Note: Descriptions are shown in the official language in which they were submitted.
CA 02421986 2003-03-20
1
ADAPTIVE LOAD-CLAMPING SYSTEM
BACKGROUND OF THE INVENTION
The present invention relates to improvements
in fluid power load-clamping systems for variably
regulating maximum load gripping forces in a manner
automatically adaptive to at least one characteristic of
the load.
Various types of such adaptive Load-clamping
systems have been proposed in the past. Such. previous
systems can be categorized as follows:
{1) Systems which sense the existence of load
slippage and respond automatically by gradually
increasing the gripping force on the load by fixed force
increments until the sensed slippage stops;
(2) Systems which automatically vary the
gripping force in proportion either to the sensed weight
or to the resistance to gripping of the load, without
regard to whether or not slippage is actually occurring;
and
(3) Systems which perform a combination of (1)
and ( 2 ) .
Fluid power clamping systems of any of the
above types regulate gripping force by gradL~ally
increasing gripping fluid pressure automatically from a
relatively low threshold pressure. However such low
threshold pressure limits the speed with which the load-
engaging surfaces can be closed into initial contact with
the load, thereby limiting the productivity of the load-
clamping system. This problem occurs because high-speed
3S closure requires higher closing pressures than the
desired low threshold pressure, such higher pressures
becoming trapped in the system by fluid input check
CA 02421986 2003-03-20
2
valves during initial closure so that the desired lower
threshold pressure is exceeded before automatic regula-
tion of gripping pressure can begin. Although gripping
pressure relief valve systems have in the past provided
high and low relief settings selectable either manually,
or automatically in response to clamp closure speed, to
enable high-speed closure followed by low maximum grip-
ping pressure, no such systems capable of automatically
changing such settings in a manner compatible with auto--
IO matic variable gripping pressure regulation have been
known.
Prior fluid power systems such as those
disclosed in British Patent Publication No. 2312417 and
German Patent Publication No. 3245715, which vary the
Z5 gripping fluid pressure in proportion to the sensed
weight of the load, obtain weight measurements by lifting
the load. However such weight-sensing systems operate
only in response to clamp closure actuation, and
therefore do not continue to vary the gripping fluid
20 pressure in proportion to load weight during subsequent
manipulation of the load in the absence of continued
clamp closure actuation. Furthermore, such prior systems
do not weigh the load in response to lifting of the load
by tilting which, in paper roll handling operations, is a
25 commonly-used alternative way to lift the load. The
system shown in the British publication is also
susceptible to inaccurate weight measurements due to
variations in lifting pressure which are inherent within
the extensible lifting mechanism depending upon its
30 degree of extension.
Such prior weight-responsive systems also do
not provide for different selectable predetermined rela-
tionships between the weight of the load and the gripping
pressure, which are needed to account for variations in
35 load fragility and stability.
Although automatic load. tilt adjustment systems
have been provided in the past for leveling fragile loads
CA 02421986 2003-03-20
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to prevent edge damage when the load is being :yet down,
such automatic adjustment systems have not been capable
of sensing the tilt of the load with respect to gravity,
leading to inaccurate automatic tilt adjustment depending
on whether or not an industrial lift truck is Level with
respect to its supporting surface, or whether or not such
surface is level.
Valves for automatically preventing excessive
lowering of the lifting mechanism when a clamped load is
set down, to prevent subsequent damage to fragile load
surfaces by downward slippage of the clamp when it is
opened to disengage the load, have been provided in the
past as shown, for example, in U.S. Fatent No. 3,438,308.
However, such previous systems lack the versatility
needed for reliable protection of the load under variable
circumstances, Such as variations in the degree of exten-
sion of the lifting mechanism when the load is set down.
HRIEF ST~MMARY OF THE INVENTION
In one preferred aspect of the invention, a
controller automatically enables high initial clamp
closure speed prior to automatic gripping pressure
regulation by initially permitting relatively high fluid
pressure to close the clamp, followed by an automatic
reduction in the maximum fluid pressure as the clamping
surfaces close into a predetermined relationship with the
load, followed by an increase in the: maximum fluid pres-
sure pursuant to automatic maximum gripping pressure
regulation.
