DE202017001848U1 - Mobile work machine, in particular wheel loader for timber handling - Google Patents

Abstract

Mobile work machine, in particular wheel loader for turning wood, with a cabin (20), a controller, an operating device, in particular joystick, a pan and a lifting mechanism, wherein the swivel arm (4) and lifting arm (6) via separate drives in the form of a rotary actuator (3) and a lifting drive (5) are operable, wherein the swivel arm (4) with the lifting arm (6) at a second bearing point (G4) is pivotally connected, which is arranged so that it upon actuation of the pivoting and lifting mechanism is located in at least one operating area above the cabin (20), wherein at the outer, of the second bearing point (G4) spaced end of the lifting arm (6) at a fourth bearing point (G7) an attachment (7) is mounted, in particular a Gripper for holding wood, characterized in that within the control one or more border areas or limits (22) are provided, within which the attachment (7) are not moved d arf or no longer than a predetermined period of time, with a limit or limit (22) being defined by a lift height range and / or range of the implement, and where the limit range or limits (22) are firmly established in the controller as factory settings and / / or definable by the operator.

Description

The invention relates to a mobile work machine, in particular a wheel loader for turning wood, with at least one pivotally mounted on the vehicle frame arm and at least one articulated on the pivot arm lifting arm, at the outer end of which at least one attachment is mounted, in particular a gripper for receiving wood, wherein swivel arm and lift arm via separate drives, ie at least one pivot drive and at least one lift drive can be actuated.

A special form of the wheel loader is the wood loader with vertical loading direction. This is often referred to as a log handler. In contrast to traditional wood handling with axle-mounted machines, which allow a load capacity of more than 30 tons, articulated machines can be used in small quantities for smaller loads in the range of about 10 tons. Regarding the construction and types of Holzverladegeräten is on the publication DE 20 2016 003 098 directed. Typical uses of the log handler are timber handling with loading and unloading processes, usually combined with longer transport distances of sometimes several hundred meters.

The wheel loader used for timber handling usually has an articulated steering and is equipped with a special work equipment, which is compared to the classic work equipment structure (mast and working tool) is provided with a special kinematics. This has two variable arms in the form of a swivel arm and a lifting arm, which are individually actuated by associated hydraulic cylinders The movement of the gripper can by the articulated steering of the wheel loader, the special kinematics, a longitudinally in the direction of travel arranged hydraulic cylinder (Längspendelzylinder), rotationally about a vertical axis through the rotator and by a respective Greiferschalenhydraulik be performed. To the grapple cross-pendulum is on DE 20 2016 003 098 directed. By previously described combinatorially feasible movements, desired gripper positions can be easily and quickly achieved, which can be achieved with other machines - if at all - only with great maneuvering / manipulation effort.

As a result, the special form described allows the machine operator to perform the most difficult loading and unloading operations quickly, safely and efficiently, such as, for example, the loading and unloading of stationary or mobile stanchion structures. With this special form of the working machine work can be carried out manipulation-optimized and time-optimized. Manipulation-optimized means in this context that no unnecessary Reversierbewegungen the machine are necessary and a simple point load reloading and readjustment is feasible. The operation of the machine by the machine operator is usually via an actuator, in particular a joystick.

However, the special kinematics and the large number of possible degrees of freedom makes the operation of the work machine complicated and can usually only be carried out in a time-optimized manner with great experience and driving skill. Nevertheless, if an inexperienced machine operator is used by the operator, there will be an increasing number of operating errors, which can damage the working machine, the working equipment and components of the environment. For example, during the loading and unloading process, the traction drive, steering, working equipment and the working tool, in particular the gripper, must be operated in almost parallel sequence in order to optimize the handling performance. In addition, it is possible to move the gripper in the transverse direction via the articulated steering system, which also allows reversing movements to be saved.

As part of the Ausladungsbegrenzung so-called Telelader be named as the nearest state of the art. For limitation, in particular the Ausladungsreichweite is on the EP 2 686 265 B1 directed. The telescoping loader loading apparatus disclosed herein discloses a hydraulic system that ensures safe and efficient lifting and lowering. A device is described that advantageously automatically eliminates areas that result in tilting. In recessed areas, tilting is prevented, for example, during lowering by manual superimposition in the form of a hydraulic coupling of swivel and telescopic cylinders, and an approximately vertical movement of the load is performed. The disadvantage is a Achsschenkellenkung and telescopic kinematics for timber handling under 15 tons, because of the little predominant Ausladflexibilität and thus desired rapid manipulation of loads.

