EP3292071B1 - Verfahren und vorrichtung zur überwachung einer stütze für einen wagen mit einer stabilisationsvorrichtung - Google Patents

Verfahren und vorrichtung zur überwachung einer stütze für einen wagen mit einer stabilisationsvorrichtung Download PDF

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Publication number
EP3292071B1
EP3292071B1 EP16726132.0A EP16726132A EP3292071B1 EP 3292071 B1 EP3292071 B1 EP 3292071B1 EP 16726132 A EP16726132 A EP 16726132A EP 3292071 B1 EP3292071 B1 EP 3292071B1
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EP
European Patent Office
Prior art keywords
trolley
monitoring
support
elevation
calculation
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EP16726132.0A
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English (en)
French (fr)
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EP3292071A1 (de
Inventor
Sylvain CADOU
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.)
Manitou BF SA
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Manitou BF SA
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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
    • B66F9/07559—Stabilizing means
    • 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
    • B66C23/62—Constructional features or details
    • B66C23/72—Counterweights or supports for balancing lifting couples
    • B66C23/78—Supports, e.g. outriggers, for mobile cranes
    • B66C23/80—Supports, e.g. outriggers, for mobile cranes hydraulically actuated
    • 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
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/085—Ground-engaging fitting for supporting the machines while working, e.g. outriggers, legs
    • 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
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool

