EP1593642B1 - 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
EP1593642B1
EP1593642B1 EP05007760.1A EP05007760A EP1593642B1 EP 1593642 B1 EP1593642 B1 EP 1593642B1 EP 05007760 A EP05007760 A EP 05007760A EP 1593642 B1 EP1593642 B1 EP 1593642B1
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EP
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Prior art keywords
unit
steering angle
accordance
maximum permitted
steering
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EP05007760.1A
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German (de)
French (fr)
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EP1593642A2 (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 suitable for handling heavy loads such as containers, general cargo and the like. Load handling does not take place on reach stackers via a mast, but with the help of a jib, which is generally designed as a telescopic boom.
  • the invention is not limited to reachstackers, but also includes other load and / or lifting devices, such as forklifts or other devices suitable for load handling.
  • the DE 100 10 011 A1 relates to an industrial truck according to the preamble of claim 1 with a stabilizing device for increasing the stability.
  • An evaluation unit determines the transverse and Llindskipp concept and the load or the load torque depending on arranged Radlastsensoren or speed sensors. Depending on the determined values, the actuating units of the vehicle, in particular the traction drive system of the truck can be addressed.
  • the GB 2 290 149 A describes a method for ensuring the operational and stability of a forklift truck.
  • an optical or acoustic warning signal is output when the permissible load or an imminent risk of tipping is exceeded.
  • the driver is to be proposed to ensure the stability and reliability of the vehicle, a reduction in the vehicle speed.
  • Another control system for a forklift is from the EP 0 343 839 A1 known.
  • the technical teaching of this document proposes to reduce the permissible vehicle speed depending on various operating parameters of the vehicle in order to ensure operational and stability.
  • the invention has the object of developing a loading and / or lifting device and in particular a reachstacker to the effect that critical driving situations are recognizable or avoidable.
  • the device has one or more sensors for detecting at least one of the stability of the device influencing operating parameter and a communicating with the sensors arithmetic unit having means by means of which a maximum permissible to ensure stability of the steering angle depending on a or more of the detected operating parameters.
  • operating parameters is to be understood broadly and includes, for example, the driving speed, the lifting load, the load height, the inclination and the radius of the loading and / or lifting device.
  • the arithmetic unit according to the invention has means or a logic by means of which a maximum permissible value of the steering angle is determined from the measured parameter (s).
  • the maximum permissible value is determined with a view to ensuring the stability of the device.
  • the arithmetic unit may be designed such that it determines the maximum permissible value of the steering angle on the basis of only one or advantageously on the basis of several or all of the detected operating parameters. A critical driving situation can then be reliably avoided if all the parameters that influence the stability of the device are included in the calculation of the maximum permissible steering angle. Examples of such parameters are the driving speed, the lifting load, the outreach, the load height, the Auslegeanist and the terrain slope or inclination of the device. Other parameters or parameters may be important and included in the calculation. Due to a known dependence of the stability of the device on the parameters influencing it, the arithmetic unit or the logic present therein determines the maximum permissible value of a parameter or of the steering angle at which the stability is still ensured.
  • a sensor for detecting the actual steering angle is provided.
  • This encoder can be redundant.
  • comparison means are provided, by means of which the actual is compared with the maximum permissible steering angle.
  • the actual steering angle is determined by one or more sensors and compared with the permissible steering angle.
  • the comparison means provided for this purpose can be part of the arithmetic unit.
  • the comparison result can be used to inform the driver that the maximum permissible steering angle has been exceeded.
  • Such a signal can be reproduced acoustically or optically, for example.
  • An embodiment of the invention is also conceivable in which an exceeding of a maximum permissible parameter value is fundamentally excluded.
  • means are provided by means of which, when changing an operating parameter, for example when the speed is increased, which would lead to an exceeding of the maximum permissible value of the steering angle, another operating parameter is changed such that the actual value does not exceed the maximum permissible value.
  • the steering angle is increased beyond the maximum permissible steering angle
  • another operating parameter for example the projection or the vehicle speed
  • Which parameter is changed for the aforementioned purpose can be fixed or selectable.
  • means may be provided which cause a change in an operating parameter only to the extent possible in which, for example, the permissible range of the steering angle (without changing other parameters) is not exceeded.
  • the lift height or the discharge can be changed with otherwise unchanged operating parameters only to the extent that the actual steering angle remains in the allowable range.
  • means for indicating the maximum permissible steering angle and / or for outputting a signal may be provided if the actual value, for example the steering angle, exceeds the maximum permissible value.
  • the arithmetic unit further comprises means by means of which an optimal steering speed or steering acceleration in dependence on one or more of the detected operating parameters can be determined.
  • the acquired operating parameters may be the parameters used to determine the allowable range of a parameter.
  • means are provided for adjusting the actual steering speed to the determined optimum steering speed. In this way, the steering speed and the steering acceleration can be changed according to the driving situation to ensure the stability of the device. It is conceivable, for example, that an increase in the driving speed not only leads to a reduction in the permissible range of the steering angle, but also to a reduction in the steering speed and acceleration.
  • means are provided, by means of which the maximum permissible steering angle is set at maximum specification of the steering angle. Accordingly, at maximum specification of the steering angle, the wheels are not necessarily full, but only moved to the maximum permissible steering angle.
  • the single FIGURE shows a schematic representation of a Reachstackers with steering monitoring.
  • a sensor By means of a sensor, various parameters of the Reachstackers, namely the current speed, load, unloading, lifting height and the parameter ground slope are detected. In addition, other characteristics of the Reachstackers can be measured. From the parameters recorded in the steering control (logic) a maximum possible steering angle (steering default) is determined, which still ensures sufficient stability.
  • the setting of the actual steering angle is only possible within the permissible range.
  • one or more encoders redundant design are provided.
  • the steering speed and the steering acceleration are adjusted accordingly, i. at a reduction of the allowable range of the steering angle, e.g. As the driving speed of the reachstackers increases, steering speed and steering acceleration are reduced. This ensures that at high speeds, the steering angle and the steering speed is not too large.
  • the maximum specification of the steering angle by the driver leads to an adjustment of 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)

