EP2733268A2 - Machine with loading installation - Google Patents

Machine with loading installation Download PDF

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Publication number
EP2733268A2
EP2733268A2 EP13005038.8A EP13005038A EP2733268A2 EP 2733268 A2 EP2733268 A2 EP 2733268A2 EP 13005038 A EP13005038 A EP 13005038A EP 2733268 A2 EP2733268 A2 EP 2733268A2
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EP
European Patent Office
Prior art keywords
machine
charging system
machine according
sensor
load
Prior art date
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
EP13005038.8A
Other languages
German (de)
French (fr)
Other versions
EP2733268A3 (en
EP2733268B1 (en
Inventor
Jürgen Prenzler
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kramer Werke GmbH
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Kramer Werke GmbH
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Publication date
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Publication of EP2733268A2 publication Critical patent/EP2733268A2/en
Publication of EP2733268A3 publication Critical patent/EP2733268A3/en
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Publication of EP2733268B1 publication Critical patent/EP2733268B1/en
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • 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
    • 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
    • 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
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/34—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines
    • E02F3/3402—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines the arms being telescopic
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers

Definitions

  • the invention relates to a machine, in particular a mobile machine with a charging system, which has a height-adjustable load beam with a load receiver for receiving a load to be moved, according to the preamble of claim 1.
  • Such machines are for example as so-called wheel loaders or telescopic loaders, but also as excavators, cranes, etc. in use.
  • this can lead to unstable situations in which the machine threatens to tip over.
  • the object of the invention is to propose a machine according to the preamble of claim 1, the one improved safety for the operator ensured.
  • a machine is characterized in that a sensory detection of the type of operation of a control element for the charging system and an evaluation unit for detecting a panic situation of an operator operating the operator is provided and that upon detection of a panic situation the operator an emergency control mode is provided, the one actuation includes the charging system.
  • the invention thus has the object, in a particular situation, namely the panic situation of an operator operating the operating unit to provide an emergency control mode for actuating the charging system.
  • a particular situation namely the panic situation of an operator operating the operating unit to provide an emergency control mode for actuating the charging system.
  • the panic situation by detecting an operating speed on a control element for actuating the charging system and / or the detection of the force is provided on a control element for actuating the charging system.
  • This embodiment is based on the finding that in the case of an unstable situation, the operator will first try to stabilize the machine by measures on the charging system, for example by rapid load reduction. As a result, due to the existing panic situation, the operation on the control with appropriate speed or force to be made, which is inventively detected and used to trigger the emergency control mode.
  • a speed sensor and / or a position sensor and / or an acceleration sensor and / or a force sensor are preferably provided on the operating element for actuating the charging system. With the aid of such sensors, the operating speed and / or the force on the control element can be detected.
  • the detection of a triggering position and / or a triggering force action for triggering the emergency control mode can also be provided on a control element for actuating the charging system.
  • a triggering force may be required by overcoming a resistance or a counterforce in order to reach a triggering position of the operating element. This would be an embodiment to ensure that the triggering position is achieved only in a panic response.
  • a release force acting on the control element above the usual force can also be used to trigger the emergency control mode.
  • a force sensor as described above, used, which reaches the tripping force when exceeding a threshold value and thus the emergency control mode is triggered.
  • an acceleration sensor and / or an inclination sensor and / or a position sensor and / or a load sensor and / or a pressure sensor and / or a combination of two or more such sensors is preferably provided on at least one machine component whose state change or reaction to actuation of a control element Conclusions on a panic situation allows.
  • an inference is made to the operating mode of the operating element in this embodiment by an evaluation of the sensory machine reaction and thus the panic situation is recognized.
  • a boom lowering and / or a load boom shortening can be carried out as a corrective measure.
  • a load shedding is feasible as a corrective measure.
  • Such a load shedding is associated with certain risks for the space below the load, so that in normal operation usually a load shedding is not provided for safety.
  • machine instability for example due to large Load in relation to the existing position and length of the charging system, especially in connection with dynamic driving situations that may cause the vehicle to tip over, however, is acceptable in terms of load dumping as well as tilting the vehicle in that area where it is thrown will arrive, so that this measure will not cause any additional damage.
  • the machine control of the charging system can be designed hydraulically, hydraulically-mechanically, electrically or electro-hydraulically. In all of these training courses, the corrective actions are possible as prescribed.
  • a particularly simple embodiment of the invention is that upon detection of a panic situation, an actuation measure for achieving a safe state by a purely hydraulic-mechanical control, in particular by overcoming a pressure point in the control element or in particular by overcoming a resistance to a control element comprehensive control valve the controller is provided.
  • the purely hydraulic-mechanical control is a particularly safe means to recognize on the one hand the panic situation and on the other to provide the necessary response.
  • an emergency control mode is already provided which can block the charging system.
  • the machine control is additionally with the Emergency control mode according to the invention, hereinafter referred to as panic control mode designated emergency control mode, which has priority over such, already existing emergency control mode, that is, overrides this.
  • FIG. 1 schematically shows a running as a telescopic loader 2 machine vehicle 1.
  • a known tool adapter 6 is assigned as a load bearing.
  • the lifting arm 5 is pivotally mounted in its rear region by at least one arranged in support flanges 7 transverse to the direction FR pivot axis 8, wherein the realization of the pivoting movement of the lifting arm 5 below one or more lifting cylinders 9 are assigned by pressurization or pressure relief or by regulation the oil volume flow allow the pivoting of the lifting arm 5 about said pivot axis 8.
  • the telescopic extension and retraction of the lifting arm 5 is realized in a known per se and therefore not shown manner by means of further lifting cylinder.
  • the lifting arm 5 is extendable in the direction T in length, that is, it is divided into at least two telescopically movable sub-elements.
  • the lifting arm 5 is further pivotable about the pivot axis 8 in the direction S.
  • the height of the load carried by the mobile machine can be changed.
  • FIG. 2 the control system of the telehandler 2 is shown schematically.
  • the control system 10 includes a joystick 11 as an actuator.
  • the joystick 11 is connected to a sensor controller 12.
  • various sensors are connected to the sensor controller 12.
  • the operating control is supplied by a supply unit 19 with a corresponding force medium, for example in the case of a hydraulic supply unit 19 with a hydraulic fluid.
  • a supply unit 19 with a corresponding force medium
  • the supply 19 could also be designed as a power supply.
  • the operation control unit 13 is further connected to a charging facility 20 which is controlled by the operation control unit 13.
  • the charging system 20 is actuated in accordance with the actuation signals of the joystick 11 via the operation control unit 13.
  • the sensors 15 to 18 monitor machine components and can serve, for example, to detect critical situations. This can be done for example via a load sensor 15, which can perform a force measurement on the rear axle.
  • the sensors 16 to 18 can be, for example, pressure sensors in the control of the charging system 20 in order to be able to make statements about the position and load on the machine.
  • the sensors 15 to 18 or corresponding sensors on other machine parts can be used to detect a panic situation of the operator based on machine reactions.
  • this is a additional panic sensor 21 attached to the joystick 11.
  • the panic sensor 21 is directly connected to the panic control unit 14 for the panic control mode.
  • the operator operates the charging system 20 in the usual way by means of the joystick 11.
  • the sensors 15 to 18 transmit corresponding sensor signals to the sensor controller 12 and the operation control 13.
  • another Emergency control unit 22 may be provided for a further emergency control mode.
  • the operation control 13 may include such a further emergency control unit 22, which engages in the control flow of the operation control 13, when a load torque increasing movement in the longitudinal direction of the vehicle or an extension of the lift arm 5 would cause an unstable situation.
  • the further emergency control unit 22 can then block such loadmomentver josrnden movements.
  • the panic control unit 14 is now activated, which in the diagram 2 in a bypass the connections between supply 19 and charging system 20 is illustrated and takes over the control of the charging system 20.
  • the panic control unit 14 may also allow for machine movements or combinations of movements that are not provided by the operation control unit 13 during normal operation. Is next to the panic control unit 14 another
  • Emergency control unit 22 bypasses the panic control unit 14, the further emergency control unit 22, that is, the further emergency control unit 22 is overridden by the panic control unit 14 and the second panic control unit 14 takes precedence over the further emergency control unit 22nd
  • the panic control unit 14 is also activated in the event of panic for bridging the normal operating control unit if the further emergency control unit is not yet active or no further emergency control unit is provided.
  • This is particularly advantageous if the panic control unit 14 measures or combinations of measures are provided which are not feasible by the normal operation control unit 13. For example, a lowering of the lifting arm 5 could be connected to a retraction of the lifting arm 5. At the same time, for example, a braking effect of the chassis of the mobile machine could be canceled or weakened. Depending on the situation, an acceleration of the mobile machine could be provided to prevent a tilting forward movement.
  • a panic detection can also be carried out without specifically provided panic sensors, such as, for example, the panic sensor 21 on the control element 11.
  • the signals from the sensors 15 to 18, which detect the reactions of this machine component to control signals by the joystick 11 on machine components, can also be used to detect a panic situation.
  • the panic situation For example, be detected in the sensor controller 12, which can then deliver a corresponding signal to the emergency control unit 14 for activation.
  • the sensor controller 12 may also override the normal operation control unit 13 in a corresponding embodiment.
  • the panic control unit 14 and optionally the further emergency control unit 22 need not be formed separately from the normal operating unit, but may also be integrated in this. All that is essential is that the machine control system as a whole is capable of the emergency control mode according to the invention.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Transportation (AREA)
  • Mining & Mineral Resources (AREA)
  • General Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

