EP0321789B1 - Level compensation controlling device for a work implement, particularly for a mobile extensible fire service turntable ladder - Google Patents
Level compensation controlling device for a work implement, particularly for a mobile extensible fire service turntable ladder Download PDFInfo
- Publication number
- EP0321789B1 EP0321789B1 EP88120505A EP88120505A EP0321789B1 EP 0321789 B1 EP0321789 B1 EP 0321789B1 EP 88120505 A EP88120505 A EP 88120505A EP 88120505 A EP88120505 A EP 88120505A EP 0321789 B1 EP0321789 B1 EP 0321789B1
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- European Patent Office
- Prior art keywords
- implement
- inclination sensor
- value
- control device
- superstructure
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- 230000001960 triggered effect Effects 0.000 claims description 4
- 239000003792 electrolyte Substances 0.000 claims description 2
- 230000001276 controlling effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000015654 memory Effects 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
- B66C23/90—Devices for indicating or limiting lifting moment
- B66C23/905—Devices for indicating or limiting lifting moment electrical
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- E—FIXED CONSTRUCTIONS
- E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
- E06C—LADDERS
- E06C5/00—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles
- E06C5/32—Accessories, e.g. brakes on ladders
- E06C5/40—Devices for canting ladders laterally
Definitions
- the invention relates to a device for controlling the level compensation of an implement with a base frame and a device structure connected to it rotatably and pivotably for the purpose of setting a vertical of the device structure when the base frame comes into contact with the base in an inclined position, in particular a movable height-adjustable fire escape, according to the preamble of claim 1.
- Known devices for level control of the vertical axis of the device structure of work equipment work with inclination sensors for the vertical control of the structure and for position feedback with two switches for parallel placement or return with regard to the position of the base (see DE-AS 2 036 559 , EP 00 63 709).
- EP 00 63 709 practically after ongoing measurement of the vehicle inclination in two mutually perpendicular directions by means of sensors known per se, a theoretical prediction of the misalignment correction speed in combination with the swiveling speed of the ladder and then a corresponding implementation of the misalignment correction is carried out via known ones Proportional valves.
- a further correction of the misalignment correction speed can be carried out using a sensor which is obviously attached to the ladder and is known per se.
- a sensor which is obviously attached to the ladder and is known per se.
- the value of the inclination sensor is stored in a commissioning position of the implement, which is normally positioned at an angle, before setting the vertical of the implement, and after a control operation of the implement, the value of the incline is stored, in which the control device uses current values of the inclined sensor as compared to the zero value of the sensor Control variable works, for the purpose of returning the device structure from the vertical to its starting position, the stored value is used as the return control variable.
- the inclination sensor detects the maximum inclined position of the implement that is proportional to the position and direction.
- the start-up position of the implement can be determined by reaching a maximum ground support pressure value in hydraulic ground support cylinders of the implement, by which the point in time for storing the value of the inclination sensor is triggered.
- the time for storing the value of the inclination sensor can also be triggered by switching on the perpendicular control process of the implement structure, for example by engaging a power take-off to create a replacement variable for a feedback control variable.
- the inclination sensor can also be provided in the form of a curved electrolyte tube.
- the inclination sensor is conveniently arranged on the circuit board of an electronic control, for example a microcomputer.
- the microcomputer records the value of the inclination sensor corresponding to the inclined position of the implement structure, executes the control of the implement structure in the vertical and then uses the stored value of the inclination sensor again as a feedback control variable to reset the implement to the starting position (commissioning position) .
- Known analog or digital memories can be used to store the values.
- a simple and reliable control device can be created by the invention.
- the invention makes it possible to dispense with the switches of the position control provided that the signals for the correction of the misalignment or the feedback are recorded analogously.
- a control device for lifting systems is also known from DE-OS 29 47 303, but the control device controls individual articulated axes and not, as in the invention, the adjustment of a pivot axis for controlling the side adjustment.
- a working device (2) is shown schematically from behind in the form of a mobile fire brigade turntable, which has a base frame (3) which is pivotally and pivotally connected to a device structure (4) in the form of the actual extendable turntable ladder.
- the device structure (4) can thus with respect to an obliquely positioned base frame (3), which is supported by lateral floor support cylinders (6), in a commissioning position of the working device (2) by a device (1) for controlling the level compensation in a horizontal position or in a plumb line is set and returned to the starting position.
