EP3301068A1 - Chariot de manutention doté d'un levier de commande et procédé de fonctionnement d'un tel chariot de manutention - Google Patents

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

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Publication number
EP3301068A1
EP3301068A1 EP17193235.3A EP17193235A EP3301068A1 EP 3301068 A1 EP3301068 A1 EP 3301068A1 EP 17193235 A EP17193235 A EP 17193235A EP 3301068 A1 EP3301068 A1 EP 3301068A1
Authority
EP
European Patent Office
Prior art keywords
operating lever
neutral position
deflection
vehicle function
control
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
EP17193235.3A
Other languages
German (de)
English (en)
Other versions
EP3301068B1 (fr
Inventor
Hendrik Geilsdorf Dr.
Jörn Sellentin
Hartwig Grothkopp
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 EP3301068A1 publication Critical patent/EP3301068A1/fr
Application granted granted Critical
Publication of EP3301068B1 publication Critical patent/EP3301068B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B66F9/0759—Details of operating station, e.g. seats, levers, operator platforms, cabin suspension
    • 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
    • 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
    • B66F9/07581—Remote controls
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/04—Controlling members for hand actuation by pivoting movement, e.g. levers
    • 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
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G2505/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • 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
    • 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

Definitions

  • the invention relates to an industrial truck with at least one operating lever having an operating means and a cooperating with the operating lever return device, which generates a restoring force depending on the deflection of the operating lever.
  • the invention also relates to a method for operating an industrial truck, which has at least one operating lever exhibiting an operating means and a cooperating with the operating lever reset device.
  • an operating element for an industrial truck with two operating levers and at least one switch arranged between them is known.
  • the control levers are each designed for a biaxial movement and spatially spaced from each other such that with a hand positioned between the levers with the fingers the operating lever without gripping and the at least one switch between the control levers is actuated.
  • the invention has for its object to provide an industrial truck and a method for its operation, in which an intuitive operation is ensured by simple means.
  • the truck according to the invention has at least one operating means, which has an operating lever.
  • vehicle functions can be triggered via associated actuators.
  • a restoring device is provided, which triggers a restoring force depending on the deflection of the operating lever.
  • the restoring device an association between restoring force and deflection of the operating lever is stored. This assignment can be arbitrarily specified by the restoring device, wherein preferably each deflection is assigned a value for the restoring force.
  • the return device for the operating lever generates a neutral position, which corresponds to a current actuation of the vehicle function.
  • the neutral position of the operating lever here is the position of the operating lever, in which no force must be applied to hold the operating lever in position.
  • the neutral position is generated for the operating lever, which would be necessary in the current control of the vehicle function.
  • At least two cases can be distinguished.
  • a first case the deflection of the operating lever from its neutral position leads to an end of the automatic mode.
  • the operating lever when the operating lever is moved out of the neutral position, preferably transferred to a manual control, in which case the current position of the operating lever is also the signal for the control.
  • an additional control for a continued automatic operation can take place. This is continued in a deflection of the operating lever from its neutral position in automatic mode and it is done via the control lever, a speed control in the continuous automatic mode. In this embodiment, the operator gets the additional possibility to continue this during the automatic operation without interrupting the automatic operation and to carry out the operations of the automatic operation with a controlled by the operating lever speed.
  • the restoring device in an automatic mode for the vehicle function, provides the neutral position for a deflection of the operating lever, which corresponds to a position of the operating lever in the case of manual activation of the vehicle function.
  • Manual control means that the control lever with its neutral position has the deflection that the control lever would possess when the vehicle function not automatically, but would be controlled by pressing the control lever. Without intervention of the operator, the operating lever always moves in an automatic mode as the operating lever would thus be moved in a manual control of the same movement of the automatic function. A movement of the operating lever is thereby clearly defined as the deflection corresponding to the control of the vehicle function.
  • the deflection of the operating lever from a neutral position of a manual control of the associated vehicle function with a deflection corresponding to a deflection relative to the neutral position.
  • a neutral position of the operating lever corresponds to a current position of the vehicle function assigned to the operating lever.
  • a measuring device which detects the current position of a component provided by the vehicle function and applies it to the restoring device. By confirming the current position, it is possible to set the neutral position according to the current position of the vehicle function.
  • the feedback also makes it possible to react to external influences, since the displaced neutral position of the control lever also indicates an external force acting on the vehicle function.
  • the method according to the invention is provided and intended for operating an industrial truck which has at least one operating means.
  • the operating means has an operating lever.
  • a restoring device is provided, which generates a restoring force depending on the deflection of the operating lever.
  • the operating means is associated with a vehicle function, which is controlled by a deflection of the operating lever.
  • a neutral position is generated on the operating lever, which corresponds to a current control of the vehicle function. Due to the adjusted neutral position, an operator always has the correct feedback from the control lever.
  • an automatic mode for the vehicle function is provided. Further, a neutral position is generated with a vanishing restoring force in a position corresponding to a manual control of the vehicle function.
