WO2013013821A1

WO2013013821A1 - Control means

Info

Publication number: WO2013013821A1
Application number: PCT/EP2012/003150
Authority: WO
Inventors: Fabian HARTMANN
Original assignee: Hydac System Gmbh
Priority date: 2011-07-28
Filing date: 2012-07-25
Publication date: 2013-01-31
Also published as: DE102011108874A1; EP2736833A1; EP2736833B1

Abstract

A control means for preventing inadmissibly high tilting moments (MA) in a mobile working machine (7), wherein an evaluation and control apparatus (17) with a computing unit (CPU) is present for evaluating the signals from the respective load sensor (13) and the respective angle sensor (15) and/or for activating the respective actuating device (3), wherein the evaluation and control apparatus (17) is used, at least by way of processing the incoming signals from the load sensor (13) and the angle sensor (15), to determine a maximum possible movement speed (V_max), for the moving operating arm (5), which prevents the inadmissible tilting moment (MA) in each case, and wherein the respective actuating device (3) activates the operating arm (5) such that the maximum movement speed (V_max) determined for each displacement position of the operating arm (5) is not exceeded.

Description

Ί

control device

The invention relates to a control device for preventing inadmissibly high tilting moments on a, equipped with at least one actuating device movable, in particular changeable in the insert working arm, mobile work machine.

DE 10 2009 018 072 A1 relates to a mobile working machine which has a telescopic working arm, which is pivotably connected at one end to the vehicle-like mobile working machine and at its other opposite end, the working arm has a movable working device, for example of the type a fork on. An actuating kinematics is used to set and move both the working arm and the implement relative to the working machine.

The work machine also has a central control unit, which coordinates the change of position of the work arm and implement as well as the movement of the work machine in the form of the vehicle and monitors and controls it in cooperation with the central sensors. An acceleration sensor monitors the movement dynamics of the driven machine and the effect of gravitational acceleration on the work machine and limits and regulates the accelerations in cooperation with the central control unit. In this way, a reliable data provision for the state recognition of driving dynamics variables of the mobile arena is provided. Working machine in terms of speed change, lateral acceleration and vehicle inclination created to ensure such a stable working with the mobile work machine together with telescopic arm.

Based on this prior art, the present invention seeks to provide a control device for preventing unacceptably high tilting moments on a mobile machine with a movable, in particular telescopic working arm, which is particularly reliable in a simple construction and the performance of the machine during operation the same and the working arm substantially not impaired.

This object is achieved with a control device having the features of claim 1 in its entirety.

According to the invention, it is provided that a support of the working arm rotatable in at least one direction is associated with at least one traveling part of the mobile working machine, that at least one load sensor for mood a Auflagelast on at least one of the driving parts and at least one angle sensor for determining at least one of the angular positions of the working arm is provided relative to the driving part, that an evaluation and control device is provided with a computing unit for evaluating the signals of the respective load sensor and the respective angle sensor or to the control of the respective actuator that, using the evaluation and control device at least by processing the incoming signals of the load sensor and the angle sensor, a maximum possible, the respective impermissible overturning moment preventing movement speed is determined for the moving working arm and that derge stalt the jewei time control device so working arm drives, that the determined maximum movement speed is not exceeded for each movement position of the working arm.

Using the evaluation and control device, a maximum possible movement speed for the movable working arm, which prevents the respectively inadmissible tilting moment, is determined at least by processing the incoming signals of the load sensor and the angle sensor. The pertinent actuator controls the working arm so that the determined maximum speed of movement is not exceeded for each displacement position of the working arm. By the control device according to the invention, which can constructively simple design, dynamic measurement errors are prevented, which could distort an erroneous determination of the highest possible movement speed, as would otherwise be possible by operational accelerations on the mobile machine. The speed of movement of the working arm of the mobile work machine is limited by the control device to a maximum possible extent, so that prevents unintentional tilting of the machine and to that extent the reliability is increased, while the working speed and extent the performance of the mobile machine is not affected. To this end equipped with a working arm work machines are referred to technical terms as telelads.

