• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention concerns a floor conveyor, comprising a vehicle body, a driver’s station, a hoisting frame (8), a load carrying device able to move up and down on the hoisting frame (8), which comprises at least one load receiving means to hold a load being transported and a supporting structure (24) connecting the load receiving means to the hoisting frame (8), wherein the load receiving means comprises a load carrier assembly connected to the supporting structure (24), and a device for reducing oscillations (50). The device for reducing oscillations (50) comprises at least one gyroscope (52), which is designed to rotate about an axis (K), whereby the gyroscope (52) has an angular momentum, wherein the axis (K) is designed so that the oscillations being reduced cause a deflection of the axis (K), wherein the resulting restoring moment brings about a dampening of the oscillations.
    公开号:SE1750909A1
    申请号:SE1750909
    申请日:2017-07-10
    公开日:2018-01-26
    发明作者:Peter Magens Ernst；Schmalzl Juergen；Bibernell Hubert；Schoettke Carsten
    申请人:Jungheinrich Ag；
    IPC主号:
    专利说明:

    _1_ Floor conveyor With oscillation reduction based on the gyroscope principle Specification The present invention concerns a floor conveyor, comprising a vehicle body, ahoisting frame, a load carrying device able to move up and down on the hoistingframe, with at least one load receiving means to hold a load being transported and asupporting structure connecting the load receiving means to the hoisting frame,wherein the load receiving means comprises a load Carrier assembly connected to the supporting structure, and a device for reduction of oscillations.
    The invention may find application with special advantage in sideloaders and high-rack stackers, especially picking three-way forklifts, in which load carrying forks canbe oriented transversely to the forward driving direction of the floor conveyor forsideways pushing operations. However, the invention is not limited to such floorconveyors, but instead may also be used with advantage for example in conventional forklifts with a hoisting frame and a driver°s cabin associated with the vehicle body.
    With the aforementioned sideloaders in their high-rack stacker design, the stackingand unstacking of entire pallets and the picking of individual articles from high rackscan be combined effortlessly. High-rack stackers of the kind considered here includevehicles in which a driver°s station is arranged on a hoisting frame able to move upand down by means of a driver°s station beam, while a side push frame is provided atthe front of the driver°s station, which can move up and down together with thedriver°s station on the hoisting frame and carries a load carrying device able to moveback and forth sideways and transversely to the forward driving direction of the floorconveyor. Since the driver' s station with a worker located thereon can travel togetherwith the load carrying device vertically on the hoisting frame, one also calls suchfloor conveyors man-up vehicles or man-up floor conveyors. In different kinds ofman-up floor conveyors the hoisting frame is telescopically extensible andretractable, and the driver' s station is secured in height-adjustable manner on the highest extensible telescoping stage of the hoisting frame. _2_ The load carrying device guided in movable manner on the side push frame maycomprise an additional hoisting frame with load receiving means able to move upand down on it relative to the driver°s station, this usually being load-bearing teeth ora load-bearing fork with such teeth. The additional hoisting frame is arranged on aswiveling pushing apparatus and can swivel thereon about a usually vertical aXisthrough l80°, so that the height-adjustable loading fork attached to the additionalhoisting frame can swivel from a position oriented sideways and transversely to theforward driving direction of the floor conveyor to a position with opposite sidewaysorientation. The swiveling pushing apparatus is guided in linear manner on the side push frame.
    A typical job for the floor conveyor is, for example, to place a pallet with a loadlocated on it in a rack, wherein the floor conveyor is situated in a narrow aislebetween the racks of a high-rack storage facility and the pallet is received on theloading fork. The pushing of the pallet into the rack occurs sideways, transversely tothe forward driving direction of the floor conveyor, it being assumed that the loadingfork is correctly oriented sideways to the rack at the desired storage location and theswiveling pushing apparatus with the additional hoisting frame provided thereon islocated in a final sideways position at the end of the side push frame away from therespective rack. By linear sideways movement of the swiveling pushing apparatus along the side push frame, the loaded pallet can then be introduced into the rack.