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 suitable for handling heavy loads such as containers, general cargo and the like. Load handling does not take place on reach stackers via a mast, but with the help of a jib, which is generally designed as a telescopic boom. The invention is not limited to reachstackers, but also includes other load and / or lifting devices, such as forklifts or other devices suitable for load handling.

Bei derartigen heute üblichen Geräten werden bei maximaler Vorgabe des Lenkwinkels die Räder voll ausgelenkt.In today's conventional devices, the wheels are fully deflected at maximum specification of the steering angle.

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, ie the entire steering range is available even at high speeds, depending on the combination of speed and steering angle, dangerous situations can occur that are based on the fact that the stability of the device is no longer guaranteed. In today's usual devices, it is at the discretion of the driver, which steering angle is to be selected in order to avoid tilting of the device or not come into a critical driving situation.

Die DE 100 10 011 A1 betrifft ein Flurförderzeug gemäß dem Oberbegriff des Anspruchs 1 mit einer Stabilisierungseinrichtung zur Erhöhung der Standsicherheit. Eine Auswerteeinheit ermittelt in Abhängigkeit von angeordneten Radlastsensoren bzw. Drehzahlsensoren die Quer- und Längskippkräfte sowie die Last bzw. das Lastmoment. In Abhängigkeit der ermittelten Werte können die Stelleinheiten des Fahrzeugs, insbesondere das Fahrantriebssystem des Flurförderzeugs angesprochen werden.The DE 100 10 011 A1 relates to an industrial truck according to the preamble of claim 1 with a stabilizing device for increasing the stability. An evaluation unit determines the transverse and Längskippkräfte and the load or the load torque depending on arranged Radlastsensoren or speed sensors. Depending on the determined values, the actuating units of the vehicle, in particular the traction drive system of the truck can be addressed.

Die GB 2 290 149 A beschreibt ein Verfahren zur Gewährleistung der Betriebs- und Standsicherheit eines Gabelstaplers. In Abhängigkeit bestimmter Betriebsparameter wird ein optisches bzw. akustisches Warnsignal bei Überschreitung der zulässigen Beladung bzw. einer drohenden Kippgefahr ausgegeben. Insbesondere soll dem Fahrzeugführer zur Gewährleistung der Stand- und Betriebssicherheit des Fahrzeugs eine Reduzierung der Fahrzeuggeschwindigkeit vorgeschlagen werden.The GB 2 290 149 A describes a method for ensuring the operational and stability of a forklift truck. Depending on certain operating parameters, an optical or acoustic warning signal is output when the permissible load or an imminent risk of tipping is exceeded. In particular, the driver is to be proposed to ensure the stability and reliability of the vehicle, a reduction in the vehicle speed.

