EP1593642A2 - Loading- and/or lifting apparatus, in particular reachloader - Google Patents

Loading- and/or lifting apparatus, in particular reachloader Download PDF

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Publication number
EP1593642A2
EP1593642A2 EP05007760A EP05007760A EP1593642A2 EP 1593642 A2 EP1593642 A2 EP 1593642A2 EP 05007760 A EP05007760 A EP 05007760A EP 05007760 A EP05007760 A EP 05007760A EP 1593642 A2 EP1593642 A2 EP 1593642A2
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EP
European Patent Office
Prior art keywords
steering angle
maximum permissible
parameter
operating parameters
value
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP05007760A
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German (de)
French (fr)
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EP1593642B1 (en
EP1593642A3 (en
Inventor
Marco Sonderegger
Klaus Schneider
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Liebherr Werk Nenzing GmbH
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Liebherr Werk Nenzing GmbH
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
    • B66F9/0655—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted with a telescopic boom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks

Definitions

  • the present invention relates to a loading and / or lifting device, in particular a reachstacker.
  • a reachstacker is a loader, for the handling of heavy loads such as containers, general cargo and the like suitable is. Load handling is not carried out with reach stackers Mast, but with the help of a boom, in general as a telescopic boom is executed.
  • the invention is not limited to reachstackers, special also includes other load and / or lifting equipment, such as Forklift or other equipment suitable for load handling.
  • the maximum steering angle i. the entire steering range even at high Speeds available, it can vary depending on the combination of speed and steering lock come to dangerous situations that point to it based, that the stability of the device is no longer guaranteed. For today's standard equipment, it is at the discretion of the driver, which steering angle is to be selected to prevent tilting of the device or not come into a critical driving situation.
  • the invention is based on the object, a loading and / or lifting device and In particular, to further develop a reachstacker such that critical Driving situations are recognizable or avoidable.
  • the device has one or more Sensor for detecting at least one of the stability of the device influencing operating parameters as well as one with the transducers in Compound computing unit having means by which one for Ensuring stability Maximum permissible value of an operating parameter depending on one or more of the detected operating parameters is determined.
  • operating parameters is to be understood broadly and includes, for example, the driving speed or the steering angle, the lifting capacity, the load height, the inclination and the radius of the loading and / or Lifting device.
  • the computing unit has means or a logic by means of from the measured parameter or parameters a maximum permissible Value of a parameter, preferably the steering angle is determined. Of the maximum permissible value of a parameter is determined with regard to that the stability of the device is guaranteed.
  • the operating parameter is whose maximum permissible value is determined to the steering angle the loading and / or lifting device.
  • the arithmetic unit may be configured to operate on the basis of only one or advantageously on the basis of several or all detected operating parameters the maximum allowable value of a parameter, for example of the steering angle determined.
  • a critical driving situation can then be reliable be avoided if included in the calculation of the maximum allowable Steering angle take all parameters that are on the stability of the Device influence. Examples of such parameters are the driving speed, the lifting capacity, the outreach, the load height, the Auslegernistometer as well as the terrain slope or inclination of the device. Also other parameters or parameters can be of importance and enter into the calculation.
  • the arithmetic unit or the logic present therein determines due a known dependence of the stability of the device of these influencing parameters the maximum permissible value of a parameter or the steering angle, in which the stability is still guaranteed.
  • a sensor for detecting the actual steering angle provided.
  • This encoder can be redundant be.
  • comparison means are provided, by means of which the actual compared with the maximum permissible steering angle becomes.
  • the actual steering angle is from one or more pickups determined and compared with the permissible steering angle.
  • the to provided comparison means may be part of the arithmetic unit.
  • the Comparison result can be used, for example, the driver informing that exceeding the maximum permissible steering angle is present.
  • Such a signal for example, acoustically or be reproduced optically.
  • An embodiment of the invention is also conceivable in which an exceeding a maximum permissible parameter value is excluded.
  • means are provided by means of that when changing an operating parameter, for example, an increase the speed that exceeds the maximum allowed Value of a parameter, such as the steering angle, another operating parameter is changed such that the actual value does not exceed the maximum permissible value.
  • an operating parameter for example, an increase the speed that exceeds the maximum allowed Value of a parameter, such as the steering angle
  • the invention another parameter, such as the driving speed changed so - reduced in this example - so that a Exceeding the maximum permissible steering angle does not occur and the Stability remains guaranteed.
  • the steering angle exceeds the maximum permissible steering angle
  • another operating parameter for example, the discharge or the driving speed is changed or reduced such that the permissible range of the steering angle detects the actual steering angle.
  • the speed becomes e.g. the Reachstackers increased so that, with otherwise unchanged operating parameters and steering lock would result in a critical situation is provided that as the speed is increased, a other parameters, such as the projection or lifting height reduced in such a way it will not exceed the maximum permissible steering angle comes.
  • Which parameter is changed for the aforementioned purpose can be fixed or be selectable.
  • means may be provided to cause a change an operating parameter is possible only to the extent in which, for example the permissible range of the steering angle (without changing others Parameter) is not exceeded.
  • the Lifting height or unloading with otherwise unchanged operating parameters only be changed to an extent that the actual steering angle in the permissible range remains.
  • a reachstacker be accelerated, the other operating parameters are not changed and the speed increase is only as far as possible that the stability the reachstacker is still guaranteed, i. the actual with the permissible steering angle matches.
  • the Computing unit further comprises means by means of which an optimal steering speed or steering acceleration depending on one or more of detected operating parameters can be determined. At the recorded operating parameters these can be the parameters used to determine the permissible Range of a parameter are used.
  • means are provided by means of which at maximum specification of the steering angle of the maximum permissible steering angle set becomes. Accordingly, at maximum specification of the steering angle the wheels are not necessarily full, but only up to the maximum permissible Steering stroke moves.
  • the single FIGURE shows a schematic representation of a Reachstackers with Steering monitoring.
  • the setting of the actual steering angle is only within the permissible Range possible.
  • To determine the actual steering angle are one or more encoders (redundant version) provided.
  • the steering speed and the steering acceleration adjusted accordingly, i. at a reduction of the permissible range the steering angle e.g. at increasing the driving speed of the Reachstackers reduce steering speed and steering acceleration. This ensures that at high speeds the steering angle and the steering speed is not too big.
  • the maximum specification of the steering angle by the driver leads to a setting the actual steering angle to the maximum permissible steering angle.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Civil Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Transplanting Machines (AREA)

