Charging device with telescopic charging unit

Description

[0001] The invention relates to a device for charging with a telescopic loading device according to the preamble of claim 1, which is known from WO 2015 / 113084 A1.

[0002] Such loading vehicles are known, among other things, from EP 2 686 265. The loading vehicle, designed as a so-called telescopic loader, comprises a loading device designed as a telescopic support arm, which is movable between a lower working position close to the ground and a plurality of upper working positions far from the ground. The loading device, designed as a telescopic arm, can be pivoted at one end about a pivot axis extending transversely to the direction of travel of the telescopic loader by means of at least one lifting cylinder. At the same time, the front segment of the telescopic support arm can be extended and retracted independently of the pivoting movement or coupled to it. At the front, the support arm accommodates a loading tool, designed as a loading fork in the illustrated embodiment. The loading tool is usually pivotally connected to the telescopic support arm.With regard to the linkage of the telescopic support arm to the loading vehicle, solutions are also known according to GB 2161784 which also enable the telescopic arm to rotate around a vertical axis of rotation.

[0003] All of the aforementioned loading vehicle designs have in common that, to increase their stability, they are equipped with controls that limit the extension and swiveling of the telescopic arm depending on the load and position. In this context, it is also known to limit the retraction and extension speed of the telescopic arm depending on the load and position.

[0004] The position control disclosed in EP 2 686 265 is designed such that the loading tool is guided on a curved path which allows a nearly vertical movement of the loading tool over a certain vertical movement range. This has the advantage that the loading tool can be brought close to a vertically extending obstacle, such as a shelf or, in an agricultural context, a stack of crop bales or the side of a transport trailer. The disadvantage here is that the automated movement ultimately has to be overridden by the operator depending on the situation in order to be able to carry out a loading or unloading work step. This requires a high level of attention from the driver of the telehandler in order to avoid unnecessary movements of the telescopic arm or collisions with the obstacle.

[0005] It is therefore an object of the invention to avoid the described disadvantages of the prior art and in particular to provide a loading vehicle with a telescopic loading device which enables a targeted and collision-free movement of the loading tool while at the same time maintaining the stability of the loading vehicle.

[0006] This object is achieved according to the invention by the characterizing features of claim 1.

[0007] By the loading vehicle, with at least one telescopic boom equipped with a telescopic drive, the rear, vehicle-side boom end of which is pivotally connected to a frame and the free boom end of which is coupled to a loading tool, wherein the boom is displaced by means of a pivot drive at least between a first and a further working position and the boom length in conjunction with the boom pivot position is controlled by a control system associated with the telescopic drive and the pivot drive and the loading tool is guided on a movement path, wherein the loading tool traverses the movement path at least from a working position close to the ground to a working position far from the ground and the movement path is divided into movement path sections and after reaching the end of a movement path section an operator must give an interim approval,Before the loading tool enters the next movement path section, if the loading vehicle includes a display device coupled to the control device, and the display device is configured to visualize the movement path selected by activating an actuating element and / or the work progress defined by the position of the loading tool on the movement path, this ensures that a targeted and collision-free movement of the loading tool is achieved while simultaneously maintaining the stability of the loading vehicle and reducing the strain on the operator. Furthermore, before the loading tool transitions from one movement path section to the next, the operator can visually check whether collision-free further movement of the loading tool is possible.

[0008] In an advantageous embodiment of the invention, the movement path is divided into one or more of the movement path sections "vertical upward movement," "movement to the activation point of the loading tool," and "activation movement of the loading tool." This has the effect that the movement sequences of the loading tool can be individually adapted to the given loading conditions.

[0009] In this context, since the "vertical upward movement" trajectory section causes a substantially vertical movement of the loading tool, the working tool can be moved quickly and very precisely to a minimum height required for safe overloading. The required control effort is easily implemented due to the almost linear movement. Furthermore, if the movement of the loading tool on a straight and / or curved path to a loading point is only effected in the "movement to the activation point of the loading tool" trajectory section, the more complex control process, which may also include movement of the loading vehicle, can be limited to a short trajectory section. This also reduces the range of movement of the loading tool in the border areas of the load limits that define tipping safety.In this context, if the loading tool is only activated in the movement path section "Activation of movement of the loading tool" to load or unload the loading tool, this ensures that premature unloading of the loading tool outside of a transport container or a stack of materials is avoided.

