DE102022122737A1 - Mobile work machine with a drive unit having an electric and/or hydraulic actuator - Google Patents

Abstract

A mobile work machine with a support frame and with a drive unit having at least one electrical and/or hydraulic actuator for driving at least one drive element and/or a work tool having at least one working tip and/or working edge, at least one electrical and/or electronic control unit being provided is, with a first end stop and a second end stop being provided, proposed which at least partially improves the disadvantages of the prior art, in particular ensures more energy-efficient operation or a longer service life and / or enables novel functionalities. This is achieved according to the invention in that the electrical and/or electronic control unit is designed in such a way that when the first and/or second end stop is reached, it puts the drive unit and/or the actuator out of operation and/or the energy supply for the drive unit and/or interrupts/terminates the actuator.

Description

The invention relates to a mobile work machine according to the preamble of claim 1.

State of the art

Mobile work machines have a vertically pivotable boom or lifting/gripping/telescopic arm for picking up a load or a tool by means of a load/tool holder, with the boom also being partially adjustable in its length or its working radius. Nowadays, hydraulic systems or actuators are mostly used, but more recently (purely) electrical systems or actuators are also increasingly being used.

Such a working machine or its boom is controlled via controls such as so-called “joysticks” and/or foot pedals, whereby there is usually, for example, a control element for adjusting the lifting angle of the boom and a control element for adjusting the length of the boom, e.g a telescopic arm of the extension and a gripper arm of an excavator bending. The operator's control signals are usually passed on to the actuators, i.e. usually hydraulic cylinders, without being checked and there is no intervention in the control signals.

End position cushioning is already commercially available for hydraulic cylinders and has so far been defined in the actuator configuration. Using the example of a hydraulic cylinder, this means that if end position damping is planned or selected for the respective hydraulic cylinder, it must be defined during the design or manufacture of the machine whether it should be present at the top or bottom or before both dead centers and also how strong the damping and its course should be. This means at which stroke before the end stop the damping begins and how quickly the speed should be reduced over the remaining distance.

Such end position damping is sometimes used in both linear and swivel drives, so that the hydraulic cylinders or actuators are not stopped mechanically hard, but rather move to their end positions in a damped manner, regardless of the specified movement. For this purpose, additional components are required in these actuators or drives, which have to be coordinated with great effort during machine development and cause additional costs. Another disadvantage is that these end position cushioning systems can only function well for a certain load range due to the system.

In addition, when these limits of the travel or adjustment path are reached and at the same time further control in this direction, significant losses occur in the entire drive system. In some cases, these even reduce work progress, as other actuators or axes that are in operation may only be partially supplied with their maximum power. This sometimes results in significant power losses, which in turn have to be channeled into the environment through additional energy expenditure through cooling.

There is often a need for a hard stop, such as when shaking loose handling material from a material container. For cost reasons and the possible requirements of hard end stops, only some of the end positions are usually designed to be dampened. Where no end stops have been installed or provided, considerable mechanical stress can occur on all affected components during operation or, especially when reaching higher speeds, can place extreme stress on people and machines, which, among other things, increases wear and tear and can lead to impairments or Damage and ultimately lead to more frequent repairs or a shortened lifespan of the affected components.

Task and advantages of the invention

The object of the invention is, in contrast, to propose a mobile work machine that at least partially improves the disadvantages of the prior art, in particular ensures more energy-efficient operation or a longer service life and/or enables novel functionalities.

This task is based on a mobile machine of the type mentioned in the introduction, solved by the features of claim 1. The measures mentioned in the subclaims make advantageous embodiments and developments of the invention possible.

Accordingly, a mobile work machine is characterized in that the electrical and/or electronic control unit is designed such that when the first and/or second end stop is reached, it deactivates the drive unit and/or the actuator and/or the energy supply for the drive unit and/or interrupts/terminates the actuator.

