EP3696137A1 - Machine de travail mobile - Google Patents

Machine de travail mobile Download PDF

Info

Publication number: EP3696137A1
Authority: EP; European Patent Office
Prior art keywords: signal; work machine; load torque; designed; control
Prior art date: 2019-02-13
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

EP20157158.5A

Other languages

German (de)

English (en)

Other versions

EP3696137B1 (fr

Inventor

Mario Hettegger

Marco Eder

David Laireiter

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 Bischofshofen GmbH

Original Assignee

Liebherr Werk Bischofshofen 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.)

2019-02-13

Filing date

2020-02-13

Publication date

2020-08-19

2020-02-13 Application filed by Liebherr Werk Bischofshofen GmbH filed Critical Liebherr Werk Bischofshofen GmbH

2020-08-19 Publication of EP3696137A1 publication Critical patent/EP3696137A1/fr

2023-03-29 Application granted granted Critical

2023-03-29 Publication of EP3696137B1 publication Critical patent/EP3696137B1/fr

Status Active legal-status Critical Current

2040-02-13 Anticipated expiration legal-status Critical

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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
- 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 invention relates to a mobile work machine, in particular a wheel loader, with a vehicle structure and with a telescopic arm arranged thereon, a lifting cylinder for raising and lowering the telescopic arm and a telescopic cylinder for extending and retracting the telescopic arm being provided, with a load moment control system with a sensor system, in particular with a load torque sensor for determining a load torque signal, with a speed sensor for determining the driving speed of the machine, and with an operating element for generating an operating element signal, on the basis of which an operating element signal is generated, which is used directly or indirectly to control the cylinder or cylinders.
LLMS longitudinal load torque control systems
a torque sensor of the control system can, however, briefly record forces or torques that indicate a longitudinal or transverse instability, although this is actually not the case.
the LLMS would prevent all movements of the telescopic arm increasing the load moment, although this is not necessary to ensure the stability of the working machine. This leads to disruptive movement restrictions of the telescopic arm while driving.
the longitudinal load torque control system disclosed in this publication is completely deactivated from a certain travel speed of the work machine, which has the disadvantage that the stability of the work machine can then no longer be guaranteed by the LLMS.
the machine operator In addition to the steering / acceleration / braking movements and information on the monitor, the machine operator must also comprehensively assess the telescope reach and the stability behavior. This means that speed thresholds vary depending on the purpose and must be stored in the controller in advance. If the speed is set too low, the LLMS is no longer active in loading and unloading operation and if the speed is set too high, the disadvantageous intervention of the LLMS takes place.
the overall overview is reduced by the machine operator's concentration on monitor displays relating to stability with visual or acoustic warning functions.
the object of the invention is to provide a mobile work machine in which the load torque control system is incorrectly triggered while the work machine is moving be reliably prevented on uneven ground without having to switch it off completely.
the work machine has a controller which is designed as a function of one or more parameters of the work machine, such as e.g. the driving speed to dampen the load torque signal and which is also designed to reduce or interrupt the actuating element signal at least in areas as a function of the damped load torque signal. It thus finds one of a parameter value, e.g. Manipulation of the load torque signal depending on the driving speed takes place.
the filtering (damping) of the load torque signal due to signal noise from the load sensor is excluded from this invention.
the driving speed of the work machine or the load torque signal itself or other parameters of the work machine can serve as parameters depending on which the load torque signal is damped. If the load torque signal is the parameter in question, it can be provided, for example, that greater attenuation is undertaken when the load torque signal approaches a maximum value more strongly than when it approaches the maximum value less strongly.
the absolute value of the load torque signal can also be decisive for whether and how strong the damping is carried out.
the damping of the load torque is carried out on the basis of the level of the load torque using a low-pass filter.
the filter characteristic can be changed, for example, in that a higher damping is carried out at a higher load torque level.
Load torque threshold values can also be used, a first filter characteristic being used below the threshold and a second filter characteristic being used above the threshold.
the filter characteristic can also be adapted over the entire load torque range, for example the higher the load torque, the higher the damping.
control that performs the damping can be integrated into a sensor or also be arranged separately from it.
the control can be part of the load torque control system or be implemented as a separate system.
the load torque control system of the work machine according to the invention is thus preferably active in every operating situation, i.e. a shutdown - as is known from the prior art - preferably does not take place. It is conceivable that sensor signals and operating element signals are fed to the load torque control system, that the load torque determined in this way is compared with one or more stored threshold values and that the operating element signal is manipulated if the threshold value is exceeded.
