BR-112024025233-B1 - METHOD FOR CHANGING THE VERTICAL LIFT STATE FOR A TRANSPORT VEHICLE, CONTROL AND VEHICLE

BR112024025233B1BR 112024025233 B1BR112024025233 B1BR 112024025233B1BR-112024025233-B1

Abstract

METHOD FOR CHANGING THE VERTICAL ELEVATION STATE. The present invention relates to a method for altering the vertical elevation state of a transport vehicle (8) parked on a base (10) for a lifting device (9) with a support system (7) with support legs (1, 2, 3, 4) and a control (5) for controlling units of the support legs (1, 2, 3, 4), wherein, in at least one step (i) of the method calculation, a sequence of control commands is calculated for the sequential and temporally limited control of the units to alter the vertical elevation state while maintaining the momentary inclination (a) of the transport vehicle (8) and/or the lifting device (9) within a predetermined or predeterminable range (óa) for an inclination deviation and, in at least one step (ii) of the method elevation, control of the units of the support legs (1, 2, 3, 4) of the support system (7) occurs with the sequence of control commands to alter the vertical elevation state of the transport vehicle (8) and/or the lifting device (9) in relation to the base (10), in which, with the sequence of control commands, a sequential and temporally limited control of the support leg units (1, 2, 3, 4) of the support system (7) occurs with pulses (...).

Inventors

Boban Petronijevic
Benjamin Juds
Werner Emminger
Friedrich Gschaider

Assignees

PALFINGER AG

Dates

Publication Date: 20260310
Application Date: 20230613
Priority Date: 20220617

Claims (19)

