EP3214035B1 - Procédé de fonctionnement d'un chariot de manutention - Google Patents

Procédé de fonctionnement d'un chariot de manutention Download PDF

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Publication number
EP3214035B1
EP3214035B1 EP17156457.8A EP17156457A EP3214035B1 EP 3214035 B1 EP3214035 B1 EP 3214035B1 EP 17156457 A EP17156457 A EP 17156457A EP 3214035 B1 EP3214035 B1 EP 3214035B1
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EP
European Patent Office
Prior art keywords
steering
motor
control
speed
drive
Prior art date
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Active
Application number
EP17156457.8A
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German (de)
English (en)
Other versions
EP3214035A1 (fr
Inventor
Jörg Ziemann
Kai Kuschel
Thomas Luckmann
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.)
Jungheinrich AG
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Jungheinrich AG
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Publication date
Application filed by Jungheinrich AG filed Critical Jungheinrich AG
Publication of EP3214035A1 publication Critical patent/EP3214035A1/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
    • 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
    • B66F9/07568—Steering arrangements

Definitions

  • the invention relates to a method for operating an industrial truck according to claim 1.
  • the drive motor is assigned a control or regulating device. If the traction motor is electric, an electrical or electronic control or regulating device is provided.
  • Most trucks also have at least one steered wheel operated by a suitable steering device.
  • the steering device operates either mechanically, for example by means of a drawbar, which operates a wheel supporting the turntable. Larger trucks have a steering motor for the steering. This can also be operated by a drawbar or by a steering wheel. In both cases, a steering member generates a steering command for a control device for the steering motor.
  • the steering motor is usually electric, but can also be designed hydraulically.
  • the wheel to be steered the truck must also be steerable in the state, for example when the driver does not operate the accelerator pedal. In this case, the wheel turns in place on the spot and rubs on the ground. The result is high steering torque, for which the steering drive must be designed.
  • the steering drive In a mechanical steering, the user must spend a high steering force. In a steering motor, the steering torque must be generated by this. The engine is therefore large and requires a lot of energy. Also, the transmission components (gears, bolts, etc.) must be designed accordingly.
  • steering drives are oversized for normal operation.
  • the invention has for its object to provide a method for operating a truck, in which the steering torque is reduced for a wheel to be steered while avoiding unnecessary wear due to abrasion on the steered wheel.
  • a drive command is generated for the control device and the traction motor drives the truck at a speed much slower than the normal travel speed for a limited period of time, a limited travel distance or the duration of a steering movement of the steering device equivalent.
  • the method according to the invention makes it possible to significantly reduce the steering torque when the truck comes to a standstill, because the vehicle is moved slightly forward during the steering movement.
  • the wheel to be steered When the vehicle is at a standstill, the wheel to be steered generates a not insignificant amount during a steering movement Friction due to so-called stiction.
  • the friction is significantly reduced when the wheel to be steered rolls on the ground. This movement needs only to be minimal and only to stop as long as a steering movement is performed.
  • the driving speed used in the method according to the invention is equal to or less than 0.1 km / h or 0.03 m / s. It is therefore minimal compared to the usual driving speeds.
  • the steering device comprises a sensor which generates a signal when the steering device is actuated.
  • the signal of the sensor is given as a drive command to the control and / or regulating device for the traction motor.
  • the drive motor is only put into operation if it was previously at a standstill.
  • the invention provides that the steering motor is actuated by a control and regulating device, which in turn is actuated by a steering signal of a steering member and the steering signal of the steering member or the control or regulating device of the steering motor in parallel as a move command to the control or Control device of the traction motor is given.
  • the steering signal of the steering member or the control signal for the steering motor is used as a control command or driving command for the traction motor.
  • the current consumption or power consumption of the steering motor is measured and a drive command for the control or regulating device of the drive motor is generated when the power consumption or power consumption is greater than zero.
  • a steering command from the steering member for the steering motor naturally leads to a relatively high power or power consumption of the steering motor. This can be suitably detected and used for a drive command for the control and regulating device of the drive motor.
