EP4242160A1 - Machine de construction ou machine agricole - Google Patents

Machine de construction ou machine agricole Download PDF

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Publication number
EP4242160A1
EP4242160A1 EP23160208.7A EP23160208A EP4242160A1 EP 4242160 A1 EP4242160 A1 EP 4242160A1 EP 23160208 A EP23160208 A EP 23160208A EP 4242160 A1 EP4242160 A1 EP 4242160A1
Authority
EP
European Patent Office
Prior art keywords
movement
load
machine according
machine
control unit
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.)
Pending
Application number
EP23160208.7A
Other languages
German (de)
English (en)
Inventor
Andreas Wizgall
Severin Kessler
Florian Deisl
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 EP4242160A1 publication Critical patent/EP4242160A1/fr
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • 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

Definitions

  • the invention relates to construction machines or agricultural machines, in particular telehandlers or wheel loaders or crane vehicles according to the preamble of claim 1.
  • Such machines have a loading system with a vertically pivotable load arm for picking up a load in a load holder, the length of the load arm being adjustable.
  • Such a loading system is controlled via controls, whereby there is usually a control element for adjusting the lifting angle of the load arm and a control element for adjusting the length of the load arm, i.e. in the case of a telescopic extension arm.
  • the operator moves the load arm based on the change in these two control parameters, which mathematically form a polar coordinate system.
  • machines In order to avoid critical load conditions that can lead to tipping over, machines have already become known that include mechanical interventions in the operator's control process. Such machines are, for example, from the publications EP 2 736 833 B1 or EP 2 520 536 B1 known.
  • the object of the invention is to propose a machine according to the preamble of claim 1, which enables improved movement control.
  • This task is based on a machine according to the preamble of claim 1 solved by its characterizing features.
  • control unit is designed to control the movements of the load arm for a second linear movement of the load pickup.
  • the first linear movement of the load pick-up can, for example, be a vertical movement and the second linear movement of the load pick-up a horizontal movement in relation to the machine or, in particular when the machine is at an angle, its surroundings. This further simplifies operation for an operator.
  • This type of control for example, even improves forklift work compared to conventional ones Special machines, such as forklifts, since a lifting tool such as a pallet fork can now be brought under the load in a horizontal movement, for example in the form of a loaded pallet, even without vehicle movement, and can then be raised or lowered at right angles to this in a vertical movement.
  • the direction of the horizontal movement can, as already mentioned above, also deviate from the direction of travel of the chassis, for example if it is tilted.
  • the possibility of mechanical control of linear movements of the load pickup is provided in a selectable operating mode, i.e. the control unit for controlling the load arm in a linear movement of the load pickup has at least two adjustable operating modes, one operating mode being the control of linear movements according to the invention and the other operating mode enables conventional control of the charging system.
  • the operator can choose whether he wants to work in the conventional way by controlling the lifting angle and the load arm length in a polar coordinate system or in the additional operating mode that can be selected according to the invention with linear movements, which corresponds to a Cartesian coordinate system.
  • a first, for example hydraulic and/or electrical Drive unit is provided for the lifting angle adjustment of the load arm and a second, for example hydraulic and / or electric drive unit for the length adjustment of the load arm, with a mechanical coupling of the drive speeds of the two drive units being provided in such a way that the superimposition of the change in the lift angle and the change in length of the load arm results in one linear movement of the load suspension results.
  • the control of the two drive devices can be carried out with an analytical calculation, for example using at least one trigonometric function, with which the setpoints of the stroke angle adjustment and the change in length of the load arm are calculated for the desired linear movement.
  • an analytical calculation for example using at least one trigonometric function, with which the setpoints of the stroke angle adjustment and the change in length of the load arm are calculated for the desired linear movement.
  • a map control can also be provided in which the drive parameters for the two drive devices, which result in a desired linear movement, are stored in one or more maps.
  • control unit In the control unit, a determination of the control parameters for controlling the two drive units for the first and the second linear movement of the load pickup independently of one another and a subsequent determination of combined control parameters for a resulting, superimposed linear movement are advantageously provided, for example by adding the control parameters the first and second movements.
  • This measure essentially means in the Calculation of the control parameters involves a superposition of two linearly independent movements in the manner of a vector addition.
  • the desired linear movement can be controlled more easily and precisely by the operator compared to the constant manual adjustment of the lifting angle and the load arm length.
  • the lifting angle and the load arm length as well as the drive speeds of the two drive units change constantly relative to one another in order to achieve a straight path for the load pick-up despite the pivoting movement of the load arm by means of an adapted load arm length.
  • changing the load arm length without changing the lifting angle is of course sufficient. This can be the case if the resulting movement corresponds to the first or second movement or if changes in the stroke angle of the first and second linear movements just cancel each other out during the superposition.
