EP1371603A2 - Procédé de contrôle d'au moins un mouvement d'un chariot de manutention - Google Patents

Procédé de contrôle d'au moins un mouvement d'un chariot de manutention Download PDF

Info

Publication number
EP1371603A2
EP1371603A2 EP03012622A EP03012622A EP1371603A2 EP 1371603 A2 EP1371603 A2 EP 1371603A2 EP 03012622 A EP03012622 A EP 03012622A EP 03012622 A EP03012622 A EP 03012622A EP 1371603 A2 EP1371603 A2 EP 1371603A2
Authority
EP
European Patent Office
Prior art keywords
truck
permissible
movement
determined
stability
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
Application number
EP03012622A
Other languages
German (de)
English (en)
Other versions
EP1371603B1 (fr
EP1371603A3 (fr
Inventor
Ralf Mebert
Michael Meinhardt
Hans-Jörg Schiebel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kion Warehouse Systems GmbH
Original Assignee
Still Wagner GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Still Wagner GmbH and Co KG filed Critical Still Wagner GmbH and Co KG
Publication of EP1371603A2 publication Critical patent/EP1371603A2/fr
Publication of EP1371603A3 publication Critical patent/EP1371603A3/fr
Application granted granted Critical
Publication of EP1371603B1 publication Critical patent/EP1371603B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • 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

Definitions

  • the invention relates to a method for controlling at least one movement of a Industrial truck.
  • the invention is therefore based on the object, a method for controlling at least one movement of an industrial truck to provide, the, under Consideration of all safety aspects, the movement of the truck in the Optimized for the handling capacity of the truck.
  • a special accuracy is used in the calculation of the location of the Overall center of gravity and thus the stability of the truck achieved when this taking into account a possible elastic deformation at least a component of the truck takes place.
  • Picking up and lifting a load leads to elastic in the power-transmitting parts of the truck Deformations, which in turn affects the location of the overall center of gravity.
  • Elastic deformations occur, for example, in the area of the pivoting thrust fork, mast, vehicle frame or tires. The inclusion The elastic deformation leads to a significantly improved accuracy in the Determination of the stability of the truck.
  • the inventive method is used when the Movement of the truck whose permissible volume is determined, the Lifting movement of a lifting device is.
  • the lifting height of the load handling device and thus a recorded load affect the risk of tipping a Material handling considerably. If the risk of tipping exceeds a permissible level, can prevent or further upward movement of the lifting device be slowed down.
  • the invention can be used when the movement of the Truck, whose permissible extent is determined, the driving speed of the Truck in the forward and / or reverse direction is.
  • the maximum travel speed of the truck depending on the position of the overall center of gravity.
  • the permissible travel speed in forward and / or Reverse direction depending on a physically possible Braking acceleration of the truck determined in the appropriate direction.
  • the physically possible braking acceleration depends on the between the braked wheels and the road surface acting normal forces and the Friction conditions. This can be done in forward and backward direction different braking accelerations may be possible.
  • the maximal Driving speed is set so that the prescribed deceleration not fallen below.
  • the permissible travel speed in the forward and / or reverse direction in Dependence on a permissible braking acceleration of the truck in the corresponding direction is determined.
  • the braking acceleration is permissible classified if sufficient stability of the truck is ensured is so no risk of overturning of the truck as a result of during the Braking occurring inertial forces exists.
  • the permissible driving speed is then adjusted so that the required deceleration in the appropriate direction is achieved.
  • the permissible braking acceleration of the truck is, inter alia, in Dependence on the stability of the truck determined.
  • the Stability and thus the risk of overturning of the truck during braking depends on the position of the center of gravity certainly.
  • the permissible travel speed in forward and / or Reverse direction depending on a current steering angle of a steered wheel of the truck determined.
  • the allowed Driving speed reduced with increasing steering angle.
  • a device for moving the load for example, formed by a pivoting push fork be a side thruster, a swivel device and a Additional lifting device comprises.
  • the permissible extent of these movements can For example, defined as allowable speed or allowed acceleration become.
  • the invention is also an industrial truck with a control device to carry out the method described above.
  • the procedure is in the Control device deposited as software.
  • the permissible values for the movements of the truck ie the maximum lifting height, the permissible braking acceleration and the maximum driving speed during the operation of the Truck continuously determined. After activation of the respective movement by the operator, the movement in question is then through the Control device controlled taking into account the determined permissible values.
  • the truck is designed to travel with the load lifted. Even at far lifted load can be at these trucks with a considerable Speed be driven. These trucks are special Stability requirements with those described in the Control device realized procedures are safely adhered to.
  • the figure shows a designed as Hochregalkommissionierer invention Industrial truck in side view.
  • the truck stands with wheels 1 on one Lane 2, which directly or indirectly to a non-liftable Vehicle frame 3 are stored.
  • a driver's cab 4 can work together with one the driver's cab 4 mounted load-carrying means 5 along a telescopic extendable mast 6 are raised.
  • the truck comprises a control device 7 for controlling various Movements of the truck. These movements are for example, the driving speed, the lifting movement or braking the Industrial truck. The permissible extent of these movements is dependent on the position of the overall center of gravity S of the truck determined.
  • the Control device 7 calculates the position of the center of gravity S in the x-direction and y direction from the truck's basic data, the current lifting height of the truck Lifting means 5 and the current load weight.
  • the lifting height is here determined by means of a suitable lifting height sensor whose output signal Control device 7 is supplied.
  • the measurement of the load weight can for example, by means of a arranged on a load chain force measuring sensor take place whose output signal line also with the control device. 7 connected is.
  • In determining the position of the center of gravity S of Truck is also an elastic deformation of the mast 6 due to Load weight is taken into account, reflecting the accuracy of the calculation performed clearly improved.
  • a permissible braking acceleration is determined in both x-directions, which is dimensioned such that the truck during a braking operation has sufficient stability. Starting from the permissible Braking acceleration is then determined the maximum permissible travel speed. As a further influencing factor for the determination of the maximum driving speed can the current steering angle of the truck serve. This is at rising Steering angle reduces the maximum permissible travel speed.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
EP03012622A 2002-06-14 2003-06-03 Procédé de contrôle d'au moins un mouvement d'un chariot de manutention Expired - Lifetime EP1371603B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10226599A DE10226599A1 (de) 2002-06-14 2002-06-14 Verfahren zum Steuern mindestens einer Bewegung eines Flurförderzeugs
DE10226599 2002-06-14