[0010] A further advantageous embodiment of the invention provides a high degree of flexibility in the use of the loading vehicle when the control device comprises a memory device, and characteristic curves are stored in the memory device for one or more movement paths, allowing the operator to select a movement path based on the specific application. It is advantageous if the one or more stored movement paths include at least one of the application cases "bulk loading" and / or "unit load loading."

[0011] A structurally simple implementation of the loading and unloading process of the loading tool is achieved in an advantageous development of the invention in that the activation of the loading tool for loading or unloading the loading tool in the application case "bulk material loading" and / or "general cargo loading" causes an activation of the coupling mechanism connecting the loading tool to the telescopic boom in such a way that the loading tool is pivoted about a horizontal pivot axis arranged transversely to the longitudinal direction of the loading vehicle.

[0012] By learning the application-specific movement paths in a first step and saving them in the memory device, individual adaptation to loading and unloading processes is possible.

[0013] In an advantageous development of the invention, it is provided that the application-specific movement paths comprise specific movement sequences and the specific movement sequences take permissible load limits into account, so that the stability of the loading vehicle is always guaranteed regardless of the respective movement sequence.

[0014] In a further advantageous embodiment of the invention, the loading vehicle comprises an activation device coupled to the control device, wherein the operator initiates the intermediate approval by actuating this activation device and / or selects the stored movement path by activating an actuating element. Both measures have the effect of relieving the operator of extensive control measures.

[0015] According to the invention, the loading vehicle has a display device coupled to the control device, wherein the display device is configured to visualize the selected movement path and / or the work progress along the movement path defined by the position of the loading tool. This has the effect of allowing the operator to recognize early on when an interim approval is required, thus avoiding unproductive waiting times.

[0016] Highly flexible movement sequences also result if, in a further advantageous embodiment, the selectable movement paths enable both the loading and unloading of the loading tool.

[0017] Further advantageous embodiments are the subject of further subclaims and are described below with reference to an embodiment illustrated in several figures. They show: Figure 1: the loading vehicle according to the invention in side view Figure 2: detailed views of the loading tools according to the invention Figure 3: the movement of the loading tool according to the invention using the example of bulk loading Figure 4: the movement of the loading tool according to the invention using the example of piece goods loading

[0018] Figure 1shows schematically a loading vehicle 1 designed as a telescopic loader 2, wherein it is within the scope of the invention that the loading vehicle 1 can also be designed as a wheel loader, farm loader, tractor or the like. In a manner known per se, the support structure 4 designed as a support frame 3 accommodates a telescopic boom 5 in a central position, to which a tool adapter 6 known per se is assigned at the front, which ultimately accommodates a loading tool 7 to be described in more detail. The lower profile arm 8 of the boom 5, which is coupled to the support structure 4, is pivotally mounted in its rear region by at least one pivot axis 10 arranged in support flanges 9 transversely to the direction of travel FR, wherein, to implement the pivoting movement 11, one or more lifting cylinders 12 are assigned to the bottom of the lower profile arm 8, which enable the pivoting of the boom 5 about the said pivot axis 10 by applying or relieving pressure.The lower profile arm 8 of the boom accommodates, in a conventional manner, an upper profile arm 13 within it, which can be extended and retracted telescopically 14. This movement is realized in a conventional manner and therefore not shown in detail by means of additional lifting cylinders. At its upper end, the upper profile arm 13 accommodates a coupling mechanism 15, which will be described in more detail later, which is coupled at the other end to the tool adapter 6 carrying the loading tool 7.

[0019] In the following, the at least one retracting and extending lifting cylinder 12 causing the pivoting movement 11 of the boom 5 is referred to as the pivot drive 16, while the lifting cylinder (not shown in detail) causing the retracting and extending movement 14 of the upper profile arm 13 of the boom 5 is referred to as the telescopic drive 17. The loading vehicle 1 is also assigned a control device 18, which will be described in more detail later, which controls both the pivot drive 16 and the telescopic drive 17 in a manner to be described in more detail later, so that the loading tool 7 is moved on a movement path 19 from a first, lower working position 20 in the illustrated embodiment, to a second, upper working position 21.

[0020] The loading vehicle 1, designed as a telehandler 2, also has a driver's cab 24 positioned between the front axle 22 and the rear axle 23, in which at least one display device 25 and an input device 26 (also to be described in more detail below) are arranged, which the operator 27 can view and operate. Furthermore, a storage device 28 is assigned to the control device 18 for the purpose of storing movement paths 19 (to be described in more detail below).

