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EP2947044A1 - Procédé destiné à la commande de direction d'un chariot de manutention - Google Patents

Procédé destiné à la commande de direction d'un chariot de manutention Download PDF

Info

Publication number
EP2947044A1
EP2947044A1 EP15166727.6A EP15166727A EP2947044A1 EP 2947044 A1 EP2947044 A1 EP 2947044A1 EP 15166727 A EP15166727 A EP 15166727A EP 2947044 A1 EP2947044 A1 EP 2947044A1
Authority
EP
European Patent Office
Prior art keywords
load
truck
transverse line
operating mode
wheels
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
EP15166727.6A
Other languages
German (de)
English (en)
Other versions
EP2947044B1 (fr
Inventor
Volker Viereck
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
STILL GmbH
Original Assignee
STILL GmbH
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 STILL GmbH filed Critical STILL GmbH
Publication of EP2947044A1 publication Critical patent/EP2947044A1/fr
Application granted granted Critical
Publication of EP2947044B1 publication Critical patent/EP2947044B1/fr
Not-in-force 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
    • B66F9/07568—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

Definitions

  • the invention relates to a method for steering control in an industrial truck.
  • the invention relates to a method for steering control in an industrial truck in which all wheels of a front axle and a rear axle can be steered, and which has a trailer hitch and / or a hinged fork and / or extendable load arms.
  • Forklift trucks include counterbalance forklifts and reach trucks, as well as tractors.
  • a counterbalance forklift it is common to steer the rear wheels or a single rear wheel, the front wheels being located below or close to a lift mast and not being steered.
  • the radius of curvature when steering then results from the intersection of the axes of the steered rear wheel or the steered rear wheels with the axis of the front wheels.
  • the intersection forms a cornering axis, around which the cornering takes place in which all wheels around this cornering axis ideally run with a radius on a curved path.
  • the load weight is not predominantly compensated by a counterweight, but the center of gravity of the load spent by moving the lifting mast so far behind the front wheels that the vehicle is stable overall.
  • the front wheels are attached to the front end of load arms extending forwardly as load rollers. Again, however, the cornering axis is determined when cornering through the intersections of the axis of these load rollers in the load arms and the axis of a steered rear wheel.
  • the front wheels are usually steered and the drive is via the rear wheels, which can not be hit.
  • a truck has, for example, a trailer hitch to Towing trailers, especially a trailer train of several trailers as a tugger train on.
  • a load handling device can be used as a lifting device for storing and retrieving loads in shelves up to a certain height.
  • a load-receiving device a hinged fork, which is folded up in a pure tractor operation.
  • additional support rollers that can be extended and, for example, can lift a pallet with an initial stroke, the weight of the pallet is already supported on the support rollers in these load arms to a large extent.
  • Such a combined industrial truck can therefore be used in several modes, each of which corresponds to a conventional truck, such as a tractor, a counterbalance forklift or a reach truck.
  • a disadvantage is in particular that results in an unusual driving behavior, as far as the steering has the cornering axis corresponding to a known type of truck on a prolonged strong axis and this deviates from the behavior of a conventional truck for a selected mode of operation.
  • turning the truck may require a relatively large amount of space, depending on the operating mode of the truck being used. With large or bulky recorded loads, the space requirement can unfavorably increase even further.
  • the present invention has for its object to provide a method for steering control in a truck available, achieved by the operation of a corresponding and familiar steering behavior and the space required for cornering is minimized.
  • the curve rotation axis then moves on the transverse line from infinity to the middle axis of the industrial truck with decreasing radius of curvature to be traveled.
  • the controller selects between at least two or all described modes of operation.
  • all steered wheels are driven.
  • the industrial truck has a load fork and / or load arms and the steered wheels are placed transversely to a longitudinal axis of the vehicle by the controller for a transverse movement of the fork and / or the load arms.
  • the operating mode minimum radius can be selected and the curve rotation axis is placed in the operating mode minimum radius for rotation in place in the intersection of the transverse line with a vehicle longitudinal axis of the controller.
  • an industrial truck with a load essentially forms a rectangle.
  • the length and, in exceptional cases, the width of the rectangle can be determined by the size and shape of the load.
  • the optimized, minimal space requirement between an outer Tangenten Vietnamese maneuver on this rectangle on the outer corners and an inner Tangenten Vietnamese maneuver in the middle of the longitudinal extent results approximately, as far as the load is not laterally beyond the truck, with concentric tangent circles, the center on a transverse line half length of the longitudinal extent of the truck with the load is. If the curve axis of rotation is placed on this transverse line, the result is an optimized, space-saving cornering, which enables optimized distances between the rack aisles. If the curve rotation axis is placed on this transverse line exactly in the middle of the rectangle, there is a rotation on the spot with minimal space requirements.
  • the operating mode minimum radius can be selected and the control of a data connection, in particular from a network of a merchandise management system, obtained data on the dimensions of a load to be absorbed.
  • controller advantageously determine the geometry of the truck in supervision including the load and set a transverse line at half the longitudinal extent.
  • the truck can be operated autonomously without a driver.
  • the operating mode with a minimum radius in autonomous operation can be selected without unfamiliar driving behavior for a driver.
  • the Fig. 1 shows an inventive truck 1 in an operating mode as a counterbalance forklift 2, in which a fork 3 is folded down. Front wheels 4 are spent in a straight position and are not steered. A single rear wheel 5 of the truck designed as a tricycle 1, is aligned so that a cam axis 6 depending on the radius of curvature to be traveled on a transverse line 7 moves, which corresponds to the axis of the front wheels 4. This results for a driver the driving behavior of a known counterbalance forklift. 2
  • the Fig. 2 shows the truck 1 in an operating mode as a tractor 8, to which a trailer 9 is coupled.
  • the rear wheel 5 is held in the straight position and the transverse line 7 corresponds to the axis of the rear wheel 5.
  • the front wheels 4 are aligned so that their intersection or the curve axis of rotation 6 moves on the transverse line 7. It thus results for the same truck alone the selection of the operating mode the driving behavior of a known tractor 8.
  • the Fig. 3 shows the truck 1 in an operating mode as a reach truck 10.
  • load arms 11 extended with load rollers 12.
  • the axis of the load rollers 12 forms the transverse line 7.
  • the axes of the front wheels 4 and 5 of the rear wheel are thereby aligned during cornering, that their intersection is located as a curve axis 6 on this transverse line 7. This results in the driving behavior of a known reach truck 10.
  • the Fig. 4 shows the truck 1 in a mode "minimum radius" with a load 13.
  • the load 13 results in the supervision of the truck 1 approximately an elongated rectangle.
  • the transverse line 7 is placed in the middle of the total length of truck 1 and load.
  • Ra for cornering results in a maximum inner radius Ri and thus a minimal space requirement by the arrangement of the cam axis of rotation 6.
  • the required geometric conditions at the entrance, for example in a rack aisle can be optimized.
  • the Fig. 5 shows the truck 1 in a "minimum radius" operating mode with the forklift tilted up and the cam pivot 14 at the center of the rectangle for minimum turnaround rotation.
  • the Fig. 6 shows the truck in a "minimum radius" operating mode with the fork 3 folded down and the cam pivot 14 at the center of an enclosing rectangle for rotation in the minimum footprint.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP15166727.6A 2014-05-19 2015-05-07 Procédé destiné à la commande de direction d'un chariot de manutention Not-in-force EP2947044B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102014107065.8A DE102014107065A1 (de) 2014-05-19 2014-05-19 Verfahren zur Lenkungssteuerung bei einem Flurförderzeug

