Forward forklift
By arranging a rotation angle sensor on the vehicle body of the forward-moving forklift and using the coupling mechanism to convert the length change of the thrust carriage into a rotation angle, the cable breaking risk and measurement accuracy problems of the thrust distance measurement device in the prior art are solved, and the high reliability absolute value measurement of the thrust carriage is achieved.
Patent Information
- Application Number
- CN202411347381.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2023-10-18
- Filing Date
- 2024-09-26
- Publication Date
- 2025-04-18
AI Technical Summary
The existing forward-moving forklift traversal distance measurement devices have the risk of cable breakage, long cables and multiple plugs, can only measure the absolute value of position change, cannot identify detection errors and position changes when the control device is turned off, and the presence of different bodies and mechanical tolerances in the measurement section leads to error detection.
Using a rotation angle sensor arranged on the vehicle body, connected to the thrust carriage through a coupling mechanism, the length of the thrust carriage is changed to the rotational motion on the thrust carriage, and the rotation angle is measured to obtain the thrust distance and/or the thrust position of the thrust carriage.
Reduces the risk of cable breakage, saves cable length and number of plugs, realizes absolute value measurement of the thrust carriage, reduces sensitivity to interference, and identifies errors or defects in the coupling mechanism, providing a high-reliability measurement system.
Smart Images
Figure CN119841253A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to a reach forklift, which comprises: a vehicle body; a sliding slide arranged on the vehicle body so as to be slidable in the longitudinal direction of the vehicle, a lifting rod being arranged on the sliding slide; and a sliding distance measuring device, wherein the sliding distance measuring device is constructed to determine the sliding distance and / or the sliding position of the sliding slide. Background Art
[0002] A reach truck has a sliding carriage that can be moved on the body of the reach truck along the horizontal longitudinal direction of the vehicle by means of a sliding drive. It is known that a sliding distance measuring device is provided on the reach truck, by means of which a sliding distance and / or a sliding position of the sliding carriage can be determined.
[0003] It is known in the prior art that two inductive sensors are provided as displacement distance measuring devices, which are connected to the control device and interact with the comb blade. Here, the two sensors are fastened to the displacement carriage and the comb blade is fastened to the body of the displacement carriage. If the displacement carriage is moved in the longitudinal direction of the vehicle, the inductive sensor detects the relative movement relative to the comb blade. The sensor sends a sine / cosine signal to the control device, and the control unit converts the signal into the displacement distance and / or displacement position of the displacement carriage. In the known displacement carriage, due to the given conditions of the installation space, the inductive sensor is arranged on the displacement carriage. This leads to disadvantages, because the cable connection (the sensor arranged on the displacement carriage is connected to the control device arranged in the body by means of the cable connection) implements each displacement movement of the displacement carriage together, thereby, there is an increased risk of cable breakage. In addition, long cables and many plugs are required. In addition, it is disadvantageous that the position change of the displacement carriage is only incrementally determined. A further disadvantage is that errors in the detection cannot be ascertained and that changes in the position of the slide cannot be detected when the control device is switched off. Furthermore, foreign bodies in the measuring path (e.g. metal packaging tapes or metal clips) can lead to erroneous detections. Furthermore, mechanical tolerances in the entire measuring path can lead to erroneous detections. Summary of the invention
[0004] The invention is based on the object of providing a reach truck of the type mentioned in the introduction which is improved with regard to the mentioned disadvantages.
[0005] According to the invention, this object is achieved in that the displacement distance measuring device has a rotational angle sensor which is arranged on the vehicle body, wherein the rotational angle sensor is connected to the displacement carriage by means of a coupling mechanism.
[0006] Therefore, according to the present invention, a rotation angle sensor arranged on the vehicle body (the rotation angle sensor is connected to the push carriage by means of a coupling mechanism) is used as a sensor of the displacement measuring device, and the displacement distance and / or displacement position of the push carriage arranged on the vehicle body so as to slide in the longitudinal direction of the vehicle is determined by the sensor. When the push carriage slides on the vehicle body, the change in the length of the push carriage is converted into a rotational movement on the rotation angle sensor through the kinematic connection formed by the coupling mechanism, and the rotational movement measures the corresponding rotation angle or angle change, from which the displacement distance and / or displacement position of the push carriage is determined.
[0007] According to an advantageous embodiment of the invention, the coupling mechanism has a rod connected to the rotation angle sensor in a rotationally fixed manner, and the rod is connected to the slide carriage by means of a connecting element. The rod is especially connected to the rotatable sensor element of the rotation angle sensor in a rotationally fixed manner. With the help of such a coupling mechanism consisting of a rod and a connecting element, a change in the length of the slide carriage when the slide carriage slides on the vehicle body can be converted into a rotational movement on the rotation angle sensor in a simple manner.