Definitions

  • the invention relates to a carriage support monitoring method comprising a stabilizer means.
  • the invention also relates to a trolley support monitoring device comprising a stabilizer means.
  • a first object of the invention is to provide a new support monitoring method for reacting against a loss of stability due to soil compaction or excessive sinking.
  • a second object of the invention is to provide a new support monitoring device for reacting against a loss of stability and taking into account the instantaneous static state of the carriage.
  • the object of the invention is a stabilizer means carriage, characterized in that said carriage is equipped with a device as described above, and in that said carriage comprises means for controlling means for descent of the means. stabilizer, said control means and the calculation and comparison means are configured for the implementation of a method as described above.
  • Said control means and the calculation and comparison means may be implemented using computer and / or electronic components.
  • the functions operated by said means can be performed by sets of computer instructions implemented in a processor or be performed by dedicated electronic components or components of the FPGA or ASIC type. It is also possible to combine computer parts and electronic parts.
  • a stabilizer means carriage of known type comprises a self-propelled chassis comprising a non-oscillating front axle and a rear axle oscillating, a fixed section of telescopic arm, a sliding section of telescopic arm and an accessory integral with the sliding section of telescopic arm capable of carrying a load.
  • the rear axle of the chassis oscillates around an axis.
  • the front deck of the chassis carries at least one stabilizer means.
  • the self-propelled chassis assembly carrying all its equipment and including its front and rear decks has a center of gravity located at a given distance according to an angle of inclination with respect to the horizontal plane passing through the axis of the articulation pivot of the arm telescopic on the chassis.
  • the invention particularly aims to actively improve the stability of the carriage by applying a reactive action between the frame and the stabilizer means through the actuation of a double-acting cylinder of the stabilizer means.
  • the invention thus makes it possible to remedy the disadvantages of a ground defect interacting with the stabilizer means of an off-road truck, which risks ending up in unstable support and overturning.
  • a stabilizer means carriage according to the invention comprises a self-propelled chassis 1 comprising a non-oscillating front axle 2 and an oscillating rear axle 3.
  • the rear axle of the chassis oscillates around a central axis.
  • the front bridge 2 of the chassis carries at least one means 4 of stabilizer.
  • the operator When the industrial truck is stationary in a horizontal position, the operator gives a descent instruction of the stabilizer means 4. As the carriage is stationary in a horizontal position, the operator can indeed actuate the stabilizer means 4 to lower its support pad 4a in contact with the ground, as shown in FIG. figure 1 .
  • the predicted elevation is calculated as a function of the difference between the travel of the support pad 4a to touch the ground and the complete travel of the support pad 4a.
  • the carriage comprises means for detecting the ground contact of the support pad 4a, for example by means of an overpressure detection inside a jack of the stabilizer means or using a dedicated sensor.
  • the stabilizer means carriage comprising a self-propelled chassis 1 with a non-oscillating front axle 2 carrying at least one stabilizer means 4 is stationary in a horizontal position.
  • the operator actuates the stabilizer means 4 to support his support pad 4a on the ground, as shown in FIG. figure 2 .
  • An initial calculation of the predicted elevation H is then carried out from the theoretical parameters of the industrial truck, using the initial position reference of the stabilizer means 4 with its contact pad 4a in contact with the ground and using the stroke C output of the rod 4b of the stabilizer means 4.
  • the predicted initial H-elevation calculation may optionally utilize the soil compressibility characteristics as they are known.
  • the stabilizer means carriage comprising a self-propelled chassis 1 with a non-oscillating front axle 2 carrying at least one stabilizer means 4 is stationary in the raised position at the front.
  • the cart computer connected to various sensors or equivalent means performs an initial calculation of actual elevation E from the parameters measured by the sensors or equivalent means of the industrial truck, using the initial reference position of the stabilizer means 4 with its support pad 4a in contact with the ground and in particular using the measured inclination of the carriage.
  • the carriage is provided with sensors for measuring one or a combination of all or part of said parameters listed above.
  • the initial calculation of actual elevation E can possibly use the characteristics of compressibility of the soil when they are known: the figure 3 corresponds to the case of a non-deformable soil, for example rocky.
  • the actual elevation E of the figure 3 is substantially equal to the predicted elevation H of the figure 2 .
  • the lifting of the truck can be continued safely and stably.
  • the stabilizer means carriage comprising a self-propelled chassis 1 with a non-oscillating front axle 2 carrying at least one stabilizer means 4 is stationary in the raised position at the front.
  • the cart computer connected to various sensors or equivalent means performs an initial calculation of actual elevation E from the parameters measured by the sensors or equivalent means of the industrial truck, using the initial reference of the stabilizer means 4 position with its pad 4a in contact with the ground and in particular using the measured inclination of the carriage.
