EP3301066A1 - Method for servicing an industrial truck with a control element - Google Patents
Method for servicing an industrial truck with a control element Download PDFInfo
- Publication number
- EP3301066A1 EP3301066A1 EP17193227.0A EP17193227A EP3301066A1 EP 3301066 A1 EP3301066 A1 EP 3301066A1 EP 17193227 A EP17193227 A EP 17193227A EP 3301066 A1 EP3301066 A1 EP 3301066A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- operating lever
- unlocking
- restoring force
- restoring
- load
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000008569 process Effects 0.000 claims description 5
- 230000004044 response Effects 0.000 claims description 4
- 230000000903 blocking effect Effects 0.000 description 5
- 238000013459 approach Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 230000001934 delay Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 238000000418 atomic force spectrum Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000009530 blood pressure measurement Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Images
Classifications
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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
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
-
- 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
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
- B66F9/142—Movements of forks either individually or relative to each other
- B66F9/143—Movements of forks relative to each other - symmetric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
- B66F9/147—Whole unit including fork support moves relative to mast
- B66F9/149—Whole unit including fork support rotates
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
- G05G5/005—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member for preventing unintentional use of a control mechanism
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
- G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
Definitions
- the invention relates to a method for operating an industrial truck with a control element.
- an operating element for an industrial truck with two operating levers and at least one switch arranged between them is known.
- the operating levers are each designed for a biaxial movement and are spatially spaced from one another such that with a hand positioned between the levers the fingers can be actuated without gripping and the at least one switch can be actuated between the operating levers.
- a central aspect when operating a truck is its stability.
- Factors influencing stability are load weight, center of gravity distance, lifting height and mast tilt.
- dynamic processes that have an impact on the stability, such as braking, reverse acceleration, cornering, etc.
- a variety of different approaches are known. In one approach, a force or pressure measurement is performed, which are positioned at different positions of the vehicle. Other approaches, such as in DE 100 15 707 A1 . DE 103 04 658 A1 or DE 10 2005 012 004 A1 are based on model-based considerations.
- the invention has for its object to provide a method for operating an industrial truck with a lockable control element and such a vehicle itself, in which the unlocking process for the user is simple and ergonomic.
- the inventive method is provided and intended to operate an industrial truck with a control element.
- the control element has at least one operating lever for a vehicle function and an unlocking device for this vehicle function. It is often a requirement for industrial trucks that an additional driver's consent must be given before dangerous movements of the load. For example, dangerous movements can be opening a stapling attachment or a rotation of a rotating attachment.
- cooperating with the at least one control lever restoring device is provided which generates a restoring force in response to a deflection of the at least one operating lever. According to the invention it is now provided that upon actuation of the operating lever, without prior unlocking of its function, the restoring force is changed at the at least one operating lever to report an unsuccessful unlocking.
- the invention is based on the finding that if the operator has forgotten to unlock or release the desired function, it may sometimes take a while for the operator to notice his mistake.
- the operator receives a haptic feedback by the changed restoring force on the operating element that the unlocking process has not yet been carried out. This avoids dead times and delays in the operation of the truck, because the operator receives an immediate response to his forgotten release of the process.
- the fork positioner is of particular interest.
- Zinkenverstell réelle the tines of a load bearing means are adjusted in their distance relative to each other. Unlocking is not done by an operator but by a load sensor. If the load sensor detects a load on the tines, an actuation of the tine adjustment unit is blocked. Only when the load sensor detects no load on the load supporting means, an actuation of the Zinkenverstell réelles is released. The lack of release of the Zinkenverstell réelles is also indicated by a modified restoring force of the operating lever to the user to remind him that when the load is taken up no tine adjustment is possible.
- the unlocking device independently of the actuating element, is operated manually by the operator.
- the unlocking device may have, for example, a push button, a switch, a slider or a comparable unlocking means here.
- the restoring device blocks a movement of the at least one operating lever until the unlocking device has been actuated.
- the unlocking device either locked or operated by a load sensor or by an additional to be actuated by the operator unlocking.
- a locked control lever alerts the user that the position he is about to actuate is not released for actuation.
- the blocking of the operating lever is preferably carried out in that the restoring device increases the restoring force until it can not be easily overcome during an operation. In addition to blocking the operating lever, it is also possible to increase the restoring force without its operation is completely blocked immediately.
- the truck according to the invention has an operating element which has at least one operating lever for a vehicle function and an unlocking device for the vehicle function. Further, cooperating with the at least one control lever restoring device is provided which indicates a restoring force in response to a deflection of the at least one operating lever.
