Load lifting device load sensing

• US 4,751,983 A
• Filed: 02/25/1987
• Issued: 06/21/1988
• Est. Priority Date: 02/25/1987
• Status: Expired due to Fees

• Current Assignee: FMC Corporation
• Original Assignee: Caterpillar Incorporated
• Inventors: Schwehr, Richard A., Leskovec, Edward V.
• Primary Examiner(s): Rolla, Joseph J.
• Assistant Examiner(s): NOLAND, KENNETH W
• Application Number:
  US07/018,557
• Time in Patent Office: 482 Days
• Field of Search: 187/1 R, 187/9 R, 187/9 E, 187/28, 414/273, 414/274, 414/674, 414/785, 250/222.1, 250/223 R, 250/239, 356/375, 356/400
• US Class Current: 187/237
• CPC Class Codes: B66F 9/0755 Position control; Position detectors

Abstract

Sensors associated with load carrying members are inaccurate, incorrectly sense the position of the load, and are subject to impact forces which cause premature sensor failure. A load lifting device having a load carrying member and first and second sensors and first and second reflectors on the load carrying member is provided. The sensors are mounted on a first end portion of load carrying member at longitudinally spaced apart locations and the first and second reflectors are mounted on a second end portion of the load carrying member at spaced apart locations on the second end portion. The first sensor delivers a first signal to the first reflector and receives a reflection of the first signal, and the second sensor delivers a second signal to the second reflector and receives a reflection of the first signal from the second reflector. The problems associated with inaccurate sensing of load position, damage to the sensors by impact, and premature wear due to cyclical forces are substantially reduced. The load lifting device is particularly suited for use on a material handling vehicle of the automatic guided vehicle type.

Claims

1. A load lifting device, comprising:

a load carrying member having a first end portion and a second end portion extending outwardly from said first end portion;

a first sensing means for delivering a first signal from a first sensing location adjacent said first end portion and receiving a reflection of said first signal;

a second sensing means for delivering a second signal from a second sensing location adjacent said first end portion and receiving a reflection of said second signal, said second sensing location being positioned at a lower elevation than said first sensing location;

a first reflecting means for receiving said first signal at a first reflecting location adjacent the second end portion and delivering a reflection of said first signal in a direction toward said first sensing means;

a second reflecting means for receiving said second signal at a second reflecting location adjacent the second end portion and delivering a reflection of said second signal in a direction toward said second sensing means, said first and second reflecting location being spaced from one another, said sensing and reflecting means being free from contact with a load carried on the load carrying member and providing accurate sensing of the position of the load on the load carrying member.

2. A load lifting device, as set forth in claim 1, wherein said first and second end portions each have first and second ends, said first sensing location being adjacent the first end of the first end portion and said second sensing location being adjacent the second end of the first end portion.

3. A load lifting device, as set forth in claim 2, wherein said load carrying member has first and second spaced apart surfaces, said first and second sensing and reflecting means each being connected to a common one of the first and second surfaces of the load carrying member.

4. A load lifting device, as set forth in claim 3, wherein said load carrying member has third and fourth spaced apart surfaces extending between said first and second surfaces, said first and second sensing and reflecting means each being connected to the first surface of the load carrying member at a location between said third and fourth surfaces.

5. A load lifting device, as set forth in claim 3, including:

a cover having first and second spaced apart sides and a third side connected to and between said first and second sides;

fastening means for securing the cover to the first surface of the load carrying member at the first end portion of the load carrying member, said cover extending along the first end portion of the load carrying member and overlying at least a portion of the first and second sensing means.

6. A load lifting device, as set forth in claim 5, wherein said cover has first and second spaced apart ends and an opening at each of the first and second spaced apart cover ends, said cover first end being adjacent the first end of the load carrying member first end portion, said first and second sensing means each having an electrical current conducting wire extending from beneath said cover and through the opening at the cover first end.

7. A load lifting device, as set forth in claim 6, including closure means for sealing the opening at the first end of the cover.

8. A load lifting device, as set forth in claim 5, including an opening on the first side of the cover at a location in the pathway of said first and second delivered and reflected signals.

9. A load lifting device, as set forth in claim 4, wherein said first sensing means is positioned to deliver said first signal at a first preselected angle "a" relative to the third surface of the first end portion and said second sensing means is positioned to deliver said second signal at a second preselected angle "b" relative to the third surface of the second end portion.

10. A load lifting device, as set forth in claim 9, wherein said first angle "a" has a magnitude in the range of between 1.0 degrees and 10.0 degrees and said second angle "b" has a magnitude in the range of between 2.0 degrees and 8.0 degrees.

