EP1593642A2 - Appareil de chargement et/ou de levage,en particulier chargeur à grande portée - Google Patents

Appareil de chargement et/ou de levage,en particulier chargeur à grande portée Download PDF

Info

Publication number
EP1593642A2
EP1593642A2 EP05007760A EP05007760A EP1593642A2 EP 1593642 A2 EP1593642 A2 EP 1593642A2 EP 05007760 A EP05007760 A EP 05007760A EP 05007760 A EP05007760 A EP 05007760A EP 1593642 A2 EP1593642 A2 EP 1593642A2
Authority
EP
European Patent Office
Prior art keywords
steering angle
maximum permissible
parameter
operating parameters
value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP05007760A
Other languages
German (de)
English (en)
Other versions
EP1593642B1 (fr
EP1593642A3 (fr
Inventor
Marco Sonderegger
Klaus Schneider
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.)
Liebherr Werk Nenzing GmbH
Original Assignee
Liebherr Werk Nenzing 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 Liebherr Werk Nenzing GmbH filed Critical Liebherr Werk Nenzing GmbH
Publication of EP1593642A2 publication Critical patent/EP1593642A2/fr
Publication of EP1593642A3 publication Critical patent/EP1593642A3/fr
Application granted granted Critical
Publication of EP1593642B1 publication Critical patent/EP1593642B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • B66F9/065—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
    • 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

