EP1886966B1 - Chariot de manutention avec dispositif de prise de charge relevable - Google Patents

Chariot de manutention avec dispositif de prise de charge relevable Download PDF

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Publication number
EP1886966B1
EP1886966B1 EP07015229.3A EP07015229A EP1886966B1 EP 1886966 B1 EP1886966 B1 EP 1886966B1 EP 07015229 A EP07015229 A EP 07015229A EP 1886966 B1 EP1886966 B1 EP 1886966B1
Authority
EP
European Patent Office
Prior art keywords
floor conveyor
relation
lifting
lifting height
signal
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.)
Not-in-force
Application number
EP07015229.3A
Other languages
German (de)
English (en)
Other versions
EP1886966A3 (fr
EP1886966A2 (fr
Inventor
Henning Delius
Georg Dr. Fromme
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
STILL GmbH
Original Assignee
STILL GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by STILL GmbH filed Critical STILL GmbH
Publication of EP1886966A2 publication Critical patent/EP1886966A2/fr
Publication of EP1886966A3 publication Critical patent/EP1886966A3/fr
Application granted granted Critical
Publication of EP1886966B1 publication Critical patent/EP1886966B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • 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
    • 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

Definitions

  • the invention relates to an industrial truck with a height-lifting load-receiving means and a device for non-contact detection of the lifting height, wherein the device for non-contact detection of the lifting height at least one transmitting device for outputting a wavy signal for distance measurement and at least one separate from the transmitting device receiving device for detecting the of Transmitting device emitted signal and wherein the transmitting device and the receiving device are arranged on two relatively movable components and one of the two components is fixedly arranged in relation to the load receiving means and the second component is fixedly disposed in relation to the frame of the truck.
  • the lifting device of an industrial truck makes it possible, by means of suitable receiving devices, to lift a load onto a parking space (for example a shelf) arranged above the roadway or to lower a load in the opposite direction. Especially with larger lifting heights, it is helpful for the driver to be able to read off the respectively current lifting height during the positioning process on a measuring system with display. Likewise, the start of the Lastgutposition via a control unit can be done automatically based on the measured lifting height in conjunction with a default value.
  • Lifting devices in industrial trucks usually consist of a carriage with the load receiving means, which is usually driven by means of rollers in an optionally multi-unit mast system in the vertical direction driven by hydraulic cylinders.
  • the height of the carriage or other part e.g., piston of a hydraulic cylinder
  • the height of the carriage or other part proportionally moving with the carriage movement must be detected relative to the vehicle or roadway.
  • Non-contact systems do not require any additional moving and therefore vulnerable mechanical components.
  • Today's systems work on the principle of transit time measurement in conjunction with reflection of the measuring medium at a surface defining the distance to the measuring system.
  • the known measuring media include the light of a laser, microwaves (radar) or ultrasonic waves.
  • Laser distance measuring systems are characterized by high precision and comparatively high costs. Because of the punctiform scanning of the reflector large reflectors are required at high lifting heights because of the deflection of the mast. As an optical system, the laser technology is not suitable for every application because of the risk of contamination.
  • one and the same ultrasonic transducer is used to emit the ultrasonic signal and to receive the reflected signal. After transmission of the ultrasonic pulse is switched from the transmitting to the receiving electronics. From the duration of the ultrasonic pulse, the distance between the ultrasonic transducer and the reflective surface can be calculated. The measurement process takes place periodically, so that an approximately continuous measurement result is obtained. Effects of air temperature and density on the propagation velocity of the ultrasonic signal can be compensated by suitable sensors.
  • a disadvantage of the distance measurement by means of ultrasound in a lifting device according to the prior art is that the emission of the ultrasonic signal can not be sufficiently focused.
  • the ultrasonic signal spreads club-shaped and is thus reflected by all located in the lobe area construction elements of the lifting device, resulting in incorrect measurements.
  • a safety device for a forklift with a lifting device in which an attached to the vertically movable part of the lifting device ultrasonic transmitter and attached to the chassis ultrasonic receiver can determine the lifting height over a travel time measurement.
  • a method for measuring the height of a height-adjustable lifting device on a mast in which an elevation measuring device with an ultrasonic transmitter at the foot of the mast and with an ultrasonic receiver on the load receiving means is provided on a mast and a height-adjustable load-receiving means.
  • the lifting height is determined by a transit time measurement.
  • the invention is therefore an object of the invention to provide an industrial truck with a height-adjustable load-carrying means and a device for contactless detection of the lifting height, preferably by means of ultrasound, which allows a reliable determination of the lifting height with little effort.
  • the device for non-contact detection of the lifting height has at least one transmitting device for outputting a wave-shaped signal for distance measurement and at least one separate from the transmitting device arranged receiving device for detecting the output from the transmitting device signal, wherein the transmitting device and the receiving device are arranged on two components movable in relation to each other and one of the two components is fixedly arranged in relation to the load-receiving means and the second component is fixedly arranged in relation to the frame of the truck.
  • a device for wireless data transmission, in particular by means of radio waves, of the fixed in relation to the load-receiving part of the device for non-contact detection of the lifting height to at least one in relation to Frame of the truck fixed part of the device is provided for non-contact detection of the lifting height.
  • the device for wireless data transmission information between the mounted in the region of the lifting device part and the other components of the device for non-contact detection of the lifting height can be transmitted without consuming and damage-prone cable connection. This is particularly advantageous when retrofitting a device according to the invention.