    For the driving of the various movable components, various controllable drivingmeans are provided on the hoisting frame. Depending on the design of the floorconveyor, these serve to move the load receiving means on the additional hoistingframe, to swivel the additional hoisting frame about a vertical aXis, to move the loadcarrying device or the swiveling pushing apparatus on the side push frame, to movethe driver°s station on the hoisting frame and to telescopically eXtend and retract thehoisting frame as well as to move the side push frame relative to the driver°s station.Usually and preferably these are hydraulic driving means, but other drives should not be ruled out. lt is a known problem in floor conveyors of the kind considered here that oscillations _3_ occur on the hoisting frame, especially oscillations With sideways oscillatorycomponent, i.e., directed transversely to the forward driving direction of the floorconveyor, especially when driving over an uneven ground surface. Such oscillationsare often stronger the higher the driver°s station and its forward structure are liftedon the hoisting frame and the greater the load picked up by means of the loadcarrying device. Such oscillatory movements may be unpleasant to an attendantlocated in the driver°s station and make it difficult or sometimes impossible to placepallets in or remove them from racks, so that the attendant can only safely initiate aputting in or taking out of the rack when the oscillations have died down with thefloor conveyor standing still. Altematively, the attendant could drive the floorconveyor at reduced speed over uneven ground, in order to avoid oscillations asmuch as possible. But both procedures would lower the working productivity of the floor conveyor.
    From EP 2 368 832 Bl there is known a floor conveyor designed as a man-upvehicle of the mentioned kind, in which measures have already been taken to reduceoscillations. These measures involve placing an assembly comprising a so-calledload receiving section, able to move up and down on the hoisting frame, the driver°sstation, and the load carrying device connected to it in such a way on the hoistingframe that it can perform movements on the whole transversely to the forwarddriving direction (principal driving direction) of the floor conveyor with a sideways,i.e., norrnally horizontal motion component relative to the hoisting frame, for whicha separate degree of freedom of motion not designed for the normal operation of thefloor conveyor is designed for the assembly. The known floor conveyor has means ofdampening or preventing oscillations in the relative position between the loadreceiving section and the hoisting frame, i.e., between the driver°s station and thehoisting frame. These may be active, semi-active, and/or passive oscillationdampening means, which are suited to creating a force or a moment between thehoisting frame and the load receiving section which has a component along theseparate degree of freedom not designed for the normal operation of the floorconveyor. In EP 2 368 832 Bl, dampening elements and springs are proposed for theoscillation reduction, which counteract a deflection of the hoisting frame and the assembly known as the load receiving section along the separate degree of freedom _4_ of motion. The drawback to this known solution is a relatively large installationeXpense in order to arrange the entire assembly made up of driver°s station and allload receiving components able to move vertically with it on the hoisting framewhile devising the separate degree of freedom not designed for the normal operation of the floor conveyor on the hoisting frame.
    The known oscillation reducing measures are also confined to the area of the hoistingframe and the load receiving section and are not flexible in the sense that the mentioned solution cannot easily be transferred to other areas of a floor conveyor.
    The invention therefore proposes to solve the problem of providing a floor conveyorof the kind mentioned above, which is provided with a universally usable device forreducing oscillations, enabling an efficient oscillation-reduced operation and a high reliability.
    For this, the device for reducing oscillations according to the invention comprises atleast one gyroscope, which is designed to rotate about an aXis, whereby thegyroscope has an angular momentum, wherein the aXis is designed so that theoscillations being reduced cause a deflection in the sense of a tilting or inclination ofthe aXis, wherein the resulting restoring moment brings about a dampening of the oscillations.
    The device for reducing oscillations according to the invention is based on theprinciple of the inertial wheel or momentum wheel, also often called a gyroscope,which is widely used in aircraft and space vehicles. Such gyroscopes, as mentioned,have an angular momentum, serving for twist stabilization. When the aXis of thegyroscope is inclined, it eXerts a counter-torque, following the principle ofconservation of angular momentum, which works against the action of the aXistilting. In this way, when a force is introduced from the outside, such as anoscillation acting on a component of the floor conveyor, the gyroscope automaticallycounteracts this force or oscillation, in that it produces a deflecting of its axis andprevents the gyroscope aXis from moving perpendicular to the direction of the force or oscillation. In this way, the particular component and all other vehicle parts firrnly _5_ connected to it is stabilized in regard to its orientation in space.