[0021] Figure 2now describes in more detail the coupling of the loading tool 7 to the upper profile arm 13 of the boom 5. The loading tool 7 is connected in a conventional manner in a rotationally fixed but detachable manner to the tool adapter 6. The tool adapter 6, in turn, is pivotally positioned on the upper profile arm 13 of the boom 5 via the aforementioned coupling mechanism 15. The coupling mechanism 15 consists, in a conventional manner and therefore not described in detail, of at least one lifting cylinder arrangement 29 and a coupling link structure 30, wherein the lifting cylinder arrangement 29 supports the coupling structure 30 on the upper profile arm 13 of the boom 5, while the coupling structure 30 carries the respective loading tool 7. By applying or relieving pressure to the lifting cylinder(s) 29, the loading tool 7 can be pivoted from an upper position 31 to a lower position 32 in the direction of the arrow 33.This change in the position of the loading tool 7 enables the adaptation of a wide variety of loading tools 7, such as so-called grab buckets 7a, bulk material buckets 7b, bale grabs 7c, or bale stackers 7d, to name just a few examples. This makes it possible for the loading vehicle 1 to be used both in a "bulk material loading" application 34 using a grab bucket 7a or bulk material bucket 7b, and in a "general cargo loading" application 35 using a bale grab 7c or bale stacker 7d.

[0022] In Figure 3The device according to the invention will now be described in detail using the example of the "bulk material loading" application 34. In this case, the telehandler 2 is equipped with a loading tool 7 designed as a bulk material bucket 7b. A transport trailer 36 is to be loaded using the bulk material bucket 7b. For this purpose, the loading tool 7 must be transferred from a lower working position 20 to an upper working position 21. According to the invention, the loading tool 7 moves along a movement path 19 that is divided into movement path sections 37-39. The first movement path section, "vertical upward movement" 37, causes a substantially vertical movement of the loading tool, and the telehandler preferably remains stationary while passing through this movement path section and does not perform any movement in the direction of travel FR.The length of this essentially vertical movement path section 37 depends on the height at which the side wall 40 of the transport trailer 36 and, if applicable, a bulk material height 41 have to be overcome.

[0023] The subsequent movement path section "Movement to the activation point of the loading tool" 38 causes the loading tool 7 to move along a straight and / or curved path to a transfer point 42. The shape and length of this movement path section 38 depend, on the one hand, on the height at which the side wall 40 of the transport trailer 36 and, if applicable, a bulk material height 41 must be overcome, and, on the other hand, on the freedom of movement required by the loading tool 7 in the subsequent movement section 39. It is also determined by whether or not the telehandler 2 is moved toward the transport trailer 36 in the direction of travel FR while traversing this movement path section 38. Due to the limited length of the boom 5, a movement of the telehandler 2 toward the transport trailer 40 is advisable, and may even be necessary.

[0024] After the loading tool 7 has moved from a starting point 43 via the first movement path section 37 to its end point 40 and from there, after passing through the subsequent movement path section 38, has reached the transfer point 42, a further movement path section 39 follows. The further movement path section "Activation of movement of the loading tool" 39 activates the loading tool 7 to unload the loading tool 2. In this movement path section 39, the previously described coupling mechanism 15 connecting the loading tool 7 to the boom 5 is activated such that the loading tool 7 is moved from an upper position 31 to a lower position 32 to an end point 45 of the pivoting movement, whereby the loading tool 7, designed as a bulk material bucket 7b, is emptied.Analogously, the movement of the loading tool 7 in this movement section 39 can also be carried out such that the loading tool 7 is loaded, for example, when a transport trailer 36 is to be unloaded or bulk material is to be removed from a bulk material storage facility. In this case, the loading tool 7 would execute a movement from the end point 45 to the transfer point 42 in the last movement path section 39.