  • the signal used for the distance measurement is an ultrasonic signal.
  • Ultrasonic transmitters and receivers are inexpensive and do not emit potentially harmful or dangerous electromagnetic waves. Due to the usually club-shaped sound propagation transmitter and receiver must not be overly precise aligned. As a result, even with a deflection of the mast, which causes a pivoting of transmitter and receiver to each other, still ensures a secure reception of the signal. Smaller obstacles between transmitter and receiver do not disturb the propagation of the signal, so that a high transmission reliability exists.
  • the signal used for the distance measurement is an electromagnetic wave.
  • Electromagnetic waves offer a wide wavelength range and can thus be adapted very well to the application. They are both sharply limited (laser) and available with some dispersion (radar).
  • a device for non-contact energy transfer to the fixed in relation to the load-receiving part of the device for non-contact detection of the lifting height is provided.
  • the device for contactless energy transmission has at least one induction coil.
  • the energy transfer can be made particularly simple and effective.
  • the fixedly arranged in relation to the load-receiving part of the device for non-contact detection of the lifting height at least one memory for electrical energy.
  • This memory can be designed, for example, as a battery or as a high-capacity capacitor.
  • An energy storage device is advantageous in connection with a device for non-contact energy transfer, since this may not work permanently, but only if the part of the fixed in relation to the load-receiving means and the second part, which is fixed in relation to the frame of the truck is, are sufficiently close. By using the energy storage thus supply gaps can be bridged. But there are also advantageous embodiments conceivable, in which the energy storage device ensures the supply of arranged on the load-receiving device component of the Hub Ounmessvorraum entirely and is either charged or replaced when exhausted.
  • the device for detecting the lifting height is so in communication with a vehicle control that is blocked in an interruption of the connection between the transmitting device and receiving device of the lifting drive.
  • FIG. 1 is shown schematically a counterbalance forklift 1 with a device 2 according to the invention for non-contact detection of the lifting height.
  • the counterbalance forklift 1 has a lifting mast 3, on which a height-adjustable fork-shaped load-receiving means 4 is arranged.
  • a transmitting device 5 is arranged, which is moved together with the load-receiving means 4.
  • the transmitting device 5 transmits ultrasonic signals which are received by a receiving device 6 in the lower region of the lifting mast 3.
  • the transmitting device 5 and the receiving device 6 are each by means of a cable connection 7 with a Control unit 8 connected.
  • the cable connection 7 comprises both lines for power supply and for data transmission.
  • the lifting height can be calculated. Due to the club-shaped propagation region 10 of the ultrasonic waves, a secure connection between transmitting device 5 and receiving device 6 is ensured even with a deflection of the lifting mast 3, as occurs at high loads and high lifting heights, and even smaller obstacles between transmitting device 5 and receiving device 6 do not lead to one Full shadowing of the signal and it are in contrast to reflection-based systems and erroneous measurements avoided.
  • FIG. 2 is an embodiment of the invention in which there is no cable connection between the arranged on the load-receiving means 4 components and the vehicle-fixed components of the device according to the invention.
  • a transmitting device 5 for ultrasonic waves and a control unit 11 is arranged on the load receiving means 4.
  • the control unit 11 is connected via a radio link with a main control unit 12 in connection, which has a suitable transmitting and receiving antenna 13.
  • the main control unit 12 is connected via lines 14 both to the receiving device 6 for the signals emitted by the transmitting device 5 and to a vehicle-fixed part 15 of a device 16 for contactless energy transmission.
  • the movable part 17 of the contactless energy transfer device 16 is integrated in the control unit 11, as shown schematically in FIG FIG. 3 shown.
  • the main control unit 12 sends a signal via the radio link to the control device 11, whereupon it sends a signal to the receiving device 6 via the transmitting device 5 immediately. From the duration of the signal as described above, the height of the lifting device 4 is calculated and from the main control unit 12 with means of the prior art to other components of the truck 1, such as a Hubtownnan Seae not shown, or a likewise not shown control, the hub Eckntouche functions can trigger, forwarded. If the signal transmission of the Hubtownnyak interrupted because, for example, an obstacle device in front of the receiving device 6, the lifting operation is stopped by the controller, not shown, and the load-receiving means 4 in the fixed instantaneous position to exclude possible dangers from an uncontrolled movement of the lifting device 4.
  • FIG. 3 schematically shows the device 16 for non-contact energy transfer and for controlling a mounted in the range of the load receiving means 4 transmitting device 5:
  • a vehicle-mounted component 15 consists essentially of an induction coil 18 with associated control electronics 19, which converts the incoming direct current into alternating current and the power flow to the induction coil 18th according to the needs of the movable part 17 controls.
  • the arranged on the load receiving means 4 movable part 17 of the device 16 for contactless energy transfer is integrated in the control unit 11 for driving the transmitting device 5 and essentially comprises a second induction coil 20, an electronic control unit 21 for converting the alternating current into direct current and for controlling the power supply to and from a trained as a battery 22 energy storage.
  • an electronic control unit 23 for controlling the transmitting device 5 and for data communication by means of a radio antenna 24 in the control unit 11 is arranged.
  • the electronic components can also be combined in a single circuit.
  • the receiving device 6 may be arranged in the region of the load-receiving means 4 and the transmitting device 5 may be firmly connected to the industrial truck 1.
  • the person skilled in the arrangement of the components will choose depending on the installation and operating conditions of each truck 1 suitable.
  • ultrasound other forms of transmission can be chosen, if this is advantageous under the respective operating conditions.
  • a technique other than a radio link can be used, such as infrared or ultrasound.
  • the contactless energy transfer according to another principle of operation can take place according to the prior art and it could be other components except the Hub Doylenmessvorraum connected thereto.