the actuating element signal is the signal that is used directly or indirectly to control the hydraulic cylinder or cylinders (e.g. the lifting cylinder or the telescoping cylinder) or their control valves, by means of which the telescopic arm can be moved.
the sensor signals mentioned can be, for example, signals from pressure and / or force and / or load sensors, speed sensors, acceleration sensors, in particular speed sensors or angle measurement sensors, in particular rotation angle sensors, or combinations thereof.
the control element signals can be generated, for example, by joysticks, steering wheels, accelerator pedals or buttons.
the basic force determinations are preferably measured on the vehicle steel structure, or in intermediate areas on the axle connections to the steel structure or outside the vehicle steel structure in the area of the hydraulic cylinders.
the sensors can be located on at least the lifting cylinder and / or a compensating cylinder and / or the telescoping cylinder and / or a working hydraulic cylinder.
the sensors are attached, for example, to the stroke and piston side, or they are already integrated in the hydraulic cylinder. It should be noted that the possibility of measuring loads in terms of location and method is flexible and applies to the entire vehicle steel construction, e.g. in the area of the pendulum axis, on frame steel construction or on moving components, e.g. cylinders, and a wide variety of measuring sensors can be used, e.g. Strain gauges or load cells.
the measured load torque signal is manipulated or damped in such a way that the load torque control system remains active if the load torque is exceeded for a short time and a movement of the lifting and / or telescoping cylinder is still possible under certain conditions.
load torque is to be understood in general terms and is not restricted to any desired moments, but also includes forces.
the load torque signal can thus also be a force signal or a signal derived therefrom.
the sensor signals required to calculate the tilting / load torque are either processed in built-in sensor controls in such a way that the signal manipulation takes place there or, in another embodiment, the signal manipulation is carried out in an independent vehicle control or in combination of at least one vehicle control with a sensor control.
the measured i.e. the actually present load torque or the lifting force depending on one or more parameters of the working machine, e.g. the vehicle speed, the telescopic boom position etc. filtered more or less strongly, i.e. muffled. It is preferably provided that at high driving speed or other high parameter values of the work machine, strong filtering, i.e. is attenuated, in contrast to a lower driving speed or low parameter values, the filtering / attenuation is less intense. It is also conceivable that no attenuation of the load torque signal occurs below a certain driving speed or below certain parameter values.
a damped load torque signal is thus obtained from the actually present load torque signal (either at any travel speed or other parameter values or at certain travel speeds or certain other parameter values).
the actuating element signal used to control the hydraulic cylinder or cylinders is reduced or interrupted depending on the damped load torque signal, at least in some areas (e.g. at certain driving speeds and / or load torques) depending on the damped load torque signal.
an interruption operation of an operating element, such as a joystick, by the user does not result in any cylinder actuation and thus no movement of the telescopic arm.
a slower cylinder movement or a slower movement of the telescopic arm takes place than if there were no such reduction.
the manipulation of the actuating element signal can already be carried out by the sensor or sensors and can be independent of the engine control and / or the vehicle control.
the control element to be operated by the user can be, for example, a joystick, a pedal, a steering wheel, etc.
the control is designed in such a way that the damping of the load torque signal is carried out by means of a damping coefficient that is dependent on at least one parameter, such as the travel speed of the machine and / or on the load torque, the dependency being linear or non-linear or is stored in a readable table.
a damping coefficient that is dependent on at least one parameter, such as the travel speed of the machine and / or on the load torque, the dependency being linear or non-linear or is stored in a readable table. The greater the travel speed of the machine or the greater the parameter value, the greater the damping of the load torque signal.
a low-pass filter can be used for signal damping.
control is designed to permanently set the damping coefficient mentioned as a function of the parameter value, e.g. to calculate from the driving speed of the machine.
the term “damping” or “filtering” is to be understood in general terms and includes any reduction in the measured load torque, even if it is only temporary.
the damped load torque signal can thus be at least temporarily less than the actual load torque signal and / or have a smaller amplitude than the actual load torque signal.
the control is preferably designed in such a way that a first threshold value is provided and that there is no reduction or interruption of the actuating element signal if the value for the damped load torque signal is below the first threshold value.
the actuating element signal is thus not compared with the normal operation of a conventional work machine changed. It is conceivable that the actuating element signal is determined exclusively on the basis of the operating element signal; a proportional relationship is conceivable, for example.