The machine has a loading system, which has a vertically adjustable load beam with a load receptacle (6) for receiving the load to be moved. An evaluation unit is provided for detecting a panic situation of an operating person operating a control unit. An emergency control mode involving the actuation of the loading system is provided upon detection of a panic situation of the operating person. An operating mode of a control element for the loading system is detected by sensors.

Description

Die Erfindung betrifft eine Maschine, insbesondere eine fahrbare Maschine mit Ladeanlage, die einen höhenverstellbaren Lastausleger mit einer Lastaufnahme zur Aufnahme einer zu bewegenden Last aufweist, nach dem Oberbegriff des Anspruchs 1.The invention relates to a machine, in particular a mobile machine with a charging system, which has a height-adjustable load beam with a load receiver for receiving a load to be moved, according to the preamble of claim 1.

Derartige Maschinen sind zum Beispiel als sogenannte Radlader oder Teleskoplader, aber auch als Bagger, Kräne, usw. in Gebrauch. Abhängig von der Länge sowie der Neigung des längen- und/oder höhenverstellbaren Lastauslegers kann es dabei zu instabilen Situationen kommen, bei der die Maschine zu kippen droht.Such machines are for example as so-called wheel loaders or telescopic loaders, but also as excavators, cranes, etc. in use. Depending on the length and inclination of the length- and / or height-adjustable load jib, this can lead to unstable situations in which the machine threatens to tip over.

Im Fahrbetrieb können beispielsweise aufgrund der Fahrdynamik, beispielsweise beim Beschleunigen oder Verzögern, beim Fahren über Gefälle oder Unebenheiten, Situationen auftreten, bei denen eine solche Instabilität droht. Auch im Stand sind durch das Lastmoment vergrößernde Bewegungen der Ladeanlage derartige Instabilitäten möglich.When driving, for example, due to the driving dynamics, for example when accelerating or decelerating, when driving on slopes or bumps, situations occur where such instability threatens. Even when stationary, such instabilities are possible due to the load torque-increasing movements of the charging system.

Aufgabe der Erfindung ist es, eine Maschine gemäß dem Oberbegriff des Anspruchs 1 vorzuschlagen, die eine verbesserte Sicherheit für die Bedienperson gewährleistet.The object of the invention is to propose a machine according to the preamble of claim 1, the one improved safety for the operator ensured.

Diese Aufgabe wird ausgehend vom Oberbegriff des Anspruchs 1 durch dessen kennzeichnende Merkmale gelöst. Durch die in den Unteransprüchen genannten Maßnahmen sind vorteilhafte Ausführungen und Weiterbildungen der Erfindung möglich.This object is achieved on the basis of the preamble of claim 1 by its characterizing features. The measures mentioned in the dependent claims advantageous embodiments and developments of the invention are possible.

Dementsprechend zeichnet sich eine erfindungsgemäße Maschine dadurch aus, dass eine sensorische Erfassung der Bedienungsart eines Bedienelementes für die Ladeanlage und eine Auswerteeinheit zur Erkennung einer Paniksituation einer die Bedieneinheit betätigenden Bedienperson vorgesehen ist und dass bei Erkennung einer Paniksituation der Bedienperson ein Notsteuermodus vorgesehen ist, der eine Betätigung der Ladeanlage beinhaltet.Accordingly, a machine according to the invention is characterized in that a sensory detection of the type of operation of a control element for the charging system and an evaluation unit for detecting a panic situation of an operator operating the operator is provided and that upon detection of a panic situation the operator an emergency control mode is provided, the one actuation includes the charging system.

