EP1975114B2 - Oscillation compensation for the lifting frame of an industrial truck - Google Patents
Oscillation compensation for the lifting frame of an industrial truck Download PDFInfo
- Publication number
- EP1975114B2 EP1975114B2 EP08004305.2A EP08004305A EP1975114B2 EP 1975114 B2 EP1975114 B2 EP 1975114B2 EP 08004305 A EP08004305 A EP 08004305A EP 1975114 B2 EP1975114 B2 EP 1975114B2
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- European Patent Office
- Prior art keywords
- industrial truck
- lifting frame
- sensor
- truck according
- actuator element
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- 230000010355 oscillation Effects 0.000 title claims description 17
- 230000001133 acceleration Effects 0.000 claims description 8
- 230000000737 periodic effect Effects 0.000 claims description 3
- 238000011144 upstream manufacturing Methods 0.000 claims description 3
- 238000005452 bending Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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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
- B66F9/07559—Stabilizing means
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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
- B66F9/08—Masts; Guides; Chains
Definitions
- the invention relates to an industrial truck, in particular a reach truck, with a lifting frame and an actuator for moving the lifting frame relative to a vehicle frame of the industrial truck.
- the invention relates to an industrial truck with at least one sensor for detecting elastic swinging of the mast, which is in operative connection with an electronic control device with which the actuator for moving the mast can be controlled.
- Industrial trucks of the type mentioned can be reach trucks, but also counterbalanced forklifts.
- the mast In the case of reach trucks, the mast can be moved horizontally relative to the vehicle frame in the main direction of travel of the industrial truck. This pushing movement is carried out by means of an actuator which generates the force required to move the mast.
- the actuator can for example be formed by a hydraulic cylinder or by an electromechanical actuator.
- the mast can be tilted relative to the vehicle frame.
- the tiltability of the mast is often provided in addition to the ability to move horizontally.
- the tilt axis of the mast is aligned at right angles to the main direction of travel of the mast. In counterbalanced forklifts, tiltability is usually the only possible movement of the mast relative to the vehicle frame.
- the actuator for tilting the mast can also be formed by a hydraulic cylinder or an electromechanical actuator.
- the present invention is based on the object of providing an industrial truck in which vibrations of the lifting frame are largely prevented.
- the invention can be used advantageously if the lifting frame can be moved in an essentially horizontal direction by means of the actuator.
- the actuator is part of the thrust device for the mast of a reach truck.
- the actuator is formed by a hydraulic cylinder and the electronic control device controls a valve connected upstream of the hydraulic cylinder.
- the usual drive arrangement for moving the mast can continue to be used. Only the valve upstream of the hydraulic cylinder has to be adapted to the increased requirements in terms of response time and response behavior.
- At least one sensor for detecting elastic oscillation of the lifting frame has at least one strain gauge.
- the strain gauge is attached to a non-extendable mast on the mast. It records the slight elastic changes in length of the stationary mast caused by the vibrations of the mast.
- the sensor which has a strain gauge, is preferably arranged above a horizontal axis about which the lifting frame can be tilted.
- At least one sensor for recognizing an elastic swing of the lifting frame can have at least one acceleration sensor or at least one gyroscope sensor.
- the acceleration sensor directly measures the acceleration caused by the oscillating movement of the free end of the mast.
- the gyroscope sensor measures the change in the absolute angular position of the free end of the mast that takes place during the oscillation movement.
- the sensor which has an acceleration sensor or a gyroscope sensor, is advantageously arranged on a vertically movable extension mast of the lifting frame. If the sensor is arranged at the top of the most extendable mast of the mast, the sensor is always at the top of the mast. The oscillation movement has the greatest deflection at this point and can therefore be best measured there.
- At least one sensor for detecting elastic oscillation of the lifting frame has at least one pressure or force sensor that detects the force acting on the actuator. This allows the lifting frame vibrations to be measured indirectly via the reaction force of the vibrations acting on the actuator. If the actuator is designed as a hydraulic cylinder, the pressure sensor can be used to detect the periodic pressure change of the hydraulic oil that occurs during the oscillation.
- the electronic control device is designed in such a way that the movement of the actuator, which counteracts the swinging of the lifting frame, is determined taking into account at least one operating parameter of the industrial truck.
- An operating parameter is formed from the current horizontal position and / or the current horizontal movement speed of the lifting frame.
- Another operating parameter is the current inclination and / or the current inclination speed of the mast.
- a third operating parameter can be formed from the current lifting height and / or from the current lifting or lowering speed of the lifting frame.