the controller is designed in such a way that a second threshold value is provided and that the actuating element signal is interrupted if the value for the damped load torque signal is above the second threshold value.
no actuating element signal is output even if the operator of the working machine uses an operating element, e.g. operated a joystick.
An actuation of the hydraulic cylinder or cylinders is therefore omitted. For example, if the signal from the lifting cylinder and / or the telescoping cylinder exceeds a limit value, i.
the actuating element signal is reduced, in particular attenuated, so that e.g. only a slower movement of the telescopic arm or reduced travel speed of the working machine takes place, or is set to zero so that no further movement of the telescopic arm is possible.
control is designed in such a way that a first and a second threshold value are provided and that the actuating element signal is reduced when the value for the damped load torque signal is between the first and the second threshold value.
control is designed such that the dependency between the actuating element signal and the damped load torque signal is at least partially linear or non-linear or is stored in a readable table.
the load torque is not the only parameter that influences the actuating element signal.
the control is designed in such a way that further parameters flow into the determination of the actuating element signal, in particular the travel speed of the work machine and / or the lifting angle of the telescopic arm and / or the projection of the telescopic arm.
control is designed such that a first threshold value is provided and that there is no reduction or interruption of the actuating element signal if the value of the further parameter or parameters is below the first threshold value and / or that the control is designed in such a way that a second threshold value is provided and that the actuating element signal is interrupted if the value for the further parameter or parameters is above the second threshold value.
control is designed in such a way that a first and a second threshold value are provided and that the actuation element signal is reduced if the value of the further parameter or parameters is between the first and the second threshold value.
the dependency between the actuating element signal and the value of the further parameter or parameters can be linear or non-linear at least in some areas or can be stored in a readable table.
the first and / or the second threshold value of the load torque or of another parameter depends on the travel speed of the work machine. It is also conceivable and encompassed by the invention that the first and / or the second threshold value is constant.
the present invention further relates to a mobile work machine, in particular a wheel loader, with a vehicle structure and with a telescopic arm arranged thereon, a lifting cylinder for raising and lowering the telescopic arm and a telescopic cylinder for extending and retracting the telescopic arm, comprising a load torque system a sensor system for determining a load torque signal, with a speed sensor for determining the driving speed of the machine, and with an operating element for Generation of an operating element signal, on the basis of which an operating element signal is generated which is used to control the cylinder or cylinders, a controller being provided which is designed to reduce or reduce the operating element signal at least in some areas as a function of a damped load torque signal and at least one further parameter to interrupt.
the actuation element signal is reduced or interrupted not only as a function of the load moment signal or the damped load moment signal, but also as a function of at least one further parameter.
This further parameter can be, for example, the travel speed of the work machine and / or the lifting angle of the telescopic arm and / or the extension of the telescopic arm.
control is designed as a minimum module, so that the smallest of the reduced actuation element signals is used to control the cylinder or cylinders. It is also conceivable that the control is designed in such a way that from the actuation element signals supplied to it, a weighted actuation element signal is formed which is used to control the cylinder or cylinders.
the load torque control system can be designed, for example, as a longitudinal load torque control system and / or as a transverse load torque control system (QLMS), meaning movements in the transverse direction of the vehicle.
QLMS transverse load torque control system
the present invention is thus based on the idea that the load torque control system remains active even at higher driving speeds, but the reaction to the signal from the torque sensor is manipulated during driving so that false tripping is improbable become.
the concept can be implemented by maintaining a damping or correction coefficient that changes depending on one or more measured variables.
the extent of the damping of the signal from the torque sensor and / or the correction of the threshold value depends, for example, on the determined travel speed of the work machine.
the damping or correction coefficient changes depending on the travel speed of the mobile wheel loader or other mobile work machine.
another parameter of the working machine can also be used.
the working arm can be pivoted up and down about an essentially horizontal axis on the main structure. Furthermore, it is provided in an embodiment according to the invention that the working arm can be extended and retracted telescopically, that is, its length can be changed. Furthermore, it can be provided that the working arm can be rotated on the main structure about an essentially vertical axis. One or more actuators, preferably hydraulic cylinders, can be provided for controlling all of these movements.