- the hydraulic floor support cylinders (6) are connected to a hydraulic pressure switch (7) in the base frame (3).
- the hydraulic adjusting means for adjusting the vertical of the device structure (4) or the actual fire brigade aerial ladder are, in particular, hydraulic actuating cylinders (8) which enable the device structure (4) to be pivoted with respect to the base frame (3) about the horizontal pivot axis (9).
- An inclination sensor (5) for example in the form of a hydraulically damped pendulum, for detecting the value of an inclined position of the implement structure (4) in the commissioning position of the implement (2) is located on the side of the implement structure (4) which can be pivoted and pivoted to the base frame (3) ) and for the purpose of carrying out the control process of the device structure (2) in and out of the vertical.
- the hydraulic control comprises a hydraulic valve (10) in the form of a proportional valve known per se, which allows the control device (1) to be steplessly regulated.
- the hydraulic valve (10) is hydraulically connected to the hydraulic actuating cylinders (8), which is connected to the floor support cylinder (6) via a control line.
- the hydraulic valve (10) can also be designed as a simple three / four-way valve that works more or less black and white with a defined dead zone.
- the normally slanted base (3) is fixed in its inclined position by extending the floor support cylinder (6), namely by actuating the hydraulic pressure switch (7) of the base. If a maximum support pressure value is reached, the value of the inclined position displayed in the inclination sensor (5) is stored in a microcomputer (11), in particular in known analog or digital memory modules (12) as a feedback variable.
- the inclination sensor (5) is able to record the maximum possible inclined position of the vehicle.
- control device (1) works in permissible working ranges for the plumb control with current values of the inclination sensor (5) in comparison with the zero value of the sensor as a control variable.
- the working device (2) or the vertically positioned device structure (4) is to be returned to its starting position parallel to the base frame (3), which is done automatically or by command by known sensors of the rotating and erecting position when the sensor is brought into operation.
- the stored feedback value of the inclination sensor (5) delivers the setpoint of the control.
- FIG. 2 shows the electrical voltage angle diagram of an inclination sensor (5) or pendulum.
- the required output signal must allow a distinction to be made between the two possible swivel directions.
- Appropriate measures for example supplying the sensor with a positive voltage u o + and a negative voltage u o -or through evaluation by means of a bridge circuit, assign a polarity to each side.
- positive and negative voltages u o + and u o - are plotted over the angular range -a - + a of an inclination sensor.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ladders (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Description
Die Erfindung betrifft eine Einrichtung zur Steuerung des Niveauausgleichs eines Arbeitsgeräts mit einem Untergestell und einem mit diesem dreh- und schwenkbar verbundenen Geräteaufbau zwecks Einstellung einer Lotrechten des Geräteaufbaus bei Bodenkontakt des Untergestells in einer Schräglage, insbesondere einer fahrbaren höhenverstellbaren Feuerleiter, gemäß Oberbegriff des Anspruchs 1.The invention relates to a device for controlling the level compensation of an implement with a base frame and a device structure connected to it rotatably and pivotably for the purpose of setting a vertical of the device structure when the base frame comes into contact with the base in an inclined position, in particular a movable height-adjustable fire escape, according to the preamble of claim 1.