- Another operating parameter is finally formed by the weight of a load raised with the lifting frame.
- the operating parameters mentioned have a significant influence on the vibration behavior of the mast. They are therefore taken into account by the control device when determining the compensating movement.
- the current travel speed of the industrial truck and the current braking state of the industrial truck also come into consideration as operating parameters to be taken into account.
- the figure shows an industrial truck according to the invention designed as a reach truck.
- a vehicle frame 1 on which a driver's cab 2 is arranged can be seen.
- a battery block 3 which supplies all drives of the reach truck with electrical energy.
- a lifting frame 4 can be tilted on the vehicle frame 1 by means of a push carriage 5 and is mounted displaceably in the main direction of travel 6.
- the mast 4 is shown in the fully pushed back position.
- the fully advanced position 4a of the lifting frame 4 is also shown.
- the pushing movement of the lifting frame 4 is carried out by an actuator 9, which can be designed, for example, as a hydraulic cylinder or as an electromechanical unit.
- the mast Independently of the horizontal displacement of the mast 4, the mast can be tilted about the tilt axis 7.
- the horizontal tilt axis 7 is aligned perpendicular to the main direction of travel 6.
- the mast 4 can be extended telescopically upward in the usual manner.
- the mast 4 has a fixed mast attached to the push carriage 5 and therefore not height-movable, as well as one or more extending masts that can be extended upward relative to the standing mast.
- a load handling device designed as a load fork 8 is guided so that it can be moved up and down on the mast 4.
- a sensor 10 for detecting elastic swinging of the lifting frame 4 is attached to the stand mast of the lifting frame 4 above the pivot axis 7.
- the sensor 10 is designed as a strain gauge (DMS). Elastic deformations of the stationary mast are detected by the sensor 10.
- An electronic control device 15 evaluates the signal from the sensor 10 and reconstructs the bending state of the mast.
- a control algorithm is implemented in the control device, with which an active compensating movement is determined, with which the actuator 9 counteracts the oscillation.
- a sensor 14 which detects the movement of the upper end of the mast, is also arranged at the upper end of the extending mast.
- This sensor 14 can be based on the principle an acceleration sensor that measures the acceleration of the upper end of the mast, or on the principle of a gyroscope sensor that measures the angular position of the upper end of the mast.
- the computation of the compensation movement in the control device 15 can be based exclusively on the signal from the sensor 10, which reflects the mast bending, exclusively on the signal from the sensor 14, which reflects the movement of the upper end of the mast, or on the signals from both sensors 10 and 14.
- the control device 15 processes other signals.
- the compensation movement is thereby adapted to the current state of the lifting frame 4, which increases the effectiveness of the compensation movement.
- Most of the signals are the signal from a sensor 11 for the position of the push carriage 5, the signal from a sensor 12 for the height of the load fork 8 and the signal from a sensor 13 for the load weight.
- the current driving speed and the braking state can also be taken into account.
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
Description
Die Erfindung betrifft ein Flurförderzeug, insbesondere Schubmaststapler, mit einem Hubgerüst und einem Stellglied zum Bewegen des Hubgerüsts relativ zu einem Fahrzeugrahmen des Flurförderzeugs. Insbesondere betrifft die Erfindung ein Flurförderzeug mit mindestens einem Sensor zum Erkennen eines elastischen Schwingens des Hubgerüsts, der mit einer elektronischen Steuervorrichtung in Wirkverbindung steht, mit welcher das Stellglied zum Verschieben des Hubgerüsts ansteuerbar ist.The invention relates to an industrial truck, in particular a reach truck, with a lifting frame and an actuator for moving the lifting frame relative to a vehicle frame of the industrial truck. In particular, the invention relates to an industrial truck with at least one sensor for detecting elastic swinging of the mast, which is in operative connection with an electronic control device with which the actuator for moving the mast can be controlled.
Bei Flurförderzeugen der genannten Art kann es sich um Schubmaststapler, aber auch um Gegengewichtsgabelstapler handeln. Bei Schubmaststaplern kann das Hubgerüst relativ zum Fahrzeugrahmen horizontal in Hauptfahrrichtung des Flurförderzeugs verschoben werden. Diese Schubbewegung wird mittels eines Stellglieds durchgeführt, welches die zum Verschieben des Hubgerüsts erforderliche Kraft erzeugt. Das Stellglied kann beispielsweise von einem Hydraulikzylinder oder von einem elektromechanischen Aktuator gebildet sein.Industrial trucks of the type mentioned can be reach trucks, but also counterbalanced forklifts. In the case of reach trucks, the mast can be moved horizontally relative to the vehicle frame in the main direction of travel of the industrial truck. This pushing movement is carried out by means of an actuator which generates the force required to move the mast. The actuator can for example be formed by a hydraulic cylinder or by an electromechanical actuator.
