EP1318099A1 - Mobile Arbeitsmaschine mit einer Dynamikregelung für einen Fahrantrieb und/oder einen Arbeitsantrieb - Google Patents
Mobile Arbeitsmaschine mit einer Dynamikregelung für einen Fahrantrieb und/oder einen Arbeitsantrieb Download PDFInfo
- Publication number
- EP1318099A1 EP1318099A1 EP02026699A EP02026699A EP1318099A1 EP 1318099 A1 EP1318099 A1 EP 1318099A1 EP 02026699 A EP02026699 A EP 02026699A EP 02026699 A EP02026699 A EP 02026699A EP 1318099 A1 EP1318099 A1 EP 1318099A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- drive
- characteristic
- programs
- control device
- working
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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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
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
Definitions
- the invention relates to a mobile machine, in particular an industrial truck a traction drive and / or a working drive, the acceleration and / or the braking behavior of the travel drive and / or the working drive by means of one or a plurality of programs is adjustable, which is in operative connection with the travel drive and / or the working drive control device are saved.
- the Operator In order to be able to make optimal use of the manually switchable driving programs, the Operator must be informed about their presence and mode of action also consciously use the driving programs. In addition, it may required for trips with and without load, between different driving programs to switch back and forth. The operator is therefore required to carry out additional activities, that of the actual activity - operating the travel drive and the working drive the mobile machine - distract. This can have a negative impact on handling performance and security. On the other hand the option of choosing between different driving programs is not used, so the maximum performance of the forklift is not reached.
- the object of the present invention is a mobile work machine of the type mentioned at the outset, in which influencing the Dynamics of the drive and / or the working drive is simplified.
- control device a plurality of sensors for measuring the dynamics of the travel drive and / or the work drive of the work machine relevant parameters connected and, depending on the measured variables, automatically between the Programs of the drive and / or between the programs of the drive is switched.
- the idea essential to the invention is therefore the dynamic properties the machine automatically to the operator's requirements adapt. Due to the sensor technology that is already largely available Work machine can the movement behavior and the load situation of the Machine are detected. In the control device, the detected signals (setpoints and actual values) recognized which driving and / or working style the operator prefers and accordingly the driving and / or working drive affected.
- the effort for the invention is limited to programming the control device, since the sensors are already present in the machine is.
- So z. B. in electric forklifts often donor to detect the Driving motor speed, the accelerator pedal position, the steering angle and the valve lever position available.
- the type of donor is not based on the types mentioned limited.
- a combined evaluation of lift and lift is particularly interesting for forklifts Driving movements because it improves the detection of work situations is and accordingly the driving and / or work dynamics adapted very quickly can be.
- the invention can, for. B. automatically depending on the load different driving programs of the drive can be switched. But it is also possible, alternatively or additionally, the principle described on the working drive apply accordingly, a plurality of work programs are stored in the control device and the control device is in operative connection with the working drive, depending on the measured variables is automatically switched between the work programs of the work drive. Sensitive goods can be transported due to the particularly good positioning behavior of the Working drive be spared.
- the measurement variables in the control device are advantageously evaluated using methods the fuzzy logic.
- the measured variables do not have to match the in the control device cataloged values match a driving and / or Recognizing work situation.
- the driving and / or work programs are expedient in the form of characteristic curves stored with which a command value is assigned a manipulated variable, where the characteristic curves are available as characteristic curve fields and / or as parameter fields, depending on mathematical formulation of the dependencies.
- the detection of when which characteristic is to be used can e.g. B. by a comparison of the measured values recorded by the sensors with a cataloged driving and / or work situation.
- cataloged patterns but patterns from themselves to generate repetitive work processes of the work machine itself and in the Filing control device. This automatically adjusts the work machine new fields of application.
- the proportionality between the setpoint and Actuator control signal canceled and to and fro between different types of characteristic be switched down.
- a progressive characteristic curve leads to a rather soft driving behavior, which is desirable in other driving situations, z. B. when picking up a load. Under certain circumstances it may be useful to have a characteristic curve composed of degressive and progressive parts so that everyone desired course arises.
- FIG. 1 shows a proportional characteristic curve
- FIG. 2 shows a progressive characteristic curve
- FIG. 3 a degressive characteristic.
- the target value S is plotted on the abscissa, while the ordinate is the output value W of an actuator assigned.
- the working drive is in particular a lifting drive Lifting hydraulics, a forklift trained.
- Lifting hydraulics a forklift trained.