In the EP 2 982 639 A1 a stabilization system of a Telelader is described. This eccentric arrangement of the load can also cause unpleasant tilting scenarios (first safety parameter) with respect to the telescope projection. With a first sensor, the load deviation in the transverse direction except the center of the device is caused by exemplary displacement of the forks measured, in addition, the load is determined (second safety parameter). In the described method, a first Safety parameters used to enable the movement of the telescope.

In the patent application 1 179 347 a crane is described, which does not exceed a permissible tilting moment during lifting or lowering, wherein a vertical movement is performed manually by hydraulic devices for telescopic movement by changing the respective hydraulic fluid volume.

Kinematically, the following applies to the wheel loader for timber handling, which according to the invention is preferably that the respective third bearing point (see G4 in 1 ) is spaced less far from the cabin in each movement case than the fourth bearing point (see G7 in FIG 1 ). This would also apply if the lifting arm additionally had intermediate telescopic Hubarmteile, based on crane arrangements.

The object of the present invention is to increase the range while maintaining stability, with the untrained operator can approach border areas optimally, as well as to simplify the machine control for the machine operator to enable less experienced operators to efficient operation of the machine.

The joystick of the working machine according to the invention may have such a function that in a horizontal direction, the lifting movement and in the vertical direction, the pivoting movement or vice versa. It can also be commanded by the machine operator from horizontal movement and pivoting movements. A movement of the lifting and / or rotary actuators can be done either hydraulically or electro-hydraulically, hydraulically or pneumatically, in particular, a pilot control of the relevant valves is possible. The control takes over the coordination of joystick deflection and cylinder control whereby the processing is carried out in the control unit which has a respective software.

Preferably, the lifting and / or part-turn actuators are formed by cylinders.

Preferably, the kinematics of the working machine according to the invention is designed so that the pure vertical movement of the plane-standing machine in the vertical, only a combination of a proportion of lifting and pivoting drive is possible. Thus, the maneuvering is difficult and also the component wear and the control effort is increased.

The deflection of only one stroke is possible even for the untrained driver without problems. For manipulation limit values / ranges are added, which may not or only minimally exceeded or achieved in pure lifting movement, in other versions referred to as original stroke curve. The origin curve can be understood as an original stroke curve and original curve of origin. These are the curves that passes through the attachment or its articulation with exclusive operation of the linear actuator or the rotary actuator.

Hydraulic characteristics are characteristics of valves, pipes and cylinders that represent hydraulic pressure conditions on the cylinder, taking pressure losses into account. In addition, processing time of the controller can be added in combination with a hydraulic / electrohydraulic pilot control.

In addition, even before reaching a limit, taking into account the joystick deflection, predictive, i. be controlled in a predictive manner, whereby via the control, e.g. Cylinder controlled and their signals are manipulated so that the limit is respected or the limit is not touched.

The above object is achieved by a working machine according to the features of claim 1. Advantageous embodiments of the working machine are the subject of the subsequent claims to the main claim.

Starting from the generic mobile machine, the invention proposes to integrate a control in the work machine, which detects the current projection of the attachment during the labor input and monitored against at least one definable Ausladungsgrenzwert. By monitoring the overhang, the reliability of the machine can be significantly increased, because a too large overhang can increase the risk of tipping for the machine with appropriate loading. A Ausladungsgrenzwert may preferably be stored as a factory setting firmly within the controller. It is also conceivable the deposit or use of multiple Ausladungsgrenzwerte, eg. By functions depending on the lifting height. It is also conceivable that the Ausladungsgrenzwert is determined depending on the actual load absorption by the attachment tool of the working machine, i. Depending on load absorption, an associated discharge limit value is monitored.

The terms limit value, limit range and discharge limit are used in the context of Used synonymously, ie the term "limit" also includes a "threshold range", etc.

It is also conceivable that at least one Ausladungsgrenzwert is configurable by the machine operator, in particular by input via an operating element at the beginning or during machine operation.