In another separate preferred aspect of the
invention, the load-weight measurement is compensated to
account for variations in extension of the lifting mech-
anism, also to maximize the accuracy of the load-weight
measurement.
In another separate preferred aspect of the
invention, automatic weight-responsive gripping pressure
CA 02421986 2003-03-20
regulation is operable without concurrent clamp closure
actuation.
In another separate preferred aspect of the
invention, automatic weight-responsive gripping pressure
regulation is operable in response to lifting of the load
solely by tilting.
In another separate preferred aspect of the
invention, different predetermined relationships between
the weight of the load and the maximum gripping pressure.
Z0 are selectable alternatively.
In another separate preferred aspect of the
invention, a gravity-referenced tilt controller auto-
matically adjusts the load to an attitude which is
untilted with respect to gravity.
In another separate preferred aspect of the
invention, an improved system is provided for automatic-
ally preventing further lowering of the lifting mechanism
when the load is set down.
In another separate preferred aspect of the
invention, the speed of lowering of the lifting mechanism
is limited automatically to aid the accuracy of the
lowering prevention system.
The foregoing and other objectives, features,
arid advantages of the invention will be more readily
understood upon consideration of the following detailed
description, taken in conjunction with the accompanying
drawings.
BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS
FIG. 1 is a front view of an exemplary
embodiment of a fluid-powered load-handling clamp in
accordance with the present invention.
FIG. 2 is a top view of the load-handling clamp
of FIG. 1.
FIG. 3 is a schematic diagram of an exemplary
electrohydraulic circuit fox the clamp of FIG. 1.
CA 02421986 2003-10-31
FIGS. 4A-4F are an exemplary simplified logic
flow diagram of an initialization sequence, a load
clamping sequence, and a disengagement sequence utilized
by the microprocessor-based controller in the circuit of
5 FIG. 3.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT
An exemplary embodiment of a load-handling clamp
in accordance with the present invention is indicated
generally as 10 in FIGS. 1 and 2. The exemplary clamp 10
is a hydraulically-powered, pivoted-arm clamp having a
base 15 adapted for mounting on a lift truck carriage
which is selectively reciprocated linearly along an
upright hydraulically-powered load-lifting mast indicated
schematically as 11 in FIG. 3. The mast is selectively
tiltable forwardly and rearwardly by a pair of tilt
cylinders such as 13 in FIG. 3. The particular clamp 10
depicted in the drawings is for handling large paper rolls
such as 12 in FIG. 2 used in the publishing and paper
industries which, if deformed excessively as a result of
overclamping to prevent slippage, will become too
distorted for use on the high-speed printing presses or
other machinery for which they are intended. On the other
hand, under-clamping can cause the paper roll 12 to slip
from the frictional grasp of the clamp 10, particularly
when the load-engaging surfaces 14 and 16 of the clamp 10
are oriented vertically by the clamp's rotator 18 which
rotates the respective clamp arms 20 and 22 relative to
the base 15 about an axis 24 (FIG. 2). Although the
hydraulically-operated paper roll clamp 10 is described
herein as the preferred embodiment, the present invention
is also applicable to many other types of load clamps.
For example, clamps in accordance with the present
invention could alternatively have sliding rather than
pivoted arms, and could handle rectilinear rather than
round loads.
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Each of the clamp arms 20 and 22 is rotatable
about its respective pivot pins 26, 28 selectively toward
or away from the other clamp arm by the selective exten-
sion or retraction of respective pairs. of hydraulic
cylinders 30 and 32 associated with the respective arms
20 and 22. The cylinders 30 which actuate the~shorter
clamp arm 20 are primarily used only to position the
clamp arm 20 in advance for carrying rolls 12 of dif-
ferent diameters and different desired lateral positions.
Therefore, closure of the clamp arms and their Ioad-
engaging surfaces to grip the load is normally
accomplished solely by movement of the clamp arm 22 in
response to extension of the cylinders 32. In some
clamps, the shorter clamp arm 20 could be fixed, and the
cylinders 30 eliminated. In other clamps, particularly
those with sliding arms, closure would normally be
accomplished by moving both clamp arms simultaneously
toward each other. Moreover, closure may be caused by
retraction of cylinders instead of extension thereof.