Publications (2)

Publication Number Publication Date
EP2947044A1 true EP2947044A1 (fr) 2015-11-25
EP2947044B1 EP2947044B1 (fr) 2017-12-27

Family

ID=53189632

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15166727.6A Not-in-force EP2947044B1 (fr) 2014-05-19 2015-05-07 Procédé destiné à la commande de direction d'un chariot de manutention

Country Status (2)

Country Link
EP (1) EP2947044B1 (fr)
DE (1) DE102014107065A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102022132928A1 (de) * 2022-12-12 2024-06-13 Hubtex Maschinenbau Gmbh & Co. Kg Lenkverfahren zum Betrieb eines Flurförderzeugs, Flurförderzeug

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007036767A1 (fr) * 2005-09-28 2007-04-05 Cesab Carrelli Elevatori S.P.A. Chariot elevateur a fourche et dispositif de commande de direction pour chariot elevateur a fourche
WO2008141836A1 (fr) * 2007-05-24 2008-11-27 Martin Mcvicar Chariot élévateur à fourche à trois roues
EP2518005B1 (fr) 2011-04-27 2013-09-18 STILL GmbH Chariot de manutention
US20140074342A1 (en) * 2011-09-07 2014-03-13 Crown Equipment Limited Method and apparatus for using pre-positioned objects to localize an industrial vehicle

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007036767A1 (fr) * 2005-09-28 2007-04-05 Cesab Carrelli Elevatori S.P.A. Chariot elevateur a fourche et dispositif de commande de direction pour chariot elevateur a fourche
WO2008141836A1 (fr) * 2007-05-24 2008-11-27 Martin Mcvicar Chariot élévateur à fourche à trois roues
EP2518005B1 (fr) 2011-04-27 2013-09-18 STILL GmbH Chariot de manutention
US20140074342A1 (en) * 2011-09-07 2014-03-13 Crown Equipment Limited Method and apparatus for using pre-positioned objects to localize an industrial vehicle

Also Published As

Publication number Publication date
DE102014107065A1 (de) 2015-11-19
EP2947044B1 (fr) 2017-12-27

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