EP2607295A1 - Procédé de détermination du moment de bascule dans la direction longitudinale pour des chariots de manutention - Google Patents

Procédé de détermination du moment de bascule dans la direction longitudinale pour des chariots de manutention Download PDF

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Publication number
EP2607295A1
EP2607295A1 EP12191745.4A EP12191745A EP2607295A1 EP 2607295 A1 EP2607295 A1 EP 2607295A1 EP 12191745 A EP12191745 A EP 12191745A EP 2607295 A1 EP2607295 A1 EP 2607295A1
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EP
European Patent Office
Prior art keywords
mast
determined
torque
front axle
truck
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
EP12191745.4A
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German (de)
English (en)
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EP2607295B1 (fr
Inventor
Dr. Georg Fromme
Marc Wede
Henning Delius
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
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STILL GmbH
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Publication of EP2607295A1 publication Critical patent/EP2607295A1/fr
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Publication of EP2607295B1 publication Critical patent/EP2607295B1/fr
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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
    • 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
    • B66F9/082—Masts; Guides; Chains inclinable

Definitions

  • the invention relates to a method for determining the overturning moment forward about the front axle of a truck.
  • the present invention relates to a method for determining the overturning moment of a truck with tiltable mast for lifting a load, wherein the mast is rotatably mounted in mast mounting points and guided in pitch support points with respect to a vehicle body distance.
  • the tipping moment of a truck may vary with respect to different tipping lines caused by the contact points of the wheels be considered.
  • One of the most important of these tipping lines represents the connecting line of the two contact points of the front wheels on the front axle, this tilting line corresponds to the axis of rotation of a tilting with braked, locked wheels.
  • the tipping line in the axis of rotation of the front wheels is above this line on the ground. Due to the vehicle weight and the counterweight, the forklift truck is turned around this tilting line in the direction of the rear axle.
  • a pitch supporting torque is determined from holding forces in the tilting support points, the direction of the holding forces and the lever arm of the front axle perpendicular to these holding forces, and a mullion bearing torque from an effective lever arm of the mast supporting points with respect to the front axle and the supporting force introduced in the mast supporting points.
  • the tilting moment is thereby continuously calculated by means of a simple sensor system and displayed to the driver in a suitable form and / or an intervention in the control of the industrial truck takes place. If appropriate, only a warning of the driver when a critical loading state has been reached and / or also an intervention in the control of the industrial truck can take place. Only the forward torque around the tipping line is considered.
  • the mast tilt and the supporting forces in the mast mounting points are required. As a result, very few sensors are required.
  • the holding forces in the tilt support points are usually transmitted via variable-length tilt drives, which are rotatably mounted both on the mast and on the vehicle body of the truck. As a result, the force direction with the inclination of the mast also changes with the holding forces in the tilt support points.
  • the angle change is relatively small, depending on the specific embodiment of the mast and the positioning of the tilt support points.
  • the direction of the force can be calculated by the mechanical arrangement and the mast tilt, or can be assumed to be of a fixed value for the sake of simplicity.
  • a method for determining the tipping stability which requires little computational effort and is easy to implement with a few sensors. It is possible, if appropriate, to further simplify the method by adopting fixed values for the direction of the forces for the holding forces in the tilt support points and for the support force in the mast mounting points. As a rule, the directions of the forces are taken into account.
  • the method determines the substantial torque forces around the front axle to calculate the resulting torque at the front axle. The torque results in each case from the product of the lever arm and the torque-forming component of the force vector.
  • the distance between the center of the axis and the point of application of the force vector corresponds to the lever arm.
  • the vehicle weight torque corresponds to the weight of the truck without mast and load multiplied by the horizontal distance between the front axle and the center of gravity of the truck without mast and load.
  • the weight and the center of gravity can be determined once from the mass distribution and the resulting vehicle weight torque is then available for the method as an already determined value.
  • the method can be realized in many cases without additional effort, since a measurement of the load is already provided and from this, the total weight of the mast and the load can be determined.
  • the holding forces in the tilt support points can be determined by force sensors.
  • a simple way of detecting the holding forces are for example Druckmeßbolzen, but also strain gauges or piezo elements. These can be arranged in the suspension points of actuators for the tilt adjustment.
  • the mast is supported in the tilt support points by hydraulic tilt cylinders and the holding forces in the tilt support points are determined by a differential pressure of the tilt cylinders.
  • reaching the end stops of the tilting cylinder can be prevented, in particular by an electronic control with cushioning.
  • the differential pressure does not detect the transmitted forces.
  • an electronic control in particular in conjunction with a cushioning damping, which brakes the tilting cylinder shortly before the end positions, the hydraulic tilting cylinder can be stopped in a position with a slight distance from the respective end position.
