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EP1203744B1 - Load handling device for an industrial truck - Google Patents

Load handling device for an industrial truck Download PDF

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Publication number
EP1203744B1
EP1203744B1 EP01125214A EP01125214A EP1203744B1 EP 1203744 B1 EP1203744 B1 EP 1203744B1 EP 01125214 A EP01125214 A EP 01125214A EP 01125214 A EP01125214 A EP 01125214A EP 1203744 B1 EP1203744 B1 EP 1203744B1
Authority
EP
European Patent Office
Prior art keywords
load
switching element
load handling
handling device
movement
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.)
Expired - Lifetime
Application number
EP01125214A
Other languages
German (de)
French (fr)
Other versions
EP1203744A1 (en
Inventor
Volker Dipl.-Ing. Barth
Siegfried Lauxmann
Rolf Dipl.-Ing. Bez
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 Wagner GmbH and Co KG
Original Assignee
Still Wagner 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 Still Wagner GmbH and Co KG filed Critical Still Wagner GmbH and Co KG
Publication of EP1203744A1 publication Critical patent/EP1203744A1/en
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Publication of EP1203744B1 publication Critical patent/EP1203744B1/en
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
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
    • B66F9/147—Whole unit including fork support moves relative to mast
    • B66F9/149—Whole unit including fork support rotates
    • 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
    • B66F9/0755—Position control; Position detectors

