EP4237366A1 - Chariot de manutention comprenant un entraînement de direction rotatif - Google Patents

Chariot de manutention comprenant un entraînement de direction rotatif

Info

Publication number
EP4237366A1
EP4237366A1 EP21787392.6A EP21787392A EP4237366A1 EP 4237366 A1 EP4237366 A1 EP 4237366A1 EP 21787392 A EP21787392 A EP 21787392A EP 4237366 A1 EP4237366 A1 EP 4237366A1
Authority
EP
European Patent Office
Prior art keywords
steering
industrial truck
motor
drive unit
steering drive
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.)
Withdrawn
Application number
EP21787392.6A
Other languages
German (de)
English (en)
Inventor
Raban KNACKER
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.)
Hubtex Maschinenbau GmbH and Co KG
Original Assignee
Hubtex Maschinenbau GmbH and Co KG
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 Hubtex Maschinenbau GmbH and Co KG filed Critical Hubtex Maschinenbau GmbH and Co KG
Publication of EP4237366A1 publication Critical patent/EP4237366A1/fr
Withdrawn legal-status Critical Current

Links

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
    • 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
    • B66F9/22—Hydraulic devices or systems
    • 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
    • B66F9/24—Electrical devices or systems

Definitions

  • the invention relates to an industrial truck with at least two wheels that can be steered independently of one another, particularly preferably with at least three wheels that can be steered independently of one another, with each of the steerable wheels being connected via a steering shaft to a rotary steering motor of a steering drive unit, and for controlling the rotary steering motor a Steering angle control is provided, which comprises a rotational angle detection device operatively connected to the steering angle control for detecting an actual rotational angle position of the steering shaft.
  • Such industrial trucks and corresponding steering systems and methods for such industrial trucks have been known for a long time.
  • the current actual rotational angle position is first detected for each wheel by means of the rotational angle detection device for steering the steerable wheels, and this is compared in a steering controller or a steering computer with a predetermined desired angle value.
  • the steering controller then outputs a control signal corresponding to the initiation of a steering process or a steering angle correction for carrying out a turning or steering movement of the wheel to the respective steering motor of the steerable wheel.
  • the steering motor can in particular be part of a separately designed, compact steering drive unit.
  • rotational angle detection devices for detecting the actual rotational angle position of a steerable wheel, which are arranged in particular on the free, mostly upper end of a wheel suspension shaft, such as a shaft having a turntable with wheel attachment, or on the free end of an output shaft of a steering drive.
  • a particular disadvantage here is the relatively poor accessibility of such installation locations for the rotational angle detection device and the required space at locations on the vehicle which can advantageously be used elsewhere, such as in particular in the area above the load wheels.
  • Previous developments were therefore primarily aimed at minimizing and minimizing such rotational angle detection devices.
  • rotational angle detection devices are relatively expensive both to manufacture and to assemble. It was also found that in some vehicle superstructures and attachments, the rotational angle detection devices can be undesirably susceptible to errors, which in turn can cause relatively high operating and maintenance costs for the reasons mentioned above, in particular the poor accessibility.
  • the object of the present invention is therefore to provide an industrial truck that improves at least one of the disadvantages mentioned above and in particular enables a particularly space-saving and cost-effective rotational angle detection device.
  • the rotation angle detection device is designed as a part, in particular as a constructive or integral part of the steering drive unit.
  • the rotation angle detection device can be integrated into the steering drive unit, so that the steering angle detection directly in the Steering drive, in particular without further attachments, can take place.
  • This has the particular advantage that a separate installation space on a steering shaft above a turntable or outside of the steering drive is not required and thus, for example, a vehicle chassis can be designed particularly close to the ground or low-floor in the area of the load-receiving wheels, so that goods can be stored and retrieved and transported particularly close to the ground can be, and thereby increases the range of functions of the vehicle and its operational safety can be increased.
  • the steering drive unit which is generally arranged to the side next to the steerable wheel and is freely accessible from below or to the side of the vehicle, enables particularly quick and installation-friendly accessibility to the rotation angle detection device.
