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BR-102019025884-B1 - Enhanced safety system for self-propelled operating machines.

BR102019025884B1BR 102019025884 B1BR102019025884 B1BR 102019025884B1BR-102019025884-B1

Abstract

ENHANCED SAFETY SYSTEM FOR SELF-PROPELLED OPERATING MACHINES A safety system for a self-propelled operating machine (1) is described, comprising a processing unit (3) that includes: a memory module (31) in which a plurality of load diagrams are stored; a limiting module (32) configured to limit the operational possibilities of the machine's actuators (1), based on a load diagram; a measuring device (41, 42) to acquire operational parameters in relation to various operating conditions of the operating machine (1); and a selection module (33) configured to select in the memory module (31) a load diagram based on an operational parameter acquired by the measuring device (41, 42).

Inventors

  • Marco Iotti

Assignees

  • MANITOU ITALIA S.R.L

Dates

Publication Date
20260317
Application Date
20191206
Priority Date
20181210

Claims (17)

  1. 1. Safety system for a self-propelled operating machine (1), comprising a processing unit (3) which includes: a memory module (31) in which a plurality of load diagrams are registered; a limiting module (32) configured to limit the possibility of operation of actuators of the machine (1), based on a load diagram; a measuring device (41, 42) for acquiring operational parameters in relation to various operating conditions of the operating machine (1); a selection module (33) configured to select in the memory module (31) a load diagram based on an operational parameter acquired from the measuring device (41, 42); characterized by being configured for use with a self-propelled operating machine (1), equipped with a lifting arm (11) to which a plurality of devices (2) can be removablely attached, wherein the memory module (31) includes several sets of load diagrams for the respective devices and the processing unit (3) comprises a device module (34) configured to select the set from which you select the diagram to be used, based on the device (2) attached to the arm (11).
  2. 2. Safety system according to claim 1, characterized in that the measuring device is a load sensor (42).
  3. 3. System, according to any of the preceding claims, characterized in that the measuring device is a strain gauge sensor (41).
  4. 4. A safety system, according to any of the preceding claims, characterized in that the measuring device is a position sensor.
  5. 5. System according to claim 4, characterized by comprising a device (5) for recognizing the device (2) fixed to the arm (11) connected to the processing unit (3), wherein the device module (34) is controlled by the recognition device (5).
  6. 6. Self-propelled operating machine (1), characterized by comprising a lifting arm with a device (2) for lifting or moving loads, comprising a safety system, according to any of the preceding claims, wherein one or more measuring devices (41, 42) are positioned on the device (2).
  7. 7. Machine (1), according to claim 6, characterized in that one or more measuring devices are located on the arm (1).
  8. 8. Machine (1), according to claim 6, characterized in that the apparatus (2) is a load-bearing structure (21), equipped with a fastening and support device (211) connected to a relative rear side and designed for attachment to the lifting arm (11), in which the measuring devices (41) are located in the device (211).
  9. 9. Machine (1), according to claims 2 and 8, characterized in that the load sensors are positioned in the clamping device (211).
  10. 10. Machine (1), according to claims 2 and 6, characterized in that the load sensors are located on a base (210) of a load structure (21).
  11. 11. Machine (1), according to claims 3 and 8, characterized in that the extensometer sensors (41) are positioned between the clamping device (211) and the rear side.
  12. 12. Machine (1), according to claim 11, characterized in that the sensors are extensometer pins (41) that join the fastening device (211) and the respective vertical columns of a side wall of the structure (21).
  13. 13. Machine (1), according to claim 6 or 7, characterized in that the apparatus (2) is an arm with two or more hooks (22), wherein two of which are operationally associated with a measuring device (42).
  14. 14. Machine (1), according to claim 6, characterized in that the apparatus (2) is an extendable arm and the measuring device is a sensor designed to detect whether the arm is in an extended or retracted configuration.
  15. 15. Safety method for a self-propelled operating machine (1), comprising the steps of: providing a plurality of load diagrams designed to define the operational possibilities of the machine's actuators (1); measuring an operational parameter in relation to a predetermined operational condition of the operating machine (1); selecting a load diagram based on the acquired operational parameter; characterized by also comprising the steps of: providing several sets of load diagrams for the respective devices (2) that can be used by the machine (1); recognizing the device (2) used by the machine (1); and identifying the set from which to select the diagram to be used, based on the device (2) attached to the arm.
  16. 16. Method according to claim 15, characterized in that an operating parameter is a load value measured on a device (2) carried by a lifting arm of the machine (1).
  17. 17. Method according to claim 15 or 16, characterized in that an operating parameter is a position value measured in the apparatus (2).