With reference to FIG. 3, hydraulic clamping
cylinders 32 are controlled through hydraulic circuitry
indicated generally as 34 to receive pressurized
hydraulic fluid from the lift truck s reservoir 38
through a pump 40 and supply conduits 42 and 43. Safety
relief valve 44 opens to shunt fluid back to the
reservoir 38 if excessive pressure develops in the
system.
A priority flow control valve 49 insures that a
predetermined priority flow, for example one gallon per
minute, of fluid is diverted to conduit 43 before excess
flow is permitted to conduit 42. The priority flow in
conduit 43 is for automatic gripping pressure regulation,
while the excess flow in conduit 42 supplies manually
actuated load-clamping and hoisting selector valves 36
and 80 respectively, as well as a tilt control valve 82.
The clamp control valve 36 is controlled
selectively by the operator to cause the cylinders 32 to
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open the clamp arms and to close the clamp arms into
initial contact with the load 12. To open the clamp arms,
the spool of the valve 36 is moved downwardly in FIG. 3 so
that pressurized fluid from supply conduit 42 is conducted
through line 46 to the rod ends of cylinders 32, thereby
retracting the cylinders 32 and moving the clamp arm 22
away from the clamp arm 20. Pilot-operated check valves
50 are opened by the pressure in line 46 communicated
through pilot line 52, enabling fluid to be exhausted from
the piston ends of cylinders 32 through line 54 and valve
36 to the reservoir 38 as the cylinders 32 retract.
Alternatively, to close the clamp arms, the spool of the
valve 36 is moved upwardly in FIG. 3 so that pressurized
fluid from supply conduit 42 is conducted through line 54
to the piston ends of cylinders 32, thereby extending the
cylinders 32 and moving the clamp arm 22 toward the clamp
arm 20. Fluid is exhausted from the rod ends of the
cylinders 32 to the reservoir through line 46 via the
valve 36.
During closure of the clamp arms by extension of
the cylinders 32, the maximum closing pressure in the line
54 is preferably regulated by a pilot controlled
modulating pressure regulator valve assembly 75 of which
the pilot control is by variably controlled relief valve
assembly 74. The variable relief valve assembly 74
preferably comprises a single relief valve whose relief
setting is infinitely proportional to a variable signal
received from the controller 70 through signal line 76.
Alternatively, the maximum closing pressure could be
regulated by single or multiple relief valve and/or
regulator valve assemblies with different settings
automatically selectable by a signal from the controller
70, or by an automatically-variable pressure-reducing
valve assembly having one or more pressure-reducing valves
in series with line 54 whose output pressure settings are
variably regulated by the controller 70.
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As the clamp arms axe closed toward the load,
the controller 70 operates in accordance with the steps
of FIGS. 4C-4E, and in accordance with the initialization
values previously entered into the controller 70 by the
operator pursuant to FIGS. 4A and 4B using keyboard
switches such as 118. Appropriate portions of these
figures will be referenced in the following operational
description of the clamp.
During initial clamp arm closure, the
controller 70 sets the variable relief pressure of the
valve assembly 74, as indicated at step 200 of FIG. 4C,
at a relatively high level previously selected by the
operator at step 300 of the initialization sequence of
FIG. 4B from among three alternative levels "1, 2, 3."
Such pressure level enables high-speed closure of the
clamp arms toward the load prior to actually gripping the
load. Thereafter, in response to contact of the load=
engaging surfaces of the clamp arms with the load, the
clamp-closing pressure in line 54 as sensed by pressure
sensor 78 increases above a minimum pilot pressure hevel
previously selected by the operator at step 315. At the
same time the volumetric flaw rate in line 54 decreases
and causes a corresponding decrease in the positive
differential, between the pressure reading by the
pressure sensor 78 and the reading by the pressure sensor
56, to a differential value below that previously
selected by the operator at step 301 of the
initialization sequence of FIG. 4B. In response to such
changes, reflecting a predetermined resistance by the
load to further closure~of the arms, the controller 70 at
steps 202 and 204 of FIG. 4C immediately reduces the
relief setting of the relief valve assembly 74 to a
relatively low threshold level previously selected by the
operator from among three alternatives at step 302 of
FTG. 4B. This decreases the pressure, between the pilot-
operated check valves 50 and the cylinders 32, to the
reduced relief setting so that the high-speed initial
CA 02421986 2003-03-20
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closing pressure is not maintained between the check
valves 50 and the cylinders 32. Such reduced pressure is
the threshold gripping pressure from which subsequent
increases in gripping pressure will be automatically
regulated as described below.