1. Method for altering the vertical elevation state of a transport vehicle (8) parked on a base (10) for a lifting device (9) with a support system (7), wherein the support system (7) at least comprises: - vertically adjustable support legs in their longitudinal extension (1, 2, 3, 4) for support on base (10), and - a control (5) for controlling units of the support legs (1, 2, 3, 4) which includes control commands, characterized in that - in at least one step (i) of the method calculation, a sequence of control commands is calculated for the sequential and temporally limited control of the units of the support legs (1, 2, 3, 4) of the support system (7), to alter the vertical elevation state while maintaining the momentary inclination (α) of the transport vehicle (8) and/or the lifting device (9) in relation to at least one predetermined or predeterminable spatial direction and/or spatial plane, within a predetermined or predeterminable range (Δα) for a tilt deviation - in at least one step (ii) of the method's elevation, a control of the support leg units (1, 2, 3, 4) of the support system (7) occurs with the sequence of control commands to change the vertical elevation state of the transport vehicle (8) and/or the lifting device (9) in relation to the base (10), wherein, with the sequence of control commands, a sequential and temporally limited control of the support leg units (1, 2, 3, 4) of the support system (7) occurs, with control pulses (s1, s2, s3).
2. Method according to claim 1, characterized in that, in a calculation step (i) of the method, a calculation of the control command sequence occurs based on at least one parameter of the support system (7), wherein - with at least one tilt sensor (6) of the support system (7) for the detection of a tilt (α) of the transport vehicle (8) and/or the lifting device (9) in relation to at least one predetermined or predeterminable spatial direction and/or spatial plane, a determination of a momentary tilt (α) occurs as a parameter of the support system (7) and, in a calculation step (i) of the method, a calculation of the control command sequence occurs based on a detected momentary tilt (α) of the transport vehicle (8) and/or the lifting device (9), and/or - at least one parameter of the support leg units (1, 2, 3, 4) is predetermined or predeterminable as a parameter of the support system (7) and, in a calculation step (i) In this method, the sequence of control commands is controlled based on at least one parameter of the support leg units (1, 2, 3, 4), where preferably a stroke rate and/or area of a piston of a unit formed as a hydraulic cylinder is predetermined or pre-determinable as a parameter of the support leg units (1, 2, 3, 4).
3. Method, according to any of the preceding claims, characterized in that at least one parameter of the support system (7) comprises at least one of the following: - parameters of the support leg units (1, 2, 3, 4), preferably, stroke rates, piston diameter, piston areas, pump capacity and/or electrical power - geometry parameters of the support legs (1, 2, 3, 4), preferably, the predominant or possible longitudinal extension (x11, x12, x13, x21, x22), or a length of the projecting arms with support legs (1, 2, 3, 4) of the support system (7) - parameters of the position of the support legs (1, 2, 3, 4) - the number of support legs (1, 2, 3, 4) - a momentary inclination (α) of the transport vehicle (8) and/or the lifting device (9) detected with at least one inclination sensor (6) of the support system (7), and/or - a predetermined or predeterminable range (Δα) for a tilt deviation - a pulse duration (t1, t2, t3) of a currently specified control pulse (s1, s2, s3), for example, calculated in a previous calculation step (i) of the method - a number and/or position of the axles of the transport vehicle (8) - a position of a lifting device (8) arranged on the transport vehicle (9) - a twist and bending stiffness and/or a twist of the transport vehicle (8) - a predetermined or predeterminable spatial direction (H) and/or spatial plane - a position, particularly a nominal position of the center of gravity of the transport vehicle (8) and/or the lifting device (9) - a load acting on a support leg (1, 2, 3, 4), preferably by detecting a hydraulic pressure in a support leg unit (1, 2, 3, 4) and/or by a load sensor - at least one parameter of the control units of the support legs (1, 2, 3, 4), such as, for example, a control behavior of the hydraulic valves of the hydraulic supply of hydraulic units and/or a switching behavior of power sources of electrical units - a vertical distance of the transport vehicle (8) and/or the lifting device (9) detected by at least one distance sensor of the support system (7) in relation to a base used for support (10).
4. Method, according to any of the preceding claims, characterized in that a control of the support leg units (1, 2, 3, 4) of the support system (7) occurs until - the vertical elevation state of the transport vehicle (8) and/or the lifting device (9) reaches or falls below the predetermined or predeterminable nominal value, or - an operational command to change the vertical elevation state is issued by a user, via a user interface (21) of a control (5).
5. Method, according to any of the preceding claims, characterized in that - in a calculation step (i) of the method, for all units of the support legs (1, 2, 3, 4) that participate in the support of the support system (7), a sequence of control commands is calculated to change the vertical elevation state of the transport vehicle (8) and/or the lifting device (9) - in a lifting step (ii) of the method, at least one control of all units of the support legs (1, 2, 3, 4) of the support system (7) occurs with the sequence of control commands to change the vertical elevation state of the transport vehicle (8) and/or the lifting device (9).
6. Method, according to any of the preceding claims, characterized in that, with a tilt sensor (6) of the support system (7), a detection of a tilt (α) of the transport vehicle (8) and/or of the lifting device (9) in relation to the horizontals (H) occurs and an execution of the lifting step (ii) of the method occurs only when, in a calculation step (i) of the method, the detected instantaneous tilt (α) of the transport vehicle (8) and/or of the lifting device (9) is within a range (Δα) predetermined or predeterminable for a tilt deviation of 0° to 10°, preferably within 0° to 5°, particularly preferably within 0° to 3°, against the horizontals.
7. A method, according to any of the preceding claims, characterized in that the predetermined or predeterminable range (Δα) for a slope deviation is within 0° to 10°, preferably within 0° to 5°, particularly preferably within 0° to 3°, against the horizontals.