Abstract

The device has one or more sensors for detecting at least one operating parameter that influences the stability of the loading and/or lifting device and an arithmetic unit with an arrangement with which a maximum permissible value of an operating parameter to guarantee stability is determined depending on one or more of the detected operating parameters.

Description

Die vorliegende Erfindung betrifft ein Lade- und/oder Hubgerät, insbesondere einen Reachstacker. Bei einem Reachstacker handelt es sich um einen Lader, der für den Umschlag von schweren Lasten wie Containern, Stückgut und dergleichen geeignet ist. Das Lasthandling erfolgt bei Reachstackern nicht über ein Hubgerüst, sondern mit Hilfe eines Auslegers, der im allgemeinen als Teleskopausleger ausgeführt ist. Die Erfindung ist nicht auf Reachstacker beschränkt, sonder umfasst auch andere Last- und/oder Hubgeräte, wie beispielsweise Stapler oder andere Geräte, die zum Lasthandling geeignet sind.The present invention relates to a loading and / or lifting device, in particular a reachstacker. A reachstacker is a loader, for the handling of heavy loads such as containers, general cargo and the like suitable is. Load handling is not carried out with reach stackers Mast, but with the help of a boom, in general as a telescopic boom is executed. The invention is not limited to reachstackers, special also includes other load and / or lifting equipment, such as Forklift or other equipment suitable for load handling.

Bei derartigen heute üblichen Geräten werden bei maximaler Vorgabe des Lenkwinkels die Räder voll ausgelenkt.In such today standard devices are at maximum specification of the Steering angle fully deflected the wheels.

