht. FIG. 1 schematically shows a stacker 1 according to the invention with four different stroke positions of the load receiving means 2. The stacker 1 is divided into a drive part 3 and a load part 4. In the drive part 2 is not shown here drive motor for the steerable drive wheel 4 and a control unit 5 for controlling the drive - and lifting functions housed. Not shown is a arranged in the drive part 2 battery to power the high-lift truck 1 serves. The vehicle 1 is steered by means of a drawbar 6, wherein operating elements 8 for controlling the functions of the industrial truck 1 are mounted on the tiller head 7.
The load part 3 of the truck 1 comprises a mast 9 on which a liftable load-receiving means 2 is guided. The mast 9 is composed of an outer, fixed part, the so-called stationary mast 10 and an inner part which can be extended upward, the so-called mast 11. The load-carrying means 2 is fork-shaped and located in the position I, in for example, pallets or lattice boxes can be picked up from the ground. In order to lift the load, the load-receiving means 2 is moved upwards on the mast 9 via a hydraulic cylinder, not shown here, and thus finally reaches position II. The mast 11 remains in its position during this process. If greater lifting heights are to be achieved, the vertical movement of the load receiving means 2 is generated by the extension of the traveling mast 11, while the load receiving means 2 does not change its position relative to the traveling mast 11. In this way, the position III is achieved on continuation of the lifting movement and finally in the maximum extended position IV.

Im oberen Bereich des Fahrmasts 11 ist als Mittel zur Abstandsbestimmung von oberhalb des Lastaufnahmemittels befindlichen Hindernissen eine Radareinheit 12 angebracht. Der prinzipielle Aufbau dieser Radareinheit 12 ist schematisch in Figur 2 gezeigt. Eine elektronische Steuerungseinheit 13 steht mit einer Sendeeinheit 14 zur Aussendung von Radarwellen in Wirkverbindung. Die von der Sendeeinheit 14 ausgesandten Radarwellen werden von einem Hindernis reflektiert und von einer Empfangseinheit 15 erfasst. In der elektronischen Steuerungseinheit 13 wird aus der Laufzeit vom Aussenden des Signals bis zum Eintreffen des Echos der Abstand zu einem Hindernis berechnet. Eine an die Steuerungseinheit 13 angeschlossene Sendevorrichtung 16 sendet diese Information an die Steuerungseinheit 5 des Flurförderzeugs. Zur Energieversorgung der Radarvorrichtung 12 dient eine Batterie 17.In the upper region of the traveling mast 11, a radar unit 12 is attached as means for determining the distance of obstacles located above the lifting device. The basic structure of this radar unit 12 is shown schematically in FIG FIG. 2 shown. An electronic control unit 13 is in operative connection with a transmitting unit 14 for transmitting radar waves. The radar waves emitted by the transmitting unit 14 are reflected by an obstacle and detected by a receiving unit 15. In the electronic control unit 13, the distance to an obstacle is calculated from the transit time from the emission of the signal to the arrival of the echo. A transmitting device 16 connected to the control unit 13 sends this information to the control unit 5 of the industrial truck. To power the radar device 12, a battery 17 is used.