[0025] According to the invention, it is now provided that after reaching the end of a movement path section 37, 38, 39, an operator 27 must carry out an intermediate approval 46 in a manner to be explained in more detail before the loading tool 7 enters the following movement path section 38, 39. This has the effect of ensuring that, from the point of view of collision avoidance and optimal operation, the loading tool 7 moves in a controlled manner along the movement path 19. So that the operator 27 can generate the intermediate approval 46, the driver's cab 24 is assigned the aforementioned input device 26, which on the one hand comprises an activation device 47, in the simplest case designed as an operating button, the actuation of which generates an approval signal 48 and transmits it to the control device 18.This approval signal 48 initially causes the swivel drive 16 and / or the telescopic drive 17 in the control device 18 to be controlled in such a way that the boom 5 controls a swivel movement 11 and / or retraction / extension movement 14 in such a way that the loading tool 7 is guided on the movement path 19 according to the invention.

[0026] Given that the telehandler follows application-specific movement paths 19 depending on the application, such as "bulk material loading" 34 or "general cargo loading" 35, it is also provided that the control device 18 comprises a memory device 28, and that characteristic curves 49 are stored in the memory device 28 for one or more movement paths 19, and that the operator 27 selects a movement path 19 for the specific application. In addition to the movement path 19 described in detail for the "bulk material loading" 34 application, movement paths 19 can also be stored for the "general cargo loading" 35 application.

[0027] Figure 4In this context, only schematically and by way of example, shows possible movement paths 19 in the "general cargo loading" application 25. The left-hand illustration shows the stacking of so-called square bales 50 using a bale stacker 7d. The right-hand illustration shows the stacking of so-called round bales 51 using a loading tool 7 designed as a bale gripper 7c. It can be seen that the shape of the movement path sections 37-39 and thus the shape of the movement path 19 changes depending on the stack height. In both application cases, the loading tool 7 moves from a lower working position 20 to an upper working position 21, whereby a starting point 43, end points 44, 45, and a transfer point 42 are controlled in a manner analogous to the "bulk cargo loading" application 34. At the transfer point 42, the movement changes depending on the loading tool used.The bale gripper 7c opens and closes the gripper 52 to pick up or deliver a round bale, while the bale stacker 7d tilts its receiving fork 53 to pick up or deliver.

[0028] All applications are in accordance with Figure 3 common that the activation of the loading tool 7 for loading or unloading the loading tool 7 causes an activation of the coupling mechanism 15 connecting the loading tool 7 to the telescopic boom 5 in such a way that the loading tool 7 is pivoted about a horizontal pivot axis 54 arranged transversely to the longitudinal direction of the loading vehicle 7.

[0029] Furthermore, it is within the scope of the invention that the application-specific movement paths 19 are learned in a first work step 55 and stored in the memory device 28, wherein the operating elements of the input device 26 and, if appropriate, the actuating elements of the display device 25 are used in the usual way to learn and store the respective movement path 19. The input device 26 and / or the display device 25 are also designed such that actuating elements 56 are provided, by means of which a movement path 19 stored in the memory device 28 can be selected. Furthermore, the display device 25 can be designed such that the selected movement path 19 and / or the work progress, the current position of the loading tool 7, are displayed on the movement path 19.

[0030] The course of the movement paths 19 to be learned and / or stored is also such that the respective loading tool 7 moves within the permissible load limits 57, wherein the movement within the permissible load limits 57 can also include the tracking of the loading vehicle 1 itself.

[0031] Furthermore, it is within the scope of the invention that the stored movement paths 19 describe both the movement of the loading tool 7 from a first working position 20 close to the ground into a further working position 21 remote from the ground and vice versa. List of reference symbols:

[0032] 1 loading vehicle 29 Lifting cylinder arrangement 2 Telehandler 30 Coupling link structure 3 Supporting frame 31 upper position 4 supporting structure 32 lower position 5 boom 33 Arrow direction 6 tool adapter 34 Bulk loading 7 Loading tool 35 General cargo loading 7a Grab bucket 36 Transport trailer 7b Bulk material shovel 37 Movement path section 7c Bale gripper 38 Movement path section 7d Bale stacker 39 Movement path section 8 lower profile arm 40 side wall 9 Support flange 41 Bulk material height 10 Swivel axis 42 Overloading point 11 Swivel movement 43 Starting point 12 lifting cylinder 44 Endpoint 13 upper profile arm 45 Endpoint 14 Entry / Exit 46 Interim approval 15 coupling mechanism 47 Activation device 16 rotary actuator 48 Approval signal 17 Telescopic drive 49 Characteristic curve 18 Control device 50 Square bales 19 trajectory 51 round bales 20 first job position 52 gripper 21 additional job position 53 Pick-up fork 22 front axle 54 Swivel axis 23 rear axle 55 Work step 24 Driver's cab 56 Actuating element 25 Display device 57 Load limits 26 Input device 27 operator 28 Storage device

