EP2508463A1 - Actuation element for an industrial truck - Google Patents

Actuation element for an industrial truck Download PDF

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Publication number
EP2508463A1
EP2508463A1 EP12000923A EP12000923A EP2508463A1 EP 2508463 A1 EP2508463 A1 EP 2508463A1 EP 12000923 A EP12000923 A EP 12000923A EP 12000923 A EP12000923 A EP 12000923A EP 2508463 A1 EP2508463 A1 EP 2508463A1
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EP
European Patent Office
Prior art keywords
actuating
vehicle function
function
actuation
vehicle
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Granted
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EP12000923A
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German (de)
French (fr)
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EP2508463B1 (en
Inventor
Arne Mahler
Michael Wiese
Jürgen Claußen
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Jungheinrich AG
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Jungheinrich AG
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks

Definitions

  • the present invention relates to an operating element for an industrial truck which, depending on the degree of its actuation, can generate continuous actuating signals for a vehicle function.
  • an actuating element may, for example, be a rotary switch whose rotation is converted into a continuous control signal. It may also be a lever or switch in the actuator which generates a continuous control signal depending on the degree of its operation.
  • EP 1 016 579 A1 For example, a method for programming a pedestrian-controlled vehicle is known in which a programming mode is provided in addition to an operating mode. The programming mode is initiated when a special auto switch is actuated while the vehicle is being turned on.
  • the invention has for its object to provide an actuator for a truck, with the control signals for several vehicle functions can be generated in a simple manner.
  • the actuating element according to the invention is provided and designed for use in an industrial truck.
  • the actuator may generate different actuating signals for a vehicle function depending on a degree of its actuation.
  • By actuating the actuating element according to the invention it generates a control signal which can assume different values depending on the degree of actuation.
  • a subsequent actuating signal for different vehicle functions is generated at the beginning of its actuation, depending on a rate of change of the actuating signals.
  • a vehicle function can be selected which is to be controlled via the actuating element.
  • the actuator according to the invention allows to a very special extent vehicle functions and their control to address a single actuator and thus allow the user a simple and ergonomic operation of the truck.
  • a generated actuating signal serves for a first vehicle function when the rate of change for a control signal at the beginning of its actuation is less than a predetermined minimum speed. If, on the other hand, the change in the actuating signal occurs at a speed greater than the minimum speed, then the following actuating signal serves for a second vehicle function.
  • the actuator according to the invention is used in a preferred development to initiate an initial stroke on the truck with its first vehicle function.
  • the initial stroke here denotes a vehicle function with which a recorded load can be raised by a small amount from the ground or lowered from a low height on the ground.
  • a second vehicle function is a Weinhub- or Haupenkubfunktion provided, which is controlled proportionally with the control signal.
  • Fig. 1 shows the time course of a control signal S, which is evaluated for a lifting or lowering operation.
  • a control signal S can be specified, which continuously assumes a value range between 0 and S max .
  • the maximum value S max of the actuating signal is reached at time T 1 .
  • the time T 1 is less than a predetermined limit time T grenz .
  • the initial stroke is triggered as long as the maximum value S max is present or the desired level of the initial stroke has been reached.
  • the maximum value of the actuating signal is reached at a time T 2 , with T 2 > T grenz .
  • the main lift is subsequently controlled.
  • the control signal S is subsequently evaluated proportionally in order to control the main lift / lower function via the operating element.
  • To evaluate the control signals S can be turned off, for example, on the rising edge of the control signal. If the rising edge is steeper than the rising edge marked 14, an initial stroke is actuated. Is the Rising edge shallower than the rising edge 14, the Kleinhubfunktion is triggered.
  • the actuator is that an operator can distinguish very easily and intuitively between initial stroke and main stroke.
  • the operating element can be designed such that a lowering of the initial stroke or main lowering function can be effected in the same way by an actuation of the operating element in an opposite direction.
  • the actuator of the invention can also be used in a number of other functions on a truck.
  • an alignment of the fork may be provided in a horizontal function as the first vehicle function and a tilting of the mast forward or backward may be provided as a second vehicle function.
  • An automatic weighing of a recorded load as the first vehicle function with a control of the main lift operation as a second vehicle function is also possible.
  • an automatic Hubbignvorians be provided as the first vehicle function, which is combined with a corresponding control of the Haupthubfunktion as a second vehicle function.
  • the setting of a speed limit or an acceleration limit can be provided as the first vehicle function, while the corresponding control of the main lift function is then provided as a second vehicle function.
  • the table should be read in such a way that + indicates a possible combination of line and column-wise plotted vehicle functions and ++ describes a preferred combination of different vehicle functions.