    In one modification, the device for reducing oscillations may comprise at least twogyroscopes, whose axes are oriented for example perpendicular to one another inpairs. For example, one may imagine a first gyroscope whose axis runs in the widthdirection of the floor conveyor, and a second gyroscope whose axis runs in thevertical direction, i.e., the height direction of the floor conveyor. This configurationis especially interesting for high-rack stackers which do not travel along curvesduring their normal operation, but instead only move back and forth between parallelrows of racks. In this operation, therefore, usually no transverse acceleration is actingon the floor conveyor, so that a gyroscope axis oriented in the width direction as wellas a gyroscope axis oriented in the vertical direction is not deflected, but rather thementioned axes only move transversely or vertically. Thus, the only remainingmovements deflecting the two axes are unwanted inclinations of the vehicle, such asthose which may be caused by oscillatory components in the transverse direction, forexample by uneven flooring or the like. These oscillatory components in thetransverse direction would then be counteracted by the two gyroscopes, according to the principle described above.
    In one modification of the invention, the device for reducing oscillations maycomprise at least one driving device, which is designed to place at least onegyroscope in rotation, for example an electric motor. On the other hand, however, thegyroscope could also be placed in rotation by mechanical means, for example, in thatthe rotation of a drive shaft of the vehicle is transrnitted to the gyroscope for this purpo se.
    Likewise, the device for reducing oscillations may comprise at least one brakingdevice, which is designed to brake the rotation of at least one of the gyroscopes.Altematively, however, this braking device could also be elin1inated and thegyroscope simply runs out at the end of its operation, so that its rotation is braked by frictional effects.
    In an especially preferred embodiment, the driving devices and the braking device _6_ could be formed by a single device, Which in a first operating mode serves as adriving device and in a second operating mode as a braking device, for example, adevice Which can be optionally sWitched between an electric motor and electricgenerator. ln this Way, assuming a good bearing for at least the one gyroscope, theenergy put into the rotation of the gyroscope is at least partly recovered at the end ofits operation. Furthermore, With this measure, the number of required components of the device for reducing oscillations can be decreased.
    Moreover, the device for reducing oscillations may comprise and control andregulating device, Which is designed to control or regulate the operation of thedriving device and/or the braking device. This includes, for example, placing thegyroscope in operation, i.e., placing it in rotation at the right time, as Well as thebraking of its rotation. The placing in operation may occur, on the one hand, With thestarting of the vehicle, but also on the other hand it may be initiated by the user ofthe vehicle, for example, When he sWitches to the regular picking operation after atransit movement. Moreover, various operating modes managed by the control andregulating device may be provided, differing for example in rotational speed of thegyroscope, resulting in different dampening parameters of the device for reducingoscillations, or in the event that several gyroscopes are provided only certaingyroscopes are placed in operation, or the several gyroscopes are provided With different rotational speeds.
    The control and regulating device may furtherrnore be designed to receive operatingdata of the floor conveyor and carry out the control or regulating of the drivingdevice and/or the braking device With the help of this operating data. ln this Way, forexample, the speed of rotation of the gyroscope or gyroscopes may be adapted to thespeed of the floor conveyor, so that in the same Way the angular momentum of thegyroscope and thus the hardness of the oscillation dampening can be adapted. Otheroperating data by means of Which the control and regulating of the driving deviceand/or the braking device may be done includes the load carried by the load receiving means, the extension height of the hoisting frame, and so on.
    As already mentioned, the axis of at least one of the gyroscopes may be oriented _7_ substantially in the width direction of the floor conveyor and/or in the height direction and/or in the length direction of the vehicle. ln particular, at least one of the gyroscopes may be associated with the vehicle bodyand/or at least one of the gyroscopes may be associated with the hoisting frame orthe load receiving means, especially in a way able to move up and down. lf thegyroscope is associated with the vehicle body, then oscillations of the vehicle bodyin space will be primarily dampened, while if at least one of the gyroscopes isassociated with the hoisting frame or the load receiving means the oscillations of the load receiving means or the hoisting frame will be primarily dampened.