Instead of reducing the closing pressure in
response to load resistance as described, other prede-
termined relationships between the load and the load-
engaging surfaces could trigger the pressure reduction,
such as a predetermined proximity therebetween.
After the desired threshold gripping pressure
is established at step 204, the operator moves the valve
36 to its centered, unactuated position and begins to
lift the load, either by manually actuating the hoist-
control valve 80 to move the load linearly upward, or by
manually actuating the tilt control valve 82 to tilt the
load rearwardly.
In the case of the hoist valve 80, its spool is
moved upwardly to lift the load and downwardly to lower
the load as seen in FIG. 3. When th.e valve 80 is
actuated to lift the load, the valve 80 condL~cts
pressurized fluid from line 42 through lines 84 and 88 to
the base of one or more. hoist cylinders, schematically
indicated as 90, of the mast 11. A pressure sensor 92
senses a resultant increase in pressure in line 88 and
signals the controller 70 that lifting has begun, as
indicated at step 206 of FIG. 4C. In response, the
controller actuates solenoid valve 94, as indicated at
step 208 of FIG. 4D, by moving its spool upwardly in FIG.
3 so that the priority flow in line 43 can flow through
line 54 to the cylinders 32 to further close the clamp
arms.
The controller 70 senses the magnitude of the
weight of the load through the signal from the pressure
sensor 92, and adjusts the relief setting of the valve
assembly 74 upwardly in a predetermined relation to the
sensed magnitude of the load weight in a manner to be
CA 02421986 2003-03-20
1~
explained more fully hereafter. Since solenoid valve 94
is actuated, this increases the maximum fluid gripping
pressure in line 54 in a predetermined relation to the
magnitude of the load weight. The cushioning effect of
accumulator 87 minimizes dynamic effects on the load-
weight measurement and thereby maximizes the accuracy of
such measurement. If necessary, a restrictor (not shown)
in the line 88 can be optionally included to limit
lifting speed and thereby further minimize dynamic
effects.
After the foregoing maximum fluid gripping
pressure has been achieved, the controller 70 deactivates
the solenoid valve 94 as indicated at step 212 of
FIG. 4E, moving the spool of the valve downward in FIG. 3
so that automatic gripping pressure regulation ceases.
The valve 74 is set by the controller 70 to prevent any
further gripping pressure increases which might otherwise
result from the operator's manipulation of valve .36, as
indicated by step 214 in FIG. 4E. thereafter, the system
begins continuous monitoring of the fluid gripping
pressure relative to the sensed load weight and, if
necessary, readjusts the gripping pressure as explained
more fully hereafter.
Alternatively, the operator's manual actuation
' 25 of the tilt control valve 82 to tilt the load rearwardly
and thus lift it, by moving the spool upwardly in FIG. 3,
also initiates the foregoing load-weighing and pressure
regulating operation in the same manner, since the
pressure sensor 92 will sense a resultant increase in
pressure in line 88 due~to the lifting of the load and
will initiate the above-described sequence beginning with
step 206.
It will be recognized that sensors other than
fluid pressure sensors 66, 78 and 92 could be used. For
example, flow meters and/or electromechanical force
sensors could be substituted as appropriate.
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11
During the above described load-weighing and
pressure-regulating operation, increased fluid gripping
pressure causes some extension of the clamping cylinders
32, requiring the exhaust of some fluid through line 46
from the rod ends of the cylinders 32. Since the clamp
control valve 36 would normally be centered during such
operation, such fluid is exhausted to the reservoir 38
through a parallel line 48 and pilot operated check valve
58 which is opened by the pressure in line 5~ transmitted
through pilot line 60.