[0008] According to an advantageous embodiment of the invention, the connecting element is designed as a connecting rod, which is connected in an articulated manner to the rod at a first end and is connected in an articulated manner to the push carriage at a second end. The rod can be coupled to the push carriage in a simple manner by means of such a connecting rod which is connected in an articulated manner to the rod and to the push carriage.
[0009] According to a favorable embodiment of the present invention, the connecting element is configured as a rope, which is connected to the rod at a first end and to the push carriage at a second end. The rod and the push carriage can be coupled in a particularly simple manner by such ropes connected to the rod and the push carriage.
[0010] According to an advantageous embodiment of the invention, the rotation angle sensor is in operative connection with a control device, in particular an electronic control device, wherein the control device is designed to determine the displacement path and / or displacement position of the push slide according to the rotation angle measured by the rotation angle sensor. In the control device, the displacement distance and / or displacement position of the push slide can be determined in a simple manner from the rotation angle measured by the rotation angle sensor. Preferably, the control device knows the kinematic characteristics of the coupling mechanism, so that the control device can convert the angle measured by the rotation angle sensor into a length change in this way and can determine the displacement distance and / or displacement position of the push slide.
[0011] According to an advantageous embodiment of the invention, the coupling mechanism is in operative connection with the spring device. In particular, when the connecting element is implemented as a rope, the rope can be permanently kept under tension by means of the spring device to ensure the actuation of the rotation angle sensor during the displacement movement of the displacement carriage.
[0012] According to an advantageous embodiment of the invention, the spring device is designed to actuate the rotation angle sensor to an incorrect angle. The incorrect angle is preferably outside the measuring range of the rotation angle sensor, within which the rotation angle sensor is actuated during the displacement movement of the displacement carriage. This makes it possible in a simple manner that in the event of a fault in the coupling device, for example a break or crack in the rod and / or the connecting element, the rotation angle sensor is actuated by the spring device to an incorrect angle.
[0013] According to an advantageous embodiment of the present invention, the control device is configured to output an error message when an incorrect angle is measured. Thus, in the case of a defect in the coupling device, a corresponding error message can be generated in a simple manner.
[0014] According to an advantageous embodiment of the invention, the spring device is designed as a torsion spring which is arranged coaxially with the axis of rotation of the rotational angle sensor. With the aid of such a torsion spring, the coupling mechanism can be actuated in a simple manner.
[0015] According to an advantageous embodiment of the invention, the rotational angle sensor is designed as a magnetoresistive sensor. With the aid of such a sensor, the rotational angle can be detected and measured with low structural complexity and high reliability.
[0016] According to an advantageous embodiment of the invention, the rotation angle transmitter is designed as an optical sensor. With the aid of an optical sensor, the rotation angle can be detected and measured with low construction complexity and high reliability.
[0017] According to an advantageous embodiment of the invention, the rotation angle transmitter is designed as a Hall sensor. With the aid of the Hall sensor, the rotation angle can be detected and measured with low construction complexity and high reliability.
[0018] According to an advantageous embodiment of the invention, the rotation angle transmitter is designed as a potentiometer. With the aid of a potentiometer, the rotation angle can be detected and measured with low construction complexity and high reliability.
[0019] The present invention has a series of advantages.
[0020] According to the invention, the rotation angle sensor is arranged on the vehicle body, so that the cable connection of the rotation angle sensor does not have to be guided through the push carriage of the fiber-forming moving part. This saves intermediate plugs and cable length. In addition, the risk of cable breakage due to permanently moving wires is avoided.
[0021] Furthermore, the rotational angle sensor enables an absolute measurement of the displacement distance and / or displacement position of the slide carriage, since the measured rotational angle always corresponds to the displacement position of the slide carriage.
[0022] Furthermore, the rotation angle sensor is insensitive to interference, so foreign bodies such as metal do not lead to false detections.
[0023] In conjunction with the spring device, errors or defects of the coupling mechanism can be detected in a simple manner.
[0024] Furthermore, the rotational angle sensor has low production costs, so that an absolute value measuring system can be provided at low cost, with which a displacement distance and / or a displacement position of the slide can be ascertained. BRIEF DESCRIPTION OF THE DRAWINGS
[0025] Further advantages and details of the invention are explained in more detail with reference to the exemplary embodiments shown in the schematic drawings. Here:
[0026] Figure 1 A reach truck according to the invention in a side view,
[0027] Figures 2a to 2c Schematic top view of a reach truck according to the invention having a displacement carriage in different displacement positions,
[0028] Figure 3 A rotation angle sensor having a first embodiment of a coupling mechanism, and
[0029] Figure 4 A rotational angle sensor having a second embodiment of the coupling mechanism. DETAILED DESCRIPTION
[0030] exist Figure 1 FIG. 2 shows a reach truck 1 according to the invention in a side view.