- the hydraulic function is activated indirectly will, e.g. B. by means of electro-hydraulic directional valves.
- the driving and / or work programs on exchangeable memory means of Control device are stored, it can be when changing the operator Take your individual work profile with you. A new operator can bring with them Storage means that z. B. are on a so-called driver card, not only be authorized to operate the working machine, but also receive it automatically also the usual driving characteristics.
- the invention can in principle be used for all types of mobile work machines that have a travel drive and / or at least one working drive, in addition to industrial trucks including excavators, caterpillars, cranes, etc.
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
Description
Claims (7)
- Mobile Arbeitsmaschine, insbesondere Flurförderzeug, mit einem Fahrantrieb und/oder einem Arbeitsantrieb, wobei das Beschleunigungs- und/oder das Bremsverhalten des Fahrantriebs und/oder des Arbeitsantriebs mittels eines oder einer Mehrzahl von Programmen einstellbar ist, die in einer in Wirkverbindung mit dem Fahrantrieb und/oder dem Arbeitsantrieb stehenden Steuereinrichtung gespeichert sind, dadurch gekennzeichnet, dass an die Steuereinrichtung eine Mehrzahl von Gebern zur Messung von für die Dynamik des Fahrantriebs und/oder des Arbeitsantriebs der Arbeitsmaschine relevanten Parametern angeschlossen ist und in Abhängigkeit von den erfassten Messgrößen automatisch zwischen den Programmen des Fahrantriebs und/oder des zwischen den Programmen des Arbeitsantriebs umgeschaltet wird.
- Mobile Arbeitsmaschine nach Anspruch 1, dass die Auswertung der Messgrößen in der Steuereinrichtung mit Methoden der Fuzzy-Logik erfolgt.
- Mobile Arbeitsmaschine nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die Fahr- und/oder Arbeitsprogramme in Form von Kennlinien gespeichert sind, mit denen einem Sollwert eine Stellgröße zugeordnet wird, wobei die Kennlinien als Kennlinienfelder und/oder als Parameterfelder vorliegen.
- Mobile Arbeitsmaschine nach Anspruch 3, dadurch gekennzeichnet, dass für den Funktionszusammenhang zwischen Sollwert und Stellgröße neben mindestens einer proportionalen Kennlinie mindestens eine degressive Kennlinie und/oder mindestens eine progressive Kennlinie in der Steuereinrichtung gespeichert ist.
- Mobile Arbeitsmaschine nach Anspruch 4, dadurch gekennzeichnet, dass zwischen der proportionalen Kennlinie und der degressiven Kennlinie und/oder zwischen der proportionalen Kennlinie und der progressiven Kennlinie und/oder zwischen der degressiven Kennlinie und der progressiven Kennlinie mindestens eine Übergangskennlinie in der Steuereinrichtung gespeichert ist.
- Mobile Arbeitsmaschine nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass der Arbeitsantrieb als Hubantrieb, insbesondere Hubhydraulik, eines Gabelstaplers ausgebildet ist.
- Mobile Arbeitsmaschine nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass die Fahr- und/oder Arbeitsprogramme auf austauschbaren Speichermitteln der Steuereinrichtung abgelegt sind.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10159409 | 2001-12-04 | ||
DE2001159409 DE10159409A1 (de) | 2001-12-04 | 2001-12-04 | Mobile Arbeitsmaschine mit einer Dynamikregelung für einen Fahrantrieb und/oder einen Arbeitsantrieb |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1318099A1 true EP1318099A1 (de) | 2003-06-11 |
EP1318099B1 EP1318099B1 (de) | 2006-03-08 |
Family
ID=7707909
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20020026699 Expired - Fee Related EP1318099B1 (de) | 2001-12-04 | 2002-11-29 | Flurförderzeug mit einer Dynamikregelung für einen Fahrantrieb und/oder einen Arbeitsantrieb |
Country Status (2)
Country | Link |
---|---|
EP (1) | EP1318099B1 (de) |