- the reset means are before actuation of the unlocking the restoring force to the operating lever in such a way that when not successful unlock the vehicle function, this is reported back to the operator. By the feedback to the operator can avoid delays in operating the truck.
- a Zinkenverstell réelle is provided and the unlocking equipped with a load sensor.
- the actuator is disabled for the fork positioner when the load sensor detects a load. The operator attempting to operate the prong adjustment device, even though a load is on the load support, is reminded by the locked actuation device that the received load is jeopardized by actuation of the prong adjustment device.
- the unlocking device has an unlocking means that can be actuated independently of the operating lever.
- the unlocking means may be, for example, a button, a switch, a slider or other actuatable element.
- the unlocking is important that the unlocking can be used and operated independently of the actuator.
- the truck is equipped with a stapling and / or rotating attachment
- the actuation of the unlocking device must be pressed in advance.
- the unblocking device By activating the unblocking device, a movement of the load with the attachment is released.
- the restoring device blocks a movement of the at least one operating lever until the unlocking device has been actuated.
- the unlocking device can be actuated by an unlocking means by the user or for example by a load sensor, which detects, for example, a missing load.
- the restoring device increases the restoring force during a movement of the at least one operating lever without prior actuation of the unlocking device.
- the user already experiences a very large restoring force on the operating lever as soon as it is actuated. This creates for the operator the impression of a blocked control lever, which is located at its maximum stop.
- Fig. 1 shows a truck 10, which has a drive part 12 and a load part 14.
- the drive member 12 has two front wheels 16 and, depending on the design of the chassis, one or two rear wheels 18.
- a lifting mast 22 is articulated in a pivot point 20.
- a tilting cylinder 24 of the mast can be tilted from the horizontal.
- the mast 22 here has a fork-shaped load bearing means 26, on which a load 28 is arranged.
- other load-bearing means can be arranged on the mast 22.
- Zinkenverstellêt which allows to vary the distance between the forks (see. Fig. 5 ), a load to be transported, for example in the form of a roller to grip (see. Fig. 3 ) or a recorded load to pivot specifically (see. Fig. 4 ).
- a blocking function can also be provided, for example, for the mast tilt when the load is raised.
- the lock function tilting from a certain load height forward is only possible if the driver has unlocked this function.
- Fig. 2 shows an operating lever 30 which is pivotable in the direction of the double arrows A, B.
- the operating lever 30 has a bale-shaped head on which, for example, the palm of the operator rests. Opposite the ground 32, the operating lever 30 has at its lower end an elastic sleeve 34, which allows movement of the lever 30.
- an unlocking switch 36 is shown schematically.
- the unlock switch (Execution as a button) can be actuated to unlock by a movement along the double arrow C.
- an operating lever By actuating the operating lever 30 either in the direction B or in the direction A different vehicle functions can be stored. By moving in the plane defined by the directions A and B, both functions can be superposed on each other. With the restoring device, a restoring force can be generated for each of the directions A and B.
- the restoring force is usually proportional to the deflection to give the operator a haptic feedback.
- an operating lever may be provided with a one-dimensional operation.
- Fig. 3 shows a stapling attachment having two flat, box-shaped brackets 38.
- the brackets 38 are moved along a load carriage 42 which is mounted vertically adjustable on a mast 44.
- the distance D between the brackets 38 is set, for example via the operating lever 30 by an operation in the direction A. In this case, an operation of the operating lever in direction A is only possible if the unlocking device 36 has been previously operated and thus the adjustment of the distance D is possible, otherwise the operation of the operating lever in the direction A is locked.
- Fig. 4 shows a rotatable fork carrier 46, which is mounted on a load carriage 48 via a rotary unit (not visible) in the direction E pivotally.
- the load carriage 48 is adjustable along the lifting mast 50 in height.
- a pivoting of the fork carriage along the direction E can be used, for example, for discharging bulk goods or liquids arranged in a container on the fork carriage in a controlled manner. But other applications for the rotatable fork carriage are conceivable.
- Fig. 5 shows a Zinkenverstell réelle, wherein the distance F between the forks 52 and 54 via two adjusting cylinder 56 is adjustable.
- the adjusting cylinder 56 with the forks 52, 54 are arranged on a load carriage 58 which is adjustable along the lifting mast 60 in height.
- an adjustment of the distance F between the forks 52 and 54 may be locked via an unlock switch 36.
- the load sensor detects a load on the forks. In the event that a load is on the forks, in principle, an adjustment of the distance F between the forks is locked. Only in the case that no load is on the forks, an adjustment of the distance F can be done.