the working machine according to the invention is a telescopic wheel loader.
Figure 1 shows a schematic representation of a telescopic wheel loader 1 according to the invention in a side view.
the reference number 3 identifies the telescopic arm, at the end of which the working tool 2 is located.
the reference symbols 4, 18 identify the lifting cylinder (for pivoting the telescopic arm up and down) or the compensating cylinder, and the reference symbol 5 the telescopic cylinder for extending and retracting the telescopic part of the telescopic arm 5.
the cabin is identified with the reference number 6, the vehicle body with the reference number 7 and the drive wheels with the reference number 8.
the reference numeral 12 shows an operating element, such as a joystick, and the reference numeral 11 denotes operating elements, like valves, which in turn serve to control the hydraulic cylinders mentioned.
the tilting cylinder by means of which the working tool can perform a tilting movement, which is at the lifting height H, is identified by the reference number 17.
the control unit 10 comprises a longitudinal load torque control system which is designed, on the basis of the signal from the torque sensor and / or other sensors, to prevent the actuation of the working arm in a manner which could endanger the longitudinal and / or transverse instability of the wheel loader 1. This is done by means of a damping, ie filtering of the load torque signal, as shown Figure 2 emerges.
the undamped signal LM is only used when the telescopic wheel loader 1 is at a standstill or at very low travel speeds of, for example, less than 5 km / h, that is to say no damping takes place. If, on the other hand, a certain travel speed of, for example, 5 km / h is exceeded, the signal from the torque sensor is attenuated.
the actuating element signal is interrupted.
the actuating element signal is damped, e.g. can consist in the fact that the same deflection of the joystick results in a slower speed of the lifting or telescopic cylinder.
the threshold values are constant.
the invention also encompasses the case that a shift of the threshold values S1 and S2 is possible. This can be done as a function of the speed and / or as a function of the lifting angle and telescopic reach of the telescopic arm.
the control algorithm can have a low-pass filter and, for example, can be implemented as a PT element of the first order.
the signal LMfiltl has, for example, a damping coefficient of 0.5 and LMfilt2 a higher damping coefficient, for example 0.7, the maximum value of the filtered signal LMfilt being greater than LMfilt2 for the same load moment peak of LMfilt1.
the damping coefficient is dependent on the driving speed v of the machine, the damping coefficient being determined depending on the driving speed and the damping coefficient, for example, at speed 0 is smaller than at speed 5 km / h.
the damping coefficients are continuously calculated in the controller depending on the driving speed.
the actuating element signals are manipulated as a function of the filtered load signal LMfilt. If the value of the filtered load signal remains below the value of S2, the actuating element signal is only calculated from the operating element signal (Pos. D). If the value of the filtered load signal is in the range between S2 and S1, the actuating element signal is reduced so that the speed of the lifting and / or telescoping cylinder is reduced (items A, B (for LMfilt2)). If the value of the filtered load signal LMfilt exceeds the value of S1, the actuating element signal is reduced to zero, so that no movements that increase the load torque are possible (Pos. B (for LMfilt1), C).
an actuating element signal BS2 is generated as a function of the stroke angle signal and telescope extension signal.
the for Figure 3a The relationships described apply here accordingly, with the threshold values being marked with S4 and S3.
threshold values are established as a function of which the actuating element signals BS2 for lifting / lowering and / or telescoping are not influenced, reduced or interrupted.
LMfilt a dependency on LMfilt can also be introduced. This leads, for example, to a greater reduction in BS2 with an increased LMfilt.
Figure 4 shows an embodiment in which not only a single parameter is used in order to provide the actuating element signal which is ultimately effective from the output.
Each of the actuation element signal manipulation elements 13, 14 and 18 has threshold values.
the input variable used for the actuating element signal manipulation element 13 is LMfilt, the size of which is determined, as described, by signal damping based on LM and v in the unit 15.
the further input signals HW and TA for the actuation element signal manipulation element 14 are not attenuated; the same applies to the input signal v of the actuation element signal manipulation element 18.
the selection / combination logic 16 receives the actuating element signal from the output of BS manipulation 1 as a BS1 signal, the actuating element signal 2 as an output from BS manipulation 2 as a BS2 signal and the actuation element signal 3 as an output from BS manipulation 3 as a BS3 signal fed.
the module 16 is designed as a minimum module, which means that the smallest of the signals BS1 to BS3 is used to control the valves, cylinders, etc. It is also conceivable that the module is designed in such a way that a new value weighted from the three signals BS1 to BS3 is formed, which then represents the output value BS.
the control element signal BE is formed from the control element 12 and its movement. The same control element 12 generates the input signal BE of elements 13, 14 and 18.