Definitions

  • the invention relates to a load handling device for a truck with an example designed as a load lifting device after the The preamble of one of the claims 1 or 2.
  • An industrial truck with such Load handling device is disclosed for example in DE 298 12 976 U1.
  • Moving devices of this kind can, for example, by Soschiebem or Pivoting devices are formed on a mast of the truck are mounted liftably and with which a load-carrying means in the lateral direction of the Truck can be moved or pivoted about a vertical axis.
  • a Combination of a sideshifter, a swivel device and a fork-shaped load-carrying means is called a swivel push fork.
  • a Swivel push fork which is used in particular for high-bay stackers can Serving located on the side of the truck shelves.
  • the present invention is based on the object, a simple structure Measuring device for detecting the end positions of the at least one To provide motion device according to the applicable Machine guidelines is to be classified as "safe”.
  • the continuously operating transmitter can be used as infinitely variable or fine-tuned Sensor be executed.
  • the positions of the Movement device detected continuously can, for example, in one Control device for this movement device to be further processed.
  • the safety relevant end positions of the movement device are in addition monitored via switching elements, allowing two independent signals available.
  • the end position of the Swivel device By means of the transmitter and the switching element, the end position of the Swivel device to be monitored redundantly.
  • the switching element of Pivoting device is attached to a non-pivoting member such that it is actuated by a pivotable component, when the pivoting device in one of its two end positions is located. In this arrangement can with a single switching element two end positions are monitored. In addition, it is as a result of the arrangement of the switching element on a non-pivoting component a simple routing allows.
  • the pusher is associated with a single switching element, which in such a way slidable portion of the load handling device is arranged to be at Achieving each end positions of the thruster has a first switching position and in the case of a thrust device positioned between the end positions, a second one Has switching position. Again, the two end positions of Pushers are monitored with a single switching element.
  • the additionally provided switching element is used for redundant monitoring of End positions of the pusher.
  • a pusher with a pivoting device to a so-called Swivel Fork is combined, the output signals of the position of the Lifting device by means of continuous measuring transducer in a common Control device to be processed.
  • the movements of the pusher and the Synchronize swivel device be controlled so that the load-receiving means during a Pivoting movement within the contours of the truck remains.
  • the transmitter and the switching element with a be operatively connected to electronic control, which is designed such that the Output signals of the transmitter and the switching element continuously compared become.
  • the control device may be a malfunction of the transmitter or the Recognize switching element because the transmitter and the switching element itself conflicting signals provide and then passes corresponding Security measures.
  • At least one transmitter of a potentiometer formed.
  • the potentiometer delivers at any time from the position the movement device dependent signal.
  • the approach of reference points is not required after start of operation.
  • At least one transmitter of a Incremental encoder is formed.
  • the position of the incremental encoder must be after Start of operation by a single start of a reference point, e.g. one End position of the movement device to be determined. This can be avoided when the position of the incremental encoder is continuously in one power supply independent memory, for example, a so-called “flash-memory" device is stored.
  • FIG. 1 shows a side view of a load handling device according to the invention.
  • the load handling device is with a fastener 1 directly or indirectly attached to a lifting frame of the truck liftable.
  • a fastener 1 directly or indirectly attached to a lifting frame of the truck liftable.
  • at Hochregalstaplind is the load handling device by means of Fastener 1 usually attached to a liftable driver's stand.
  • a support member 2 With rigidly connected to the fastener is a support member 2 with in Transverse direction of the truck, in the present representation perpendicular to Drawing plane, extending guide rails 3, 4, 5.
  • the thrust carriage 6 On the guide rails 3, 4, 5 is a sliding carriage 6 in the transverse direction of the Industrial truck guided displaceable.
  • the thrust carriage 6 has this Guide rollers 7, 8, 9, 10, 11, which roll on the guide rails 3, 4 and 5 respectively and guide the carriage in horizontal and vertical direction.
  • the drive for the pushing movement of the sliding carriage 6 is medium by means of a on the slide carriage 6 arranged electric motor 13, the rotor with a gear teeth 14th provided shaft 12 is connected.
  • the teeth 14 engage in racks 15th a, which are fixed to the support member 2.
  • the sliding in the transverse direction of the truck slide carriage 6 forms the first moving device of the load handling device.
  • This transmitter 16 for the Shear 6 is disposed at the lower end of the shaft 12 and detected continuously the rotational position of the shaft 12, from which the position of the Moving carriage 6 depends directly.
  • one of an inductive Proximity sensor formed switching element 17 is provided by the components 18 is operable.
  • two components 18 are such arranged that exactly then a component 18 is located in front of the switching element 17, when the slide carriage 6 is in one of the two end positions.
  • the end positions of the sliding carriage 6 provide the switching element 17 and the Transmitter 16 thus redundant signals in an electrical control of Truck can be checked and further processed.
  • Another movement device of the load handling device is of a Swivel device formed with the additional hoist 19 of the truck relative can be pivoted to the slide carriage 6 about a vertical axis 20. Of the Drive of the pivoting device is not shown in the present figure.
  • the Rajhubwerk 19 may be a designed as a load lifting device 21 relative be raised to the slide carriage 6.
  • Potentiometer executed transmitter 22 For continuously detecting the position of the pivoting device is as Potentiometer executed transmitter 22 is provided, which has a Gear stage 23 is coupled to a pivotable part of Sakhubwerks 19.
  • the transmitter 22 thus provides at any time one of the rotational position of the Pivoting device dependent signal.
  • an inductive proximity switch Switching element 24 is provided, which like the transmitter 22 with an electrical Control device is connected.
  • the switching element 24 is connected by a with the Rajhubwerk rotatable member 25, 26 actuated, the in an end position located pivoting device directly under the switching element 24 protrudes. In the shown position, the load-receiving device 21 is aligned forward and is in a middle position, leaving the space below the switching element 24 is free.
  • the end position of the pivoting device can with the switching element 24th and the transmitter 22 are also detected redundantly.
  • FIG. 2 shows the thrust carriage 6, the additional lifting mechanism 19 and the load receiving means 21 in plan view.
  • the load-receiving means 21 is in an end position, wherein the forks of the load-receiving device 21 in the lateral direction of the truck are aligned. Also shown is that formed by a proximity switch Switching element 24 which is actuated by the components 25, 26.
  • the components 25, 26 are pivotable about the vertical axis 20 together with the load receiving means 21.
  • the pivoting device In the illustrated end position of the pivoting device is a part of the Component 25 directly under the switching element 24, whereby the proximity switch 24th is pressed.
  • the load receiving means 21, starting from the illustrated End position is pivoted counterclockwise, the component 25 moves from the switching element 24 away, so that this occupies a different switching position.
  • the switching element 24 through the Component 26 is pressed again.

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  • 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)

Abstract

A load suspension device (21), for instance in the form of a fork, is horizontally moved in relation to a lift-framework belonging to the floor conveyor. A meter detects the position of the mover moving the load suspension device. The meter comprises at least one measurement transducer (16,22) and has at least one switch element (17,24).

