WO2013013821A1 - Dispositif de commande - Google Patents

Dispositif de commande Download PDF

Info

Publication number
WO2013013821A1
WO2013013821A1 PCT/EP2012/003150 EP2012003150W WO2013013821A1 WO 2013013821 A1 WO2013013821 A1 WO 2013013821A1 EP 2012003150 W EP2012003150 W EP 2012003150W WO 2013013821 A1 WO2013013821 A1 WO 2013013821A1
Authority
WO
WIPO (PCT)
Prior art keywords
control device
sensor
working arm
load
movement speed
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.)
Ceased
Application number
PCT/EP2012/003150
Other languages
German (de)
English (en)
Inventor
Fabian HARTMANN
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.)
Hydac System GmbH
Original Assignee
Hydac System 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 Hydac System GmbH filed Critical Hydac System GmbH
Priority to EP12741251.8A priority Critical patent/EP2736833B1/fr
Publication of WO2013013821A1 publication Critical patent/WO2013013821A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
    • 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
    • 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
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • telelads equipped with a working arm work machines are referred to technical terms as telelads.
  • the maximum speed of movement for the movable working arm is calculated.
  • 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.
  • 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.
  • 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.
  • a sensor can be used, which determines the current effective operating length of the working arm.
  • the further sensor 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
  • 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.
  • control device 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.
  • a construction machine such as an excavator or shovel loader
  • military vehicle for example in the form of a recovery tank.
  • 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:
  • 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.
  • 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 adoptedei 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.
  • 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.
  • a characteristic field may be considered as an alternative to the "C" nline determination of the maximum movement speed
  • a movement speed characteristic field is set as a target for the calculated maximum movement speed Vmax
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the respective working arms 5 are each formed of three mutually telescoping individual members 29, 30, 31.
  • 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.
  • 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.
  • 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.
  • the respective relationei 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.
  • 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.
  • the evaluation and control unit 17 in particular of its arithmetic unit CPU, the current load mass rrn calculated.
  • 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.
  • 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.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

L'invention concerne un dispositif de commande permettant d'éviter des couples de renversement (MA) non admissibles sur une machine de travail mobile (7), un appareil d'évaluation et de commande (17) muni d'une unité informatique (CPU) évaluant les signaux de différents capteurs de charge (13) et de différents capteurs d'angle (15) ou activant le dispositif d'actionnement (3) concerné. Une vitesse de déplacement (Vmax) du bras de travail mobile (5) la plus élevée possible empêchant le couple de renversement non admissible (MA) est déterminée au moyen de l'appareil d'évaluation et de commande (17) au moins par traitement des signaux entrants provenant du capteur de charge (13) et du capteur d'angle (15), et chaque dispositif d'actionnement (3) active le bras de travail (5) de telle manière que la vitesse de déplacement maximale déterminée (Vmax) n'est pas dépassée pour chaque position de déplacement du bras de travail (5).
PCT/EP2012/003150 2011-07-28 2012-07-25 Dispositif de commande Ceased WO2013013821A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP12741251.8A EP2736833B1 (fr) 2011-07-28 2012-07-25 Système de commande

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE201110108874 DE102011108874A1 (de) 2011-07-28 2011-07-28 Steuervorrichtung
DE102011108874.5 2011-07-28

Publications (1)

Publication Number Publication Date
WO2013013821A1 true WO2013013821A1 (fr) 2013-01-31

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ID=46601742

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Application Number Title Priority Date Filing Date
PCT/EP2012/003150 Ceased WO2013013821A1 (fr) 2011-07-28 2012-07-25 Dispositif de commande

Country Status (3)

Country Link
EP (1) EP2736833B1 (fr)
DE (1) DE102011108874A1 (fr)
WO (1) WO2013013821A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9932213B2 (en) 2014-09-15 2018-04-03 Crown Equipment Corporation Lift truck with optical load sensing structure
DE102018105907A1 (de) 2018-03-14 2019-09-19 Terex Deutschland GmbH Verfahren zur Ermittlung des Gewichts einer von einer Lademaschine aufgenommenen Last und Lademaschine hierfür
US10487104B2 (en) 2012-12-21 2019-11-26 Janssen Biopharma, Inc. Substituted nucleosides, nucleotides and analogs thereof

