WO2022189199A1 - Method for controlling a mobile machine - Google Patents
Method for controlling a mobile machine Download PDFInfo
- Publication number
- WO2022189199A1 WO2022189199A1 PCT/EP2022/055065 EP2022055065W WO2022189199A1 WO 2022189199 A1 WO2022189199 A1 WO 2022189199A1 EP 2022055065 W EP2022055065 W EP 2022055065W WO 2022189199 A1 WO2022189199 A1 WO 2022189199A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- work function
- operating
- function
- load
- performance
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000013475 authorization Methods 0.000 claims description 30
- 230000008901 benefit Effects 0.000 description 5
- 210000003813 thumb Anatomy 0.000 description 2
- 230000003213 activating effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
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
Definitions
- the invention relates to a method for controlling a mobile work machine, in particular an industrial truck, with an operator controlling a work function of the mobile work machine by operating a work function control element.
- work functions are usually controlled and/or selected by means of work function controls.
- the work function control element often has an actuator, for example in the form of a deflectable lever.
- the work functions can be proportional to the deflection of the actuator.
- the lifting speed of a lifting device depends on the lever deflection of a lifting control element.
- Another example is an accelerator pedal, where further pressure leads to higher driving speeds.
- digital functions i.e. on/off functions, such as with a windscreen wiper.
- Two operating points are relevant when designing components of the mobile work machine behind the work function control element, the operating point with nominal load and the operating point without load.
- the lifting speed of a lifting device without a load is designed for the maximum value of the pump speed. This results in disadvantages in the partial load range or partial power range.
- the part-load range which results from the design, offers room for optimization, especially since many operators of mobile work machines do not always move the work machine with the same load, but also often in the part-load range.
- the object of the present invention is to design a method of the type mentioned at the outset in such a way that the performance of the working function of the mobile working machine is improved.
- This object is achieved according to the invention in that the operator authorizes a performance increase of the work function in a partial performance range of the work function by operating an authorization operating element at the same time as operating the work function control element.
- the invention is based on the idea of giving the operator of the mobile machine the opportunity, through a two-factor authorization, namely the actuation of the work function control element and simultaneous actuation of the authorization actuation element, additional performance of a work function of the mobile machine, especially in partial service areas.
- the operator should be able to select the work function as before, for example to operate a lifting drive using a lifting lever, and then by actively and simultaneously actuating the authorization operating element, for example by pressing another button, more or activate additional power of the work function.
- the operator confirms through the authorization that the power increase is permissible, for example, with the load taken up.
- the operator becomes part of a control loop and takes a decision to enable the power increase. In the partial load range, which cannot be designed optimally, additional power can thus be made available in a simple manner.
- a proportionally acting control element with an actuator is used as the work function control element, with the work function being carried out proportionally to the movement of the actuator.
- a switching element with an on-off functionality is used as an authorization actuation element, in an on position of the switching element the increase in performance is authorized and in an off position of the switching element the increase in performance is not authorized.
- a manually deflectable lever is expediently used as the proportionally acting operating element.
- the lever can be designed in such a way that it can be deflected with one hand of the operator in order to carry out the work function.
- the lever can be in the form of a joystick.
- authorization actuation element can be arranged in the area of the work function operating element in such a way that it can be actuated with the same hand, for example with a thumb.
- the authorization actuation element for example the additional button, does not necessarily have to be attached to the same work function control element, but can be spatially separated from the work function control element, for example designed as a separate foot pedal or separate foot switch.
- a variant of the invention provides that a pedal is used as the proportionally acting operating element.
- the authorization actuation element can be designed as a further pedal or as a manually actuable button.
- a load handling function is used with particular advantage as a work function, with the operator authorizing an increase in performance of the load handling function up to a full load range in a partial load range by actuating the authorization actuating element at the same time as operating the work function control element.
- a lifting function of a lifting device can be used as a load handling function, for example, with which a load handling device, for example a load fork, can be raised and lowered.
- a hydraulic function of the working machine is used as the working function, with the operator authorizing a pressure increase of the hydraulic function by operating the authorization operating element at the same time as operating the working function operating element.
- additional, performance-modifying valve technology can be activated by simultaneous actuation of the authorization actuation element.
- a bypass can be enabled for lowering the lifting device without a load, so that lowering at a higher speed is possible.
- valves can be opened in an auxiliary hydraulic system of an industrial truck, which allows a fork positioner of a load fork to rotate in neutral. Floating mounting of the forks allows the forks to find their own way into a load receiver, so that the operator does not have to thread the load fork precisely into the load receiver.
- a load movement function is used as the hydraulic function, with the load being moved and/or rotated in a translatory manner by means of a load handling device and the operator, in order to overcome an initial moment of inertia at the beginning of the movement of the load, by actuating the authorization actuating element at the same time Operation of the work function control authorizes a pressure increase of the hydraulic function.
- a hydraulic pressure control valve can be actuated by actuating the authorization actuating element, which artificially increases the pressure in order to overcome the initial moment of inertia for rotating the load.
- the authorization can be canceled again and the performance of the load rotator returned to normal.
- An advantageous development of the idea of the invention provides that the performance of the work function is monitored by means of a sensor and a further increase in performance is prevented when a predetermined performance limit of the work function is reached.