Weiter kann das Hubgerüst gegenüber dem Fahrzeugrahmen neigbar sein. Bei Schubmaststaplern ist die Neigbarkeit des Hubgerüsts oft zusätzlich zur horizontalen Verschiebbarkeit vorgesehen. Die Neigeachse des Hubgerüsts ist dabei rechtwinklig zur Hauptfahrrichtung des Hubgerüsts ausgerichtet. Bei Gegengewichtsgabelstaplern stellt die Neigbarkeit in der Regel die einzige Bewegungsmöglichkeit des Hubgerüsts relativ zum Fahrzeugrahmen dar. Das Stellglied zum Neigen des Hubgerüsts kann ebenfalls von einem Hydraulikzylinder oder von einem elektromechanischen Aktuator gebildet sein.Furthermore, the mast can be tilted relative to the vehicle frame. In the case of reach trucks, the tiltability of the mast is often provided in addition to the ability to move horizontally. The tilt axis of the mast is aligned at right angles to the main direction of travel of the mast. In counterbalanced forklifts, tiltability is usually the only possible movement of the mast relative to the vehicle frame. The actuator for tilting the mast can also be formed by a hydraulic cylinder or an electromechanical actuator.
Bei allen gattungsgemäßen Flurförderzeugen besteht potentiell das Problem, dass das Hubgerüst in bestimmten Betriebssituationen zum Schwingen neigt. Hierbei sind insbesondere Schwingungsbewegungen störend, bei denen die Richtung der Auslenkung des Hubgerüsts der Hauptfahrrichtung des Flurförderzeugs entspricht. Angeregt wird das Hubgerüst zu einer solchen Schwingungsbewegung beispielsweise durch die Schubbewegung des Hubgerüsts, durch die Neigebewegung des Hubgerüsts oder durch ein Bremsen oder Beschleunigen des Flurförderzeugs insgesamt. Insbesondere dann, wenn das teleskopische Hubgerüst nach oben ausgefahren ist, erreicht die Schwingung häufig Amplituden, die so groß sind, dass die Bedienperson die Schwingung erst abklingen lässt, bevor beispielsweise mit der am Hubgerüst befestigten Lastgabel in ein Regal eingefahren wird.With all generic industrial trucks there is a potential problem that the mast tends to oscillate in certain operating situations. In this case, vibrational movements in which the direction of the deflection of the mast corresponds to the main direction of travel of the industrial truck are particularly disruptive. The lifting frame is excited to such a vibratory movement, for example, by the pushing movement of the lifting frame, by the tilting movement of the lifting frame or by braking or accelerating the truck as a whole. In particular, when the telescopic mast is extended upwards, the oscillation often reaches amplitudes that are so large that the operator first lets the oscillation die down before, for example, the fork attached to the mast is moved into a shelf.
Aus der
Der vorliegenden Erfindung liegt die Aufgabe zugrunde, ein Flurförderzeug zur Verfügung zu stellen, bei dem Schwingungen des Hubgerüsts weitgehend verhindert werden.The present invention is based on the object of providing an industrial truck in which vibrations of the lifting frame are largely prevented.
Diese Aufgabe wird erfindungsgemäß durch die Merkmale des Anspruchs 1 gelöst. Bei der Bewegung des Stellglieds, die dem Schwingen des Hubgerüsts entgegen wirkt, handelt es sich um eine periodische Ausgleichsbewegung.This object is achieved according to the invention by the features of claim 1. The movement of the actuator, which counteracts the swinging of the mast, is a periodic compensation movement.
Wie einleitend bereits erwähnt, ist die Erfindung vorteilhaft einsetzbar, wenn das Hubgerüsts mittels des Stellglieds in im Wesentlichen horizontaler Richtung bewegbar ist. Bei dem Stellglied handelt es sich dabei um einen Teil der Schubvorrichtung für das Hubgerüsts eines Schubmaststaplers.As already mentioned in the introduction, the invention can be used advantageously if the lifting frame can be moved in an essentially horizontal direction by means of the actuator. The actuator is part of the thrust device for the mast of a reach truck.
