DE202011003220U1 - Control for working machines with boom - Google Patents

Control for working machines with boom Download PDF

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Publication number
DE202011003220U1
DE202011003220U1 DE202011003220U DE202011003220U DE202011003220U1 DE 202011003220 U1 DE202011003220 U1 DE 202011003220U1 DE 202011003220 U DE202011003220 U DE 202011003220U DE 202011003220 U DE202011003220 U DE 202011003220U DE 202011003220 U1 DE202011003220 U1 DE 202011003220U1
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Germany
Prior art keywords
control
operating member
movement
boom
axis
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Expired - Lifetime
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DE202011003220U
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German (de)
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VEMCON GMBH, DE
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Jan Rotard
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Publication date
Application filed by Jan Rotard filed Critical Jan Rotard
Priority to DE202011003220U priority Critical patent/DE202011003220U1/en
Publication of DE202011003220U1 publication Critical patent/DE202011003220U1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/835—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes
    • A01D34/86—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes for use on sloping ground, e.g. on embankments or in ditches
    • 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
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/3604—Devices to connect tools to arms, booms or the like
    • E02F3/3677—Devices to connect tools to arms, booms or the like allowing movement, e.g. rotation or translation, of the tool around or along another axis as the movement implied by the boom or arms, e.g. for tilting buckets
    • E02F3/3681—Rotators
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
    • E02F3/434—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like providing automatic sequences of movements, e.g. automatic dumping or loading, automatic return-to-dig
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Transportation (AREA)
  • Geology (AREA)
  • Environmental Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Paleontology (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

Steuerung für Arbeitsmaschinen mit Ausleger, dadurch gekennzeichnet, dass ein sechs-Freiheitsgrad-Bedienorgan mit drei rotatorischen und drei translatorischen Freiheitsgraden für den Maschinenbediener gut erreichbar in der Fahrerkabine befestigt ist, vorzugsweise befindet sich das Bedienorgan während dem Arbeitsvorgang vor der linken oder rechten Armlehne des Fahrersitzes.Control for work machines with boom, characterized in that a six-degree-of-freedom control element with three rotational and three translational degrees of freedom is attached in the driver's cab within easy reach of the machine operator; the control element is preferably located in front of the left or right armrest of the driver's seat during the work process .

Description

ZusammenfassungSummary

Die Erfindung betrifft eine intuitiv erlernbare, einfache Steuerung für mobile und stationäre Arbeitsmaschinen, z. B. Bagger, Baggerlader, Harvester und LKWs mit Ladekran. Die Bediener nutzt ein spezielles 6-Freiheitsgrad-Bedienorgan, um die Bewegungen der Arbeitsmaschinen zu kontrollieren. Typischerweise besitzt ein Löffel an einem Bagger mit Tiltrotator sechs Freiheitsgrade, daher bietet sich die Steuerung vor allem für die einfache Bedienung dieser Maschinen an.The invention relates to an intuitively learnable, simple control for mobile and stationary machines, z. As excavators, backhoe loaders, harvesters and trucks with loading crane. The operators use a special 6-degree-of-freedom operating mechanism to control the movements of the working machines. Typically, a bucket on a Tiltrotator excavator has six degrees of freedom, so the controller is especially useful for easy operation of these machines.

Beschreibungdescription

Mobile Arbeitsmaschinen sind durch die Verwendung von Werkzeugen wie Tieflöffel, Hochlöffel, Hydraulikhammer, Greifer etc. universell und äußerst flexibel einsetzbar. Sie stellen oft die zentrale Maschine auf einer Baustelle dar, an der sich viele Abläufe orientieren. Moderne Bagger, Baggerlader, Traktoren etc. sind hocheffiziente Maschinen. Die Fahrer haben die Aufgabe, sie möglichst nahe am theoretisch optimalen Wirkungsgrad der eingesetzten Technologien operieren zu lassen. Doch dies ist bei der komplexen Kinematik der Ausleger häufig schwierig. Vor allem beim Einsatz von Tiltrotatoren ist der Fahrer häufig mit der Vielzahl der Bedienelemente überfordert. Joysticks, Proportional-Schaltwippen sowie unzählige Taster können nicht gleichzeitig bedient werden.Mobile machines are universally and extremely flexible by the use of tools such as bucket, bucket, hydraulic hammer, gripper, etc. They often represent the central machine on a construction site, where many processes are oriented. Modern excavators, backhoe loaders, tractors, etc. are highly efficient machines. The drivers have the task of operating them as close as possible to the theoretically optimal efficiency of the technologies used. But this is often difficult with the complex kinematics of the boom. Especially when using Tiltrotatoren the driver is often overwhelmed with the variety of controls. Joysticks, proportional paddle shifters and countless buttons can not be operated simultaneously.

Der vorliegenden Erfindung liegt daher die Aufgabe zu Grunde, die Steuerung der mobilen Arbeitsmaschine derart zu gestalten, dass der Fahrer die Bewegungen der Maschine intuitiv und ohne Ermüdungserscheinungen durchführen kann. Erst dadurch kann er das volle Potential der Maschine mit ihrer komplexen Auslegerkinematik und den daraus resultierenden Flexibilität ausnutzen und sie äußerst effizient betreiben.The present invention is therefore based on the object to make the control of the mobile work machine such that the driver can perform the movements of the machine intuitively and without fatigue. Only then can he exploit the full potential of the machine with its complex boom kinematics and the resulting flexibility and operate it extremely efficiently.