Die Erfindung hat somit zum Gegenstand, in einer besonderen Situation, nämlich der Paniksituation einer die Bedieneinheit betätigenden Bedienperson einen Notsteuermodus zur Betätigung der Ladeanlage vorzusehen. Somit ist es möglich, bei einer auftretenden Instabilität in Verbindung mit einer Paniksituation die Maschine und insbesondere die Ladeanlage zum Beispiel durch Korrekturmaßnahmen zu stabilisieren. Hierbei können auch Korrekturmaßnahmen vorgesehen sein, die im Normalbetrieb nicht vorgesehen und daher bei Maschinen gemäß zum Stand der Technik nicht durchführbar sind.The invention thus has the object, in a particular situation, namely the panic situation of an operator operating the operating unit to provide an emergency control mode for actuating the charging system. Thus, it is possible to stabilize the machine and in particular the charging system, for example, by corrective measures in the event of instability occurring in conjunction with a panic situation. Correction measures can also be provided which are not provided in normal operation and therefore can not be carried out in machines according to the state of the art.

Vorteilhafterweise wird die Paniksituation durch Erfassung einer Betätigungsgeschwindigkeit an einem Bedienelement zur Betätigung der Ladeanlage und/oder die Erfassung der Krafteinwirkung auf ein Bedienelement zur Betätigung der Ladeanlage vorgesehen.Advantageously, the panic situation by detecting an operating speed on a control element for actuating the charging system and / or the detection of the force is provided on a control element for actuating the charging system.

Dieser Ausgestaltung liegt die Erkenntnis zugrunde, dass im Falle einer instabilen Situation die Bedienperson zunächst versuchen wird, die Maschine durch Maßnahmen an der Ladeanlage, zum Beispiel durch schnelle Lastabsenkung zu stabilisieren. Infolgedessen wird aufgrund der vorhandenen Paniksituation die Betätigung am Bedienelement mit entsprechender Geschwindigkeit oder Krafteinwirkung vorgenommen werden, was erfindungsgemäß erfasst und zum Auslösen des Notsteuermodus verwendbar ist.This embodiment is based on the finding that in the case of an unstable situation, the operator will first try to stabilize the machine by measures on the charging system, for example by rapid load reduction. As a result, due to the existing panic situation, the operation on the control with appropriate speed or force to be made, which is inventively detected and used to trigger the emergency control mode.

Zur Erfassung der Krafteinwirkung oder der Betätigungsgeschwindigkeit an dem Bedienelement wird bevorzugt ein Geschwindigkeitssensor und/oder ein Positionssensor und/oder ein Beschleunigungssensor und/oder ein Kraftsensor an dem Bedienelement zur Betätigung der Ladeanlage vorgesehen. Mit Hilfe derartiger Sensoren ist die Betätigungsgeschwindigkeit und/oder die Krafteinwirkung auf das Bedienelement erfassbar.For detecting the force or the operating speed on the operating element, a speed sensor and / or a position sensor and / or an acceleration sensor and / or a force sensor are preferably provided on the operating element for actuating the charging system. With the aid of such sensors, the operating speed and / or the force on the control element can be detected.

In einer alternativen Ausführungsform oder als Ergänzung zu den genannten Sensoren kann auch die Erfassung einer Auslöseposition und/oder einer Auslösekrafteinwirkung zum Auslösen des Notsteuermodus an einem Bedienelement zur Betätigung der Ladeanlage vorgesehen werden. So kann beispielsweise eine Auslösekraft durch Überwindung eines Widerstandes oder einer Gegenkraft erforderlich sein, um in eine Auslöseposition des Bedienelementes zu gelangen. Dies wäre eine Ausgestaltung, um sicherzustellen, dass die Auslöseposition nur in Panikreaktion erreicht wird. Auch die Tatsache, dass eine Auslösekraft, die oberhalb der üblichen Krafteinwirkung auf das Bedienelement einwirkt, kann zum Auslösen des Notsteuermodus verwendet werden. Hierzu ist beispielsweise ein Kraftsensor, wie zuvor beschrieben, verwendbar, wobei bei Übersteigen eines Schwellwertes die Auslösekraft erreicht und somit der Notsteuermodus ausgelöst wird.In an alternative embodiment or as a supplement to the aforementioned sensors, the detection of a triggering position and / or a triggering force action for triggering the emergency control mode can also be provided on a control element for actuating the charging system. For example, a triggering force may be required by overcoming a resistance or a counterforce in order to reach a triggering position of the operating element. This would be an embodiment to ensure that the triggering position is achieved only in a panic response. The fact that a release force acting on the control element above the usual force can also be used to trigger the emergency control mode. For this purpose, for example, a force sensor, as described above, used, which reaches the tripping force when exceeding a threshold value and thus the emergency control mode is triggered.

In einer weiteren alternativen Ausführungsform oder ergänzend zu den oben genannten Maßnahmen zur Erkennung einer Paniksituation können auch Sensoren an Maschinenkomponenten vorgesehen werden, die anhand der Betätigung des Bedienelementes zur Betätigung der Ladeanlage eine sensierbare Zustandsänderung erfährt. Die Charakteristik einer solchen Zustandsänderung kann wiederum Rückschlüsse auf die Bedienart und somit auf eine Paniksituation zulassen.In a further alternative embodiment or in addition to the above-mentioned measures for detecting a panic situation, it is also possible to provide sensors on machine components which undergo a sensible change of state on the basis of the actuation of the operating element for actuating the charging system. The characteristic of such a state change can in turn allow conclusions about the type of operation and thus a panic situation.

So ist beispielsweise denkbar, dass eine für den Normalbetrieb atypische Betätigung eines Bedienelementes sowie der Folgereaktionen an einer oder mehrerer Maschinenkomponente einer Paniksituation zugeordnet wird und daraufhin der Notsteuermodus ausgelöst wird.For example, it is conceivable that an atypical operation of a control element and the subsequent reactions at one or more machine components of a panic situation is assigned to the normal operation and then the emergency control mode is triggered.