Die Radareinheit 12 ist am oberen Ende des Fahrmasts 11 angebracht. Eine Anbringung möglichst weit oben am Flurförderzeug 1 ist vorteilhaft, da dann keine Bauteile des Flurförderzeugs 1 in den Messbereich ragen. Insbesondere bei Hochhubwagen 1, wo kein Fahrerschutzdach vorhanden ist, ist die Anbringung am Fahrmast 11 vorteilhaft, da so einerseits die Gefahr einer Beschädigung der Radareinheit 12 im Betrieb gering ist und die Radareinheit 12 dennoch gut erreichbar ist, beispielsweise für Wartungsarbeiten. Der Fahrmast 11 wird zum Erreichen größerer Hubhöhen ausgefahren, wodurch sich der Abstand zwischen einem Hindernis, beispielsweise einer Gebäudedecke, und der Radareinheit 12 verringert. Die erfassten Abstandswerte werden in der oben geschilderten Weise an die Steuerungseinheit 5 des Flurförderzeugs 1 übertragen. Die Steuerungseinheit 5 übermittelt die Daten an eine Anzeigevorrichtung 18, die den Abstand des obersten Teils des Flurförderzeugs 1, welches im gezeigten Ausführungsbeispiel die Radareinheit 12 ist, zu dem Hindernis anzeigt. Neben einer Zahlenangabe sind zusätzlich verschiedenfarbige Leuchtelemente vorgesehen, die in Abhängigkeit vom Abstand zu einem Hindernis aktiviert werden. Ist kein Hindernis innerhalb der Hubhöhe des Flurförderzeugs 1, ist kein Leuchtelement aktiv, befindet sich ein Hindernis innerhalb der möglichen Hubhöhe, zu dem jedoch noch ein ausreichender Sicherheitsabstand auch mit der höchstmöglichen Last eingehalten wird, ist ein grünes Leuchtelement aktiv. Dadurch erkennt die Bedienperson mit einem Blick, dass bei weiterem Anheben der Last die Gefahr einer Kollision besteht. Erreicht das Lastaufnahmemittel 2 und damit der Fahrmast 11 eine Hubhöhe, bei der zuzüglich eines angemessenen Sicherheitsbereichs die höchste zu erwartende Last mit dem Hindernis kollidieren würde, leuchtet ein gelbes Anzeigeelement auf. Nun weiß die Bedienperson, dass sie besonders umsichtig vorgehen muss, da je nach Höhe der Last eine Kollision möglich ist. Wenn bei weiterem Anheben des Lastaufnahmemittels 2 die Radareinheit 12 und damit der oberste Punkt des Flurförderzeugs 1 in einen Bereich gelangt, in dem der Abstand zu einem Hindernis kleiner ist als ein geeignet gewählter Sicherheitsbereich, leuchtet ein rotes Anzeigeelement auf. Die Bedienperson weiß nun, dass eine Kollision des Fahrmasts 11 des Flurförderzeugs 1 mit dem Hindernis unmittelbar bevorsteht. Unmittelbar vor einer Kollision der Radareinheit 12 als oberster Punkt des Flurförderzeugs 1 mit dem Hindernis wird der Hubantrieb deaktiviert und das rote Anzeigelement blinkt. Dadurch wird eine Kollision vermieden und die Bedienperson weiß, dass nur noch eine Abwärtsbewegung des Lastaufnahmemittels möglich ist. Die Sicherheitsbereiche sind jeweils so gewählt, dass bei einer angemessenen Reaktionszeit der Bedienperson noch ein sicheres Abstoppen des Lastaufnahmemittels möglich ist, bevor der eigentlich dem Anzeigenelemeni zugeordnete Bereich erreicht wird.The radar unit 12 is attached to the upper end of the traveling mast 11. An attachment as far above the truck 1 is advantageous because then no components of the truck 1 protrude into the measuring range. In particular, in stackers 1, where no driver's roof is present, the attachment to the mast 11 is advantageous because on the one hand the risk of damage to the radar unit 12 during operation is low and the radar unit 12 is still easily accessible, for example, for maintenance. The mast 11 is extended to achieve greater heights, whereby the distance between an obstacle, such as a building ceiling, and the radar unit 12 is reduced. The detected distance values are transmitted in the above-described manner to the control unit 5 of the truck 1. The control unit 5 transmits the data to a display device 18, which indicates the distance of the uppermost part of the truck 1, which is the radar unit 12 in the embodiment shown, to the obstacle. In addition to a number of different colored lighting elements are also provided, which are activated as a function of the distance to an obstacle. If there is no obstacle within the lifting height of the truck 1, no lighting element is active, there is an obstacle within the possible lifting height, but still a sufficient safety distance is maintained with the highest possible load, a green light element is active. As a result, the operator recognizes at a glance that the risk of a collision continues as the load is lifted further. If the load-carrying means 2 and thus the traveling mast 11 reaches a lifting height at which, in addition to an appropriate safety area, the highest expected load would collide with the obstacle, a yellow indicator element lights up. Now the operator knows that they have to be very careful, because depending on the height of the load a collision is possible. If the radar unit 12, and thus the uppermost point of the industrial truck 1, comes into an area in which the distance to an obstacle is less than a suitably selected safety area when the lifting device 2 is lifted further, a red indicator element lights up. The operator now knows that a collision of the traveling mast 11 of the industrial truck 1 with the obstacle is imminent. Immediately before a collision of the radar unit 12 as the uppermost point of the truck 1 with the obstacle of the lifting drive is disabled and the red indicator flashes. As a result, a collision is avoided and the operator knows that only a downward movement of the lifting device is possible. The security areas are each selected so that with a reasonable reaction time of the operator still a safe stopping of the lifting device is possible before the actually assigned to the Anzeigeelemeni area is reached.