Definitions

  • the present invention relates to a loading and / or lifting device, in particular a reachstacker.
  • a reachstacker is a loader, for the handling of heavy loads such as containers, general cargo and the like suitable is. Load handling is not carried out with reach stackers Mast, but with the help of a boom, in general as a telescopic boom is executed.
  • the invention is not limited to reachstackers, special also includes other load and / or lifting equipment, such as Forklift or other equipment suitable for load handling.
  • the maximum steering angle i. the entire steering range even at high Speeds available, it can vary depending on the combination of speed and steering lock come to dangerous situations that point to it based, that the stability of the device is no longer guaranteed. For today's standard equipment, it is at the discretion of the driver, which steering angle is to be selected to prevent tilting of the device or not come into a critical driving situation.
  • the invention is based on the object, a loading and / or lifting device and In particular, to further develop a reachstacker such that critical Driving situations are recognizable or avoidable.
  • the device has one or more Sensor for detecting at least one of the stability of the device influencing operating parameters as well as one with the transducers in Compound computing unit having means by which one for Ensuring stability Maximum permissible value of an operating parameter depending on one or more of the detected operating parameters is determined.
  • operating parameters is to be understood broadly and includes, for example, the driving speed or the steering angle, the lifting capacity, the load height, the inclination and the radius of the loading and / or Lifting device.
  • the computing unit has means or a logic by means of from the measured parameter or parameters a maximum permissible Value of a parameter, preferably the steering angle is determined. Of the maximum permissible value of a parameter is determined with regard to that the stability of the device is guaranteed.
  • the operating parameter is whose maximum permissible value is determined to the steering angle the loading and / or lifting device.
  • the arithmetic unit may be configured to operate on the basis of only one or advantageously on the basis of several or all detected operating parameters the maximum allowable value of a parameter, for example of the steering angle determined.
  • a critical driving situation can then be reliable be avoided if included in the calculation of the maximum allowable Steering angle take all parameters that are on the stability of the Device influence. Examples of such parameters are the driving speed, the lifting capacity, the outreach, the load height, the Auslegernistometer as well as the terrain slope or inclination of the device. Also other parameters or parameters can be of importance and enter into the calculation.
  • the arithmetic unit or the logic present therein determines due a known dependence of the stability of the device of these influencing parameters the maximum permissible value of a parameter or the steering angle, in which the stability is still guaranteed.
  • a sensor for detecting the actual steering angle provided.
  • This encoder can be redundant be.
  • comparison means are provided, by means of which the actual compared with the maximum permissible steering angle becomes.
  • the actual steering angle is from one or more pickups determined and compared with the permissible steering angle.
  • the to provided comparison means may be part of the arithmetic unit.
  • the Comparison result can be used, for example, the driver informing that exceeding the maximum permissible steering angle is present.
  • Such a signal for example, acoustically or be reproduced optically.
  • An embodiment of the invention is also conceivable in which an exceeding a maximum permissible parameter value is excluded.
  • means are provided by means of that when changing an operating parameter, for example, an increase the speed that exceeds the maximum allowed Value of a parameter, such as the steering angle, another operating parameter is changed such that the actual value does not exceed the maximum permissible value.
  • an operating parameter for example, an increase the speed that exceeds the maximum allowed Value of a parameter, such as the steering angle
  • the invention another parameter, such as the driving speed changed so - reduced in this example - so that a Exceeding the maximum permissible steering angle does not occur and the Stability remains guaranteed.
  • the steering angle exceeds the maximum permissible steering angle
  • another operating parameter for example, the discharge or the driving speed is changed or reduced such that the permissible range of the steering angle detects the actual steering angle.
  • the speed becomes e.g. the Reachstackers increased so that, with otherwise unchanged operating parameters and steering lock would result in a critical situation is provided that as the speed is increased, a other parameters, such as the projection or lifting height reduced in such a way it will not exceed the maximum permissible steering angle comes.
  • Which parameter is changed for the aforementioned purpose can be fixed or be selectable.
  • means may be provided to cause a change an operating parameter is possible only to the extent in which, for example the permissible range of the steering angle (without changing others Parameter) is not exceeded.
  • the Lifting height or unloading with otherwise unchanged operating parameters only be changed to an extent that the actual steering angle in the permissible range remains.
  • a reachstacker be accelerated, the other operating parameters are not changed and the speed increase is only as far as possible that the stability the reachstacker is still guaranteed, i. the actual with the permissible steering angle matches.
  • the Computing unit further comprises means by means of which an optimal steering speed or steering acceleration depending on one or more of detected operating parameters can be determined. At the recorded operating parameters these can be the parameters used to determine the permissible Range of a parameter are used.
  • means are provided by means of which at maximum specification of the steering angle of the maximum permissible steering angle set becomes. Accordingly, at maximum specification of the steering angle the wheels are not necessarily full, but only up to the maximum permissible Steering stroke moves.
  • the single FIGURE shows a schematic representation of a Reachstackers with Steering monitoring.
  • the setting of the actual steering angle is only within the permissible Range possible.
  • To determine the actual steering angle are one or more encoders (redundant version) provided.
  • the steering speed and the steering acceleration adjusted accordingly, i. at a reduction of the permissible range the steering angle e.g. at increasing the driving speed of the Reachstackers reduce steering speed and steering acceleration. This ensures that at high speeds the steering angle and the steering speed is not too big.
  • the maximum specification of the steering angle by the driver leads to a setting the actual steering angle to the maximum permissible steering angle.

Landscapes

  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Civil Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Transplanting Machines (AREA)
EP05007760.1A 2004-05-04 2005-04-08 Appareil de chargement et/ou de levage,en particulier chargeur à grande portée Expired - Lifetime EP1593642B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102004021840 2004-05-04
DE102004021840A DE102004021840A1 (de) 2004-05-04 2004-05-04 Lade- und/oder Hubgerät, insbesondere Reachstacker

Publications (3)

Publication Number Publication Date
EP1593642A2 true EP1593642A2 (fr) 2005-11-09
EP1593642A3 EP1593642A3 (fr) 2006-11-08
EP1593642B1 EP1593642B1 (fr) 2014-06-04

Family

ID=34934917

Family Applications (1)

Application Number Title Priority Date Filing Date
EP05007760.1A Expired - Lifetime EP1593642B1 (fr) 2004-05-04 2005-04-08 Appareil de chargement et/ou de levage,en particulier chargeur à grande portée