    Thanks to the respective orientation of the mentioned gyroscope aXis (aXes), theorientation of the oscillations being dampened is likewise established, while it maybe advantageous to associate different components of the floor conveyor gyroscopewith different oriented gyroscope aXes, for example the load receiving device with agyroscope having an aXis running in the width direction of the vehicle and the vehicle body with a gyroscope having a vertically running aXis. ln another embodiment, at least one of the gyroscopes may be associated with two components of the floor conveyor at the same time, which can move relative to eachother as a result of oscillations, especially transverse oscillations, for example in thevehicle°s transverse direction. Each time one end of the gyroscope axis of rotation is mounted on the two vehicle components able to move relative to each other so that the relative movement results in an inclining or tilting of the gyroscope aXis in space.
    If, then, the resulting restoring moment is absorbed by corresponding suitable guide devices, the restoring moment will serve to dampen these transverse oscillations.
    Additional features and benefits of the present invention will become clear from thefollowing description, taken together with the appended drawing. This shows,specifically: Figure l a sample embodiment of a floor conveyor according to the invention, designed as a three-side high-rack stacker; Figures 2a and 2b enlarged views of the area of the driver°s station beam of the floor conveyor from Figure 1 in oblique top view and side view; and Figures 3a and 3b a modification of the sample embodiment of Figures 1 to 2b with an additional gyroscope between side push frame and driver°s station beam.
    The floor conveyor shown in Fig. 1 is represented from the side such that itslengthwise axis L runs in the left-right direction, its width direction B runs into the plane of the drawing, and its height direction H runs from bottom to top. lt has a vehicle body 6 supported by Wheels 2 on the driving floor 4 and a hoistingframe 8 standing upright and secured to the vehicle body 6. The hoisting frame 8 istelescopically extensible in several pieces, as can be seen in Figure 1 by means of theextended position indicated by broken lines. At the furthest extended telescopic stage10 of the hoisting frame 8 there is arranged a driver°s station 12 able to movevertically by means of a driver°s station beam 24 as supporting structure. Thedriver°s station 12 is designed as a raising driver°s cabin, having a frame with cabinfloor, rear wall, side walls and driver°s protective roof 22. In front of the driver°sstation 12, a side push frame guide 26 is secured on the driver°s station beam 24,which in the present example is formed by two stationary vertical spars, having guideprofiles at their ends and support rails able to move lengthwise therein for the side push frame 34.
    The side push frame guide 26 allows a sideways horizontal movement of the sidepush frame 34 in a plane transverse to the lengthwise direction L of the floorconveyor, i.e., in the width direction B (push across function). This is a specialoption of the floor conveyor shown in Fig. 1, which could also be advantageouslycombined with a gyroscope associated with the side push frame 34, although this is not shown at present for sake of clarity.
    The side push frame 34 in models without a push across function may be secured directly to the supporting structure 24 (especially in front on the driver°s station _9_ beam), While in such a design the association of the gyroscope 50 with the driver°sstation beam discussed below and shown in Fig. 1, 2a and 2b is likewise suitable for the dampening of oscillations, as will become clear from the following description.
    On the side push frame 34 there is arranged a known load carrying device 36 able tomove sideways and transversely to the lengthwise direction L of the floor conveyor.This comprises a swiveling pushing apparatus 38 able to travel on the side pushframe 34 with an additional hoisting frame 40 arranged in front on it, on which aloading fork 42 with a fork carrier arrangement as the load carrier assembly is able totravel vertically. The frame 40 is able to swivel together with the load fork 42 aboutthe vertical aXis 44 between the position shown in Fig.1 with sideways orientation ofthe load fork 42 or its load teeth 43 (orientation in the width direction B to the left inregard to the lengthwise aXis L) and a position with opposite sideways orientation (orientation in the width direction B to the right) of the load teeth 43.