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

Abstract

The actuation element generates different actuating signals (S) for different vehicle functions depending on degree of actuation. Successive actuating signals for beginning actuation of different vehicle functions are generated depending on change rate of the actuating signals. The successive actuating signals serve for the vehicle functions when the change rate for the actuating signals is greater than predetermined minimum rate. An initial hoist, main hoist function and main lowering function are utilized as vehicle functions.

Description

Die vorliegende Erfindung betrifft ein Betätigungselement für ein Flurförderzeug, das abhängig von Grad seiner Betätigung kontinuierliche Stellsignale für eine Fahrzeugfunktion erzeugen kann. Bei einem solchen Betätigungselement kann es sich beispielsweise um einen Drehschalter handeln, dessen Umdrehung in ein kontinuierliches Stellsignal umgesetzt wird. Es kann sich bei dem Betätigungselement auch um einen Hebel oder Schalter handeln, der je nach Grad seiner Betätigung ein kontinuierliches Stellsignal erzeugt.The present invention relates to an operating element for an industrial truck which, depending on the degree of its actuation, can generate continuous actuating signals for a vehicle function. Such an actuating element may, for example, be a rotary switch whose rotation is converted into a continuous control signal. It may also be a lever or switch in the actuator which generates a continuous control signal depending on the degree of its operation.

Aus EP 1 016 579 A1 ist ein Verfahren zum Programmieren eines deichselgeführten Fahrzeugs bekannt, bei dem zusätzlich zu einem Betriebsmodus ein Programmiermodus vorgesehen ist. Der Programmiermodus wird eingeleitet, wenn während des Einschaltens des Fahrzeugs ein spezieller Signalgeber betätigt wird.Out EP 1 016 579 A1 For example, a method for programming a pedestrian-controlled vehicle is known in which a programming mode is provided in addition to an operating mode. The programming mode is initiated when a special auto switch is actuated while the vehicle is being turned on.

Aus EP 1 398 251 B1 ist ein deichselgeführtes Flurförderzeug bekannt, das durch einen Doppelklick an der Geschwindigkeitssteuerung in einem Schleichfahrtbetrieb oder aus diesem in eine Grundbetriebsart umgeschaltet wird.Out EP 1 398 251 B1 a tiller-guided truck is known, which is switched by a double-click on the speed control in a crawl mode or from this into a basic mode.

Bei Flurförderzeugen gibt es eine Vielzahl von unterschiedlichen Fahrzeugfunktionen, wie beispielsweise Hubfunktionen, Fahrgeschwindigkeitsstufen, Nebenfunktionen, etc., die mit einer möglichst geringen Anzahl von Betätigungselementen in sinnfälliger Weise zu steuern sind.For industrial trucks, there are a variety of different vehicle functions, such as lifting functions, driving speed levels, secondary functions, etc., which are to be controlled in a noticeable manner with the least possible number of actuators.

Der Erfindung liegt die Aufgabe zugrunde, ein Betätigungselement für ein Flurförderzeug bereitzustellen, mit dem in einfacher Weise Stellsignale für mehrere Fahrzeugfunktionen erzeugt werden können.The invention has for its object to provide an actuator for a truck, with the control signals for several vehicle functions can be generated in a simple manner.