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Life Sciences & Earth Sciences (AREA)
Engineering & Computer Science (AREA)
Geology (AREA)
Mechanical Engineering (AREA)
Structural Engineering (AREA)
Operation Control Of Excavators (AREA)

EP20157158.5A 2019-02-13 2020-02-13 Machine de travail mobile Active EP3696137B1 (fr)

Applications Claiming Priority (1)

Application Number	Priority Date	Filing Date	Title
DE102019103620.8A DE102019103620A1 (de)	2019-02-13	2019-02-13	Mobile Arbeitsmaschine

Publications (2)

Publication Number	Publication Date
EP3696137A1 true EP3696137A1 (fr)	2020-08-19
EP3696137B1 EP3696137B1 (fr)	2023-03-29

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ID=69701051

Family Applications (1)

Application Number	Title	Priority Date	Filing Date
EP20157158.5A Active EP3696137B1 (fr)	2019-02-13	2020-02-13	Machine de travail mobile

Country Status (2)

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EP (1)	EP3696137B1 (fr)
DE (1)	DE102019103620A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
DE102021121163A1 (de)	2021-08-13	2023-02-16	Danfoss Power Solutions Gmbh & Co. Ohg	Verbesserter Teleskoplader
DE102021128642A1 (de)	2021-11-03	2023-05-04	Weidemann GmbH	Baumaschine oder landwirtschaftliche Maschine
DE102021128580A1 (de)	2021-11-03	2023-05-04	Kramer-Werke Gmbh	Baumaschine oder landwirtschaftliche Maschine

Citations (3)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
US20080034853A1 (en) *	2006-08-09	2008-02-14	Tabor Keith A	Electrohydraulic Valve Control Circuit with Velocity Fault Detection and Rectification
EP2263965A1 (fr)	2009-06-19	2010-12-22	J.C. Bamford Excavators Limited	Procédé pour la commande d'une machine de travail
EP3438038A1 (fr) *	2017-08-02	2019-02-06	JLG Industries, Inc.	Télémanipulateur comportant un montage de flèche en porte-à-faux

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
US10071894B2 (en) *	2015-08-03	2018-09-11	The Raymond Corporation	Oscillation damping for a material handling vehicle

2019
- 2019-02-13 DE DE102019103620.8A patent/DE102019103620A1/de not_active Withdrawn
2020
- 2020-02-13 EP EP20157158.5A patent/EP3696137B1/fr active Active

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
US20080034853A1 (en) *	2006-08-09	2008-02-14	Tabor Keith A	Electrohydraulic Valve Control Circuit with Velocity Fault Detection and Rectification
EP2263965A1 (fr)	2009-06-19	2010-12-22	J.C. Bamford Excavators Limited	Procédé pour la commande d'une machine de travail
EP3438038A1 (fr) *	2017-08-02	2019-02-06	JLG Industries, Inc.	Télémanipulateur comportant un montage de flèche en porte-à-faux

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Publication number	Publication date
DE102019103620A1 (de)	2020-08-13
EP3696137B1 (fr)	2023-03-29

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