Da der maximale Lenkeinschlag, d.h. der gesamte Lenkbereich auch bei hohen Geschwindigkeiten zur Verfügung steht, kann es je nach Kombination von Geschwindigkeit und Lenkeinschlag zu gefährlichen Situationen kommen, die darauf beruhen, dass die Standsicherheit des Gerätes nicht mehr gewährleistet ist. Bei heute üblichen Geräten liegt es ausschließlich im Ermessen des Fahrers, welcher Lenkeinschlag zu wählen ist, um ein Kippen des Gerätes zu vermeiden bzw. nicht in eine kritische Fahrsituation zu kommen. Since the maximum steering angle, i. the entire steering range even at high Speeds available, it can vary depending on the combination of speed and steering lock come to dangerous situations that point to it based, that the stability of the device is no longer guaranteed. For today's standard equipment, it is at the discretion of the driver, which steering angle is to be selected to prevent tilting of the device or not come into a critical driving situation.

Der Erfindung liegt die Aufgabe zugrunde, ein Lade- und/oder Hubgerät und insbesondere einen Reachstacker dahingehend weiterzubilden, dass kritische Fahrsituationen erkennbar bzw. vermeidbar sind.The invention is based on the object, a loading and / or lifting device and In particular, to further develop a reachstacker such that critical Driving situations are recognizable or avoidable.

Diese Aufgabe wird durch einen Lade- und/oder Hubgerät mit dem Merkmalen des Patentanspruchs 1 gelöst. Danach verfügt das Gerät über einen oder mehrere Aufnehmer zur Erfassung wenigstens eines die Standsicherheit des Gerätes beeinflussenden Betriebsparameters sowie über eine mit den Aufnehmern in Verbindung stehende Recheneinheit, die Mittel aufweist, mittels derer ein zur Gewährleistung der Standsicherheit maximal zulässiger Wert eines Betriebsparameters in Abhängigkeit von einem oder mehreren der erfassten Betriebsparameter bestimmt wird. Der Begriff "Betriebsparameter" ist weit zu verstehen und umfasst beispielsweise die Fahrgeschwindigkeit oder den Lenkeinschlag, die Hublast, die Lasthöhe, die Neigung und die Ausladung des Lade- und/oder Hubgerätes.This object is achieved by a loading and / or lifting device with the features of claim 1. After that, the device has one or more Sensor for detecting at least one of the stability of the device influencing operating parameters as well as one with the transducers in Compound computing unit having means by which one for Ensuring stability Maximum permissible value of an operating parameter depending on one or more of the detected operating parameters is determined. The term "operating parameters" is to be understood broadly and includes, for example, the driving speed or the steering angle, the lifting capacity, the load height, the inclination and the radius of the loading and / or Lifting device.

Die erfindungsgemäße Recheneinheit verfügt über Mittel bzw. eine Logik, mittels derer aus dem oder den gemessenen Parametern ein maximal zulässiger Wert eines Parameters, vorzugsweise des Lenkeinschlags bestimmt wird. Der maximal zulässige Wert eines Parameters wird im Hinblick darauf bestimmt, dass die Standsicherheit des Gerätes gewährleistet bleibt.The computing unit according to the invention has means or a logic by means of from the measured parameter or parameters a maximum permissible Value of a parameter, preferably the steering angle is determined. Of the maximum permissible value of a parameter is determined with regard to that the stability of the device is guaranteed.

Denkbar ist beispielsweise, dass in einer Fahrsituation mit einer bestimmten Geschwindigkeit ermittelt wird, in welchem Bereich des Lenkeinschlages die Standsicherheit gegeben ist. Auf dieser Grundlage wird ein maximal zulässiger Lenkeinschlag ermittelt. Denkbar ist beispielsweise ferner, dass in einer Fahrsituation mit einem bestimmten Lenkeinschlag ermittelt wird, bis zu welcher Geschwindigkeitsbereich die Standsicherheit gegeben ist, d.h. bis zu welchem Wert die Geschwindigkeit erhöht werden kann. It is conceivable, for example, that in a driving situation with a certain Speed is determined in which area of the steering angle the Stability is given. On this basis, a maximum allowable Steering determined. It is also conceivable, for example, that in a driving situation is determined with a certain steering angle, up to which speed range the stability is given, i. up to which Value the speed can be increased.