Zweckmäßig ist es weiter, wenn das Stellglied von einem Hydraulikzylinder gebildet ist und die elektronische Steuervorrichtung ein dem Hydraulikzylinder vorgeschaltetes Ventil ansteuert. Bei dem Einsatz eines Hydraulikzylinders als Stellglied kann die übliche Antriebsandordnung für die Bewegung des Hubgerüsts weiter verwendet werden. Lediglich das dem Hydraulikzylinder vorgeschaltete Ventil muss hinsichtlich der Reaktionszeit und des Ansprechverhaltens an die gestiegenen Anforderungen angepasst werden.It is also useful if the actuator is formed by a hydraulic cylinder and the electronic control device controls a valve connected upstream of the hydraulic cylinder. When using a hydraulic cylinder as an actuator, the usual drive arrangement for moving the mast can continue to be used. Only the valve upstream of the hydraulic cylinder has to be adapted to the increased requirements in terms of response time and response behavior.
Mindestens ein Sensor zum Erkennen eines elastischen Schwingens des Hubgerüsts weist mindestens einen Dehnungsmessstreifen auf. Der Dehnungsmessstreifen (DMS) wird an einem nicht ausfahrbaren Standmast des Hubgerüsts befestigt. Er erfasst die durch die Schwingungen des Hubgerüsts hervorgerufenen geringfügigen elastischen Längenänderungen des Standmasts.At least one sensor for detecting elastic oscillation of the lifting frame has at least one strain gauge. The strain gauge is attached to a non-extendable mast on the mast. It records the slight elastic changes in length of the stationary mast caused by the vibrations of the mast.
Bevorzugt ist der einen Dehnungsmessstreifen aufweisende Sensor oberhalb einer horizontalen Achse angeordnet, um die das Hubgerüst neigbar ist.The sensor, which has a strain gauge, is preferably arranged above a horizontal axis about which the lifting frame can be tilted.
Alternativ oder zusätzlich kann mindestens ein Sensor zum Erkennen eines elastischen Schwingens des Hubgerüsts mindestens einen Beschleunigungssensor oder mindestens einen Gyroskopsensor aufweisen. Der Beschleunigungssensor misst direkt die durch die Schwingungsbewegung auftretende Beschleunigung des freien Mastendes. Im Gegensatz hierzu misst der Gyroskopsensor die während der Schwingungsbewegung stattfindende Änderung der absoluten Winkellage des freien Mastendes.Alternatively or additionally, at least one sensor for recognizing an elastic swing of the lifting frame can have at least one acceleration sensor or at least one gyroscope sensor. The acceleration sensor directly measures the acceleration caused by the oscillating movement of the free end of the mast. In contrast to this, the gyroscope sensor measures the change in the absolute angular position of the free end of the mast that takes place during the oscillation movement.
Vorteilhafterweise ist der einen Beschleunigungssensor oder einen Gyroskopsensor aufweisende Sensor an einem höhenbewegbaren Ausfahrmast des Hubgerüsts angeordnet. Wenn der Sensor oben an dem am weitesten ausfahrbaren Ausfahrmast des Hubgerüsts angeordnet ist, befindet sich der Sensor stets am obersten Ende des Hubgerüsts. Die Schwingungsbewegung weist an dieser Stelle die größte Auslenkung auf und kann folglich dort am besten gemessen werden.The sensor, which has an acceleration sensor or a gyroscope sensor, is advantageously arranged on a vertically movable extension mast of the lifting frame. If the sensor is arranged at the top of the most extendable mast of the mast, the sensor is always at the top of the mast. The oscillation movement has the greatest deflection at this point and can therefore be best measured there.
Eine andere mögliche Ausgestaltungsform besteht darin, dass mindestens ein Sensor zum Erkennen eines elastischen Schwingens des Hubgerüsts mindestens einen Druck- oder Kraftsensor aufweist, der die auf das Stellglied wirkende Kraft erfasst. Dies erlaubt ein indirektes Messen der Hubgerüstschwingungen über die auf das Stellglied wirkende Reaktionskraft der Schwingungen. Wenn das Stellglied als Hydraulikzylinder ausgeführt ist, kann mit dem Drucksensors die während des Schwingens auftretende periodische Druckänderung des Hydrauliköls erfasst werden.Another possible embodiment consists in that at least one sensor for detecting elastic oscillation of the lifting frame has at least one pressure or force sensor that detects the force acting on the actuator. This allows the lifting frame vibrations to be measured indirectly via the reaction force of the vibrations acting on the actuator. If the actuator is designed as a hydraulic cylinder, the pressure sensor can be used to detect the periodic pressure change of the hydraulic oil that occurs during the oscillation.
