EP1975114B2 - Compensation des oscillations sur un châssis de levage d'un chariot de manutention - Google Patents

Compensation des oscillations sur un châssis de levage d'un chariot de manutention Download PDF

Info

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
Authority
EP
European Patent Office
Prior art keywords
industrial truck
lifting frame
sensor
truck according
actuator element
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.)
Active
Application number
EP08004305.2A
Other languages
German (de)
English (en)
Other versions
EP1975114A1 (fr
EP1975114B1 (fr
Inventor
Jürgen Greiner
Rolf Bez
Eckard Arnold
Nico Zimmert
Oliver Sawodny
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
STILL GmbH
Original Assignee
STILL GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=39639633&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP1975114(B2) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by STILL GmbH filed Critical STILL GmbH
Publication of EP1975114A1 publication Critical patent/EP1975114A1/fr
Publication of EP1975114B1 publication Critical patent/EP1975114B1/fr
Application granted granted Critical
Publication of EP1975114B2 publication Critical patent/EP1975114B2/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07559—Stabilizing means
    • 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.

Landscapes

  • 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)

Claims (17)

  1. Chariot de manutention, en particulier chariot élévateur à mât rétractable, avec un cadre de levage (4) et un organe de réglage (9) pour le déplacement du cadre de levage (4) par rapport à un châssis de véhicule (1) du chariot de manutention, dans lequel il est prévu au moins un capteur (10, 14) pour reconnaître une oscillation élastique du cadre de levage (4), qui est en liaison active avec un dispositif de commande électronique (15), avec lequel l'organe de réglage (9) peut être commandé pour le déplacement du cadre de levage (4),
    caractérisé en ce que,
    en présence d'une oscillation reconnue du cadre de levage (4), on s'oppose à l'oscillation du cadre de levage (4) par un mouvement de compensation actif et périodique de l'organe de réglage (9), et le mouvement d'oscillation est au moins approximativement arrêté.
  2. Chariot de manutention selon la revendication 1,
    caractérisé en ce que le cadre de levage (4) peut être déplacé dans une direction essentiellement horizontale au moyen de l'organe de réglage (9).
  3. Chariot de manutention selon la revendication 1 ou 2, caractérisé en ce que le cadre de levage (4) peut être incliné autour d'un axe essentiellement horizontal (7) au moyen de l'organe de réglage.
  4. Chariot de manutention selon l'une quelconque des revendications 1 à 3, caractérisé en ce que l'organe de réglage (9) est formé par un cylindre hydraulique et le dispositif de commande électronique commande une soupape placée en amont du cylindre hydraulique.
  5. Chariot de manutention selon l'une quelconque des revendications 1 à 4, caractérisé en ce qu'au moins un capteur (10) destiné à reconnaître une oscillation élastique du cadre de levage (4) présente au moins une jauge extensométrique.
  6. Chariot de manutention selon la revendication 5, caractérisé en ce que le capteur (10) présentant une jauge extensométrique est disposé au-dessus d'un axe horizontal, autour duquel le cadre de levage (4) est inclinable.
  7. Chariot de manutention selon l'une quelconque des revendications 1 à 6, caractérisé en ce qu'au moins un capteur (14) destiné à reconnaître une oscillation élastique du cadre de levage (4) présente au moins un capteur d'accélération ou au moins un capteur gyroscopique.
  8. Chariot de manutention selon l'une quelconque des revendications 1 à 7, caractérisé en ce que le capteur (14) présentant un capteur d'accélération ou un capteur gyroscopique est disposé sur un mât extensible mobile en hauteur du cadre de levage (4).
  9. Chariot de manutention selon l'une quelconque des revendications 1 à 8, caractérisé en ce qu'au moins un capteur destiné à reconnaître une oscillation élastique du cadre de levage (4) présente au moins un capteur de pression ou de force, qui détecte la force agissant sur l'organe de réglage.
  10. Chariot de manutention selon l'une quelconque des revendications 1 à 9, caractérisé en ce que le dispositif de commande électronique (15) est configuré de telle manière que le mouvement de l'organe de réglage (9), qui s'oppose à l'oscillation du cadre de levage (4), soit déterminé en tenant compte d'au moins un paramètre de fonctionnement du chariot de manutention.
  11. Chariot de manutention selon la revendication 10, caractérisé en ce qu'un paramètre de fonctionnement est formé par la position horizontale instantanée et/ou la vitesse de déplacement horizontale instantanée du cadre de levage (4).
  12. Chariot de manutention selon la revendication 10 ou 11, caractérisé en ce qu'un paramètre de fonctionnement est formé par l'inclinaison instantanée et/ou la vitesse d'inclinaison instantanée du cadre de levage (4).
  13. Chariot de manutention selon l'une quelconque des revendications 10 à 12, caractérisé en ce qu'un paramètre de fonctionnement est formé par la hauteur de levage instantanée et/ou la vitesse de levage ou de descente instantanée du cadre de levage (4).
  14. Chariot de manutention selon l'une quelconque des revendications 10 à 13, caractérisé en ce qu'un paramètre de fonctionnement est formé par le poids d'une charge soulevée avec le cadre de levage (4).
  15. Chariot de manutention selon l'une quelconque des revendications 10 à 14, caractérisé en ce qu'un paramètre de fonctionnement est formé par la vitesse de roulage instantanée du chariot de manutention.
  16. Chariot de manutention selon l'une quelconque des revendications 10 à 15, caractérisé en ce qu'un paramètre de fonctionnement est formé par l'état de freinage instantané du chariot de manutention.
  17. Chariot de manutention selon l'une quelconque des revendications 10 à 16, caractérisé en ce qu'un algorithme de réglage est mis en œuvre dans le dispositif de commande électronique, avec lequel on détermine une grandeur de réglage pour le mouvement de l'organe de réglage (9).
EP08004305.2A 2007-03-30 2008-03-07 Compensation des oscillations sur un châssis de levage d'un chariot de manutention Active EP1975114B2 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102007015488A DE102007015488A1 (de) 2007-03-30 2007-03-30 Schwingungskompensation am Hubgerüst eines Flurförderzeugs