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2516632B (en) * 2013-07-26 2017-11-29 Jc Bamford Excavators Ltd A method of weighing a load
DE102014013018A1 (de) 2014-09-02 2016-03-03 Hydac System Gmbh Hydraulisches System
WO2016123735A1 (fr) * 2015-02-02 2016-08-11 Guangxi Liugong Machinery Co., Ltd. Système de levage destiné à un engin de chantier
EP3431436B1 (fr) * 2017-07-17 2020-04-15 Manitou Bf Procédé de commande d'une machine de manutention et machine de manutention correspondante
EP3431435B1 (fr) * 2017-07-17 2020-04-22 Manitou Bf Commande d'une machine de manutention
CN107905272A (zh) * 2017-11-29 2018-04-13 黄力 一种伸缩式液压挖掘机
DE102021121163A1 (de) 2021-08-13 2023-02-16 Danfoss Power Solutions Gmbh & Co. Ohg Verbesserter Teleskoplader
DE102021128580A1 (de) 2021-11-03 2023-05-04 Kramer-Werke Gmbh Baumaschine oder landwirtschaftliche Maschine
DE102022105449A1 (de) 2022-03-08 2023-09-14 Kramer-Werke Gmbh Baumaschine oder Landmaschine

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GB1361832A (en) * 1970-07-07 1974-07-30 Metz Gmbh Carl Apparatus for controlling the velocity of motion of a supporting beam such as an extensible mast ladder or the like
JPH06263394A (ja) * 1993-03-10 1994-09-20 Tadano Ltd ブーム付き作業車の制御装置
JP2000247600A (ja) * 1999-02-25 2000-09-12 Aichi Corp クローラ式ブーム作業車の安全装置
GB2357749A (en) * 1999-12-10 2001-07-04 Caterpillar Inc Angular velocity control and associated method for a boom of a machine.
US6378653B1 (en) * 1998-12-28 2002-04-30 Kabushiki Kaisha Aichi Corporation Travel and rotation control device for boom lift
JP2002265199A (ja) * 2001-03-07 2002-09-18 Aichi Corp 作業用車両の安全装置
JP2004231335A (ja) * 2003-01-29 2004-08-19 Aichi Corp 高所作業車のブーム作動制御装置
JP2006168871A (ja) * 2004-12-14 2006-06-29 Aichi Corp ブーム作業車のノンストップ作動制御装置
DE102009018072A1 (de) 2009-04-20 2010-10-21 Robert Bosch Gmbh Mobile Arbeitsmaschine mit Beschleunigungssensor
JP2011037565A (ja) * 2009-08-10 2011-02-24 Furukawa Unic Corp クレーンの転倒防止装置

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JP3301416B2 (ja) * 1999-08-23 2002-07-15 株式会社豊田自動織機 産業車両におけるマスト傾動速度制御装置
GB2390595B (en) * 2002-07-12 2005-08-24 Bamford Excavators Ltd Control system for a machine
DE10304658A1 (de) 2003-02-05 2004-08-19 Bosch Rexroth Ag Flurförderfahrzeug
DE102005012004B4 (de) * 2004-04-07 2020-09-24 Linde Material Handling Gmbh Flurförderzeug mit erhöhter statischer/quasistatischer und dynamischer Kippstabilität

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1361832A (en) * 1970-07-07 1974-07-30 Metz Gmbh Carl Apparatus for controlling the velocity of motion of a supporting beam such as an extensible mast ladder or the like
JPH06263394A (ja) * 1993-03-10 1994-09-20 Tadano Ltd ブーム付き作業車の制御装置
US6378653B1 (en) * 1998-12-28 2002-04-30 Kabushiki Kaisha Aichi Corporation Travel and rotation control device for boom lift
JP2000247600A (ja) * 1999-02-25 2000-09-12 Aichi Corp クローラ式ブーム作業車の安全装置
GB2357749A (en) * 1999-12-10 2001-07-04 Caterpillar Inc Angular velocity control and associated method for a boom of a machine.
JP2002265199A (ja) * 2001-03-07 2002-09-18 Aichi Corp 作業用車両の安全装置
JP2004231335A (ja) * 2003-01-29 2004-08-19 Aichi Corp 高所作業車のブーム作動制御装置
JP2006168871A (ja) * 2004-12-14 2006-06-29 Aichi Corp ブーム作業車のノンストップ作動制御装置
DE102009018072A1 (de) 2009-04-20 2010-10-21 Robert Bosch Gmbh Mobile Arbeitsmaschine mit Beschleunigungssensor
JP2011037565A (ja) * 2009-08-10 2011-02-24 Furukawa Unic Corp クレーンの転倒防止装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10487104B2 (en) 2012-12-21 2019-11-26 Janssen Biopharma, Inc. Substituted nucleosides, nucleotides and analogs thereof
US9932213B2 (en) 2014-09-15 2018-04-03 Crown Equipment Corporation Lift truck with optical load sensing structure
DE102018105907A1 (de) 2018-03-14 2019-09-19 Terex Deutschland GmbH Verfahren zur Ermittlung des Gewichts einer von einer Lademaschine aufgenommenen Last und Lademaschine hierfür

Also Published As

Publication number Publication date
EP2736833B1 (fr) 2015-09-16
DE102011108874A1 (de) 2013-01-31
EP2736833A1 (fr) 2014-06-04

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