With the aid of a computing unit, preferably the arithmetic unit (CPU) of the evaluation and control unit, the maximum speed of movement for the movable working arm is calculated. In this respect, the maximum movement speed can thus be calculated "online" by the computing unit (CPU) from the physical relationships. An alternative to this approach may be to include a so-called map in the considerations. For this purpose, a motion velocity characteristic field is stored in the arithmetic unit, preferably the arithmetic unit (CPU) of the control and working device, which can serve as a setpoint specification for the maximum movement velocity to be calculated. The application of a perturbing speed characteristic field in a special way makes it possible to quickly and reliably determine the respective possible maximum movement speed of the working arm.

In an advantageous embodiment of the control device it is provided that the calculation or determination of the maximum movement speed for the working arm is preceded by estimation or determination of the load mass to be moved, which enters into the calculation for the maximum movement speed as an input variable. It is advantageous to use the incoming signals of the respective load sensor and of the respective angle sensor as well as of another sensor of the mobile working machine for determining a further operating parameter of the mobile working machine, such as a current load mass to be moved or a total mass with inclusion of the center of gravity.

The application of the further sensor for determining at least one further operating parameter represents a further technical measure to make the calculation of the maximum possible movement speed of the working arm precise. As a result, in turn, the overall working speed of the mobile machine is increased.

As a further sensor for determining at least one further operating parameter, a sensor can be used, which determines the current effective operating length of the working arm. About the knowledge of the current effective length of use of the working arm - meant here is technical language It can also be advantageous to use the further sensor to determine the total mass taking into account the center of gravity and to design it in such a way that the sensor is mounted on another driving part of the mobile A pertinent embodiment of the control device is particularly preferably used in a mobile work machine whose respective travel part has at least one driving axis on which the respectively assignable load sensor determines the bearing load.

The actuator for moving the working arm of the mobile work machine, i. for changing the length of use and / or lifting height of the working arm, in an advantageous embodiment of the control device of at least one actuator, preferably in the form of a hydraulic working cylinder, formed. The hydraulic working cylinder can be formed in a single or double-acting manner, the evaluation and control device preferably being used for its control, and the evaluation and control device is arranged within a hydraulic control circuit supplying the hydraulic working cylinder with hydraulic medium.

It is understood that the control device according to the invention can be used in any type of mobile machines, but especially in mobile machines in the form of a loading crane, a telescopic loader, a wheel loader, an agricultural tractor or utility vehicle with front loader or rear loader, or with side loaders, or in the manner of a construction machine, such as an excavator or shovel loader, or in the manner of a military vehicle, for example in the form of a recovery tank. It follows that the respective driving part of the mobile working machine can be constructed in different ways, in particular in the form of a

Wheel set, a chain or caterpillar drive or as a suspended magnetic part. The invention with reference to an embodiment shown in the drawing is explained in detail. Show it:

1 a, 1 b each integrated in the manner of a highly simplified functional sketch an embodiment of the control device according to the invention in a mobile working machine formed as a telescopic loader;

2 in the manner of a greatly simplified flowchart the

Function of a first embodiment of a control device according to the invention; and

3 in the manner of a highly simplified flowchart the

Function of a further embodiment of a control device according to the invention.

In FIGS. 1 a and 1 b, a control device, designated as a whole by 1, for preventing inadmissibly high tilting moments MA on a working arm 5 which is movable by at least one actuating device 3 and in particular variable in the operating length L, is provided in each case in a highly simplified functional diagram , mobile work machine 7 shown. The mobile work machine 7 is gebi Lend in the manner of a telehandler. In this case, a support 9 of the rotatable in at least one direction working arm 5 a driving part 1 1 of the mobile machine 7 is assigned. The working arm 5 is pivotally connected to the Fahrtei l 1 1 with the aid of the support 9 in that the working arm 5 in the direction of observation of Figures 1 a and 1 b at least in the respective image plane, which can form a vehicle longitudinal center plane, in a clockwise direction or is pivotable counterclockwise. It is a load sensor 13 for determining a support load on the traveling part 1 1 and an angle sensor 15 for determining at least one of the angular positions of the working arm 5 relative to the driving part 1 1 is provided which also serves to determine the maximum speed of movement, especially if this without use a map "online" from the physical relationships is calculated.

