EP2684836A1 - Dispositif de commande de direction et de vitesse pour dispositif de levage telescopique et articulé - Google Patents

Dispositif de commande de direction et de vitesse pour dispositif de levage telescopique et articulé Download PDF

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Publication number
EP2684836A1
EP2684836A1 EP13382264.3A EP13382264A EP2684836A1 EP 2684836 A1 EP2684836 A1 EP 2684836A1 EP 13382264 A EP13382264 A EP 13382264A EP 2684836 A1 EP2684836 A1 EP 2684836A1
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EP
European Patent Office
Prior art keywords
basket
movement
control device
joystick
freedom
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EP13382264.3A
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German (de)
English (en)
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Miguel Leon Gonzalez
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Individual
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Individual
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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
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • B66F11/044—Working platforms suspended from booms
    • B66F11/046—Working platforms suspended from booms of the telescoping type
    • 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
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/005—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers

Definitions

  • the present invention relates to a control system for mobile lift equipment , telescopic and articulated type , more particularly , aerial platforms and telescopic handlers with tools at the end tip of the telescopic boom.
  • the patent document JP2001341991-A discloses a control device for aerial platforms allowing linear movements , which are performed by means of the automatic synchronization of some degrees of freedom of the lifting mechanism , keeping the height constant .
  • the document JP2002128498-A discloses a similar control device.
  • Patent document JP10017298-A discloses a control device allowing linear movement along any direction of the work space.
  • the objective of the invention is achieving rectilinear movements .
  • the actual direction of the movement is defined by the composition of the individual speeds linked to each axis of the joystick. This has the disadvantage, in the case of a raising/lowering movement along diagonal directions , that the actual diagonal direction of movement does not match the real direction of any of the 2 joysticks operated .
  • the actual direction of movement is given by the speed ratio between the joystick Z , of a single axis , and the joystick XY , with 2 axes of control.
  • the resulting diagonal direction of the raising/lowering movement can not be foreseen by the operator , the control is not intuitive , due to the fact that the resulting direction of movement is linked to the to the infinite combinations of speeds between the 2 joysticks operated simultaneously.
  • Patent document EP2404862A1 discloses an aerial platform with horizontal/vertical linear movements comprising a lifting mechanism in which the number of degrees of freedom in the plane of movement is excessive , and therefore it is also necessary to establish a logic of synchronization between them or otherwise the number of solutions of synchronism would be infinite. According to this document, it is defined a logic of synchronism between boom and jib so that , for linear horizontal movements , it is kept constant the angle between the jib and the basket and for vertical movements , it is kept constant the angle between jib and boom.
  • This criterion of synchronization between boom and jib has the disadvantage for both kind of movements , horizontal or vertical , that it does not allow achieving the maximum reach, height or lateral , allowable by the lifting mechanism. Therefore, this logic of synchronism limits the mechanical reach of the lift .
  • the stiffness of the lifting structure depends on variable factors such as the position of the basket at the work space.
  • the deflection of the lifting mechanism depends on its variable stiffness and the load in basket ; both factors are variable. This elastic displacement, which is not taken into account by the control device, brings an error in the position calculations and therefore an imprecision of the linear movements which may leads to interferences with obstacles.
  • control devices described above do not consider the influence of hydraulic oil temperature in the synchronism of the degrees of freedom.
  • the variation of viscosity of the oil may change the relative speed of one of the synchronized movements with respect to others, even in the case of using temperature compensated proportional valves.
  • hydraulic systems in conventional machines normally have no means to keep stable the oil temperature , if the control device does not consider this factor, movements lose their smoothness and accuracy. Consequently the machine is unstable and unreliable.
  • the main objective of the invention is a direction and speed control device for hydraulic lift equipment , telescopic or articulated type, allowing a continuous and instantaneous interaction between direction of movement and direction control, so that the actual direction of movement of the basket or tool exactly matches the actual direction of command , at any instant of the motion.
  • the control device should allow moving the basket or alternative tool in the three dimensional space at the same direction that the real instantaneous operating direction of a joystick , and thus achieve curvilinear movements , with or without rectilinear sections , by means of the automatic synchronization of the different degrees of freedom of the lifting mechanism.