The actual projection can be determined by the controller, for example, based on the current position of the main drives, in particular the working hydraulic drives or consisting of several individual drives for the actuation of the swivel and / or lifting arm. In particular, the current position of the drives can be detected by a suitable sensor, preferably position and / or pressure sensors in or on the drives. As a rule, linear drives are used as drives, ideally in each case at least one hydraulic cylinder for swivel and lift arm. The detection of the drive position can then be done by measuring the actual Ausschublänge the piston rod.

Particularly preferably, in the course of monitoring by the controller, an intervention in the machine operation, so that, for example, one or more or all drives are stopped at dangerous approach to the Ausladungsgrenzwert or exceeding it by the controller.

In addition to monitoring the projection, it may also be advantageous to monitor the current lifting height of the attachment against at least one limit height, preferably against a maximum and / or minimum lifting height. This also falls under the concept of "limit value" or "limit value range".

It is conceivable, for example, that the lifting height is limited by an upper interfering edge during machine work within a closed space upwards. This interference edge can be accommodated by appropriate configuration of the maximum limit height. In addition, a limit value for a minimum lifting height can also be advantageous. In particular, during locomotion can be ensured by a minimum lifting height of the attachment that smallest bumps of the driveway do not lead to the ground contact of the attachment tool.

Like the maximum limit height, the minimum limit height can also be flexibly adjusted by the machine operator, e.g. be definable before or during machine work. If no corresponding limit heights are entered, the controller uses, for example, fixed factory settings.

Optionally, the controller may also be configured to define and monitor one or more boundary regions. Within these limits, the attachment must not move or at least not remain in the longer term. At least one boundary region can be defined by a lifting height and / or unloading area of the attachment. Corresponding limit ranges can either be permanently stored in the controller as factory settings or flexibly configured by the operator before or during machine operation. Alternatively or additionally, areas (permitted areas) can also be defined within which the movement of the attachment is expressly desired or required or within which the longer-term positioning of the attachment is permitted.

A possible example of such a border region is, for example, the current position of the attachment during the driving operation of the working machine. A corresponding border region can be defined, for example, by the field of vision of the driver. This prevents the attachment from entering this field of view and impairing the driver's view while driving. Other border areas can of course be defined by any interference edges around the machine.

As already explained above, the controller preferably intervenes when approaching or reaching a corresponding limit value or limit range and switches off at least one drive. To avoid load oscillations by an abrupt shutdown of the drives, a corresponding damping function can be realized within the controller.

In this case, with a corresponding approach of the projection or height of the attachment to a corresponding limit or boundary area a continuous, but moderate reduction of the drive speed is performed so that the movement of the attachment is braked damping. As a result, any load oscillations can be effectively prevented or reduced. In particular, the entry or exit speed of the respective linear drives for the swivel or lifting arm is reduced before reaching the limit value. These load oscillations are particularly disturbing when driving in the delay in the direction of the loading / unloading point. In addition, damping of load vibration can be combined with predictive control.

The necessary parameters for the damping function, for example to determine the negative acceleration for the speed change or the time for the onset of this damping function before reaching the limit can be permanently stored as a factory setting within the controller or alternatively be flexibly configurable by the operator before or during machine operation.

The control stops when reaching or exceeding a limit value and / or a limit height and / or a limit range, the one or more drives. In addition, the controller may provide for subsequently allowing only one of the stopped drive movement opposite drive movement. This enables the machine operator to safely remove the attachment from the critical situation or dangerous situation.

Another optional and extremely advantageous feature of the controller is that, after appropriate user input, it can execute an at least partially automated movement of the attachment from a starting position into at least one target position. For this purpose, the controller can operate both the pan and the lifting drive automatically, which allows reaching the target position from almost any starting position.

This optional design of the control simplifies the execution of recurring movement sequences of the working machine, since the operator can carry out this, for example, simply by simply pressing a button (for example activation of an operating means / touch screen). As a partial automation, the user-triggered embodiment of a fully automated motion sequence is preferably understood. It is also conceivable that the operator must operate a control element until the target position is reached, but the motion control is automatically executed by the control, i. the operator only needs to operate a confirmation element.

Further, however, only certain partial movements to achieve the target position may be automated, i. To achieve the target position manually controlled movements are still necessary. For example, partial automation facilitates the loading and unloading cycle, operator errors can be reduced, and energy can be saved by machine-controlled optimized work equipment movement.

