EP2733268A2 - Machine dotée d'une installation de chargement - Google Patents

Machine dotée d'une installation de chargement 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
Authority
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)
English (en)
Other versions
EP2733268A3 (fr
EP2733268B1 (fr
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
Original Assignee
Kramer Werke GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Kramer Werke GmbH filed Critical Kramer Werke GmbH
Publication of EP2733268A2 publication Critical patent/EP2733268A2/fr
Publication of EP2733268A3 publication Critical patent/EP2733268A3/fr
Application granted granted Critical
Publication of EP2733268B1 publication Critical patent/EP2733268B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Operation Control Of Excavators (AREA)
EP13005038.8A 2012-11-16 2013-10-22 Machine dotée d'une installation de chargement Active EP2733268B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102012022404.4A DE102012022404A1 (de) 2012-11-16 2012-11-16 Maschine mit Ladeanlage

Publications (3)

Publication Number Publication Date
EP2733268A2 true EP2733268A2 (fr) 2014-05-21
EP2733268A3 EP2733268A3 (fr) 2017-09-13
EP2733268B1 EP2733268B1 (fr) 2020-04-08

Family

ID=49513706

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13005038.8A Active EP2733268B1 (fr) 2012-11-16 2013-10-22 Machine dotée d'une installation de chargement

Country Status (2)

Country Link
EP (1) EP2733268B1 (fr)
DE (1) DE102012022404A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017157482A1 (fr) * 2016-03-16 2017-09-21 Ks Control Gmbh Dispositif pour saisir, maintenir et/ou positionner des pièces planes, notamment des plaques de verre
DE102016011186A1 (de) 2016-09-15 2018-03-15 Liebherr-Werk Bischofshofen Gmbh Arbeitsmaschine
EP3309114A1 (fr) * 2016-10-13 2018-04-18 The Raymond Corporation Systèmes et procédés de détection de position à poignée pour véhicule de manutention de matériaux

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3539820B1 (fr) * 2018-03-12 2023-06-07 MOBA Mobile Automation AG Dispositif de commande

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6272413B1 (en) * 1999-03-19 2001-08-07 Kabushiki Kaisha Aichi Corporation Safety system for boom-equipped vehicle
WO2008004915A1 (fr) * 2006-07-03 2008-01-10 Volvo Construction Equipment Ab Procédé et système permettant d'éviter la chute d'une charge
DE102007021499A1 (de) * 2007-05-04 2008-11-06 Deere & Company, Moline Bedienvorrichtung
US20100302017A1 (en) * 2009-06-01 2010-12-02 Econtrols, Inc. Tactile Feedback for Joystick Position/Speed Controls
KR20110071907A (ko) * 2009-12-22 2011-06-29 두산인프라코어 주식회사 가변적 거동 특성을 이용한 전자식 유압 제어 장치 및 그 방법
DE102012022403A1 (de) * 2012-11-16 2014-05-22 Kramer-Werke Gmbh Fahrbare Maschine mit Ladeanlage

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017157482A1 (fr) * 2016-03-16 2017-09-21 Ks Control Gmbh Dispositif pour saisir, maintenir et/ou positionner des pièces planes, notamment des plaques de verre
DE102016011186A1 (de) 2016-09-15 2018-03-15 Liebherr-Werk Bischofshofen Gmbh Arbeitsmaschine
EP3309114A1 (fr) * 2016-10-13 2018-04-18 The Raymond Corporation Systèmes et procédés de détection de position à poignée pour véhicule de manutention de matériaux
US10544022B2 (en) 2016-10-13 2020-01-28 The Raymond Corporation Handle position sensing systems and methods for a material handling vehicle

Also Published As

Publication number Publication date
EP2733268A3 (fr) 2017-09-13
EP2733268B1 (fr) 2020-04-08
DE102012022404A1 (de) 2014-05-22

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