Bekannte Einrichtungen zur Niveauregulierung der Hochachse des Geräteaufbaus von Arbeitsgeräten, insbesondere Feuerwehrdrehleitem, arbeiten mit Neigungsfühlern für die lotrechte Steuerung des Aufbaus und für die Lagerückführung mit zwei Schaltern zum parallelen Ablegen bzw. Zurückführen bezüglich der Lage des Untergestells (vgl. DE-AS 2 036 559, EP 00 63 709). Gemäß EP 00 63 709 erfolgt praktisch nach laufender Messung der Fahrzeugneigung in zwei zueinander senkrechten Richtungen mittels an sich bekannter Fühler in einem Computer eine theoretische Vorausberechnung der Schiefstellungskorrektur-Geschwindigkeit in Verknüpfung mit der Schwenkgeschwindigkeit der Leiter und anschließend eine entsprechende Durchführung der Schiefstellungskorrektur über an sich bekannte Proportionalventile. Fakultativ kann zusätzlich nach laufender Messung der realen Schiefstellung mittels eines offenbar an der Leiter angebrachten an sich bekannten Fühlers eine nochmalige Korrektor der Schiefstellungskorrektur-Geschwindigkeitvorgenommen werden. Eine derartige Steuereinrichtung ist ersichtlich relativ aufwendig und vergleichsweise störungsanfällig.Known devices for level control of the vertical axis of the device structure of work equipment, in particular fire brigade turntables, work with inclination sensors for the vertical control of the structure and for position feedback with two switches for parallel placement or return with regard to the position of the base (see DE-AS 2 036 559 , EP 00 63 709). According to EP 00 63 709, practically after ongoing measurement of the vehicle inclination in two mutually perpendicular directions by means of sensors known per se, a theoretical prediction of the misalignment correction speed in combination with the swiveling speed of the ladder and then a corresponding implementation of the misalignment correction is carried out via known ones Proportional valves. Optionally, after the actual misalignment has been measured, a further correction of the misalignment correction speed can be carried out using a sensor which is obviously attached to the ladder and is known per se. Such a control device is evidently relatively complex and comparatively prone to failure.
Ausgehend vom vorgenannten Stand der Technik ist es Aufgabe der Erfindung, eine Einrichtung zur Steuerung des Niveauausgleichs eines Arbeitsgerätes der eingangs genannten Art zu schaffen, die einfach aufgebaut ist und mit großer Betriebssicherheit betrieben werden kann.Starting from the aforementioned prior art, it is an object of the invention to provide a device for controlling the level compensation of an implement of the type mentioned at the outset, which is of simple construction and can be operated with great operational reliability.
Gelöst wird die der Erfindung zugrundeliegende Aufgabe durch die im kennzeichnenden Teil des Anspruchs 1 angegebenen Merkmale.The object on which the invention is based is achieved by the features specified in the characterizing part of claim 1.
Vorteilhaft weitergebildet wird der Erfindungsgegenstand durch die Merkmale der Unteransprüche 2 bis 7.The subject of the invention is advantageously further developed by the features of subclaims 2 to 7.
Insbesondere wird in einer Inbetriebnahmeposition des normalerweise schräg positionierten Arbeitsgeräts vor Einstellung der Lotrechten des Geräteaufbaus der Wert des Neigungsfühlers gespeichert, und es wird nach einem Steuervorgang des Geräteaufbaus in die Lotrechte, bei welchem die Steuereinrichtung mit aktuellen Werten des Neigungsfühlers im Vergleich zum Nullwert des Fühlers als Steuergröße arbeitet, zwecks Rückführung des Geräteaufbaus aus der Lotrechten in seine Ausgangslage der gespeicherte Wert als Rückführ-Steuergröße verwendet.In particular, the value of the inclination sensor is stored in a commissioning position of the implement, which is normally positioned at an angle, before setting the vertical of the implement, and after a control operation of the implement, the value of the incline is stored, in which the control device uses current values of the inclined sensor as compared to the zero value of the sensor Control variable works, for the purpose of returning the device structure from the vertical to its starting position, the stored value is used as the return control variable.
Zweckmäßigerweise erfaßt der Neigungsfühler am Geräteaufbau die maximal auftretende Schräglage des Arbeitsgeräts proportional zur Lage und Richtung.Appropriately, the inclination sensor detects the maximum inclined position of the implement that is proportional to the position and direction.
Die Inbetriebnahmeposition des Arbeitsgeräts kann durch Erreichen eines maximalen Bodenabstützdruck-Werts in hydraulischen Bodenabstützzylindern des Arbeitsgeräts festgelegt sein, durch den der Zeitpunkt für die Speicherung des Werts des Neigungsfühlers ausgelöst wird.The start-up position of the implement can be determined by reaching a maximum ground support pressure value in hydraulic ground support cylinders of the implement, by which the point in time for storing the value of the inclination sensor is triggered.
Insbesondere bei einer fehlerhaften Inbetriebnahmeposition des Arbeitsgeräts kann der Zeitpunkt für die Speicherung des Werts des Neigungsfühlers auch durch Einschalten des Lotrecht-Steuervorgangs des Geräteaufbaus ausgelöst werden, beispielsweise durch Einlegen eines Nebenabtriebes zwecks Schaffung einer Ersatzgröße einer Rückführ-Steuergröße.Particularly when the implement is in an incorrect commissioning position, the time for storing the value of the inclination sensor can also be triggered by switching on the perpendicular control process of the implement structure, for example by engaging a power take-off to create a replacement variable for a feedback control variable.