  • the supporting force introduced into the mast mounting points can be determined from the pressure of a hydraulic lifting cylinder of the mast and the known weight of the mast.
  • the weight of an overlying load can be determined.
  • the supporting force introduced into the mast mounting points can be determined by force sensors.
  • the inclination of the mast is determined and determines the direction of the holding forces in the tilt support points from the inclination of the mast.
  • the direction and magnitude of the support force provided in the mast storage points can be determined by the inclination of the mast, the direction and amount of holding forces in the tilt support points and a determined load weight.
  • the support force in the mast mounting points can be calculated in the direction and magnitude by the holding forces known in terms of amount and direction in the tilt support points and a measured proportion of the support force.
  • the vertical portion of the supporting force can be determined for example via the load measurement and a known weight of the mast.
  • accelerations or decelerations and / or an inclination of the industrial truck are detected.
  • the inclination of the truck such as when a forklift truck is mounted on a ramp, must be considered.
  • the detection of the inclination of the entire truck can be done for example by its own tilt sensor.
  • the acceleration and deceleration of the truck must be taken into account and included in the determination of the tipping stability. This can e.g. via an acceleration sensor.
  • an acceleration sensor can also determine the vehicle inclination, if there is additional information about the speed of the drive or its change. This can advantageously improve the accuracy of the determination of the tilt stability,
  • a resulting torque is determined as an axis of rotation about a tilting line shifted from the front axle in the direction of the contact point of the front wheels.
  • the tipping line shifts from the axis of rotation of the direction of the point of the front wheel support.
  • the torques for determining the stalling stability during braking must be formed around this shifted tilting line, whereas in the previously described method the torques have always been determined around the axis of rotation of the front axle as a tilting line.
  • the falling below the resulting torque can be monitored below a minimum torque, the minimum torque turns the truck on the rear axle.
  • a distance until reaching the minimum torque or falling below the minimum torque can be advantageously displayed by a display device.
  • an intervention in the vehicle control takes place when the minimum torque is undershot, in particular by limiting parameters such as braking deceleration and / or driving speed and / or steering angle and / or lifting height and / or inclining speed.
  • a control for the vehicle weight torque previously determined and stored value and the Ne Trentsabstützfilmoment and the mast bearing torque are each determined from measured values.
  • the weight distribution and the center of gravity of the vehicle body can be determined relatively accurately without the mast.
  • the vehicle weight torque can be stored as a fixed value in a control and determined by this value.
  • a large number of different embodiments of masts are often attached, which lead to different values for the tipping stability.
  • no adjustment of a software control or the like required because automatically determined by the detected and determined forces even with different and different masts a correct calculation of the tipping stability, if only the torques are considered around the front axle and a certain required for the tilting stability resulting total torque in the direction of the rear axle is required.
  • the lifting height can also be included.
  • the evaluation of the distance up to the tipping limit and thus the tipping stability can be evaluated differently. For example, a warning at high lift can be done earlier than at low lift heights
  • the driver can be supported in its transport task and the reliability can be increased in use.
  • the method described requires a small number of sensors, some of which have already been installed for other functions in an industrial truck. As a result, the process can be implemented inexpensively.
  • the Fig. 1 schematically shows a side view of a forklift 1 as an embodiment of a truck 2, in which the inventive method is used.
  • the forklift 1 has a mast 4 arranged on a front axle 3 on which a load fork 5 for lifting a load 6 is guided.
  • the forklift 1 has a counterweight 8 above a rear axle 7.
  • a driver's cab 9 a driver's workplace 10 is arranged.
  • the mast 4 is supported at its lower end in mast mounting points 13 and is guided by the tilt drive 11 in tilt support points 14 relative to the forklift 1 distance variable to tilt the mast 4 can.
  • the weight of the forklift 2 without the load 6 and the weight of the mast 4 acts in a vehicle center of gravity 15th
  • the Fig. 2 schematically shows a representation of the forces occurring. Shown are the front axle 3 and the rear axle 7 and the mast mounting points 13, the tilt support points 14 and the vehicle center of gravity 15.
  • the vertical distances h A , h cyl , h St and horizontal distances S A , S cyl , S St of the supporting force A, the holding forces F zyl and the weight force F St, z are shown.
  • the Fig. 3 schematically shows a representation of the torques occurring about the front axle 3. Shown are the front axle 3 and the rear axle 7 and the Hubgerüstlagerungsange 13 Ne Trentabstützen 14 and the vehicle center of gravity 15.
  • the supporting force A generated by a lever arm I A, the Hubgerüstlagerungsfiltermoment, the holding forces F cyl produce with a lever arm I zyl the Neistsabsection and the force acting in the center of gravity 15 force F St generated with a lever arm I St is the vehicle weight torque, which can alternatively be regarded as generated by the purely vertical weight F St, z of the vehicle center of gravity with the horizontal portion of the lever arm L St, z .
  • the tilting moment can be easily and quickly adapted to different masts (4).
  • the method according to the invention has advantages when a large number of different mast designs are used on an industrial truck (2).