  • the driving speed is regulated as a function of the steering angle speed or the steering angle change speed.
  • the steering angle setpoint specified by the steering element preferably the steering angle setpoint specified by the steering element, the rotational angular velocity of the steering element and the actual value of the angular velocity of the steered wheel are included.
  • angular velocity here is not the rotation of the steered wheel meant, but the chosen steering angle.
  • steering systems equipped with a steering motor are slightly decelerating, especially with fast turns on the steering element. Due to this delay, the control device for the drive motor has sufficient time to activate this.
  • a direction of travel is preselected, this is used. If none is preselected, may be in the control or Regulating device for the drive motor a predetermined direction be programmed.
  • Another embodiment of the inventive method provides that the steering axis of the steered wheel is offset from the center of the footprint by a radius, the speed of the truck depending on the steering angular velocity and the radius regulated and the direction of travel is set so that they are in the direction the center of the footprint lies.
  • the vehicle When the drive wheel or the drive wheels of the truck are controlled in the propulsion in dependence on the steering angular velocity and the radius of the offset of the steering axis, the vehicle does not move forward from the site.
  • the limited time corresponds to the duration of the steering movement.
  • the steering axle does not have to be outside the contact area, it is sufficient if it is located to the side of the center of the footprint in their area.
  • the inventive method is applicable both for trucks with electric steering and with or without power steering.
  • a waiver of electric steering or steering assistance is also possible with slightly larger drawbar-steered trucks.
  • a smaller dimensioning for large drawbar-steered trucks or trucks with steering wheel steering is possible.
  • FIG. 1 Diagram shown corresponds to the method according to the invention in a mechanical steering of the steered wheel of a truck.
  • the beginning of a steering movement is sensed by a suitable sensor, for example on the drawbar of the truck.
  • the control or regulating device for a traction motor of the truck is determined in this case, whether the driving speed is greater than or equal to zero. If the driving speed is greater than zero, this corresponds to a normal driving operation. However, if it is not greater than zero, a direction of travel is selected or not and it follows a control of the traction motor in the programmed or selected direction of travel at a very low speed over a period corresponding, for example, the duration of the steering movement of the steering device. This results in a pivoting of the steered wheel in slowly mecanicieredem vehicle and thus not in the state, whereby the steering torque is drastically reduced.
  • the vehicle moves when the drive motor is not actuated, for example, rolls out or rolls down a slope. Also in this case, the use of the method according to the invention is obsolete. In this case, it is then only necessary to ascertain whether a drive command for the drive motor is present. Only when this is not present, the traction motor can be set at low speed in motion.
  • the steering signal of a steering member represents the sensed signal and the steering motor control signal generated by the steering motor control apparatus. This signal is in turn applied to the control device for Given the traction motor and if it is determined that the speed is greater than zero, the traction motor can be controlled accordingly in the selected direction of travel in normal operation. However, if the driving speed is zero, the steering motor is actuated with control of the traction motor. After preselection of the direction of travel is a control of the steering motor and the drive motor. But according to Fig. 3 possibly by means of a regulation of the speed of the steering motor.
  • the target value for the steering angle is greater than its actual value, it is checked whether the motor current of the steering motor is too high. If this is not the case, driving speed and steering movement are maintained. If the motor current of the steering motor is too high, the driving speed is increased up to a limit, which, as mentioned, is well below the normal driving speed. According to this scheme, it is therefore possible to control the speed of the traction motor with non-external control by a user and adapt to the steering movement.
  • the steering axle can lie inside or outside the footprint. This is not shown in the figures. If a rotation of the steered wheel, the drive train of the traction drive is sufficient, which is necessary at a certain steering angle to move the vehicle. If the drive is controlled so that the driving speed is dependent on the steering angle speed and the radius between the steering axis and center, the vehicle does not need to move forward to act in terms of reduced steering force. The vehicle does not move forward, although the traction drive sets the driven wheel in motion. It is understood that in this case the direction of travel can not be chosen arbitrarily, but must be selected in the same direction in which moves the center of the footprint.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Claims (9)

