EP2686265B1 - Device for loading using a telescopic loading device - Google Patents

Description

Technical area

The invention relates to a device for loading with telescoping loading device, in particular a loading vehicle (1), with at least one telescopic, telescopic drive boom, the rear, vehicle-side boom end is pivotally hinged to a frame and the free end of the boom can be coupled with a loading tool, said the boom is additionally displaceable with a pivot drive between a lower and an upper working position, wherein the boom length is limited in connection with the boom pivot position of a control associated with the telescopic drive and the pivot drive to a range that is a virtual, vertical and perpendicular to the boom pivot axis Level in the region of the free boom end not or not substantially penetrates, wherein the normal distance of the plane to the boom pivot axis is smaller than the largest boom length.

State of the art

Loading vehicles, especially telescopic loaders, generally have a tool holder that can be equipped with different attachment tools to perform a variety of jobs. The tool holder On a telescopic loader is usually arranged at the free end of the boom and can be pivoted about an installed at the free end of the boom kinematics about an axis extending transversely to the longitudinal axis of the telescopic loader, whereby, inter alia, an approximate parallel guidance of a tool between lower and upper working position can be guaranteed. Such loading vehicles lift a tool along an arc around the vehicle-side articulation point of the boom, wherein the tool within a Hubbereiches wegverlagert forward of the loading vehicle and is shifted back to the loader vehicle after exceeding the maximum distance to the loader vehicle. This arcuate movement can be superimposed by a linear movement by telescoping the boom accordingly.

From the EP 22108541 and the EP 1619161 A1 are loading devices with telescopic loader known, which are equipped with at least one telescopic telescopic drive boom, the rear, vehicle-side boom end is hinged to a frame pivot and the free end of the boom can be coupled with a loading tool, the boom in addition with a pivot drive between a lower and an upper working position is displaced and wherein the boom length is limited in connection with the boom pivot position of the telescopic drive and the pivot drive associated control on a range of a virtual, vertical and perpendicular to the boom pivot axis level in the region of the free boom end not penetrates, wherein the normal distance of the plane to the boom pivot axis is smaller than the largest boom length. When drafting the new request for protection was therefore based on this closest prior art.

A visual goods facility which warns an operator of unstable areas is known from US 5,156,237 EP 1312579 A2 known. An intervention in the control is not provided.

In operation, telehandlers should be able to lift, lower and relocate heavy loads in short periods of time. High demands are placed on the driver with regard to the simultaneity of the control of the individual drives, which can cause hazardous situations, in particular tilting of the loader, if the machine malfunctions. For this reason, telehandlers are equipped with an automatic overload protection, such as those from the DE 10 2009 018072 A1 is known. In the solutions presented so far, for example, the hydraulic connection between the pump and hazardous consumers is switched off in case of overload. So that the vehicle remains stable due to the then acting braking acceleration and in particular does not tip over, the lowering speed of the work equipment is generally or dependent on suitable sensor signals reduced, but this increases the time duration of the work cycles.

To simplify the control of such a charging system, it is known ( DE 10 2007 045 532 A1 ), to provide an electronic control device for a telescopic loading system, which has an operating mode for actuating the load acceptance in Cartesian coordinates and another operating mode for actuating the load pickup in polar coordinates. Tilting of the vehicle can not be prevented solely by this control. For this purpose separate sensors have to be provided. It is also known for the coordinated control of a boom ( DE 100 12 431 A1 ) to provide a position sensor that provides a position signal and speed signal. Target and actual speeds and angular velocities are synchronized. For this purpose, a controller modifies the target angular velocity and the nominal linear velocity according to the deviation between the actual and target rotational paths.

Presentation of the invention

Based on a prior art of the type described above, the invention has the object, a device In particular, a telescopic loader to provide, can be raised with the high loads in shortened periods, lowered and offset. According to an advantageous embodiment, a movement which is as fast as possible along a vertical over at least one stroke range should also be possible over shorter periods of time.