Publications (3)

Publication Number Publication Date
EP1371603A2 true EP1371603A2 (fr) 2003-12-17
EP1371603A3 EP1371603A3 (fr) 2005-12-14
EP1371603B1 EP1371603B1 (fr) 2010-05-05

Family

ID=29557831

Family Applications (1)

Application Number Title Priority Date Filing Date
EP03012622A Expired - Lifetime EP1371603B1 (fr) 2002-06-14 2003-06-03 Procédé de contrôle d'au moins un mouvement d'un chariot de manutention

Country Status (4)

Country Link
US (1) US20040031628A1 (fr)
EP (1) EP1371603B1 (fr)
AT (1) ATE466812T1 (fr)
DE (2) DE10226599A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103038153A (zh) * 2010-08-18 2013-04-10 罗伯特·博世有限公司 用于确定作业机械的提升高度的方法和装置
CN111638673A (zh) * 2020-06-11 2020-09-08 上海外高桥造船有限公司 一种船舶吊篮防冲顶智能控制系统及方法

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2413547B (en) * 2004-04-07 2007-06-06 Linde Ag Industrial truck having increased static/quasi-static and dynamic tipping stability
US20130338885A1 (en) 2012-06-15 2013-12-19 John B. Kirk Management system embedded in an industrial vehicle
US10425128B2 (en) 2012-06-15 2019-09-24 The Raymond Corporation Management system embedded in an industrial vehicle
DE102015201671A1 (de) * 2015-01-30 2016-08-04 Jungheinrich Aktiengesellschaft Kenngrößenbestimmung für Flurförderzeuge
KR102709596B1 (ko) 2015-10-20 2024-09-26 크라운 이큅먼트 코포레이션 산업 차량 수행 조정
US9868623B1 (en) * 2017-01-13 2018-01-16 Caterpillar Inc. Load position display indicator for an excavation system
CN109264646A (zh) * 2018-11-21 2019-01-25 三帕尔菲格特种车辆装备有限公司 一种调速控制系统、高空作业平台及调速方法
CN110203726B (zh) * 2019-05-31 2021-05-11 广东电网有限责任公司 一种用于自动装卸货物装置的坡度控制装置
GB2614737A (en) 2022-01-17 2023-07-19 Bamford Excavators Ltd A Working Machine