- a load sensor it is possible that in the case of a lack of load, an adjustment of the distance F is released directly. Alternatively, it is also possible that even with no load nor an unlock switch must be operated to adjust the distance between the forks.
- Fig. 6 shows the course of a restoring force 62a, 62b, depending on the deflection of the operating lever.
- the normal force curves drawn with a continuous line correspond to a restoring force of 100% at 100% deflection.
- the restoring force here is unsigned, but with absolute value in arbitrary units.
- the restoring force along the line 62a is equal to the restoring force along the line 62b, both restoring forces are directed to return the operating lever to its zero position at 0% deflection.
- the restoring force is now adjusted along the dashed path 64a, 64b.
- the course 64a causes that at a slight deflection in the positive direction already a very large restoring force is experienced, so that a further actuation of the operating lever is not possible.
- the steep gradients 64a, 64b act as end stops and thus block actuation of the operating element in the corresponding direction.
- the blocking takes place as in Fig. 6 shown, optionally for the individual directions.
- a one-sided negative displacement lock can occur.
- the particular advantage of using the return device is that it can be used flexibly on the operating element.
- the slope of the restoring forces 64a and 64b can be varied pulsating within certain limits.
- an operator pressing the operating lever against the restoring force experiences a pulsating restoring force, which also reminds him that the function is locked.
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Civil Engineering (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
Verfahren zur Bedienung eines Flurförderzeugs (10) mit einem Bedienelement , das - mindestens einen Bedienhebel (30) für eine Fahrzeugfunktion sowie eine Entsperreinrichtung (36) für die Fahrzeugfunktion und - eine mit dem mindestens einen Bedienhebel zusammenwirkende Rückstelleinrichtung aufweist, die eine Rückstellkraft in Abhängigkeit von einer Auslenkung des mindestens einen Bedienhebels angibt, wobei bei einer Betätigung des Bedienhebels ohne vorheriges Entsperren des Bedienhebels die Rückstellkraft an dem mindestens einen Bedienhebel verändert wird, um einen nicht erfolgten Entsperrvorgang zurückzumelden.Method for operating an industrial truck (10) with a control element that - At least one operating lever (30) for a vehicle function and an unlocking device (36) for the vehicle function and a restoring device which cooperates with the at least one operating lever and which indicates a restoring force as a function of a deflection of the at least one operating lever, in which upon actuation of the operating lever without prior unlocking of the operating lever, the restoring force is changed at the at least one operating lever to report an unsuccessful unlocking.
Description
Die Erfindung betrifft ein Verfahren zur Bedienung eines Flurförderzeugs mit einem Bedienelement.The invention relates to a method for operating an industrial truck with a control element.
Für die Bedienung und Steuerung von Flurförderzeugen sind zahlreiche unterschiedliche Konzepte und Ansätze für Bedienelemente bekannt. Aus
Aus
Aus
Ein zentral wichtiger Aspekt bei der Bedienung eines Flurförderzeugs ist dessen Standsicherheit. Einflussgrößen für die Standsicherheit sind Lastgewicht, Abstand des Lastschwerpunkts, Hubhöhe und Neigung des Hubgerüsts. Neben diesen statischen Größen gibt es noch dynamische Vorgänge, die einen Einfluss auf die Standsicherheit haben, wie beispielsweise Bremsen, Rückwärtsbeschleunigung, Kurvenfahrt etc. Für die Bestimmung der Standsicherheit sind eine Vielzahl von verschiedenen Ansätzen bekannt. In einem Ansatz erfolgt eine Kraft- oder Druckmessung, die an unterschiedlichen Positionen des Fahrzeugs positioniert sind. Andere Ansätze, wie beispielsweise in
Der Erfindung liegt die Aufgabe zugrunde, ein Verfahren zur Bedienung eines Flurförderzeugs mit einem sperrbaren Bedienelement sowie ein solches Fahrzeug selbst zur Verfügung zu stellen, bei dem der Entsperrvorgang für den Benutzer einfach und ergonomisch möglich ist.The invention has for its object to provide a method for operating an industrial truck with a lockable control element and such a vehicle itself, in which the unlocking process for the user is simple and ergonomic.
Erfindungsgemäß wird die Aufgabe durch ein Verfahren mit den Merkmalen aus Anspruch 1 und ein Flurförderzeug nach Anspruch 7 gelöst. Vorteilhafte Ausgestaltungen bilden die Gegenstände der Unteransprüche.According to the invention the object is achieved by a method having the features of claim 1 and an industrial truck according to claim 7. Advantageous embodiments form the subject of the dependent claims.