The invention solves this problem by a device according to claim 1, wherein the lifting function of the control of telescopic drive and rotary actuator is manually superimposed, the normal distance of the allowable lifting range limiting plane to the boom pivot axis of the control load dependent, taking into account appropriate security against tilting of the vehicle predetermined is. It is essential that with the system according to the invention areas which can result in a tilting of the vehicle can be recessed automatically from the outset. In principle, all the movements are possible in which the telescopic drive and the rotary actuator accomplish a lifting and lowering movement of the work equipment via a control specification, which does not cause an unauthorized increase in the load torque, in particular about the vehicle front axle as a tilting axis. By this measure, high loads can be raised in shorter periods, lowered and offset. Lifting and lowering operations of the work equipment are carried out with the invention within the corresponding characteristic curves, whereby the normal distance of the plane limiting the allowable lifting area to the boom pivot axis can be predetermined or calculated by the control depending on load and taking into account appropriate collateral. The functions according to the invention can only be provided for lowering or lifting functions or for lowering and lifting functions. A manual overlay of the lifting function with the telescoping function of the control is possible. When lifting vertically, the Austeleskopierfunktion can be switched off when it comes to a load magnifying moment in the longitudinal direction of the machine which would cause a risk situation in size. When lowering, the movement can be achieved by overlaying the exporting function also be admitted. As soon as the stability of the machine is in the limit range, only the lowering movement in the vertical movement according to the invention can take place automatically. A telescoping with the function is in any case not critical and can be allowed in any case.

If the length of the boom is set as a function of the boom pivot position by a control associated with the telescopic drive and the pivot drive in the sense of an at least partial shutdown or achieving an at least partially constant distance of the free arm end to the plane, an approximate vertical stroke can be ensured in a simple manner. In this context, vertical stroke is understood to mean that a load or a tool is displaced along or behind a vertical which is related to the vehicle coordinate system and is displaced synchronously with the vehicle, in particular during the movement of the vehicle. Thus, a load along a straight line can be displaced as well as from a circular or arcuate path, which does not leave the permitted range. Within the permitted range telescopic drive and the rotary actuator for the realization of the vertical stroke according to the invention can be automatically controlled by only one control specification.

During a typical work process, an operator who, for example, removes a heavy load from a shelf can automatically lower the load by the controller immediately after being released, without fear of tipping the vehicle. The load is preferably lowered vertically or partially vertically, for which purpose the telescopic cylinder of the boom is retracted parallel to its lowering movement. The same applies to a lifting of loads. In a vertical displacement does not increase the load torque and the machine can not tilt, so the overload shutdown can be made relatively simple. The duration of the work cycles can sometimes be increased compared to prior art machines.

The invention can be realized in various ways. Preferably, a hydraulic or electro-hydraulic telescopic drive and rotary actuator will be provided for the charging system. Alternatively or in combination, however, it is also possible to provide an electric telescopic drive and a pivot drive or to mechanically couple the telescopic drive and the pivot drive. The Vertikalhubfunktion can be made switchable, so if necessary, the machine optionally realize free working cycles in the context of the prior art or can perform lifting and lowering movements in Vertikalhub.

Particularly safe conditions result from a hydraulic coupling when the telescopic drive and the rotary actuator are connected in series and when the displaced in the telescopic drive or rotary actuator flow drives the rotary actuator or telescopic drive.

In such a hydraulic or electro-hydraulic interconnection, an oil volume flow, for example, initially supplied to the pivot drive for raising / lowering the boom. The displaced in the rotary actuator or displaced oil flow, for example, on the opposite side of the piston of a hydraulic cylinder displaced volume flow, it is fed to the telescope drive. The in turn displaced in the telescopic drive volume flow is preferably discharged to the tank. The area ratios of the hydraulic actuators must be matched to the desired Vertikalhubbewegung for these simple conditions. In addition, one or the other volume flow, however, can still be supplied or withdrawn from hydraulic fluid, for example also as a function of the respective pivoting angle of the arm.

For pre-controlled systems or electrohydraulic systems, logic functions can be routed into the controller to achieve load independent lift ratios. In order to increase the accuracy of the vertical stroke or to achieve an exact vertical movement of the tool, system variables such as lengths, angles of rotation, forces, accelerations u. Like. Be returned from the system in the controller. The control can also be supplemented by a control. In the control is further provided that the lifting or lowering movement is continued unimpaired when completely off or retracted telescopic cylinder. Furthermore, corresponding elements can be added to realize safety-related shutdown paths of the system. These statements apply to all embodiments of the invention.

Alternatively, the swivel drive can be assigned a compensation drive connected in parallel with the swivel drive, which is connected in series with the telescopic drive, wherein the volume flow displaced in the compensation drive or telescope drive drives the telescopic drive or compensating drive.