The control device 1 comprises an evaluation and control unit 1 7 with a computing unit CPU for evaluating the signals of the load sensor 1 3 and the angle sensor 1 5 and to determine the maximum movement speed Vmax. The evaluation and control unit 1 7 is also used to control the actuating device 3. In the embodiments of the control device 1 shown in Figures 1 a and 1 b is mainly or exclusively use of the evaluation and control device 17 by processing at least the incoming signals of the load sensor 1 3 and the angle sensor 1 5 a maximum possible, the respective impermissible tipping moment MA preventing movement speed Vmax determined for the moving working arm 5. It may also be advantageous to use a further control unit not shown in the figures for this purpose. The respective actuating device 3 then controls the working arm 5 such that the determined maximum movement speed Vmax is not exceeded for each displacement position of the working arm 5. The use of a characteristic field may be considered as an alternative to the "C" nline determination of the maximum movement speed For this purpose, in the arithmetic unit CPU of the evaluation and control unit 1 7, a movement speed characteristic field is set as a target for the calculated maximum movement speed Vmax For calculating the maximum movement speed Vmax for the working arm 5, it is possible, using the evaluation and control unit 17, in particular special using the arithmetic unit CPU, an estimation or determination of the load mass to be moved ITIL be preceded, wherein the load mass nru as an input into the calculation for the maximum movement speed Vmax included. As can be seen in both exemplary embodiments shown in FIGS. 1 a and 6 b, a further sensor 19 is provided for determining at least one further operating parameter of the mobile working machine 7. The further sensor 1 is used in the exemplary embodiment shown in FIG. 1 a for determining the current load mass mi to be moved and is denoted by 20. In the exemplary embodiment shown in FIG. 1 b, the further sensor 19, with the aid of the evaluation and control unit 1 7, serves to determine the total mass m c of the mobile working machine 7 and is denoted by 25. The sensor 25 in this case measures a further support load F2 on a further travel part 21 of the mobile work machine. In addition, a center of gravity of the mobile work machine 7 can be determined with the aid of the incoming signals of the respective load sensor 13 and of the respective angle sensor 15 and of the sensor 25.

In the embodiment shown in Fig. 1 a, the sensor 20 is used to measure the current length of the working arm 5, which is designed telescopic, wherein the pertinent current length is essentially determined by the distance between the longitudinal axis 37 of the support 9 and a fictitious line of action The load mass iru results, which in the illustration according to FIG. 1 passes through the load arrow designated rr. On the basis of this actually measured actual length by means of the sensor 20, the effective insertion length L, which, as shown in FIG. 1 a, is then determined together with the computing unit CPU by the already described evaluation and control unit 1 7 according to the usual trigonometric functions. in turn defined by the length between the longitudinal axis 37 of the support 9 and the already mentioned fictitious line of action. With knowledge of the bearing load rrn on the driving part 1 1 and in knowledge of the bearing load IT12 on the driving part 21, the total mass and also the position of the center of gravity S of the mobile working machine 7 can be determined. The mobile working machine 7 has two driving axles 23, 24, which form the respective driving parts 11, 21. At the driving axes 23, 24 determine the respective assignable sensors 1 3, 25, the respective support load F i, F2. In the exemplary embodiments shown in FIGS. 1 a and 1 b, the actuating devices 3 serve to move the working arm 5 and to change the effective insertion length L and / or the lifting height H of the working arm 5 and are each in the form of at least one actuator 27 a hydraulic working cylinder 28 is formed. The hydraulic cylinder 28 is arranged with its cylinder-side and piston rod side end hinged to the mobile machine 7 and the working arm 5. In the telescopic loaders shown in Figures 1 a and 1 b, the respective working arms 5 are each formed of three mutually telescoping individual members 29, 30, 31. In particular, in order to perform specific lifting work with a recording and with a deposition of cargo with the load mass niL. The evaluation and control unit 17 controls the actuator 27 by controlling components, such as valves, of a hydraulic control circuit 32 supplying the actuator 27 with hydraulic medium.