Die Erfassung wenigstens einer stabilitätsrelevanten Zustandsgröße an einer Maschinenkomponente und/oder von Maschinenreaktionen auf die Bedienart kann somit Rückschlüsse auf eine Paniksituation zulassen. Hierzu wird bevorzugt ein Beschleunigungssensor und/oder ein Neigungssensor und/oder ein Ortungssensor und/oder ein Lastsensor und/oder ein Drucksensor und/oder eine Kombination aus zwei oder mehreren solcher Sensoren an wenigstens einer Maschinenkomponente vorgesehen, deren Zustandsänderung oder Reaktion auf Betätigung eines Bedienelementes Rückschlüsse auf eine Paniksituation zulässt.The detection of at least one stability-relevant state variable on a machine component and / or of machine reactions to the operating mode can therefore allow conclusions about a panic situation. For this purpose, an acceleration sensor and / or an inclination sensor and / or a position sensor and / or a load sensor and / or a pressure sensor and / or a combination of two or more such sensors is preferably provided on at least one machine component whose state change or reaction to actuation of a control element Conclusions on a panic situation allows.

In einer entsprechenden Auswerteeinheit wird in dieser Ausführungsform durch eine Auswertung der sensorisch erfassten Maschinenreaktion ein Rückschluss auf die Bedienart des Bedienelementes vorgenommen und somit die Paniksituation erkannt.In a corresponding evaluation unit, an inference is made to the operating mode of the operating element in this embodiment by an evaluation of the sensory machine reaction and thus the panic situation is recognized.

Grundsätzlich ist es von Vorteil, wenn im Notsteuermodus Korrekturmaßnahmen durchführbar sind, die im normalen Betriebsmodus nicht durchführbar sind.In principle, it is advantageous if corrective measures can be carried out in the emergency control mode, which are not feasible in the normal operating mode.

In einer vorteilhaften Ausführungsform wird weiterhin vorgesehen, dass im Notsteuermodus eine Auslegerabsenkung und/oder eine Lastauslegerverkürzung als Korrekturmaßnahme durchführbar ist.In an advantageous embodiment, it is further provided that in the emergency control mode, a boom lowering and / or a load boom shortening can be carried out as a corrective measure.

Weiterhin ist es von Vorteil, wenn in dem Notsteuermodus ein Lastabwurf als Korrekturmaßnahme durchführbar ist. Ein solcher Lastabwurf ist mit gewissen Risiken für den Raum unterhalb der Last verbunden, sodass im Normalbetrieb in der Regel sicherheitshalber ein Lastabwurf nicht vorgesehen ist. Im Falle einer Maschineninstabilität, beispielsweise durch große Last in Bezug auf die vorhandene Position und Länge der Ladeanlage, insbesondere in Verbindung mit fahrdynamischen Situationen, die das Kippen des Fahrzeugs befürchten lassen, ist jedoch ein Lastabwurf insofern akzeptabel, als auch beim Kippen des Fahrzeugs die Last in diesem Bereich, in dem sie abgeworfen wird, gelangen kann, sodass durch diese Maßnahme kein zusätzlicher Schaden entsteht.Furthermore, it is advantageous if in the emergency control mode, a load shedding is feasible as a corrective measure. Such a load shedding is associated with certain risks for the space below the load, so that in normal operation usually a load shedding is not provided for safety. In case of machine instability, for example due to large Load in relation to the existing position and length of the charging system, especially in connection with dynamic driving situations that may cause the vehicle to tip over, however, is acceptable in terms of load dumping as well as tilting the vehicle in that area where it is thrown will arrive, so that this measure will not cause any additional damage.

Weiterhin ist es von Vorteil, wenn im Notsteuermodus durch die Maschinensteuerung Kombinationen von Korrekturmaßnahmen durchführbar sind. Diese Maßnahme hat zur Folge, dass Korrekturmaßnahmen, die von Hand von der Bedienperson in Kombination nur schwer oder gar nicht zu erwarten oder durchführbar sind, durch die Maschinensteuerung übernommen werden.Furthermore, it is advantageous if combinations of corrective measures can be carried out in the emergency control mode by the machine control. This measure has the consequence that corrective measures that are difficult or impossible to expect by hand from the operator in combination or can be carried out by the machine control.

Die Maschinensteuerung der Ladeanlage kann hydraulisch, hydraulisch-mechanisch, elektrisch oder elektro-hydraulisch ausgebildet sein. In allen diesen Ausbildungen sind die Korrekturmaßnahmen wie vorgeschrieben möglich.The machine control of the charging system can be designed hydraulically, hydraulically-mechanically, electrically or electro-hydraulically. In all of these training courses, the corrective actions are possible as prescribed.

Eine besonders einfache Ausführung der Erfindung besteht darin, dass bei Erkennung einer Paniksituation eine Betätigungsmaßnahme zur Herbeiführung eines sicheren Zustands durch eine rein hydraulisch-mechanische Steuerung, insbesondere durch die Überwindung eines Druckpunktes im Bedienelement oder insbesondere durch die Überwindung eines Widerstandes an einem ein Bedienelement umfassendes Steuerventil der Steuerung vorgesehen wird. Die rein hydraulisch-mechanische Steuerung stellt ein besonders sicheres Mittel dar, um zum einen die Paniksituation zu erkennen und zum anderen die erforderliche Reaktionsmöglichkeit vorzusehen.A particularly simple embodiment of the invention is that upon detection of a panic situation, an actuation measure for achieving a safe state by a purely hydraulic-mechanical control, in particular by overcoming a pressure point in the control element or in particular by overcoming a resistance to a control element comprehensive control valve the controller is provided. The purely hydraulic-mechanical control is a particularly safe means to recognize on the one hand the panic situation and on the other to provide the necessary response.

Bei bestimmten, in Gebrauch befindlichen Maschinen, insbesondere bei so genannten Teleskopladern, nach dem Oberbegriff des Anspruchs 1 ist bereits ein Notsteuermodus vorgesehen, der die Ladeanlage blockieren kann. In diesem Fall wird die Maschinensteuerung zusätzlich mit dem erfindungsgemäßen Notsteuermodus, im Folgenden als Paniksteuermodus bezeichneten Notsteuermodus versehen, der gegenüber einem solchen, bereits vorhandenen Notsteuermodus Vorrang hat, das heißt, diesen übersteuert.In certain machines in use, in particular so-called telescopic loaders, according to the preamble of claim 1, an emergency control mode is already provided which can block the charging system. In this case, the machine control is additionally with the Emergency control mode according to the invention, hereinafter referred to as panic control mode designated emergency control mode, which has priority over such, already existing emergency control mode, that is, overrides this.