It is particularly preferable if the attachment can be brought into a corresponding transport position by the controller in a partially automated manner from any desired starting position, in particular from any loading position. As a result, an optimal transport position of the attachment can be ensured, which means no or only a slight impairment of the driver's field of view during driving. In addition, this allows a position of the attachment occupy unerring, which has an advantageous effect on the handling characteristics, in particular the vehicle stability due to the resulting weight distribution and provide increased benefits for longer journeys.

It is conceivable if one or more corresponding transport positions can be stored beforehand as a factory setting in the control, in particular in the form of desired position positions of the corresponding pivoting or lifting drives. As a rule, a concrete desired extension length of the corresponding linear cylinder drive is stored. Alternatively or additionally, it is also conceivable that such target positions / transport positions can also be programmed manually by the machine operator before or during machine operation in the controller. This can be done for example by appropriate operating means or a touch display. The input of a desired target position or transport position can also be done by learning mode by the machine operator controls the desired position in the learning mode and the current measured position is deposited by the controller for later use.

Furthermore, it makes sense if the controller is extended by a corresponding planning logic. Such a planning logic plans and determines the concrete trajectory of the attachment for reaching the desired target position from the respective starting position. The planning logic takes account of any discharge limit values and / or limit heights and / or limit ranges stored in the controller and prevents them from being exceeded or fallen short of or being passed through by the attachment tool.

A border area may be a prohibited or allowed border area, wherein a prohibited border area may not be traversed by the implement during the automated procedure and / or the implement may not be positioned within that area, and a permitted border area permits definition and / or passing through of the implement through the allowed limit area during automated movement.

In the case of the partially automated drive control by the control of the work machine, the at least one pivot drive and the at least one lift drive can be actuated and operated in parallel, ie simultaneously. It is also conceivable that one or more areas are definable, which provide a separate control for the control of the respective drives. So it is possible to define areas, in particular by specifying a corresponding unloading and / or Height range of the attachment, within this only one of the drives, for example, only the rotary actuator or only the linear actuator can be controlled or actuated by the controller, while also areas can be defined within these two drives simultaneously controlled or operated simultaneously by the controller.

Even in automated machine operation, the aforementioned damping function can be used to avoid any charge oscillations by abrupt deceleration. The moderate braking of the machine movements can take place, for example, shortly before reaching the target position. It is also conceivable to realize a corresponding damping function if an interruption of the automated processes is forced by user intervention, in particular in the case of a user-triggered machine stop or a desired counter-movement of the drives. Furthermore, an automatic conversion of the damping function when reaching a corresponding limit value or limit range in the semi-automatic motion sequence makes sense.

According to a further advantageous embodiment of the invention, the drive train of the working machine may consist of a motor and at least one power-split transmission for driving different main drives. The different main drives include, for example, one or more hydraulic pivoting or lifting drives for actuating the attachment or a driving and / or steering drive.

In a further embodiment, the drive train consists of a motor, at least one pump distributor gear with at least one working hydraulic pump and a driving gear, which is designed as a power-split transmission. The used power-split transmission can be designed mechanically-hydraulically. About the pump distributor gear, the supply of hydraulic pumps for the necessary pressure generation of the swivel and / or lifting drive of the attachment takes place. Particularly preferably, the drive gear and the pump distributor gear are installed locally separated from each other within the working machine.

• 1: eine Skizzierung der erfindungsgemäßen Arbeitsmaschine zur Verdeutlichung der speziellen Kinematik;
• 2: eine Skizzierung zur Darstellung teilautomatisierten Bewegung es Anbaugerätes von einer Ausgangsposition in eine Transportstellung;
• 3: die Darstellung gemäß 2, jedoch mit definierten Speicherbereichen für die Transportstellung,
• 4: die Darstellung gemäß 3 mit alternativem Speicherbereich und
• 5: die Darstellung von zwei Bewegungen der Arbeitsausrüstung mit Log-Handler Kinematik, die die Ausladung erhöht bei gleichbleibender Standsicherheit.