Das erfindungsgemäße Verfahren ist vorgesehen und bestimmt zur Bedienung eines Flurförderzeugs mit einem Bedienelement. Das Bedienelement besitzt mindestens einen Bedienhebel für eine Fahrzeugfunktion sowie eine Entsperreinrichtung für diese Fahrzeugfunktion. Häufig ist es eine Vorschrift für Flurförderzeuge, dass vor gefahrbringenden Bewegungen der Last eine zusätzliche Zustimmung des Fahrers erfolgen muss. Gefahrbringende Bewegungen können beispielsweise das Öffnen eines klammernden Anbaugeräts oder eine Drehung eines drehenden Anbaugeräts sein. Ferner ist eine mit dem mindestens einen Bedienhebel zusammenwirkende Rückstelleinrichtung vorgesehen, die eine Rückstellkraft in Abhängigkeit von einer Auslenkung des mindestens einen Bedienhebels erzeugt. Erfindungsgemäß ist nun vorgesehen, dass bei Betätigung des Bedienhebels, ohne vorheriges Entsperren seiner Funktion, die Rückstellkraft an dem mindestens einen Bedienhebel verändert wird, um einen nicht erfolgten Entsperrvorgang zurückzumelden. Der Erfindung liegt die Erkenntnis zugrunde, dass wenn der Bediener ein Entsperren oder eine Freigabe der gewünschten Funktion vergessen hat, es mitunter dauern kann, bis der Bediener seinen Fehler bemerkt. Bei dem erfindungsgemäßen Verfahren erhält der Bediener durch die veränderte Rückstellkraft an dem Bedienelement eine haptische Rückmeldung, dass der Entsperrvorgang noch nicht ausgeführt wurde. So werden Totzeiten und Verzögerungen bei der Bedienung des Flurförderzeugs vermieden, denn der Bediener erhält eine umgehende Rückmeldung zu seiner vergessenen Freigabe des Vorgangs.The inventive method is provided and intended to operate an industrial truck with a control element. The control element has at least one operating lever for a vehicle function and an unlocking device for this vehicle function. It is often a requirement for industrial trucks that an additional driver's consent must be given before dangerous movements of the load. For example, dangerous movements can be opening a stapling attachment or a rotation of a rotating attachment. Further, cooperating with the at least one control lever restoring device is provided which generates a restoring force in response to a deflection of the at least one operating lever. According to the invention it is now provided that upon actuation of the operating lever, without prior unlocking of its function, the restoring force is changed at the at least one operating lever to report an unsuccessful unlocking. The invention is based on the finding that if the operator has forgotten to unlock or release the desired function, it may sometimes take a while for the operator to notice his mistake. In the method according to the invention, the operator receives a haptic feedback by the changed restoring force on the operating element that the unlocking process has not yet been carried out. This avoids dead times and delays in the operation of the truck, because the operator receives an immediate response to his forgotten release of the process.
Von den möglichen Fahrzeugfunktionen, die eine Entsperrung vor ihrer Betätigung benötigen, ist das Zinkenverstellgerät von besonderem Interesse. Beim Zinkenverstellgerät werden die Zinken eines Lasttragmittels in ihrem Abstand relativ zueinander verstellt. Hier erfolgt die Entsperrung nicht über eine Betätigung des Benutzers, sondern über einen Lastsensor. Detektiert der Lastsensor eine Last auf den Zinken, so ist eine Betätigung der Zinkenverstelleinheit gesperrt. Erst wenn der Lastsensor keine Last an dem Lasttragmittel detektiert, ist eine Betätigung des Zinkenverstellgeräts freigegeben. Die fehlende Freigabe des Zinkenverstellgeräts wird ebenfalls durch eine veränderte Rückstellkraft des Bedienhebels dem Benutzer angezeigt, um ihn daran zu erinnern, dass bei aufgenommener Last keine Zinkenverstellung möglich ist.Of the possible vehicle functions that require unlocking prior to their actuation, the fork positioner is of particular interest. When Zinkenverstellgerät the tines of a load bearing means are adjusted in their distance relative to each other. Unlocking is not done by an operator but by a load sensor. If the load sensor detects a load on the tines, an actuation of the tine adjustment unit is blocked. Only when the load sensor detects no load on the load supporting means, an actuation of the Zinkenverstellgeräts is released. The lack of release of the Zinkenverstellgeräts is also indicated by a modified restoring force of the operating lever to the user to remind him that when the load is taken up no tine adjustment is possible.
