EP3301067B1 - Chariot de manutention doté d'un moyen de commande comportant un levier de commande et procédé de fonctionnement d'un tel chariot de manutention - Google Patents

Chariot de manutention doté d'un moyen de commande comportant un levier de commande et procédé de fonctionnement d'un tel chariot de manutention Download PDF

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Publication number
EP3301067B1
EP3301067B1 EP17193233.8A EP17193233A EP3301067B1 EP 3301067 B1 EP3301067 B1 EP 3301067B1 EP 17193233 A EP17193233 A EP 17193233A EP 3301067 B1 EP3301067 B1 EP 3301067B1
Authority
EP
European Patent Office
Prior art keywords
deflection
operating
operating lever
industrial truck
force
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
EP17193233.8A
Other languages
German (de)
English (en)
Other versions
EP3301067A1 (fr
Inventor
Hendrik Geilsdorf Dr.
Jörn Sellentin
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
Original Assignee
Jungheinrich AG
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 Jungheinrich AG filed Critical Jungheinrich AG
Publication of EP3301067A1 publication Critical patent/EP3301067A1/fr
Application granted granted Critical
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Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/05—Means for returning or tending to return controlling members to an inoperative or neutral position, e.g. by providing return springs or resilient end-stops
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/04—Stops for limiting movement of members, e.g. adjustable stop
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • 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
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04766—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks providing feel, e.g. indexing means, means to create counterforce