Description

Die Erfindung betrifft eine Lasthandhabungsvorrichtung für ein Flurförderzeug mit einem beispielsweise als Lastgabel ausgeführten Lastaufnahmemittel nach dem Oberbegriff eines der Patentansprüche 1 oder 2. Ein Flurförderzeug mit einer solchen Lasthandhabungsvorrichtung ist beispielsweise in der DE 298 12 976 U1 offenbart.The invention relates to a load handling device for a truck with an example designed as a load lifting device after the The preamble of one of the claims 1 or 2. An industrial truck with such Load handling device is disclosed for example in DE 298 12 976 U1.

Bewegungsvorrichtungen dieser Art können beispielsweise von Seitenschiebem oder Schwenkvorrichtungen gebildet sein, die an einem Hubgerüst des Flurförderzeugs anhebbar befestigt sind und mit denen ein Lastaufnahmemittel in Seitenrichtung des Flurförderzeugs bewegt bzw. um eine vertikale Achse geschwenkt werden kann. Eine Kombination eines Seitenschiebers, einer Schwenkvorrichtung und eines gabelförmigen Lastaufnahmemittels bezeichnet man als Schwenkschubgabel. Mit einer Schwenkschubgabel, die insbesondere bei Hochregalstaplern eingesetzt wird, können seitlich des Flurförderzeugs befindliche Regale bedient werden.Moving devices of this kind can, for example, by Seitenschiebem or Pivoting devices are formed on a mast of the truck are mounted liftably and with which a load-carrying means in the lateral direction of the Truck can be moved or pivoted about a vertical axis. A Combination of a sideshifter, a swivel device and a fork-shaped load-carrying means is called a swivel push fork. With a Swivel push fork, which is used in particular for high-bay stackers can Serving located on the side of the truck shelves.

Um eine maximale Betriebssicherheit des Flurförderzeugs zu gewährleisten, muss sich eine mit der Lasthandhabungsvorrichtung aufgenommene Last vollständig innerhalb der Kontur des Flurförderzeugs befinden, wenn das Flurförderzeug mittels seines Fahrantriebs bewegt werden soll. Dies ist sichergestellt, wenn sich die Seitenschubvorrichtung in einer seitlichen Endstellung befindet und dabei die Schwenkvorrichtung in diejenige Endstellung geschwenkt ist, bei der sich das Lastaufnahmemittel direkt vor dem Flurförderzeug befindet. In diesem Zusammenhang ist es bekannt, die Endstellungen der genannten Bewegungsvorrichtungen mit mechanischen Schaltern zu überwachen, die mit einer Steuervorrichtung für den Fahrantrieb in Verbindung stehen.To ensure maximum operational safety of the truck, it must be a load received by the load handling device completely within the contour of the truck when the truck is being lifted by means of its Drive should be moved. This is guaranteed when the Side thruster is located in a lateral end position while the Pivoting device is pivoted in that end position, in which the Load-carrying device is located directly in front of the truck. In this context it is known, the end positions of said movement devices with To monitor mechanical switches with a control device for the Drive in connection.

Der vorliegenden Erfindung liegt die Aufgabe zugrunde, eine einfach aufgebaute Messvorrichtung zum Erkennen der Endstellungen der mindestens einen Bewegungsvorrichtung zur Verfügung zu stellen, die nach den geltenden Maschinenrichtlinien als "sicher" einzustufen ist. The present invention is based on the object, a simple structure Measuring device for detecting the end positions of the at least one To provide motion device according to the applicable Machine guidelines is to be classified as "safe".

Diese Aufgabe wird erfindungsgemäß durch die kennzeichnenden Merkmale des Anspruchs 1 oder durch die kennzeichnenden Merkmale des Anspruchs 2 gelöst.This object is achieved by the characterizing features of Claim 1 or solved by the characterizing features of claim 2.

Der fortlaufend arbeitende Messwertgeber kann als stufenloser oder feinstufiger Sensor ausgeführt sein. Mit dem Messwertgeber wird die Positionen der Bewegungsvorrichtung kontinuierlich erfasst und kann beispielsweise in einer Steuervorrichtung für diese Bewegungsvorrichtung weiterverarbeitet werden. Die sicherheitsrelevanten Endstellungen der Bewegungsvorrichtung werden zusätzlich über Schaltelemente überwacht, so dass zwei voneinander unabhängige Signale vorliegen.The continuously operating transmitter can be used as infinitely variable or fine-tuned Sensor be executed. With the transmitter, the positions of the Movement device detected continuously and can, for example, in one Control device for this movement device to be further processed. The safety relevant end positions of the movement device are in addition monitored via switching elements, allowing two independent signals available.