In einer weiteren bevorzugten Ausgestaltung des Verfahrens wird die Entsperreinrichtung, unabhängig von dem Betätigungselement, durch den Bediener manuell betätigt. Die Entsperreinrichtung kann hier beispielsweise ein Taster, ein Schalter, ein Schieber oder ein vergleichbares Entsperrmittel aufweisen.In a further preferred embodiment of the method, the unlocking device, independently of the actuating element, is operated manually by the operator. The unlocking device may have, for example, a push button, a switch, a slider or a comparable unlocking means here.
In einer bevorzugten Ausgestaltung des erfindungsgemäßen Verfahrens blockiert die Rückstelleinrichtung eine Bewegung des mindestens einen Bedienhebels bis die Entsperreinrichtung betätigt wurde. Hierbei kann die Entsperreinrichtung, wie bereits erläutert, entweder durch einen Lastsensor gesperrt oder betätigt werden oder durch ein zusätzlich von dem Bediener zu betätigendes Entsperrmittel. Ein blockierter Bedienhebel weist den Benutzer darauf hin, dass die von ihm zur Betätigung gewünschte Position nicht zur Betätigung freigegeben ist. Das Blockieren des Bedienhebels erfolgt dabei bevorzugt dadurch, dass die Rückstelleinrichtung die rückstellende Kraft so stark erhöht, bis sie bei einer Betätigung nicht mehr ohne weiteres überwunden werden kann. Neben einem Blockieren des Bedienhebels ist es auch möglich, die Rückstellkraft zu vergrößern, ohne dass seine Betätigung gleich vollständig blockiert ist.In a preferred embodiment of the method according to the invention, the restoring device blocks a movement of the at least one operating lever until the unlocking device has been actuated. Here, the unlocking device, as already explained, either locked or operated by a load sensor or by an additional to be actuated by the operator unlocking. A locked control lever alerts the user that the position he is about to actuate is not released for actuation. The blocking of the operating lever is preferably carried out in that the restoring device increases the restoring force until it can not be easily overcome during an operation. In addition to blocking the operating lever, it is also possible to increase the restoring force without its operation is completely blocked immediately.
Die erfindungsgemäße Aufgabe wird ebenfalls durch ein Flurförderzeug mit den Merkmalen aus Anspruch 8 gelöst.The object of the invention is also achieved by an industrial truck with the features of claim 8.
Das erfindungsgemäße Flurförderzeug besitzt ein Bedienelement, das mindestens einen Bedienhebel für eine Fahrzeugfunktion sowie eine Entsperreinrichtung für die Fahrzeugfunktion aufweist. Ferner ist eine mit dem mindestens einen Bedienhebel zusammenwirkende Rückstelleinrichtung vorgesehen, die eine Rückstellkraft in Abhängigkeit von einer Auslenkung des mindestens einen Bedienhebels angibt. Die Rückstelleinrichtung gibt vor einer Betätigung der Entsperreinrichtung die Rückstellkraft an dem Bedienhebel derart vor, dass bei einem nicht erfolgten Entsperren der Fahrzeugfunktion, dies dem Bediener zurückgemeldet wird. Durch die Rückmeldung an den Bediener können Verzögerungen bei der Bedienung des Flurförderzeugs vermieden werden.The truck according to the invention has an operating element which has at least one operating lever for a vehicle function and an unlocking device for the vehicle function. Further, cooperating with the at least one control lever restoring device is provided which indicates a restoring force in response to a deflection of the at least one operating lever. The reset means are before actuation of the unlocking the restoring force to the operating lever in such a way that when not successful unlock the vehicle function, this is reported back to the operator. By the feedback to the operator can avoid delays in operating the truck.
In einer bevorzugten Ausgestaltung des erfindungsgemäßen Flurförderzeugs ist ein Zinkenverstellgerät vorgesehen und die Entsperreinrichtung mit einem Lastsensor ausgestattet. Die Betätigungseinrichtung ist für das Zinkenverstellgerät gesperrt, wenn der Lastsensor eine Last erfasst. Der Bediener, der versucht, die Zinkenverstelleinrichtung zu betätigen, obwohl eine Last sich auf dem Lasttragmittel befindet, wird durch die gesperrte Betätigungseinrichtung daran erinnert, dass die aufgenommen Last durch ein Betätigen des Zinkenverstellgeräts gefährdet ist.In a preferred embodiment of the truck according to the invention a Zinkenverstellgerät is provided and the unlocking equipped with a load sensor. The actuator is disabled for the fork positioner when the load sensor detects a load. The operator attempting to operate the prong adjustment device, even though a load is on the load support, is reminded by the locked actuation device that the received load is jeopardized by actuation of the prong adjustment device.