Definitions

  • the present invention relates to an industrial truck with an operating lever having an operating means and a method for operating such a material handling gs.
  • an operating element for an industrial truck with two operating levers and at least one switch arranged between them is known.
  • the operating levers are each designed for a two-axis movement and spatially spaced from each other such that for a positioned between the levers hand with the fingers, the operating lever without grasping and the at least one switch between the control levers is actuated.
  • a control device for an industrial truck which has a movable control element, in particular an operating lever and a, the deflection of the operating lever detecting and electrical control signals generating signal device.
  • a movable control element in particular an operating lever and a
  • the deflection of the operating lever detecting and electrical control signals generating signal device For an ergonomic operation of the truck is provided to form an operating range of the operating element between its neutral position and the stop point as an analog control area and immediately adjacent to the stop point to provide a switch area.
  • Out FR 2 890 464 For example, there has been known a control lever to which a connection plate for a support surface is attached, which is in contact with a support zone of a housing, and another support surface which is in contact with the lever via elastic support units which exert a holding force.
  • the first support surface may have two contact ramps, which interact during the displacement of the lever with a projection of the zone successively.
  • the invention has for its object to provide a truck and a method for its operation, which allows the simplest possible means an intuitive and reliable operation.
  • the truck according to the invention is equipped with an operating means, which has an operating lever. Further, cooperating with the operating lever reset device is provided, which generates a restoring force for the operating lever, depending on the deflection.
  • a rest area is provided for the restoring device, in which the restoring force is reduced in a falling flank by a first latching force and increased in a rising flank by a second latching force.
  • the latching area results from the course of the restoring force, depending on the deflection in comparison to a substantially proportional course. With a proportional curve, the restoring force increases with increasing deflection. With a detent range for the deflection, the restoring force is increased in relation to this proportionality.
  • first and second latching force are equal.
  • the operating means is equipped with a state switch.
  • the status switch can be switched by overcoming the locking range.
  • the status switch can be used to define whether it is overcome with increasing or decreasing deflection. Depending on the direction of the deflection movement can be switched to another state for the truck.
  • the operating means has a state switch which is switched by holding the operating lever in its latching area.
  • a state switch a corresponding state is not switched by passing through the latching area and overcoming an additional latching force, but in that the operating lever is held in the latching area.
  • the state switch is used to switch between different vehicle functions or operating modes for a vehicle function.
  • the operating modes may indicate a different mode of operation of the same vehicle function.
  • a first deflection region is provided with deflections smaller than the deflection of the latching region. This means that, starting from a neutral position, there is a range of the deflection before the latching area is reached with increasing deflection.
  • a second deflection region with a deflection greater than the deflection of the latching region is provided.
  • a deflection area after passing through the latching area be provided.
  • the latching point can also be provided at a mean deflection, so that both a first and a second deflection region are provided.
  • only a first or a second deflection range is provided, with an additional vehicle function being controlled as long as the deflection of the operating lever is located in the latching region.
  • the latching area is at the beginning or at the end of the deflection of the operating lever.
  • only a first or a second deflection region is provided, and an additional vehicle function or an operating mode is switched by driving through the latching region once or several times.
  • the additional vehicle function or the operating mode is executed for a predetermined time, regardless of a deflection of the operating lever.
  • the control lever has in this embodiment, no task in the execution of the additional vehicle function, but the additional vehicle function or the operating mode is switched and executed, for example, for a predetermined time.
  • the additional vehicle function or the operating mode is executed for a predetermined time, depending on a deflection of the operating lever.
  • a first and a second deflection region can be provided, wherein the additional vehicle function or the operating mode is controlled as long as the deflection of the control lever is in the latching region located.
  • the centrally arranged latching area separates a first and a second deflection area, wherein switching is made by holding the control lever in the latching area and an additional vehicle function or an operating mode is controlled as long as the deflection of the control lever is in the latching area.
  • an additional vehicle function or an operating mode is switched by a single or repeated passing through of the latching region, which is executed independently of a deflection of the operating lever for a predetermined time.
  • the additional vehicle function or the operating mode is ended by a renewed driving through the latching area. This may be provided as a form of emergency stop.
  • the method is switched by overcoming the additional latching force or by holding the deflection in the latching area.
  • By switching an additional vehicle function can be started or switched to another operating mode. It is preferably provided to end a switched vehicle function or an operating mode by again overcoming the latching force.
  • Fig. 1 shows an operating means 10 having an operating lever 12.
  • the operating lever 12 has a lever head 14 which is formed crowned for ergonomic handling.
  • the operating lever 12 is pivotable with its lever head 14 relative to a base frame 18 in two axes K independently.
  • an elastic sleeve 16 is provided, which protects the lever foot of the operating lever 12 from contamination.
  • control lever With the control lever two deflections can be operated in positive and in negative direction.
  • the movements in both perpendicular directions can be carried out independently of each other and superimposed in this way.
  • the invention can already be carried out with a control lever with a one-dimensional deflection in a positive or negative direction.
  • FIG. 2 shows a model representation of the behavior of the operating lever in the catch area.
  • the operating lever To deflect the operating lever, it is moved in the X direction against a spring K 1 . With increasing deflection in the X direction, the spring force increases proportionally.
  • a second spring K 2 is provided, at the lower end schematically a wheel R is shown. The wheel R rolls on the ground, so that the spring K 2 on a level surface no contribution to the restoring force or to the counteracting force F.
  • the rest area is characterized by a depression in the ground. In this depression of the ground, the spring K 2 expands and delivers due to the slope of a spring force K 1 counteracting force. The sum of the forces is perceived as a decreasing restoring force.
  • the wheel R moves out of the recess, there arises a spring force K 1 energizing force component of the spring K 2 and hence increasing restoring force. Passing through the depression in the ground thus creates for the user the feeling that a detent point is being passed through. This operating sensation occurs both when the depression is driven through to smaller deflections towards a smaller extent of the force K 1 , as is the case when the depression is driven through to smaller deflections due to larger deflections.
  • Fig. 3 shows the course of a restoring force, depending on the deflection of the control lever in arbitrarily scaled units.
  • the units are scaled so that at a maximum deflection of 100%, the intended maximum restoring force of 100% is applied.
  • the in Fig. 3 illustrated Relationship between deflection and restoring force has a lower proportionality range for a displacement of 0% to 40% and an upper proportionality range for a displacement of 60% to 100%.
  • the deflection force drops with an excursion of approximately 45%, despite increasing deflection.
  • This is followed by a steeply increasing restoring force, which decreases again at about 55% deflection in a falling flank with increasing deflection to move into the upper range of proportionality.
  • lower and upper proportionality regions have an approximately equal slope. This is not necessary. It can also be provided that the proportionality regions have a different slope.
  • the latching region 20 also has two falling flanks 22 and 24, in which the restoring force decreases with increasing deflection. Due to the falling flanks 20 and 22, the additional to be overcome latching force .DELTA.R is more noticeable. Between the falling flanks 22, 24 is a rising edge 25, in which the restoring force increases disproportionately with the deflection. By reversing the falling or increasing restoring force, the flank 25 can be perceived as a latching region, as both the rising and the decreasing deflection in the latching region with the falling flanks 22, 24 are reversed.
  • the semi-automatic function is triggered via the operating lever.
  • the Hubtownnvorians it is known, for example, that the Hubtownnvor Vietnamese is triggered by a slight withdrawal of the operating lever in the vicinity of the approaching lifting height. The vehicle recognizes the slight retraction of the operating lever and then moves independently to the preselected lifting height.
  • locking points according to the invention can be switched by driving through or holding the operating lever in the latching area.
  • the additional latching force .DELTA.R is used as a switch, is then switched in the downstream switching range in its passage.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Mechanical Control Devices (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Claims (17)

