Telescopic Arm Swivel and Extension Sequencing for Stable Positioning
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Solution Overview
Problem
Existing methods for controlling the movement of telescopic arms in mobile working machines, such as telescopic handlers, often result in instability when the arm is extended, particularly during the swivel and extension transitions, leading to potential operational challenges.
Innovation Solution
A method where the primary and secondary changes in swivel angle and extension length are controlled differently and overlappingly, with the primary change occurring faster than the secondary change, ensuring a smooth transition and maintaining stability during the approach to a target position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If the telescopic arm is extended to maximum length during swiveling, then the working range is increased, but the machine stability deteriorates
Solution Approach 1:
The control unit performs preliminary action by detecting the current position and calculating the target position before actuation. It determines the sequence of movements (swivel angle change first, then extension length change) in advance, ensuring that the telescopic arm does not swivel while in extended state, thus preventing stability issues before they occur
Solution Approach 2:
The control unit dynamically adjusts the movement sequence based on real-time conditions. It monitors the current swivel angle and extension length, and adaptively controls the swivel drive and extension/retraction drive to ensure that swiveling occurs before extension, maintaining machine stability while achieving the target position
2Speed
If simultaneous control of swivel angle and extension length is used, then the positioning speed is increased, but the control precision deteriorates
Solution Approach 1:
The control unit segments the positioning process into distinct phases: first changing the swivel angle from initial to target angle, then changing the extension length from initial to target length. This segmentation separates the control of two parameters, improving control precision while maintaining efficient positioning through automated sequential execution
Solution Approach 2:
The control unit continuously monitors the current position (swivel angle and extension length) and compares it with the target position. Based on this feedback, it adjusts the movement sequence and timing, ensuring precise control of each phase while maintaining overall positioning speed
Data Source
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AI summary
The invention relates to a method for approaching a target position (80, 81) of a working equipment (4) of a working machine (1) which is attached to a free end (16) of a pivotably mounted telescopic arm (2), wherein a pivot angle (8) can be changed by a pivot drive (24) and an extension length (7) can be changed by an extension/retraction drive; wherein an initial position of the working equipment (4) characterized by an initial pivot angle and an initial extension length is detected;wherein during the approach (160) to the target position, based on an approach signal, the rotary drive (24) and the extension/retraction drive are automatically controlled to effect a primary change (84_1, 84_2) and a secondary change (86_1, 86_2), such that the initial swivel angle is changed to the target swivel angle by a swivel angle change (84_1, 86_2) and the initial extension length is changed to the target extension length by an extension length change (86_1, 84_2), wherein the primary change is the swivel angle change and the secondary change is the extension length change, or wherein the primary change is the extension length change and the secondary change is the swivel angle change; wherein the primary change (84_1, 84_2) extends over a first time period and the secondary change (86_1, 86_2) extends over a second time period, with the end of the first time period preceding the end of the second time period.