In einer bevorzugten Ausgestaltung des Flurförderzeugs weist die Entsperreinrichtung ein unabhängig vom Bedienhebel betätigbares Entsperrmittel auf. Das Entsperrmittel kann beispielsweise ein Taster, ein Schalter, ein Schieber oder ein sonstiges betätigbares Element sein. Für die Aufgabe als Entsperreinrichtung ist wichtig, dass das Entsperrmittel unabhängig von der Betätigungseinrichtung verwendet und bedient werden kann.In a preferred refinement of the industrial truck, the unlocking device has an unlocking means that can be actuated independently of the operating lever. The unlocking means may be, for example, a button, a switch, a slider or other actuatable element. For the task as unlocking is important that the unlocking can be used and operated independently of the actuator.
In einer möglichen Ausgestaltung ist das Flurförderzeug mit einem klammernden und/oder drehenden Anbaugerät ausgestattet, zu dessen Betätigung die Entsperreinrichtung vorab betätigt werden muss. Durch das Betätigen der Entsperreinrichtung wird eine Bewegung der Last mit dem Anbaugerät freigegeben.In one possible embodiment, the truck is equipped with a stapling and / or rotating attachment, the actuation of the unlocking device must be pressed in advance. By activating the unblocking device, a movement of the load with the attachment is released.
In einer bevorzugten Weiterbildung blockiert die Rückstelleinrichtung eine Bewegung des mindestens einen Bedienhebels bis die Entsperreinrichtung betätigt wurde. Die Entsperreinrichtung kann durch ein Entsperrmittel von dem Benutzer betätigt werden oder beispielsweise durch einen Lastsensor, der beispielsweise eine fehlende Last detektiert.In a preferred embodiment, the restoring device blocks a movement of the at least one operating lever until the unlocking device has been actuated. The unlocking device can be actuated by an unlocking means by the user or for example by a load sensor, which detects, for example, a missing load.
In einer bevorzugten Ausgestaltung vergrößert die Rückstelleinrichtung bei einer Bewegung des mindestens einen Bedienhebels ohne vorherige Betätigung der Entsperreinrichtung die Rückstellkraft. Bei dieser Ausgestaltung erfährt der Benutzer bereits eine sehr große Rückstellkraft an dem Bedienhebel, sobald dieser betätigt wird. Dies erzeugt für die Bedienperson den Eindruck eines blockierten Bedienhebels, der sich an seinem Maximalanschlag befindet.In a preferred embodiment, the restoring device increases the restoring force during a movement of the at least one operating lever without prior actuation of the unlocking device. In this embodiment, the user already experiences a very large restoring force on the operating lever as soon as it is actuated. This creates for the operator the impression of a blocked control lever, which is located at its maximum stop.
Neben einem Blockieren des Bedienhebels ist es auch möglich, die Rückstellkraft spürbar zu vergrößern. Auch hierdurch wird eine Bedienperson auf die fehlende Entsperrung aufmerksam gemacht. Zur Verstärkung dieses Effektes ist es möglich, die Rückstellkraft pulsierend zu variieren, wodurch im besonderen Maße die Aufmerksamkeit der Bedienperson erregt wird. Vorteil gegenüber einem Vibrieren im Bedienhebel ist hierbei auch, dass dieser nicht seine Stellung verändert, sondern trotz gleichbleibender Stellung die Bedienperson nur die für das Halten erforderliche Kraft sich mit der Zeit ändert.In addition to blocking the operating lever, it is also possible to increase the restoring force noticeably. This also makes an operator aware of the lack of unlocking. To enhance this effect, it is possible to vary the restoring force pulsating, which is particularly aroused the attention of the operator. Advantage over a vibration in the operating lever here is also that this does not change its position, but despite the constant position, the operator only changes the force required for holding with time.
Eine bevorzugte Ausführung der Erfindung wird nachfolgend näher erläutert. Es zeigen:
- Fig. 1
- einen Gegengewichtsstapler in einer schematischen Ansicht von der Seite,
- Fig. 2
- einen Bedienhebel mit einem Entsperrschalter,
- Fig. 3
- ein als Klammer ausgebildetes Anbaugerät,
- Fig. 4
- einen Lastschlitten mit Dreheinheit,
- Fig. 5
- ein Zinkenverstellgerät als Anbaugerät, und
- Fig. 6
- den erfindungsgemäßen Verlauf der Rückstellkraft, abhängig von der Auslenkung des Bedienhebels.