Mittels des Messwertgebers und des Schaltelements kann die Endstellung der Schwenkvorrichtung redundant überwacht werden. Das Schaltelement der Schwenkvorrichtung ist an einem nicht schwenkbaren Bauteil derart befestigt, dass es durch ein schwenkbares Bauteil betätigt wird, wenn sich die Schwenkvorrichtung in einer ihrer beiden Endstellungen befindet. Bei dieser Anordnung können mit einem einzigen Schaltelement zwei Endstellungen überwacht werden. Darüber hinaus ist infolge der Anordnung des Schaltelements an einem nicht schwenkbaren Bauteil eine einfache Leitungsführung ermöglicht.By means of the transmitter and the switching element, the end position of the Swivel device to be monitored redundantly. The switching element of Pivoting device is attached to a non-pivoting member such that it is actuated by a pivotable component, when the pivoting device in one of its two end positions is located. In this arrangement can with a single switching element two end positions are monitored. In addition, it is as a result of the arrangement of the switching element on a non-pivoting component a simple routing allows.

Der Schubvorrichtung ist ein einziges Schaltelement zugeordnet, das derart an einem verschiebbaren Teil der Lasthandhabungsvorrichtung angeordnet ist, dass es bei Erreichen jeder Endstellungen der Schubvorrichtung eine erste Schaltstellung aufweist und bei zwischen den Endstellungen positionierter Schubvorrichtung eine zweite Schaltstellung aufweist. Auch hierbei können die beiden Endstellungen der Schubvorrichtungen mit einem einzigen Schaltelement überwacht werden. Das zusätzlich vorgesehen Schaltelement dient zur redundanten Überwachung der Endstellungen der Schubvorrichtung.The pusher is associated with a single switching element, which in such a way slidable portion of the load handling device is arranged to be at Achieving each end positions of the thruster has a first switching position and in the case of a thrust device positioned between the end positions, a second one Has switching position. Again, the two end positions of Pushers are monitored with a single switching element. The additionally provided switching element is used for redundant monitoring of End positions of the pusher.

Wenn eine Schubvorrichtung mit einer Schwenkvorrichtung zu einer sogenannten Schwenkschubgabel kombiniert ist, können die Ausgangssignale der die Position des Lastaufnahmemittels fortlaufend erfassenden Messwertgeber in einer gemeinsamen Steuervorrichtung verarbeitet werden. Insbesondere ist es dann mittels der Steuervorrichtung möglich, die Bewegungen der Schubvorrichtung und der Schwenkvorrichtung zu synchronisieren. Beispielsweise kann die Schubvorrichtung derart gesteuert werden, dass das Lastaufnahmemittel während einer Schwenkbewegung innerhalb der Konturen des Flurförderzeugs bleibt.If a pusher with a pivoting device to a so-called Swivel Fork is combined, the output signals of the position of the Lifting device by means of continuous measuring transducer in a common Control device to be processed. In particular, it is then by means of Control device possible, the movements of the pusher and the Synchronize swivel device. For example, the pusher be controlled so that the load-receiving means during a Pivoting movement within the contours of the truck remains.

Vorteilhaft ist es, wenn der Messwertgeber und das Schaltelement mit einer elektronischen Steuerung in Wirkverbindung stehen, die derart ausgeführt ist, dass die Ausgangssignale des Messwertgebers und des Schaltelements fortlaufend verglichen werden. Die Steuervorrichtung kann eine Fehlfunktion des Messwertgebers oder des Schaltelements daran erkennen, dass der Messwertgeber und das Schaltelement sich widersprechende Signale liefern und leitet daraufhin entsprechende Sicherheitsmaßnahmen ein.It is advantageous if the transmitter and the switching element with a be operatively connected to electronic control, which is designed such that the Output signals of the transmitter and the switching element continuously compared become. The control device may be a malfunction of the transmitter or the Recognize switching element because the transmitter and the switching element itself conflicting signals provide and then passes corresponding Security measures.