Ein besonders einfacher Aufbau und zuverlässiger Steuerungsbetrieb ergibt sich, wenn der Neigungsfühler in Form eines hydraulisch gedämpften Pendels vorgesehen istA particularly simple construction and reliable control operation result if the inclination sensor is provided in the form of a hydraulically damped pendulum
Es kann aber auch der Neigungsfühler in Form einer gebogenen Elektrolyt-Röhre vorgesehen sein.However, the inclination sensor can also be provided in the form of a curved electrolyte tube.
Der Neigungsfühler ist zwechmäßigerweise auf der Platine einer elektronischen Steuerung, beispielsweise eines Mikrocomputers, angeordnet. Der Mikrocomputer zeichnet in einem Steuerprogramm den der Schräglage des Geräteaufbaus entsprechenden Wert des Neigungsfühlers auf, führt die Steuerung des Geräteaufbaus in die Lotrechte aus und verwendet anschließend für eine Rückstellung des Arbeitsgeräts in die Ausgangslage (Inbetriebnahmeposition) den gespeicherten Wert des Neigungsfühlers wieder als Rückführ-Steuergröße. Hierbei können bekannte Analog- oder Digitalspeicher für die Speicherung der Werte eingesetzt werden. Ersichtlich kann durch die Erfindung eine einfache und zuverlässig arbeitende Steuereinrichtung geschaffen werden. Die Erfindung ermöglicht insbesondere den Verzicht auf die Schalter der Positionsregelung unter der Voraussetzung der analogen Erfassung der Signale für die Korrektur der Schiefstellung bzw. der Rückführung. Dies vereinfacht und verringert den Aufwand an Material und Kosten einer gattungsgemäßen Niveauausgleichs-Steuereinrichtung bei gleichzeitiger Verbesserung der Betriebssicherheit in einem besonderen Maß, wenn zudem auch der Neigungsfühlerzusammen auf der Elektronik-Steuerungskarte aufgebaut bzw. montiert ist. Neben der Einsparung von Schaltern nach dem Stand der Technik werden auch zusätzlich durch die Erfindung Kabel eingespart.The inclination sensor is conveniently arranged on the circuit board of an electronic control, for example a microcomputer. In a control program, the microcomputer records the value of the inclination sensor corresponding to the inclined position of the implement structure, executes the control of the implement structure in the vertical and then uses the stored value of the inclination sensor again as a feedback control variable to reset the implement to the starting position (commissioning position) . Known analog or digital memories can be used to store the values. Obviously, a simple and reliable control device can be created by the invention. In particular, the invention makes it possible to dispense with the switches of the position control provided that the signals for the correction of the misalignment or the feedback are recorded analogously. This simplifies and reduces the effort in material and costs of a generic level compensation control device while at the same time improving the operational reliability to a particular degree, if the inclination sensor is also built or mounted together on the electronic control card. In addition to the saving of switches according to the prior art, the invention also saves on cables.
Nach dem Stand der Technik ist ferner gemäß DE-OS 29 47 303 eine Steuerungsvorrichtung für Hebesysteme bekannt, die Steuervorrichtung steuert jedoch einzelne Gelenkachsen und nicht wie bei der Erfindung die Verstellung einer Schwenkachse für die Steuerung der Seiteneinstellung.According to the prior art, a control device for lifting systems is also known from DE-OS 29 47 303, but the control device controls individual articulated axes and not, as in the invention, the adjustment of a pivot axis for controlling the side adjustment.
Ferner ist gemäß DE-OS 29 33 333 eine elektronische Schaltung zum lotrechten Einstellen eines Drehgestells von höhenveränderlichen Arbeitsgeräten bekannt. Die Schaltung betrifft nicht den Rückführvorgang eines lotrecht eingestellten Drehgestells in die ursprüngliche Schräglage, was Gegenstand der vorliegenden Erfindung ist.Furthermore, according to DE-OS 29 33 333 an electro African circuit for the vertical adjustment of a bogie of height-adjustable work equipment known. The circuit does not relate to the return process of a vertically set bogie to the original inclined position, which is the subject of the present invention.