- Fig. 1
- a counterbalance truck in a schematic view from the side,
- Fig. 2
- an operating lever with an unlocking switch,
- Fig. 3
- a trained as a bracket attachment,
- Fig. 4
- a load carriage with a rotary unit,
- Fig. 5
- a Zinkenverstellgerät as an attachment, and
- Fig. 6
- the course of the restoring force according to the invention, depending on the deflection of the operating lever.
Da bei Flurförderzeugen es vorgeschrieben ist, dass vor gefahrbringenden Bewegungen der Last eine zusätzliche Zustimmung des Fahrers erfolgen muss, kann beispielsweise auch für die Mastneigung bei angehobener Last eine Sperrfunktion vorgesehen sein. Mit der Sperrfunktion ist ein Neigen ab einer bestimmten Lasthöhe nach vorne nur möglich, wenn der Fahrer diese Funktion entsperrt hat.As it is stipulated in industrial trucks that an additional driver's approval must precede dangerous movements of the load, a blocking function can also be provided, for example, for the mast tilt when the load is raised. With the lock function, tilting from a certain load height forward is only possible if the driver has unlocked this function.
Durch eine Betätigung des Bedienhebels 30 entweder in Richtung B oder in Richtung A können unterschiedliche Fahrzeugfunktionen hinterlegt sein. Durch eine Bewegung in der durch die Richtungen A und B aufgespannten Ebene, können beide Funktionen einander überlagert werden. Mit der Rückstelleinrichtung kann für jede der Richtungen A und B eine rückstellende Kraft erzeugt werden. Die rückstellende Kraft ist in der Regel proportional zur Auslenkung, um der Bedienperson eine haptische Rückmeldung zu geben. Für die Erfindung kann auch ein Bedienhebel mit einer eindimensionalen Betätigung vorgesehen sein.By actuating the operating
Bei der Erfindung wird nun die rückstellende Kraft entlang dem gestrichelten Verlauf 64a, 64b verstellt. Der Verlauf 64a bewirkt, dass bei einer geringsten Auslenkung in positiver Richtung bereits eine sehr große rückstellende Kraft erfahren wird, so dass eine weitere Betätigung des Bedienhebels nicht möglich ist. Die steilen Verläufe 64a, 64b wirken wie Endanschläge und sperren damit eine Betätigung des Bedienelements in die entsprechende Richtung. Das Blockieren erfolgt, wie in
Der besondere Vorteil der Verwendung der Rückstelleinrichtung liegt darin, dass diese flexibel an dem Bedienelement eingesetzt werden kann.The particular advantage of using the return device is that it can be used flexibly on the operating element.
In einer Weiterbildung des in
- 1010
- FlurförderzeugTruck
- 1212
- Antrieb steilDrive steep
- 1414
- LastteilLast part
- 1616
- Vorderradfront
- 1818
- Hinterradrear wheel
- 2020
- Anlenkpunktarticulation
- 2222
- HubmastLifting
- 2424
- Neigezylindertilt cylinder
- 2626
- LasttragmittelLoad support
- 2828
- Lastload
- 3030
- Bedienhebeloperating lever
- 3232
- Untergrundunderground
- 3434
- elastische Manschetteelastic cuff
- 3636
- Entsperreinrichtungunlocking
- 3838
- kastenförmige Klammerbox-shaped bracket
- 4040
- Verstellzylinderadjusting cylinder
- 4242
- Lastschlittenload carriage
- 4444
- HubmastLifting
- 4848
- Lastschlittenload carriage
- 5050
- HubmastLifting
- 5252
- Gabelzinkenforks
- 5454
- Gabelzinkenforks
- 5656
- Verstellzylinderadjusting cylinder
- 5858
- Lastschlittenload carriage
- 6060
- HubmastLifting
- 62a62a
- rückstellende Kraftrestoring force
- 62b62b
- rückstellende Kraftrestoring force
- 64a64a
- rückstellende Kraftrestoring force
- 64b64b
- rückstellende Kraftrestoring force
Claims (14)
bei einer Betätigung des Bedienhebels ohne vorheriges Entsperren des Bedienhebels die Rückstellkraft an dem mindestens einen Bedienhebel verändert wird, um einen nicht erfolgten Entsperrvorgang zurückzumelden.Method for operating an industrial truck with a control element that
upon actuation of the operating lever without prior unlocking of the operating lever, the restoring force is changed at the at least one operating lever to report an unsuccessful unlocking.