Vorteilhaft ist es, wenn nicht nur ein Betriebsparameter in die Berechnung eingeht, sondern mehrere oder sämtliche Parameter, die einen Einfluss auf die Standsicherheit des Gerätes haben.It is advantageous if not only an operating parameter is included in the calculation, but several or all parameters that affect the Stability of the device have.

In bevorzugter Ausgestaltung der Erfindung handelt es sich bei dem Betriebsparameter, dessen maximal zulässiger Wert bestimmt wird, um den Lenkeinschlag des Lade- und/oder Hubgerätes.In a preferred embodiment of the invention, the operating parameter is whose maximum permissible value is determined to the steering angle the loading and / or lifting device.

Die Recheneinheit kann derart ausgeführt sein, dass sie auf der Grundlage von nur einem oder vorteilhaft auf der Grundlage mehrerer oder aller erfasster Betriebsparameter den maximal zulässigen Wert eines Parameters, beispielsweise des Lenkeinschlages bestimmt. Eine kritische Fahrsituation kann dann zuverlässig vermieden werden, wenn in die Berechnung des maximal zulässigen Lenkeinschlags sämtliche Parameter eingehen, die auf die Standsicherheit des Gerätes Einfluss haben. Beispiele für derartige Parameter sind des Fahrgeschwindigkeit, die Hublast, die Ausladung, die Lasthöhe, die Auslegerneigung sowie die Geländeneigung bzw. die Neigung des Gerätes. Auch andere Kenngrößen bzw. Parameter können von Bedeutung sein und in die Berechnung eingehen. Die Recheneinheit bzw. die darin vorhandene Logik bestimmt aufgrund einer bekannten Abhängigkeit der Standsicherheit des Gerätes von den diese beeinflussenden Parametern den maximal zulässigen Wert eines Parameters bzw. des Lenkeinschlags, bei dem die Standsicherheit noch gewährleistet ist.The arithmetic unit may be configured to operate on the basis of only one or advantageously on the basis of several or all detected operating parameters the maximum allowable value of a parameter, for example of the steering angle determined. A critical driving situation can then be reliable be avoided if included in the calculation of the maximum allowable Steering angle take all parameters that are on the stability of the Device influence. Examples of such parameters are the driving speed, the lifting capacity, the outreach, the load height, the Auslegernigung as well as the terrain slope or inclination of the device. Also other parameters or parameters can be of importance and enter into the calculation. The arithmetic unit or the logic present therein determines due a known dependence of the stability of the device of these influencing parameters the maximum permissible value of a parameter or the steering angle, in which the stability is still guaranteed.

In weiterer Ausgestaltung der Erfindung ist ein Aufnehmer zur Erfassung des tatsächlichen Lenkeinschlags vorgesehen. Dieser Geber kann redundant ausgeführt sein.In a further embodiment of the invention, a sensor for detecting the actual steering angle provided. This encoder can be redundant be.

In einer weiteren Ausführung der Erfindung sind Vergleichsmittel vorgesehen, mittels derer der tatsächliche mit dem maximal zulässigen Lenkeinschlag verglichen wird. Der tatsächliche Lenkeinschlag wird von einem oder mehreren Aufnehmern ermittelt und mit dem zulässigen Lenkeinschlag verglichen. Die dazu vorgesehenen Vergleichsmittel können Bestandteil der Recheneinheit sein. Das Vergleichsergebnis kann beispielsweise dazu eingesetzt werden, den Fahrer davon zu Informieren, dass eine Überschreitung des maximal zulässigen Lenkeinschlags vorliegt. Ein derartiges Signal kann beispielsweise akustisch oder optisch wiedergegeben werden.In a further embodiment of the invention comparison means are provided, by means of which the actual compared with the maximum permissible steering angle becomes. The actual steering angle is from one or more pickups determined and compared with the permissible steering angle. The to provided comparison means may be part of the arithmetic unit. The Comparison result can be used, for example, the driver informing that exceeding the maximum permissible steering angle is present. Such a signal, for example, acoustically or be reproduced optically.

Es ist ferner eine Ausführung der Erfindung denkbar, bei der ein Überschreiten eines maximal zulässigen Parameterwertes grundsätzlich ausgeschlossen ist.An embodiment of the invention is also conceivable in which an exceeding a maximum permissible parameter value is excluded.