It is understood that the mobile work machine 7 can be configured manifold and instead of the telehandler shown in the form of a loading crane, a wheel loader, an agricultural utility or towing vehicle with front loader or with rear loader or side loader, or in the manner of Construction machine, or in the manner of a military vehicle, such as a recovery tank, may be formed. In this case, the respective driving parts 1 1, 21, as shown, in the manner of a wheelset 33, 35 may be formed with arranged on each of the driving axle 23, 24 wheels. However, it may be advantageous, depending on the nature of the Subsurface on which the mobile work machine moves 7, the respective Fahrtei le as chain or caterpillar drive or as a wheelless magnetic suspended part, as is known in particular for industrial trucks, which are used for transport purposes on production or assembly lines form.

2 shows in the manner of a highly simplified flow chart the function of the control device 1 in the embodiment shown in Fig.la. During operation of the mobile work machine 7, the evaluation and control unit 1 7 processes the sensor signals of the load sensor 1 3, the angle sensor 1 5 and the sensor 20, which are used in the embodiment shown, inter alia, for measuring the telescopic position of the working arm 5 formed as a telescopic arm. The evaluation and control unit 1 7 is using the sensor signals of the angle sensor 1 5 and the sensor 20 in a position to calculate the effective insertion length L of the working arm 5. With the aid of the signals of the load sensor 13, the evaluation and control unit 17, in particular of its arithmetic unit CPU, the current load mass rrn calculated. Based on the calculated values mentioned above, the evaluation and control unit 1 7 selects an associated, maximum movement speed Vmax for the working arm 5 from a movement speed characteristic field stored in the arithmetic unit CPU as a target specification. With the aid of the arithmetic unit CPU of the evaluation and control unit 1 7, the maximum movement speed Vmax for the working arm 5 can also be calculated without reference to the movement speed characteristic field. Due to the calculation method of the maximum movement speed Vmax according to the invention, on the one hand, the possible total working speed of the mobile work machine 7 is limited to the most necessary extent and, on the other hand, the coupling of dynamic measurement errors, as occurs, for example, when using accelerometers. tion sensors on such machines are known, completely prevented. The calculated maximum movement speed Vmax thus represents a safe operating parameter for the mobi le work machine 7 and their operation, which also limits the working speed of the mobile machine 7 only on a necessary, the unacceptable tilting moment MA preventing measure.

FIG. 3 likewise shows the function of the control device 1 in the mobile working machine 7, as shown in FIG. 1 b, in the manner of a greatly simplified flow chart. The evaluation and control unit 1 7 of the control device 1 processed in the embodiment shown, the sensor signals of the load sensor 13, the sensor 25 and the angle sensor 1 5. Due to the information of the sensor signals is the evaluation and control unit 1 7 and in particular its CPU CPU in the Able to calculate the total mass mc of the mobile work machine 7. Furthermore, due to the measured load distribution at the two driving axes 23, 24 of the mobile machine, the evaluation and control unit 1 7 in a position to calculate the current position of the center of gravity S of the mobile machine 7. Even with the aid of the sensor signals of the load sensor 13 and the sensor 25, the arithmetic unit CPU can calculate the respective effective insertion length L of the working arm 5 via suitable algorithms, not shown in greater detail. Based on the measured and calculated values, the evaluation and control unit 1 7 again selects the respectively maximum possible movement speed Vmax of the working arm 5 from a movement speed characteristic field stored in the arithmetic unit CPU and controls the actuation device 3.