DE (2) | DE10159409A1 (de) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1746069A1 (de) | 2005-07-19 | 2007-01-24 | Still Gmbh | Flurförderzeug mit einem Fahrantrieb mit verschiedenen Kennlinien |
DE102012209788A1 (de) * | 2012-06-12 | 2013-12-12 | Zf Friedrichshafen Ag | Steuergerät und Verfahren zur Ausgabe eines Steuersignals ansprechend auf ein eingelesenes Pedalauslenkungssignal |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AU2015318258B2 (en) | 2014-09-15 | 2019-02-14 | Crown Equipment Corporation | Lift truck with optical load sensing structure |
DE102014114427A1 (de) | 2014-10-06 | 2016-04-07 | Jungheinrich Aktiengesellschaft | Fahrzeug mit einer Fahrsteuerung |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4182126A (en) * | 1978-09-11 | 1980-01-08 | Logisticon, Inc. | Fork lift hydraulic servo control valve |
GB2099184A (en) * | 1981-03-31 | 1982-12-01 | Toyoda Automatic Loom Works | Forklift control system |
EP0343839A2 (de) * | 1988-05-26 | 1989-11-29 | The Raymond Corporation | Steuerungssysteme für einen Stapelwagen |
JPH06144796A (ja) * | 1991-02-27 | 1994-05-24 | Mitsubishi Heavy Ind Ltd | フォークリフトの制御装置 |
EP0795651A1 (de) * | 1996-02-15 | 1997-09-17 | KABUSHIKI KAISHA KOBE SEIKO SHO also known as Kobe Steel Ltd. | Vorrichtung zum Steuern eines hydraulischen Baggers |
US5890086A (en) * | 1994-12-30 | 1999-03-30 | Crown Equipment Corporation | Removable programmable cartridge for a lift truck control system |
JP2000191295A (ja) * | 1998-12-28 | 2000-07-11 | Komatsu Forklift Co Ltd | フォ―クリフトトラックにおけるチルト速度制御装置 |
JP2000197215A (ja) * | 1998-12-25 | 2000-07-14 | Tcm Corp | 産業用車両の走行駆動装置 |
-
2001
- 2001-12-04 DE DE2001159409 patent/DE10159409A1/de not_active Withdrawn
-
2002
- 2002-11-29 DE DE50206008T patent/DE50206008D1/de not_active Expired - Lifetime
- 2002-11-29 EP EP20020026699 patent/EP1318099B1/de not_active Expired - Fee Related
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4182126A (en) * | 1978-09-11 | 1980-01-08 | Logisticon, Inc. | Fork lift hydraulic servo control valve |
GB2099184A (en) * | 1981-03-31 | 1982-12-01 | Toyoda Automatic Loom Works | Forklift control system |
EP0343839A2 (de) * | 1988-05-26 | 1989-11-29 | The Raymond Corporation | Steuerungssysteme für einen Stapelwagen |
JPH06144796A (ja) * | 1991-02-27 | 1994-05-24 | Mitsubishi Heavy Ind Ltd | フォークリフトの制御装置 |
US5890086A (en) * | 1994-12-30 | 1999-03-30 | Crown Equipment Corporation | Removable programmable cartridge for a lift truck control system |
EP0795651A1 (de) * | 1996-02-15 | 1997-09-17 | KABUSHIKI KAISHA KOBE SEIKO SHO also known as Kobe Steel Ltd. | Vorrichtung zum Steuern eines hydraulischen Baggers |
JP2000197215A (ja) * | 1998-12-25 | 2000-07-14 | Tcm Corp | 産業用車両の走行駆動装置 |
JP2000191295A (ja) * | 1998-12-28 | 2000-07-11 | Komatsu Forklift Co Ltd | フォ―クリフトトラックにおけるチルト速度制御装置 |
Non-Patent Citations (2)
Title |
---|
PATENT ABSTRACTS OF JAPAN vol. 018, no. 463 (M - 1664) 29 August 1994 (1994-08-29) * |
PATENT ABSTRACTS OF JAPAN vol. 2000, no. 10 17 November 2000 (2000-11-17) * |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1746069A1 (de) | 2005-07-19 | 2007-01-24 | Still Gmbh | Flurförderzeug mit einem Fahrantrieb mit verschiedenen Kennlinien |
DE102012209788A1 (de) * | 2012-06-12 | 2013-12-12 | Zf Friedrichshafen Ag | Steuergerät und Verfahren zur Ausgabe eines Steuersignals ansprechend auf ein eingelesenes Pedalauslenkungssignal |
DE102012209788B4 (de) | 2012-06-12 | 2022-08-11 | Zf Friedrichshafen Ag | Steuergerät und Verfahren zur Ausgabe eines Steuersignals ansprechend auf ein eingelesenes Pedalauslenkungssignal |
Also Published As
Publication number | Publication date |
---|---|
DE50206008D1 (de) | 2006-05-04 |
EP1318099B1 (de) | 2006-03-08 |
DE10159409A1 (de) | 2003-06-12 |
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