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP12191745.4A 2011-12-21 2012-11-08 Procédé de détermination du moment de bascule dans la direction longitudinale pour des chariots de manutention Active EP2607295B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE201110056752 DE102011056752A1 (de) 2011-12-21 2011-12-21 Verfahren zur Bestimmung des Kippmoments in Längsrichtung für Flurförderzeuge

Publications (2)

Publication Number Publication Date
EP2607295A1 true EP2607295A1 (fr) 2013-06-26
EP2607295B1 EP2607295B1 (fr) 2015-07-29

Family

ID=47227509

Family Applications (1)

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EP12191745.4A Active EP2607295B1 (fr) 2011-12-21 2012-11-08 Procédé de détermination du moment de bascule dans la direction longitudinale pour des chariots de manutention

Country Status (2)

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EP (1) EP2607295B1 (fr)
DE (1) DE102011056752A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2829854A1 (fr) * 2013-07-26 2015-01-28 J.C. Bamford Excavators Ltd. Procédé de pesage d'une charge
EP3050840A1 (fr) * 2015-01-30 2016-08-03 Jungheinrich Aktiengesellschaft Determination de la grandeur de reference pour chariots de manutention

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015118472A1 (de) * 2015-10-29 2017-05-04 Jungheinrich Aktiengesellschaft Flurförderzeug mit einem Lastteil und einem Antriebsteil
EP4298049A4 (fr) * 2021-02-23 2025-01-15 Phantom Auto Inc. Mécanismes intelligents de sécurité en entrepôt