Country Status (3)

Country Link
US (1) US7599776B2 (fr)
EP (1) EP1593642B1 (fr)
DE (1) DE102004021840A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2409887A3 (fr) * 2010-07-19 2013-08-28 Noell Mobile Systems GmbH Procédé et système de régulation de la tenue de route d'un véhicule utilitaire
WO2017055774A1 (fr) * 2015-10-01 2017-04-06 Manitou Bf Système de modification du rapport de direction pour véhicule à bras télescopique et véhicule correspondant
FR3041921A1 (fr) * 2015-10-01 2017-04-07 Manitou Bf Systeme de modification du rapport de direction pour vehicule muni d'un volant de direction et vehicule correspondant
US9932213B2 (en) 2014-09-15 2018-04-03 Crown Equipment Corporation Lift truck with optical load sensing structure
WO2022018389A1 (fr) 2020-07-23 2022-01-27 Manitou Bf Machine de manutention a bras et procede d'avertissement correspondant
EP4212675B1 (fr) 2022-01-17 2025-02-26 J.C. Bamford Excavators Limited Engin de travail comportant un système de stabilisation

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008004915A1 (fr) * 2006-07-03 2008-01-10 Volvo Construction Equipment Ab Procédé et système permettant d'éviter la chute d'une charge
CN102285590B (zh) * 2011-04-21 2013-11-20 长沙科尊信息技术有限公司 基于红外结构光的集装箱吊具抓箱作业感知系统及方法
DE102012015217A1 (de) * 2012-08-03 2014-02-06 CES Containerhandling Equipment & Solutions GmbH Lastumschlag-Fahrzeug und Verfahren zu seiner Steuerung
US10430073B2 (en) 2015-07-17 2019-10-01 Crown Equipment Corporation Processing device having a graphical user interface for industrial vehicle
MX390749B (es) 2015-08-14 2025-03-21 Crown Equip Corp Diagnosticos basados en modelos de acuerdo con el modelo de direccion.
CN107921965B (zh) 2015-08-14 2020-10-09 克朗设备公司 基于牵引模型的基于模型的诊断
EP3269680B1 (fr) * 2016-07-14 2020-09-30 Toyota Material Handling Manufacturing Sweden AB Convoyeur au sol
EP3269678B1 (fr) 2016-07-14 2019-03-06 Toyota Material Handling Manufacturing Sweden AB Convoyeur au sol
EP3269679B2 (fr) 2016-07-14 2024-12-04 Toyota Material Handling Manufacturing Sweden AB Convoyeur au sol
WO2018098025A1 (fr) 2016-11-22 2018-05-31 Crown Equipment Corporation Dispositif d'interface utilisateur pour véhicule industriel
CN109963808B (zh) 2017-01-13 2021-03-30 克朗设备公司 基于转向轮动态的牵引速度恢复
US10723382B2 (en) 2017-01-13 2020-07-28 Crown Equipment Corporation High speed straight ahead tiller desensitization
US10759635B2 (en) * 2018-06-05 2020-09-01 Abraham Ben Seutter SIDAS—spreader impact damage avoidance system
FR3132092B1 (fr) 2022-01-21 2024-08-23 Manitou Bf Systeme de commande de direction pour véhicule de travail roulant

Citations (3)

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EP0343839A2 (fr) 1988-05-26 1989-11-29 The Raymond Corporation Système de commande pour chariot élévateur
GB2290149A (en) 1994-06-10 1995-12-13 Colin Stanley Smith System for ensuring the stability and safe operation of lift trucks
DE10010011A1 (de) 1999-07-27 2001-02-01 Linde Ag Flurförderzeug mit einer Stabilisierungseinrichtung zur Erhöhung der Standsicherheit