With the help of this measure or the resulting shutdown of actuators or drives, a significantly more energy-efficient operation of the working machine can be achieved the. In comparison with the state of the art, for example, there is no need for further pumping of hydraulic oil or consumption of drive energy as well as the cooling of corresponding components that may be associated with this. This is a great advantage, especially with ever increasing demands on energy consumption or environmental requirements. The corresponding components are also protected, so that they have a longer service life and thus a more cost-effective operation.

For example, the actuator is designed as a hydraulic cylinder that can be operated with a hydraulic fluid or as a hydraulic motor having a rotation axis and/or as an electric motor having a rotation axis or as an electric linear motor. A hydraulic and/or electric drive or actuator system can thus advantageously be implemented.

Preferably, at least one maximum adjustment range is provided, with the first end stop being designed as a first maximum end stop and the second end stop being designed as a second maximum end stop. In this way, an end stop or a maximum end stop can advantageously be realized not only in linear drives or linear actuators, but also in endlessly rotating actuators or drive elements. This expands the possible applications and functionalities that can be implemented.

In a special development of the invention, the electrical and/or electronic control unit is designed in such a way that an adjustable actual adjustment range is provided, the first end stop being designed as the first actual end stop and the second end stop being designed as the second actual end stop and the actual -Adjustment range is smaller than the maximum adjustment range, in particular the first actual end stop and/or the second actual end stop is/are arranged between the first and the second maximum end stop of the maximum adjustment range. In this way, an adaptation of the actual or actually realized actual/adjustment range and thus of the adjustment or travel path can be implemented in an advantageous manner. This opens up completely new and advantageous possibilities and functionalities for the operation of the work machine. Depending on your needs or individually/situationally, the actual/adjustment range or the adjustment/travel path can be defined or determined with the help of the advantageous control unit or corresponding software/app and/or advantageous controls. For example, as part of a so-called “teaching” the end(s) of the actual/adjustment range or adjustment/travel path can be determined and/or by means of (numerical) entries or markings, e.g. using a touchscreen/screen, smartphone, tablet or the like become.

Advantageously, at least one sensor is provided for detecting an actual parameter of the drive unit and/or the actuator and/or the kinematic chain and/or lifting device and/or the work tool and/or the tool holder. This can advantageously be used to determine the position or position of the actuator and/or the drive unit.

In an advantageous variant of the invention, the electrical and/or electronic control unit is designed such that the adjustment speed and/or adjustment force and/or the adjustment can be changed. In this way, an adjustment to the respective situation or the general conditions can be realized during the adjustment/procedure. This opens up completely new possibilities or functionalities that were not conceivable/realizable with the fixed/fixed or unchangeable actuators and/or end positions according to the prior art.

Advantageously, the electrical and/or electronic control unit is at least one damping unit for changing/braking/damping an adjustment speed and/or an adjustment force and/or the adjustment of the drive unit and/or the actuator and/or the kinematic chain and/or lifting device and/or of the work tool and/or the tool holder, so that the adjustment range and/or actual adjustment range and/or maximum adjustment range comprises at least one damping region designed as an edge region, the damping region being arranged at least on one of the end stops and/or maximum end stops and actual end stops is and has a damping width designed as a damping distance, in particular the electrical and / or electronic control unit being designed such that the change / damping of the adjustment speed and / or adjustment force and / or the adjustment is designed as a linear or non-linear function. This means that, as far as possible, freely selectable and/or adaptable end positions and/or damping can be implemented, e.g. undamped or unbraked and damped/braked. The damping, especially of the end positions, but also of sections/areas between the first/second maximum/end stops or end positions, can be adjustable. This significantly expands the possible options and functionalities.

In an advantageous embodiment of the invention, the control unit comprises at least one limiting unit for determining a limit parameter or the actual/end stop of the drive unit and/or the actuator and/or the kinematic chain and/or lifting device and/or the work tool and/or the Tool recording, whereby the limit parameter defines a boundary line/area between a prohibited area and the adjustment area. There may be a need for an advantageous system for controlling and, if necessary, restricting the working area of the respective machine in the workflow of various construction/working machines. This restriction may, for example, be due to security considerations, regulatory reasons or other reasons. For example, both height and depth limitations as well as, for machines with a slewing ring, a swivel limitation can be implemented or used as limit parameters.

