EP2733268B1 - Machine dotée d'une installation de chargement - Google Patents

Machine dotée d'une installation de chargement Download PDF

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Publication number
EP2733268B1
EP2733268B1 EP13005038.8A EP13005038A EP2733268B1 EP 2733268 B1 EP2733268 B1 EP 2733268B1 EP 13005038 A EP13005038 A EP 13005038A EP 2733268 B1 EP2733268 B1 EP 2733268B1
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EP
European Patent Office
Prior art keywords
machine
machine according
loading system
sensor
control mode
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.)
Active
Application number
EP13005038.8A
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German (de)
English (en)
Other versions
EP2733268A2 (fr
EP2733268A3 (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
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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 loading system, which has a height-adjustable load arm with a load receiver for receiving a load to be moved, according to the preamble of claim 1.
  • Such machines are used, for example, as so-called wheel loaders or telescopic loaders, but also as excavators, cranes, etc.
  • Such machines are used, for example, as so-called wheel loaders or telescopic loaders, but also as excavators, cranes, etc.
  • excavators e.g., a crane
  • unstable situations can arise 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 ensures improved safety for the operator.
  • a machine is characterized in that a sensory detection of the type of operation of an operating element for the charging system and an evaluation unit for recognizing a panic situation of an operator operating the operating unit is provided, that an emergency control mode is provided when the operator detects a panic situation, which is a Actuation of the charging system includes, and that the detection of the actuation speed is provided on the control element for actuating the charging system and / or a speed sensor and / or an acceleration sensor is provided on the control element for actuating the charging system.
  • the object of the invention is therefore to provide an emergency control mode for actuating the loading system in a special situation, namely the panic situation of an operator operating the operating unit.
  • a panic situation of an operator operating the operating unit.
  • Corrective measures can also be provided here, which are not provided in normal operation and therefore cannot be carried out on machines according to the prior art.
  • the embodiment according to the invention is based on the knowledge that, in the event of an unstable situation, the operator will first try to stabilize the machine by taking measures on the loading system, for example by rapidly lowering the load. As a result, due to the existing panic situation, the actuation on the control element becomes too corresponding speed or force, which is recorded according to the invention and can be used to trigger the emergency control mode.
  • a speed sensor and / or an acceleration sensor on the control element for actuating the loading system is provided on the control element for detecting the actuation speed.
  • the actuation speed of the control element can be detected with the aid of such sensors.
  • a trigger position and / or a trigger force effect for triggering the emergency control mode on the control element for actuating the charging system and / or a position sensor and / or a force sensor on the control element for actuating the charging system can also be provided.
  • a triggering force by overcoming a resistance or a counterforce may be required in order to reach a triggering position of the control element. This would be a configuration to ensure that the trigger position is only reached in a panic reaction.
  • a triggering force that acts on the control element above the usual force can also be used to trigger the emergency control mode.
  • a force sensor as described above, can be used for this purpose, the triggering force being reached when a threshold value is exceeded, and the emergency control mode is thus triggered.
  • sensors can also be provided on machine components, which experience a sensible change in state based on the actuation of the operating element for actuating the loading system.
  • the characteristic of such a change in state can in turn allow conclusions to be drawn about the type of operation and thus of a panic situation.
  • the detection of at least one stability-relevant state variable on a machine component and / or machine reactions to the operating mode can thus allow conclusions to be drawn about a panic situation.
  • an acceleration sensor and / or an inclination sensor and / or a location 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, their change in state or reaction to actuation of an operating element Allows conclusions to be drawn about a panic situation.
  • an evaluation of the sensor-detected machine reaction is used to draw a conclusion about the operating mode of the control element and thus the panic situation is recognized.
  • a lowering of the boom and / or a shortening of the load boom can be carried out as a corrective measure.
  • a load shedding can be carried out as a corrective measure in the emergency control mode.
  • load shedding involves certain risks for the space below the load, so that in normal operation, load shedding is generally not provided for safety reasons.
  • a load shedding is acceptable inasmuch as when the vehicle is tilted, the load in this area in which it is dropped can reach, so that this measure does not cause additional damage.
  • the machine control of the loading system can be hydraulic, hydraulic-mechanical, electrical or electro-hydraulic. In all of these training courses, corrective measures are possible as prescribed.
  • a particularly simple embodiment of the invention consists in that when a panic situation is detected, an actuation measure to bring about a safe state by means of a purely hydraulic-mechanical control, in particular by overcoming a pressure point in the control element or in particular by overcoming a resistance on a control valve comprising an control element the control is provided.