  • control device enables curvilinear movements of the basket or tool , with or without rectilinear sections , keeping the basket or tool at constant height , by means of a single joystick operated with one hand , controlling with it , the speed and direction of the instantaneous velocity of the basket or tool.
  • control device allows the operator to interact with the orientation of the basket during the ongoing movement, according to different control options that can be previously chosen.
  • the operator may prefer that the control device would automatically keep constant the orientation angle of the basket or tool. But sometimes the operator will prefer to keep the basket or tool aligned with the direction of movement , tangent to the work surfaces. The operator in some cases will want to control this orientation himself. This interaction should be intuitive and easy for the operator, with a single joystick, so that the actual orientation of the joystick exactly correspond to the actual orientation of the resulting movement.
  • the control device should allow changes of the direction in course , without the need of intermediate stops.
  • the direction of the raising/lowering movement must correspond to the real operation direction of a joystick at any instant of the ongoing movement.
  • control device must be able to accurately keep the current direction of movement , rectilinear or curvilinear, regardless of the bending deformation of the lifting mechanism.
  • the accuracy of rectilinear or curvilinear trajectories should not be influenced by the variation of the stiffness of the lifting mechanism, the variation of load or the variation of the temperature of the hydraulic oil.
  • control device incorporated in aerial platforms with several articulated booms , allows reaching the maximum outreach allowable by the lifting mechanism in a curvilinear or rectilinear movement at constant height. Similarly, and with almost the same logic of synchronization , the control device must allow to reach the maximum height allowable by the lifting mechanism , in a linear or curvilinear raising/lowering movement.
  • control device enables fully automatic curvilinear movements without the need of operator or programming requirements.
  • equipment that incorporates at the end tip of the boom working tools such as automatic paint spray guns , blasting nozzles , grit blasting turbines , laser nozzles , washing rollers ... etc
  • the control device shall allow to move the tool along paths parallel to the curved surfaces to be treated, automatically , keeping exactly constant the distance to the surface and the speed of the tool.
  • the movements carried out may be raising/lowering or movements at constant height .
  • a global reference frame x, y, z fixed and Cartesian , linked to the chassis of the lifting mechanism , and a mobile reference frame XI, YI, ZI , also Cartesian type, located at the basket , being its axes XI, YI horizontal and ZI vertical.
  • a control device for hydraulic lift equipment with at least one telescopic boom with at least 4 degrees of freedom, comprising:
  • the most important feature of the invention is that it allows a continuous and instantaneous interaction between direction of movement and direction of control , so that the actual direction of movement of the basket or tool at every moment exactly coincides with the actual direction of command.
  • the control device allows moving the basket or tool in three dimensional space at the same direction that the real instantaneous operating direction of the joystick , and thus performing curvilinear paths, with or without straight sections. The trajectories performed are foreseen by the user, not dependent on operator skills.
  • the device controls the speed and direction of the instantaneous velocity of the basket , and is able to change both parameters in the ongoing movement for performing rectilinear or curvilinear trajectories within the same movement.
  • the operator can change the direction in the course of movement without stopping the motion.
  • This type of movement is achieved by inputting as reference data , the orientation of the basket in the global system xyz and its height at the instant of beginning the movement (starting from a stop), the instantaneous direction of command and dynamic coordinates of reference of the basket or tool , which change over time.
  • the electronic controller detects any variation of the direction of command , and based on this change of input data, it updates the reference coordinates and consequently the calculations of synchronism of the different degrees of freedom involved in the movement. This continuous and instant updating of reference coordinates together with the kinematic and dynamic calculations is what makes possible to change the direction of movement at any instant without requiring stopping the motion.
  • control device can perform curvilinear or rectilinear raising/lowering movements in three-dimensional space , according to the direction of command , so that the actual direction of movement directly correspond to the actual operating direction of the joystick at any instant of the ongoing movement.
  • Such movement is achieved by means of 2 joysticks .
  • One joystick single axis , for the defining the speed of the basket or tool and a second joystick , dual axis, for defining the actual and instantaneous direction of the raising/lowering movement.
  • the dual axis joystick XI, YI is the one that operated alone would perform movements at constant height .
  • the electric controller changes automatically the normal functions of both , in such a way that the potentiometer of the single axis joystick defines only the speed of motion and the potentiometers of the dual axis joystick the direction in the tri-dimensional space.