For example, the adjustment/movement within a defined area or the adjustment range according to a variant of the invention can be possible as unrestricted as possible, but protected areas or barriers, i.e. the prohibited area, exist that do not allow machine movements that take the implement into these protected areas /Move into prohibited areas. All of this can be implemented, for example, using the above-mentioned advantageous limiting unit.

For example, the electrical and/or electronic control unit comprises at least one buffer unit for changing/braking/buffering an adjustment speed and/or adjusting the kinematic chain and/or the swivel console and/or lifting device and/or the work tool and/or the tool holder, so that the adjustment area comprises at least one buffer area designed as an edge area, the buffer area being arranged on a prohibited area and having a width designed as a buffer distance. Here, for example, a buffer parameter is provided which is spaced from the limit parameter or the actual/end stop at a distance of the width or at the buffer distance from the prohibited area.

With the help of the buffer unit or buffer area/edge area, security can be increased and/or new functionalities can be implemented. In this way, an intervention or a change and, above all, a braking of the adjustment or the movement of the kinematic chain, in particular the lifting device and/or the swivel console and/or the work tool and /or the tool holder. Thus, a work step of a working method according to the invention can result in a change in the control and/or adjustment of the kinematic chain and/or the swivel console and/or by detecting the actual parameter and by detecting whether the buffer parameter or the buffer distance has been reached the lifting device and/or the work tool and/or the tool holder can be used.

In the sense of the invention, the actual/end stops determine the limit parameter, this or the buffer parameter being a spatial parameter and/or a spatial parameter and/or an environmental parameter and/or a parameter of the three-dimensional Space and/or a limit value or a limit line/surface of a (local and/or global) coordinate system, in particular a Cartesian or orthogonal coordinate system or a polar coordinate system or the GPS system. If necessary, a linear and/or affine coordinate transformation of two coordinate systems, in particular a first/local/own machine/coordinate system with a global/other/second coordinate system, is provided, so that, for example, a common coordinate system is generated or used in which the parameter and/or the actual/end stop is integrated or fixed/defined. For this purpose, the limit parameter is/are advantageously designed as a first actual end stop and/or as a second actual end stop.

For example, a variant of the invention or the advantageous function is designed in such a way that the operating staff/driver is advantageously shown or communicated/signaled at any time as possible what the current operating state of the system is, in particular by means of the sensor and/or of the control element/display unit. This can be done, for example, by means of a screen, display, LED or the like, with which optical signaling clearly shows/symbolizes the distance to the prohibited area and/or the change/braking/buffering. In addition, a (different) acoustic signaling or warning can advantageously take place, e.g. when a buffer area/parameter and/or the prohibition zone or the limit parameter is reached.

According to the invention, not only a possible working space limitation, but also an illustration of a shaking function can be realized.

In principle, an electrically mapped end position damping can advantageously be implemented, which positions can be defined, among other things, depending on the driver's wishes. This means that the end position cushioning, which can possibly be defined or implemented/implemented using advantageous software, can, for example, be activated or deactivated by the driver as required and/or positioned freely within the mechanical freedom of movement of the actuator and/or the degree of damping can be adjusted independently of one another to suit requirements. This advantageously results in an actuator without hydraulic end position damping according to the prior art, but advantageously additionally with a direct or indirect position determination or sensor system, possibly an electrically controllable main control block and an advantageous control device or control unit in the sense of the invention Actuator transferred with freely definable end position damping.

In general, as an alternative or in combination with the above-mentioned stopping/braking, a damped start-up is also possible; this advantageously does not require position detection. For example, in an advantageous manner only the increase of the driver signal in the gradient rate can be limited with the help of the control unit or the valve control. If this were to be carried out depending on the current position of the actuator, direct or indirect position detection would also be advantageous here. In this way, transmission ratios that depend on the kinematics and/or the construction, friction, component tolerances, etc. could then be advantageously compensated for.