Erfindungsgemäß wird die Aufgabe durch ein Betätigungselement mit den Merkmalen aus Anspruch 1 gelöst. Vorteilhafte Ausgestaltungen bilden den Gegenstand der Unteransprüche.According to the invention the object is achieved by an actuating element having the features of claim 1. Advantageous embodiments form the subject of the dependent claims.

Das erfindungsgemäße Betätigungselement ist vorgesehen und ausgebildet für den Einsatz in einem Flurförderzeug. Das Betätigungselement kann abhängig von einem Grad seiner Betätigung unterschiedliche Stellsignale für eine Fahrzeugfunktion erzeugen. Indem das erfindungsgemäße Betätigungselement betätigt wird, erzeugt es ein Stellsignal, das unterschiedliche Werte je nach Grad der Betätigung annehmen kann. Erfindungsgemäß wird abhängig von einer Änderungsgeschwindigkeit der Stellsignale zu Beginn seiner Betätigung ein nachfolgendes Stellsignal für unterschiedliche Fahrzeugfunktionen generiert. Erfindungsgemäß kann also anhand der Geschwindigkeit, mit der das Betätigungselement betätigt wird, eine Fahrzeugfunktion ausgewählt werden, die über das Betätigungselement gesteuert werden soll. Das erfindungsgemäße Betätigungselement erlaubt in ganz besonderem Maße Fahrzeugfunktionen und ihre Steuerung über ein einziges Betätigungselement anzusprechen und so dem Benutzer eine einfache und ergonomische Bedienung des Flurförderzeugs zu ermöglichen.The actuating element according to the invention is provided and designed for use in an industrial truck. The actuator may generate different actuating signals for a vehicle function depending on a degree of its actuation. By actuating the actuating element according to the invention, it generates a control signal which can assume different values depending on the degree of actuation. According to the invention, a subsequent actuating signal for different vehicle functions is generated at the beginning of its actuation, depending on a rate of change of the actuating signals. Thus, according to the invention, based on the speed with which the actuating element is actuated, a vehicle function can be selected which is to be controlled via the actuating element. The actuator according to the invention allows to a very special extent vehicle functions and their control to address a single actuator and thus allow the user a simple and ergonomic operation of the truck.

In einer bevorzugten Ausgestaltung des Betätigungselements dient ein erzeugtes Stellsignal für eine erste Fahrzeugsfunktion, wenn die Änderungsgeschwindigkeit für ein Stellsignal zu Beginn seiner Betätigung kleiner als eine vorbestimmte Mindestgeschwindigkeit ist. Erfolgt dagegen die Änderung des Stellsignals mit einer Geschwindigkeit größer als die Mindestgeschwindigkeit, so dient das nachfolgende Stellsignal für eine zweite Fahrzeugfunktion.In a preferred embodiment of the actuating element, a generated actuating signal serves for a first vehicle function when the rate of change for a control signal at the beginning of its actuation is less than a predetermined minimum speed. If, on the other hand, the change in the actuating signal occurs at a speed greater than the minimum speed, then the following actuating signal serves for a second vehicle function.

Das erfindungsgemäße Betätigungselement dient in einer bevorzugten Weiterbildung dazu, mit seiner ersten Fahrzeugfunktion einen Initialhub an dem Flurförderzeug auszulösen. Der Initialhub bezeichnet hierbei eine Fahrzeugfunktion, mit der eine aufgenommene Last um eine geringe Höhe vom Boden angehoben oder aus geringer Höhe auf dem Boden abgesetzt werden kann. Bevorzugt ist bei dieser Weiterbildung als zweite Fahrzeugfunktion eine Haupthub- oder Hauptsenkfunktion vorgesehen, die mit dem Stellsignal proportional angesteuert wird. Es erfolgt also bei einer schnellen Betätigung zunächst ein Initialhub oder Initialsenken. Wird das Betätigungselement dagegen langsam betätigt, wird in eine Haupthub- oder Hauptsenkfunktion umgeschaltet, in der die Last proportional zu dem Stellsignal angehoben bzw. abgesenkt wird.The actuator according to the invention is used in a preferred development to initiate an initial stroke on the truck with its first vehicle function. The initial stroke here denotes a vehicle function with which a recorded load can be raised by a small amount from the ground or lowered from a low height on the ground. Preferably, in this development as a second vehicle function is a Haupthub- or Haupenkubfunktion provided, which is controlled proportionally with the control signal. Thus, in the case of a quick actuation, an initial stroke or initial lowering first takes place. On the other hand, when the actuator is slowly actuated, it is switched to a main lift or main lowering function in which the load is raised or lowered in proportion to the control signal.