Die Erfindung wird nachfolgend anhand eines Ausführungsbeispiels unter Bezugnahme auf die beigefügte Zeichnung näher beschrieben ; es zeigen :
- Fig. 1 in schematischer Heckansicht ein Arbeitsgerät in Form einer fahrbaren höhenverstellbaren Feuerwehrdrehleiter in einer Schräglage des Untergestells bei praktisch lotrechtem Geräteaufbau mit schematischer Darstellung des mechanisch hydraulischen Aufbaus der Steuereinrichtung, und
- Fig. 2 ein elektrisches Spannungs-Winkeldiagramm eines Neigungsfühlers gemäß Ausführungsbeispiel nach Fig. 1.
- Fig. 1 shows a schematic rear view of a working device in the form of a mobile height-adjustable fire ladder in an inclined position of the base frame with a practically vertical device structure with a schematic representation of the mechanical-hydraulic structure of the control device, and
- FIG. 2 shows an electrical voltage-angle diagram of an inclination sensor according to the exemplary embodiment according to FIG. 1.
In der Zeichnung ist schematisch von hinten ein Arbeitsgerät (2) in Form einer fahrbaren Feuerwehrdrehieiter gezeigt, welche ein Untergestell (3) besitzt, welches dreh- und schwenkbar mit einem Geräteaufbau (4) in Form der eigentlichen ausfahrbaren Drehleiter verbunden ist. Der Geräteaufbau (4) kann mithin bezüglich eines schräg positionierten Untergestells (3), welches durch seitliche Bodenabstützzylinder (6) abgestützt ist, in einer Inbetriebnahmeposition des Arbeitsgeräts (2) durch eine Einrichtung (1) zur Steuerung des Niveauausgleichs in eine Horizontallage bzw. in eine Lotrechte eingestellt und wieder in die Ausgangslage zurückgeführt werden. Die hydraulischen Bodenabstützzylinder (6) sind an einen hydraulischen Druckschalter (7) im Untergestell (3) angeschlossen. Die hydraulischen Stellmittel zum Einstellen der Lotrechten des Geräteaufbaus (4) bzw. der eigentlichen Feuerwehrdrehleiter sind insbesondere hydraulische Stellzylinder (8), die eine Verschwenkung des Geräteaufbaus (4) bezüglich des Untergestells (3) um die horizontale Schwenkachse (9) ermöglichen.In the drawing, a working device (2) is shown schematically from behind in the form of a mobile fire brigade turntable, which has a base frame (3) which is pivotally and pivotally connected to a device structure (4) in the form of the actual extendable turntable ladder. The device structure (4) can thus with respect to an obliquely positioned base frame (3), which is supported by lateral floor support cylinders (6), in a commissioning position of the working device (2) by a device (1) for controlling the level compensation in a horizontal position or in a plumb line is set and returned to the starting position. The hydraulic floor support cylinders (6) are connected to a hydraulic pressure switch (7) in the base frame (3). The hydraulic adjusting means for adjusting the vertical of the device structure (4) or the actual fire brigade aerial ladder are, in particular, hydraulic actuating cylinders (8) which enable the device structure (4) to be pivoted with respect to the base frame (3) about the horizontal pivot axis (9).
Am dreh- und schwenkbar mit dem Untergestell (3) verbundenen Geräteaufbau (4) befindet sich in seitiicherAnordnung ein Neigungsfühler (5) beispielsweise in Form eines hydraulisch gedämpften Pendels zur Erfassung des Werts einer Schrägstellung des Geräteaufbaus (4) in der Inbetriebnahmeposition des Arbeitsgeräts (2) sowie zwecks Durchführung des Steuervorgangs des Geräteaufbaus (2) in die und aus der Lotrechten.An inclination sensor (5), for example in the form of a hydraulically damped pendulum, for detecting the value of an inclined position of the implement structure (4) in the commissioning position of the implement (2) is located on the side of the implement structure (4) which can be pivoted and pivoted to the base frame (3) ) and for the purpose of carrying out the control process of the device structure (2) in and out of the vertical.