  • the steering drive unit can in particular be formed by an assembly comprising a steering drive housing, a motor part arranged therein, in particular the steering motor, an output shaft, a bearing for the drive shaft and the rotational angle detection device.
  • the drive shaft may typically extend from the steering motor through part of the steering drive housing and through an opening in the steering drive housing towards the surroundings of the steering drive unit.
  • a steering drive unit is particularly preferably assigned to each of the steerable wheels.
  • the steering drive unit is used here to steer the correspondingly assigned wheel and can each have one or more rotational angle detection devices. Consequently, each steerable wheel can be steered by means of its own steering drive unit and in particular by means of its own steering motor.
  • the steering drive units and/or steering motors can be constructed in the same way, so that the industrial truck can be manufactured and maintained particularly cost-effectively.
  • the rotation angle detection device is surrounded, particularly preferably completely, by the steering drive housing of the steering drive unit.
  • the rotation angle detection device can be mounted on or off the industrial truck in a particularly simple manner during production or for maintenance purposes, together with the steering drive unit, in particular the steering drive housing.
  • the rotational angle detection device preferably comprises a transmitter unit which is non-rotatably connected to the steering shaft and a sensor unit which functionally interacts with the transmitter unit.
  • the sensor unit can, in particular, be arranged in a fixed or stationary manner in relation to a chassis of the industrial truck, and in particular can be exchanged separately. This enables a particularly reliable detection of the actual rotational angle positions of the steerable wheels.
  • the rotation angle detection device can be designed as a haptic, optical, magnetic or radio-based system.
  • the rotation angle detection device is designed to work magnetically.
  • the transmitter unit can have at least one magnetic transmitter element and the sensor unit can have at least one magnetic field sensor for detecting a magnetic field generated by the at least one magnetic transmitter element.
  • the encoder unit can be designed as a magnetic ring, in particular as a magnetic ring surrounding the steering shaft.
  • the magnetic ring can be partially magnetized, for example.
  • the magnetic field sensor can be designed to work reversibly and can be exchanged in a particularly simple manner. In particular, sensors of different security levels can be interchanged. As a result, the production and maintenance of the industrial truck can be particularly cost-effective.
  • the rotational angle detection device, in particular the transmitter element and the sensor unit can in particular form a modular system in which components can be exchanged depending on individual specifications.
  • the rotation angle detection device is particularly preferably arranged between the rotary steering motor and a fastening device, in particular a fastening flange, of the steering drive unit.
  • the rotation angle detection device can be arranged in particular between the rotary steering motor and a bearing of the output shaft, in particular the bearing on the output side. This enables a particularly space-saving and compact arrangement of the rotational angle detection device. For example, a particular The space provided for the low-vibration mounting of the output shaft within the steering drive housing can be used effectively.
  • the steering shaft can have a steering shaft axis which corresponds to the steering axis or axis of rotation of the respective steerable wheel and/or the axis of a steering drive shaft of the steering drive unit.
  • the variant mentioned first can be present in particular when the axis of rotation of the steerable wheel essentially corresponds to the axis of rotation of the steering motor.
  • the steering drive shaft can be formed by the output shaft of the steering motor—optionally arranged parallel to the axis of rotation of the steerable wheel—or by a transmission shaft optionally arranged between the steering motor and the wheel.
  • the axis of the steering drive shaft can thus correspond to the axis of rotation of the steering drive unit or the steering motor, but can in principle also be arranged at an angle or parallel thereto.
  • the steering shaft axis can be spaced parallel to the steering axis of the respective steerable wheel or arranged at an angle.
  • the steering shaft is particularly preferably formed by the output shaft of the steering drive unit. This enables a particularly reliable and precise detection of the actual rotational angle positions of the steerable wheels.
  • a gear preferably a step-up gear, particularly preferably a steering-orbital step-up gear, is arranged between the steering drive unit and the steered wheel.