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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)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Claims (7)

  1. Chariot de manutention (1) doté d'un moyen de prise de charge (4) mobile en hauteur et d'un dispositif (2) de détection sans contact de la hauteur de levée, le dispositif (2) de détection sans contact de la hauteur de levée comprenant au moins un dispositif d'émission (5) permettant d'envoyer un signal en forme d'onde servant à mesurer la distance ainsi qu'au moins un dispositif de réception (6) disposé de façon séparée par rapport au dispositif d'émission (5) servant à détecter le signal émis par le dispositif d'émission (5), le dispositif d'émission (5) et le dispositif de réception (6) étant disposés au niveau de deux composants mobiles l'un par rapport à l'autre et un des deux composants étant disposé fixement par rapport au moyen de prise de charge (4) et le deuxième composant étant disposé fixement par rapport au châssis du chariot de manutention (1), caractérisé en ce qu'un dispositif (13, 24) est prévu pour la transmission de données sans fil, notamment à l'aide d'ondes radio, de la partie (11, 5) disposée fixement par rapport au moyen de prise de charge (4) du dispositif (2) de détection sans contact de la hauteur de levée jusqu'à au moins une partie (6) disposée fixement par rapport au châssis du chariot de manutention (1) du dispositif de détection sans contact de la hauteur de levée.
  2. Chariot de manutention (1) selon la revendication 1, caractérisé en ce que le signal utilisé pour la mesure de distance est un signal à ultrasons.
  3. Chariot de manutention (1) selon la revendication 1 ou 2, caractérisé en ce que le signal utilisé pour la mesure de distance est une onde électromagnétique.
  4. Chariot de manutention selon l'une quelconque des revendications 1 à 3, caractérisé en ce qu'un dispositif (16) est prévu pour la transmission d'énergie sans contact par rapport à la partie (11, 5) disposée fixement par rapport au moyen de prise de charge (4) du dispositif (2) de détection sans contact de la hauteur de levée.
  5. Chariot de manutention selon la revendication 4, caractérisé en ce que le dispositif (16) de transmission d'énergie sans contact comporte au moins une bobine d'induction (18, 19).
  6. Chariot de manutention selon l'une quelconque des revendications 1 à 5, caractérisé en ce que la partie (11, 5) disposée fixement par rapport au moyen de prise de charge (4) du dispositif (2) de détection sans contact de la hauteur de levée comporte au moins un accumulateur (22) d'énergie électrique.
  7. Chariot de manutention selon l'une quelconque des revendications 1 à 6, caractérisé en ce que le dispositif (2) de détection de la hauteur de levée est relié de telle sorte à un élément de commande de véhicule qu'en cas d'interruption de la liaison entre le dispositif d'émission (5) et le dispositif de réception (6), l'entraînement de levée est bloqué.
EP07015229.3A 2006-08-11 2007-08-02 Chariot de manutention avec dispositif de prise de charge relevable Not-in-force EP1886966B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE200610037928 DE102006037928A1 (de) 2006-08-11 2006-08-11 Flurförderzeug mit einem höhenbeweglichen Lastaufnahmemittel