Ferner umfaßt die hydraulische Steuerung ein Hydraulikventil (10) in Form eines an sich bekannten Proportionalventils, welches eine stufenlose Regelung der Steuereinrichtung (1) erlaubt. Das Hydraulikventil (10) ist mit den hydraulischen Stellzylindern (8) hydraulisch verbunden, das über eine Steuerleitung an die Bodenabstützzylinder (6) angeschlossen ist. Das Hydraulikventil (10) kann auch als einfaches Drei/Vierwegeventil ausgeführt sein, das mehr oder minder schwarz/weiß mit einer definierten Totzone arbeitet.Furthermore, the hydraulic control comprises a hydraulic valve (10) in the form of a proportional valve known per se, which allows the control device (1) to be steplessly regulated. The hydraulic valve (10) is hydraulically connected to the hydraulic actuating cylinders (8), which is connected to the floor support cylinder (6) via a control line. The hydraulic valve (10) can also be designed as a simple three / four-way valve that works more or less black and white with a defined dead zone.
Bei einer Inbetriebnahme des Arbeitsgeräts (2) wird gemäß Fig. 1 vorab das normalerweise schräg abgestellte Untergestell (3) fest in seiner Schräglage durch Ausfahren der Bodenabstützzylinder (6) fixiert, und zwar durch Betätigung des hydraulischen Druckschalters (7) des Untergestells. Ist ein maximaler Abstützdruckwert erreicht, wird der Wert der angezeigten Schräglage im Neigungsfühler (5) in einem Mikrocomputer (11) gespeichert, insbesondere in an sich bekannten Analog- oder Digitalspeicherbausteinen (12) als Rückführgröße gespeichert. Der Neigungsfühler (5) ist in der Lage, positionsbezogen die maximal mögliche Schräglage des Fahrzeugs aufnehmen zu können.1, the normally slanted base (3) is fixed in its inclined position by extending the floor support cylinder (6), namely by actuating the hydraulic pressure switch (7) of the base. If a maximum support pressure value is reached, the value of the inclined position displayed in the inclination sensor (5) is stored in a microcomputer (11), in particular in known analog or digital memory modules (12) as a feedback variable. The inclination sensor (5) is able to record the maximum possible inclined position of the vehicle.
Nach Speicherung des Werts für die Schräglage arbeitet die Steuereinrichtung (1) in zulässigen Arbeitsbereichen für die Lotregelung mit aktuellen Werten des Neigungsfühlers (5) im Vergleich zum Nullwert des Fühlers als Steuergröße.After the value for the inclined position has been stored, the control device (1) works in permissible working ranges for the plumb control with current values of the inclination sensor (5) in comparison with the zero value of the sensor as a control variable.
Soll das Arbeitsgerät (2) bzw. der lotrecht gestellte Geräteaufbau (4) wieder in seine Ausgangslage parallel zum Untergestell (3) zurückgestellt werden, was durch bekannte Aufnehmer der Dreh- und Aufrichtposition mit der Annäherung der Inbetriebposition dieser Aufnehmer automatisch oder per Befehl erfolgt, liefert der gespeicherte Rückführungswert des Neigungsfühlers (5) den Sollwert der Regelung.If the working device (2) or the vertically positioned device structure (4) is to be returned to its starting position parallel to the base frame (3), which is done automatically or by command by known sensors of the rotating and erecting position when the sensor is brought into operation. the stored feedback value of the inclination sensor (5) delivers the setpoint of the control.
In Fig. 2 ist das elektrische Spannungsgswinkeldiagramm eines Neigungsfühlers (5) bzw. Pendels dargestellt. Das erforderliche Ausgangssignal muß eine Unterscheidung zwischen den beiden möglichen Schwenkrichtungen erlauben. Durch geeignete Maßnahmen, z.B. Speisung des Fühlers mit einer positiven Spannung uo+ und einer negativen Spannung uo-oder durch Auswertung mittels Brückenschaltung wird jeder Seite eine Polarität zugeordnet. Im Diagramm der Fig. 2 sind positive und negative Spannung uo+ bzw. uo- über den Winkelbereich -a -+ a eines Neigungsfühlers aufgetragen.2 shows the electrical voltage angle diagram of an inclination sensor (5) or pendulum. The required output signal must allow a distinction to be made between the two possible swivel directions. Appropriate measures, for example supplying the sensor with a positive voltage u o + and a negative voltage u o -or through evaluation by means of a bridge circuit, assign a polarity to each side. In the diagram in FIG. 2, positive and negative voltages u o + and u o - are plotted over the angular range -a - + a of an inclination sensor.