Further advantages and features of the invention will be explained in more detail below with reference to an embodiment shown in the figures. Show it:

• 1 a sketch of the working machine according to the invention to illustrate the special kinematics;
• 2 : a sketch for showing partially automated movement of an implement from a home position to a transport position;
• 3 : the representation according to 2 , but with defined storage areas for the transport position,
• 4 : the representation according to 3 with alternative storage area and
• 5 : the representation of two movements of the work equipment with log-handler kinematics, which increases the unloading with constant stability.

The basic construction of the working machine is in 1 shown. Schematically indicated here is an articulated wheel loader 1 with a special implement kinematics for timber handling. An L-shaped swivel arm 4 here is articulated (point G3) on the front of the chassis of the wheel loader 1 added. About the swing cylinder 3 can the swivel arm 4 be pivoted about a horizontal axis G3 forward or backward. The cylinder of the swing cylinder 3 is pivoted to the front end 2 mounted (G3) and the piston rod is movable on the first leg of the pivot arm 4 mounted (G2).

At the end of the second leg of the swivel arm 4 is the lift arm 6 hinged (G4). The lift arm 6 provides a long boom with the end bent down. At the bent end of the attachment is in the form of the gripper 7 added. Also the lift arm 6 is about its own Hubarmzylinder 5 movable and although also pivotable up and down relative to the pivot arm. The cylinder of the Hubarmzylinders 5 is also articulated on the front 2 mounted (G5) while the piston rod on the boom arm of the lift arm 6 is movably mounted (G6).

The gripper 7 is opposite the lift arm 6 one parallel to the direction of travel of the wheel loader 1 rotatable axis of rotation and serves to accommodate wood 8th , The distance of the gripper 7 to the wheel loader front edge is referred to as L unloading. The distance of the bearing point of the gripper 7 at the bent end of the lift arm 6 to the ground is referred to as height H.

Even if it is not apparent in the figure representation, in practice swivel arm 4 and lift arm 6 constructed by two parallel arms in the form shown, which optionally each other via one or more transverse tubes with each other are connected. Also can be per arm 4 . 6 be provided several cylinder drives.

It should be noted at this point that the terms "a" and "an" do not necessarily indicate only one of the elements in question, although this is a preferred embodiment of the invention, but also encompasses the majority of the elements in question.

The work equipment positions (P) are exemplary in 2 to 4 represented, wherein the points P1, P2, P3 respectively represent initial positions of the mast and the point Tx representative of an exemplary transport position (T) of the gripper 7 while moving the wheel loader 1 stands.

Transport positions Tx are selected so that "defined areas" are not passed through. The transport position is only possible in a certain range: eg limitation of the projection to comply with the relevant overturning moment. For the sake of completeness, it should be mentioned that the transport position is also below the driver's field of vision 21 can be chosen.

In the 5a . 5b describe two scenarios with a log handler kinematics according to the invention, which maximize the unloading while ensuring stability. As a reference of the points P, the center of the rotation axis of the cross pipe is seen 1 ., Pos. (P, T). The special kinematics result in an intersection point P2 of the projection limit / range with the original curve 23 , which results from the special shape of the swivel and cantilever arm and thus differs from telescopic jibs.

In the 5a For example, in a first scenario, the movement of work equipment from a lower point P1 to a point P4 is shown, with only a simple operation in a first section P1 to P2 lifting it, ie, pure lift cylinder movement. In a second portion P2 to P3, the lifting movement is superimposed by the controller with a pivoting movement, wherein the pivotal movement signal and the Hubbewegungssignal are manipulated so that the respective cylinders (lifting and pivoting cylinders) cause approximately a vertical movement of the load, at least in around the limit 22 It should be noted that although the movement between P2 and P3 may be vertical, it may include any form of movement.

It is also noted that the points P2 and P3 represent the outward points of the movement, ie intervening cylinder movements around the respective discharge limit in the form of control or regulation fluctuations, which could also represent points, are not taken into account, ie it can also short-term overshoot across the line 22 come.

It is noted here that according to the invention the safe manipulation of loads by the inexperienced machine operator is the focus.

From a point P3, the curve is at the apex of the stroke movement 23 shifted horizontally, ie the point P3 is obtained by the vertex of the original curve 23 a horizontal straight line is laid. Their intersection with the limit 22 makes the point P3.