Die vorliegende Erfindung wird anhand von zwei Ausführungsbeispielen näher erläutert. Es zeigt:

  • Fig. 1 den schematischen Verlauf eines Stellsignals über die Zeit bei einem Umschalten zwischen einer Haupthub- und einer Zusatzhub-Funktion.
The present invention will be explained in more detail with reference to two exemplary embodiments. It shows:
  • Fig. 1 the schematic course of an actuating signal over time when switching between a Haupthub- and a Zusatzhub function.

Fig. 1 zeigt den zeitlichen Verlauf eines Stellsignals S, das für einen Heben- oder Senkenbetrieb ausgewertet wird. Mit Hilfe des Betätigungselements (nicht dargestellt) kann ein Stellsignal S vorgegeben werden, das kontinuierlich einen Wertebereich zwischen 0 und Smax annimmt. In einem ersten mit 10 gekennzeichneten zeitlichen Verlauf des Stellsignals wird der Maximalwert Smax des Stellsignals zum Zeitpunkt T1 erreicht. Der Zeitpunkt T1 ist kleiner als eine vorbestimmte Grenzzeit Tgrenz. In diesem Fall wird der Initialhub solange ausgelöst, wie der Maximalwert Smax anliegt oder die gewünschte Höhe des Initialhubs erreicht wurde. In einem zweiten Verlauf 12 wird der Maximalwert des Stellsignals zu einem Zeitpunkt T2 erreicht, mit T2 > Tgrenz. Bei diesem Verlauf wird nachfolgend der Haupthub angesteuert. Bei der Ansteuerung des Haupthubs wird nachfolgend das Stellsignal S proportional ausgewertet, um die Haupthub-/Senkfunktion über das Bedienelement anzusteuern. Fig. 1 shows the time course of a control signal S, which is evaluated for a lifting or lowering operation. With the help of the actuating element (not shown), a control signal S can be specified, which continuously assumes a value range between 0 and S max . In a first time progression of the actuating signal marked 10, the maximum value S max of the actuating signal is reached at time T 1 . The time T 1 is less than a predetermined limit time T grenz . In this case, the initial stroke is triggered as long as the maximum value S max is present or the desired level of the initial stroke has been reached. In a second course 12, the maximum value of the actuating signal is reached at a time T 2 , with T 2 > T grenz . In this course, the main lift is subsequently controlled. When controlling the main lift, the control signal S is subsequently evaluated proportionally in order to control the main lift / lower function via the operating element.

Zur Auswertung der Stellsignale S kann beispielsweise auf die Anstiegsflanke des Steuersignals abgestellt werden. Ist die Anstiegsflanke steiler als die mit 14 eingezeichnete Grenzanstiegsflanke, so wird ein Initialhub betätigt. Ist die Anstiegsflanke flacher als die Grenzanstiegsflanke 14, wird die Haupthubfunktion ausgelöst.To evaluate the control signals S can be turned off, for example, on the rising edge of the control signal. If the rising edge is steeper than the rising edge marked 14, an initial stroke is actuated. Is the Rising edge shallower than the rising edge 14, the Haupthubfunktion is triggered.