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3831492A (en) * 1972-12-04 1974-08-27 Eaton Corp Overload protection device for counterbalance vehicles
US4511974A (en) * 1981-02-04 1985-04-16 Kabushiki Kaisha Toyoda Jidoshokki Seisakusho Load condition indicating method and apparatus for forklift truck
EP0236804A1 (fr) * 1986-03-05 1987-09-16 Feldmühle Aktiengesellschaft Procédé pour signaler la charge et la surcharge
EP0483493A2 (fr) * 1990-09-28 1992-05-06 Linde Aktiengesellschaft Chariot élévateur avec dispositif de surveillance de l'état de charge
EP0916527A2 (fr) 1997-11-13 1999-05-19 Kabushiki Kaisha Toyoda Jidoshokki Seisakusho Dispositif de contrÔle de la stabilité pour véhicules utilitaires
EP1136433A2 (fr) * 2000-03-22 2001-09-26 Kabushiki Kaisha Toyoda Jidoshokki Seisakusho Chariot élévateur avec un dispositif de mesure du moment de la charge et procédé associé
DE10304658A1 (de) 2003-02-05 2004-08-19 Bosch Rexroth Ag Flurförderfahrzeug

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3831492A (en) * 1972-12-04 1974-08-27 Eaton Corp Overload protection device for counterbalance vehicles
US4511974A (en) * 1981-02-04 1985-04-16 Kabushiki Kaisha Toyoda Jidoshokki Seisakusho Load condition indicating method and apparatus for forklift truck
EP0236804A1 (fr) * 1986-03-05 1987-09-16 Feldmühle Aktiengesellschaft Procédé pour signaler la charge et la surcharge
EP0483493A2 (fr) * 1990-09-28 1992-05-06 Linde Aktiengesellschaft Chariot élévateur avec dispositif de surveillance de l'état de charge
EP0916527A2 (fr) 1997-11-13 1999-05-19 Kabushiki Kaisha Toyoda Jidoshokki Seisakusho Dispositif de contrÔle de la stabilité pour véhicules utilitaires
EP1136433A2 (fr) * 2000-03-22 2001-09-26 Kabushiki Kaisha Toyoda Jidoshokki Seisakusho Chariot élévateur avec un dispositif de mesure du moment de la charge et procédé associé
DE10304658A1 (de) 2003-02-05 2004-08-19 Bosch Rexroth Ag Flurförderfahrzeug

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
WINKES G: "MODERNE ARBEITHSHYDRAULIK FUER GABEL-STAPLER ZUKUNFTSPERSPEKTIVEN DURCH NEUE VENTILTECHNIK", O + P OLHYDRAULIK UND PNEUMATIK, VEREINIGTE FACHVERLAGE, MAINZ, DE, vol. 44, no. 7, 1 July 2000 (2000-07-01), pages 431 - 434, XP000932878, ISSN: 0341-2660 *

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2829854A1 (fr) * 2013-07-26 2015-01-28 J.C. Bamford Excavators Ltd. Procédé de pesage d'une charge
CN104340104A (zh) * 2013-07-26 2015-02-11 Jc班福德挖掘机有限公司 对载荷进行称重的方法
JP2015028480A (ja) * 2013-07-26 2015-02-12 ジェイ． シー． バンフォード エクスカヴェイターズ リミテッドＪ．Ｃ． Ｂａｍｆｏｒｄ Ｅｘｃａｖａｔｏｒｓ Ｌｉｍｉｔｅｄ 負荷物の重さを量る方法
US9630822B2 (en) 2013-07-26 2017-04-25 J. C. Bamford Excavators Limited Method of weighing a load lifted by a lifting arm of a machine
AU2014206206B2 (en) * 2013-07-26 2018-09-13 J.C. Bamford Excavators Ltd A method of weighing a load
EP3875922A1 (fr) * 2013-07-26 2021-09-08 J.C. Bamford Excavators Limited Procédé de pesage d'une charge
EP3050840A1 (fr) * 2015-01-30 2016-08-03 Jungheinrich Aktiengesellschaft Determination de la grandeur de reference pour chariots de manutention

Also Published As

Publication number Publication date
EP2607295B1 (fr) 2015-07-29
DE102011056752A1 (de) 2013-06-27

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