Ein weiteres Steuerungssystem für einen Gabelstapler ist aus der EP 0 343 839 A1 bekannt. Die technische Lehre dieser Druckschrift schlägt vor, die zulässige Fahrzeuggeschwindigkeit in Abhängigkeit diverser Betriebsparameter des Fahrzeugs zu reduzieren, um die Betriebs- und Standsicherheit zu gewährleisten.Another control system for a forklift is from the EP 0 343 839 A1 known. The technical teaching of this document proposes to reduce the permissible vehicle speed depending on various operating parameters of the vehicle in order to ensure operational and stability.

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 has the object of developing a loading and / or lifting device and in particular a reachstacker to the effect 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 des Lenkeinschlags in Abhängigkeit von einem oder mehreren der erfassten Betriebsparameter bestimmt wird. Der Begriff "Betriebsparameter" ist weit zu verstehen und umfasst beispielsweise die Fahrgeschwindigkeit, 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. Thereafter, the device has one or more sensors for detecting at least one of the stability of the device influencing operating parameter and a communicating with the sensors arithmetic unit having means by means of which a maximum permissible to ensure stability of the steering angle depending on a or more of the detected operating parameters. The term "operating parameters" is to be understood broadly and includes, for example, the driving speed, the lifting load, 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 des Lenkeinschlags bestimmt wird. Der maximal zulässige Wert wird im Hinblick darauf bestimmt, dass die Standsicherheit des Gerätes gewährleistet bleibt.The arithmetic unit according to the invention has means or a logic by means of which a maximum permissible value of the steering angle is determined from the measured parameter (s). The maximum permissible value is determined with a view to ensuring the stability of the device.

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 at a certain speed it is determined in which region of the steering angle the stability is given. On this basis, a maximum permissible steering angle is determined. It is also conceivable, for example, that in a driving situation with a specific steering angle it is determined up to which speed range the stability is given, ie up to what 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 one operating parameter is included in the calculation, but several or all parameters that have an influence on the stability of the 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 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 designed such that it determines the maximum permissible value of the steering angle on the basis of only one or advantageously on the basis of several or all of the detected operating parameters. A critical driving situation can then be reliably avoided if all the parameters that influence the stability of the device are included in the calculation of the maximum permissible steering angle. Examples of such parameters are the driving speed, the lifting load, the outreach, the load height, the Auslegeanigung and the terrain slope or inclination of the device. Other parameters or parameters may be important and included in the calculation. Due to a known dependence of the stability of the device on the parameters influencing it, the arithmetic unit or the logic present therein determines the maximum permissible value of a parameter or of the steering angle at which the stability is still ensured.

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 is provided. This encoder can be redundant.

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 is compared with the maximum permissible steering angle. The actual steering angle is determined by one or more sensors and compared with the permissible steering angle. The comparison means provided for this purpose can be part of the arithmetic unit. The For example, the comparison result can be used to inform the driver that the maximum permissible steering angle has been exceeded. Such a signal can be reproduced acoustically or optically, for example.

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 of a maximum permissible parameter value is fundamentally excluded.

Erfindungsgemäß sind Mittel vorgesehen, mittels derer bei Änderung eines Betriebsparameters, beispielsweise bei einer Erhöhung der Geschwindigkeit, die zu einer Überschreitung des maximal zulässigen Wertes des Lenkwinkels führen würde, ein anderer Betriebsparameter derart geändert wird, dass der tatsächliche Wert den maximal zulässigen Wert nicht übersteigt.According to the invention, means are provided by means of which, when changing an operating parameter, for example when the speed is increased, which would lead to an exceeding of the maximum permissible value of 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 otherwise unchanged operating parameters and unchanged steering angle would result in exceeding the maximum permissible steering angle and thus a critical driving situation, according to this embodiment of the invention another parameter, for example the driving speed, is changed in such a way - reduced in this example - so that exceeding the maximum permissible steering angle does not occur and the stability remains ensured.

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 is increased beyond the maximum permissible steering angle, according to this embodiment of the invention it can be provided that another operating parameter, for example the projection or the vehicle 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 a further example of this embodiment, if the speed is e.g. The Reachstackers increased so that would result in otherwise unchanged operating parameters and steering angle a critical situation, it is provided that as the speed is increased, another parameter, such as the projection or lifting height is reduced such that it no exceeding of 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 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 can be provided in a further embodiment of the invention that means are provided which cause a change in an operating parameter only to the extent possible in which the maximum permissible value of a parameter is not exceeded with otherwise unchanged operating parameters. Even in this case, a critical driving situation can be prevented. A difference to the aforementioned embodiment results from the fact that a 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 which cause a change in an operating parameter only to the extent possible in which, for example, the permissible range of the steering angle (without changing other parameters) is not exceeded. In this case, for example, the lift height or the discharge can be changed with otherwise unchanged operating parameters only to the extent that the actual steering angle remains in the allowable range.