- the senor can be operatively connected to a control device, which in turn is operatively connected to the work function control element and the authorization actuating element and the work function of the mobile working machine controls.
- the transmitted sensor data can be compared with a specified switch-off limit, so that no power limits are exceeded.
- the desired load range can be maintained by evaluating a load pressure sensor.
- the load pressure sensor can only detect the load, but neither the load center nor the type of load. The operator takes over this task and activates the increase in performance accordingly through the two-factor authorization.
- the operator thus represents an additional control element in the control circuit for deciding in which performance range work is to be carried out.
- the operator still has to pay attention to the environment, the center of gravity of the load, people in the vicinity, etc., as before, but can decide for themselves whether they want more power by recognizing the type of load and the environment.
- the invention is not limited to a hydraulic work function, but aims to provide more power in partial power ranges of all available work functions through the two-factor authorization by the operator.
- a major advantage of the invention is that it allows the two-factor authorization of the operator of the work machine, various operations for Release the increase in performance yourself according to your needs or use the mobile work machine better for your processes and also decide for yourself when an increase in performance makes sense and when not.
- the mobile work machine has power reserves that can be used by the invention.
- the number of additional functions can be doubled with the invention, since, for example, one section can be operated at two different speeds.
- a sideshift of an industrial truck it is possible, for example, to turn off a load with the fork at slow speed of the sideshift, to move the empty fork back after authorization by actuating the authorization control element at high speed of the sideshift.
- Figure a work function control element with integrated authorization actuator.
- the work function control element 1 comprises a deflectable lever 2
- the authorization actuation element 3 is designed as a button 4 which is arranged on the side of the lever 2 .
- a work function for example a hydraulic load handling device, of the mobile working machine is controlled. If the operator recognizes that the If the working machine is in a partial load range, it can use a two-factor authorization to increase the performance of the work function, for example by opening an additional hydraulic valve. For this purpose, the operator simultaneously presses the button 4 with the thumb of the hand to deflect the lever 2 in the direction of the arrow 5 and keeps the button 4 pressed for as long as the increase in performance is desired.
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112022001412.1T DE112022001412A5 (en) | 2021-03-10 | 2022-03-01 | Method for controlling a mobile work machine |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102021105746.9A DE102021105746A1 (en) | 2021-03-10 | 2021-03-10 | Method for controlling a mobile working machine |
DE102021105746.9 | 2021-03-10 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2022189199A1 true WO2022189199A1 (en) | 2022-09-15 |
Family
ID=80736031
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2022/055065 WO2022189199A1 (en) | 2021-03-10 | 2022-03-01 | Method for controlling a mobile machine |
Country Status (2)
Country | Link |
---|---|
DE (2) | DE102021105746A1 (en) |
WO (1) | WO2022189199A1 (en) |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0776499A (en) * | 1993-09-10 | 1995-03-20 | Mitsubishi Heavy Ind Ltd | Controller for forklift |
JPH08290900A (en) * | 1995-04-25 | 1996-11-05 | Komatsu Forklift Co Ltd | Cargo handling control device of forklift truck |
JP2002241095A (en) * | 2001-02-19 | 2002-08-28 | Komatsu Forklift Co Ltd | Working machine control device for battery forklift |
JP2004035199A (en) * | 2002-07-04 | 2004-02-05 | Aichi Corp | Control device for vehicle for high lift work |
DE102005033702A1 (en) * | 2005-07-19 | 2007-01-25 | Still Gmbh | Truck with a drive with different characteristics |
DE102011103029A1 (en) * | 2011-06-01 | 2012-12-06 | Linde Material Handling Gmbh | Industrial truck i.e. counter-balance fork-lift truck, for storage of loads on shelf system, has switching areas formed on operational area for limiting stop points and forming actuation unit of vertical lift preselection device |
-
2021
- 2021-03-10 DE DE102021105746.9A patent/DE102021105746A1/en not_active Withdrawn
-
2022
- 2022-03-01 DE DE112022001412.1T patent/DE112022001412A5/en active Pending
- 2022-03-01 WO PCT/EP2022/055065 patent/WO2022189199A1/en active Application Filing
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0776499A (en) * | 1993-09-10 | 1995-03-20 | Mitsubishi Heavy Ind Ltd | Controller for forklift |
JPH08290900A (en) * | 1995-04-25 | 1996-11-05 | Komatsu Forklift Co Ltd | Cargo handling control device of forklift truck |
JP2002241095A (en) * | 2001-02-19 | 2002-08-28 | Komatsu Forklift Co Ltd | Working machine control device for battery forklift |
JP2004035199A (en) * | 2002-07-04 | 2004-02-05 | Aichi Corp | Control device for vehicle for high lift work |
DE102005033702A1 (en) * | 2005-07-19 | 2007-01-25 | Still Gmbh | Truck with a drive with different characteristics |
DE102011103029A1 (en) * | 2011-06-01 | 2012-12-06 | Linde Material Handling Gmbh | Industrial truck i.e. counter-balance fork-lift truck, for storage of loads on shelf system, has switching areas formed on operational area for limiting stop points and forming actuation unit of vertical lift preselection device |
Also Published As
Publication number | Publication date |
---|---|
DE102021105746A1 (en) | 2022-09-15 |
DE112022001412A5 (en) | 2024-01-11 |
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