  • the transmission ratio of the transmission is taken into account when determining the actual angular position of the steered wheel.
  • the gear can be used in particular for a particularly precise approach to a desired rotational angle position of the steerable wheels.
  • the rotary steering motor can be designed as a hydraulic motor, in particular an orbital motor, or as an electric motor. In the case of one as a hydraulic motor trained rotary steering motor, this is preferably arranged as part of an overall hydraulic system of the truck.
  • the rotary steering motor is particularly preferably arranged so that it can be exchanged independently of the rotational angle detection device.
  • the motor part or the steering motor is arranged as a separate part in or on the steering drive housing. In the event of a defect in the steering motor, it can be replaced without the rotation angle detection device, so that the maintenance costs can be particularly low.
  • FIG. 1 shows an industrial truck according to the invention
  • FIG. 2a shows a detailed view of a steerable load wheel of the industrial truck
  • FIG. 2b shows a detailed view of a steerable drive wheel of the industrial truck
  • FIG. 3 shows a detailed view of the steering drive unit of the industrial truck.
  • the industrial truck according to the invention shown by reference number 100 in FIG. 1, shows a vehicle chassis 13 with steerable wheels 1 arranged thereon as an example and schematically unlimited angle is designed steerable.
  • the expression 'steerable in an unlimited angle' is intended to clarify that steering or rotation of the steerable wheel 1 beyond 360° is possible.
  • the industrial truck 100 thus comprises a first steerable wheel 1', a second steerable wheel 1'', a third steerable wheel 1''' and a fourth steerable wheel 1'''.
  • the steerable wheels 1' and 1'' are arranged in a load-bearing area of the vehicle chassis 13 and are therefore also referred to as load wheels.
  • the steerable wheels 1′′′′ and 1′′′′ can be designed as drive wheels, each with a traction motor 14 . All of the wheels 1 that can be steered in the example shown in FIG.
  • the steerable wheels 1 each comprise a turntable 15 with two individual wheels arranged thereon.
  • the steerable wheel 1 can therefore also be referred to as a wheel arrangement 1 .
  • FIGS. 2a and 2b A detailed view of a steerable wheel 1 of the industrial truck 100 is shown in each of FIGS. 2a and 2b.
  • the wheel shown in FIG. 2a is designed as a load wheel 1′, 1′′.
  • the wheel shown in FIG. 2b is designed as a drive wheel 1′′′′, 1′′′′.
  • the wheel arrangement shown in FIG. 2b also has a traction motor 14.
  • the traction motor 14 is arranged essentially vertically above the two individual wheels or a turntable 15 carrying the individual wheels, in particular on a rotary shaft not shown in detail in the figures.
  • This rotary shaft can be arranged essentially perpendicularly between the traction motor 14 and the wheel assembly 1, and is used to transmit a rotary motion from the traction motor 14 to the individual wheels of the wheel assembly 1 for driving the industrial truck 100.
  • the axis of rotation of the traction motor 14 can essentially be the axis of rotation in the present case correspond to the aforementioned rotary shaft, not shown, which in this case also corresponds to the steering axis Al.
  • an orbital gear can be provided between the traction motor 14 or the rotating shaft and the steerable wheel 1 .
  • the drive motor 14 can be designed as a normal motor of such industrial trucks and is used to drive the respective wheel 1 to drive the vehicle 100.
  • a steering drive unit 3 is arranged to the side of the steerable wheel 1 .
  • the steering drive unit 3 comprises a steering drive housing 7 which is fastened to the vehicle chassis 13 via a fastening device 10, in particular a fastening flange.
  • the steering drive unit 3 is used for motorized steering of the steerable wheel 1 assigned to it and for this purpose has a rotary steering motor 4 arranged in the steering drive housing 7 .
  • a steering shaft 2 extends the steering drive housing 7, so that the steering shaft 2 can also be referred to as the output shaft 11 of the steering motor 4.
  • the output shaft 11 here forms a steering drive axis A3, which in the present case coincides with the steering shaft axis A2 of the steering shaft 2.
  • the steering shaft 2 has a section 20 via which the steering shaft 2 is operatively connected to the turntable 15 for rotating the turntable 15 .
  • a rotational movement of the steering shaft 2 can be transmitted in section 20 to the turntable 15 of the wheel arrangement 1 or to a shaft connected thereto - for example, as in the present case, by means of a chain arrangement 16.
  • a gear 12 in particular a transmission gear, be provided. This enables a particularly reliable power transmission and a particularly precise positioning and steering of the wheel arrangement 1 .
  • the steering drive unit 3 is arranged directly above a steerable wheel arrangement 1 .