8. Method, according to any of the preceding claims, characterized in that, in a loop (iii), in a calculation step (i) of the method, which follows (ii) in a previously performed elevation step of the method, the change in slope (α) is detected by the previous elevation step (ii) of the method.
9. Method, according to any of the preceding claims, characterized in that the temporally limited control of the individual units of the support legs (1, 2, 3, 4) of the support system (7) occurs with the sequence of control commands, with control pulses (s1, s2, s3) with variable pulse duration.
10. Method, according to any of the preceding claims, characterized in that the pulse duration (t1, t2, t3) of the control pulses (s1, s2, s3) is from 0.05 to 3.50 seconds, preferably from 0.25 to 1.5 seconds.
11. A method, according to either of the two preceding claims, characterized in that a variation in pulse duration (t1, t2, t3) – and possibly a temporal overlap (d) between consecutive control pulses (s1, s2, s3) – occurs depending on: - parameters of the support leg units (1, 2, 3, 4) and/or - parameters of the geometry of the support legs (1, 2, 3, 4) and/or - parameters of the position of the support legs (1, 2, 3, 4) and/or - the number of support legs (1, 2, 3, 4) and/or - the momentary inclination (α) of the transport vehicle (8) and/or the lifting device (9) measured with at least one inclination sensor (6) of the support system (7), and/or - the predetermined or predeterminable range (Δα) for an inclination deviation and/or - the pulse duration (t1, t2, t3) current predetermined and/or - the position of the axles (18, 19) of the transport vehicle (8) and/or - the position of a lifting device (8) arranged on the transport vehicle (9) and/or - a torsion and bending stiffness and/or the torsion of the transport vehicle (8) and/or - a predetermined or predeterminable spatial direction and/or spatial plane and/or - a position of the center of gravity of the transport vehicle (8) and/or of the lifting device (9) and/or - a load detected by detecting a hydraulic pressure in a unit of a support leg (1, 2, 3, 4) and/or by a load sensor acting on a support leg (1, 2, 3, 4) - at least one parameter of the control of the support leg units (1, 2, 3, 4), preferably, a control behavior of the hydraulic valves of the hydraulic supply of hydraulic units and/or a switching behavior of power sources of electrical units.
12. Method, according to any of the preceding claims, characterized in that the control of the individual support leg units (1, 2, 3, 4) of the support system (7) occurs with the sequence of control commands in a predetermined or predefined sequence.
13. Method, according to any of the preceding claims, characterized in that the control of the individual units of the support legs (1, 2, 3, 4) of the support system (7) with the sequence of control commands occurs with control pulses (s1, s2, s3) with a temporally limited, predetermined or predeterminable overlap (d) between consecutive control pulses (s1, s2, s3).
14. Method, according to any of the preceding claims, characterized in that within the overlap (d) between consecutive control pulses (s1, s2, s3) there is simultaneous control of at most two units.
15. Method, according to any one of claims 13 or 14, characterized in that the overlap duration (d) between consecutive control pulses (s1, s2, s3) is between 0.01 and 0.5 seconds, preferably between 0.01 and 0.1 seconds.
16. Method, according to any of the preceding claims, characterized in that with at least one tilt sensor (6) of the support system (7) for detecting a tilt (α) of the transport vehicle (8) and/or the lifting device (9) in relation to at least one predetermined or predeterminable spatial direction and/or spatial plane, a momentary tilt detection (α) occurs and, after the change made to the vertical lifting state of the transport vehicle (8) and/or the lifting device (9) in a monitoring step (iv) of the method, a continuous detection of a tilt (α) of the transport vehicle (8) and/or the lifting device (9) occurs in relation to at least one predetermined or predeterminable spatial direction and/or spatial plane.
17. A method, according to any of the preceding claims, characterized in that, upon reaching or exceeding a predetermined or predeterminable deviation of the detected inclination (α) to minimize the inclination (α) of the transport vehicle (8) and/or the lifting device (9) – in a step (v) of the method's leveling calculation, a sequence of control commands is calculated for the sequential and temporally limited control of the individual units of the support legs (1, 2, 3, 4) of the support system (7) based on a detected momentary inclination (α) of the transport vehicle (8) and/or the lifting device – in a step (vi) of the method's leveling, control of the units of the support legs (1, 2, 3, 4) of the support system (7) occurs with the sequence of control commands for reducing the inclination (α) of the transport vehicle (8) and/or the lifting device (9) in relation to at least one predetermined or predeterminable spatial direction and/or spatial plane, wherein, with the sequence of commands In the control system, there is a sequential and temporally limited control of individual units of the support legs (1, 2, 3, 4) of the support system (7), with control pulses.
18. Control (5) for a support system (7) characterized in that it is formed for the execution of a method, as defined in any one of claims 1 to 17, wherein, by the control (5) - in a calculation mode of operation, a sequence of control commands can be calculated for the sequential and temporally limited control of the individual units of the support legs (1, 2, 3, 4) of the support system (7) to alter the vertical elevation state while maintaining the momentary inclination (α) within a predetermined or predeterminable range (Δα) for an inclination deviation, and - in a control mode of operation, the units of the support legs (1, 2, 3, 4) of the support system can be controlled with the sequence of control commands to alter the vertical elevation state of the transport vehicle (8) and/or the lifting device (9) relative to the base (10), wherein, with the sequence of control commands, a sequential and temporally limited control of the support leg units occurs. (1, 2, 3, 4) of the support system (7) with control pulses.
19. Vehicle, characterized in that it is particularly a transport vehicle (8) with a lifting device (9), with a support system (7), as defined in any one of claims 1 to 17 and a control (5), as defined in claim 18.