[0031] The reach truck 1 has a vehicle body 2 on which a displacement carriage 3 is arranged so as to be displaceable in a horizontal longitudinal direction L of the vehicle by means of a displacement drive (not shown in detail).
[0032] The driver's platform 5 is arranged on the vehicle body 2. A battery block 6 is also arranged on the vehicle body 2, which supplies all drives of the reach truck 1 with electrical energy.
[0033] Arranged on the displacement carriage 3 is a lifting rod 7 , on which a load-carrying means 8 , for example a load fork with two fork tines, is arranged so as to be raised and lowered.
[0034] exist Figure 1 2 shows a reach truck 1 with a push carriage 3 pushed in toward the rear.
[0035] The reach truck 1 has Figures 2a to 4A displacement distance measuring device 10 , which is shown in greater detail in FIG. 1 , is designed to determine a displacement distance and / or a displacement position of the displacement carriage 3 .
[0036] exist Figure 2a , a reach truck 1 with a push-out carriage 3 is shown. Figure 2c 2 shows a reach truck 1 with a push carriage 3 pushed in toward the rear. Figure 2b The reach truck 1 is shown in a central position of the push carriage 3 .
[0037] As in Figures 2a to 4 As shown in more detail in FIG. 1 , the displacement distance measuring device 10 has a rotational angle sensor 11 which is arranged and fastened on the vehicle body 2 . The rotational angle sensor 11 is connected to the displacement carriage 3 by means of a coupling mechanism 12 .
[0038] The coupling mechanism 12 has a rod 15 which is connected in a rotationally fixed manner to the rotational angle sensor 11 and which is connected to the displacement carriage 3 by means of a connecting element 16 .
[0039] The rod 15 is preferably connected in a rotationally fixed manner to a rotatable sensor element of the rotational angle sensor 11 . The rotatable sensor element is preferably arranged rotatably about a vertical rotational axis D. The rod 15 is arranged radially on the rotational angle sensor 11 .
[0040] exist Figure 3 1 shows a first embodiment of the coupling mechanism 12, in which the connecting element 16 is designed as a connecting rod 20. The connecting rod 20 is connected in an articulated manner to the rod 15 at a first end 20a and is connected in an articulated manner to the push carriage 3 at a second end 20b. For the articulated connection to the rod 15 and / or the push carriage 3, joint devices G1, G2 can be provided respectively, which preferably have a vertical axis of rotation. Thus, Figure 3 The coupling mechanism 12 consists of two rods 15, 20, which are connected to one another by means of an articulated connection G1 and thus by means of a rotation axis, wherein the rod 15 is fixedly secured to the rotation angle sensor 11 in a rotationally fixed manner and the connecting rod 20 is articulatedly coupled to the push carriage 3. The coupling mechanism 12 can convert the displacement distance of the push carriage 3 into an angular change within 180° on the rotation angle sensor 11.
[0041] exist Figure 4 , a second embodiment of the coupling mechanism 12 is shown in which the connecting element 16 is designed as a cable 21 which is connected at a first end 21 a to the rod 15 and at a second end 21 b to the sliding carriage 3 .
[0042] The kinematic connection of the rotational angle sensor 11 to the slide carriage 3 formed by the coupling 12 thus consists of a rod 15 which is connected rotationally fixedly to the rotational angle sensor 11 and actuates the rotational angle sensor 11. A connecting element 16 connected to the slide carriage 3 is articulated on the other side of the rod 15.
[0043] according to Figure 4 The coupling mechanism 12 is in operative connection with a spring device 25 . In the exemplary embodiment shown, the spring device 25 is designed as a torsion spring 26 , which is arranged coaxially with the rotation axis D of the rotation angle sensor 11 and is connected to the rod 15 .
[0044] exist Figure 4 In the exemplary embodiment of FIG. 2 , the spring device 25 ensures that the connecting element 16 designed as a cable 21 is always tensioned.
[0045] During normal operation of the reach truck 1 , the rotational angle sensor 11 is operated at a rotational angle within the measuring range MB.
[0046] The spring device 25 is designed to actuate the rotational angle sensor 11 into an error angle FW. The error angle FW lies outside the rotational angle range of the measuring range MB of the rotational angle sensor 11 .