  • the steering shaft axis A2 of the steering shaft 2 can correspond to the steering axis Al of the steerable wheel 1.
  • the steering drive unit 3 includes the steering motor 4 for motorized rotation of the steering shaft 2 and thus ultimately for steering the steerable wheels 1.
  • the steering angle control 5 functionally interacts with each of the steering drive units 3 of the steerable wheels 1 .
  • FIG. 3 shows the steering drive unit 3 in more detail, with the steering drive housing 7 not being shown in this figure, or only being shown in part, for the sake of clarity.
  • the steering drive unit 3 is fastened to a receiving device 17 of the vehicle chassis 13 via the fastening flange 10 and extends toward the receiving device 17, in particular downwards in the illustration in FIG.
  • the rotary steering motor 4 is arranged in an end region of the steering drive unit 3 opposite the fastening device 10 .
  • the steering motor 4 can be designed as a hydraulic motor, in particular an orbital motor, or as an electric motor.
  • the steering motor 4 can in particular be designed separately and fixed in or on the steering drive housing 7, which is not shown in detail. As a result, the steering motor 4 can be replaced in a particularly simple and uncomplicated manner, in particular independently of other components of the steering drive unit 3.
  • the steering shaft 2 extends from the steering motor 4 in the longitudinal direction through the steering drive housing 7 (not shown), is mounted in a region spaced apart from the steering motor 4, in particular in the region of the fastening flange 10, by means of a bearing 18 on the output side, and extends further with a free end 19 to the vicinity of the steering drive unit 3 (in Figure 3 above the mounting flange 10).
  • the section 20 is provided, in which the above-described power transmission from the steering shaft 2 to the turntable 15 takes place.
  • each steering drive unit 3 includes a rotational angle detection device 6 for detecting an actual rotational angle position of the steering shaft 2.
  • This enables the steering angle controller 5 to receive information about the actual Actual rotational angle position of the steering shaft 2 and are thus also provided indirectly via the actual actual rotational angle position of the turntable 15 connected to the steering shaft 2 .
  • the steering angle controller 5 can use this information, for example, to calculate the actual rotational angle position of the turntable 15, and to control the steering motor 4, the actual rotational angle position of the turntable 15 can be compared with a predetermined setpoint value of the rotational angle position.
  • the rotational angle detection device 6 is designed as part of the steering drive unit 3 , in particular integrated into the steering drive unit 3 .
  • the rotational angle detection device 6 is within the steering drive housing 7, in particular axially between the output-side bearing 18 and arranged in the steering motor 4 and completely surrounded by the steering drive housing 7 .
  • a certain space is available in this area for low-vibration mounting of the steering shaft 2, in which the rotational angle detection device 6 can be integrated in a space-saving manner.
  • the rotational angle detection device 6 comprises a transmitter unit 8 which is non-rotatably connected to the steering shaft 2 and a sensor unit 9 which functionally interacts with the transmitter unit 8.
  • the transmitter unit 8 is designed as a magnet ring with a plurality of magnetic transmitter elements 8a distributed over its circumference.
  • the magnetic transducer elements 8a can be designed in particular as permanent magnets and have different poles over the circumference of the magnet ring 8 at least towards the outside. This enables a particularly precise detection of the actual angular position of the steering shaft 2 .
  • the sensor unit 9 is designed as an ordinary magnetic sensor unit, for example as a Hall sensor, and is used to detect a magnetic field generated by the magnetic transmitter element 8a.
  • the sensor unit 9 is stationary, that is to say stationary to the steering drive housing 7 and can in particular be fastened to it. As a result, the sensor unit 9 can be replaced quickly and in a particularly simple manner if required. In particular, depending on the accuracy requirement, sensor units 9 with different sensors can be used, with the installation location and type of installation being able to be the same. This enables the industrial truck 100 to be produced in a particularly cost-effective manner.
  • the scope of the present invention is not limited to the embodiment described.
  • the arrangement of the steering drive unit in relation to the steerable wheel arrangement can be modified without changing the essence of the invention.
  • the steering drive unit can be arranged in its longitudinal extent laterally next to or in the steering axis of the wheel assembly.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Civil Engineering (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Power Steering Mechanism (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)