Gemäß einer weiteren Ausgestaltung der Erfindung sind Mittel vorgesehen, mittels derer bei Änderung eines Betriebsparameters, beispielsweise bei einer Erhöhung der Geschwindigkeit, die zu einer Überschreitung des maximal zulässigen Wertes eines Parameters, beispielsweise des Lenkwinkels führen würde, ein anderer Betriebsparameter derart geändert wird, dass der tatsächliche Wert den maximal zulässigen Wert nicht übersteigt.According to a further embodiment of the invention means are provided by means of that when changing an operating parameter, for example, an increase the speed that exceeds the maximum allowed Value of a parameter, such as the steering angle, another operating parameter is changed such that the actual value does not exceed the maximum permissible value.

Wird beispielsweise die Hubhöhe oder Ausladung derart vergrößert, dass sich bei sonst unveränderten weiteren Betriebsparametern und bei unverändertem Lenkeinschlag eine Überschreitung des maximal zulässigen Lenkeinschlags und damit eine kritische Fahrsituation ergeben würde, wird nach dieser Ausführungsform der Erfindung ein anderer Parameter, beispielsweise die Fahrgeschwindigkeit derart verändert ― in diesem Beispiel verringert -, so dass eine Überschreitung des maximal zulässigen Lenkeinschlags nicht eintritt und die Standsicherheit gewährleistet bleibt.If, for example, the lifting height or projection is increased in such a way that with otherwise unchanged further operating parameters and unchanged Steering angle exceeding the maximum permissible steering angle and thus would give a critical driving situation, according to this embodiment the invention another parameter, such as the driving speed changed so - reduced in this example - so that a Exceeding the maximum permissible steering angle does not occur and the Stability remains guaranteed.

Wird beispielsweise der Lenkeinschlag über den maximal zulässigen Lenkeinschlag hinaus vergrößert, kann nach dieser Ausführungsform der Erfindung vorgesehen sein, dass ein anderer Betriebsparameter, beispielsweise die Ausladung oder die Fahrgeschwindigkeit derart verändert bzw. verringert wird, dass der zulässige Bereich des Lenkeinschlags den tatsächlichen Lenkeinschlag erfasst. If, for example, the steering angle exceeds the maximum permissible steering angle In addition, can be provided according to this embodiment of the invention be that another operating parameter, for example, the discharge or the driving speed is changed or reduced such that the permissible range of the steering angle detects the actual steering angle.

Wird in einem weiteren Beispiel dieser Ausführungsform die Geschwindigkeit z.B. der Reachstackers derart erhöht, dass sich bei sonst unveränderten Betriebsparametern und Lenkeinschlag eine kritische Situation ergeben würde, ist vorgesehen, dass in dem Maße, in dem die Geschwindigkeit erhöht wird, ein anderer Parameter, beispielsweise die Ausladung oder Hubhöhe derart verringert wird, dass es zu keiner Überschreitung des maximal zulässigen Lenkeinschlages kommt.In another example of this embodiment, the speed becomes e.g. the Reachstackers increased so that, with otherwise unchanged operating parameters and steering lock would result in a critical situation is provided that as the speed is increased, a other parameters, such as the projection or lifting height reduced in such a way it will not exceed the maximum permissible steering angle comes.

Welcher Parameter zu dem vorgenannten Zweck verändert wird, kann fest vorgegeben oder wählbar sein.Which parameter is changed for the aforementioned purpose can be fixed or be selectable.

Es kann in einer weiteren Ausführungsform der Erfindung vorgesehen sein, dass Mittel vorgesehen sind, die bewirken, dass eine Änderung eines Betriebsparameters nur in dem Umfang möglich ist, in dem der maximal zulässige Wert eines Parameters bei sonst unveränderten Betriebsparametern nicht überschritten wird. Auch in diesem Fall kann eine kritische Fahrsituation verhindert werden. Ein Unterschied zu dem vorgenannten Ausführungsbeispiel ergibt sich dadurch, dass eine Kompensation durch einen anderen Parameter nicht stattfindet.It may be provided in a further embodiment of the invention, that means are provided which cause a change of an operating parameter only to the extent possible, in which the maximum permissible value a parameter with otherwise unchanged operating parameters not exceeded becomes. Even in this case, a critical driving situation can be prevented. A difference from the aforementioned embodiment results from that compensation by another parameter does not take place.