Publications (3)

Publication Number Publication Date
EP1975114A1 EP1975114A1 (fr) 2008-10-01
EP1975114B1 EP1975114B1 (fr) 2015-07-29
EP1975114B2 true EP1975114B2 (fr) 2021-03-17

Family

ID=39639633

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08004305.2A Active EP1975114B2 (fr) 2007-03-30 2008-03-07 Compensation des oscillations sur un châssis de levage d'un chariot de manutention

Country Status (2)

Country Link
EP (1) EP1975114B2 (fr)
DE (1) DE102007015488A1 (fr)

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009029467A1 (de) * 2009-09-15 2011-03-24 Robert Bosch Gmbh Lastenfahrzeug mit höhenverstellbarer Hubeinrichtung
DE102010016062A1 (de) 2010-03-22 2011-09-22 Technische Universität München Dämpfung oder Vermeidung von Schwingungen bei Flurförderzeugen
US9403667B2 (en) * 2011-03-18 2016-08-02 The Raymond Corporation Dynamic vibration control systems and methods for industrial lift trucks
US8731785B2 (en) 2011-03-18 2014-05-20 The Raymond Corporation Dynamic stability 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 (de) 2013-01-10 2014-07-10 Linde Material Handling Gmbh Verfahren zur Erfassung von Hubvorrichtungsschwingungen
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 (de) * 2013-12-04 2015-06-11 Kion Warehouse Systems Gmbh Flurförderzeug
DE102014104745A1 (de) 2014-04-03 2015-10-08 Linde Material Handling Gmbh Flurförderzeug mit Kompensation von Hubmastschwingungen
US10071894B2 (en) 2015-08-03 2018-09-11 The Raymond Corporation Oscillation damping for a material handling vehicle
DE102016123541A1 (de) 2016-12-06 2018-06-07 Jungheinrich Aktiengesellschaft Verfahren zur automatischen Ausrichtung eines Flurförderzeugs in einem Warenlager sowie System aus einem Flurförderzeug und einem Warenlager
DE102016124506A1 (de) 2016-12-15 2018-06-21 Jungheinrich Aktiengesellschaft Flurförderzeug mit einer Steuereinheit zur Regelung der Bewegung einer Last sowie ein entsprechendes Verfahren
DE102016124505A1 (de) * 2016-12-15 2018-06-21 Jungheinrich Aktiengesellschaft Flurförderzeug mit einer Steuereinheit zur Regelung der Bewegung einer Kolbenstange eines Hydraulikzylinders sowie ein solches Verfahren
DE102017103043A1 (de) 2017-02-15 2018-08-16 Jungheinrich Aktiengesellschaft Flurförderzeug mit einem Hubgerüst
CN109279268A (zh) * 2018-12-05 2019-01-29 大连英蕴科技有限公司 一种船舶内垂直升降机及方法
JP7215948B2 (ja) * 2019-03-28 2023-01-31 三菱重工業株式会社 フォークリフト