In general, finite actuators according to the state of the art always have end stops in their respective extreme positions due to their design. Without further precautions or additional components, these travel limitations always form hard stops, which place extreme strain on people and machines, especially when reaching higher speeds, even if there is currently no need for a hard stop, such as when shaking off handling material from a material container . For cost reasons and the possible requirements of hard end stops, only some of the end positions have so far been designed to be dampened.

In contrast, the largely freely selectable (virtual) end stops according to the invention can not only be limited to actuators that have end stops due to their design, but can also be transferred to non-finite actuators if a limitation of the movement space or other functions is desired.

For example, it is of great advantage for the invention to detect the travel/adjustment path of each actuator under consideration either directly or indirectly. In parallel, an advantageous comparison can/should be made as to whether one or more actuators are in their respective end positions, regardless of whether these are virtual and/or design-related. For example, the control or control supply for further movement towards the end stop can be prevented and the resulting unnecessary waste of energy can be prevented. To represent such a function, the control unit or at least one logic circuit or a controller including software, for example in the form of a controller, is advantageous. Accordingly, there is also the possibility that the end stops can be set individually according to the work task within the design-related travel limit and can be represented as a damped or undamped end stop as required. By virtually limiting the travel paths of individual actuators, an advantageous working space limitation is achieved, which, in addition to increasing comfort through damped end positions and lower energy requirements through switching off in end positions, also increases the operating safety of the machine.

A possible contradiction between a damped approach to a design-related and/or virtually set end position and a hard stop in an end position, for example to knock out handling material, can be realized by a separate shaking function. This is carried out based on a signal transmission or detection from the control unit or a possible logic or control. This method of emptying the material vessel can be carried out more efficiently and in a way that is gentler on people and materials, as such a function can take advantage of all the conditions of the machine.

An advantageous travel limitation consists, for example, of two parts: on the one hand, the current position of the actuator system is detected and, on the other hand, the actuator system is braked or stopped and held. The position detection can be determined either directly on the actuator itself or via the kinematic chain.

In addition, position detection can take place continuously or discontinuously. With direct, continuous detection, the position can be done, among other things, using position measuring systems or rotary angle sensors or the like, in which, for example, the actual change in movement is continuously recorded. If the actuator positions are calculated back via the kinematic chain and/or the partial or total position of the kinematic chain is checked, the above detection systems can also be used, except that these can then not be attached entirely to the actuator itself, but also to the actuators moved by the actuators.

This variant adds a further advantageous measuring principle in which the inclinations of the actuators or actuators themselves are determined the. With inclination sensors, the absolute position of the entire machine should be known in order to determine the angle difference if possible. Likewise, it is also possible to record the change in position of the actuator in relation to its actuators. Knowledge of the absolute position of the machine is not required.

The above-mentioned approaches to continuous detection can also be used for discontinuous measurement methods, only here the positions can be detected, for example, by limit switches, such as buttons, light barriers, inductive or capacitive or magnetoresistive sensors. Here too, the position can be freely chosen within the technically possible procedures and thus adapted to requirements.

For example, the following methods are possible for braking or stopping: With hydraulic actuators that are controlled via valves, at least one valve edge can be closed to stop so that the actuator cannot move. For hydraulic actuators that are supplied directly via a pump, the supply flow can be set to zero so that the actuator stops. If the hydraulic motor itself can be switched to zero delivery rate, the motor itself should, if possible, have a braking function.

With electric actuators, the torque or force can be maintained to stop, but the drive power can be reduced if necessary. If such units have sufficient self-locking, no further power supply is required to maintain the load. If this is not the case, the position can also be maintained using a braking function, for example.

Regardless of whether it is a hydraulic or electric drive, by specifying the speed change, the hardness of the braking can be adjusted and thus have a damped or undamped behavior.

Basically, through a virtual mapping of end positions (see above), which can lie within the travel path and/or are congruent with the design-related end stops, the respective end stops of actuators can be freely selected and designed as an undamped or damped end position. As a result, there is no need to provide structurally intended end position damping in the actuator as in the prior art, although up to now these can only be optimally designed for fixed, defined load cases. Such constructive end position damping also meant a significantly higher load, especially with regard to hydraulic drives, as these are implemented using strong oil throttling.