In einer weiteren, hier nicht gezeigten Ausführungsform sind Mittel zur Erfassung der Höhe der Last vorhanden. Dies können sowohl Messvorrichtungen sein, die die Höhe der Last beispielsweise ebenfalls über berührungslose Verfahren, ermitteln, als auch Vorrichtungen, mittels derer die Höhe der Last durch die Bedienperson eingegeben werden kann oder, insbesondere bei standardisierten Lastaufnahmevorrichtungen wie Gitterboxen, automatisch erfasst werden kann. Die Vorgabe der Lasthöhe durch die Bedienperson kann beispielsweise über eine Tastatur, aber auch durch eine Scannervorrichtung, die kodierte Informationen auf der Last oder in Frachtpapieren ausliest, vorgenommen werden. Ist die Höhe der Last größer als der Abstand zwischen der Oberkante 18 einer Zinke 19 des Lastaufnahmemittels 2 und der Oberkante des Flurförderzeugs 1, so wird in der Steuerungsvorrichtung 5 vom Abstandswert, der von der Radareinrichtung 12 erfasst wird, die Differenz zwischen der Höhe der Last und dem Abstand zwischen dem höchsten Punkt des Flurförderzeugs und der Oberkante 18 der Zinke 19 des Lastaufnahmemittels 2 von diesem Abstandswert subtrahiert. Dieser Wert ist der Abstand zwischen der Oberkante der Last und dem Hindernis und kann daher in der oben geschilderten Weise verarbeitet, also in einer Anzeigeeinheit dargestellt oder zur Begrenzung der Hubhöhe verwendet werden.In a further, not shown embodiment, means for detecting the height of the load are present. This can be both measuring devices that determine the height of the load, for example, also via non-contact methods, as well Devices by means of which the height of the load can be entered by the operator or, in particular in standardized load-handling devices such as lattice boxes, can be detected automatically. The specification of the load height by the operator can be carried out, for example, via a keyboard, but also by a scanner device which reads coded information on the load or in freight documents. If the height of the load is greater than the distance between the upper edge 18 of a prong 19 of the load receiving means 2 and the upper edge of the truck 1, then in the control device 5 of the distance value, which is detected by the radar device 12, the difference between the height of the load and subtracts the distance between the highest point of the truck and the upper edge 18 of the prong 19 of the lifting device 2 of this distance value. This value is the distance between the upper edge of the load and the obstacle and can therefore be processed in the manner described above, ie displayed in a display unit or used to limit the lifting height.

Selbstverständlich sind weitere Ausführungsformen denkbar, beispielsweise die Verwendung anderer Vorrichtungen um Hindernisse zu erfassen. Hier sind insbesondere Vorrichtungen, die Verfahren, die auf der Aussendung eines Ultraschall-Signals beruhen, zu nennen. Auch kann beispielsweise ein einzelnes Bauteil sowohl als Sendeeinheit 14 wie auch als Empfangseinheit 15 für die zur Messung verwendete Strahlung verwendet werden, indem ein pulsweise abgeschicktes Signal verwendet wird.Of course, other embodiments are conceivable, for example, the use of other devices to detect obstacles. Here are in particular devices, the methods based on the transmission of an ultrasonic signal to call. Also, for example, a single component may be used both as a transmitting unit 14 and as a receiving unit 15 for the radiation used for the measurement by using a pulse-sent signal.