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3210951C2 (de) † 1982-03-25 1987-01-08 Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg Stapelfahrzeug mit Hubgerüst
DE10305902A1 (de) † 2003-02-13 2004-09-02 Jungheinrich Aktiengesellschaft Verfahren zum Betrieb eines Schubmaststaplers und Schubmaststapler zur Durchführung des Verfahrens

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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"
EP0427001B1 (fr) * 1989-11-10 1996-02-07 Jungheinrich Aktiengesellschaft Chariot élévateur avec un mât de levage disposé mobilement
DE4408757B4 (de) * 1994-03-15 2007-02-15 Crown Gabelstapler Gmbh & Co. Kg Flurförderfahrzeug mit einem anhebbaren Lastträger
DE19641192C2 (de) 1996-09-24 2002-10-31 Siemens Ag Handhabungsgerät, insbesondere Regalbediengerät
DE10054789A1 (de) 2000-11-04 2002-05-08 Still Wagner Gmbh & Co Kg Flurförderzeug mit einem Hubgerüst und einer zusätzlichen Bewegungsvorrichtung für ein Lastaufnahmemittel
GB2379434B (en) * 2001-09-10 2004-09-22 Lansing Linde Ltd Industrial truck with a lifting frame
DE10349123A1 (de) 2003-10-22 2005-05-19 Still Wagner Gmbh & Co Kg Hubwerk, insbesondere für einen Hochregalstapler
DE102004048519A1 (de) 2004-08-23 2006-03-02 Sandt Logistik Gmbh Antriebsregelung für ein Regalbediengerät
WO2008006928A1 (fr) 2006-07-12 2008-01-17 Rocla Oyj Procédé et dispositif d'amortissement de vibrations dans une structure de mât

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3210951C2 (de) † 1982-03-25 1987-01-08 Jungheinrich Unternehmensverwaltung Kg, 2000 Hamburg Stapelfahrzeug mit Hubgerüst
DE10305902A1 (de) † 2003-02-13 2004-09-02 Jungheinrich Aktiengesellschaft Verfahren zum Betrieb eines Schubmaststaplers und Schubmaststapler zur Durchführung des Verfahrens

Also Published As

Publication number Publication date
EP1975114A1 (fr) 2008-10-01
EP1975114B1 (fr) 2015-07-29
DE102007015488A1 (de) 2008-10-02

Similar Documents

Publication Publication Date Title
EP1975114B2 (fr) Compensation des oscillations sur un châssis de levage d'un chariot de manutention
DE102008020592B4 (de) Verfahren zur Schwingungsdämpfung bei Flurförderzeugen
EP2477930B1 (fr) Véhicule de manutention à dispositif de levage réglable en hauteur
EP3408208B1 (fr) Grue et procédé de commande de ladite grue
DE102008020595A1 (de) Verfahren zur Schwingungsdämpfung bei Flurförderzeugen
JP6951977B2 (ja) 移動式作業機械およびその運転方法
EP2218835B1 (fr) Chargeur à godet ayant deux châssis articulés.
EP2520536B1 (fr) Véhicule de levage
DE102009041662A1 (de) System zum Erfassen der Lastmasse einer an einem Hubseil eines Kranes hängenden Last
DE102007024817B4 (de) Flurförderzeug mit einem Hubgerüst und einem Stellglied zur Kompensation von Schwingungen
EP2636637A1 (fr) Dispositif de levage d'un chariot de manutention
EP2881358B1 (fr) Chariot de manutention
EP4148192B1 (fr) Machine hydraulique dotée d'une flèche pivotante autour d'un axe de pivotement
EP1359113B2 (fr) Chariot élévateur avec dispositif de déplacement du mât de levage
EP2421791B1 (fr) Machine de travail mobile présentant un accéléromètre
DE102016106459A1 (de) Arbeitsfahrzeug mit Knick-Gelenk-Lenkung und lastabhängiger Lenkwinkelbegrenzung
EP1371603B1 (fr) Procédé de contrôle d'au moins un mouvement d'un chariot de manutention
EP1528035B1 (fr) Dispositif de levage pour un chariot élévateur pour rayonnages hauts
WO2010145733A1 (fr) Engin de chantier mobile présentant un dispositif d'amortissement des oscillations d'un bras de travail et procédé pour amortir des oscillations
EP3670428B1 (fr) Procédé de détermination de chargement d'un chariot de manutention et chariot de manutention
DE102006012982A1 (de) Schubmaststapler mit einem Hubgerüst
DE102005025536A1 (de) Mobile Arbeitsmaschinen, insbesondere hydraulisch angetriebene Erdbaumaschinen, und Verfahren zur Erd- und Schüttgutbewegung
DE102008020593A1 (de) Verfahren zur Schwingungsdämpfung bei Flurförderzeugen
EP3976889B1 (fr) Mécanisme de levage hydrostatique, machine de travail mobile pourvue de celui-ci, et procédé permettant de déterminer une charge sur le mécanisme de levage
DE202012002445U1 (de) Flurförderzeug mit optional anwählbarer Ausstapelhilfsbetriebsart