Der besondere Vorteil des Betätigungselements liegt darin, dass eine Bedienperson sehr einfach und intuitiv zwischen Initialhub und Haupthub unterscheiden kann. Hierbei kann das Bedienelement derart ausgelegt sein, dass ein Senken des Initialhubs bzw. Hauptsenkfunktion durch eine Betätigung des Bedienelements in eine entgegengesetzte Richtung in gleicher Weise erfolgen kann.The particular advantage of the actuator is that an operator can distinguish very easily and intuitively between initial stroke and main stroke. In this case, the operating element can be designed such that a lowering of the initial stroke or main lowering function can be effected in the same way by an actuation of the operating element in an opposite direction.

Neben der vorgestellten Funktion eines Initialhubes und einer Haupthubfunktion kann das erfindungsgemäße Betätigungselement auch bei einer Reihe von weiteren Funktionen an einem Flurförderzeug eingesetzt werden. So ist es beispielsweise möglich, die folgenden Funktionen an einem Flurförderzeug zu kombinieren:In addition to the presented function of an initial stroke and a Haupthubfunktion the actuator of the invention can also be used in a number of other functions on a truck. For example, it is possible to combine the following functions on a truck:

Ansteuerung eines Schiebers vorwärts oder rückwärts als erste Fahrzeugfunktion und Ansteuerung eines Seitenschiebers nach links oder rechts als eine zweite Fahrzeugfunktion.Control of a slider forward or backward as the first vehicle function and control of a side shift to the left or right as a second vehicle function.

Ebenfalls kann ein Ausrichten der Gabel in eine waagerechte Funktion als erste Fahrzeugfunktion vorgesehen sein und ein Neigen des Mastes vorwärts oder rückwärts als zweite Fahrzeugfunktion vorgesehen sein. Auch ein automatisches Wiegen einer aufgenommenen Last als erste Fahrzeugfunktion mit einer Ansteuerung des Haupthubbetriebes als zweite Fahrzeugfunktion ist möglich. Auch kann eine automatische Hubhöhenvorwahl als erste Fahrzeugfunktion vorgesehen sein, die mit einer entsprechenden Ansteuerung der Haupthubfunktion als zweite Fahrzeugfunktion kombiniert ist. Ebenso kann das Einstellen einer Geschwindigkeitsbegrenzung oder einer Beschleunigungsbegrenzung als erste Fahrzeugfunktion vorgesehen sein, während die entsprechende Ansteuerung der Haupthubfunktion dann als zweite Fahrzeugfunktion vorgesehen ist.Also, an alignment of the fork may be provided in a horizontal function as the first vehicle function and a tilting of the mast forward or backward may be provided as a second vehicle function. An automatic weighing of a recorded load as the first vehicle function with a control of the main lift operation as a second vehicle function is also possible. Also, an automatic Hubhöhenvorwahl be provided as the first vehicle function, which is combined with a corresponding control of the Haupthubfunktion as a second vehicle function. Likewise, the setting of a speed limit or an acceleration limit can be provided as the first vehicle function, while the corresponding control of the main lift function is then provided as a second vehicle function.

Allgemein lassen sich diejenigen Fahrzeugfunktionen zu einer Auswahl mit dem erfindungsgemäßen Betätigungselement zusammenfassen, die sich zueinander entsprechend ergänzen. Eine tabellarische Übersicht über solche Funktionen ist nachstehend angegeben.

Figure imgb0001
In general, those vehicle functions can be combined to a selection with the actuating element according to the invention, which complement each other accordingly. A tabular overview of such functions is given below.
Figure imgb0001

Die Tabelle ist derart zu lesen, dass + eine mögliche Kombination der zeilen- und spaltenweise aufgetragenen Fahrzeugfunktionen kennzeichnen und ++ eine bevorzugte Kombination von unterschiedlichen Fahrzeugfunktionen beschreibt.The table should be read in such a way that + indicates a possible combination of line and column-wise plotted vehicle functions and ++ describes a preferred combination of different vehicle functions.