    One feature of the floor conveyor according to the invention is a device for reducingoscillations, which is designed to dampen oscillations of the driver°s station beam 24and all components attached to it in space. For this, the driver°s station beam 24 isassociated with a device for reducing oscillations 50 in the area of its connection tothe hoisting frame 8, which likewise acts on the hoisting frame 8. For reasons ofclarity, the device for reducing oscillations 50 in Fig. 1 is only indicated in theextended position shown by broken lines and for a better understanding refer to Figures 2a and 2b.
    Furthermore, the vehicle body 6 is associated with another device for reducingoscillations 60 with a second gyroscope 62, having the gyroscope aXis Kz. This isoriented vertically, that is, in the height direction H of the floor conveyor and isdesigned to dampen an oscillation of the vehicle body 6 and the connected vehicleparts in space according to the principles discussed herein, the dampening actionoccurring both in the lengthwise direction L and the width direction B. The twodevices for reducing oscillations 50 and 60 in the sense of the invention may also beregarded as a single distributed device, which appears to be sensible when its operation is controlled or regulated by a single common control and regulation _10- device.
    The two Figures 2a and 2b show enlarged views of the area of the driver°s stationbeam of the floor conveyor of Figure 1 in oblique top view and side view, by meansof which the functional principle of the present device for reducing oscillations will be explained.
    The device for reducing oscillations 50 comprises a gyroscope 52 mounted bysuitable means with respect to the driver°s station beam 24, whose gyroscope axis K1extends in the width direction B of the vehicle, i.e., parallel to the direction of thesideways movement of the swiveling pushing apparatus 38 along the side push frame34. ln its operation, the gyroscope 52 is placed in rotation by a driving means, notshown, by which it likewise receives an angular momentum oriented in the directionof its gyroscope axis K1. Now, if oscillations occur with respect to space in thedriver°s station beam 24, the side push frame 34 and/or the components connected to them, they will be dampened. lf the oscillations are oriented in the lengthwise direction L of the vehicle, thegyroscope axis K1 of the gyroscope 52 will likewise move only in the lengthwisedirection L, resulting in no restoring force of the gyroscope 52. The same holds for avertical extension movement of the hoisting frame 8, which likewise results only in atranslation movement of the gyroscope axis K1 in the height direction H, whereupon again no restoring moment is created by the gyroscope 52.
    But if transverse oscillations occur in the are of the driver°s station beam 24 ortorsional movements of the hoisting frame 8 as a whole, the gyroscope axis K1 of thegyroscope 52 will be tilted by a certain amount, depending on the particular leverratios, for example, such that it continues to be horizontally oriented, but is swiveledout from the plane subtended by the height direction H and width direction B of the vehicle.
    According to the principle of conservation of angular momentum, the gyroscope 52 will now generate a restoring moment opposite its swivel movement, which likewise _11- counteracts the original oscillation and strives to return the gyroscope aXis K1 to itsoriginal orientation, wherein the forces which occur are absorbed by the bearingsystem of the gyroscope. This restoring moment is dependent on the strength of theoscillation and the angular momentum of the gyroscope 52, which in turn depends onthe inertial tensor and the angular Velocity, i.e., the mass, the dimensions and therotational speed of the gyroscope 52. By adjusting these parameters, the dampeningproperties of the device for reducing oscillations 50 can consequently be adjusted suitably.
    Figures 3a and 3b show a modification of the sample embodiment from Fig. 1 to 2bwith an additional gyroscope 72 between the side push frame 34 and the driver°sstation beam 24, wherein the gyroscope 72 is part of a third device for reducingoscillations 70. Here, Figure 3b is a rough schematic front view to illustrate thefunctional principle of the third device for reducing oscillations 70. The aXis ofrotation Kg of the gyroscope 72 is vertically oriented and is rotationally mounted onthe one hand on the side push frame 34 and on the other hand on the driver°s stationbeam 24. The side push frame guide 26 allows a sideways horizontal movement ofthe side push frame 34 in a plane transverse to the lengthwise direction L of the floorconveyor, i.e., in the width direction B. This horizontal movement is indicated inFigures 3a and 3b by a double arrow S. A shifting of the side push frame 34 relativeto the driver°s station beam 24 caused by transverse oscillations of the driver°sstation beam 24 as a result of floor irregularities and the mass inertia of thedecoupled masses of the side push frame 34 and all vehicle components firn1lyattached to it results in a tilting of the axis of rotation of the gyroscope 72, asindicated by the double arrow K in Figure 3b. The resulting restoring momentperpendicular to the tilting direction of the gyroscope aXis Ks is absorbed by the sidepush frame guide 26, so that the relative movement between the driver' s station beam 24 and the side push frame 34 is dampened.