Dementsprechend können Mittel vorgesehen sein, die bewirken, dass eine Änderung eines Betriebsparameters nur in dem Umfang möglich ist, in dem beispielsweise der zulässige Bereich des Lenkeinschlages (ohne Änderung anderer Parameter) nicht überschritten wird. In diesem Fall kann beispielsweise die Hubhöhe oder die Ausladung bei sonst unveränderten Betriebsparametern nur in einem Umfang geändert werden, dass der tatsächliche Lenkeinschlag in dem zulässigen Bereich verbleibt.Accordingly, means may be provided to cause a change an operating parameter is possible only to the extent in which, for example the permissible range of the steering angle (without changing others Parameter) is not exceeded. In this case, for example, the Lifting height or unloading with otherwise unchanged operating parameters only be changed to an extent that the actual steering angle in the permissible range remains.

Soll in dieser Ausführungsform der Erfindung beispielsweise ein Reachstacker beschleunigt werden, werden die anderen Betriebsparameter nicht verändert und die Geschwindigkeitserhöhung ist nur soweit möglich, dass die Standsicherheit des Reachstackers noch gewährleistet ist, d.h. der tatsächliche mit dem zulässigen Lenkeinschlag übereinstimmt.In this embodiment of the invention, for example, a reachstacker be accelerated, the other operating parameters are not changed and the speed increase is only as far as possible that the stability the reachstacker is still guaranteed, i. the actual with the permissible steering angle matches.

Wie oben ausgeführt, können Mittel zur Anzeige des maximal zulässigen Lenkeinschlages und/oder zur Abgabe eines Signals vorgesehen sind, wenn der tatsächliche Wert, beispielsweise der Lenkeinschlag, den maximal zulässigen Wert überschreitet.As stated above, means for indicating the maximum permissible steering angle and / or to provide a signal when the actual Value, for example the steering angle, the maximum permissible value exceeds.

In einer weiteren Ausgestaltung der Erfindung kann vorgesehen sein, dass die Recheneinheit ferner Mittel aufweist, mittels derer eine optimale Lenkgeschwindigkeit oder Lenkbeschleunigung in Abhängigkeit von einem oder mehreren der erfassten Betriebsparameter bestimmbar ist. Bei den erfassten Betriebsparametern kann es sich um die Parameter handeln, die für die Bestimmung des zulässigen Bereichs eines Parameters herangezogen werden. Vorzugsweise sind Mittel zur Einstellung der tatsächlichen Lenkgeschwindigkeit auf die ermittelte optimale Lenkgeschwindigkeit vorgesehen. Auf diese Weise kann die Lenkgeschwindigkeit und die Lenkbeschleunigung entsprechend der Fahrsituation verändert werden, um die Standsicherheit des Gerätes zu gewährleisten. Denkbar ist somit, dass beispielsweise eine Erhöhung der Fahrgeschwindigkeit nicht nur zu einer Verringerung des zulässigen Bereiches des Lenkeinschlages, sondern auch zu einer Verringerung der Lenkgeschwindigkeit und ―beschleunigung führt.In a further embodiment of the invention can be provided that the Computing unit further comprises means by means of which an optimal steering speed or steering acceleration depending on one or more of detected operating parameters can be determined. At the recorded operating parameters these can be the parameters used to determine the permissible Range of a parameter are used. Preferably Means for adjusting the actual steering speed to the determined optimal steering speed provided. In this way, the steering speed and the steering acceleration changed according to the driving situation to ensure the stability of the device. Conceivable is thus that, for example, an increase in driving speed not only to a reduction of the permissible range of the steering angle, but also to a reduction of steering speed and acceleration leads.

In weiterer Ausgestaltung der Erfindung sind Mittel vorgesehen, mittels derer bei maximaler Vorgabe des Lenkwinkels der maximal zulässige Lenkeinschlag eingestellt wird. Dementsprechend werden bei maximaler Vorgabe des Lenkwinkels die Räder nicht zwingend voll, sondern nur bis zu dem maximal zulässigen Lenkeinschlag bewegt.In a further embodiment of the invention, means are provided by means of which at maximum specification of the steering angle of the maximum permissible steering angle set becomes. Accordingly, at maximum specification of the steering angle the wheels are not necessarily full, but only up to the maximum permissible Steering stroke moves.