In the section P3 to P4, the pivoting movement is completely withdrawn and only the lifting movement (shifted original curve 23 , ie parallel to the original curve 23 ), wherein the less experienced driver in any case, when increasing the lift height, by pure actuation of the stroke movement from the vicinity of the Ausladungsgrenzwertes the load in the direction of the cabin 20 moves and thus brings them further out of the border area, which increases the stability.

Another advantage of this operation is that a fixed discharge limit is defined simply without determining the current load (no further necessary sensors, processing, collateral and calculations), for example taking into account a rated load. Defining the variable limit values, taking into account measured values taking into account measurement errors of the load to be absorbed, including safety factors, causes a reduction of the discharge limit due to the fluctuation range to be considered. A consideration of the load-dependent Ausladungsbegrenzung is disclosed in the scope, the load can be done via cylinder pressure detection or pressure cells or measuring means on the axle suspensions and similar measurement principles. A partial automation as in the following statements on the transport position is also conceivable for this work equipment movement.

The 5b describes a second scenario in which from an upper point P5 based on the in 5a described sections in the direction of the point P9 is reversed manipulated from top to bottom.

The 5c represents a third scenario, here similar to the 5a a stroke movement is shown, wherein the points P3 locally differ and the points P4 are equal to P5. It is noted here that the range of control by manipulation of both cylinders Bigger is. However, here the origin curve is not parallel-shifted in any area, ie the movement takes place either on the origin curve or on the limit value 22 , A lowering movement runs in the wrong direction to 5c ,

From one area 99 an intervention takes place in the cylinder control. It is acted upon deflection of a pure lifting movement on the controller so that in addition to output signals for the lifting movement and a pivoting movement is initiated to exceed the limit or entry into the border area only minimally. In addition, even before reaching the limit range, the pivoting cylinder can be predictively moved or the lifting cylinder can be manipulated to a smaller stroke in order not to reach or exceed the limit value / limit range. For this purpose, for example, with the parameters Joystickauslenkung, hydraulic behavior of valves, control and cylinders predictive value can be calculated which is processed via the controller / software and provides for a predictive / predictive behavior of the lifting and or the swing cylinder (indicated by pos , or P99). The same also applies to the swivel cylinder and partially manipulated lifting cylinder or for displacement of the joystick outside a plane, where as level is meant either a pure longitudinal or transverse movement of the joystick, with respective portions are seen as Resulting and control commands ultimately the lifting and swiveling cylinders are moved.

The 5d represents a range between origin curves 23 . 24 which are obtained by a pure lifting movement. The origin curve represents the maximum possible outreach. Only in the shaded area must intervention intervene.

The control of the gripper 7 or of the swivel and lift arm 4 . 6 via a joystick. This is, for example, the movement of the lifting arm 6 triggered by a joystick movement forwards or backwards. The means of the swivel arm 4 executable pivoting movement is controlled by a separate cross lever, which sits on top of the handle of the joystick. As a result, both drives can be operated with one hand, the spatial separation of the controls (handle shell and cross lever) simplifies their exact (simultaneous) operation. The driving movement of the wheel loader 1 can be done either via pedals and a steering wheel or alternatively by means of another joystick.

To pick up the load 8th becomes the gripper 7 usually from the wheel loader 1 moved away. Here, the maximum distance from the chassis, ie the projection L plays a crucial role to instabilities of the wheel loader 1 or an overload of the arms 4 . 6 to avoid. Also an upper and lower limit for the lifting height H of the gripper 7 should be monitored by the controller. Furthermore, fixed boundary areas or boundary surfaces, which result from a height and Ausladungsbereich be defined by the gripper 7 should not be passed through. Also in this regard, the controller allows monitoring and possibly an intervention in the control of the drives 3 and 5 ,

Finally, the invention makes it possible, by means of the control, to automate recurring machine sequences in which the gripper 7 is moved from a starting position P in a transport position Tx. In the transport position Tx the gripper should 7 as close to the front of the vehicle 2 be moved to the driving characteristics of the wheel loader 1 to optimize and to offer the driver as clear a view as possible.

The 2 to 4 show different positions P1, P2, P3 of the gripper 7 during the loading or unloading process. The driver's cab 20 and the field of view 21 of the driver are indicated. The maximum range, ie projection is by the vertical, non-continuous line 22 characterized. Approaches gripper 7 On this line, the controller switches the drives 3 . 5 automatically to prevent it from passing. The current projection L is determined by the control by measuring the extension stroke of the individual cylinders 3 . 5 certainly. The discharge limit 22 can be permanently stored in the controller, where appropriate for different loading conditions of the gripper 7 different limits 22 be available and monitored. For clarification, the actual kinematics or maximum possible range of the gripper 7 with the reference number 23 designated.