  • any further linear movement can be carried out in any direction and speed of movement within the machine-specified limits of the positions that can be approached and the possible drive speeds in the plane spanned by the two linear directions of movement.
  • the resulting movement also results from the ratio of the speeds of the first linear movement and the second linear movement.
  • the resulting movement can be understood as a vector addition, so to speak, where the output vectors point in the direction of the two linear movements and whose vector length corresponds to their speed.
  • the direction of the superimposed resulting movement therefore depends on the ratio of the speeds of the linear output movements, while the resulting speed of the superimposed resulting movement additionally depends on the absolute values of the speeds of the linear output movements.
  • a calculation is preferably provided based on the desired angular value or slope of the linear target movement direction, in which ratio the target speeds of the two drive units involved in the first linear movement and the second linear movement, for example the The lifting speeds of two lifting cylinders are related to each other in order to achieve a linear movement in the specified direction through appropriate control of the drive units.
  • a speed controller is preferably provided which compares the ratio of the measured drive speeds of the drive units, for example the lifting speed of two lifting cylinders, with the calculated speed ratio. If these conditions deviate from one another, the controller intervenes in the opposite direction to correct the speed specifications of the two drive units in order to counteract a possible deviation.
  • this calculation can be based on the calculated target speeds, which are in proportion to the desired resulting movement, and the resulting control parameters of the drive units, which correspond to the first and second linear movements, and these can then be used to superimpose the two linear ones movements are added.
  • Another possibility is a successive sequence of coordinate settings by successively executing the first and second linear movements. Although this corresponds to a staircase movement, with a sequence of correspondingly small movements it also comes very close to a continuous linear movement, especially if the transitions in the movement intervals are fluid and any corrective movements take place immediately.
  • control of a straight movement of the load pick-up by an operator can be made possible by providing a first control element for controlling the first linear movement and a second control element for controlling the second linear movement. If the first and second operating elements are actuated simultaneously, a superimposition of both linear partial movements can then be provided in proportion to how strongly the first and/or the second operating element are respectively actuated.
  • the actuation can be carried out, for example, by deflection of the control element, the size of the deflection being a measure of the strength of the actuation and thus the consideration of the corresponding movement in the overlay can be.
  • These sizes of the deflections or strengths of the actuations can be put into a ratio, for example by forming a quotient, this ratio corresponding to the desired ratio of the speeds of the linear initial movements and thus the desired direction of the resulting superimposed movement.
  • a desired absolute value for the speed of the superimposed resulting movement the strongest deflection in each case can be used, i.e. that the strongest deflection in each case of the controls is a measure of the desired movement speed.
  • the actual absolute speed of the resulting superimposed movement can be influenced by other influences in addition to the actuation of the controls, e.g. B. the currently available drive power, the size of the load, etc. can be determined.
  • an evaluation unit which uses an evaluation logic to determine which drive unit or which lifting cylinder reaches its supply limit first while maintaining the previously determined speed ratio as the drive speed increases.
  • the maximum drive speed that can be achieved under the given circumstances is to be assigned to this drive unit as the target speed and the target speed of the second drive unit is to be adjusted in the previously calculated speed ratio.
  • the target speed of a drive unit can be specified or determined as the volume or volume flow of a hydraulic fluid, which corresponds to the speed of this drive unit when appropriately supplied, in particular as a fraction or % value of the maximum amount of hydraulic fluid available for all applications or the maximum for all applications available volume flow of the hydraulic system. This simplifies the control of corresponding electromagnetic valves for adjusting the volumes or volume flows using electrical output signals from the control unit.
  • the target speed of the limited drive unit can therefore be specified or determined as the volume or volume flow of a hydraulic fluid, when supplied this drive unit moves at the corresponding speed. Accordingly, the target speed of the limited drive unit can also be expressed as a fraction or % value of the maximum for The amount of hydraulic fluid available to all applications or consumers or the maximum volume flow of the hydraulic system available to all applications or consumers can be specified or determined.
  • the target speed of the second drive unit is also specified in the previously calculated speed ratio. With this procedure, in the event of undersupply, a superimposed linear movement continues to be carried out, with the actual movement speed being reduced compared to the target speed specified by the controls.
  • a joystick for actuation in a raising/lowering direction can be provided as the first control element and a roller wheel for actuation by turning a roller as the second control element. Both the joystick movement and the roller wheel rotation can be recorded as angular variables and can therefore be used to enter desired target values for calculating the desired direction of movement.