Family Cites Families (19)

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GB1462785A (en) * 1973-05-11 1977-01-26 Pye Ltd Crane load indicating arrangement
GB2095861B (en) * 1981-03-31 1985-01-03 Toyoda Automatic Loom Works Fork lift control system
DE3122720C1 (de) * 1981-06-06 1983-01-13 Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg "Verfahren zur Bremsung eines Stapelfahrzeugs mit ausfahrbarem Lastträger und Hubgerüst und Stapelfahrzeug, insbesondere Hochregalstapler, zur Durchführung des Verfahrens"
FR2521543B1 (fr) * 1982-02-12 1986-02-21 Manitou Bf Dispositif automatique de securite en fonction de la charge pour chariot elevateur
US4598797A (en) * 1984-04-13 1986-07-08 Clark Equipment Company Travel/lift inhibit control
AT385538B (de) * 1986-04-04 1988-04-11 Voest Alpine Ag Einrichtung zur sicherung von verfahrbaren ladegeraeten
US4957408A (en) * 1988-04-06 1990-09-18 Toyota Jidosha Kabushiki Kaisha Device for controlling a fork of a forklift
US4942529A (en) * 1988-05-26 1990-07-17 The Raymond Corporation Lift truck control systems
DE19624308A1 (de) * 1996-06-18 1998-01-02 Still Wagner Gmbh & Co Kg Verfahren zum Betreiben eines Flurförderzeugs und Flurförderzeug zur Durchführung des Verfahrens
TW482129U (en) * 1997-04-23 2002-04-01 Toyoda Automatic Loom Works A rock controller for industrial vehicle body
ES2285039T3 (es) * 1997-07-01 2007-11-16 Dynamotive, L.L.C. Sistema de frenado antivuelco.
JP3129259B2 (ja) * 1997-10-31 2001-01-29 株式会社豊田自動織機製作所 産業車両における車軸揺動制御方法及び車軸揺動制御装置
TW522103B (en) * 1997-11-14 2003-03-01 Toyoda Automatic Loom Works Axle tilt control apparatus for industrial vehicles
JP3301416B2 (ja) * 1999-08-23 2002-07-15 株式会社豊田自動織機 産業車両におけるマスト傾動速度制御装置
DE19958221A1 (de) * 1999-12-02 2001-06-07 Wabco Gmbh & Co Ohg Verfahren zur Verhinderung des Umkippens eines Fahrzeugs
JP2001261297A (ja) * 2000-03-22 2001-09-26 Toyota Autom Loom Works Ltd 産業車両の前後方向の荷重モーメント測定装置
DE10054789A1 (de) * 2000-11-04 2002-05-08 Still Wagner Gmbh & Co Kg Flurförderzeug mit einem Hubgerüst und einer zusätzlichen Bewegungsvorrichtung für ein Lastaufnahmemittel
US6799092B2 (en) * 2001-02-21 2004-09-28 Ford Global Technologies, Llc Rollover stability control for an automotive vehicle using rear wheel steering and brake control
JP2003034498A (ja) * 2001-07-23 2003-02-07 Hitachi Constr Mach Co Ltd 高所作業車の過負荷検出装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103038153A (zh) * 2010-08-18 2013-04-10 罗伯特·博世有限公司 用于确定作业机械的提升高度的方法和装置
CN111638673A (zh) * 2020-06-11 2020-09-08 上海外高桥造船有限公司 一种船舶吊篮防冲顶智能控制系统及方法

Also Published As

Publication number Publication date
DE50312686D1 (de) 2010-06-17
US20040031628A1 (en) 2004-02-19
DE10226599A1 (de) 2003-12-24
EP1371603B1 (fr) 2010-05-05
ATE466812T1 (de) 2010-05-15
EP1371603A3 (fr) 2005-12-14

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