  1. Chariot de manutention doté d'un moyen de commande (10) comportant un levier de commande (12) et un dispositif de rappel coopérant avec le levier de commande (12), lequel produit une force de rappel pour le levier de commande (12) en fonction de la déviation de celui-ci,
    caractérisé en ce que
    le dispositif de rappel est conçu de manière à présenter une région d'encliquetage (20) pour la déviation, dans laquelle la force de rappel est diminuée dans un flanc descendant selon une première force d'encliquetage supplémentaire et augmentée dans un flanc ascendant selon une deuxième force d'encliquetage supplémentaire.
  2. Chariot de manutention selon la revendication 1, caractérisé en ce que le moyen de commande (10) possède un commutateur d'état, lequel est commuté en dépassant la région d'encliquetage (20).
  3. Chariot de manutention selon la revendication 1 ou 2, caractérisé en ce que le moyen de commande (10) possède un commutateur d'état, lequel est commuté en retenant le levier de commande (12) dans la région d'encliquetage (20).
  4. Chariot de manutention selon la revendication 2 ou 3, caractérisé en ce que le commutateur d'état commute entre différentes fonctions de véhicule ou modes de fonctionnement.
  5. Chariot de manutention selon l'une des revendications 1 à 4, caractérisé en ce qu'il est prévu une première région de déviation avec des déviations plus petites que la déviation de la région d'encliquetage (20).
  6. Chariot de manutention selon l'une des revendications 1 à 5, caractérisé en ce qu'il est prévu une deuxième région de déviation avec des déviations plus grandes que la déviation de la région d'encliquetage (20).
  7. Chariot de manutention selon l'une des revendications 1 à 6, caractérisé en ce qu'il n'est prévu qu'une première ou deuxième région de déviation et en ce qu'une fonction de véhicule supplémentaire ou un mode de fonctionnement est activé(e) tant que la déviation du levier de commande (12) se trouve dans la région d'encliquetage (20).
  8. Chariot de manutention selon la revendication 7, caractérisé en ce que la retenue du levier de commande (12) dans la région d'encliquetage (20) au moins pour une durée prédéterminée permet d'activer la fonction de véhicule supplémentaire ou un mode de fonctionnement.
  9. Chariot de manutention selon l'une des revendications 1 à 6, caractérisé en ce qu'il n'est prévu qu'une première ou deuxième région de déviation, la fonction de véhicule supplémentaire ou un mode de fonctionnement étant activé(e) en traversant une ou plusieurs fois la région d'encliquetage (20) .
  10. Chariot de manutention selon l'une des revendications 7 à 9, caractérisé en ce que la fonction de véhicule supplémentaire ou le mode de fonctionnement est exécuté(e) pour une durée prédéterminée, en fonction d'une déviation du levier de commande (12) ou indépendamment de celle-ci.
  11. Chariot de manutention selon l'une des revendications précédentes, caractérisé en ce qu'il est prévu une première ou une deuxième région de déviation et en ce qu'une fonction de véhicule supplémentaire ou un mode de fonctionnement est activé(e) tant que la déviation du levier de commande (12) se trouve dans la région d'encliquetage (20).
  12. Chariot de manutention selon l'une des revendications 1 à 10, caractérisé en ce qu'il est prévu une première et une deuxième région de déviation, la fonction de véhicule supplémentaire ou le mode de fonctionnement étant activé(e) en traversant une ou plusieurs fois la région d'encliquetage (20) .
  13. Chariot de manutention selon la revendication 11 ou 12, caractérisé en ce que la fonction de véhicule supplémentaire ou le mode de fonctionnement est exécuté(e) pour une durée prédéterminée, en fonction d'une déviation du levier de commande (12) ou indépendamment de celle-ci.
  14. Chariot de manutention selon l'une des revendications précédentes, caractérisé en ce que la fonction de véhicule supplémentaire ou le mode de fonctionnement est désactivé(e) lorsque la région d'encliquetage (20) est traversée de nouveau.
  15. Procédé de fonctionnement d'un chariot de manutention doté d'un moyen de commande (10) comportant un levier de commande (12) et un dispositif de rappel coopérant avec le levier de commande (12), lequel produit une force de rappel pour le levier de commande (12) en fonction de la déviation de celui-ci, caractérisé en ce qu'il est prévu une région d'encliquetage (20) pour la déviation, dans laquelle la force de rappel est diminuée dans un flanc descendant selon une première force d'encliquetage supplémentaire et augmentée dans un flanc ascendant selon une deuxième force d'encliquetage supplémentaire.
  16. Procédé selon l'une des revendications précédentes, caractérisé en ce que la commutation est effectuée en surmontant la force d'encliquetage supplémentaire ou en retenant le levier de commande (12) dans la région d'encliquetage.
  17. Procédé selon l'une des deux revendications précédentes, caractérisé en ce qu'une fonction de véhicule activée ou un mode de fonctionnement est désactivé(e) en surmontant de nouveau la force d'encliquetage supplémentaire.
EP17193233.8A 2016-09-29 2017-09-26 Chariot de manutention doté d'un moyen de commande comportant un levier de commande et procédé de fonctionnement d'un tel chariot de manutention Active EP3301067B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102016118459.4A DE102016118459A1 (de) 2016-09-29 2016-09-29 Flurförderzeug mit einem einen Bedienhebel aufweisenden Bedienmittel sowie Verfahren zur Bedienung eines solchen Flurförderzeugs