Je nach Art des Flurförderzeugs 1 kann auch ein anderer als der gezeigte Anbringungsort für die Mittel zur Erfassung eines Hindernisses vorteilhaft sein, beispielsweise das Fahrerschutzdach eines Gegengewichtsgabelstaplers oder eines Schubmaststaplers. Insbesondere der Anbringungsort ist auch entscheiden für die Wahl der Energieversorgung und der Informationsübertragung zwischen der Vorrichtung zur Erfassung eines Hindernisses und der Steuerungseinheit des Flurförderzeugs. Bei einer Anbringung an beweglichen Teilen des Hubgerüsts, wie im oben gezeigten Ausführungsbeispiel, ist eine eigenständige Energieversorgung sowie eine drahtlose Übertragung der Abstandsinformation vorteilhaft, weil dadurch der Verkabelungsaufwand deutlich verringert wird. Auch bei nachrüstbaren Vorrichtungen zur Erfassung eines Hindernisses ist eine derartige Lösung vorteilhaft. Eine Anbindung über Kabel zur Übertragung von Energie und/oder Informationen ist dagegen sehr sicher und erfordert nur geringen Wartungsaufwand. Insbesondere bei nachrüstbaren Vorrichtungen zur Erfassung eines Hindernisses kann auch eine Anzeigevorrichtung integriert sein, so dass keinerlei Eingriffe am Flurförderzeug nötig sind. Umgekehrt können bei fest eingebauten Mitteln zur Erfassung eines Hindernisses die Sendeeinheit 14 und die Empfangseinheit 15 für das Radarsignal ebenso wie die zur Auswertung verwendete elektronische Steuerungseinheit 13 an verschiedenen Orten des Flurförderzeugs 1 angebracht sein.Depending on the type of industrial truck 1, it may also be advantageous to use a location other than that shown for the means for detecting an obstacle, for example the driver's safety roof of a counterbalanced forklift or of a reach truck. In particular, the mounting location is also decisive for the choice of the power supply and the information transmission between the device for detecting an obstacle and the control unit of the truck. When attached to moving parts of the mast, as in the embodiment shown above, a stand-alone power supply and wireless transmission of the distance information is advantageous because it significantly reduces the cabling. Even with retrofittable devices for detecting an obstacle, such a solution is advantageous. A connection via cable for the transmission of energy and / or information, however, is very secure and requires little maintenance. Especially with retrofittable devices for detecting a Obstacle can also be integrated a display device, so that no interventions on the truck are needed. Conversely, with permanently installed means for detecting an obstacle, the transmitting unit 14 and the receiving unit 15 for the radar signal as well as the electronic control unit 13 used for the evaluation can be mounted at different locations of the industrial truck 1.

Es können auch Mittel zur Abstandsbestimmung zu Hindernissen unterhalb des Lastaufnahmemittels vorgesehen sein, beispielsweise bei Flurförderzeugen, bei denen das Lastaufnahmemittel unterhalb des normalen Bodenniveaus abgesenkt werden kann oder wenn im Bodenbereich Hindernisse, wie beispielsweise Schwellen oder Absätze, vorhanden sind. Derartige Mittel sind ist insbesondere auch vorteilhaft bei Arbeiten in Regalen oder an einer Laderampe, bei denen ein zu weites Absenken des Lastaufnahmemittels Beschädigungen am Flurförderzeug oder der Rampe beziehungsweise dem Regal verursachen kann.There may also be provided means for determining the distance to obstacles below the lifting device, for example in industrial trucks, in which the load-carrying means can be lowered below the normal ground level or if obstacles, such as sleepers or heels, are present in the ground area. Such means are in particular also advantageous when working in shelves or at a loading dock where too much lowering of the load handling device may cause damage to the truck or the ramp or the rack.

Auch die Anzeigevorrichtung kann sich nach Art und Anbringung von der beschriebenen Ausführungsform unterscheiden, beispielsweise, indem eine akustische Warnung vorgesehen ist oder eine optische Anzeige in Form einer Skala.Also, the display device may differ in type and attachment of the described embodiment, for example, by an acoustic warning is provided or a visual display in the form of a scale.