11. A load lifting device, as set forth in claim 9, wherein said first and second signals intersect at a location spaced outwardly from said third surface of the load carrying member.

12. A load lifting device, as set forth in claim 4, wherein said first and second reflecting means each include:

a bracket having a planar surface and being connected to the first surface of the load carrying member; and

a retroreflective material affixed to the planar surface of said bracket.

13. A load lifting device, as set forth in claim 4, wherein said first and second sensing means each have an infrared light emitting and receiving portion.

14. A lift mast assembly, comprising:

a pair of spaced apart uprights;

a carriage mounted on and movable along said pair of spaced apart uprights;

a first load carrying member having a first end portion and a second end portion extending outwardly from said first end portion;

a second load carrying member having a first end portion and a second end portion extending outwardly from said second load carrying member first end portion, said first end portions of the first and second load carrying members being connected to the carriage at spaced apart locations;

a first sensing means for delivering a first signal from a first sensing location adjacent the first end portion of the first load carrying member and receiving a reflection of said first signal;

a second sensing means for delivering a second signal from a second sensing location adjacent said first end portion of the first load carrying member and receiving a reflection of said second signal, said second sensing location being at a lower elevation then said first sensing location;

a third sensing means for delivering a third signal from a third sensing location adjacent said first end portion of the second load carrying member and reflection of said third signal;

a fourth sensing means for delivering a fourth signal from a fourth sensing location adjacent said first end portion of the second load carrying member and receiving a reflection of said fourth signal, said fourth sensing location being positioned at a lower elevation than said third sensing location;

a first reflecting means for receiving said first signal at a first reflecting location adjacent the second end portion of the first load carrying member and delivering a reflection of said first signal in a direction toward said first sensing means;

a second reflecting means for receiving said second signal at a second reflecting location adjacent the second end portion of the first load carrying member and delivering a reflection of said second signal in a direction toward said second sensing means, said first and second reflecting locations being spaced from one another;

a third reflecting means for receiving said third signal at a third reflecting location adjacent the second end portion of the second load carrying member and delivering a reflection of said third signal in a direction toward said third sensing means; and

a fourth reflecting means for receiving said fourth signal at a fourth reflecting location adjacent the second end portion of the second load carrying member and delivering a reflection of said fourth signal in a direction toward said fourth sensing means;

said third and fourth reflecting locations being spaced from one another, said sensing and reflecting means being free from contact with a load carried on the load carrying members and providing accurate sensing of the position of the load on the load carrying members.

15. A lift mast assembly, as set forth in claim 14, wherein said first sensing means is positioned to deliver said first signal at a first preselected angle "a" relative to the first end portion of said first load carrying member, said second sensing means being positioned to deliver said second signal at a second preselected angle "b" relative to the first end portion of said first load carrying member, said third sensing means being positioned to deliver said third signal at a third preselected angle "c" relative to the first end portion of the second load carrying member, and said fourth sensing means being positioned to deliver said fourth signal at a fourth preselected angle "d" relative to the second end portion of the second load carrying member.

16. A lift mast assembly, as set forth in claim 15, wherein said first and second signals intersect at a crossing location spaced outwardly from the first end portion of the first load carrying member and elevationally above the second end portion of the first load carrying member, and said third and fourth signals intersect at a crossing location spaced outwardly from the first end portion of the second load carrying member and elevationally above the second end portion of the second load carrying member.

17. A lift mast assembly, as set forth in claim 14, wherein said first sensing means delivering a first controlling signal in response to the reflection of said first signal being blocked from said first sensing means, said second sensing means delivering a second controlling signal in response to the reflection of said second signal being blocked from said second sensing means, said third sensing means delivering a third controlling signal in response to the reflection of said third signal being blocked from said third sensing means, and said fourth sensing means delivering a fourth controlling signal in response to the reflection of said fourth signal being blocked from said fourth sensing means, including:

power means for moving said carriage along said uprights; and

control means for receiving said first, second, third, and fourth controlling signals and enabling said power means to move said carriage along said uprights in response to receiving said first, second, third, and fourth controlling signals.

18. A lift mast assembly, as set forth in claim 14, wherein said first and second load carrying members each have first and second spaced apart opposed surfaces, said first surface of the first load carrying member being spaced from the second surface of the second load carrying member and said first surface of the first load carrying member facing the second surface of the second load carrying member, said first and second sensing and reflecting means being connected to the first surface of the first load carrying member and said third and fourth sensing and reflecting means being connected to the second surface of the second load carrying member, said first, second, third, and fourth sensing and reflecting means being positioned between said first and second load carrying members.