The accuracy of the load-weight measurement is
enhanced by compensating for variations in extension of
the mast 11 which vary the pressure reading of the sensor
92. Such pressure variations can result from multiple
causes, such as changes in effective pressure areas of
the hoist cylinder or cylinders 90, ar the fact that
telescopic sections of the mast 11 may or may not be
supported by the hoist cylinder or cylinders 90,
depending upon whether the mast is in its lower
"freelift" range of extension or in its higher "mainlift"
range of extension. To account for these variables, as
well as variables in the load-handling clamps that might
be mounted interchangeably on the mast, the controller 70
is initialized according to FIGS. 4A and 4B to calibrate
' 25 the load-weighing system with respect to such variables.
Such initialization includes reading and storing the
respective pressures sensed by the sensor 92 in both the
freelift and mainlift ranges of extension of the mast
while dynamically lifting the load-handling clamp, both
without a load as shown in steps 304 and 30b of FIG. 4A
to obtain Pf and P", respectively, and with a load of known
weight as shown in steps 308 and 310 to obtain PfW and PmW
respectively. The controller 70 also reads respective
pressures Pfs and P,~S sensed by sensor 92 with no load
in
the freelift and mainlift ranges, respectively, under
static conditions, i.e. in the absence of dynamic lift-
ing, and stores the pressures as indicated at steps 313
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12
and 314 of FIG. 4B. Furthermore, the controller stores
the known load weight Wk as indicated at step 312 in
response to operator entry using keyboard switches such
as 118. Other operator entries using keyboard. switches
S include one or more desired clamp-force-to-load-weight
ratios CF/W ratio 1, 2, 3, as indicated at step 316, and
a "clamp factor" X at step 320 representing the total
effective pressure area of the combined clamping
cylinders 32 multiplied by the efficiency percentage of _
the clamp cylinders 32. Such efficiency percentage
corresponds to the ratio of the clamp force generated by
the load-engaging surfaces 16 (after frictional and other
mechanical losses) to the product of the effective
pressure area of the combined clamping cylinders 32 and
the applied fluid pressure.
As indicated at step 324 a.t the beginning of
the initialization process of FIG. 4.A, all of the
foregoing parameters need be entered only for new instal-
lations or changes of load-handling clamps or masts.
Otherwise, only the shorter list of entries designated as
"Option 2" in FIG. 4 need be entered, or no entries if
the operator does not wish to change any listed
parameter.
Returning to the load-clamping sequence of
FIGS. 4C-4E, the controller 70 controls the load-weight
measurement and gripping pressure regulation processes by
automatically accounting for the range of extension of
the mast 11 (freelift or mainlift), different desired
clamp-force-to-load-weight ratios, and the other varia-
tiles mentioned in connection with FIGS. 4A and 4B.
Immediately after clamp pressure is relieved at step 204
of FIG. 4C, the controller senses at step 218 whether a
mechanical switch 219, responsive to the degree of
extension of the mast 11, is closed. If the switch is
closed, the controller 70 determines at step 218 that the
mast is in its lower, or freelift, range of extension;
otherwise the controller determines that the mast is in
CA 02421986 2003-03-20
Z3
its higher, or mainlift, range of extension. Depending
on such determination, the controller 70 sets the future
load-weight calculation with parameters appropriate
either for the freelift range of extension or the
mainlift range of extension of the maat. After the
actuation of solenoid 94 at step 208 in response to the
operator's lifting of the load by actuation of the hoist
valve 80 or the tilt valve 82 as previously described,
the controller reads the lifting pressure P sensed by
pressure sensor 92 as indicated at step 220, and at step
222 calculates therefrom the load weight W using the
appropriate freelift or mainlift calculation.
For the freelift range of extension of the mast
11, the calculation is as follows:
W = (P'Pf) (~~1x)
(Pfw - Pf)
For the mainlift range of extension of the mast
11, the calculation is as follows:
W = (p-Pm) (Wk)
( Pmw ' Pm
In the foregoing calculations, Pf and Pm are the
values which were previously entered during steps 304 and
306, respectively, of the initialization sequence of
FIG. 4A, while Pfw and Pmw are the values previously
entered during steps 308 and 310. W;~ is the weight of the
known load used during initialization and previously
entered at step 312 of the initialization sequence.