  • the purely hydraulic-mechanical control is a particularly safe means of recognizing the panic situation on the one hand and providing the necessary reaction option on the other.
  • an emergency control mode is already provided which can block the loading system.
  • the machine control system is also equipped with the Emergency control mode according to the invention, hereinafter referred to as panic control mode, which has priority over such an already existing emergency control mode, that is, overrides it.
  • FIG. 1 schematically shows a machine vehicle 1 designed as a telescopic loader 1.
  • the supporting structure 4 designed as a supporting frame 3 accommodates in a central position a telescopic lifting arm 5 as a load receiver, to which a known tool adapter 6 is assigned as a load receiver from the front.
  • the lifting arm 5 is pivotally mounted in its rear region by at least one pivot axis 8 arranged in support flanges 7 transversely to the direction of travel FR, with one or more lifting cylinders 9 being assigned to the lifting arm 5 on the underside to realize the pivoting movement of the oil volume flow enable the lifting arm 5 to pivot about the said pivot axis 8.
  • the telescopic extension and retraction of the lifting arm 5 is realized in a manner known per se and therefore not shown in more detail by means of further lifting cylinders.
  • the lifting arm 5 can be extended lengthwise in the direction T, that is, it is divided into at least two telescopically movable sub-elements.
  • the lifting arm 5 can also be pivoted in the direction S about the pivot axis 8. As a result, the height of the load carried by the mobile machine can be changed, as can the extension in the telescopic direction T.
  • control system of the telescopic loader 2 is shown schematically.
  • the control system 10 comprises a joystick 11 as an actuating element.
  • the joystick 11 is connected to a sensor controller 12.
  • Various sensors are also 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.
  • the supply 19 could, for example, also be designed as a power supply.
  • the operating control unit 13 is also connected to a charging system 20 which is controlled by the operating control unit 13.
  • the charging system 20 is actuated via the operating control unit 13 in accordance with the actuation signals of the joystick 11.
  • the sensors 15 to 18 monitor machine components and can be used, for example, to identify critical situations. This can take place, for example, via a load sensor 15, which can carry out a force measurement on the rear axle.
  • the sensors 16 to 18 can, for example, represent pressure sensors in the control of the loading 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 further machine parts can be used to detect a panic situation of the operator on the basis of machine reactions.
  • this is a additional panic sensor 21 attached to 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 operating control 13.
  • a further one can be used Emergency control unit 22 can be provided for a further emergency control mode.
  • the operating control 13 can include such a further emergency control unit 22, which intervenes in the control sequence of the operating control 13 if a movement increasing the load moment in the longitudinal direction of the vehicle or an extension of the lifting arm 5 would cause an unstable situation.
  • the further emergency control unit 22 can then block such movements that increase the load torque.
  • the panic control unit 14 which is shown in a bypass in diagram 2, is now activated by means of the panic sensor 21, which detects, for example, the speed of actuation of the joystick 11, the overcoming of a pressure point or the reaching of a certain trigger position, in particular in connection with the overcoming of a pressure point 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 can also enable machine movements or combinations of movements that are not provided by the operating control unit 13 in normal operation. In addition to the panic control unit 14, there is another one If the emergency control unit 22 is present as stated above, the panic control unit 14 bypasses the further emergency control unit 22, that is to say the further emergency control unit 22 is overridden by the panic control unit 14 or the second panic control unit 14 has priority over the further emergency control unit 22.
  • the panic control unit 14 in conjunction with the panic detection, in the present exemplary embodiment by means of the panic sensor 21, thus prevents or eliminates an unstable situation, even if an additional emergency control unit 22 which may be present is activated.
  • the panic control unit 14 is also activated in the event of a panic to bypass the normal operating control unit if the further emergency control unit is not yet active or no further emergency control unit is provided.
  • measures or combinations of measures are provided by the panic control unit 14 which cannot be carried out by the normal operating control unit 13.
  • a lowering of the lifting arm 5 could be connected to a retraction of the lifting arm 5.
  • a braking effect of the chassis of the mobile machine could be canceled or weakened.
  • the mobile machine could also be accelerated in order to avoid a forward tilting movement.
  • panic detection can also be carried out without specially provided panic sensors such as the panic sensor 21 on the control element 11.
  • the signals from sensors 15 to 18, which detect the reactions of this machine component to control signals by joystick 11 on machine components, can also be used to detect a panic situation.
  • the panic situation can be determined, for example, in the sensor controller 12, which can then emit a corresponding signal to the emergency control unit 14 for activation.
  • the sensor controller 12 can also override the normal operation control unit 13.
  • the panic control unit 14 and possibly the further emergency control unit 22 do not have to be designed separately from the normal operating unit, but can also be integrated into this. It is only essential 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)
  • 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)