Gemäß einer zweckmäßigen Ausführungsform ist mindestens ein Messwertgeber von einem Potentiometer gebildet. Das Potentiometer liefert jederzeit ein von der Position der Bewegungsvorrichtung abhängiges Signal. Das Anfahren von Referenzpunkten ist auch nach Betriebsbeginn nicht erforderlich.According to an expedient embodiment, at least one transmitter of a potentiometer formed. The potentiometer delivers at any time from the position the movement device dependent signal. The approach of reference points is not required after start of operation.

Ebenso möglich ist es, dass mindestens ein Messwertgeber von einem Inkrementalgeber gebildet ist. Die Stellung des Inkrementalgebers muss nach Betriebsbeginn durch einmaliges Anfahren eines Referenzpunkts, z.B. einer Endstellung der Bewegungsvorrichtung, festgestellt werden. Dies kann vermieden werden, wenn die Stellung des Inkrementalgebers fortlaufend in einem stromversorgungsunabhängigen Speicher, beispielsweise einem sogenannten "flash-memory"-Bauelement gespeichert wird.It is also possible that at least one transmitter of a Incremental encoder is formed. The position of the incremental encoder must be after Start of operation by a single start of a reference point, e.g. one End position of the movement device to be determined. This can be avoided when the position of the incremental encoder is continuously in one power supply independent memory, for example, a so-called "flash-memory" device is stored.

Ein mechanischer Verschleiß der Anordnung kann vermieden werden, wenn mindestens ein Schaltelement als Näherungsschalter, vorzugsweise als induktiver Näherungsschalter ausgeführt ist.Mechanical wear of the assembly can be avoided if at least one switching element as a proximity switch, preferably as an inductive Proximity switch is executed.

Weitere Vorteile und Einzelheiten der Erfindung werden anhand des in den schematischen Figuren dargestellten Ausführungsbeispiels näher erläutert. Dabei zeigt

Figur 1
eine erfindungsgemäße Lasthandhabungsvorrichtung in Seitenansicht,
Figur 2
die Lasthandhabungsvorrichtung in Draufsicht.
Further advantages and details of the invention will be explained in more detail with reference to the embodiment shown in the schematic figures. It shows
FIG. 1
a load handling device according to the invention in side view,
FIG. 2
the load handling device in plan view.

Figur 1 zeigt eine erfindungsgemäße Lasthandhabungsvorrichtung in Seitenansicht. Die Lasthandhabungsvorrichtung ist mit einem Befestigungselement 1 direkt oder indirekt an einem Hubgerüst des Flurförderzeugs anhebbar befestigt. Bei Hochregalstaplern ist die Lasthandhabungsvorrichtung mittels des Befestigungselements 1 in der Regel an einem anhebbaren Fahrerstand befestigt. Mit dem Befestigungselement starr verbunden ist ein Trägerbauteil 2 mit sich in Querrichtung des Flurförderzeugs, in der vorliegenden Darstellung senkrecht zur Zeichenebene, erstreckenden Führungsschienen 3, 4, 5.FIG. 1 shows a side view of a load handling device according to the invention. The load handling device is with a fastener 1 directly or indirectly attached to a lifting frame of the truck liftable. at Hochregalstaplern is the load handling device by means of Fastener 1 usually attached to a liftable driver's stand. With rigidly connected to the fastener is a support member 2 with in Transverse direction of the truck, in the present representation perpendicular to Drawing plane, extending guide rails 3, 4, 5.

An den Führungsschienen 3, 4, 5 ist ein Schubschlitten 6 in Querrichtung des Flurförderzeugs verschiebbar geführt. Der Schubschlitten 6 weist hierzu Führungsrollen 7, 8, 9, 10, 11 auf, die an den Führungsschienen 3, 4 bzw. 5 abrollen und den Schubschlitten in horizontaler und vertikaler Richtung führen. Der Antrieb für die Schubbewegung des Schubschlittens 6 erfolgt mittel eines an dem Schubschlitten 6 angeordneten Elektromotors 13, dessen Rotor mit einer mit Verzahnungen 14 versehenen Welle 12 verbunden ist. Die Verzahnungen 14 greifen in Zahnstangen 15 ein, die an dem Trägerbauteil 2 befestigt sind.On the guide rails 3, 4, 5 is a sliding carriage 6 in the transverse direction of the Industrial truck guided displaceable. The thrust carriage 6 has this Guide rollers 7, 8, 9, 10, 11, which roll on the guide rails 3, 4 and 5 respectively and guide the carriage in horizontal and vertical direction. The drive for the pushing movement of the sliding carriage 6 is medium by means of a on the slide carriage 6 arranged electric motor 13, the rotor with a gear teeth 14th provided shaft 12 is connected. The teeth 14 engage in racks 15th a, which are fixed to the support member 2.