Gemäß einer zweckmäßigen Weiterbildung der Erfindung ist die elektronische Steuervorrichtung derart ausgeführt, dass die Bewegung des Stellglieds, die dem Schwingen des Hubgerüsts entgegen wirkt, unter Berücksichtigung mindestens eines Betriebsparameters des Flurförderzeugs ermittelt wird.According to an expedient development of the invention, the electronic control device is designed in such a way that the movement of the actuator, which counteracts the swinging of the lifting frame, is determined taking into account at least one operating parameter of the industrial truck.
Ein Betriebsparameter ist von der momentanen horizontalen Position und/oder der momentanen horizontalen Bewegungsgeschwindigkeit des Hubgerüsts gebildet.An operating parameter is formed from the current horizontal position and / or the current horizontal movement speed of the lifting frame.
Einen weiteren Betriebsparameter stellt die momentane Neigung und/oder die momentane Neigungsgeschwindigkeit des Hubgerüsts dar.Another operating parameter is the current inclination and / or the current inclination speed of the mast.
Ein dritter Betriebsparameter kann von der momentanen Hubhöhe und/oder von der momentanen Hub- oder Senkgeschwindigkeit des Hubgerüsts gebildet sein.A third operating parameter can be formed from the current lifting height and / or from the current lifting or lowering speed of the lifting frame.
Ein weiterer Betriebsparameter ist schließlich von dem Gewicht einer mit dem Hubgerüst angehobenen Last gebildet.Another operating parameter is finally formed by the weight of a load raised with the lifting frame.
Die genannten Betriebsparameter haben einen wesentlichen Einfluss auf das Schwingungsverhalten des Hubgerüsts. Sie werden deshalb von der Steuervorrichtung bei der Ermittlung der Ausgleichsbewegung berücksichtigt.The operating parameters mentioned have a significant influence on the vibration behavior of the mast. They are therefore taken into account by the control device when determining the compensating movement.
Weiter kommen als zur berücksichtigende Betriebsparameter die momentane Fahrgeschwindigkeit des Flurförderzeugs und der momentane Bremszustand des Flurförderzeugs in Betracht.The current travel speed of the industrial truck and the current braking state of the industrial truck also come into consideration as operating parameters to be taken into account.
Besonders vorteilhaft ist es, wenn in der elektronischen Steuervorrichtung ein Regelalgorithmus implementiert ist, mit dem eine Stellgröße für die Bewegung des Stellglieds ermittelt wird. Es handelt sich hierbei um einen echten Regelkreis, bei dem die tatsächliche Schwingungsintensität des Hubgerüsts auf die Regelstrecke rückgekoppelt wird. Auf diese Weise gelingt es, ein Schwingen des Hubgerüsts annähernd vollständig auszuschließen.It is particularly advantageous if a control algorithm is implemented in the electronic control device with which a manipulated variable for the movement of the actuator is determined. This is a real control loop in which the actual vibration intensity of the lifting frame is fed back to the controlled system. In this way, it is possible to almost completely rule out the mast swinging.
Weitere Vorteile und Einzelheiten der Erfindung werden anhand des in der schematischen Figur dargestellten Ausführungsbeispiels näher erläutert.Further advantages and details of the invention are explained in more detail with reference to the embodiment shown in the schematic figure.
Die Figur zeigt ein erfindungsgemäßes, als Schubmaststapler ausgeführtes Flurförderzeug. Zu erkennen ist ein Fahrzeugrahmen 1, auf dem ein Fahrerstand 2 angeordnet ist. Ebenfalls auf dem Fahrzeugrahmen angeordnet ist ein Batterieblock 3, der sämtliche Antriebe des Schubmaststaplers mit elektrischer Energie versorgt.The figure shows an industrial truck according to the invention designed as a reach truck. A vehicle frame 1 on which a driver's
Ein Hubgerüst 4 ist an dem Fahrzeugrahmen 1 mittels eines Schubschlittens 5 neigbar und in Hauptfahrrichtung 6 verschiebbar gelagert. Das Hubgerüst 4 ist in vollständig zurückgeschobener Position eingezeichnet. Ebenfalls dargestellt ist die vollständig vorgeschobene Position 4a des Hubgerüsts 4. Die Schubbewegung des Hubgerüsts 4 wird von einem Stellglied 9 durchgeführt, das beispielsweise als Hydraulikzylinder oder als elektromechanische Einheit ausgeführt sein kann. Unabhängig vom horizontalen Verschieben des Hubgerüsts 4 kann das Hubgerüst um die Neigeachse 7 geneigt werden. Die waagrechte Neigeachse 7 ist senkrecht zur Hauptfahrrichtung 6 ausgerichtet.A lifting frame 4 can be tilted on the vehicle frame 1 by means of a push carriage 5 and is mounted displaceably in the main direction of travel 6. The mast 4 is shown in the fully pushed back position. The fully