In this variant, an automatic positive coupling between rotary actuator and telescopic drive is realized by a compensation drive, preferably in conjunction with a logic element. The compensation drive is for this purpose, for example, connected to the mast and thus directly mechanically coupled to the pivot drive for lifting / lowering. Upon initiation of a lifting or lowering movement, oil quantity is shifted in the compensating drive. This is fed to the telescopic drive. By means of selected area ratios, the telescopic movement for the lowering / lifting movement can be adjusted such that the articulation point for the tool or the tool itself is moved at least almost in the vertical stroke. The logic element may include required safety functions as well as allowing normal pivotal movement when a drive is in its end position. For this purpose, it is possible to conduct additional volume flows via the logic element. It is also possible to supply a volume flow to compensate for shortages which arise as a result of superimposed telescoping movements.

The compensating drive may exceed a dead center when the boom is displaced between the lower and the upper working positions in order to achieve a movement path of the free arm end extending at least almost along a vertical. With such an arrangement is the Vertical stroke also in the lower stroke range of the device realized by the fact that the conveying direction is reversed in the compensation drive when passing through the dead center.

In a further advantageous embodiment of the invention, the telescopic drive and the pivot drive are connected in parallel, wherein in at least one supply line to the drives a flow divider is provided.

In this variant, the forced coupling between the telescopic drive and rotary actuator is realized on actuation of the lifting / lowering function on the control by a quantity sharing of the flow flowing to the telescopic drive and rotary actuator flow. The amount of division is independent of the load in an adjustable ratio. This telescopic drive and rotary actuator are supplied in parallel and the desired movement is implemented. If a drive is moved to an end position, the circuit ensures that the other drive can continue to be moved without restriction. For example, so always lowering movements are possible even with full Einteleskopierung the boom. The logic allows oversteer of the telescopic movement on the vertical stroke movement in a particularly simple manner, but only insofar as no unauthorized high tipping moment can be effective.

Likewise, a flow divider may be provided in at least one supply line between telescopic drive and rotary drive, the excess fluid preferably returns to a tank.

In this variant, the forced coupling between telescopic drive and rotary actuator is achieved by operating the lift / lower function on the control by a serial circuit, but which extends the functionality of the pure serial interconnection. The volume flow coming from the control part upon actuation of the lifting function is first directed to the telescopic drive, for example. The flowing back from the other displacement of the telescopic drive volume flow is fed to a flow divider. A adjustable amount of the volume flow now reaches the rotary actuator, whereby the desired lifting function can be realized. Excess amount is returned to the tank.

Short description of the drawing

• Fig. 1 einen Teleskoplader in Seitenansicht,
• Fig. 2 ein Blockschaltbild einer einfachen erfindungsgemäßen Steuerung,
• Fig. 3 ein Blockschaltbild mit serieller Verschaltung der Antriebe,
• Fig. 4 ein Blockschaltbild mit serieller Verschaltung und Ausgleichsantrieb,
• Fig. 5 ein Blockschaltbild mit serieller Verschaltung mit Mengenteiler,
• Fig. 6 ein Blockschaltbild mit paralleler Verschaltung der Antriebe,
• Fig. 7 einen Hydraulikschaltplan mit serieller Verschaltung der Antriebe,
• Fig. 8 einen Hydraulikschaltplan mit serieller Verschaltung mit Mengenteiler,
• Fig. 9 einen Hydraulikschaltplan mit paralleler Verschaltung mit Mengenteiler und
• Fig. 10 einen Hydraulikschaltplan mit serieller Verschaltung und Ausgleichsantrieb.

In the drawing, the invention is illustrated schematically with reference to an embodiment. Show it:

• Fig. 1 a telescopic loader in side view,
• Fig. 2 a block diagram of a simple control according to the invention,
• Fig. 3 a block diagram with serial interconnection of the drives,
• Fig. 4 a block diagram with serial connection and compensation drive,
• Fig. 5 a block diagram with serial connection with flow divider,
• Fig. 6 a block diagram with parallel connection of the drives,
• Fig. 7 a hydraulic circuit diagram with serial connection of the drives,
• Fig. 8 a hydraulic circuit diagram with serial connection with flow divider,
• Fig. 9 a hydraulic circuit diagram with parallel connection with flow divider and
• Fig. 10 a hydraulic circuit diagram with serial connection and compensation drive.

Way to carry out the invention

An inventive charging system for a telescopic loader 1 comprises a telescopic, equipped with a telescopic drive 2 boom 4, the lower, vehicle-side boom end is pivotally hinged to a frame 5 and the free end of the boom with a loading tool 6 can be coupled, the boom 4 in addition to a rotary actuator 7 is displaceable between a lower and an upper working position. The control of the telescopic drive 2 and pivot drive 7 via a controller 8, wherein the required energy is provided by a supply unit 9 and a switching logic 10.