Der in Querrichtung des Flurförderzeugs verschiebbare Schubschlitten 6 bildet die erste Bewegungsvorrichtung der Lasthandhabungsvorrichtung. Erfindungsgemäß wird die Position des Schubschlittens 6 kontinuierlich mittels eines als Potentiometer ausgeführten Messwertgebers 16 erfasst. Dieser Messwertgeber 16 für den Schubschlitten 6 ist am unteren Ende der Welle 12 angeordnet und erfasst kontinuierlich die Drehstellung der Welle 12, von welcher die Position des Schubschlittens 6 direkt abhängt. Darüber hinaus ist ein von einem induktiven Näherungssensor gebildetes Schaltelement 17 vorgesehen, das durch Bauteile 18 betätigbar ist. Im vorliegenden Ausführungsbeispiel sind zwei Bauteile 18 derart angeordnet, dass sich genau dann ein Bauteil 18 vor dem Schaltelement 17 befindet, wenn sich der Schubschlitten 6 in einer der beiden Endstellungen befindet. Bezüglich der Endstellungen des Schubschlittens 6 liefern das Schaltelement 17 und der Messwertgeber 16 somit redundante Signale, die in einer elektrischen Steuerung des Flurförderzeugs überprüft und weiterverarbeitet werden können.The sliding in the transverse direction of the truck slide carriage 6 forms the first moving device of the load handling device. According to the invention the position of the sliding carriage 6 continuously by means of a potentiometer executed transmitter 16 detected. This transmitter 16 for the Shear 6 is disposed at the lower end of the shaft 12 and detected continuously the rotational position of the shaft 12, from which the position of the Moving carriage 6 depends directly. In addition, one of an inductive Proximity sensor formed switching element 17 is provided by the components 18 is operable. In the present embodiment, two components 18 are such arranged that exactly then a component 18 is located in front of the switching element 17, when the slide carriage 6 is in one of the two end positions. In terms of the end positions of the sliding carriage 6 provide the switching element 17 and the Transmitter 16 thus redundant signals in an electrical control of Truck can be checked and further processed.

Eine weitere Bewegungsvorrichtung der Lasthandhabungsvorrichtung ist von einer Schwenkvorrichtung gebildet, mit der ein Zusatzhubwerk 19 des Flurförderzeugs relativ zu dem Schubschlitten 6 um eine vertikale Achse 20 geschwenkt werden kann. Der Antrieb der Schwenkvorrichtung ist in der vorliegenden Figur nicht abgebildet. Mit dem Zusatzhubwerk 19 kann ein als Lastgabel ausgeführtes Lastaufnahmemittel 21 relativ zu dem Schubschlitten 6 angehoben werden.Another movement device of the load handling device is of a Swivel device formed with the additional hoist 19 of the truck relative can be pivoted to the slide carriage 6 about a vertical axis 20. Of the Drive of the pivoting device is not shown in the present figure. With the Zusatzhubwerk 19 may be a designed as a load lifting device 21 relative be raised to the slide carriage 6.