  • the initial calculation of actual elevation E can possibly use the characteristics of compressibility of the soil when they are known: the figure 4 corresponds to the case of a deformable soil.
  • the actual elevation E of the figure 4 is substantially less than the predicted elevation H of the figure 2 .
  • the invention thus makes it possible to remedy the disadvantages of a ground defect interacting with the stabilizer means of an off-road truck, which risks ending up in unstable support and overturning.
  • the method according to the invention starts at a step 100, in which the industrial truck is stationary and in which the operator gives a descent instruction of the stabilizer means.
  • step 101 of descent of the stabilizer means The process continues at step 101 of descent of the stabilizer means.
  • step 102 a test is performed to see if the industrial truck is stationary and if the descent of the stabilizer means is effective to come into contact with the ground.
  • step 102 If the test of step 102 concludes that the industrial truck is not stationary or that the descent of the stabilizer means is not sufficient to come into contact with the ground, the method loops to step 100 to possibly receive a new descent instruction of the stabilizer means.
  • step 102 If the test of step 102 concludes that the industrial truck is stationary and that the descent of the stabilizer means is sufficient to arrive at the ground contact, the method continues in step 103 in which an initial calculation of predicted elevation is made from the theoretical parameters of the industrial truck, then to a step 104 in which an initial calculation of actual elevation is made to from the parameters measured by the sensors of the truck.
  • An additional descent of the stabilizer means is carried out at step 105 to put the industrial truck on the stabilizer means.
  • step 106 in which an update of the predicted elevation initial calculation is performed from the theoretical parameters of the industrial truck, then to a step 107 in which an update of the actual initial elevation calculation is performed to from the parameters measured by the sensors of the truck.
  • step 108 a test is performed to compare the predicted elevation calculation and the actual elevation calculation and to verify their consistency.
  • said calculations are coherent when the difference in absolute value between the predicted elevation calculation and the actual elevation calculation is less than 10% of the actual elevation calculation.
  • the coherence calculation is weighted as a function of the accuracy of the measured and / or theoretical parameter sensors and / or as a function of terrain characteristics defined for example by the operator.
  • step 108 If the test of step 108 concludes that the predicted elevation calculation and the actual elevation calculation are consistent, the method continues to step 109 of deactivating alert, then to step 111 to possibly receive a new descent instruction of the stabilizer means.
  • step 108 If the test of step 108 concludes that the predicted elevation and actual elevation calculations are not consistent, the method continues at step 110 of alert activation and then at step 111 to receive possibly a new descent instruction of the stabilizer means.
  • step 111 If the operator has given a descent instruction of the stabilizer means in step 111, the method will loop at step 105 of additional descent of the stabilizer means.
  • step 111 If the operator has not given any instructions for descent of the stabilizer means in step 111, the process proceeds to step 112 of stabilizing completion on support of the stabilizer means.
  • step 113 of start of bearer monitoring to subdivide into a motion monitor branch having steps 114 to 119 and a break monitor branch having steps 120 to 122.
  • step 114 in which an initial calculation of predicted elevation is made from the theoretical parameters of the industrial truck, then to a step 115 in which an initial calculation of actual elevation is made from the measured parameters. by the sensors of the truck.
  • step 116 an update of the initial calculation of actual elevation is performed from the parameters measured by the sensors of the industrial truck.
  • step 117 a test is performed to compare predicted elevation and actual elevation calculations and to verify their consistency.
  • step 117 If the test in step 117 concludes that the predicted elevation and actual elevation calculations are consistent, the process proceeds to step 118 of updating the actual elevation calculation.
  • step 117 If the test in step 117 concludes that the predicted elevation and actual elevation calculations are not consistent, the method continues at step 119 of alert activation revealing abnormal displacements and indicating a risk of failure. 'instability.
  • step 120 a soil monitoring is performed from the parameters measured by the sensors of the industrial truck, to detect a bearing break.
  • step 121 a test is performed to detect an unwanted abrupt descent of the stabilizer means.
  • step 121 If the test in step 121 concludes that there is no unwanted abrupt descent of the stabilizer means, the method loops at step 120 of soil monitoring performed from the parameters measured by the sensors of the industrial truck, to detect a support break.
  • step 121 If the test in step 121 concludes an undesirable abrupt descent of the stabilizer means, the method continues at step 122 of alert activation revealing abnormal sudden shocks or movements and indicating a risk of instability.
  • step 111 If the operator has not given any instructions for descent of the stabilizer means in step 111, the process proceeds to step 112 of stabilizing completion on support of the stabilizer means.
  • it is intended to detect a possible decrease in the measured elevation value, which makes it possible to detect a stabilization problem, for example a depression of the stabilizer means, so that the operator can be alerted on a destabilization and may decide to move the cart to another location.
  • a stabilization problem for example a depression of the stabilizer means