  • the automatic mode takes over the control of the vehicle function. With its neutral position, the operating lever always follows the current control, so that the operating lever assumes a restoring-force-free neutral position during deflection, which corresponds to the current automatic control.
  • a deflection of the operating lever from its neutral position corresponds to a manual actuation of the vehicle function without changing the neutral position.
  • a Deflection by the amount .DELTA.% of a control with a value of x +/- .DELTA.% is carried out.
  • the deflection of the operating lever from the neutral position may correspond to the transition to a manual control of the termination of the automatic operation.
  • the automatic mode is continued, in which case the speed of the automatic function is controlled by the control of the operating lever in a position deviating from the neutral position. This means that when the operating lever is moved out of the neutral position, the automatic mode is continued, whereby it is then continued faster or slower, depending on which deflection was left by the neutral position.
  • FIG. 1 shows in a simple schematic view of an operating element 10 with a control lever 12 which can be moved independently in the directions A and B.
  • the operating lever 12 is pivotally mounted at its foot and can be pivoted independently in the directions A or B.
  • the pivoting of the operating lever 12 takes place from a neutral position out, in both positive and negative directions.
  • the deflection of the operating lever 12 is limited in each direction by a maximum deflection.
  • the invention can also be applied to a pivotable only in one direction operating lever.
  • FIG. 2 shows in connection between a restoring force R for the operating lever and the deflection of the operating lever 12.
  • the solid line 14 shows the normal force curve. In the normal force curve acts at a deflection of 0% no restoring force, here is the Neustral too. Up to the maximum rashes +/- 100%, the restoring force increases to 100%. In this embodiment, the operator receives an indication of the deflection of the operating lever by the size of the restoring force.
  • the dashed line 16 shows the force curve with shifted neutral position.
  • the restoring force disappears at a deflection of - 50%.
  • the neutral position is -50%.
  • the restoring force increases linearly, with the restoring force exceeding the 100% deflection at + 50% deflection and increasing to 150% upon deflection in the positive direction.
  • the restoring force increases to a value of up to 50%.
  • the maximum deflection is provided, so that although the restoring force has only reached a value of 50%, further adjustment of the control lever to even more negative deflection is not possible.
  • the shift of the neutral position has particular advantages when using automatic functions in industrial trucks.
  • the currently running vehicle functions are generally not controlled via the operating elements.
  • executed function remains conventionally the corresponding control always in its center position. If the operator now wants to intervene, he must turn the control element in the opposite direction, which may then lead to an ambiguous command. For example, if the vehicle lifts automatically and the driver steers towards lowering, it is not clear whether he wants to slow down or stop the automatic movement, or whether he wants to lower the load, for example, because he has already lifted it too high.
  • the position of the operating element is adapted at any time to the current command of the automatic function.
  • the automatic operation is terminated by the deflection of the operating lever from its neutral position. This means that the control is done manually by the operation of the operating lever and the current position of the operating lever.
  • One aspect relates to the variant that the neutral position specified by the automatic mode is maintained. This means that when you release the manually controlled lowering speed of - 40%, the operating lever returns to its predetermined by the automatic mode neutral position and the lowering is continued with - 50%. At this Design is changed from the automatic mode into the manual mode only as long as the operating lever is guided in a deviating from the predetermined by the automatic mode neutral position.
  • the automatic mode is finally ended and when you release the control lever that returns to its 0% position as a neutral position and there is no more control of the lifting function.
  • Another variant is when continued by a deflection of the operating lever from its neutral position in automatic mode, the automatic mode and the driving of the operating lever, the speed of the automatic mode is changed. This means that with a predetermined by the automatic mode neutral position of - 50% and a lowering speed of - 50%, a deflection of the operating lever in a position of - 40% no manual control with - 40% causes, but a continuation of the automatic mode, in the automatic mode, however, no longer with a lowering speed of - 50% is lowered, but with a corrected by the current deflection value. If the one operating lever is then released in this state, it automatically returns to its neutral position currently set by the automatic mode since the automatic mode continues to be present.
  • the operating levers of a truck specify the speed of work functions.
  • a half deflected operating element corresponds for example to half the maximum speed of this work function, if a linear relationship between deflection and control is stored.
  • the position of the vehicle function for example, a mast feed for reach trucks, a side thrust of an implement or the tilting of the mast.
  • the control is not the Speed for the vehicle function predetermined, but by the movement of the operating lever, the position of the vehicle function can be specified. To then hold the position, the neutral position of the control lever is adjusted to the current position of the vehicle.
  • force curve with shifted neutral position 14 corresponds to the neutral position by 50% pushed back mast feed a reach truck, a 50% in one direction shifted side shift or a - 50% inclined mast.
  • the neutral position is shifted, so that the control element remains unactuated in its new neutral position.
  • the neutral position may be at a front or rear stop, so be ⁇ 100% deflection for the neutral position.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Civil Engineering (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Mechanical Control Devices (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP17193235.3A 2016-09-29 2017-09-26 Chariot de manutention doté d'un levier de commande et procédé de fonctionnement d'un tel chariot de manutention Active EP3301068B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102016118460.8A DE102016118460A1 (de) 2016-09-29 2016-09-29 Flurförderzeug mit einem Bedienhebel sowie Verfahren zur Bedienung eines solchen Flurförderzeugs