  • the desired direction of movement can be calculated as an angle value between -180° and +180°.
  • 0° can correspond to a horizontal movement away from the machine and ⁇ 180° can correspond to a horizontal movement towards the machine.
  • the values ⁇ 90° represent vertical lifting or lowering movements.
  • the machine has an inclination sensor, its angle signal can be taken into account in such a way that the resulting desired direction of movement relates to the surroundings of the machine and not to the machine itself.
  • a position controller for continuous monitoring is advantageous, with correction provided for deviations in accordance with the setpoint.
  • a machine according to the invention can also be combined with a safety system to counteract the risk of the machine tipping over.
  • the control unit is additionally designed as follows, for example.
  • a safety query monitors the machine's stability reserves and limits the previously determined target speeds of the drive units up to a complete standstill before the machine tips over. Even with these limiting interventions, the ratio of the movement speeds of the drive elements to one another is maintained. When determining the degree of limitation of the target speeds, the desired direction of movement is also taken into account. This results in movements directed away from the machine being more restricted than movements directed towards the machine.
  • the position of the axis of rotation of the load carrier for example in relation to the machine.
  • the angular position of the load arm, and its length for example by determining the stroke of one or more telescopic stages.
  • the machine according to the invention can be expanded in such a way that the control of a third linear movement of the load receiver is provided, which is preferably aligned at right angles to the first and second linear movements of the load receiver.
  • control can also be designed to determine and control the ratio of the target speeds of the various linear movements and thus also to the ratio of the target speeds of the drive units to one another in order to ensure the linear superposition regardless of the absolute speed of the desired resulting linear movement to accomplish.
  • Such a machine with a third direction of movement can, for example, be a crane vehicle with a slewing ring and a pivoting telescopic boom, which according to the invention enables the operator to carry out any linear movements in space with a picked up load within the framework of the machine's boundary conditions.
  • control logic based on the angular positions of the movement vector and drive speed ratios of the drive units, in particular lifting cylinders, this could also be based on position values or absolute speeds of the drive units, as is the case with classic position and speed controls. For hydraulic drive units, this requires knowledge of the available volume flow for the movement of the drive units.
  • the controls used can be selected differently and/or the deflections of the controls could be interpreted differently as the target specification.
  • the position of the load or the load support, for example in the form of a tool, relative to the machine can also be determined using sensor signals other than those described.
  • the associated cylinder stroke can also be measured instead of the stroke angle.
  • the angle value for the alignment of the loading system can be measured indirectly via mechanisms. Knowing the lifting angle, the stroke of the telescopic stage of a telescopic arm can also be determined by directly measuring the lifting height relative to the ground. In addition, other measuring principles are conceivable.
  • linear movements in any direction can be easily metered and carried out in a well-controllable manner.
  • it allows loads to be moved along precise vertical or horizontal directions and thus, for example, pallets to be conveniently loaded onto or removed from shelves without having to move the machine back and forth. This can significantly increase operational safety.
  • movements with a constant inclination can be easily coordinated, for example to push loads up the inclined side of a pile or to pull off a slope with a constant inclination angle.
  • the permissible movement speeds can be coordinated with greater dynamics by taking the direction of movement into account without endangering the stability of the machine.
  • the telehandler 1 after Fig. 1 comprises a chassis 2 with wheels 3, a driver's cab 4 and a loading system 5.
  • the loading system 5 has a telescopic arm 6 as a length-adjustable load arm, which includes an outer tube 7 and a push arm 8 which is slidably mounted in the outer tube 7.
  • a load holder 9 is rotatably mounted in a pivot point 10.
  • a pallet fork 11 is attached to the load bearing.
  • the telescopic arm is pivotally mounted on the chassis 13 of the telehandler about a lifting axis 12, whereby the load holder 9 can be pivoted on a circular line.
  • the loading system can be adjusted by adjusting the telescopic arm length and its lifting angle, which is indicated by a double arrow on a dashed circular line with + ⁇ and - ⁇ and by a double arrow on a dashed line with +r and -r.
  • a joystick 14 with a roller wheel 15 can be seen.
  • the joystick 14 can be pivoted by an operator, which is illustrated by a double arrow and the markings + ⁇ and - ⁇ .
  • the rolling wheel 15 can be twisted by an operator, which is illustrated by a double arrow and the markings +r and -r.
  • the joystick 14 and its roller wheel 15 thus serve as input elements for controlling the loading system 5.
  • any location in a ring segment 16 can be approached via the lifting axis 12 and its adjustable length with the load holder 9.
  • this is also specified by the operator, ie the length of the roller wheel 15 is determined Telescopic arm 6 and with the rotation of the joystick 14, the lifting angle of the telescopic arm 6 is adjusted.
  • the operating instructions according to the invention differ considerably from this, as shown below Fig. 2 and Fig. 2a is explained.
  • the rotational movement of the joystick 14 means a linear vertical movement of the load holder 9, as shown by the dashed and solid, straight double arrows in the Figs. 2 and 2a is illustrated, which are marked with +Z and -Z.