Description

[0001] The present invention relates to an improved safety system for self-propelled operating machines. [0002] In more detail, the invention relates to a safety system for fixed and rotating telescopic handlers, with the ability to select load diagrams based on the operating conditions in which the machine is to work. [0003] There are telescopic handlers of the prior art that consist of a vehicle fitted with a mobile structure on wheels, which mounts the driver's cab and an operating arm that can be extended telescopically; in rotating machines, the cab and arm are connected to a platform that is supported in a rotating manner by the machine's structure. [0004] A device is attached to the distal end of the arm to lift or move loads, such as a fork, a cage, a side transfer unit, a winch, etc. [0005] For several years, telescopic lifting devices have been equipped with electronic stability systems that prevent the occurrence of operating conditions that could lead to device instability. [0006] In particular, there are, for example, prior art stability systems that prevent the occurrence of a frontal instability risk condition. [0007] Based on the overall configuration of the machine, and consequently also on its dimensions, weight and geometry, it is possible to obtain the well-known load diagram that establishes the spatial limit within which the arm must be moved, depending on the load supported, to prevent any risk of instability in advance. [0008] In practice, based on the load to be lifted, the safety system allows or prevents the machine from moving the arm requested by the operator through the controls located in the cabin. [0009] However, operators in this sector have long felt the need for more flexible security systems than those currently available on the market. [0010] In fact, the security systems of the prior art have a very conservative configuration. [0011] For example, with regard to a certain type of cage, designed to support a predetermined weight of the load, the safety systems impose limitations on movement which, on the other hand, are not imposed for cages with the capacity to carry lower loads. [0012] The consequence is that companies generally have a plurality of devices, in particular several cages, such as, for example, a cage to transport both people and cargo and a cage to transport only people or work tools, in order to have the ability to operate with the freedom necessary for the specific work that the machine must perform. [0013] Indeed, the first type of cage is subjected to a more conservative diagram (see Figure 1), which allows for an arm extension that is smaller than the second cage, whose diagram is shown as an example in Figure 2. [0014] The limitation of prior art systems does not only refer to the use of cages, but also to a multiplicity of equipment used by telescopic handlers. - Consider, for example, that operators are forced to move arms (or “booms”), equipped with two or more hooks located at different distances and designed to support different loads, with the same safety limitations, regardless of which hooks are used, as well as in the case of arms that can be extended by winch, the permitted or prohibited movements are the same, regardless of whether the arm is extended or retracted, and so on. [0015] KR20180068035 discloses a crane safety device and a method for controlling it, in which the device determines the overload state of a crane without the calculation error caused during a downward movement of a beam while considering a quantity of moment change according to the inclination of the beam and the length of the beam. [0016] CN107857212 describes a method for limiting the maximum lifting height of a forklift, comprising the steps that: an oil pressure value from the lifting cylinder is collected by a first oil pressure sensor and substituted into a first linearity relationship model configured to obtain the current weight of the lifting load; an oil pressure value from the front cavity of the oblique cylinder is collected by a second real-time oil pressure sensor and the oil pressure value from the rear cavity of the cylinder is collected by a third oil pressure sensor and then they are substituted into a second linearity relationship model, configured to obtain the current distance from the load center; then the current weight of the lifted load and the current distance from the load center are substituted into a multivariate regression model to obtain the maximum lifting height corresponding to the current weight of the lifted load and the current distance from the load center; Finally, the current elevation height collected by a laser sensor is compared with the aforementioned maximum elevation height, and the corresponding action is taken according to the compared result. [0017] Document US2017260029 discloses a method for determining the load-bearing capacity of a crane functional element, the load-bearing capacity of a crane subassembly, or the