The damped end positions according to the invention relieve both man and machine, which significantly reduces the physical and mental stress on the operator and also reduces the maximum forces and moments occurring on the machine.

Switching off actuators that are to be moved beyond their end stops leads to significant energy savings and a higher handling capacity, as the machine has the full drive power available for the actuators that can still be moved.

Through the flexible or freely selectable definition of, for example, minimum and maximum travel distances, a working space limitation can be implemented, which in turn reduces the strain on the operator.

An integrated shaking function also further reduces the burden on people and machines.

Through advantageous detection/sensing of the travel position of actuators as well as a comparison with target positions and the free choice of damped and undamped end positions, the operator has many options for individually adapting the machine to his work task.

• • Keine konstruktiv bedingte Endlagendämpfung notwendig, da steuerungsbasiert abbildbar.
• • Endlagen können innerhalb des bauartbedingten Verfahrweges frei gewählt werden.
• • Keine Energieverschwendung, da die Ansteuerung von Aktuatoren, die über ihre Endlage hinaus verfahren werden sollen unterbunden werden kann.
• • Komfortsteigerung in der Maschinenbedienung und Entlastung der Maschine, u.a.
  • ◯ durch freiwählbare und anpassbare Endlagendämpfung,
  • ◯ durch die Möglichkeit der Arbeitsraumbegrenzung und
  • ◯ durch die Abbildung einer Rüttelfunktion

Below are some of the key advantages at a glance:

• • No design-related end position damping necessary as it can be mapped based on the control system.
• • End positions can be freely selected within the design-related travel path.
• • No waste of energy, as the control of actuators that are to be moved beyond their end position can be prevented.
• • Increased comfort in machine operation and relief of the machine, among other things
  • ◯ through freely selectable and adjustable end position cushioning,
  • ◯ through the possibility of limiting the work space and
  • ◯ by depicting a shaking function

Example embodiment

An exemplary embodiment of the invention is shown in the drawing and is explained in more detail below with reference to the figures.

• 1 eine schematische Seitenansicht eines Baggers mit einer Höhen- und einer Tiefenbegrenzung sowie einem Nivelliergerät gemäß einer Variante der Erfindung,
• 2 ein schematisches Hydraulik-Blockschaltbild und
• 3 schematisch dargestelltes Kraft-Weg-Diagramm einer Ausführung gemäß der Erfindung.

In detail shows:

• 1 a schematic side view of an excavator with a height and a depth limit and a leveling device according to a variant of the invention,
• 2 a schematic hydraulic block diagram and
• 3 Schematically illustrated force-displacement diagram of an embodiment according to the invention.

An excavator 1 in 1 comprises a mobile undercarriage 2 and an uppercarriage 3 rotatably mounted thereon about a vertical axis V1. An excavator boom 4 is attached to the uppercarriage 3, which can advantageously be rotated about a vertical axis V2 by means of a swivel console and about a horizontal axis H1 by means of a joint. The terms “vertical axis” and “horizontal axis” refer, for example, to an excavator that stands on a horizontal work or standing surface, ie the ground E. If the excavator 1 moves on an inclined surface, these axes that are perpendicular to one another are also inclined accordingly.

The excavator boom is divided into three sections 5, 6, 7 that can be rotated relative to one another about horizontal axes H1, H2, H3. On the last section 7, a work tool or spoon 8 is attached to a tool holder 9 that can be rotated about a further horizontal axis H4. Hydraulic cylinders 10, 11, 12, 13 are provided as drive elements for the movements of the excavator boom 4. This structure is typical for excavator 1 of a known type.

In 1 The excavator boom is shown in an intermediate position within its working area A. Dashed lines, between which hatched areas/areas P are drawn, represent different buffer areas P according to a variant of the invention. An example is in 1 a height limit line GH and a depth limit line GT are shown as well as a polygon line GS for “self-protection”. The latter is intended for self-protection, especially of the hydraulic cylinder 10 and the clearing blade or the chassis/undercarriage 2 and has a buffer P3 and P4.