Weitere Einzelheiten und Vorteile der Erfindung werden anhand eines in der Zeichnung dargestellten Ausführungsbeispiels erläutert. Further details and advantages of the invention will be apparent from a in the Illustrated drawing illustrated embodiment.

Die einzige Figur zeigt eine schematische Darstellung eines Reachstackers mit Lenkungsüberwachung.The single FIGURE shows a schematic representation of a Reachstackers with Steering monitoring.

Mittels einer Sensorik werden verschiedene Parameter des Reachstackers, nämlich die aktuelle Geschwindigkeit, Last, Ausladung, Hubhöhe, sowie der Parameter Geländeneigung erfasst. Zusätzlich können auch andere Kenngrößen des Reachstackers gemessen werden. Aus den erfassten Parametern wird in der Lenküberwachung (Logik) ein maximal möglicher Lenkeinschlag (Lenk-Vorgabe) ermittelt, der noch eine ausreichende Standsicherheit gewährleistet.By means of a sensor, different parameters of the Reachstackers, namely the current speed, load, unloading, lifting height and the parameter Ground slope recorded. In addition, other parameters can also be used of the reachstackers. From the recorded parameters is in the steering control (logic) a maximum possible steering angle (steering requirement) determined, which still ensures sufficient stability.

Die Einstellung des tatsächlichen Lenkeinschlags ist nur innerhalb des zulässigen Bereiches möglich. Zur Ermittlung des tatsächlichen Lenkeinschlags sind ein oder mehrere Geber (redundante Ausführung) vorgesehen.The setting of the actual steering angle is only within the permissible Range possible. To determine the actual steering angle are one or more encoders (redundant version) provided.

Mit der Eingrenzung des möglichen Bereiches des Lenkeinschlages auf einen zulässigen Bereich, wird die Lenkgeschwindigkeit und die Lenkbeschleunigung entsprechend angepasst, d.h. bei einer Verkleinerung des zulässigen Bereiches des Lenkeinschlages z.B. bei Vergrößerung der Fahrgeschwindigkeit des Reachstackers werden Lenkgeschwindigkeit und Lenkbeschleunigung verringert. Somit wird erreicht, dass bei hohen Geschwindigkeiten der Lenkeinschlag und die Lenkgeschwindigkeit nicht zu groß wird.With the limitation of the possible range of the steering angle to one permissible range, the steering speed and the steering acceleration adjusted accordingly, i. at a reduction of the permissible range the steering angle e.g. at increasing the driving speed of the Reachstackers reduce steering speed and steering acceleration. This ensures that at high speeds the steering angle and the steering speed is not too big.

Die maximale Vorgabe des Lenkwinkels durch den Fahrer führt zu einer Einstellung des tatsächlichen Lenkeinschlags auf den maximal zulässigen Lenkeinschlag.The maximum specification of the steering angle by the driver leads to a setting the actual steering angle to the maximum permissible steering angle.

Claims (10)