Publications (2)

Publication Number Publication Date
EP3301067A1 EP3301067A1 (fr) 2018-04-04
EP3301067B1 true EP3301067B1 (fr) 2019-04-10

Family

ID=59969081

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Application Number Title Priority Date Filing Date
EP17193233.8A Active EP3301067B1 (fr) 2016-09-29 2017-09-26 Chariot de manutention doté d'un moyen de commande comportant un levier de commande et procédé de fonctionnement d'un tel chariot de manutention

Country Status (3)

Country Link
US (1) US10664003B2 (fr)
EP (1) EP3301067B1 (fr)
DE (1) DE102016118459A1 (fr)

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EP0794362B1 (fr) * 1996-03-08 2001-09-19 ZF Lemförder Metallwaren AG Mécanisme de sélection de rapport pour une transmission
DE19753867B4 (de) 1997-12-04 2007-07-05 Linde Ag Bedienhebel
DE102005000633A1 (de) 2005-01-03 2006-07-13 Linde Ag Flurförderzeug
FR2890464B1 (fr) 2005-09-05 2009-02-20 Crouzet Automatismes Soc Par A Dispositif de commande avec moyens de perception tactile de l'ordre de commande
US7640823B2 (en) * 2007-04-30 2010-01-05 International Truck Intellectual Property Company, Llc Integrated automatic manual transmission lever-type shift selector
US7884565B2 (en) * 2008-01-10 2011-02-08 Honeywell International Inc. Human-machine interface with passive soft stops
JP5086130B2 (ja) * 2008-02-28 2012-11-28 デルタ工業株式会社 自動車用変速機のシフト装置
EP2178098B1 (fr) 2008-10-14 2012-05-30 Delphi Technologies, Inc. Interrupteur
US9568939B2 (en) * 2009-06-01 2017-02-14 Enovation Controls, Llc Tactile feedback for joystick position/speed controls
DE102011103214A1 (de) 2011-06-01 2012-12-06 Linde Material Handling Gmbh Flurförderzeug mit einem Steuerorgan
DE102011110081A1 (de) 2011-08-12 2013-02-14 Brose Fahrzeugteile Gmbh & Co. Kg, Hallstadt Steuerung eines Verstellantriebs eines Kraftfahrzeugs
DE102013012176A1 (de) 2013-07-22 2015-01-22 Jungheinrich Aktiengesellschaft Bedienelement für ein Flurförderzeug
DE102014103988A1 (de) 2014-03-24 2015-09-24 Elobau Gmbh & Co. Kg Joystick mit intrinsisch sicherem Force-Feedback
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Also Published As

Publication number Publication date
US20180088620A1 (en) 2018-03-29
US10664003B2 (en) 2020-05-26
EP3301067A1 (fr) 2018-04-04
DE102016118459A1 (de) 2018-03-29

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