An example is also in 1 a first width B1 of the height buffer area P1 different or larger than a second width B2 of the depth buffer area P2 and also different/larger than a self-protection buffer area P3 and P4.

In the example shown, the work area is formed between the schematically represented horizontal boundary lines GH and GT. Above and below area A there are two separate taboo zones T or TH and TT or prohibited areas in the sense of a variant of the invention, e.g. above due to a power line and/or below due to a sewer.

Sensors (not shown) advantageously record the actual positions of the sections 5, 6, 7 and the spoon 8 etc. According to a variant of the invention, these actual parameters are compared with the Boundary lines GH, GT, GS etc. as well as the buffer areas P or their widths B and / or the resulting or resulting buffer lines / areas compared or corresponding end stops / stops / damping of the actuators or hydraulic cylinders 10, 11, 12 , 13 set.

The end stops/stops/damping of the actuators or hydraulic cylinders 10, 11, 12, 13 can advantageously be chosen freely, with the possibility advantageously being able to set/define damped or undamped end positions within the design-related travel path

In addition, when one of the sections 5, 6, 7 and/or the spoon 8 penetrates or exceeds these buffer areas P, according to a variant of the invention, the adjustment or the adjustment speed of these components of the kinematic chain can be changed, buffered or braked. The adjustment speed is usually braked or slowed down. This is done automatically using electronic/electrical control or control, which the driver may not actively influence in this situation. Rather, he has determined this behavior/change in advance and/or with the help of an external system. For example, he determined the width B and the boundary line G as well as the type and extent of the change and/or using external data/information, such as the GPS system and/or geoinformation systems, etc., the boundary lines G or taboo zones T were created separated from the work area.

In 2 A hydraulic block diagram is shown schematically, one of the actuators or hydraulic cylinders 10, 11, 12, 13 having an adjustment path S and being operated by a driver using a joystick 20. Here the Operation of the joystick 20 is forwarded via a control unit 21 or ECU to a valve block 22, which is connected to a position sensor (not shown) for detecting the path S. Hydraulic oil is advantageously pressurized by means of an adjustable pump 24 and pumped to the valve block 22 and beyond to the cylinders 10 to 13 and/or a hydraulic motor 23.

In 3 A schematic force-path diagram is shown, with the adjustment path S or Smax of the actuator or hydraulic cylinder 10, 11, 12, 13 being shown. In the exemplary embodiment shown, a first end stop E1 and a second end stop E2 can/has now been set, for example by the driver, with the aid of the control unit 21 or ECU. In addition, it has specified that the first end stop E1 has a first damping over the damping path B1 and the second end stop E2 has a second damping over the damping path B2.

3 shows several alternatives or combinations of conceivable/realizable attenuations, which are outlined by lines 1, 2, 3. Accordingly, a damping force or braking can be realized that is non-linear (see lines 1 and 3; 3 ) or are linear (see lines 2; 3 ). As in 3 You can see that the actual end stops E1, E2 or the actual adjustment path E1 to E2 are smaller than the maximum adjustment path. Smax.

Claims (12)