  • the direction of the raising/lowering movement exactly correspond to the inclination angle of the knob of the dual axis joystick with respect to the gravity , and therefore the user can easily foresee the actual direction of motion.
  • control device allows the operator to interact with the orientation of the basket in the course of synchronized movements , so that the basket can be simultaneously controlled according to different options previously set.
  • control device comprises a system for detecting the bending deformation of the lifting structure and consequently for improving the accuracy of linear paths of the basket/tool along the synchronized movements.
  • the control device takes into account this deflexion avoiding an error in the analysis of position and therefore a bad performance.
  • the elastic deformation is an indirect measurement , determined by calculation.
  • the electronic controller calculates this deflexion by means of the information provided by the same sensors which are required for achieving the synchronization (the position detection means) and additionally by the direct or indirect measurement of the load in the basket.
  • control device comprises, optionally, means for detecting the temperature of the hydraulic fluid and thereby improve the accuracy and smoothness of the synchronized movements.
  • the electronic controller by inputting this data, readjusts accordingly the calculation values corresponding to the regulation and control means. It modifies the theoretical value of each proportional flow valve , previously calculated according to the data provided by the position detection means , the control means , and the deflexion detection system.
  • a feature of the control device is that it implements a simple logic of synchronization between the different degrees of freedom which are in the same plane of movement , in order to achieve the maximum lateral or vertical reach in a rectilinear or curvilinear movement.
  • the problem of the mechanisms with more than 2 degrees of freedom in the same plane is that there are infinite solutions of synchronization if a kind of link between them is not established. So if a logic of synchronization between them is not defined , there is not mathematical solution.
  • the logic of synchronization consist of keeping constant the angle between the basket and the boom articulating to it, during the ongoing movement, either horizontal or vertical , while there is no limitation of telescopic movement .
  • the telescopic movement reaches its maximum or minimum length by mechanical limitation, then the movement goes on keeping the length of the telescopic boom constant , changing the angle between the basket and the boom articulated to it .
  • This angle is automatically controlled so that it tends towards 0 ° if the motion is horizontal extending , towards -90 ° if the motion is horizontal retracting , towards 90° if it is a vertical raising movement and towards - 90 o if it is a vertical lowering movement.
  • the advantage of this logic of synchronization is allowing the maximum reach allowable by the mechanical system and its compatibility for horizontal and raising movements..
  • the number of degrees of freedom can be up to seven.
  • the logic of synchronization between the different degrees of freedom, in order to perform movements according to the actual operating direction of a joystick is based on a smart selection of the number of degrees of freedoms involved in the movement to be performed. This method is disclosed below in the Detailed Description of the Drawings.
  • the following describes a control device (10) for a hydraulic lift equipment (16) (17) with a lifting mechanism with at least four degrees of freedom ( ⁇ , ⁇ , ⁇ ,Lt) .
  • the lift comprises at least a chassis (11), a turntable (12), a telescopic boom (13) and a rotating basket (9) or rotary tool (9a).
  • the elements of the lifting mechanism are usually powered by means of hydraulic actuators (7).
  • the lift cylinder (7a) is linked to the degree of freedom( ⁇ )
  • the telescope cylinder (7b) (inside the telescopic boom, not showed in the drawings) is linked to the degree of freedom (Lt)
  • the turntable motor (7c) is linked to the degree of freedom ( ⁇ )
  • the basket/tool rotation motor (7d) is linked to the degree of freedom ( ⁇ ).
  • the control device (10) comprises position detection means (1), control means (8), a detection system of bending deformations, temperature detection means (5), an electronic controller (3) and regulation and control means (6).
  • the regulation and control means (6) are control the speed and direction of the actuating means (7) , which are usually hydraulic type.
  • the electronic controller (3) is connected internally or externally with data unit (2) which stores the information regarding the dimensions and stiffness of the elements of the mechanical system.
  • the software of the controller (3) is parametric , based on the information of this unit (2) , and this unit is linked to a specific model of machine (16) (16a) (17) ).
  • the position detection means (1) are basically sensors linked to each degree of freedom of the lifting mechanism. They are located at the elements of the lifting mechanism , for determining the magnitude of the degrees of freedom ( ⁇ , ⁇ , ⁇ , Lt , ⁇ ) , where :
  • the electronic controller (3) inputs the signals of the position detection means (1), for making by computer methods the position and kinematic analysis of the mechanical system , and thus determine at each instant the velocity and coordinates of the basket/tool according to the fixed reference frame x, y, z.