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • General Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Vehicle Body Suspensions (AREA)

Claims (10)

  1. Verfahren zur Überwachung einer Abstützung für einen Wagen, aufweisend eine Stabilisationsvorrichtung, dadurch gekennzeichnet, dass das Verfahren Schritte aufweist:
    - des Absenkens der Stabilisationsvorrichtung derart, dass mindestens ein Teil des Wagens wie die Vorderräder des Wagens in Bezug auf ein bestimmtes Referenzniveau wie das Bodenniveau angehoben wird;
    - des Berechnens (103) des vorhergesagten Anhebens des mindestens einen Teils des Wagens in Bezug auf das bestimmte Referenzniveau;
    - des Berechnens (104) des tatsächlichen Anhebens des mindestens einen Teils des Wagens in Bezug auf das bestimmte Referenzniveau, wobei das Berechnen auf der Basis von Parametern durchgeführt wird, die von Sensoren des Flurförderwagens gemessen werden, und
    - des Vergleichens (108) der Berechnung des vorhergesagten Anhebens und der Berechnung des tatsächlichen Anhebens, um deren Kohärenz zu überprüfen.
  2. Verfahren nach Anspruch 1, aufweisend einen Schritt (113) des Beginns der Überwachung der Abstützung.
  3. Verfahren nach Anspruch 2, wobei dem Schritt (113) des Beginns der Überwachung der Abstützung Schritte (114 - 119) der Überwachung von Verlagerungen folgen.
  4. Verfahren nach Anspruch 2 oder Anspruch 3, wobei dem Schritt (113) des Beginns der Überwachung der Abstützung Schritte (120 - 122) der Überwachung der Unterbrechung der Abstützung folgen.
  5. Verfahren nach Anspruch 1, wobei ein Schritt (106) der Aktualisierung der Berechnung des vorhergesagten Anhebens auf der Basis theoretischer Parameter des Flurförderwagens durchgeführt wird, und wobei ein Schritt (107) der Aktualisierung der Berechnung des tatsächlichen Anhebens auf der Basis von von den Sensoren des Flurförderwagens gemessenen Parametern durchgeführt wird.
  6. Vorrichtung zur Überwachung der Abstützung für einen Wagen, aufweisend eine Stabilisationsvorrichtung, dadurch gekennzeichnet, dass die Vorrichtung aufweist:
    - Mittel zum Absenken der Stabilisationsvorrichtung, die erlauben, mindestens einen Teil des Wagens in Bezug auf das gegebene Referenzniveau anzuheben;
    - Mittel zum Berechnen (103) des vorhergesagten Anhebens des mindestens einen Teils des Wagens in Bezug auf das bestimmte Referenzniveau;
    - Mittel zum Berechnen (104) des tatsächlichen Anhebens des mindestens einen Teils des Wagens in Bezug auf das bestimmte Referenzniveau auf der Basis von von Sensoren des Flurförderwagens gemessenen Parametern, und
    - Mittel zum Vergleichen (108) der Berechnung des vorhergesagten Anhebens und der Berechnung des tatsächlichen Anhebens, um deren Kohärenz zu überprüfen.
  7. Vorrichtung nach Anspruch 6, aufweisend Mittel des Beginns der Überwachung der Abstützung.
  8. Vorrichtung nach Anspruch 7, aufweisend Mittel (114 - 119) der Überwachung von Verlagerungen.
  9. Vorrichtung nach Anspruch 7 oder Anspruch 8, aufweisend Mittel (120 - 122) der Überwachung der Unterbrechung der Abstützung.
  10. Wagen mit Stabilisationsvorrichtung, dadurch gekennzeichnet, dass der Wagen mit einer Vorrichtung nach einem der Ansprüche 6 bis 9 ausgerüstet ist und dass, wobei der Wagen Mittel zur Steuerung der Mittel zum Absenkens der Stabilisationsvorrichtung umfasst, die Steuermittel und die Berechnungs- und Vergleichsmittel für die Durchführung eines Verfahrens nach einem der Ansprüche 1 bis 5 konfiguriert sind.
EP16726132.0A 2015-05-05 2016-05-04 Verfahren und vorrichtung zur überwachung einer stütze für einen wagen mit einer stabilisationsvorrichtung Active EP3292071B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1554019A FR3035874B1 (fr) 2015-05-05 2015-05-05 Procede et dispositif de surveillance d'appui pour chariot comportant un moyen de stabilisateur
PCT/FR2016/051064 WO2016177980A1 (fr) 2015-05-05 2016-05-04 Procédé et dispositif de surveillance d'appui pour chariot comportant un moyen de stabilisateur

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Publication Number Publication Date
EP3292071A1 EP3292071A1 (de) 2018-03-14
EP3292071B1 true EP3292071B1 (de) 2019-03-06

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EP (1) EP3292071B1 (de)
ES (1) ES2729698T3 (de)
FR (1) FR3035874B1 (de)
WO (1) WO2016177980A1 (de)

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2542539B2 (ja) * 1991-11-22 1996-10-09 日本機械工業株式会社 アウトリガ付き車輌の水平矯正方法
US20030168421A1 (en) * 2002-03-08 2003-09-11 Davis Daniel E. Telehandler crane apparatus
IT1398850B1 (it) * 2010-03-10 2013-03-21 C M C S R L Societa Unipersonale Macchina operatrice semovente con dispositivo integrato di spostamento laterale, di livellamento e di antiribaltamento
DE102011075310A1 (de) * 2011-05-05 2012-11-08 Putzmeister Engineering Gmbh Fahrbare Arbeitsmaschine mit Abstützvorrichtung
US9365398B2 (en) * 2012-10-31 2016-06-14 Manitowoc Crane Companies, Llc Outrigger pad monitoring system

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
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Also Published As

Publication number Publication date
FR3035874B1 (fr) 2017-06-09
EP3292071A1 (de) 2018-03-14
WO2016177980A1 (fr) 2016-11-10
FR3035874A1 (fr) 2016-11-11
ES2729698T3 (es) 2019-11-05

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