As mentioned above, the transport position Tx can also be approached automatically by the controller. Regardless of the starting position P1, P2, P3, the driver can trigger the machine control by user input. The relevant transport position Tx can be selected beforehand either via a display from a factory setting or a setting specified by the user. The target position Tx is stored in the form of Zylinderausschublängen the cylinder 3, 5 in the control memory and can be subsequently selected for automatic starting. The deposit of several transport positions is possible. The input of the transport positions Tx can be done by direct input of the extension times or, for example, in a learning mode by approaching the desired position and subsequent storage of the drive positions.

The automated transport movement from Px to Tx can be started by the operation of the machine operator, in particular an actuating element, wherein in a first step the sensor values relating to the actual extension lengths of the cylinders 3 . 5 are read into the controller, where A _is for the swing cylinder position and B _is for the lift cylinder position. The positions / extension lengths of the drives 3 . 5 for a given transport position Tx are referred to as A _x and B _x . After the activation of the automatic transmission, the sensor values A _are , B _is compared with the desired values A _x , B _{x of} the selected transport position Tx and the cylinder rods are either retracted or extended. The cylinders in question 3 . 5 are controlled by the controller so that it takes into account the defined limits and / or ranges and taking into account these limitations, the respective cylinder 3 . 5 manipulated. To this end, the controller provides a suitable planning logic which determines an optimal trajectory for the achievement of the transport position Tx taking into account the limit values and / or limit ranges.

Acting in the 3 A marked position A clarified that these "allowed" areas A not only for the possible storage of measured values (training a transport position) are used, but are described as "defined areas" and must be passed to achieve a "safe path". In order to avoid confusion here, these areas can differ in location and size and can be selected for different functions.

In the 4 an area B is defined in which the transport position Tx can be defined. This area is different from the one in 3 described areas in that they are only intended to specify storage areas for the transport position to ensure optimized visibility and stability conditions of the machine in the transport journey.

Visible in 3 are also areas I, II, which are taken into account in trajectory planning. Here in a first area I may only one of the cylinders 3 . 5 actuated and only when reaching the second area II may lift and swivel cylinder 3 . 5 be controlled simultaneously.

As part of the semi-automated work equipment movement by pressing the joystick, also can generate a signal, which is the process of semi-automatic transport position, ie the control of the lifting and tilting cylinder 3 . 5 interrupts and holds the gripper in the respective work equipment position.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 202016003098 [0002, 0003]
• EP 2686265 B1 [0006]
• EP 2982639 A1 [0007]

Claims (16)