Lade- und/oder Hubgerät, insbesondere Reachstacker, mit einem oder mehreren Aufnehmern zur Erfassung wenigstens eines die Standsicherheit des Lade- und/oder Hubgerätes beeinflussenden Betriebsparameters sowie mit einer mit dem oder den Aufnehmern in Verbindung stehenden Recheneinheit, die Mittel aufweist, mittels derer ein zur Gewährleistung der Standsicherheit maximal zulässiger Wert eines Betriebsparameters des Lade-und/oder Hubgerätes in Abhängigkeit von einem oder mehreren der erfassten Betriebsparameter bestimmt wird.Loading and / or lifting device, in particular Reachstacker, with one or more Receivers for detecting at least one of the stability of the Charging and / or lifting device influencing operating parameters and with a computing unit connected to the transducer (s), Having the means by means of which one to ensure stability maximum permissible value of an operating parameter of the charging and / or Hubgerätes depending on one or more of the detected Operating parameters is determined. Lade- und/oder Hubgerät nach Anspruch 1, dadurch gekennzeichnet, dass es sich bei dem Betriebsparameter, dessen maximal zulässiger Wert bestimmt wird, um den Lenkeinschlag handelt.Charging and / or lifting device according to claim 1, characterized in that it is the operating parameter whose maximum permissible value is determined to the steering angle. Gerät nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass ein Aufnehmer zur Erfassung des tatsächlichen Lenkeinschlags vorgesehen ist. Apparatus according to claim 1 or 2, characterized in that a sensor is provided for detecting the actual steering angle. Gerät nach Anspruch 3, dadurch gekennzeichnet, dass Vergleichsmittel vorgesehen sind, mittels derer der tatsächliche mit dem maximal zulässigen Lenkeinschlag verglichen wird.Apparatus according to claim 3, characterized in that comparison means are provided, by means of which the actual is compared with the maximum permissible steering angle. Gerät nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass Mittel vorgesehen sind, mittels derer bei Änderung eines Betriebsparameters, die zu einer Überschreitung des maximal zulässigen Wertes eines Parameters führen würde, ein anderer Betriebsparameter derart geändert wird, dass der tatsächliche Wert den maximal zulässigen Wert nicht übersteigt.Device according to one of claims 1 to 4, characterized in that means are provided by means of which, when changing an operating parameter, which would lead to exceeding the maximum permissible value of a parameter, another operating parameter is changed such that the actual value of the maximum permissible value does not exceed. Gerät nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass Mittel vorgesehen sind, die bewirken, dass eine Änderung eines Betriebsparameters nur in dem Umfang möglich ist, in dem der maximal zulässige Wert eines Parameters bei sonst unveränderten Betriebsparametern nicht überschritten wird.Device according to one of claims 1 to 4, characterized in that means are provided which cause a change in an operating parameter only to the extent possible in which the maximum allowable value of a parameter is not exceeded with otherwise unchanged operating parameters. Gerät nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass Mittel zur Anzeige des maximal zulässigen Wert des Parameters und/oder zur Abgabe eines Signals vorgesehen sind, wenn der tatsächliche Wert den maximal zulässigen Wert überschreitet.Device according to one of claims 1 to 6, characterized in that means are provided for displaying the maximum permissible value of the parameter and / or for outputting a signal when the actual value exceeds the maximum permissible value. Gerät nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, dass die Betriebsparameter die Fahrgeschwindigkeit des Laders, die Hublast, die Ausladung, die Lasthöhe, den Lenkeinschlag, die Auslegerneigung sowie die Neigung des Lade- und/oder Hubgerätes umfassen.Device according to one of claims 1 to 7, characterized in that the operating parameters include the driving speed of the loader, the lifting load, the overhang, the load height, the steering angle, the Auslegeanigung and the inclination of the loading and / or lifting device. Gerät nach einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, dass die Recheneinheit ferner Mittel aufweist, mittels derer eine optimale Lenkgeschwindigkeit in Abhängigkeit von einem oder mehreren der erfassten Betriebsparameter bestimmbar ist. Device according to one of claims 1 to 8, characterized in that the arithmetic unit further comprises means by which an optimum steering speed in dependence on one or more of the detected operating parameters can be determined. Gerät nach einem der Ansprüche 2 bis 9, dadurch gekennzeichnet, dass Mittel vorgesehen sind, mittels derer bei maximaler Vorgabe des Lenkwinkels der maximal zulässige Lenkeinschlag eingestellt wird.Device according to one of claims 2 to 9, characterized in that means are provided by means of which the maximum permissible steering angle is set at maximum specification of the steering angle.
EP05007760.1A 2004-05-04 2005-04-08 Loading- and/or lifting apparatus, in particular reachloader Not-in-force EP1593642B1 (en)

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DE102004021840A DE102004021840A1 (en) 2004-05-04 2004-05-04 Charging and / or lifting device, in particular reach stacker
DE102004021840 2004-05-04

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US20060180381A1 (en) 2006-08-17
US7599776B2 (en) 2009-10-06
DE102004021840A1 (en) 2005-12-01
EP1593642B1 (en) 2014-06-04
EP1593642A3 (en) 2006-11-08

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