  • the controller (3) calculates in a first stage, the coordinates of all the nodes of the lifting mechanism. This preliminary calculation does not take into account the bending deformation due the load in the basket and the variable stiffness of the elements. This is a first theoretical calculation assuming that the elements of the mechanical system are absolutely stiff.
  • the control means (8) located preferably at the work basket (9) are basically proportional multi-axis joysticks.
  • the joystick (8a) is dual axis. Its two axes are aligned with the axes XI, YI of the mobile reference frame located at the basket (9).
  • Each control axis transmits a proportional signal ( Kjx , Kjy) to the controller (3) according to the tilt angle of the knob of the joystick ( ⁇ x , ⁇ y) on each axis.
  • the joystick (8b) is single axis. This control axis transmits a proportional signal ( Kjz) to the controller (3) according to the tilt angle of its knob.
  • the operation of the joystick (8a) is carried out at a certain direction defined by the angle ⁇ (t) referred to the frame of reference XI, YI .
  • ⁇ (t) is the target direction of the instantaneous velocity of the basket ,V9 (t), referred to the mobile reference frame XI-YI , at any instant of time.
  • the detection system of bending deformations is a system for determining by computer calculation the deflexion of the lifting mechanism, taking as only input data , the direct or indirect measurement of the load in the basket , by means of the load detection means (4) , geometric data of the lifting mechanism (2 ) such as the dimensions and the inertia moments of its elements , and the information provided by the position detection means (1).
  • the detection system of bending deformation is described below ;
  • the levelling cylinder of the basket (7e) comprises a pressure transducer directly attached. This device is used as a load detecting means (4), an indirect measurement of the load at the basket.
  • the electronic controller (3) takes as reference this data (4), just before starting a new movement, and keeps in memory this value during the whole movement. Thereby it is known the static pressure (Pr) of the levelling cylinder (7e), regardless of the pressure of the hydraulic circuit.
  • 'Ap' is the area of the cylinder (7e) and 'Pr' the static pressure inside it.
  • the data unit (2) storages the geometric information of the lifting mechanism , such as the area moment of inertia 'Ixi' , length 'L' , area 'A' of each element of the mechanism, i.e. booms and turntable.
  • the electronic controller (3) calculates the deflexion of the lifting mechanism, with the information provided by (2) (1) and (4).
  • any engineering method can be implemented , for example the method of virtual works or the direct stiffness method....
  • the electronic controller (3) adds the resulting displacement due to bending ⁇ i(t) , to the position coordinates of all the nodes of the lifting mechanism , previously calculated in the first stage with the data provided by the sensors (1). Thereby it is calculated the actual instantaneous position of the basket (9) with respect to the fixed reference frame x, y, z, and thus it is taken into account in the calculations of synchronizations of the different degrees of freedom involved in the ongoing motion.
  • the position detection means (1) optionally comprises in addition three distance measuring sensors , electromagnetic type. Each sensor measures the distance from a fixed point of the chassis (11) to the centre of rotation of the basket (9). With these three measurements , the electronic controller (3) calculates , by the method of triangulation , the actual instantaneous position of the basket (9) at the work space according to fixed reference frame xyz.
  • This method of calculating the coordinates of the working basket (9) has the advantage of being based on direct measurements ,and therefore the result does not depend on the bending deformation of the lifting mechanism, neither on the conditions of the wear pads of the telescopic booms.
  • the electronic controller (3) after calculating the target speed and direction ⁇ (t) of the instantaneous velocity of the basket (9), and the actual position of the bended lifting mechanism, makes the necessary engineering calculations to determine the required values for the regulation and control means (6) which operate de actuators of the hydraulic system.
  • the values of the regulation and control means for each degree of freedom are : (6a), signals for the proportional flow valve and directional valve of the lift cylinder (7a), (6b) signals for the proportional flow valve and directional valve of the telescope cylinder (7b), (6c) signal for the proportional flow valve and directional valve of the turntable (7c), and (6d) the corresponding value analogical or digital for controlling the rotation of the basket or tool (7d).