  • the rotation of the rolling wheel 15 in turn means a linear horizontal movement of the load holder 9, as shown by the dashed and solid, straight double arrows in the Figs. 2 and 2a which are marked with +X and -X. It is clear that, as a rule, a superimposition of an adjustment of the lifting angle and the length of the telescopic arm 6 is required for both linear movements.
  • a control unit In order to generate the desired linear movements, a control unit is required that converts the operating instructions of the operating elements into a superimposed drive for the stroke angle adjustment and the length adjustment.
  • FIG. 2 An added vector A is also shown, which consists of a horizontal vector H and a vertical one Vector V results in a vector addition, i.e. a linear superposition.
  • the vector A indicates the direction of a superimposed linear motion, while its length corresponds to its speed. It is clear that the direction of vector A does not depend on the length of the horizontal vector H and the vertical vector V, but only on their aspect ratio as can be seen from the vector V', which points in the same direction.
  • the length of the horizontal vector H and the vertical vector V are a measure of the horizontal speed and horizontal velocity underlying the superimposed linear movement. If these two velocities are increased, for example in H' and V'', the speed A' resulting from the superposition naturally increases, but the direction remains the same. This circumstance is important for the design of the control unit.
  • the control elements ie the joystick 14 and the roller wheel 15, deliver output signals that correspond to the respective deflection of the respective control element 14, 15. These signals are converted in a conversion step 18 into angle values between -180° and +180°, which correspond to the complete deflection of the respective control element 14,15. 0° corresponds to a horizontal movement away from the machine, ⁇ 180° corresponds to a horizontal movement towards the machine. ⁇ 90° represents vertical lifting or lowering movements.
  • the machine has an inclination sensor, its angle signal is taken into account in such a way that the resulting desired direction of movement relates to the surroundings of the machine and not to the machine itself.
  • the target speeds of the first and second linear movements are determined in a first control step 19, which are carried out according to the Fig. 2 correspond to a horizontal movement and a vertical movement, the direction of which is referred to as the X direction and Z direction and whose velocities are referred to as Vx and Vz.
  • the target speeds are then brought into a ratio Vx/Vz and an absolute target speed Vx or Vz for the respective movement is determined from the largest angular value of the deflections of the operating elements 14, 15, the target speed of the remaining movement being Vz or Vx results from the ratio Vx/Vz.
  • the ratio between the speeds of the two drive units involved in the movement e.g. corresponding lifting cylinders, must be continuously calculated, so that a movement results that follows exactly the specified direction.
  • a hydraulic undersupply to a drive unit can occur if the circuit is loaded by additional consumers, or the speed of the drive motor and thus the hydraulic pump is reduced.
  • the maximum achievable speed of this drive unit is then determined as the target speed for this drive unit.
  • the target speed of a drive unit can be determined as a volume or a volume flow of a hydraulic fluid that corresponds to the speed of this drive unit with an appropriate supply.
  • the volume or volume flow can also be determined as a fraction or % value of the maximum amount of hydraulic fluid available for all applications or the maximum volume flow of the hydraulic system available for all applications.
  • the target speed of the drive unit reaching the supply limit can also be determined as a volume or a volume flow of a hydraulic fluid that corresponds to the speed of this drive unit with an appropriate supply, in particular as a fraction or % value of the maximum amount of hydraulic fluid available for all applications or the maximum volume flow of the hydraulic system available for all applications.
  • the target speed of the second drive unit which can also be a lifting cylinder, is then adapted to the previously calculated speed ratio Vx/Vz. This ensures that even in the event of a hydraulic undersupply, the superimposed movement is linear, although the movement is slower due to the reduction in the target speeds.
  • a further control step 21 the ratio of the measured speeds of the drive units or lifting cylinders to the calculated speed ratio compared. If these conditions deviate from one another, the controller intervenes in the opposite direction to correct the speed specifications of the two drive units or lifting cylinders in order to counteract a possible deviation.
  • the output signals 22, 23 allow electromechanical hydraulic control valves to be controlled in order to then generate the movements determined in this way.
  • the invention can also be combined with a safety system to counteract a load- or speed-dependent risk of the machine tipping over during operation.
  • a safety query monitors the stability reserves of the machine and limits the previously determined speed requirements for the drive units or lifting cylinders up to a complete standstill before the machine tips over. Even with these limiting interventions, the ratio Vx/Vz of the speeds to one another is maintained. The desired direction of movement is also taken into account when determining the degree of speed limitation. This means that movements directed away from the machine are more restricted than movements directed towards the machine are directed.
  • the safety system described measures the angular position of the load arm and the stroke of the telescopic step.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP23160208.7A 2022-03-08 2023-03-06 Machine de construction ou machine agricole Pending EP4242160A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102022105449.7A DE102022105449A1 (de) 2022-03-08 2022-03-08 Baumaschine oder Landmaschine