Ein Ausführungsbeispiel der Erfindung ist in der Zeichnung dargestellt und wird anhand der Figuren nachfolgend näher erläutert.An embodiment of the invention is illustrated in the drawing and will be explained in more detail with reference to FIGS.

Im Einzelnen zeigen

Figur 1
eine Seitenansicht einer erfindungsgemäßen verfahrbaren Maschine und
Figur 2
ein Blockdiagramm zur schematischen Veranschaulichung der Steueranlage.
Show in detail
FIG. 1
a side view of a movable machine according to the invention and
FIG. 2
a block diagram for schematically illustrating the control system.

Figur 1 zeigt schematisch ein als Teleskoplader 2 ausgeführte Maschinenfahrzeug 1. In an sich bekannter Weise nimmt die als Tragrahmen 3 ausgeführte Tragstruktur 4 in zentraler Position einen teleskopierbaren Hubarm 5 als Lastaufnahme auf, dem frontseitig ein an sich bekannter Werkzeugadapter 6 als Lastaufnahme zugeordnet ist. Der Hubarm 5 wird in seinem rückwärtigen Bereich von zumindest einer in Stützflanschen 7 quer zur Fahrtrichtung FR angeordnete Schwenkachse 8 schwenkbeweglich gelagert, wobei zur Realisierung der Schwenkbewegung dem Hubarm 5 untenseitig ein oder mehrere Hubzylinder 9 zugeordnet sind, die durch Druckbeaufschlagung oder Druckentlastung bzw. durch Regulierung des Ölvolumenstroms das Verschwenken des Hubarms 5 um die besagte Schwenkachse 8 ermöglichen. Das teleskopartige Ein- und Ausfahren des Hubarms 5 wird in an sich bekannter und deshalb nicht näher dargestellter Weise mittels weiterer Hubzylinder realisiert. FIG. 1 schematically shows a running as a telescopic loader 2 machine vehicle 1. In a known manner, embodied as a support frame 3 support structure 4 in a central position on a telescopic lifting arm 5 as a load bearing on the front side a known tool adapter 6 is assigned as a load bearing. The lifting arm 5 is pivotally mounted in its rear region by at least one arranged in support flanges 7 transverse to the direction FR pivot axis 8, wherein the realization of the pivoting movement of the lifting arm 5 below one or more lifting cylinders 9 are assigned by pressurization or pressure relief or by regulation the oil volume flow allow the pivoting of the lifting arm 5 about said pivot axis 8. The telescopic extension and retraction of the lifting arm 5 is realized in a known per se and therefore not shown manner by means of further lifting cylinder.

Wie anhand des Bezugszeichens 5' dargestellt ist, ist der Hubarm 5 der Länge nach in Richtung T ausfahrbar, das heißt er ist in wenigstens zwei teleskopierbar ineinander verfahrbaren Teilelementen aufgeteilt.As shown by the reference numeral 5 ', the lifting arm 5 is extendable in the direction T in length, that is, it is divided into at least two telescopically movable sub-elements.

Der Hubarm 5 ist weiterhin um die Schwenkachse 8 in Richtung S verschwenkbar. Hierdurch lässt sich ebenso wie durch den Auszug in Teleskoprichtung T die Höhe der von der fahrbaren Maschine getragene Last verändern.The lifting arm 5 is further pivotable about the pivot axis 8 in the direction S. As a result, as well as by the excerpt in the telescopic direction T, the height of the load carried by the mobile machine can be changed.

In Figur 2 ist die Steueranlage des Teleskopladers 2 schematisch dargestellt. Die Steueranlage 10 umfasst einen Joystick 11 als Betätigungselement. Der Joystick 11 ist mit einem Sensorcontroller 12 verbunden. Weiterhin sind verschiedene Sensoren mit dem Sensorcontroller 12 in Verbindung.In FIG. 2 the control system of the telehandler 2 is shown schematically. The control system 10 includes a joystick 11 as an actuator. The joystick 11 is connected to a sensor controller 12. Furthermore, various sensors are connected to the sensor controller 12.

Die Betriebssteuerung wird von einer Versorgungseinheit 19 mit einem entsprechenden Kraftmedium, beispielsweise im Falle einer hydraulischen Versorgungseinheit 19 mit einer Hydraulikflüssigkeit versorgt. Im Falle einer elektrischen Maschinenausführung könnte beispielsweise die Versorgung 19 auch als Stromversorgung ausgebildet sein.The operating control is supplied by a supply unit 19 with a corresponding force medium, for example in the case of a hydraulic supply unit 19 with a hydraulic fluid. In the case of an electrical machine design, for example, the supply 19 could also be designed as a power supply.

Die Betriebssteuereinheit 13 ist weiterhin mit einer Ladeanlage 20 verbunden, die durch die Betriebssteuereinheit 13 gesteuert wird. Im Normalbetrieb wird über die Betriebssteuereinheit 13 die Ladeanlage 20 entsprechend den Betätigungssignalen des Joysticks 11 betätigt. Die Sensoren 15 bis 18 überwachen dabei Maschinenkomponenten und können beispielsweise dazu dienen, kritische Situationen zu erkennen. Dies kann beispielsweise über einen Lastsensor 15 erfolgen, der eine Kraftmessung an der Hinterachse durchführen kann. Die Sensoren 16 bis 18 können beispielsweise Drucksensoren in der Steuerung der Ladeanlage 20 darstellen, um Aussagen über die Position und Belastung auf die Maschine treffen zu können.The operation control unit 13 is further connected to a charging facility 20 which is controlled by the operation control unit 13. In normal operation, the charging system 20 is actuated in accordance with the actuation signals of the joystick 11 via the operation control unit 13. The sensors 15 to 18 monitor machine components and can serve, for example, to detect critical situations. This can be done for example via a load sensor 15, which can perform a force measurement on the rear axle. The sensors 16 to 18 can be, for example, pressure sensors in the control of the charging system 20 in order to be able to make statements about the position and load on the machine.

Die Sensoren 15 bis 18 oder entsprechende Sensoren an weiteren Maschinenteilen können dazu herangezogen werden, um eine Paniksituation des Bedieners anhand von Maschinenreaktionen zu detektieren.The sensors 15 to 18 or corresponding sensors on other machine parts can be used to detect a panic situation of the operator based on machine reactions.