[0047] The rotation angle sensor 11 is in operative connection with a control device 30 (eg, an electronic control device) which is designed to determine a displacement distance and / or displacement position of the displacement carriage 3 as a function of the rotation angle measured by the rotation angle sensor 11 .
[0048] Furthermore, the control device 30 is designed to output an error message if an incorrect angle FW is measured.
[0049] The invention is not limited to the embodiments shown in the drawings. Figure 4 The spring device 25 can be arranged at Figure 3 In the coupling mechanism 12.
[0050] exist Figure 3 , 4, the rod 15 is implemented straight. Figure 3 In the embodiment, the connecting rod 20 is designed to be straight. Alternatively, the rod 15 and / or the connecting rod 20 can also be designed to be curved. The curvature of the rod 15 and / or the connecting rod 20 is preferably configured so that the length change at one end of the displacement path of the displacement carriage 3 (sensor angle ≈0°) corresponds to the same angle in the middle of the displacement path of the displacement carriage 3 (sensor angle ≈90°) and at the second end of the displacement path of the displacement carriage 3 (sensor angle ≈180°).
[0051] The present invention works as follows:
[0052] If the push slide 3 is moved in the longitudinal direction L of the vehicle by means of a push drive, when the push slide 3 slides on the vehicle body 2, the length change of the push slide 3 is converted into a rotational movement on the rotation angle sensor 11 through the motion connection formed by the coupling mechanism 12. The rotation angle sensor measures the corresponding rotation angle or angle change. In the control device 30, the push distance and / or the push position of the push slide 3 are determined from the rotation angle or angle change.
[0053] If a defect occurs in the coupling device 12, such as a break or crack in the connecting element 16 constructed as a rope 21 or a connecting rod 20 and / or a defect occurs in the joint connection G1 or G2, the rod 15 of the coupling device 12 is pulled to an incorrect angle FW by the spring device 25, whereby the control device 30 can output an error message.
Claims
1. A reach truck (1), comprising: a vehicle body (2); and a sliding carriage (3) arranged on the vehicle body (2) so as to be slidable in the longitudinal direction (L) of the vehicle, a lifting rod (7) being arranged on the sliding carriage; and a sliding distance measuring device (10), the sliding distance measuring device being configured to determine a sliding distance and / or a sliding position of the sliding carriage (3), characterized in that: The displacement distance measuring device (10) has a rotation angle sensor (11) arranged on the vehicle body (2), wherein the rotation angle sensor (11) is connected to the displacement carriage (3) by means of a coupling mechanism (12).
2. The reach truck according to claim 1, characterized in that: The coupling device (12) has a rod (15) which is connected to the rotational angle sensor (11) in a rotationally fixed manner and is connected to the displacement carriage (3) by means of a connecting element (16).
3. The reach truck according to claim 2, characterized in that: The connecting element (16) is designed as a connecting rod (20) which is connected in an articulated manner to the rod (15) at a first end (20a) and is connected in an articulated manner to the sliding carriage (3) at a second end (20b).
4. The reach truck according to claim 2, characterized in that: The connecting element (16) is designed as a cable (21), which is connected to the rod (15) at a first end (21a) and to the sliding carriage (3) at a second end (21b).
5. The reach truck according to any one of claims 1 to 4, characterized in that: The rotational angle sensor (11) is in operative connection with a control device (30), in particular an electronic control device, wherein the control device (30) is designed to determine a displacement distance and / or a displacement position of the sliding carriage (3) based on a rotational angle measured by the rotational angle sensor (11).
6. The reach truck according to any one of claims 1 to 5, characterized in that: The coupling device (12) is in operative connection with a spring device (25).
7. The reach truck according to claim 6, characterized in that: The spring device (25) is designed to actuate the rotational angle sensor into a fault angle (FW).
8. The reach truck according to claim 7, characterized in that: The control device (30) is designed to output an error message when an incorrect angle (FW) is measured.
9. The reach truck according to any one of claims 6 to 8, characterized in that: The spring device (25) is designed as a torsion spring (26) which is arranged coaxially with an axis of rotation (D) of the rotational angle sensor (11).
10. The reach truck according to any one of claims 1 to 9, characterized in that: The rotation angle sensor (11) is designed as a magnetoresistive sensor.
11. The reach truck according to any one of claims 1 to 9, characterized in that: The rotation angle transmitter (11) is designed as an optical sensor.
12. The reach truck according to any one of claims 1 to 9, characterized in that: The rotation angle transmitter (11) is designed as a Hall sensor.
13. The reach truck according to any one of claims 1 to 9, characterized in that: The rotation angle transmitter (11) is designed as a potentiometer.