Mobile work machine, in particular wheel loader for turning wood, with a cabin (20), a controller, an operating device, in particular joystick, a pan and a lifting mechanism, wherein the swivel arm (4) and lifting arm (6) via separate drives in the form of a rotary actuator (3) and a lifting drive (5) are operable, wherein the swivel arm (4) with the lifting arm (6) at a second bearing point (G4) is pivotally connected, which is arranged so that it upon actuation of the pivoting and lifting mechanism in at least one operating area above the cabin (20), wherein at the outer, from the second bearing point (G4) spaced end of the lifting arm (6) at a fourth bearing point (G7) an attachment (7) is mounted, in particular a Gripper for receiving wood, characterized in that within the control one or more border areas or limits (22) are provided, within which the attachment (7) are not moved may or may not remain for more than a predetermined period of time, with a limit or limit (22) defined by a lift height range and / or reach range of the attachment, and where the limit range or limits (22) are firmly established in the controller as the factory default setting and / / or definable by the operator. Working machine after the Claim 1 characterized in that an origin curve (23) is defined in comparison with the limit value (22) or limit value range such that it is located in a first area opposite the limit value (22) and / or border area on the cabin side, in a second area opposite to the one Limit value (22) and / or boundary region located on the load-facing side and located in a third area with respect to the limit value (22) and / or border area on the cabin side. Working machine after Claim 1 or 2 , characterized in that the limit value (22) or limit value range are load-independent. Working machine according to the generic term of Claim 1 , characterized in that the control is designed such that when operating an operating device, in particular a joystick, initially only the lifting cylinder is actuated, whereby kinematically a Ursprunghubkurve (23) is defined on the movement from a first point (P1) in the direction the limit value (22) or limit range is defined, wherein upon reaching an intersection point (P2) between the original stroke curve (23) and the limit value (22) or limit value range in a further stroke movement, the operating signal is manipulated so that the original curve (23) is left and the pivoting and lifting mechanism merges into another form of movement, wherein a simultaneous pivoting movement takes place in addition to a lifting movement, and when a further point (P3) is reached, a purely lifting movement takes place again. Working machine after Claim 4 , characterized in that the further point (P3) is at the same height as the vertex of the original stroke curve (23). Work machine according to one of the preceding claims, characterized in that the control is designed such that before reaching the limit value (22) or limit range, the drive speed of the pivot drive (3) and / or the lifting drive (5) is continuously reduced to a load swing suppress or reduce, with the degree and / or time of speed reduction is firmly stored in the controller and / or freely configurable by the operator. Working machine after Claim 6 , characterized in that the control is designed such that, before the limit value (22) or limit range is reached, by values stored in the control or by calculation in particular from parameters such as joystick deflection or hydraulic characteristic values, ie flexible values, the manipulation of the lift and / or rotary drive is performed so that a limit (22) is not exceeded, or a border area is not approached. Work machine according to one of the preceding claims, characterized in that the control is designed such that upon reaching or exceeding the limit value (22) or limit range lifting and pivoting drives (3, 5) are stopped and only a drive movement in at least partially opposite direction when the implement is released to the operator so that the attachment (7) moves away from the limit (22) or limit. Work machine according to one of the preceding claims, characterized in that the controller is designed such that after appropriate user request an at least partially automated movement of the attachment (7) from a starting position in at least one target position is made possible by appropriate drive control, preferably at least one working position of the attachment (7) in a definable transport position for moving the work machine. Working machine after Claim 9 characterized in that the controller includes scheduling logic which schedules movement of the attachment (7) from a home position to the target position and executes the corresponding drive control such that the limit (22) or limit range is not traversed by the attachment and / or a Ausladungsbegrenzung and / or a maximum or minimum limit height is not exceeded or fallen below. Work machine according to one of the preceding claims, characterized in that a permitted as well as a forbidden border area exists, wherein a prohibited border area does not pass through the attachment during the automated procedure and / or the attachment may not be positioned within this area and wherein a permitted border area is one Definition of a target position permits and / or requires driving through the attachment through the allowed limit range during the automated movement. Work machine according to one of the preceding claims, characterized in that one or more target positions, in particular transport positions, by adjusting positions of the respective drives of the swivel arm (4) and lifting arm (6) can be stored, preferably by depositing the respective Zylinderausschublängen preferably designed as a linear cylinder drives hub - and part-turn actuators (3, 5). Work machine according to one of the preceding claims, characterized in that in the semi-automatic drive control, the at least one pivot drive (3) and the at least one lifting drive (5) are simultaneously controllable and actuated, wherein preferably one or more areas, preferably defined by the unloading and / or height ranges of the attachment, can be stored in the controller, within this either only the swivel (3) or only the lifting drive (5) or both drives (3, 5) are simultaneously controllable and movable. Work machine according to one of the preceding claims, characterized in that the controller is designed such that during the automated control of at least one drive (3, 5) before reaching a limit value (22) or limit range or a target position, the drive speed of the swivel and / or or the Hubantriebs continuously reduced to suppress or reduce a load swing, the degree and / or time of the speed reduction is firmly stored in the controller and / or freely configurable by the operator. Work machine according to one of the preceding claims, characterized in that the drive train of the working machine comprises a motor and a power-split transmission for driving different main drives, in particular for driving the hydraulic pivoting or lifting drives (3, 5) and / or a traction drive and / or a steering drive. Working machine after Claim 15 , characterized in that the drive train comprises a motor, a pump distributor gearbox with a working hydraulic pump, and a driving gear, which is configured as a power-split transmission, in particular mechanically / hydraulically designed, wherein the drive gear and the pump distributor gear are arranged locally separated within the working machine.

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