In der dargestellten Ausführungsform ist hierzu ein zusätzlicher Paniksensor 21 am Joystick 11 angebracht. Der Paniksensor 21 steht unmittelbar mit der Paniksteuereinheit 14 für den Paniksteuermodus in Verbindung.In the illustrated embodiment, this is a additional panic sensor 21 attached to the joystick 11. The panic sensor 21 is directly connected to the panic control unit 14 for the panic control mode.

Im Normalbetrieb bedient die Bedienperson die Ladeanlage 20 in üblicher Weise mittels des Joysticks 11. Die Sensoren 15 bis 18 übermitteln dabei entsprechende Sensorsignale an den Sensorcontroller 12 sowie die Betriebssteuerung 13. In bestimmten Fällen, zum Beispiel bei einem Teleskoplader, wie dargestellt, kann eine weitere Notsteuereinheit 22 für einen weiteren Notsteuermodus vorgesehen sein.In normal operation, the operator operates the charging system 20 in the usual way by means of the joystick 11. The sensors 15 to 18 transmit corresponding sensor signals to the sensor controller 12 and the operation control 13. In certain cases, for example in a telescopic loader, as shown, another Emergency control unit 22 may be provided for a further emergency control mode.

Die Betriebssteuerung 13 kann eine solche weitere Notsteuereinheit 22 beinhalten, die in den Steuerungsablauf der Betriebssteuerung 13 eingreift, wenn eine lastmomentvergrößernde Bewegung in Längsrichtung des Fahrzeugs bzw. eine Verlängerung des Hubarms 5 eine instabile Situation verursachen würde. Die weitere Notsteuereinheit 22 kann dann solche lastmomentvergrößernden Bewegungen blockieren.The operation control 13 may include such a further emergency control unit 22, which engages in the control flow of the operation control 13, when a load torque increasing movement in the longitudinal direction of the vehicle or an extension of the lift arm 5 would cause an unstable situation. The further emergency control unit 22 can then block such loadmomentvergrößernden movements.

Sofern eine solche weitere Notsteuereinheit 22 aktiv ist, ist ein Zugriff auf die Ladeanlage 20 über den Joystick gar nicht oder nur eingeschränkt möglich.If such a further emergency control unit 22 is active, access to the charging system 20 via the joystick is not possible or only to a limited extent.

Mittels des Paniksensors 21, der beispielsweise die Geschwindigkeit der Betätigung des Joysticks 11, das Überwinden eines Druckpunkts oder das Erreichen einer bestimmten Auslöseposition, insbesondere in Verbindung mit dem Überwinden eines Druckpunktes erfasst, wird nunmehr die Paniksteuereinheit 14 aktiviert, die im Diagramm 2 in einem Bypass der Verbindungen zwischen Versorgung 19 und Ladeanlage 20 veranschaulicht ist und die Steuerung der Ladeanlage 20 übernimmt.By means of the panic sensor 21, which detects, for example, the speed of actuation of the joystick 11, overcoming a pressure point or reaching a certain triggering position, in particular in connection with overcoming a pressure point, the panic control unit 14 is now activated, which in the diagram 2 in a bypass the connections between supply 19 and charging system 20 is illustrated and takes over the control of the charging system 20.

Hierdurch sind beispielsweise eine Lastabsenkung, ein Lastabwurf oder vergleichbare Reaktionen möglich. Die Paniksteuereinheit 14 kann auch Maschinenbewegungen oder Kombinationen von Bewegungen ermöglichen, die im Normalbetrieb durch die Betriebssteuereinheit 13 nicht vorgesehen sind. Ist neben der Paniksteuereinheit 14 eine weitereAs a result, for example, a load reduction, a load shedding or similar reactions are possible. The panic control unit 14 may also allow for machine movements or combinations of movements that are not provided by the operation control unit 13 during normal operation. Is next to the panic control unit 14 another

Notsteuereinheit 22 wie oben angegeben vorhanden, umgeht die Paniksteuereinheit 14 die weitere Notsteuereinheit 22, das heißt, die weitere Notsteuereinheit 22 wird durch die Paniksteuereinheit 14 übersteuert bzw. die zweite Paniksteuereinheit 14 hat Vorrang gegenüber der weiteren Notsteuereinheit 22.Emergency control unit 22 as indicated above, bypasses the panic control unit 14, the further emergency control unit 22, that is, the further emergency control unit 22 is overridden by the panic control unit 14 and the second panic control unit 14 takes precedence over the further emergency control unit 22nd

Durch die erfindungsgemäße Paniksteuereinheit 14 in Verbindung mit der Panikerkennung, im vorliegenden Ausführungsbeispiel mittels des Paniksensors 21, ist somit eine instabile Situation zu vermeiden oder zu beheben, selbst wenn eine gegebenenfalls vorhandene weitere Notsteuereinheit 22 aktiviert ist.By means of the panic control unit 14 according to the invention in conjunction with the panic detection, in the present exemplary embodiment by means of the panic sensor 21, an unstable situation is thus to be avoided or eliminated, even if an optional emergency control unit 22 is activated.

Die erfindungsgemäße Paniksteuereinheit 14 ist im Panikfall auch dann zur Überbrückung der normalen Betriebssteuereinheit aktiviert, wenn die weitere Notsteuereinheit noch nicht aktiv oder keine weitere Notsteuereinheit vorgesehen ist. Dies ist insbesondere dann von Vorteil, wenn durch die Paniksteuereinheit 14 Maßnahmen oder Kombinationen von Maßnahmen vorgesehen sind, die durch die normale Betriebssteuereinheit 13 nicht durchführbar sind. Beispielsweise könnte ein Absenken des Hubarms 5 mit einem Einfahren des Hubarms 5 verbunden werden. Gleichzeitig könnte beispielsweise eine Bremswirkung des Fahrwerks der fahrbaren Maschine aufgehoben oder abgeschwächt werden. Je nach Situation könnte auch eine Beschleunigung der fahrbaren Maschine vorgesehen werden, um eine Kippbewegung nach vorne zu vermeiden.The panic control unit 14 according to the invention is also activated in the event of panic for bridging the normal operating control unit if the further emergency control unit is not yet active or no further emergency control unit is provided. This is particularly advantageous if the panic control unit 14 measures or combinations of measures are provided which are not feasible by the normal operation control unit 13. For example, a lowering of the lifting arm 5 could be connected to a retraction of the lifting arm 5. At the same time, for example, a braking effect of the chassis of the mobile machine could be canceled or weakened. Depending on the situation, an acceleration of the mobile machine could be provided to prevent a tilting forward movement.