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JPS5321939B2 (fr) * 1974-08-26 1978-07-05
US4268216A (en) * 1977-07-04 1981-05-19 Fernand Copie Load lifting and carrying machine
JP2600061B2 (ja) * 1993-07-14 1997-04-16 株式会社小松製作所 装軌車の操向装置
US5579863A (en) * 1995-04-10 1996-12-03 Caterpillar Inc. Steering system for an articulated machine
JPH115419A (ja) * 1997-06-18 1999-01-12 Toyota Autom Loom Works Ltd 産業車両の車体揺動制御装置
JP3695909B2 (ja) * 1997-09-30 2005-09-14 株式会社小松製作所 油圧式ステアリング装置及びその油圧バルブ
JPH11165998A (ja) * 1997-12-04 1999-06-22 Toyota Autom Loom Works Ltd 産業車両の車体揺動制御装置及び産業車両
US6314348B1 (en) * 1998-02-11 2001-11-06 Trimble Navigation Limited Correction control for guidance control system
AU767604B2 (en) * 1998-12-22 2003-11-20 Caterpillar Inc. Tool recognition and control system for a work machine
US7181322B2 (en) * 2002-05-20 2007-02-20 B.L. Usa Inc. Ammunition loading vehicle and method
US6827176B2 (en) * 2003-01-07 2004-12-07 Jlg Industries, Inc. Vehicle with offset extendible axles and independent four-wheel steering control

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0343839A2 (fr) 1988-05-26 1989-11-29 The Raymond Corporation Système de commande pour chariot élévateur
GB2290149A (en) 1994-06-10 1995-12-13 Colin Stanley Smith System for ensuring the stability and safe operation of lift trucks
DE10010011A1 (de) 1999-07-27 2001-02-01 Linde Ag Flurförderzeug mit einer Stabilisierungseinrichtung zur Erhöhung der Standsicherheit

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2409887A3 (fr) * 2010-07-19 2013-08-28 Noell Mobile Systems GmbH Procédé et système de régulation de la tenue de route d'un véhicule utilitaire
US9932213B2 (en) 2014-09-15 2018-04-03 Crown Equipment Corporation Lift truck with optical load sensing structure
WO2017055774A1 (fr) * 2015-10-01 2017-04-06 Manitou Bf Système de modification du rapport de direction pour véhicule à bras télescopique et véhicule correspondant
FR3041922A1 (fr) * 2015-10-01 2017-04-07 Manitou Bf Systeme de modification du rapport de direction pour vehicule a bras telescopique et vehicule correspondant
FR3041921A1 (fr) * 2015-10-01 2017-04-07 Manitou Bf Systeme de modification du rapport de direction pour vehicule muni d'un volant de direction et vehicule correspondant
EP3356283B1 (fr) 2015-10-01 2019-07-03 Manitou Bf Système de modification du rapport de direction pour véhicule à bras télescopique et véhicule correspondant
US10696321B2 (en) 2015-10-01 2020-06-30 Manitou Bf System for modification of the steering ratio for a vehicle provided with a steering wheel, and corresponding vehicle
EP3356282B1 (fr) 2015-10-01 2022-07-20 Manitou Bf Système de modification du rapport de direction pour véhicule muni d'un volant de direction et véhicule correspondant
WO2022018389A1 (fr) 2020-07-23 2022-01-27 Manitou Bf Machine de manutention a bras et procede d'avertissement correspondant
FR3112882A1 (fr) * 2020-07-23 2022-01-28 Manitou Bf Machine de manutention a bras et procede d’avertissement correspondant
EP4212675B1 (fr) 2022-01-17 2025-02-26 J.C. Bamford Excavators Limited Engin de travail comportant un système de stabilisation

Also Published As

Publication number Publication date
DE102004021840A1 (de) 2005-12-01
EP1593642B1 (fr) 2014-06-04
EP1593642A3 (fr) 2006-11-08
US20060180381A1 (en) 2006-08-17
US7599776B2 (en) 2009-10-06

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