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MT NL NO PL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL BA MK RS

17P Request for examination filed

Effective date: 20090305

17Q First examination report despatched

Effective date: 20090424

AKX Designation fees paid

Designated state(s): DE IT SE

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: STILL GMBH

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

INTG Intention to grant announced

Effective date: 20150417

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): DE IT SE

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502008013187

Country of ref document: DE

REG Reference to a national code

Ref country code: SE

Ref legal event code: TRGR

REG Reference to a national code

Ref country code: DE

Ref legal event code: R026

Ref document number: 502008013187

Country of ref document: DE

PLBI Opposition filed

Free format text: ORIGINAL CODE: 0009260

PLAX Notice of opposition and request to file observation + time limit sent

Free format text: ORIGINAL CODE: EPIDOSNOBS2

26 Opposition filed

Opponent name: JUNGHEINRICH AKTIENGESELLSCHAFT

Effective date: 20160429

PLAF Information modified related to communication of a notice of opposition and request to file observations + time limit

Free format text: ORIGINAL CODE: EPIDOSCOBS2

PLBB Reply of patent proprietor to notice(s) of opposition received

Free format text: ORIGINAL CODE: EPIDOSNOBS3

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 502008013187

Country of ref document: DE

Representative=s name: PATENTSHIP PATENTANWALTSGESELLSCHAFT MBH, DE

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 502008013187

Country of ref document: DE

Representative=s name: PATENTSHIP PATENTANWALTSGESELLSCHAFT MBH, DE

PLAB Opposition data, opponent's data or that of the opponent's representative modified

Free format text: ORIGINAL CODE: 0009299OPPO

R26 Opposition filed (corrected)

Opponent name: JUNGHEINRICH AKTIENGESELLSCHAFT

Effective date: 20160429

APAH Appeal reference modified

Free format text: ORIGINAL CODE: EPIDOSCREFNO

APBM Appeal reference recorded

Free format text: ORIGINAL CODE: EPIDOSNREFNO

APBP Date of receipt of notice of appeal recorded

Free format text: ORIGINAL CODE: EPIDOSNNOA2O

PLAB Opposition data, opponent's data or that of the opponent's representative modified

Free format text: ORIGINAL CODE: 0009299OPPO

APBM Appeal reference recorded

Free format text: ORIGINAL CODE: EPIDOSNREFNO

APBP Date of receipt of notice of appeal recorded

Free format text: ORIGINAL CODE: EPIDOSNNOA2O

R26 Opposition filed (corrected)

Opponent name: JUNGHEINRICH AKTIENGESELLSCHAFT

Effective date: 20160429

APBQ Date of receipt of statement of grounds of appeal recorded

Free format text: ORIGINAL CODE: EPIDOSNNOA3O

APBQ Date of receipt of statement of grounds of appeal recorded

Free format text: ORIGINAL CODE: EPIDOSNNOA3O

APBU Appeal procedure closed

Free format text: ORIGINAL CODE: EPIDOSNNOA9O

PUAH Patent maintained in amended form

Free format text: ORIGINAL CODE: 0009272

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: PATENT MAINTAINED AS AMENDED

27A Patent maintained in amended form

Effective date: 20210317

AK Designated contracting states

Kind code of ref document: B2

Designated state(s): DE IT SE

REG Reference to a national code

Ref country code: DE

Ref legal event code: R102

Ref document number: 502008013187

Country of ref document: DE

REG Reference to a national code

Ref country code: SE

Ref legal event code: RPEO

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230518

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20250331

Year of fee payment: 18

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: SE

Payment date: 20260323

Year of fee payment: 19

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20260320

Year of fee payment: 19