Due to the procedures for determining the respective maximum movement speed Vmax of the working arm 5, which are shown in FIGS. 2 and 3, there are influences of dynamic measuring errors which occur during the operation of many mobile devices. work machines can be significant. Unlike in the case of known mobile machines, the operation is thus designed to be safe and, surprisingly, in comparison with the known mobile machines, a higher total operating speed of the mobile machine 7 is made possible, which increases their overall performance. The movement speed also indirectly influences the movement angle and thus prevents a static imbalance of the machines.

Claims

P a n t a n s p r e c h e

Control device for preventing inadmissibly high tilting moments (MA) on a mobile working machine (7) equipped with a movable working machine (7) which is movable by at least one actuating device (3) and which is changeable in particular in the operating length (L), characterized in that a support (9) of the working arm (5) rotatable in at least one direction is associated with at least one traveling part (11) of the mobile working machine (7), that at least one load sensor (13) for determining a supporting load (Fi) on at least one of the driving parts (1 1) and at least one angle sensor (15) for determining at least one of the angular positions of the working arm (5) relative to the traveling part (1 1) is provided that an evaluation and control unit (1 7) with a computing unit (CPU) for evaluating the signals of the respective load sensor (13) and the respective angle sensor (15) or for controlling the respective actuating device (3) is present, that using the evaluation and control unit (1 7) at least by processing the incoming signals of the load sensor (1 3) and the angle sensor (1 5) a maximum possible, the respective impermissible overturning moment (MA) preventing movement speed (Vmax) for the moving working arm (5) is determined and in that the respective actuating device (3) controls the working arm (7) in such a way that the determined maximum movement speed (Vmax) for each displacement position of the working arm (5) is not exceeded.

Control device according to claim 1, characterized in that with the aid of a computing unit, preferably the arithmetic unit (CPU) of the evaluation and control device (1 7), the maximum movement speed (Vmax) is calculated. Control device according to claim 1, characterized in that in a computing unit, preferably the arithmetic unit (CPU) of the evaluation and control unit (1 7), a movement speed characteristic field is stored as a target specification for the calculated maximum movement speed (Vmax).

Control device according to claim 3, characterized in that the calculation of the maximum speed of movement (Vmax) for the working arm (5) is preceded by estimation or determination of the load mass (rr) to be moved, which is used as an input in the calculation for the maximum speed of movement (Vmax ) with.

Control device according to one of the preceding claims, characterized in that for determining a further operating parameter of the mobile working machine (7), such as a load mass currently to be moved (m.) Or a total mass (mc) including the

Focus position, the incoming signals of the respective load sensor (13) and the respective angle sensor (1 5) and a further sensor (19) of the mobile working machine (7) are used.

Control device according to one of the preceding claims, characterized in that as another sensor (19) for determining the current load mass (s) to be moved, one which determines the effective insertion length (L) of the working arm (5).

Control device according to one of the preceding claims, characterized in that as a further sensor (19) for determining the total mass (mc) including the center of gravity position one which serves on a further driving part (21) of the mobile working machine (7) another Auflagelast ( Fi) determined.

8. Control device according to one of the preceding claims, characterized in that the respective driving part (1 1, 21) of the mobile working machine (7) at least one driving axle (23, 24), to which the respective assignable sensor (1 3, 25) the bearing load (Fi, F2) determined.

9. Control device according to one of the preceding claims, characterized in that the respective actuating device (3) for moving the working arm (5) with respect to its effective insertion length (L) and / or lifting height (H) of at least one actuator (27), preferably in the form of a hydraulic working cylinder is formed.

10. Control device according to one of the preceding claims, characterized in that the movable working arm (5) is formed in itself rigidly or with a plurality of mutually telescoping or mutually articulated arranged individual members (29, 30, 31).

1 1. Control device according to one of the preceding claims, characterized in that the mobile working machine (7) in the form of a loading crane, a telescopic loader, a wheel loader, an agricultural borrowing tractor with front loader or with rear loader or with side loader, or in the manner of a construction machine or is formed in the manner of a military vehicle, and that the jewei time driving part (1 1, 21) in the manner of a wheelset (33, 35), a chain or crawler drive or as a magnetic suspended part is formed.