Abstract

L'invention concerne un chariot de manutention (100) présentant au moins deux roues (1, 1', 1'', 1''', 1'''') qui sont directrices indépendamment les unes des autres, chacune des roues directrices (1, 1', 1'', 1''', 1'''') étant raccordée à un moteur de direction rotatif (4) d'une unité d'entraînement de direction (3) par l'intermédiaire d'un arbre de direction (2), et une commande d'angle de direction (5) étant fournie pour commander le moteur de direction rotatif (4), ladite commande d'angle de direction comprenant un dispositif de détection d'angle de rotation (6) destiné à détecter une position d'angle de rotation actuelle de l'arbre de direction (2). Le dispositif de détection d'angle de rotation (6) est conçu comme une partie de l'unité d'entraînement de direction (3).
EP21787392.6A 2020-10-29 2021-10-05 Chariot de manutention comprenant un entraînement de direction rotatif Withdrawn EP4237366A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020128489.6A DE102020128489A1 (de) 2020-10-29 2020-10-29 Flurförderzeug mit Rotations-Lenkantrieb
PCT/EP2021/077430 WO2022089891A1 (fr) 2020-10-29 2021-10-05 Chariot de manutention comprenant un entraînement de direction rotatif

Publications (1)

Publication Number Publication Date
EP4237366A1 true EP4237366A1 (fr) 2023-09-06

Family

ID=78085685

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21787392.6A Withdrawn EP4237366A1 (fr) 2020-10-29 2021-10-05 Chariot de manutention comprenant un entraînement de direction rotatif

Country Status (7)

Country Link
US (1) US20230303371A1 (fr)
EP (1) EP4237366A1 (fr)
JP (1) JP2023547472A (fr)
AU (1) AU2021370748A1 (fr)
CA (1) CA3200273A1 (fr)
DE (1) DE102020128489A1 (fr)
WO (1) WO2022089891A1 (fr)

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090194357A1 (en) * 2008-02-05 2009-08-06 Crown Equipment Corporation Materials handling vehicle having a steer system including a tactile feedback device

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FR2487804B1 (fr) * 1980-07-31 1985-07-12 Convoyeurs Sa Cie Fse Chariot de transport elevateur de charges
JP2579856B2 (ja) * 1991-12-27 1997-02-12 日本輸送機株式会社 リーチ型フォークリフト
EP0712805B1 (fr) * 1993-05-18 2000-08-02 Nippon Yusoki Co.,Ltd Chariot élévateur à longue portée
DE19714786C1 (de) 1997-04-10 1998-10-22 Danfoss As Lenkeinrichtung
JPH10310077A (ja) * 1997-05-12 1998-11-24 Toyota Autom Loom Works Ltd 操舵輪の操舵角検出装置
JP3536966B2 (ja) * 1998-02-18 2004-06-14 日本輸送機株式会社 全方向移動車両の操舵装置
JP2000053014A (ja) * 1998-08-11 2000-02-22 Toyota Autom Loom Works Ltd リーチフォークリフトの操舵制御装置
DE19960946C2 (de) * 1999-12-17 2002-01-10 Jungheinrich Ag Lenkung für Gegengewichtsstapler
CA2396349C (fr) * 2001-08-02 2006-01-24 Kabushiki Kaisha Toyota Jidoshokki Appareil de compensation de la position du volant dans les dispositifs de direction
DE10155441B4 (de) 2001-11-12 2004-08-05 Jungheinrich Ag Verfahren und Vorrichtung zur Ausrichtung eines Lenkwinkelgebers für eine elektrische Lenkung eines Flurförderzeugs
DE10308726B4 (de) 2003-02-28 2006-10-26 Jungheinrich Ag Lenkantrieb für Flurförderzeuge
DE102006033958A1 (de) 2006-07-22 2008-01-24 Jungheinrich Ag Lenkantrieb für ein Rad eines Flurförderzeugs mit einer Vorrichtung zur Erfassung des Ist-Winkels des gelenkten Rades
DE102007035010A1 (de) 2007-07-26 2009-01-29 Jungheinrich Ag Lenkeinheit für ein Rad eines Flurförderzeugs
DE102010028059A1 (de) * 2010-04-22 2011-10-27 Zf Friedrichshafen Ag Sensoranordnung mit zumindest einer berührungslosen Sensoreinrichtung
NL1039295C2 (nl) * 2011-01-13 2012-10-09 Drogenbroek Voertuig, in het bijzonder verplaatser.
JP5859861B2 (ja) * 2012-01-30 2016-02-16 住友ナコ マテリアル ハンドリング株式会社 フォークリフト
DE102013206793A1 (de) * 2013-04-16 2014-10-16 Zf Friedrichshafen Ag Anordnung zum Erfassen eines Lenkwinkels
DE102014113493A1 (de) * 2014-09-18 2016-03-24 Jungheinrich Aktiengesellschaft Flurförderzeug mit einem Lenkwinkelsensor
DE102015222098A1 (de) * 2015-11-10 2017-05-11 Jungheinrich Aktiengesellschaft Antriebssystem für ein Fahrzeug
CN105417440A (zh) * 2015-11-20 2016-03-23 安徽依诺玛智能科技有限公司 一种用于激光导向avg叉车的立式驱动机构

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090194357A1 (en) * 2008-02-05 2009-08-06 Crown Equipment Corporation Materials handling vehicle having a steer system including a tactile feedback device

Also Published As

Publication number Publication date
AU2021370748A1 (en) 2023-06-15
WO2022089891A1 (fr) 2022-05-05
JP2023547472A (ja) 2023-11-10
AU2021370748A9 (en) 2024-10-03
DE102020128489A1 (de) 2022-05-05
US20230303371A1 (en) 2023-09-28
CA3200273A1 (fr) 2022-05-05

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