  • the regulation values (6) calculated are the required to achieve the automatic synchronization of up to 7 degrees of freedom ( ⁇ , ⁇ , ⁇ , ⁇ ,Lt ...) , so that the basket (9) or tool (9a) moves according to the direction ⁇ (t) and speed commanded at any instant of time of the movement in course.
  • the electronic controller (3) detects at each instant of time (t1, t2, t3, t4 %) changes of the direction of reference ⁇ (t) commanded , for updating the reference coordinates of the ongoing movement and the synchronization calculations which depend on the reference coordinates and direction of reference ⁇ (t) commanded.
  • the controller (3) optionally corrects the calculated values (6a, 6b, 6c, 6d) according to the temperature of the hydraulic fluid in the system.
  • This data is provided by a temperature sensor (5) located at the return to the tank of the hydraulic circuit.
  • a feature of the present invention is that the orientation angle ( ⁇ ) of the basket (9) or tool (9a) with respect to the fixed reference frame x, y, z , can be manually or automatically controlled in the course of the synchronized movements.
  • the control device (10) automatically controls the orientation angle the basket/tool ( ⁇ ) , synchronizing it with the other movements of the lifting mechanism, in such a way that it makes to converge during the ongoing movement, one of the axis (XI) or (YI) of the mobile reference frame located at the basket or tool , with the direction of motion ⁇ (t) at any instant.
  • the direction of movement of the basket at its centre of rotation ⁇ (t) exactly correspond to the operating direction of a single joystick (8a) , dual axis , with respect to the mobile reference frame XI YI , at any instant. Therefore, the direction , speed and orientation angle of the basket ( ⁇ ) in a curvilinear movement at constant height is defined by a single joystick (8a) with 2 control axes parallel to the mobile reference frame.
  • the control device (10) with information provided by the angle sensors located at the basket and the turntable ( ⁇ ) ( ⁇ ), automatically modifies the rotation speed of the basket (w9) with respect to the rotation speed of the turntable (w12) for keeping the basket axis (XI or YI) aligned with the direction of movement ⁇ (t).
  • the axis of the basket to be automatically aligned with the direction of movement ⁇ (t) is XI if the direction of command is closer to the axis XI than to YI .
  • the axis of the basket to be aligned with ⁇ (t) is YI , if the direction of command is closer to the axis YI than to XI .
  • the Fig. 7a shows a sequence of positions of a movement along curvilinear and rectilinear paths at height constant , at different instants (t0, t1, t2, t3, t4, t5 .7) , so that the axis XI of the basket is automatically aligned with the direction of movement defined by a single joystick.
  • the Fig. 7b shows the graph referred to this movement where the ordinate axis is the angle ⁇ (t) of the instantaneous operating direction the joystick (8a) , (dual axis XIYI ), and the abscissa the elapsed time.
  • ⁇ (t) tends to be zero automatically, due to the fact that the control device makes to converge continuously the XI axis of the basket with the operating direction of motion ⁇ (t).
  • the orientation angle ( ⁇ ) of the basket or tool is controlled manually by the operator , by means of an additional joystick (8ab) which defines the actual target orientation of the basket with respect to the mobile reference frame XI,YI linked to the basket , which must be achieved in a certain increment of time.
  • an additional joystick (8ab) which defines the actual target orientation of the basket with respect to the mobile reference frame XI,YI linked to the basket , which must be achieved in a certain increment of time.
  • the actual direction and speed of the curvilinear movement of the basket is defined by a dual axis joystick (8a) , and its actual orientation in the space , corresponds directly to the rotation of a single axis joystick (8ab).
  • the rotation angle ( ⁇ z) of the knob (8ab) defines the target orientation; it is the exact increment of rotation degrees to which the mobile reference frame (XI, YI) of the basket or tool must converge, in a fixed and determined interval of time .
  • the target orientation of the basket is easily defined and commanded by the operator , and it is achieved by the control device without relying on the operator skills.
  • the control device (10) inputs the signal (kgj) proportional to the angle ( ⁇ z) , while keeping the synchronization of the degrees of freedom involved in the rectilinear or curvilinear movement at constant height , modifying the current rotation speed of the basket (w9) with respect to the rotation speed of the turntable (w12) , in order to make converging the reference frame XI, YI of the basket into two successive instants of time.