After calculation of the load weight W at step
222 of FIG. 4D, the controller determines which predeter-
mined clamp-force-to-load-weight ratio CF/W was
previously selected by the operator at step 316 of
FIG. 4B, and determines at step 224 of FIG. 4E the
desired maximum clamp force CF by the equation:
CF = W (cF/w) .
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~4
Having determined the desired maximum clamp force CF at
step 224, the controller 70 determines the clamp factor X
previously entered by the operator at step 320 and
CA 02421986 2003-03-20
calculates the maximum fluid gripping pressure CP at step
226 by the equation:
CP = CF/X.
At step 228 the controller then adjusts the maximum
5 pressure relief setting of valve 74 to the desired maxi-
mum fluid gripping pressure CP. This process repeats
continuously until the controller determines that the
actual fluid gripping pressure sensed by sensor 6~ equals
or exceeds the desired fluid gripping pressure CP, as _
10 indicated at step 230. The controller 74 then
deactivates the solenoid 94 at step 212 and sets the
valve 74 at step 214 to prevent manually activated
pressure increases as described previously.
Instead of manual keyboard selections of
15 different clamp-force-to-load-weight, ratios at step 316
of FIG. 4B, or different initial threshold gripping
pressures at step 302, different relationships between
maximum gripping pressure and load weight to account for
differences in fragility or stability of the load can be
selected automatically in response to an electronic code
reader 120 which senses characteristics of a load by
reading a coded Label on the load. Such variable
relationships can also be selected automatlc~ally by a
proximity sensor 122 which senses the distance between
the load-engaging surfaces of the clamp arms to determine
the size of the load being gripped. Accordingly,
different types of predetermined relationships between
fluid gripping pressure and load characteristics are
contemplated by the present invention, as well as
different types of mechanisms for selecting such
different relationships.
After initial automatic regulation of the
gripping pressure during initial clamp closure, the
system continually senses whether the clamped load is
being supported by the clamp by comparing the hoist
pressure sensed by sensor 92 with the appropriate
unloaded static hoist pressure Pfs or Pms Previously stored
CA 02421986 2003-03-20
16
at steps 313 and 314, depending on whether the switch 219
is closed, as indicated at step 240. As long as the
hoist pressure at sensor 92 is greater than the
appropriate stored unloaded static hoist pressure,
indicating at step 242 of FIG. 4F that the operator has
not set the load down, the system repeatedly recalculates
the desired fluid gripping pressure CP as before, and
compares it to the actual fluid gripping pressure at
sensor 66. In the comparison at step 244, the system
determines whether the actual fluid gripping pressure is
at least a predetermined percentage (such as 95%) of what
it should be. If not, the system automatically readjusts
the relief setting of the valve assembly 74 upwardly to
the new desired maximum fluid gripping pressure CP and
readjusts the fluid gripping pressure and resultant
gripping force, beginning at step 218 of FIG. 4C, by
recalculating the gripping pressure CP and reactivating
the solenoid valve 94. On the other hand, if the, actual
fluid gripping pressure is still within the predetermi-ned
percentage at step 244, the controller merely continues
to recalculate and compare the actual fluid gripping
pressure, without also readjusting it. This automatic
repetitive monitoring and correction of the fluid
gripping pressure and resultant gripping force corrects
for such variables as leakage in the clamp cylinders 32
which could decrease the gripping force, or the
possibility that the load was not fully supported by the
clamp during the initial automatic regulation of the
gripping pressure. The priority flow from the priority
flow control valve 49, and the parallel exhaust line 48,
insure the reliability of the continuous gripping-force
correction feature, even thaugh the clamp control valve
36 is in its centered, unactuated condition.