Publications (2)

Publication Number Publication Date
EP3301068A1 true EP3301068A1 (fr) 2018-04-04
EP3301068B1 EP3301068B1 (fr) 2023-07-26

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ID=59974173

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Application Number Title Priority Date Filing Date
EP17193235.3A Active EP3301068B1 (fr) 2016-09-29 2017-09-26 Chariot de manutention doté d'un levier de commande et procédé de fonctionnement d'un tel chariot de manutention

Country Status (3)

Country Link
US (1) US20180093872A1 (fr)
EP (1) EP3301068B1 (fr)
DE (1) DE102016118460A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019003510B4 (de) 2019-05-20 2023-02-23 Florian Maier Verfahren und Vorrichtung zur Steuerung von Motoren im Film- und Broadcastbereich

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998024180A2 (fr) * 1996-11-13 1998-06-04 Immersion Human Interface Corporation Procede et appareil pour mise en forme de signaux de force pour dispositif a retour de force
DE102007060336A1 (de) * 2007-12-14 2009-06-25 Jungheinrich Ag Fahr- und Lenksteuerung für ein Flurförderzeug
US20160179128A1 (en) * 2009-06-01 2016-06-23 Enovation Controls, Llc Tactile Feedback for Joystick Position/Speed Controls

Family Cites Families (12)

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Publication number Priority date Publication date Assignee Title
FR2643502B1 (fr) * 1989-02-20 1996-01-19 Aerospatiale Dispositif de commande a manche basculant, notamment pour aeronef, et systeme comportant un tel dispositif
DE19613386A1 (de) * 1996-04-03 1997-10-09 Fiat Om Carrelli Elevatori Flurförderzeug, das wahlweise manuell oder automatisch betreibbar ausgebildet ist
US6112839A (en) * 1997-05-08 2000-09-05 Case Corporation Automatic remote auxiliary implement control
US6227066B1 (en) * 1999-07-26 2001-05-08 Mpc Products Corporation Joystick centering device supporting multiple compound torque profiles
DE19951379C2 (de) 1999-10-26 2001-12-13 Jungheinrich Ag Handbetätigtes Lenkorgan für ein Flurförderzeug
DE10204742B4 (de) 2002-01-19 2014-05-28 Linde Material Handling Gmbh Flurförderzeug mit einem Joystick zur Steuerung des Fahrantriebs, der Lenkanlage und der Bremsanlage
DE102005000633A1 (de) 2005-01-03 2006-07-13 Linde Ag Flurförderzeug
TW201321640A (zh) * 2011-11-25 2013-06-01 tian-qiao Zuo 單手操作的氣壓控制裝置
FR3001176B1 (fr) * 2013-01-18 2015-02-27 Leoni Cia Cable Systems Dispositif de guidage et de rappel
WO2014120984A2 (fr) * 2013-01-30 2014-08-07 David Paul Smith Dispositif de signal de sortie électrique commandé par opérateur avec sensation variable et retour d'effort, et étalonnage automatisé et optimisation de performances par apprentissage
DE102013012175A1 (de) 2013-07-22 2015-01-22 Personal Medsystems Gmbh Kabelentwirrer, Elektrodenkabelstrang mit Kabelentwirrer und Elektrokardiogrammgerät
DE102014103988A1 (de) 2014-03-24 2015-09-24 Elobau Gmbh & Co. Kg Joystick mit intrinsisch sicherem Force-Feedback

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998024180A2 (fr) * 1996-11-13 1998-06-04 Immersion Human Interface Corporation Procede et appareil pour mise en forme de signaux de force pour dispositif a retour de force
DE102007060336A1 (de) * 2007-12-14 2009-06-25 Jungheinrich Ag Fahr- und Lenksteuerung für ein Flurförderzeug
US20160179128A1 (en) * 2009-06-01 2016-06-23 Enovation Controls, Llc Tactile Feedback for Joystick Position/Speed Controls

Also Published As

Publication number Publication date
US20180093872A1 (en) 2018-04-05
EP3301068B1 (fr) 2023-07-26
DE102016118460A1 (de) 2018-03-29

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