Darüber hinaus ist das Hubgerüst 4 in üblicher Weise teleskopisch nach oben ausfahrbar. Hierzu weist das Hubgerüst 4 einen am Schubschlitten 5 befestigten und dam it nicht höhen bewegbaren Stand mast auf, sowie einen oder mehrere Ausfahrmasten, die relativ zum Standmast nach oben ausgefahren werden können. Ein als Lastgabel 8 ausgeführtes Lastaufnahmemittel ist am Hubgerüst 4 auf- und abbewegbar geführt.In addition, the mast 4 can be extended telescopically upward in the usual manner. For this purpose, the mast 4 has a fixed mast attached to the push carriage 5 and therefore not height-movable, as well as one or more extending masts that can be extended upward relative to the standing mast. A load handling device designed as a
Während des Betriebs des Schubmaststaplers treten häufig Betriebssituationen auf, bei denen das Hubgerüst 4 zum Schwingen kommt. Insbesondere treten Schwingungsbewegungen auf, bei denen sich das obere Ende des Hubgerüsts 4 in Richtung 6 nach vorne und hinten bewegt.During the operation of the reach truck, operating situations often occur in which the mast 4 begins to vibrate. In particular, vibratory movements occur in which the upper end of the lifting frame 4 moves in the direction 6 forwards and backwards.
Mit der nachfolgend beschriebenen erfindungsgemäßen Anordnung können diese Schwingungen weitgehend vermieden oder schnell kompensiert werden:With the arrangement according to the invention described below, these vibrations can largely be avoided or quickly compensated for:
Ein Sensor 10 zum Erkennen eines elastischen Schwingens des Hubgerüsts 4 ist an dem Stand mast des Hubgerüsts 4, oberhalb der Schwenkachse 7 befestigt. Der Sensor 10 ist im vorliegenden Ausführungsbeispiel als Dehnungsmessstreifen (DMS) ausgeführt. Elastische Verformungen des Standmasts werden von dem Sensor 10 erfasst. Eine elektronische Steuervorrichtung 15 wertet das Signal des Sensors 10 aus und rekonstruiert den Biegungszustand des Masts. In der Steuervorrichtung ist ein Regelalgorithmus implementiert, mit dem eine aktive Ausgleichsbewegung ermittelt wird, mit welcher das Stellglied 9 dem Schwingen entgegen wirkt.A
Weiter ist am oberen Ende des Ausfahrmasts ein Sensor 14 angeordnet, der die Bewegung des oberen Mastendes erfasst. Dieser Sensor 14 kann auf dem Prinzip eines Beschleunigungssensors, der die Beschleunigung des oberen Mastendes misst, oder auf dem Prinzip eines Gyroskopsensors, der die Winkellage des oberen Mastendes misst, beruhen.A
Die Berechnung der Ausgleichsbewegung in der Steuervorrichtung 15 kann ausschließlich auf dem Signal des Sensors 10, welches die Mastbiegung wiedergibt, ausschließlich auf dem Signal des Sensors 14, welches die Bewegung des oberen Mastendes wiedergibt, oder auf den Signalen beider Sensoren 10 und 14 beruhen.The computation of the compensation movement in the
Außer dem Signal des Sensors 10 bzw. 14 verarbeitet die Steuervorrichtung 15 noch weitere Signale. Die Ausgleichsbewegung wird dadurch an den momentanen Zustand des Hubgerüsts 4 angepasst, was die Effektivität der Ausgleichsbewegung erhöht. Bei den meisten Signalen handelt es sich um das Signal eines Sensors 11 für die Position des Schubschlittens 5, um das Signal eines Sensors 12 für die Höhe der Lastgabel 8 und um das Signal eines Sensors 13 für das Lastgewicht. Weiter können die momentane Fahrgeschwindigkeit und der Bremszustand (Bremse betätigt oder gelöst) berücksichtigt werden.In addition to the signal from the
Claims (17)
- Industrial truck, in particular reach truck, having a lifting frame (4) and an actuator element (9) for moving the lifting frame (4) relative to a vehicle frame (1) of the industrial truck, wherein at least one sensor (10, 14) is provided for detecting elastic oscillation of the lifting frame (4), which sensor (10, 14) is operatively connected to an electronic control device (15) with which the actuator element (9) can be actuated to move the lifting frame (4),
characterized
in that when oscillation of the lifting frame (4) is detected, the oscillation of the lifting frame (4) is counteracted by an active and periodic compensation movement of the actuator element (9), and the oscillation movement is stopped at least approximately. - Industrial truck according to Claim 1, characterized in that the lifting frame (4) can be moved essentially in the horizontal direction by means of the actuator element (9).