Neben oder anstelle einer Deaktivierung des Hubantriebs bei Unterschreiten eines kritischen Abstandes zwischen der Last und/oder dem Hubgerüst und einem Hindernis sind auch weitere Maßnahmen zur Erhöhung der Sicherheit denkbar, beispielsweise eine Reduzierung der Hubgeschwindigkeit bei Unterschreiten eines vorgegebenen Abstandswertes.In addition to or instead of deactivating the lifting drive when falling below a critical distance between the load and / or the mast and an obstacle and other measures to increase the security are conceivable, for example, a reduction in the lifting speed falls below a predetermined distance value.

Claims (11)

  1. Floor conveyor (1) comprising a liftable device (2) for picking up loads,
    characterized
    in that devices (12) for determining the distance between obstacles located above and/or below the device (2) for picking up loads and parts of the floor conveyor (1) are provided.
  2. Floor conveyor (1) comprising a liftable device (2) for picking up loads,
    characterized
    in that devices for detecting the height of the load and devices (12) for determining the distance between obstacles located above and/or below the device (2) for picking up loads and a load located on the device (2) for picking up loads are provided.
  3. Floor conveyor comprising the features according to Claim 1 and the features according to Claim 2.
  4. Floor conveyor (1) according to one of Claims 1 to 3,
    characterized
    in that the devices (12) for determining distance follow a contactless principle of action.
  5. Floor conveyor (1) according to one of Claims 1 to 4,
    characterized
    in that the devices (12) for determining distance comprise at least one transmitter unit (14) and/or at least one receiver unit (15) for electromagnetic radiation, preferably with a wavelength in the region of several centimetres.
  6. Floor conveyor (1) according to one of Claims 1 to 5,
    characterized
    in that the devices (12) for determining distance comprise at least one transmitter unit and/or at least one receiver unit for sound waves, preferably with a wavelength outside the human auditory range.
  7. Floor conveyor (1) according to one of Claims 1 to 6,
    characterized
    in that the devices (12) for determining distance are arranged in the region of a lifting mast (9), preferably at the highest point of the lifting mast (9) and/or on the device (2) for picking up loads.
  8. Floor conveyor (1) according to one of Claims 1 to 7,
    characterized
    in that the devices (12) for determining distance are operatively connected to an electric control unit (5) of the floor conveyor (1), preferably by means of wireless transmission devices.
  9. Floor conveyor (1) according to Claim 8,
    characterized
    in that the lifting height of the device for picking up loads can be limited, by means of the electric control unit, to a value which precludes a collision between obstacles located above and/or below the device (2) for picking up loads and parts of the floor conveyor and/or the load.
  10. Floor conveyor (1) according to one of Claims 1 to 9,
    characterized
    in that at least one display device (18) for signalling the distance between obstacles located above and/or below the device (2) for picking up loads and/or the load is provided.
  11. Floor conveyor (1) according to one of Claims 1 to 10,
    characterized
    in that the devices (12) for determining distance comprise at least one device which is independent of the energy supply of the floor conveyor (1) and has the purpose of supplying energy, preferably being a battery (17).
EP05026402.7A 2004-12-10 2005-12-02 Floor conveyor comprising a liftable device for picking up loads Not-in-force EP1669319B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE200410059700 DE102004059700A1 (en) 2004-12-10 2004-12-10 Industrial truck with a liftable load handling device

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EP1669319B1 true EP1669319B1 (en) 2015-07-29

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Publication number Priority date Publication date Assignee Title
DE102011082273A1 (en) * 2011-09-07 2013-03-07 Jungheinrich Aktiengesellschaft Commercial vehicle with upward-sensing radar sensor

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Publication number Priority date Publication date Assignee Title
US5906648A (en) 1996-07-29 1999-05-25 Erim International, Inc. Collision avoidance system for vehicles having elevated apparatus
JP3150637B2 (en) * 1996-12-06 2001-03-26 三菱重工業株式会社 Crane lowering collision prevention device
FR2836468B1 (en) * 2002-02-28 2004-10-01 Pinguely Haulotte ELEVATOR LIFT WITH IMPROVED SECURITY

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