19. A lift mast assembly, as set forth in claim 18, wherein the first and second end portions of the first and second load carrying members first and second end portions each have first and second ends said first sensing location being adjacent the first end of the first load carrying member first end portion, said second sensing location being adjacent the second end of the first load carrying member first end portion, said third sensing location being adjacent the first end of the second load carrying member first end portion, and said fourth sensing location being adjacent the second end of the second load carrying member first end portion, said first reflecting location being adjacent the first end of the first load carrying member second end portion, said second reflecting location being adjacent the second end of the first load carrying member second end portion, said third reflecting location being adjacent the first end of the second load carrying member second end portion, and said fourth reflecting location being adjacent the second end of the second load carrying member second end portion.

20. A lift mast assembly, as set forth in claim 18, including:

first and second elongated covers each having first and second sides and a third side connected to and between the first and second sides, said first cover being positioned in a covering relationship relative to the first and second sensing means and being connected to the first surface of the first load carrying member and said second cover being positioned in a covering relationship relative to the third and fourth sensing means and being connected to the second surface of the second load carrying member; and

means for passing said first, second, third, and fourth signals and the reflection of said first, second, third, and fourth signals through the first side of a respectively adjacent one of the first and second covers.

21. A lift mast assembly, as set forth in claim 18, wherein said carriage includes a support flange having first and second spaced apart guide surfaces, said first and second load carrying members each having an "L" shaped configuration and first and second hooks mounted at spaced apart locations on the first end portion of each of the first and second load carrying members, said first and second hooks being slidably engaged with the first and second guide surfaces, respectively.

22. A lift mast assembly, as set forth in claim 21, wherein said carriage includes a actuator means for shifting said support flange in directions transverse the pair of spaced apart uprights.

23. An automatic guided vehicle, comprising:

a vehicle frame having a longitudinal axis;

a pair of spaced apart elevationally oriented uprights connected to said vehicle frame and longitudinally movable along said longitudinal axis between spaced apart locations on said vehicle frame;

a carriage mounted on and movable along said pair of spaced apart uprights between elevationally spaced apart positions;

a first load carrying member having a first end portion and a second end portion extending outwardly from said first end portion;

a second load carrying member having a first end portion and a second end portion extending outwardly from said second load carrying member first end portion, said first end portions being elevationally oriented and connected to the carriage at spaced apart locations;

a first sensing means for delivering a first signal from a first sensing location adjacent the first end portion of the first load carrying member and receiving a reflection of said first signal;

a second sensing means for delivering a second signal from a second sensing location adjacent the first end portion of the first load carrying member and receiving a reflection of said second signal, said second sensing location being positioned at a lower elevation than said first sensing location;

a third sensing means for delivering a third signal from a third sensing location adjacent the first end portion of the second load carrying member and receiving a reflection of said third signal;

a fourth sensing means for delivering a fourth signal from a fourth sensing location adjacent the first end portion of the second load carrying member and receiving a reflection of said fourth signal, said fourth sensing location being positioned at a lower elevation than said sensing location;

a first reflecting means for receiving said first signal at a first reflecting location adjacent the second end portion of the first load carrying member and delivering a reflection of said first signal in a direction toward said first sensing means;

a second reflecting means for receiving said second signal at a second reflecting location adjacent the second end portion of the first load carrying member and delivering a reflection of said second signal in a direction toward said second sensing means, said first and second reflecting locations being spaced from one another;

a third reflecting means for receiving said third signal at a third reflecting location adjacent the second end portion of the second load carrying member and delivering a reflection of said third signal in a direction toward said third sensing means;

a fourth reflecting means for receiving said fourth signal at a fourth reflecting location adjacent the second end portion of the second load carrying member and delivering a reflection of said fourth signal in a direction toward said fourth sensing means, said third and fourth reflecting locations being spaced from one another, said sensing and reflecting means being free from contact with a load carried on the load carrying members and providing accurate sensing of the position of the load on the load carrying members.

24. A lift mast assembly, as set forth in claim 23, wherein said first, second, third, and fourth sensing means deliver a respective first, second, third, and fourth control signal in response to said reflection of the respective first, second, third, and fourth signals, being blocked from said first, second, third, and fourth sensing means, respectively, including:

power means for elevationally moving the carriage between said elevationally spaced apart positions;

control means for receiving said first, second, third, and fourth control signals and enabling said power means to elevationally move said carriage in response to receiving said first, second, third, and fourth control signals, said control means being connected to said first, second, third, and fourth sensing means and said power means.