- Industrial truck according to Claim 1 or 2, characterized in that the lifting frame (4) can be inclined about an essentially horizontal axis (7) by means of the actuator element.
- Industrial truck according to one of Claims 1 to 3,
characterized in that the actuator element (9) is formed by a hydraulic cylinder, and the electronic control device actuates a valve which is connected upstream of the hydraulic cylinder. - Industrial truck according to one of Claims 1 to 4,
characterized in that at least one sensor (10) for detecting elastic oscillation of the lifting frame (4) has at least one strain gauge. - Industrial truck according to Claim 5, characterized in that the sensor (10) which has a strain gauge is arranged above a horizontal axis about which the lifting frame (4) can be inclined.
- Industrial truck according to one of Claims 1 to 6,
characterized in that at least one sensor (14) for detecting elastic oscillation of the lifting frame (4) has at least one acceleration sensor or at least one gyroscopic sensor. - Industrial truck according to one of Claims 1 to 7,
characterized in that the sensor (14) which has an acceleration sensor or a gyroscopic sensor is arranged on a vertically movable extendable mast of the lifting frame (4). - Industrial truck according to one of Claims 1 to 8,
characterized in that at least one sensor for detecting elastic oscillation of the lifting frame (4) has at least one pressure sensor or force sensor which detects the force acting on the actuator element. - Industrial truck according to one of Claims 1 to 9,
characterized in that the electronic control device (15) is embodied in such a way that the movement of the actuator element (9) which counteracts the oscillation of the lifting frame (4) is determined by taking into account at least one operating parameter of the industrial truck. - Industrial truck according to Claim 10,
characterized in that an operating parameter is formed by the instantaneous horizontal position and/or the instantaneous horizontal speed of movement of the lifting frame (4). - Industrial truck according to Claim 10 or 11,
characterized in that an operating parameter is formed by the instantaneous inclination and/or the instantaneous speed of inclination of the lifting frame (4). - Industrial truck according to one of Claims 10 to 12, characterized in that an operating parameter is formed by the instantaneous lifting height and/or by the instantaneous lifting speed or lowering speed of the lifting frame (4).
- Industrial truck according to one of Claims 10 to 13, characterized in that an operating parameter is formed by the weight of a load which is lifted with the lifting frame (4).
- Industrial truck according to one of Claims 10 to 14, characterized in that an operating parameter is formed by the instantaneous velocity of the industrial truck.
- Industrial truck according to one of Claims 10 to 15, characterized in that an operating parameter is formed by the instantaneous braking state of the industrial truck.
- Industrial truck according to one of Claims 10 to 16, characterized in that a control algorithm, with which a manipulated variable for the movement of the actuator element (9) is determined, is implemented in the electronic control device.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102007015488A DE102007015488A1 (en) | 2007-03-30 | 2007-03-30 | Vibration compensation on the mast of a truck |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| EP1975114A1 EP1975114A1 (en) | 2008-10-01 |
| EP1975114B1 EP1975114B1 (en) | 2015-07-29 |
| EP1975114B2 true EP1975114B2 (en) | 2021-03-17 |
Family
ID=39639633
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP08004305.2A Active EP1975114B2 (en) | 2007-03-30 | 2008-03-07 | Oscillation compensation for the lifting frame of an industrial truck |
Country Status (2)
| Country | Link |
|---|---|
| EP (1) | EP1975114B2 (en) |
| DE (1) | DE102007015488A1 (en) |
Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102009029467A1 (en) * | 2009-09-15 | 2011-03-24 | Robert Bosch Gmbh | Cargo vehicle with height-adjustable lifting device |
| DE102010016062A1 (en) | 2010-03-22 | 2011-09-22 | Technische Universität München | Damping or avoiding vibrations in industrial trucks |
| US8731785B2 (en) | 2011-03-18 | 2014-05-20 | The Raymond Corporation | Dynamic stability control systems and methods for industrial lift trucks |