Wie bereits oben mehrfach angeführt, kann eine Panikerkennung auch ohne eigens dafür vorgesehene Paniksensoren wie zum Beispiel dem Paniksensor 21 am Bedienelement 11 vorgenommen werden. Auch die Signale der Sensoren 15 bis 18, die an Maschinenkomponenten die Reaktionen dieser Maschinenkomponente auf Steuersignale durch den Joystick 11 erfassen, können zur Erfassung einer Paniksituation herangezogen werden.As already mentioned several times above, a panic detection can also be carried out without specifically provided panic sensors, such as, for example, the panic sensor 21 on the control element 11. The signals from the sensors 15 to 18, which detect the reactions of this machine component to control signals by the joystick 11 on machine components, can also be used to detect a panic situation.

In der dargestellten Ausführungsform kann die Paniksituation beispielsweise im Sensorcontroller 12 festgestellt werden, der anschließend ein entsprechendes Signal an die Notsteuereinheit 14 zur Aktivierung abgeben kann. Der Sensorcontroller 12 kann bei entsprechender Ausführungsform auch die normale Betriebssteuereinheit 13 außer Kraft setzen.In the illustrated embodiment, the panic situation For example, be detected in the sensor controller 12, which can then deliver a corresponding signal to the emergency control unit 14 for activation. The sensor controller 12 may also override the normal operation control unit 13 in a corresponding embodiment.

Neben der dargestellten Ausführungsvariante sind noch vielfältige weitere Ausführungen denkbar. Wesentlich ist, dass bei Erkennen einer Paniksituation der Bedienperson ein Notsteuermodus gemäß dem Anspruch 1 vorgesehen ist.In addition to the illustrated embodiment, a variety of other designs are conceivable. It is essential that when recognizing a panic situation the operator an emergency control mode according to claim 1 is provided.

Die Paniksteuereinheit 14 und gegebenenfalls die weitere Notsteuereinheit 22 müssen nicht separat zur normalen Betriebseinheit ausgebildet sein, sondern können auch in diese integriert sein. Wesentlich ist nur, dass die Maschinensteuerung insgesamt zum erfindungsgemäßen Notsteuermodus in der Lage ist.The panic control unit 14 and optionally the further emergency control unit 22 need not be formed separately from the normal operating unit, but may also be integrated in this. All that is essential is that the machine control system as a whole is capable of the emergency control mode according to the invention.

Bezugszeichenliste:LIST OF REFERENCE NUMBERS

11
Maschinenfahrzeugdriven vessel
22
TeleskopladerTelehandler
33
Tragrahmensupporting frame
44
Tragstruktursupporting structure
55
Hubarmlifting arm
66
Lastaufnahmelifting
77
Stützflanschsupport flange
88th
Schwenkachseswivel axis
99
Hubzylinderlifting cylinder
1010
Steueranlagecontrol system
1111
Joystickjoystick
1212
Sensorcontrollersensor controller
1313
BetriebssteuereinheitOperation control unit
1414
PaniksteuereinheitPanic control unit
1515
Sensorsensor
1616
Sensorsensor
1717
Sensorsensor
1818
Sensorsensor
1919
Versorgungseinheitsupply unit
2020
Ladeanlagecharging system
2121
Paniksensorpanic sensor
2222
weitere Notsteuereinheitfurther emergency control unit

Claims (14)