Claims (5)

Betätigungselement für ein Flurförderzeug, das abhängig vom Grad seiner Betätigung unterschiedliche Stellsignale für eine Fahrzeugfunktion erzeugen kann, dadurch gekennzeichnet, dass abhängig von einer Änderungsgeschwindigkeit eines Stellsignals zu Beginn seiner Betätigung nachfolgend Stellsignale für unterschiedliche Fahrzeugfunktionen generiert werden.Actuating element for an industrial truck, which can generate different actuating signals for a vehicle function depending on the degree of its actuation, characterized in that depending on a rate of change of a control signal at the beginning of its actuation following actuating signals for different vehicle functions are generated. Betätigungselement nach Anspruch 1, dadurch gekennzeichnet, dass wenn die Änderungsgeschwindigkeit für das Stellsignal größer als eine vorbestimmte Mindestgeschwindigkeit ist, die nachfolgenden Stellsignale für eine erste Fahrzeugfunktion dienen und bei Unterschreiten der Mindestgeschwindigkeit die nachfolgenden Stellsignale für eine zweite Fahrzeugfunktion dienen.Actuating element according to claim 1, characterized in that when the rate of change for the control signal is greater than a predetermined minimum speed, serve the subsequent control signals for a first vehicle function and serve below the minimum speed, the subsequent control signals for a second vehicle function. Betätigungselement nach Anspruch 2, dadurch gekennzeichnet, dass als erste Fahrzeugfunktion ein Initialhub zum Heben oder Senken ausgelöst wird, der durch die nachfolgenden Stellsignale angesteuert wird.Actuating element according to claim 2, characterized in that the first vehicle function, an initial stroke for raising or lowering is triggered, which is controlled by the subsequent control signals. Betätigungselement nach Anspruch 2 oder 3, dadurch gekennzeichnet, dass als zweite Fahrzeugfunktion eine Haupthub- oder eine Hauptsenkfunktion vorgesehen ist, die durch die nachfolgenden Stellsignale angesteuert wird.Actuating element according to claim 2 or 3, characterized in that a Haupthub- or a main steering function is provided as the second vehicle function, which is controlled by the subsequent control signals. Betätigungselement nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass eine Ansteuerung der zweiten Fahrzeugfunktion proportional zu dem nachfolgenden Stellsignal erfolgt.Actuating element according to one of claims 1 to 4, characterized in that a control of the second vehicle function is proportional to the subsequent actuating signal.
EP20120000923 2011-04-09 2012-02-14 Actuation element for an industrial truck Active EP2508463B1 (en)

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DE102013111638A1 (en) * 2013-10-22 2015-04-23 Jungheinrich Aktiengesellschaft Industrial truck with a vehicle speed sensor
DE102014114427A1 (en) 2014-10-06 2016-04-07 Jungheinrich Aktiengesellschaft Vehicle with a driving control

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1016579A1 (en) 1998-12-30 2000-07-05 BT Industries Aktiebolag Method and device for programming of trucks
EP1398251B1 (en) 2002-09-12 2006-09-06 Bt Industries Ab Tiller truck and control method for such a truck
US20070137904A1 (en) * 2005-04-19 2007-06-21 Nmhg Oregon, Inc. Coast control system for an industrial vehicle
DE102006061069A1 (en) * 2006-12-22 2008-06-26 Still Sas Tiller-guided industrial truck

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19528415A1 (en) * 1995-08-02 1997-02-06 Linde Ag Method for operating an industrial truck and industrial truck intended therefor
DE19623792C2 (en) * 1996-06-14 2002-01-10 Still Wagner Gmbh & Co Kg Control element for a drawbar-controlled industrial truck

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1016579A1 (en) 1998-12-30 2000-07-05 BT Industries Aktiebolag Method and device for programming of trucks
EP1398251B1 (en) 2002-09-12 2006-09-06 Bt Industries Ab Tiller truck and control method for such a truck
US20070137904A1 (en) * 2005-04-19 2007-06-21 Nmhg Oregon, Inc. Coast control system for an industrial vehicle
DE102006061069A1 (en) * 2006-12-22 2008-06-26 Still Sas Tiller-guided industrial truck

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