Claims

1. A loading device with telescopic loading equipment, in particular a loading vehicle (1), with at least one telescopic boom (5) fitted with a telescopic drive (17), the rear, vehicle-side boom end of which being pivotably articulated on a frame (3, 4) and the free boom end of which being coupled to a loading tool (7), wherein the boom (5) is moved by means of a swivel drive (16) at least between a first and a further work position (20, 21) and the boom length in conjunction with the pivotal position of the boom is controlled by a control device (18) associated with the telescopic drive (17) and the swivel drive (16) and the loading tool (1) is guided on a trajectory (19), wherein the loading tool (7) traverses the trajectory (19) at least from a first work position (20) into a further work position (21), wherein the trajectory (19) is divided into trajectory sections (37-39) and after reaching the end of one trajectory section (37-39), an operator must carry out an intermediate confirmation (46) before the loading tool (7) enters the subsequent trajectory section (38-39), characterized in that the loading vehicle (1) comprises a display device (25) coupled to the control device (18), and the display device (25) is configured to visualize the trajectory (19) selected by activation of an actuator element (56) and / or the progress of work on the trajectory (19) defined by the position of the loading tool (7).

2. The loading device with telescopic loading equipment according to claim 1, characterized in that the trajectory (19) comprises one or more of the trajectory sections "Vertical upwards movement" (37), "Movement to loading tool activation point" (38) and "Activate loading tool movement" (39).

3. The loading device with telescopic loading equipment according to claim 2, characterized in that the "Vertical upwards movement" (37) trajectory section brings about a substantially vertical movement of the loading tool (7).

4. The loading device with telescopic loading equipment according to claim 2, characterized in that the "Movement to loading tool activation point" (38) trajectory section brings about a movement of the loading tool (7) over a rectilinear and / or curved path to an overhead transfer point (42).

5. The loading device with telescopic loading equipment according to claim 2, characterized in that the "Activate loading tool movement" (39) trajectory section brings about an activation of the loading tool (7) for loading or unloading the loading tool (7).

6. The loading device with telescopic loading equipment according to one of the preceding claims, characterized in that the control device (18) comprises a storage device (28) and characteristic curves (49) for one or more trajectories (19) are stored in the storage device (28) and the operator (27) selects a trajectory (19) in a manner which is specific to the application.

7. The loading device with telescopic loading equipment according claim 6, characterized in that the one or more stored trajectories (19) comprises at least one of the applications "Bulk material loading" (34) and / or "Individual item loading" (35).

8. The loading device with telescopic loading equipment according to claim 7, characterized in that the activation of the loading tool (7) for loading or unloading the loading tool (7) in the "Bulk material loading" (34) and / or "Individual item loading" (35) application brings about an activation of the coupling mechanism (15) connecting the loading tool (7) to the telescopic boom (5) in a manner such that the loading tool (7) is pivoted about a horizontally disposed pivot axis (54) which is transverse to the longitudinal direction of the loading vehicle (1).

9. The loading device with telescopic loading equipment according to claim 7, characterized in that the trajectories (19) which are specific to the application are learned in a first working step (55) and stored in the storage device (28).

10. The loading device with telescopic loading equipment according to claim 9, characterized in that the trajectories (19) which are specific to the application comprise specific sequences of movement and the specific sequences of movement take permissible load ranges (57) into consideration.

11. The loading device with telescopic loading equipment according to claim 1, characterized in that the loading vehicle (1) comprises an activation device (47) coupled to the control device (18) and, by actuating the activation device (47), the operator (27) brings about the intermediate confirmation (46) and / or selects the stored trajectory (19) by activation of an actuator element (56).

12. The loading device with telescopic loading equipment according to one of the preceding claims, characterized in that during the movement from a work position (20) close to the ground into a work position (21) remote from the ground and vice versa, the loading tool (7) traverses a trajectory (19) which can be preselected.

13. The loading device with telescopic loading equipment according to one of the preceding claims, characterized in that the loading device with telescopic loading equipment is configured as a telescopic handler (2).

14. The loading device with telescopic loading equipment according to one of the preceding claims, characterized in that the loading tool (7) is configured as a silage bucket (7a), bulk material bucket (7b), bale grapple (7c) or bale stacker (7d).