    权利要求:
    Claims (1)
    [1] 1. _12- Claims A floor conveyor, comprising: - a vehicle body (6); - a driver°s station; - a hoisting frame (8); - a load carrying device (36) able to move up and down on the hoisting frame(8), Which comprises at least one load receiving means to hold a load beingtransported and a supporting structure (24) connecting the load receivingmeans to the hoisting frame (8), Wherein the load receiving means comprises aload carrier assembly connected to the supporting structure (24), and - a device for reducing oscillations (50, 60, 70); characterized in that the device for reducing oscillations (50, 60, 70) comprises at least onegyroscope (52, 62, 72), Which is designed to rotate about an aXis (K1, Kz, Ks),Whereby the gyroscope (52, 62, 72) has an angular momentum, Wherein the aXis (K1, Kz, Ks) is designed so that the oscillations being reducedcause a deflection of the aXis (K1, Kz, Ks), Wherein the resulting restoring moment brings about a dampening of the oscillations. The floor conveyor according to claim l, characterized in that the device forreducing oscillations (50, 60, 70) comprises at least two gyroscopes (52, 62,72), Whose aXes (K1, Kz, Ks) are oriented for example perpendicular to one another in pairs. The floor conveyor according to one of the preceding claims, characterized inthat the device for reducing oscillations (50, 60, 70) comprises at least onedriving device, Which is designed to place at least one gyroscope (52, 62, 72) in rotation, for example an electric motor. The floor conveyor according to one of the preceding claims, characterized in that the device for reducing oscillations (50, 60, 70) comprises at least one 10. _13- braking device, Which is designed to brake the rotation of at least one of the gyroscopes (52, 62, 72). The floor conveyor according to claim 3 and 4, characterized in that the drivingdevice and the braking device are formed by a single device, Which in a firstoperating mode serves as a driving device and in a second operating mode as abraking device, for example, a device Which can be optionally sWitched between an electric motor and an electric generator. The floor conveyor according to one of claims 3 to 5, characterized in that thedevice for reducing oscillations comprises moreover a control and regulatingdevice, Which is designed to control or regulate the operation of the driving device and/or the braking device. The floor conveyor according to claim 6, Wherein the control and regulatingdevice is furthermore designed to receive operating data of the floor conveyorand carry out the control or regulating of the driving device and/or the braking device With the help of this operating data. The floor conveyor according to one of the preceding claims, characterized inthat the axis (K1, Kz, Ks) of at least one of the gyroscopes (52, 62, 72) isoriented substantially in the Width direction (B) of the floor conveyor and/or inthe height direction (H) of the floor conveyor and/or in the length direction (L) of the floor conveyor. The floor conveyor according to one of the preceding claims, characterized in that at least one of the gyroscopes (62) is associated With the vehicle body (6). The floor conveyor according to one of the preceding claims, characterized inthat at least one of the gyroscopes (52) is associated With hoisting frame (8) orthe load receiving means, especially in a Way able to move up and down,and/or With that section of the floor conveyor Which is likeWise associated With the driver°s station. 11. _14- The floor conveyor according to one of the preceding claims, characterized inthat at least one of the gyroscopes (72) is associated at the same time With twocomponents of the floor conveyor Which can move relative to each other as a result of oscillations.
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    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    JPH0912107A|1995-06-29|1997-01-14|Ishikawajima Harima Heavy Ind Co Ltd|Stacker crane|
    DE102010016062A1|2010-03-22|2011-09-22|Technische Universität München|Damping or avoiding vibrations in industrial trucks|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE102016213574.0A|DE102016213574B4|2016-07-25|2016-07-25|Industrial truck with vibration reduction based on the gyro principle|
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