The foregoing repetitive monitoring and, if
necessary, correction operation continues until the
system senses, at step 242 of FIG. 4F, that the operator
has set the load down. Thereafter, once the operator has
CA 02421986 2003-03-20
17
opened the clamp, as sensed at step 232 by a pressure
rise at sensor 98, the load clamping sequence returns to
its origin at step 200 of FIG. 4C where the relief
pressure of valve 74 is reset at the relatively high
level needed for high speed closure, as described
previously.-
To minimize the possibilit;i of setting a
fragile load down onto a supporting surface in a tilted
attitude such that the edge of the load would be damagedf
a gravity-referenced tilt sensor 124 is optionally
mounted on the base frame 15 of the clamp 10 to determine
whether or not the load is tilted forwardly or rearwardly
with respect to gravity and to cause the controller 70 to
automatically adjust the load to a level attitude by
z5 corrective solenoid actuation of the tilt control valve
82. Mounting the gravity-referenced tilt sensor 124 on
the clamp structure, rather than on the mast 11, allows
the sensor to determine whether or not the load is tilted
with respect to gravity irrespective of any tilting of
the mast 11 due to mast deflection or other factors. The
gravity-referenced sensor is also independent of whether
or not the lift truck is level with respect to its
supporting surface, or whether or not such surface is
. level. However, despite its foregoing advantages, the
gravity-referenced sensor 124 is also susceptible to
instability and long settling times if subjected to
dynamic disturbances during lift truck travel, such as
acceleration or braking, or vertical dynamic disturbances
caused by ramps or uneven surfaces. For this reason, the
controller 70 actuates the tilt control valve 82 correc-
tively only in response to a decrease in load-weight
detected by pressure sensor 92 (i.e. a negative pressure
slope) in response to lowering of the load by the mast 11
to set the load down. During such lowering cf the load,
dynamic disturbances are minimized due to stoppage of the
lift truck.
CA 02421986 2003-03-20
18
Another problem which can lead to load damage
while setting the load down onto a supporting surface is
the possibility that the operator may continue to lower
the mast 11 after the load has been set down but before
the operator has opened the clamp arms. In such case,
the chains of the mast which normally support the clamp
will become slack because the clamp i.s then supported by
the clamped load rather than the mast. Thereafter, when
the operator finally opens the clamp arms to disengage
the load, the load engaging surfaces of the clamp arms
slide down the surfaces of the load, causing external
damage to fragile loads such as paper rolls. To minimize
the possibility of such damage a solE~noid valve 47 down-
stream of a priority flow control valve 45 is preferably
provided so as to be automatically controlled by the
controller 70, in response to the setting down of a
clamped load, to prevent further lowering of the mast
until after the clamp arms have been opened to disengage
the load. In the normal lowering mode, fluid flows
through the priority path of the priority flow control
valve 45, and flows through conduit 84 and hoist control
valve 80, in its lowering position, through line 56 to
the reservoir 38. The priority flow control valve 45 is
of a design where the priority flow requirements must be
satisfied before the valve will permit any flow to bypass
through its excess flow port and the excess flow conduit
51. With reference to FIG. 4E, when the controller 70
detects through sensor 92 at step 240 that the hoist
pressure has declined to a level equal to or less than
the unloaded static pressure Pfs or P~S, this indicates
that a clamped load has been set down on a supporting
surface. Accordingly, pursuant to step 242 of FIG. 4F
the controller 70 activates the solenoid valve 47 at step
236 thereby blocking the priority flow path. Without the
priority flow condition being fulfilled, the priority
flow control valve 45 blocks excess flow from returning
to the reservoir alternatively through conduit 51 and
CA 02421986 2003-03-20
I9
thereby prevents the mast from lowering further. When
the clamp is subsequently opened, as automatically
determined at step 232 by sensing a pressure rise at
sensor 98, the controller deactivates the solenoid valve
47 at step 238, and the mast and clamp can thereafter be
further lowered by the operator without damaging the
load. During lowering of the mast 11, an optional
restrictor 55 can be employed to limit lowering speed to
maintain the accuracy of the pressure sensed by sensor 92
even if the operator opens the lowering control valve
rapidly and fully. The foregoing lowering prevention
system is also applicable to other types of loads and
load-engaging structures, such as forks, to prevent free-
fall of the load-engaging structure when disengaged from
the load.
The foregoing lowering prevention system can
alternatively be implemented without the priority flow
control valve 45 and excess flow conduit 51 by employing
a solenoid valve 47 capable of a larger volumetric flow
rate.
The terms and expressions which have been
employed in the foregoing specification are used therein
as terms of description and not of limitation, and there
is no intention, in the use of such terms and expres-
sions, of excluding equivalents of the features shown and
described or portions thereof, it being recognized that
the scope of the invention is defined and limited only by
the claims which follow.