Zum fortlaufenden Erfassen der Position der Schwenkvorrichtung ist ein als Potentiometer ausgeführter Messwertgeber 22 vorgesehen, der über eine Getriebestufe 23 an einen schwenkbaren Teil des Zusatzhubwerks 19 gekoppelt ist. Der Messwertgeber 22 liefert somit jederzeit ein von der Drehstellung der Schwenkvorrichtung abhängiges Signal. Zum Überwachen der Endstellungen der Schwenkvorrichtung ist ein als induktiver Näherungsschalter ausgeführtes Schaltelement 24 vorgesehen, das wie der Messwertgeber 22 mit einer elektrischen Steuervorrichtung verbunden ist. Das Schaltelement 24 ist durch ein mit dem Zusatzhubwerk drehbares Bauteil 25, 26 betätigbar, das bei in einer Endstellung befindlicher Schwenkvorrichtung direkt unter das Schaltelement 24 ragt. In der dargestellten Position ist das Lastaufnahmemittel 21 nach vorne ausgerichtet und befindet sich in einer Mittelstellung, so dass der Raum unterhalb des Schaltelements 24 frei ist. Die Endstellung der Schwenkvorrichtung kann mit dem Schaltelement 24 und dem Messwertgeber 22 ebenfalls redundant erfasst werden.For continuously detecting the position of the pivoting device is as Potentiometer executed transmitter 22 is provided, which has a Gear stage 23 is coupled to a pivotable part of Zusatzhubwerks 19. The transmitter 22 thus provides at any time one of the rotational position of the Pivoting device dependent signal. For monitoring the end positions of the Swivel device is designed as an inductive proximity switch Switching element 24 is provided, which like the transmitter 22 with an electrical Control device is connected. The switching element 24 is connected by a with the Zusatzhubwerk rotatable member 25, 26 actuated, the in an end position located pivoting device directly under the switching element 24 protrudes. In the shown position, the load-receiving device 21 is aligned forward and is in a middle position, leaving the space below the switching element 24 is free. The end position of the pivoting device can with the switching element 24th and the transmitter 22 are also detected redundantly.

Figur 2 zeigt den Schubschlitten 6, das Zusatzhubwerk 19 und das Lastaufnahmemittel 21 in Draufsicht. Das Lastaufnahmemittel 21 befindet sich in einer Endstellung, wobei die Gabelzinken des Lastaufnahmemittels 21 in seitlicher Richtung des Flurförderzeugs ausgerichtet sind. Ebenfalls dargestellt ist das von einem Näherungsschalter gebildete Schaltelement 24, das von den Bauteilen 25, 26 betätigbar ist. Die Bauteile 25, 26 sind gemeinsam mit dem Lastaufnahmemittel 21 um die vertikale Achse 20 schwenkbar.FIG. 2 shows the thrust carriage 6, the additional lifting mechanism 19 and the load receiving means 21 in plan view. The load-receiving means 21 is in an end position, wherein the forks of the load-receiving device 21 in the lateral direction of the truck are aligned. Also shown is that formed by a proximity switch Switching element 24 which is actuated by the components 25, 26. The components 25, 26 are pivotable about the vertical axis 20 together with the load receiving means 21.

In der dargestellten Endposition der Schwenkvorrichtung befindet sich ein Teil des Bauteils 25 direkt unter dem Schaltelement 24, wodurch der Näherungsschalter 24 betätigt ist. Wenn das Lastaufnahmemittel 21 ausgehend von der dargestellten Endposition im Gegenuhrzeigersinn geschwenkt wird, bewegt sich das Bauteil 25 von dem Schaltelement 24 weg, so dass dieses eine andere Schaltstellung einnimmt. Erst nach einer Schwenkbewegung um ca. 180 Grad, wenn sich das Lastaufnahmemittel 21 annähernd in der anderen Endstellung befindet, wird das Schaltelement 24 durch das Bauteil 26 wieder betätigt.In the illustrated end position of the pivoting device is a part of the Component 25 directly under the switching element 24, whereby the proximity switch 24th is pressed. When the load receiving means 21, starting from the illustrated End position is pivoted counterclockwise, the component 25 moves from the switching element 24 away, so that this occupies a different switching position. First after a pivoting movement about 180 degrees, when the load receiving means 21st is located approximately in the other end position, the switching element 24 through the Component 26 is pressed again.

Claims (7)