Description

[001] The present invention relates to a method for altering the vertical elevation state of a transport vehicle parked on a base to a lifting device with a support system, according to the preamble of claim 1, a computer program product for executing such a method, a control for a support system for carrying out such a method and a vehicle with such a control. [002] In the state of the art, it is known that transport vehicles are supported on a base by support systems, for example, to increase the stability of the transport vehicle. The support generally occurs through adjustable support legs, in their longitudinal extension, which can rest on the base and, by altering the longitudinal extension, can influence the inclination and elevation state of the transport vehicle. With an inclination sensor, an inclination of the transport vehicle and/or the lifting device in relation to a predetermined or predeterminable spatial direction and/or spatial plane can be detected. [003] In the state of the art, devices in the form of hydraulically actuated support systems are known for altering the vertical elevation state. In lifting devices such as, for example, lifting platforms, for the controlled alteration of the vertical elevation state, the systems used have pressure maintenance valves for controlling volume flows to hydraulic units. Thus, in a simultaneous control of several support leg units, regardless of the different loads of the support legs, the same volume flow can be distributed to each unit. In this way, a synchronous and similar retraction and extension of the support legs can occur. [004] The disadvantage of devices for altering the vertical lift state that utilize pressure-maintaining valves is the increased complexity associated with the hydraulic system. Additional pressure valves, measuring devices for pressures applied to the valves, and proportional or control valves to control volume flows increase the susceptibility to errors and the maintenance effort of such hydraulic systems. [005] The object of the invention is to offer a method for changing the vertical lifting state of a transport vehicle into a lifting device, however, improved in comparison with the prior art. [006] The objective is solved by a method, according to claim 1, a computer program product for executing such a method and a control, which is formed to perform such a method. [007] The advantageous arrangements are defined in the dependent claims. [008] The method serves to change the vertical elevation state of a transport vehicle to a lifting device with a support system on a base. Through a support system, it is possible to achieve, for example, an increase in the stability of the transport vehicle and the transport vehicle can be raised relative to a base or lowered relative to it. It should not be ruled out that a transport vehicle can be designed for a lifting device with a support system for a predetermined or predeterminable spatial direction and/or spatial plane. [009] A predetermined or predeterminable spatial plane can be, for example, a horizontal plane. [0010] A vertical elevation state of a transport vehicle for a lifting device can be measured in a vertical distance, particularly along a vertical line, from a chassis or a reference point on the chassis of the transport vehicle to the surface of the base used for support. Similarly, a vertical elevation state, measured particularly along a vertical line, can be related to a lifting device arranged on a transport vehicle, for example, a crane base or crane column of a lifting device. [0011] A detected tilt can be, for example, an angle of a pivot axis, which runs essentially vertically, of a crane column of a lifting device in relation to the horizontal plane, spatial plane or spatial direction. [0012] In a stationary state, an alignment can be directed to the horizontal with at least an approximately right angle from the pivot axis of the crane column. [0013] In particular, it can be directed towards the horizontals at an angle between 0° and 3° against the horizontals. [0014] Support is generally provided by adjustable support legs, along their longitudinal extension, which can rest on the base and, by altering the longitudinal extension, can influence the vertical lift and tilt of the transport vehicle and/or the lifting device. [0015] A momentary tilt can basically be understood as a tilt of the transport vehicle and/or the lifting device that is predominant at the moment, that is, at the moment of performing a method step. [0016] A momentary tilt of the transport vehicle and/or lifting device may be present when parking on an inclined base. A momentary tilt may also be conditioned by a load on the transport vehicle or a load on a lifting device mounted on a transport vehicle. [0017] The support system can be attached to the vehicle chassis. If the transport vehicle has a lifting device, the support system can be attached to the lifting device. The lifting dev