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.If 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 Reachstackers is still guaranteed, ie the actual coincides with the permissible steering angle.

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 for outputting a signal may be provided if the actual value, for example the steering angle, exceeds the maximum permissible value.

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 it can be provided that the arithmetic unit further comprises means by means of which an optimal steering speed or steering acceleration in dependence on one or more of the detected operating parameters can be determined. The acquired operating parameters may be the parameters used to determine the allowable range of a parameter. Preferably, means are provided for adjusting the actual steering speed to the determined optimum steering speed. In this way, the steering speed and the steering acceleration can be changed according to the driving situation to ensure the stability of the device. It is conceivable, for example, that an increase in the driving speed not only leads to a reduction in the permissible range of the steering angle, but also to a reduction in the steering speed and acceleration.

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 the maximum permissible steering angle is set at maximum specification of the steering angle. Accordingly, at maximum specification of the steering angle, the wheels are not necessarily full, but only moved to the maximum permissible steering angle.

Weitere Einzelheiten und Vorteile der Erfindung werden anhand eines in der Zeichnung dargestellten Ausführungsbeispiels erläutert.Further details and advantages of the invention will be explained with reference to an embodiment shown in the drawing.

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, various parameters of the Reachstackers, namely the current speed, load, unloading, lifting height and the parameter ground slope are detected. In addition, other characteristics of the Reachstackers can be measured. From the parameters recorded in the steering control (logic) a maximum possible steering angle (steering default) is 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 possible within the permissible range. To determine the actual steering angle, one or more encoders (redundant design) are 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 a permissible range, the steering speed and the steering acceleration are adjusted accordingly, i. at a reduction of the allowable range of the steering angle, e.g. As the driving speed of the reachstackers increases, steering speed and steering acceleration are reduced. This ensures that at high speeds, the steering angle and the steering speed is not too large.

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 an adjustment of the actual steering angle to the maximum permissible steering angle.

Claims (8)

  1. A loading unit and/or lifting unit, in particular a reach stacker, comprising one or more pick-ups for the detection of at least one operating parameter influencing the standing safety of the loading unit and/or lifting unit and comprising a calculation unit in communication with the pick-up(s),
    characterised in that
    the calculation unit has means by means of which a maximum permitted value of the steering movement of the loading unit and/or lifting unit for the ensuring of the standing safety is determined in dependence on one or more of the detected operating parameters; and
    means are provided by means of which - on the changing of an operating parameter which would result in an exceeding of the maximum permitted value of the steering movement - another operating parameter is changed such that the actual value does not exceed the maximum permitted value.
  2. A unit in accordance with claim 1, wherein a pick-up is provided for the detection of the actual steering movement.
  3. A unit in accordance with claim 2, wherein comparison means are provided by means of which the actual steering movement is compared with the maximum permitted steering movement.
  4. A unit in accordance with any one of claims 1 to 3, wherein means are provided which have the effect that a change of an operating parameter is only possible to the extent in which the maximum permitted value of a parameter is not exceeded with otherwise unchanged operating parameters.
  5. A unit in accordance with any one of claims 1 to 4, wherein means are provided for the display of the maximum permitted value of the parameter and/or for the emission of a signal when the actual value exceeds the maximum permitted value.
  6. A unit in accordance with any one of claims 1 to 5, wherein the operating parameters include the driving speed of the loader, the lifting load, the working radius, the load height, the steering movement, the boom inclination and the inclination of the loading unit and/or lifting unit.
  7. A unit in accordance with any one of claims 1 to 6, wherein the calculation unit furthermore has means by means of which an optimum steering speed can be determined in dependence on one or more of the detected operating parameters.
  8. A unit in accordance with any one of claims 1 to 7, wherein means are provided by means of which the maximum permitted steering movement is set on a maximum pre-setting 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)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
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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EP1593642A2 EP1593642A2 (en) 2005-11-09
EP1593642A3 EP1593642A3 (en) 2006-11-08
EP1593642B1 true EP1593642B1 (en) 2014-06-04

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EP1593642A2 (en) 2005-11-09
US20060180381A1 (en) 2006-08-17
US7599776B2 (en) 2009-10-06
DE102004021840A1 (en) 2005-12-01
EP1593642A3 (en) 2006-11-08

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