Claims (14)

  1. Machine dotée d'une installation de chargement (20), qui présente une flèche de charge réglable en hauteur (5) avec un support de charge (6) pour recevoir une charge à déplacer, en particulier une pelleteuse, une grue, une chargeuse sur pneus ou une chargeuse télescopique, une détection par capteurs du type de fonctionnement d'un élément de commande (11) pour l'installation de chargement (20) et une unité d'évaluation (12) étant prévues pour reconnaître une situation de panique d'un opérateur utilisant l'unité de commande, un mode de commande d'urgence étant fourni en cas de détection d'une situation de panique de l'opérateur, lequel mode comprend l'actionnement de l'installation de chargement, caractérisée en ce que la détection de la vitesse d'actionnement est prévue sur l'élément de commande (11) pour actionner l'installation de chargement (20) et/ou un capteur de vitesse et/ou un capteur d'accélération sont prévus sur l'élément de commande pour actionner l'installation de chargement (20).
  2. Machine selon la revendication 1, caractérisée en ce qu'une unité de capteur (12) pour détecter une ou plusieurs variables d'état liées à la stabilité de la machine, telles que la charge reçue, l'accélération d'un composant de machine, l'action de la force ou du couple sur un composant de machine pour détecter un état instable de la machine qui peut être influencé par le fonctionnement de l'installation de chargement (20) sur la base des valeurs détectées par capteurs et une commande de la machine (13) sont prévues.
  3. Machine selon l'une quelconque des revendications précédentes, caractérisée en ce qu'un capteur de position est prévu sur l'élément de commande pour actionner l'installation de chargement (20).
  4. Machine selon l'une quelconque des revendications précédentes, caractérisée en ce que la détection d'une position de libération et/ou l'action d'une force de libération sont prévues sur l'élément de commande (11) pour actionner l'installation de chargement (20).
  5. Machine selon l'une quelconque des revendications précédentes, caractérisée en ce que des capteurs (15, 16, 17, 18) sont prévus sur un composant de machine qui, sur la base de l'actionnement de l'élément de commande (11) pour actionner l'installation de chargement (20), subit un changement d'état détectable dont les caractéristiques permettent de tirer des conclusions sur le type de fonctionnement et donc sur une situation de panique.
  6. Machine selon l'une quelconque des revendications précédentes, caractérisée en ce qu'un capteur d'accélération et/ou un capteur d'inclinaison et/ou un capteur de position et/ou un capteur de charge et/ou un capteur de pression et/ou une combinaison de deux de ces capteurs ou plus sont prévus sur au moins un composant de machine pour la détection d'une ou plusieurs variables d'état liées à la stabilité de la machine et/ou de réactions de la machine en fonction du type de fonctionnement.
  7. Machine selon l'une quelconque des revendications précédentes, caractérisée en ce que l'unité d'évaluation (12) prévoit l'évaluation des réactions de la machine détectées par capteurs en fonction du type de fonctionnement de l'élément de commande afin de détecter une situation de panique.
  8. Machine selon l'une quelconque des revendications précédentes, caractérisée en ce que dans le mode de commande d'urgence, un abaissement de la flèche et/ou un raccourcissement de la flèche de charge peuvent être effectués comme mesure corrective.
  9. Machine selon l'une quelconque des revendications précédentes, caractérisée en ce qu'un délestage peut être effectué en tant que mesures correctives dans le mode de commande d'urgence.
  10. Machine selon l'une quelconque des revendications précédentes, caractérisée en ce que, dans le mode de commande d'urgence, des mesures correctives peuvent être effectuées, lesquelles ne peuvent pas être effectuées dans le mode de fonctionnement normal et/ou dans un premier mode de commande d'urgence.
  11. Machine selon l'une quelconque des revendications précédentes, caractérisée en ce que des combinaisons de mesures correctives peuvent être effectuées par une commande de machine (10) dans le mode de commande d'urgence.
  12. Machine selon l'une quelconque des revendications précédentes, caractérisée en ce qu'une commande de machine (10) de l'installation de chargement (20) est conçue pour être hydraulique, hydraulique-mécanique, électrique ou électro-hydraulique.
  13. Machine selon l'une quelconque des revendications précédentes, caractérisée en ce que, lors de la détection d'une situation de panique, un actionnement à l'état sûr par une commande purement hydraulique-mécanique, notamment en dépassant un point de pression dans l'élément de commande, en particulier en surmontant une résistance au niveau d'une vanne de commande comprenant l'élément de commande du système de commande, est garanti.
  14. Machine selon l'une quelconque des revendications précédentes, caractérisée en ce que le mode de commande d'urgence en tant que mode de commande en situation de panique est prioritaire sur un autre mode de commande d'urgence bloquant l'installation de chargement.
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 EP2733268A2 (fr) 2014-05-21
EP2733268A3 EP2733268A3 (fr) 2017-09-13
EP2733268B1 true EP2733268B1 (fr) 2020-04-08

Family

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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)

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

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202016101454U1 (de) * 2016-03-16 2017-06-19 KS CONTROL Schneider/Ruhland GmbH Vorrichtung zum Aufnehmen, Halten- und/oder Positionieren von flächigen Werkstücken, insbesondere Glasplatten
DE102016011186A1 (de) 2016-09-15 2018-03-15 Liebherr-Werk Bischofshofen Gmbh Arbeitsmaschine
EP3309114B1 (fr) * 2016-10-13 2021-12-01 The Raymond Corporation Systèmes et procédés de détection de position à poignée pour véhicule de manutention de matériaux
EP3539820B1 (fr) * 2018-03-12 2023-06-07 MOBA Mobile Automation AG Dispositif de commande

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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)

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Publication number Publication date
DE102012022404A1 (de) 2014-05-22
EP2733268A2 (fr) 2014-05-21
EP2733268A3 (fr) 2017-09-13

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