  • the Fig. 6a shows a sequence of positions of a movement along a curvilinear path at height constant , at different instants (t0, t1, t2, t3 ....), where the axis XI of the basket is oriented by means of two joysticks (8a) and (8ab).
  • the Fig. 6b shows the graph referred to this movement where the ordinate axis, is the angle ⁇ (t) of the instantaneous operating direction the joystick (8a) , (dual axis XIYI ), and the abscissa the elapsed time.
  • the Fig. 6c shows the graph referred to this movement where the ordinate is the rotation angle ( ⁇ z) of the joystick (8ab).
  • the basket (9) traces a circular trajectory , with the axis XI of the basket tangent to the trajectory.
  • the radius of the trajectory is proportional to the operating angle ( ⁇ z) of the joystick (8ab).
  • the basket (9) traces a circular trajectory , with the axis YI of the basket tangent to the trajectory.
  • the single axis joystick (8ab) and the dual axis joystick (8a) may be integrated together in a single joystick with 3 axes of control.
  • the orientation angle ( ⁇ ) of the basket or tool referred to the fixed reference frame xyz is kept constant, automatically and synchronized with the others movements of the lifting mechanism.
  • the direction and speed of the curvilinear movement of the basket, as well as its orientation in the space is defined by only one joystick (8a) - dual axis.
  • Fig. 5a, Fig. 5b , Fig. 10a, Fig. 10b illustrate this type of movement, at constant height, keeping also constant the orientation angle ( ⁇ ) along curvilinear trajectories.
  • the Fig. 13a and 13b shows a boom lift comprising a lifting mechanism of 5 degrees of freedom ( ⁇ , ⁇ , ⁇ ,Lt, ⁇ 1), with 2 articulated booms , (13) ,(15) , being the lower one (13) telescopic type, and being ( ⁇ 1) the inclination angle of the boom (15) articulated with it referred to the horizontal line.
  • control device (10) synchronizes the degrees of freedom of the mechanical system implementing the following method :
  • the control device (10) synchronizes the degrees of freedom of the mechanical system implementing the following method :
  • the Fig. 14 , 15 , 16 shows a boom lift comprising a lifting mechanism of 7 degrees of freedom ( ⁇ , ⁇ , ⁇ ,Lt, ⁇ , ⁇ 1,Lt1), with 2 telescopic booms , (13) ,(13a) and a jib (15a) , being ( ⁇ 1) the inclination angle of the upper telescopic boom (13a) referred to the horizontal line and (Lt1) its length.
  • a function switch (8d) from the control panel (8) allows to select the number of freedom that will be involved in the movement.
  • the control device (10) synchronizes the degrees of freedom ( ⁇ , Lt , ⁇ , ⁇ ) , keeping constant the angle ( ⁇ 1, Lt1 , ⁇ ) . If the minimum or maximum length of the lower telescopic boom (13) is reached, the control device (10) synchronizes ( ⁇ 1, Lt1 ⁇ , ⁇ ) , keeping constant ( ⁇ ,Lt , ⁇ ) until the minimum/maximum length of the upper telescopic boom (13a) is reached.
  • the control device (10) synchronizes ( ⁇ , ⁇ 1, ⁇ , ⁇ ) keeping constant (Lt , Lt1 ⁇ ) until the angle ( ⁇ 1) reaches the value of 0o. Once this point is reached, the raising/lowering movement goes on synchronizing (Lt1 , ⁇ 1, ⁇ , ⁇ ) , keeping constant ( ⁇ , Lt ⁇ ) .
  • the joysticks (8a, 8b, 8ab) instead of being located at the basket (9) of the lift equipment , can be located at the chassis (11) or in any other place of the fixed frame of reference xyz , even as wireless remote control , without changing any of the characteristics of the invention mentioned above.
  • the axes if the joystick (8a) wherever it is , can still be referred to the axes of the mobile reference system linked to the tool (9a).
  • control device enables fully automatic movements without operator , joystick or programming requirements.
  • the control device enables automatic movements along curvilinear paths , keeping the tool parallel to the curved surfaces to be treated , keeping also constant the distance to the target surface and the speed of the tool.