Mobile work machine, in particular wheel loader, telehandler, excavator, tractor or the like, with a support frame and with a drive unit having at least one electric and/or hydraulic actuator for driving at least one drive element, for example drive wheel/roller and/or crawler chassis or vibration element, and/ or a work tool (8) having at least one working tip and/or working edge, e.g. gripper/shovel, fork, vibration element, milling machine, clearing blade or the like, with at least one kinematic chain (2, 3, 4, 5, 6, 7, 9 , 14, 15) movable/adjustable parts of the work machine (1) at least one lifting device (4, 5, 6, 7), in particular lifting arm, gripper arm, telescopic arm or the like, and / or a tool holder (9) for receiving the work tool ( 8), wherein at least one electrical and/or electronic control unit for controlling the drive unit and/or the kinematic chain (2, 3, 4, 5, 6, 7, 9, 14, 15) and/or lifting device (4, 5 , 6, 7) and/or the work tool (8) and/or the tool holder (9), the kinematic chain (2, 3, 4, 5, 6, 7, 9, 14, 15) being within an adjustment range. and/or lifting device (4, 5, 6, 7) and/or the working tool (8) and/or the tool holder (9) can be adjusted and/or positioned between a first end stop (E1) and a second end stop (E2), wherein at least one control element (20), in particular a foot pedal, so-called joystick, keyboard, touchscreen and/or touchpad or the like, is provided for manual operation/actuation by an operator, characterized in that the electrical and/or electronic control unit (21 ) is designed in such a way that when the first and/or second end stop (E1, E2) is reached, it puts the drive unit and/or the actuator (10 to 13) out of operation and/or the energy supply for the drive unit and/or the actuator ( 10 to 13) interrupts/terminates. working machine Claim 1 , characterized in that the actuator (10 to 13) is designed as a hydraulic cylinder (10 to 13) that can be operated with a hydraulic fluid or as a hydraulic motor (23) having a rotation axis. Working machine according to one of the preceding claims, characterized in that the actuator is designed as an electric motor having an axis of rotation or as an electric linear motor. Work machine according to one of the preceding claims, characterized in that at least one maximum adjustment range (Smax) is provided, the first end stop (E1) being designed as the first maximum end stop and the second end stop (E2) being designed as the second maximum end stop. Work machine according to one of the preceding claims, characterized in that the electrical and/or electronic control unit (21) is designed such that an adjustable actual adjustment range is provided, the first end stop (E1) being the first actual end stop (E1) and the second end stop (E2) is designed as a second actual end stop (E2) and the actual adjustment range is smaller than the maximum adjustment range (Smax). Work machine according to one of the preceding claims, characterized in that the first actual end stop (E1) and/or the second actual end stop (E2) is/are arranged between the first and the second maximum end stop of the maximum adjustment range (Smax). Work machine according to one of the preceding claims, characterized in that at least one sensor for detecting an actual parameter of the drive unit and/or the actuator gate (10 to 13, 23) and/or the kinematic chain (2, 3, 4, 5, 6, 7, 9, 14, 15) and/or lifting device (4, 5, 6, 7) and/or the Work tool (8) and / or the tool holder (9) is provided. Work machine according to one of the preceding claims, characterized in that the electrical and/or electronic control unit (21) is designed such that the adjustment speed and/or adjustment force and/or the adjustment can be changed. Work machine according to one of the preceding claims, characterized in that the electrical and/or electronic control unit (21) has at least one damping unit for changing/braking/damping an adjustment speed and/or an adjustment force and/or the adjustment of the drive unit and/or the actuator and /or the kinematic chain (2, 3, 4, 5, 6, 7, 9, 14, 15) and/or lifting device (4, 5, 6, 7) and/or the work tool (8) and/or the tool holder (9), so that the adjustment range and/or actual adjustment range and/or maximum adjustment range (Smax) comprises at least one damping region (B1, B2) designed as an edge region, the damping region (B1, B2) being at least at one of the end stops ( E1, E2) and/or maximum end stops and actual end stops (E1, E2) are arranged and have a damping width (B1, B2) designed as a damping distance. Work machine according to one of the preceding claims, characterized in that the electrical and/or electronic control unit (21) is designed such that the change/damping of the adjustment speed and/or adjustment force and/or the adjustment is designed as a non-linear function. Work machine according to one of the preceding claims, characterized in that the control unit (21) has at least one limiting unit for setting a limit parameter of the drive unit and/or the actuator and/or the kinematic chain (2, 3, 4, 5, 6, 7 , 9, 14, 15) and/or lifting device (4, 5, 6, 7) and/or the work tool (8) and/or the tool holder (9), the limit parameter comprising a boundary line/area between a Prohibition area and the adjustment range are defined. Work machine according to one of the preceding claims, characterized in that the limit parameter is/are designed as a first actual end stop (E1) and/or as a second actual end stop (E2).

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