| US9403667B2 (en) * | 2011-03-18 | 2016-08-02 | The Raymond Corporation | Dynamic vibration control systems and methods for industrial lift trucks |
| US8763990B2 (en) | 2012-03-20 | 2014-07-01 | The Raymond Corporation | Turn stability systems and methods for lift trucks |
| DE102013100191A1 (en) | 2013-01-10 | 2014-07-10 | Linde Material Handling Gmbh | Method for detecting lifting device vibration in truck with lifting device, involves calculating frequency, amplitude and phase position of vibration of lifting device by control computer from detected distances to surrounding points |
| US9302893B2 (en) | 2013-02-07 | 2016-04-05 | The Raymond Corporation | Vibration control systems and methods for industrial lift trucks |
| US9002557B2 (en) | 2013-03-14 | 2015-04-07 | The Raymond Corporation | Systems and methods for maintaining an industrial lift truck within defined bounds |
| DE102013113428A1 (en) * | 2013-12-04 | 2015-06-11 | Kion Warehouse Systems Gmbh | Truck |
| DE102014104745A1 (en) | 2014-04-03 | 2015-10-08 | Linde Material Handling Gmbh | Truck with compensation of lift mast vibrations |
| EP3127858B1 (en) | 2015-08-03 | 2018-08-01 | The Raymond Corporation | Oscillation damping for a material handling vehicle |
| DE102016123541A1 (en) | 2016-12-06 | 2018-06-07 | Jungheinrich Aktiengesellschaft | Method for automatic alignment of a truck in a warehouse and system of an industrial truck and a warehouse |
| DE102016124505A1 (en) * | 2016-12-15 | 2018-06-21 | Jungheinrich Aktiengesellschaft | Truck with a control unit for controlling the movement of a piston rod of a hydraulic cylinder and such a method |
| DE102016124506A1 (en) * | 2016-12-15 | 2018-06-21 | Jungheinrich Aktiengesellschaft | Truck with a control unit for controlling the movement of a load and a corresponding method |
| DE102017103043A1 (en) | 2017-02-15 | 2018-08-16 | Jungheinrich Aktiengesellschaft | Truck with a mast |
| CN109279268A (en) * | 2018-12-05 | 2019-01-29 | 大连英蕴科技有限公司 | Vertical conveyor and method in a kind of ship |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3210951C2 (en) † | 1982-03-25 | 1987-01-08 | Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg | Stacker with lifting frame |
| DE10305902A1 (en) † | 2003-02-13 | 2004-09-02 | Jungheinrich Aktiengesellschaft | Method of operating a reach truck and reach truck to carry out the method |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3122720C1 (en) | 1981-06-06 | 1983-01-13 | Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg | Method of braking a stacking vehicle with an extendable load-bearing element and a lifting framework, and a stacking vehicle, in particular a high-bay stacker, for carrying out the method |
| DE59010115D1 (en) * | 1989-11-10 | 1996-03-21 | Jungheinrich Ag | Stacking vehicle with a lifting frame movably arranged on it |
| DE4408757B4 (en) * | 1994-03-15 | 2007-02-15 | Crown Gabelstapler Gmbh & Co. Kg | Industrial truck with a liftable load carrier |
| DE19641192C2 (en) | 1996-09-24 | 2002-10-31 | Siemens Ag | Handling device, in particular storage and retrieval machine |
| DE10054789A1 (en) | 2000-11-04 | 2002-05-08 | Still Wagner Gmbh & Co Kg | Industrial truck with a mast and an additional movement device for a load handler |
| GB2379434B (en) * | 2001-09-10 | 2004-09-22 | Lansing Linde Ltd | Industrial truck with a lifting frame |
| DE10349123A1 (en) | 2003-10-22 | 2005-05-19 | Still Wagner Gmbh & Co Kg | Hoist, especially for a high rack forklift |
| DE102004048519A1 (en) * | 2004-08-23 | 2006-03-02 | Sandt Logistik Gmbh | Drive controller for shelf storage apparatus, influences motor parameter based on measurement of oscillation of shelf storage apparatus |
| WO2008006928A1 (en) | 2006-07-12 | 2008-01-17 | Rocla Oyj | A method and an arrangement for dampening vibrations in a mast structure |
-
2007
- 2007-03-30 DE DE102007015488A patent/DE102007015488A1/en not_active Withdrawn
-
2008
- 2008-03-07 EP EP08004305.2A patent/EP1975114B2/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3210951C2 (en) † | 1982-03-25 | 1987-01-08 | Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg | Stacker with lifting frame |
| DE10305902A1 (en) † | 2003-02-13 | 2004-09-02 | Jungheinrich Aktiengesellschaft | Method of operating a reach truck and reach truck to carry out the method |
Also Published As
| Publication number | Publication date |
|---|---|
| EP1975114B1 (en) | 2015-07-29 |
| DE102007015488A1 (en) | 2008-10-02 |
| EP1975114A1 (en) | 2008-10-01 |
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