  • the control device (10) For defining a direction of movement without using joysticks , the control device (10) comprises 3 distance sensors (8s) which measure the distance from a plane of the tool (9a) to the closest surface in front of it. The difference of these three measurements allows defining a direction of movement parallel to the curved surface , which replaces the direction of a joystick . Thereby it is possible to perform automatic raising/lowering movements or movements at constant height along curvilinear or rectilinear surfaces . With these 3 distance sensors (8s) , together with the sensors of the position detection means (1) linked to the degrees of freedom of the lifting mechanism , the control device (10) achieves keeping constant the speed of the tool and its distance to the surfaces , by means of the automatic synchronization of the degrees of freedom of the lifting mechanism. This automatic synchronization is achieved by the control device (10) as it has been disclosed above in the description of the invention .

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EP13382264.3A 2012-07-12 2013-07-03 Dispositif de commande de direction et de vitesse pour dispositif de levage telescopique et articulé Withdrawn EP2684836A1 (fr)

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3375750A1 (fr) * 2017-03-17 2018-09-19 Zhejiang Dingli Machinery Co., LTD. Plate-forme de travail élévatrice dotée d'un dispositif de protection de type détection électronique
FR3068024A1 (fr) * 2017-06-27 2018-12-28 Robert Bosch Gmbh Plateforme de levage avec plateforme mobile et son procede de commande
WO2019090108A1 (fr) * 2017-11-02 2019-05-09 Clark Equipment Company Ascenseur d'excavatrice
IT201800010234A1 (it) * 2018-11-12 2020-05-12 Manitou Italia Srl Telehandler con sistema di controllo.
IT201900009738A1 (it) * 2019-06-21 2020-12-21 Iveco Magirus Metodo per controllare un dispositivo di sollevamento telescopico e dispositivo di sollevamento telescopico
CN114212745A (zh) * 2022-01-17 2022-03-22 徐工消防安全装备有限公司 一种高空作业平台、控制方法及存储介质
EP4015439A1 (fr) * 2020-12-17 2022-06-22 Xtreme Manufacturing, LLC Systèmes et procédés à utiliser pour coordonner le mouvement de la flèche d'une machine de construction
CN115010058A (zh) * 2022-05-24 2022-09-06 燕山大学 具有调平功能的空中作业平台及其调姿方法
RU2791628C1 (ru) * 2018-11-12 2023-03-13 МАНИТОУ ИТАЛИА С.р.л. Телескопический погрузчик с системой управления
DE102021210113A1 (de) 2021-09-14 2023-03-16 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zur Steuerung einer Ausrüstungsdrehung einer Arbeitsausrüstung einer Arbeitsmaschine und Arbeitsmaschine
DE102021210112A1 (de) 2021-09-14 2023-03-16 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zur Steuerung einer Ausrüstungsbewegung einer Arbeitsausrüstung einer Arbeitsmaschine und Arbeitsmaschine
EP4242160A1 (fr) * 2022-03-08 2023-09-13 Kramer-Werke GmbH Machine de construction ou machine agricole

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DE4404797A1 (de) * 1994-02-09 1995-08-10 Horst Dipl Ing Prischmann Verfahren zur Steuerung von Hubgeräten
JPH1017298A (ja) 1996-07-04 1998-01-20 Tadano Ltd 高所作業車の作動制御装置
JPH1095599A (ja) * 1996-07-30 1998-04-14 Tadano Ltd 高所作業車の作動制御装置
JPH10316392A (ja) * 1997-05-16 1998-12-02 Aichi Corp ブーム先端部の移動制御装置
JP2001002396A (ja) * 1999-06-22 2001-01-09 Tadano Ltd 高所作業車の操作制御装置
JP2001130897A (ja) * 1999-10-29 2001-05-15 Aichi Corp ブーム作業機のティーチングプレイバック装置