  1. Load handling device for an industrial truck having a load accommodating means (21) which is, for example, in the form of a load fork, at least one movement device being provided for the purpose of moving the load accommodating means (21) in the horizontal direction in relation to a lifting mast of the industrial truck, a measuring device being provided for the purpose of detecting the position of the movement device, the measuring device having at least one measured value sensor (16, 22) which continuously detects the position of the movement device, and the measuring device having at least one switching element (17, 24) which changes its switching position when at least one end position of the movement device has been reached, and a movement device being in the form of a pivoting device, by means of which the load accommodating means (21) can be pivoted about a substantially vertical axis, characterized in that the pivoting device is associated with a single switching element (24) which is arranged on one part, which cannot be pivoted, of the load handling device such that it has a first switching position when each end position of the pivoting device has been reached, and has a second switching position when the pivoting device is positioned between the end positions.
  2. Load handling device for an industrial truck having a load accommodating means (21) which is, for example, in the form of a load fork, at least one movement device being provided for the purpose of moving the load accommodating means (21) in the horizontal direction in relation to a lifting mast of the industrial truck, a measuring device being provided for the purpose of detecting the position of the movement device, the measuring device having at least one measured value sensor (16, 22) which continuously detects the position of the movement device, and the measuring device having at least one switching element (17, 24) which changes its switching position when at least one end position of the movement device has been reached, and a movement device being in the form of a pushing device, by means of which the load accommodating means (21) can preferably be displaced in the lateral direction of the industrial truck, characterized in that the pushing device is associated with a single switching element (17) which is arranged on a displaceable part of the load handling device such that it has a first switching position when each end position of the pushing device has been reached and has a second switching position when the pushing device is positioned between the end positions.
  3. Load handling device characterized by the combination of all of the features of Claims 1 and 2.
  4. Load handling device according to one of Claims 1 to 3, characterized in that the measured value sensor (16, 22) and the switching element (17, 24) are operatively connected to an electronic controller which is designed such that the output signals from the measured value sensor (16, 22) and from the switching element (17, 24) are continuously compared.
  5. Load handling device according to one of Claims 1 to 4, characterized in that at least one measured value sensor (16, 22) is in the form of a potentiometer.
  6. Load handling device according to one of Claims 1 to 5, characterized in that at least one measured value sensor (16, 22) is in the form of an incremental sensor.
  7. Load handling device according to one of Claims 1 to 6, characterized in that at least one switching element (17, 24) is in the form of a proximity switch, preferably in the form of an inductive proximity switch.
EP01125214A 2000-11-04 2001-10-24 Load handling device for an industrial truck Expired - Lifetime EP1203744B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10054791 2000-11-04
DE10054791A DE10054791A1 (en) 2000-11-04 2000-11-04 Load handling device for an industrial truck

Publications (2)

Publication Number Publication Date
EP1203744A1 EP1203744A1 (en) 2002-05-08
EP1203744B1 true EP1203744B1 (en) 2005-12-21

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EP01125214A Expired - Lifetime EP1203744B1 (en) 2000-11-04 2001-10-24 Load handling device for an industrial truck

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EP (1) EP1203744B1 (en)
AT (1) ATE313511T1 (en)
DE (2) DE10054791A1 (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE20208469U1 (en) 2002-05-27 2002-08-14 LONGUS Paul Lange & Co., 70191 Stuttgart Absolute position and / or displacement measuring system and device with one movable part
DE10349123A1 (en) * 2003-10-22 2005-05-19 Still Wagner Gmbh & Co Kg Hoist, especially for a high rack forklift
DE102004041391A1 (en) * 2004-08-26 2006-03-02 Jungheinrich Aktiengesellschaft Measuring device for the incremental measurement of positions, travel ranges or angles and equipped with such a measuring device truck
EP1748025B1 (en) * 2005-07-29 2010-03-31 Jungheinrich Aktiengesellschaft Fork lift with swivelling reach fork
EP3960693A1 (en) 2014-09-15 2022-03-02 Crown Equipment Corporation Lift truck with optical load sensing structure

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1592057A (en) * 1977-02-10 1981-07-01 Lansing Bagnall Ltd Industrial truck
US4595331A (en) * 1983-12-29 1986-06-17 Adolph Coors Company Automated railcar loader and method
EP0456769B1 (en) * 1989-12-04 1996-08-14 Fmc Corporation Apparatus and method for controllably positioning forks of a material handling vehicle
DE4412442B4 (en) * 1994-04-12 2006-05-11 Dambach Lagersysteme Gmbh Method for controlling the movements of a pan-push unit of a stacker crane
DE29812976U1 (en) * 1997-07-23 1998-10-01 Steinbock Boss GmbH Fördertechnik, 85368 Moosburg Device for potentiometric measurement of the relative position of two components that are movable relative to one another
DE19731687A1 (en) * 1997-07-23 1999-02-04 Steinbock Boss Gmbh Foerdertec Industrial truck

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DE50108446D1 (en) 2006-01-26
EP1203744A1 (en) 2002-05-08
ATE313511T1 (en) 2006-01-15
DE10054791A1 (en) 2002-05-08

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