Publications (1)

Publication Number Publication Date
EP4242160A1 true EP4242160A1 (fr) 2023-09-13

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP23160208.7A Pending EP4242160A1 (fr) 2022-03-08 2023-03-06 Machine de construction ou machine agricole

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EP (1) EP4242160A1 (fr)
DE (1) DE102022105449A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19808694C2 (de) * 1998-03-03 2003-02-20 Liftlux Potain Gmbh Verfahren und Vorrichtung zur Steuerung einer Hubarbeitsbühne
EP2684836A1 (fr) * 2012-07-12 2014-01-15 Miguel Leon Gonzalez Dispositif de commande de direction et de vitesse pour dispositif de levage telescopique et articulé
EP2520536B1 (fr) 2011-05-06 2014-06-25 Merlo Project S.r.l. Véhicule de levage
US20140277697A1 (en) * 2013-03-15 2014-09-18 Raymond Francis McDonald Transport system with at least one position sensor
EP2736833B1 (fr) 2011-07-28 2015-09-16 Hydac System GmbH Système de commande

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4030954C2 (de) 1990-09-29 1994-08-04 Danfoss As Verfahren zur Steuerung der Bewegung eines hydraulisch bewegbaren Arbeitsgeräts und Bahnsteuereinrichtung zur Durchführung des Verfahrens
DE4231599C2 (de) 1992-09-17 1995-12-21 Groh Prischmann & Schulz Forsc Verfahren zum Führen von Hubgeräten mit Teleskop und/oder Gelenkauslegern parallel einer zu bearbeitenden Fläche
FI123932B (fi) 2006-08-16 2013-12-31 John Deere Forestry Oy Puomirakenteen ja siihen nivelletysti kiinnitetyn työkalun ohjaus
AT511319B1 (de) 2011-03-16 2013-05-15 Wacker Neuson Linz Gmbh Vorrichtung zum Laden mit teleskopierbarer Ladeeinrichtung

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19808694C2 (de) * 1998-03-03 2003-02-20 Liftlux Potain Gmbh Verfahren und Vorrichtung zur Steuerung einer Hubarbeitsbühne
EP2520536B1 (fr) 2011-05-06 2014-06-25 Merlo Project S.r.l. Véhicule de levage
EP2736833B1 (fr) 2011-07-28 2015-09-16 Hydac System GmbH Système de commande
EP2684836A1 (fr) * 2012-07-12 2014-01-15 Miguel Leon Gonzalez Dispositif de commande de direction et de vitesse pour dispositif de levage telescopique et articulé
US20140277697A1 (en) * 2013-03-15 2014-09-18 Raymond Francis McDonald Transport system with at least one position sensor

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