  1. Procédé de fonctionnement d'un chariot de manutention, qui présente un moteur de traction et au moins une roue directrice actionnable par un dispositif de direction ainsi qu'un dispositif de commande et de régulation électrique du moteur de traction, caractérisé par les étapes suivantes :
    détection d'un processus de direction provoqué par le dispositif de direction lors d'un arrêt du chariot de manutention ;
    établissement d'une instruction de déplacement par le dispositif de commande et de régulation, avec laquelle le moteur de traction propulse le chariot de manutention à une vitesse de roulage, qui est bien plus petite qu'une vitesse de roulage normale, dans lequel la vitesse de roulage est régulée en fonction de la vitesse angulaire de braquage ou de la vitesse du changement d'angle de braquage et ce pendant une période limitée, qui correspond à la durée d'un mouvement de braquage du dispositif de direction.
  2. Procédé selon la revendication 1, caractérisé en ce que le dispositif de direction fonctionne mécaniquement et présente un capteur, qui génère un signal lorsque le dispositif de direction est actionné et que le signal est émis sur le dispositif de commande et de régulation du moteur de traction sous la forme d'une instruction de déplacement.
  3. Procédé selon la revendication 1, caractérisé en ce que le dispositif de direction présente un moteur de direction électrique ou hydraulique, qui est piloté par un dispositif de commande et de régulation, qui est lui-même actionné par un signal de direction d'un organe de direction et que le signal de l'organe de direction ou le signal du dispositif de commande et de régulation est émis en parallèle sur le dispositif de commande et de régulation du moteur de traction sous la forme d'une instruction de déplacement.
  4. Procédé selon la revendication 1, caractérisé en ce que le dispositif de direction présente un moteur de direction électrique ou hydraulique et que le courant consommé ou bien la puissance consommée du moteur de direction sont mesurés et qu'une instruction de déplacement destinée au dispositif de commande et de régulation du moteur de traction est générée, lorsque le courant consommé ou la puissance consommée sont supérieurs à zéro.
  5. Procédé selon l'une des revendications 1 à 4, caractérisé en ce que la vitesse de déplacement est inférieure ou égale à 0,1 km/h ou 0,03 m/s.
  6. Procédé selon la revendication 1, caractérisé en ce que la valeur de consigne de l'angle de braquage prédéfinie par l'organe de direction, la vitesse de l'angle de rotation de l'organe de direction et la valeur réelle de la vitesse angulaire de la roue directrice sont prises en compte.
  7. Procédé selon l'une des revendications 1 à 6, caractérisé en ce que dans le cas d'une présélection du sens de déplacement du chariot de manutention, celle-ci est utilisée.
  8. Procédé selon l'une des revendications 1 à 7, caractérisé en ce qu'un sens de déplacement prédéfini est programmé dans le dispositif de commande et de régulation du moteur de traction.
  9. Procédé selon l'une des revendications 1 à 5, caractérisé en ce que dans le cas d'un décalage de l'axe de pivotement de la direction de la roue directrice d'un certain rayon par rapport au centre de la surface d'appui de la roue, la vitesse du chariot de manutention est régulée en fonction de la vitesse angulaire de braquage et dudit rayon et que le sens de déplacement est choisi d'après le sens dans lequel le centre de la surface d'appui se déplace.
EP17156457.8A 2016-03-03 2017-02-16 Procédé de fonctionnement d'un chariot de manutention Active EP3214035B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102016103805.9A DE102016103805A1 (de) 2016-03-03 2016-03-03 Verfahren zum Betrieb eines Flurförderzeugs

Publications (2)

Publication Number Publication Date
EP3214035A1 EP3214035A1 (fr) 2017-09-06
EP3214035B1 true EP3214035B1 (fr) 2019-07-17

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EP (1) EP3214035B1 (fr)
DE (1) DE102016103805A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11352243B2 (en) 2018-09-13 2022-06-07 Crown Equipment Corporation System and method for controlling a maximum vehicle speed for an industrial vehicle based on a calculated load

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018217306B4 (de) * 2018-10-10 2024-08-22 Robert Bosch Gmbh Verfahren zum Betrieb eines Fahrzeugs

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19901451C3 (de) * 1999-01-15 2003-06-05 Linde Ag Deichselgelenktes Flurförderzeug
DE10353246A1 (de) * 2002-11-16 2004-06-09 Continental Teves Ag & Co. Ohg Verfahren zum Ermittlen einer Kenngröße für einen momentan maximalen Reibkraftbeiwert
DE102004003886B4 (de) * 2004-01-27 2019-12-24 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Bemessen der Bremskraft an den lenkbaren Vorderrädern eines im wesentlichen stillstehenden Kraftfahrzeugs
DE102007043280A1 (de) * 2007-09-11 2009-03-12 Jungheinrich Ag Mitgehhubwagen
DE102011113610A1 (de) * 2011-09-16 2013-03-21 GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) Verfahren zum Betreiben eines selbstlenkenden Parkassistenzsystems sowie Parkassistenzsystem

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11352243B2 (en) 2018-09-13 2022-06-07 Crown Equipment Corporation System and method for controlling a maximum vehicle speed for an industrial vehicle based on a calculated load

Also Published As

Publication number Publication date
DE102016103805A1 (de) 2017-09-07
EP3214035A1 (fr) 2017-09-06

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