JP2001341991A (ja) 2000-05-31 2001-12-11 Tadano Ltd 高所作業車の作動制御装置
JP2002104794A (ja) * 2000-09-26 2002-04-10 Aichi Corp ブーム作業車の制御装置
JP2002128498A (ja) 2000-10-31 2002-05-09 Aichi Corp ブーム式高所作業装置の制御装置
EP2404862A1 (fr) 2010-07-05 2012-01-11 Kabushiki Kaisha Aichi Corporation Véhicule élévateur aérien

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Publication number Priority date Publication date Assignee Title
DE4404797A1 (de) * 1994-02-09 1995-08-10 Horst Dipl Ing Prischmann Verfahren zur Steuerung von Hubgeräten
JPH1017298A (ja) 1996-07-04 1998-01-20 Tadano Ltd 高所作業車の作動制御装置
JPH1095599A (ja) * 1996-07-30 1998-04-14 Tadano Ltd 高所作業車の作動制御装置
JPH10316392A (ja) * 1997-05-16 1998-12-02 Aichi Corp ブーム先端部の移動制御装置
JP2001002396A (ja) * 1999-06-22 2001-01-09 Tadano Ltd 高所作業車の操作制御装置
JP2001130897A (ja) * 1999-10-29 2001-05-15 Aichi Corp ブーム作業機のティーチングプレイバック装置
JP2001341991A (ja) 2000-05-31 2001-12-11 Tadano Ltd 高所作業車の作動制御装置
JP2002104794A (ja) * 2000-09-26 2002-04-10 Aichi Corp ブーム作業車の制御装置
JP2002128498A (ja) 2000-10-31 2002-05-09 Aichi Corp ブーム式高所作業装置の制御装置
EP2404862A1 (fr) 2010-07-05 2012-01-11 Kabushiki Kaisha Aichi Corporation Véhicule élévateur aérien

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3375750A1 (fr) * 2017-03-17 2018-09-19 Zhejiang Dingli Machinery Co., LTD. Plate-forme de travail élévatrice dotée d'un dispositif de protection de type détection électronique
FR3068024A1 (fr) * 2017-06-27 2018-12-28 Robert Bosch Gmbh Plateforme de levage avec plateforme mobile et son procede de commande
WO2019090108A1 (fr) * 2017-11-02 2019-05-09 Clark Equipment Company Ascenseur d'excavatrice
IT201800010234A1 (it) * 2018-11-12 2020-05-12 Manitou Italia Srl Telehandler con sistema di controllo.
EP3650399A1 (fr) * 2018-11-12 2020-05-13 Manitou Italia S.r.l. Télémanipulateur comportant un système de commande
CN111170208A (zh) * 2018-11-12 2020-05-19 马尼托意大利有限责任公司 具有控制系统的伸缩臂叉车
CN111170208B (zh) * 2018-11-12 2023-12-15 马尼托意大利有限责任公司 具有控制系统的伸缩臂叉车
US11679970B2 (en) 2018-11-12 2023-06-20 Manitou Italia S.R.L. Telehandler with control system
RU2791628C1 (ru) * 2018-11-12 2023-03-13 МАНИТОУ ИТАЛИА С.р.л. Телескопический погрузчик с системой управления
IT201900009738A1 (it) * 2019-06-21 2020-12-21 Iveco Magirus Metodo per controllare un dispositivo di sollevamento telescopico e dispositivo di sollevamento telescopico
EP3754151A1 (fr) * 2019-06-21 2020-12-23 Iveco Magirus Ag Procédé de commande d'un dispositif de levage télescopique et dispositif de levage télescopique
EP4015439A1 (fr) * 2020-12-17 2022-06-22 Xtreme Manufacturing, LLC Systèmes et procédés à utiliser pour coordonner le mouvement de la flèche d'une machine de construction
DE102021210113A1 (de) 2021-09-14 2023-03-16 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zur Steuerung einer Ausrüstungsdrehung einer Arbeitsausrüstung einer Arbeitsmaschine und Arbeitsmaschine
DE102021210112A1 (de) 2021-09-14 2023-03-16 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zur Steuerung einer Ausrüstungsbewegung einer Arbeitsausrüstung einer Arbeitsmaschine und Arbeitsmaschine
CN114212745A (zh) * 2022-01-17 2022-03-22 徐工消防安全装备有限公司 一种高空作业平台、控制方法及存储介质
EP4242160A1 (fr) * 2022-03-08 2023-09-13 Kramer-Werke GmbH Machine de construction ou machine agricole
DE102022105449A1 (de) 2022-03-08 2023-09-14 Kramer-Werke Gmbh Baumaschine oder Landmaschine
CN115010058A (zh) * 2022-05-24 2022-09-06 燕山大学 具有调平功能的空中作业平台及其调姿方法

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