Publications (3)

Publication Number Publication Date
EP1886966A2 EP1886966A2 (fr) 2008-02-13
EP1886966A3 EP1886966A3 (fr) 2009-11-04
EP1886966B1 true EP1886966B1 (fr) 2013-10-09

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EP07015229.3A Not-in-force EP1886966B1 (fr) 2006-08-11 2007-08-02 Chariot de manutention avec dispositif de prise de charge relevable

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EP (1) EP1886966B1 (fr)
DE (1) DE102006037928A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017104507A1 (de) 2017-03-03 2018-09-06 Jungheinrich Aktiengesellschaft Flurförderzeug mit einem Antriebsrahmen und einem in der Höhe verstellbaren Lastrahmen

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010039471B4 (de) 2010-08-18 2014-02-13 Robert Bosch Gmbh Verfahren und Vorrichtung zur Bestimmung einer Hubhöhe einer Arbeitsmaschine
DE102011009366A1 (de) 2011-01-25 2012-07-26 Linde Material Handling Gmbh Gegengewichtsgabelstapler mit einem Hubhöhenmesssystem
DE102011054894A1 (de) 2011-08-23 2013-02-28 Still Gmbh Flurförderzeug mit optischem Hubhöhenmesssystem
DE102012103364A1 (de) 2011-08-23 2013-02-28 Still Gmbh Flurförderzeug mit Hubhöhenmessung
DE102011054901A1 (de) 2011-08-23 2013-02-28 Still Gmbh Verfahren zur Hubhöhenmessung bei einem Flurförderzeug
DE102011082273A1 (de) * 2011-09-07 2013-03-07 Jungheinrich Aktiengesellschaft Gewerbliches Fahrzeug mit in Richtung nach oben sensierendem Radarsensor
DE102012103487A1 (de) 2012-04-20 2013-10-24 Still Gmbh Flurförderzeug mit Hubhöhenmessung
DE102012103488A1 (de) 2012-04-20 2013-10-24 Still Gmbh Flurförderzeug mit Hubhöhenmessung sowie Verfahren zur Hubhöhenmessung
DE102015101090A1 (de) 2014-03-24 2015-09-24 Still Gmbh Abstandsmessgerät
DE102014004140A1 (de) 2014-03-24 2015-09-24 Still Gmbh Ausrichtbares Abstandsmessgerät
DE102014004139A1 (de) 2014-03-24 2015-09-24 Still Gmbh Abstandsmessbaugruppe
EP3194324A1 (fr) 2014-09-15 2017-07-26 Crown Equipment Corporation Chariot élévateur comprenant une structure de détection de charge optique

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WO2003037777A1 (fr) * 2001-10-30 2003-05-08 Robert Bosch Gmbh Dispositif de detection pour mesurer le deplacement d'une piece mobile d'un dispositif mecanique

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DE3208747C2 (de) * 1982-03-11 1986-07-31 Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg Hubfahrzeug mit einem Hubgerüst und einem höhenbeweglichen Lastaufnahmemittel und mit Ultraschall bzw. strahlender Energie in benachbarten Frequenzbereichen arbeitenden Höhenmeßeinrichtung
TW445235B (en) * 1998-08-07 2001-07-11 Toyoda Automatic Loom Works Position detector for fluid cylinder
AT500228B1 (de) * 2003-05-20 2007-07-15 Tgw Transportgeraete Gmbh Teleskopschubarm, insbesondere für eine lastaufnahmevorrichtung
EP1758811B9 (fr) * 2004-06-22 2012-05-02 Cesab Carrelli Elevatori S.P.A. Dispositif de securite pour un chariot elevateur a fourche
DE102005024881A1 (de) * 2005-05-31 2006-12-07 Still Gmbh Flurförderzeug mit einer elektrischen Steuerungseinheit
DE102006012205A1 (de) * 2006-03-16 2007-09-20 Still Gmbh Flurförderzeug mit einem Hubmast

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Publication number Priority date Publication date Assignee Title
WO2003037777A1 (fr) * 2001-10-30 2003-05-08 Robert Bosch Gmbh Dispositif de detection pour mesurer le deplacement d'une piece mobile d'un dispositif mecanique

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017104507A1 (de) 2017-03-03 2018-09-06 Jungheinrich Aktiengesellschaft Flurförderzeug mit einem Antriebsrahmen und einem in der Höhe verstellbaren Lastrahmen

Also Published As

Publication number Publication date
DE102006037928A1 (de) 2008-02-14
EP1886966A3 (fr) 2009-11-04
EP1886966A2 (fr) 2008-02-13

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