Sämtliche in der Beschreibung erwähnten und/ oder in der Zeichnung dargestellten neuen Merkmale allein oder in sinnvoller Kombination sind erfindungswesentlich, auch soweit sie in den Ansprüchen nicht ausdrücklich beansprucht sind.All new features mentioned in the description and / or shown in the drawing, alone or in a meaningful combination, are essential to the invention, even if they are not expressly claimed in the claims.
Claims (7)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19873743546 DE3743546A1 (en) | 1987-12-22 | 1987-12-22 | DEVICE FOR CONTROLLING THE LEVEL LEVEL COMPENSATION OF A WORKING APPARATUS, IN PARTICULAR A MOBILE HEIGHT-ADJUSTABLE FIREFIGHTER LADDER |
| DE3743546 | 1987-12-22 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP0321789A1 EP0321789A1 (en) | 1989-06-28 |
| EP0321789B1 true EP0321789B1 (en) | 1991-03-13 |
Family
ID=6343279
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP88120505A Expired - Lifetime EP0321789B1 (en) | 1987-12-22 | 1988-12-08 | Level compensation controlling device for a work implement, particularly for a mobile extensible fire service turntable ladder |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP0321789B1 (en) |
| JP (1) | JP2637206B2 (en) |
| DE (2) | DE3743546A1 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB9711317D0 (en) * | 1997-06-03 | 1997-07-30 | William Hook Limited | Safety monitoring device |
| US5934409A (en) * | 1997-06-26 | 1999-08-10 | Genie Industries, Inc. | Trailer personnel lift with a level sensor and manually set outriggers |
| FR2924703B1 (en) * | 2007-12-11 | 2010-01-15 | Gimaex Internat | AERIAL LIFTING DEVICE AND VEHICLE EQUIPPED WITH SUCH A DEVICE |
| DE102016000531A1 (en) * | 2016-01-21 | 2017-07-27 | Putzmeister Engineering Gmbh | Mobile implement |
| CN106955445B (en) * | 2017-04-28 | 2020-03-20 | 陕西专壹知识产权运营有限公司 | Hydraulic lifting type intelligent fire-fighting robot and control method thereof |
| CN112408223A (en) * | 2020-11-26 | 2021-02-26 | 江麓机电集团有限公司 | Jacking anti-tipping alarm system of self-elevating tower crane |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2188036B1 (en) * | 1972-06-06 | 1977-02-11 | Metz Gmbh Carl | |
| DE2839419A1 (en) * | 1978-09-11 | 1980-03-27 | Krupp Gmbh | Angle or rotation instrument - has plane inclination pick=ups with two inclination detectors with output signal of one of them divided by pick=up output signal |
| SE419211B (en) * | 1978-12-15 | 1981-07-20 | Jan Axel Gunnar Ekman | DEVICE FOR AIR SYSTEM CONTROL |
| DE2933333A1 (en) * | 1979-08-17 | 1981-03-26 | Iveco Magirus Ag, 89079 Ulm | Circuit for keeping axis of rotation of frame perpendicular - has mercury switch connected via two pairs of amplifiers to servomotor |
| FR2504701A1 (en) * | 1981-04-22 | 1982-10-29 | Camiva | DEVICE FOR CONTROLLING AUTOMATIC CORRECTION OF DEVERS FOR DEPLOYABLE ORIENTABLE SCALE OR ARM-LIKE ARMOR ON VEHICLE |
-
1987
- 1987-12-22 DE DE19873743546 patent/DE3743546A1/en not_active Withdrawn
-
1988
- 1988-12-08 EP EP88120505A patent/EP0321789B1/en not_active Expired - Lifetime
- 1988-12-08 DE DE8888120505T patent/DE3862020D1/en not_active Expired - Lifetime
- 1988-12-21 JP JP63320806A patent/JP2637206B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JP2637206B2 (en) | 1997-08-06 |
| JPH028493A (en) | 1990-01-11 |
| EP0321789A1 (en) | 1989-06-28 |
| DE3743546A1 (en) | 1989-07-13 |
| DE3862020D1 (en) | 1991-04-18 |
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