In order to raise or lower loads as quickly as possible without having to fear tilting of the telescopic loader 1, the boom length L is dependent on the boom pivot position, in particular from the boom pivot angle α, of a the telescopic drive 2 and the pivot drive 7 associated control 8 to a Area B limited to a virtual, vertical and perpendicular to the cantilever pivot axis 11 standing plane E in the region of the free boom end 12, wherein the normal distance N of the plane E to boom pivot axis 11 smaller than the largest boom length L _G but larger than the smallest boom length L _K is. With such a device or with such a charging system, basically all movements in an allowed area B are possible, which cause no unauthorized increase in the load torque, in particular about the vehicle front axle, which increase the load torque possibly even a tilting of the vehicle over the vehicle front axle result could. However, an overlay can still be allowed, for example, after deliberate circumvention of a security circuit

If the boom length L is specified as a function of the boom pivot position by the control 8 associated with the telescopic drive 2 and the pivot drive 7 in the sense of at least partially stopping or achieving an at least partially constant distance of the free boom end 12 to the plane E, a vertical displacement of a load can be achieved be made. Thus, in the ideal case, until the maximum boom length L _{G is reached,} a vertical movement of the load in or parallel to the plane E can be realized. In the following, the invention is presented by means of block diagrams or circuit diagrams for a hydraulic or an electro-hydraulic telescopic drive 2 and pivot drive 7.

In the most general case ( Fig. 2 ), the supply of telescopic drive 2 and rotary actuator 7 with energy via a switching logic 10 of the supply unit 9, an energy storage device, a pump od. Like. Her. The control is the switching logic 10 in front of how much energy to supply the respective drive is to map the desired lifting function to the load. In order to be able to take into account feedback from system variables, a feedback of system variables to the controller 8 is indicated. According to a particularly advantageous embodiment of the invention, a control is thus optionally provided. The supply unit 9 can also record a circuit part or parts of the controller.

According to Fig. 3 Telescopic drive 2 and 7 rotary actuator are connected in series, wherein the displaced in the telescopic drive 2 or in the rotary actuator 7 volume flow drives the rotary actuator 7 or the telescopic drive 2. For example, the swivel drive is actuated for lifting and the hydraulic fluid flow displaced in the swivel drive on the opposite side is forwarded via the switching logic 10 to the telescopic drive 2. The displaced in the telescopic drive 2 liquid is returned, for example, to the supply unit, the control guide member 9 and optionally in the tank.

In the block diagram after Fig. 4 is the pivot drive 7 associated with a pivot drive 7 parallel balancing drive 13, which is connected in series with the telescopic drive 2 via the control logic 10, wherein the displaced in the compensation drive 13 or telescopic drive 2 volume flow drives the telescopic drive 2 or the compensation drive 13, depending on whether the boom should be raised or lowered.

In the embodiment according to Fig. 5 is a block diagram with serial interconnection of rotary actuator 7 and telescopic drive 2 shown with serial connection, wherein in the connecting line between the telescopic drive 2 and pivot drive 7, a flow divider 14 is provided, the excess fluid in a tank, which is for example part of the supply 9, returns. To Fig. 6 For example, a parallel interconnection with additional flow divider 14 is provided.

The following circuit diagrams show highly simplified hydraulic circuits that are suitable for realizing the invention. The switching logic is in turn with 10 and includes various, optionally controlled by the controller 8 switching or control valves.

Fig. 7 shows a direct coupling, namely a series connection between the telescopic drive 2 and pivot drive 7, wherein each displaced on an opposite piston surface amount of hydraulic fluid from a cylinder is used to control the other cylinder. With the provision of a corresponding valve technology between telescopic drive 2 and pivot drive 7 or in their environment, the desired Vertikalhubfunktion can be adjusted and used. As a result of different drive lengths, it may naturally occur that a simultaneous movement of the cylinder, in particular in the region of the end positions, is no longer possible. For these cases, corresponding limit switches are provided which, for example, open or close bypass channels.

A simplified circuit for a vertical lowering movement with serial connection and with additional flow divider 14 is shown in FIG Fig. 8 shown. Upon actuation of a lifting cylinder valve, the volume flow from the supply device 9 of a pump, passed through valves 10 to the telescopic drive 2 and displaced on the bottom side of the telescopic cylinder oil is forwarded by the flow divider 14 to the swing cylinder. Excess amount is returned from the flow divider into a tank. In order to enable even after a complete extension / retraction of the telescopic drive 2 against the stop and an adjustment of the rotary actuator 7, in turn, a bypass line is provided. A parallel connection of the telescopic drive 2 and pivot drive 7 shows, for example Fig. 9 ,

A circuit variant with compensation drive 13 is, for example, in Fig. 10 shown. The operation is similar to the variant after Fig. 7 , The defined division ratio between the movement speeds of telescopic drive 2 and pivot drive 7 is determined via the compensation drive 13. Thus, the displaced during a pivoting movement of the boom in the compensation drive 13 amount of fluid directly for the telescoping process of the jib. Safety circuits and functionally relevant valves complemented the structure again.