Maschine mit Ladeanlage (20), die einen höhenverstellbaren Lastausleger (5) mit einer Lastaufnahme (6) zur Aufnahme einer zu bewegenden Last aufweist, insbesondere Bagger, Kran, Radlader, Teleskoplader oder dergleichen, dadurch gekennzeichnet, dass eine sensorische Erfassung der Bedienungsart eines Bedienelementes (11) für die Ladeanlage (20) und eine Auswerteeinheit (12) zur Erkennung einer Paniksituation einer die Bedieneinheit betätigenden Bedienperson vorgesehen ist und dass bei Erkennung einer Paniksituation der Bedienperson ein Notsteuermodus vorgesehen ist, der eine Betätigung der Ladeanlage beinhaltet.Machine with loading system (20), which has a height-adjustable load beam (5) with a load receptacle (6) for receiving a load to be moved, in particular excavator, crane, wheel loader, telescopic loader or the like, characterized in that a sensory detection of the operating mode of a control element (11) for the charging system (20) and an evaluation unit (12) for detecting a panic situation of an operator operating the operator is provided and that upon detection of a panic situation the operator an emergency control mode is provided which includes an actuation of the charging system. Maschine nach einem der vorgenannten Ansprüche, dadurch gekennzeichnet, dass eine Sensoreinheit (12) zur Erfassung einer oder mehrerer stabilitatsrelevanter Zustandsgrößen der Maschine wie die aufgenommene Last, die Beschleunigung einer Maschinenkomponente, die Kraft- oder Drehmomenteinwirkung auf eine Maschinenkomponente oder dergleichen zur Erkennung eines durch den Betrieb der Ladeanlage (20) beeinflussbaren instabilen Maschinenstatus anhand der sensorisch erfassten Werte und eine Maschinensteuerung (13) vorgesehen sind.Machine according to one of the preceding claims, characterized in that a sensor unit (12) for detecting one or more stability-relevant state variables of the machine as the recorded load, the acceleration of a machine component, the force or torque effect on a machine component or the like for detecting a by the Operation of the charging system (20) influenceable unstable machine status based on the sensory detected values and a machine control (13) are provided. Maschine nach einem der vorgenannten Ansprüche, dadurch gekennzeichnet, dass die Erfassung der Betätigungsgeschwindigkeit an einem Bedienelement (11) zur Betätigung der Ladeanlage (20) und/oder die Erfassung der Krafteinwirkung auf ein Bedienelement (11) zur Betätigung der Ladeanlage (20) vorgesehen und/oder ein Geschwindigkeitssensor und/oder ein Positionssensor und/oder ein Beschleunigungssensor und/oder ein Kraftsensor an einem Bedienelement zur Betätigung der Ladeanlage (20) vorgesehen ist.Machine according to one of the preceding claims, characterized in that the detection of the operating speed on an operating element (11) for actuating the charging system (20) and / or the detection of the force on an operating element (11) for actuating the charging system (20) and / or a speed sensor and / or a position sensor and / or an acceleration sensor and / or a force sensor is provided on a control element for actuating the charging system (20). Maschine nach einem der vorgenannten Ansprüche, dadurch gekennzeichnet, dass die Erfassung einer Auslöseposition und/oder eine Auslösekrafteinwirkung an einem Bedienelement (11) zur Betätigung der Ladeanlage (20) vorgesehen ist.Machine according to one of the preceding claims, characterized in that the detection of a triggering position and / or a triggering force on an operating element (11) for actuating the charging system (20) is provided. Maschine nach einem der vorgenannten Ansprüche, dadurch gekennzeichnet, dass Sensoren (15, 16, 17, 18) an einer Maschinenkomponente vorgesehen sind, die anhand der Betätigung eines Bedienelementes (11) zur Betätigung der Ladeanlage (20) eine sensierbare Zustandsänderung erfährt, deren Charakteristik Rückschlüsse auf die Bedienart und somit auf eine Paniksituation zulässt.Machine according to one of the preceding claims, characterized in that sensors (15, 16, 17, 18) are provided on a machine component which undergoes a sensible change of state based on the actuation of a control element (11) for actuating the charging system (20) whose characteristics Conclusions on the type of operation and thus on a panic situation allows. Maschine nach einem der vorgenannten Ansprüche, dadurch gekennzeichnet, dass zur Erfassung wenigstens einer stabilitätsrelevanten Zustandsgröße und/oder von Maschinenreaktionen auf die Bedienart ein Beschleunigungssensor und/oder ein Neigungssensor und/oder ein Ortungssensor und/oder ein Lastsensor und/oder ein Drucksensor und/oder eine Kombination aus zwei oder mehreren solchen Sensoren an wenigstens einer Maschinenkomponente vorgesehen ist.Machine according to one of the preceding claims, characterized in that for detecting at least one stability-relevant state variable and / or machine reactions to the type of operation, an acceleration sensor and / or a tilt sensor and / or a position sensor and / or a load sensor and / or a pressure sensor and / or a combination of two or more such sensors is provided on at least one machine component. Maschine nach einem der vorgenannten Ansprüche, dadurch gekennzeichnet, dass in der Auswerteeinheit (12) die Auswertung sensorisch erfasster Maschinenreaktionen auf die Bedienart des Bedienelementes zur Erkennung einer Paniksituation vorgesehen ist.Machine according to one of the preceding claims, characterized in that in the evaluation unit (12) the evaluation of sensory detected machine reactions to the operating mode of the control element for detecting a panic situation is provided. Maschine nach einem der vorgenannten Ansprüche, dadurch gekennzeichnet, dass im Notsteuermodus eine Auslegerabsenkung und/oder eine Lastauslegerverkürzung als Korrekturmaßnahme durchführbar ist.Machine according to one of the preceding claims, characterized in that in the emergency control mode, a boom lowering and / or a load boom shortening can be carried out as a corrective measure. Maschine nach einem der vorgenannten Ansprüche, dadurch gekennzeichnet, dass im Notsteuermodus ein Lastabwurf als Korrekturmaßnahmen durchführbar ist.Machine according to one of the preceding claims, characterized in that in the emergency control mode, a load shedding is carried out as a corrective action. Maschine nach einem der vorgenannten Ansprüche, dadurch gekennzeichnet, dass im Notsteuermodus Korrekturmaßnahmen durchführbar sind, die im normalen Betriebsmodus und/oder im ersten Notsteuermodus nicht durchführbar sind.Machine according to one of the preceding claims, characterized in that in the emergency control mode corrective measures are feasible, which are not feasible in the normal operating mode and / or in the first emergency control mode. Maschine nach einem der vorgenannten Ansprüche, dadurch gekennzeichnet, dass durch die Maschinensteuerung (10) im Notsteuermodus Kombinationen von Korrekturmaßnahmen durchführbar sind.Machine according to one of the preceding claims, characterized in that combinations of corrective measures can be carried out by the machine controller (10) in the emergency control mode. Maschine nach einem der vorgenannten Ansprüche, dadurch gekennzeichnet, dass die Maschinensteuerung (10) der Ladeanlage (20) hydraulisch, hydraulisch-mechanisch, elektrisch oder elektro-hydraulisch ausgebildet ist.Machine according to one of the preceding claims, characterized in that the machine control (10) of the charging system (20) is formed hydraulically, hydraulically-mechanically, electrically or electro-hydraulically. Maschine nach einem der vorgenannten Ansprüche, dadurch gekennzeichnet, dass bei Erkennung einer Paniksituation eine Betätigung in den sicheren Zustand durch eine rein hydraulisch-mechanische Steuerung, insbesondere durch die Überwindung eines Druckpunktes im Bedienelement, insbesondere durch die Überwindung eines Widerstandes an einem ein Bedienelement umfassendes Steuerventil der Steuerung gewährleistet wird.Machine according to one of the preceding claims, characterized in that upon detection of a panic situation actuation in the safe state by a purely hydraulic-mechanical control, in particular by overcoming a pressure point in the control element, in particular by overcoming a resistance to an operating control comprehensive control valve the control is ensured. Maschine nach einem der vorgenannten Ansprüche, dadurch gekennzeichnet, dass der Notsteuermodus als Paniksteuermodus gegenüber einem weiteren, die Ladeanlage blockierenden Notsteuermodus Vorrang hat.Machine according to one of the preceding claims, characterized in that the emergency control mode as a panic control mode over another, the charging system blocking emergency control mode has priority.
EP13005038.8A 2012-11-16 2013-10-22 Machine with loading installation Active EP2733268B1 (en)

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EP3309114A1 (en) * 2016-10-13 2018-04-18 The Raymond Corporation Handle position sensing systems and methods for a material handling vehicle

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WO2017157482A1 (en) * 2016-03-16 2017-09-21 Ks Control Gmbh Device for receiving, holding and/or positioning planar workpieces, in particular sheets of glass
DE102016011186A1 (en) 2016-09-15 2018-03-15 Liebherr-Werk Bischofshofen Gmbh working machine
EP3309114A1 (en) * 2016-10-13 2018-04-18 The Raymond Corporation Handle position sensing systems and methods for a material handling vehicle
US10544022B2 (en) 2016-10-13 2020-01-28 The Raymond Corporation Handle position sensing systems and methods for a material handling vehicle

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EP2733268A3 (en) 2017-09-13
DE102012022404A1 (en) 2014-05-22
EP2733268B1 (en) 2020-04-08

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