dadurch gekennzeichnet, dass
die Rückstelleinrichtung vor einer Betätigung der Entsperreinrichtung die Rückstellkraft an dem mindestens einen Bedienhebel derart vorgibt, dass ein nicht erfolgter Entsperrvorgang zurückgemeldet wird.Truck with an operating element which has at least one operating lever for a vehicle function and an unlocking device for the vehicle function and has a cooperating with the at least one restoring device which indicates a restoring force in response to a deflection of the at least one operating lever,
characterized in that
the restoring device before actuation of the unblocking device, the restoring force to the at least one operating lever so pretends that an unsuccessful unlocking process is returned.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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DE102016118458.6A DE102016118458A1 (en) | 2016-09-29 | 2016-09-29 | Method for operating an industrial truck with a control element |
Publications (2)
Publication Number | Publication Date |
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EP3301066A1 true EP3301066A1 (en) | 2018-04-04 |
EP3301066B1 EP3301066B1 (en) | 2020-05-27 |
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EP17193227.0A Active EP3301066B1 (en) | 2016-09-29 | 2017-09-26 | Method for servicing an industrial truck with a control element |
Country Status (3)
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US (1) | US10336594B2 (en) |
EP (1) | EP3301066B1 (en) |
DE (1) | DE102016118458A1 (en) |
Cited By (1)
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CN112174042A (en) * | 2019-07-02 | 2021-01-05 | 株式会社丰田自动织机 | Operating lever device for industrial vehicle |
Families Citing this family (1)
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CN111362196B (en) * | 2019-10-14 | 2021-06-25 | 周木森 | Fork truck device that commodity circulation field used |
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DE102013012176A1 (en) * | 2013-07-22 | 2015-01-22 | Jungheinrich Aktiengesellschaft | Operating element for an industrial truck |
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US6437771B1 (en) * | 1995-01-18 | 2002-08-20 | Immersion Corporation | Force feedback device including flexure member between actuator and user object |
DE19861143B4 (en) * | 1998-08-21 | 2006-11-02 | ITT Manufacturing Enterprises, Inc., Wilmington | joystick |
DE19949802A1 (en) | 1999-10-15 | 2001-04-19 | Mannesmann Rexroth Ag | Manual input control of hydraulic and electrohydraulic valves through joystick movement and operation of switches |
DE10015707A1 (en) | 2000-03-29 | 2001-10-04 | Digalog Gmbh | Detecting critical driving states for transport vehicles with height adjustable load position involves comparing measurement signal dynamic component analysis result with boundary values |
JP2002196883A (en) * | 2000-12-22 | 2002-07-12 | Alps Electric Co Ltd | Manual input device and on-vehicle equipment controller using the manual input device |
DE10304658A1 (en) | 2003-02-05 | 2004-08-19 | Bosch Rexroth Ag | Industrial truck |
DE102005012004B4 (en) | 2004-04-07 | 2020-09-24 | Linde Material Handling Gmbh | Industrial truck with increased static / quasi-static and dynamic tipping stability |
DE102005000633A1 (en) | 2005-01-03 | 2006-07-13 | Linde Ag | Industrial truck used as a forklift truck comprises a repeater mechanism for repeating the vehicle state and/or vehicle information as a vibration on the operating element and/or on the drivers working area |
DE102007021499A1 (en) | 2007-05-04 | 2008-11-06 | Deere & Company, Moline | operating device |
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2016
- 2016-09-29 DE DE102016118458.6A patent/DE102016118458A1/en not_active Withdrawn
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2017
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- 2017-09-29 US US15/720,192 patent/US10336594B2/en active Active
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DE102013012176A1 (en) * | 2013-07-22 | 2015-01-22 | Jungheinrich Aktiengesellschaft | Operating element for an industrial truck |
DE102014103988A1 (en) * | 2014-03-24 | 2015-09-24 | Elobau Gmbh & Co. Kg | Joystick with intrinsically safe force feedback |
WO2016019091A1 (en) * | 2014-07-31 | 2016-02-04 | Cnh Industrial America Llc | Active force/vibration feedback control method and apparatus for a movable machine |
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CN112174042A (en) * | 2019-07-02 | 2021-01-05 | 株式会社丰田自动织机 | Operating lever device for industrial vehicle |
EP3760572A1 (en) * | 2019-07-02 | 2021-01-06 | Kabushiki Kaisha Toyota Jidoshokki | Control lever device of industrial vehicle |
Also Published As
Publication number | Publication date |
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US20180086613A1 (en) | 2018-03-29 |
EP3301066B1 (en) | 2020-05-27 |
US10336594B2 (en) | 2019-07-02 |
DE102016118458A1 (en) | 2018-03-29 |
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