Claims (14)

1. Apparatus for loading using a telescopic loading device, in particular a loading vehicle (1), comprising at least one telescopic boom (4) which is equipped with a telescopic drive (2) and whose rear boom end on the vehicle side is articulated so as to be pivotable on a frame (5) and whose free boom end (12) can be coupled to a loading tool (6), wherein the boom (4) can additionally be moved between a lower operating position and an upper operating position by means of a pivot drive (7), wherein the boom length (L) in conjunction with the boom pivot position is limited by a control unit (8), which is allocated to the telescopic drive (2) and the pivot drive (7), to a range (B) which does not, or does not substantially, pass through a virtual, perpendicular plane (E), which is positioned perpendicularly on the boom pivot axis (11), in the region of the free boom end (12), wherein the normal spacing (N) between the plane (E) and the boom pivot axis is smaller than the longest boom length (Lg), characterised in that the lifting function can be manually superimposed upon the control unit (8) of the telescopic drive (2) and the pivot drive (7), wherein the normal spacing between the plane, which limits the permitted lifting range, and the boom pivot axis can be specified by the control unit as a function of the load, taking into account corresponding safety measures to prevent the vehicle from tipping over.
2. Apparatus as claimed in claim 1, characterised in that an adjustable ratio of the operating speeds between the telescopic drive and the pivot drive is provided.
3. Apparatus as claimed in claim 1 or 2, characterised in that a fixed ratio of the operating speeds between the telescopic drive and the pivot drive is provided.
4. Apparatus as claimed in any one of claims 1 to 3, characterised in that the boom length is specified as a function of the boom pivoting position dung lifting and/or lowering of the boom (4) by the control unit (8), which is allocated to the telescopic drive (2) and the pivot drive (7), in terms of a departure from the plane (E) at least in regions or the achievement of a spacing, which is constant at least in regions, between the free boom end (12) and the plane (E).
5. Apparatus as claimed in any one of claims 1 to 4, characterised in that a hydraulic or electro-hydraulic telescopic drive (2) and pivot drive (7) are provided.
6. Apparatus as claimed in any one of claims 1 to 4, characterised in that an electrical telescopic drive (2) and pivot drive (7) are provided.
7. Apparatus as claimed in any one of claims 1 to 4, characterised in that the telescopic drive (2) and the pivot drive (7) are mechanically coupled.
8. Apparatus as claimed in claim 5, characterised in that the telescopic drive (2) and pivot drive (7) are series-connected, wherein the volume flow displaced in the telescopic drive (2) or pivot drive drives the pivot drive (7) or telescopic drive (2).
9. Apparatus as claimed in claim 5 or 8, characterised in that the pivot drive (7) is allocated at least one compensating drive (13) which is connected in parallel with the pivot drive (7) and is series-connected to the telescopic drive (2), wherein the volume flow displaced in the compensating drive (13) or telescopic drive (2) drives the telescopic drive (2) or compensating drive (13).
10. Apparatus as claimed in claim 9, characterised in that dung a movement of the boom (4) between the lower operating position and the upper operating position, the at least one compensating drive (13) exceeds a dead centre position in order to achieve a movement path of the free boom end (12) which extends at least almost along a vertical.
11. Apparatus as claimed in claim 5 or 6, characterised in that provided in at least one supply line between the telescopic drive (2) and pivot drive (7) is a flow divider (14), in particular a flow splitter in a gear wheel design or valve design, which guides fluid back preferably into a tank.
12. Apparatus as claimed in claim 5, characterised in that the telescopic drive (2) and pivot drive (7) are connected in parallel, wherein a flow divider (14), in particular a flow splitter in a gear wheel design or valve design, is provided in at least one supply line of the telescopic drive (2) and pivot drive (7).
13. Apparatus as claimed in any one of claims 1 to 12, characterised in that the accuracy of the control unit is increased by a feedback of system variables to the control unit or the control unit is supplemented by a regulating unit.
14. Mobile work machine, in particular a loading vehicle, comprising an apparatus as claimed in any one of claims 1 to 13.

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