Diese Aufgabe wird erfindungsgemäß durch die in den Ansprüchen angegebenen Funktionen gelöst. Zentraler Bestandteil der Lösung ist die Mensch-Maschine-Schnittstelle in Form eines 6-Freiheitsgrad-Heavy-Duty Bedienorgans. Es handelt sich um drei Rotations- und drei Translations-Freiheitsgrade. Die Auslenkungen des Bedienorgans werden gemessen. Ein Controller, platziert auf dem Oberwagen, verarbeitet die gemessenen Signale. Der Eingriff in die vorhandene Baggersteuerung erfolgt z. B. über die hydraulische Vorsteuerung mit Hilfe von elektrisch steuerbaren proportionalen Druckminderventilen. Alternativ werden z. B. Magnetventile zur Steuerung von hydraulischen Funktionen oder elektrische Aktuatoren direkt vom Controller angesteuert.This object is achieved by the features specified in the claims. The central component of the solution is the man-machine interface in the form of a 6-degree-of-freedom-heavy-duty control unit. These are three rotational and three translational degrees of freedom. The deflections of the operator are measured. A controller, placed on the uppercarriage, processes the measured signals. The intervention in the existing excavator control is z. B. via the hydraulic pilot control by means of electrically controllable proportional pressure reducing valves. Alternatively, z. B. Solenoid valves for controlling hydraulic functions or electric actuators controlled directly from the controller.

Ein Ausführungsbeispiel wird anhand der 1 und 2 erläutert. Es zeigen:An embodiment will be described with reference to 1 and 2 explained. Show it:

1 die isometrische Ansicht eines Mobilbaggers (1) mit Tiltrotator (2), Baggerlöffel (3), Sechs-Freiheitsgrad Heavy-Duty Bedienorgan (4), Controller im Oberwagen (5) sowie einem Werkzeugkoordinatensystem (X_W, Y_W, Z_W) und einem Bedienorgan-Koordinatensystem (X_B, Y_B, Z_B). 1 the isometric view of a wheeled excavator ( 1 ) with tiltrotator ( 2 ), Excavator Buckets ( 3 ), Six-degree of freedom heavy-duty control ( 4 ), Controller in the superstructure ( 5 ) and a tool coordinate system (X_W, Y_W, Z_W) and an operator coordinate system (X_B, Y_B, Z_B).

2 das Blockschaltbild einer Baggersteuerung mit sechs-Freiheitsgrad Bedienorgan (4), Controller (5), Steuerschiebern des Baggers (6) sowie Magnetventilen für den Titlrotator (7). 2 the block diagram of a excavator control with six-degree of freedom control ( 4 ), Controller ( 5 ), Control slides of the excavator ( 6 ) and solenoid valves for the Titlotator ( 7 ).

Claims (8)

Steuerung für Arbeitsmaschinen mit Ausleger, dadurch gekennzeichnet, dass ein sechs-Freiheitsgrad-Bedienorgan mit drei rotatorischen und drei translatorischen Freiheitsgraden für den Maschinenbediener gut erreichbar in der Fahrerkabine befestigt ist, vorzugsweise befindet sich das Bedienorgan während dem Arbeitsvorgang vor der linken oder rechten Armlehne des Fahrersitzes.Control for working machines with boom, characterized in that a six-degree-of-freedom control with three rotational and three translational degrees of freedom for the operator is easily accessible in the cab, preferably, the operating member is located during the operation in front of the left or right armrest of the driver's seat , Steuerung für Arbeitsmaschinen mit Ausleger nach Anspruch 1, dadurch gekennzeichnet, dass die rotatorischen und translatorischen Bewegungen des Bedienorgans mittels Sensoren gemessen werden und sich der Ursprung des (X_B, Y_B, Z_B)-Koordinatensystems innerhalb des von der Hand des Fahrers umschlossenen Teils des Bedienorgans oder in unmittelbarer Nähe dazu befindet.Control for working machines with boom according to claim 1, characterized in that the rotational and translational movements of the operating member are measured by means of sensors and the origin of the (X_B, Y_B, Z_B) coordinate system within the enclosed by the hand of the driver part of the operating member or located in the immediate vicinity. Steuerung für Arbeitsmaschinen mit Ausleger nach Anspruch zwei, dadurch gekennzeichnet, dass die Sensorsignale in einem Controller verarbeitet und verstärkt werden.Control for machines with boom according to claim two, characterized in that the sensor signals are processed and amplified in a controller. Steuerung für Arbeitsmaschinen mit Ausleger nach Anspruch 3, dadurch gekennzeichnet, dass ein Rotieren des Bedienorgans um die X_B-Achse wenn vorhanden die Funktion „Tiltrotator tilten”, ein Rotieren des Bedienorgans um die Y_B-Achse die Funktion „Löffel Ein-/Auskippen”, ein Rotieren des Bedienorgans um die Z_B-Achse wenn vorhanden die Funktion „Tiltrotator oder Werkzeugdrehmotor endlos rotieren”, eine Bewegung des Bedienorgangs in X-Richtung die Funktion „Stiel ein-/ausschwenken”, eine Bewegung des Bedienorgans in Y-Richtung die Funktion „Oberwagen bzw. Ausleger schwenken” und eine Bewegung des Bedienorgans in Z-Richtung die Funktion „Ausleger heben/senken” ansteuert.Control for machines with boom according to claim 3, characterized in that rotating the operating member to the X_B axis if available tiltrotator the function "tilts", a rotation of the operating member to the Y_B-axis the function "spoon / dump", a rotation of the control element about the Z_B axis if present the function "tiltrotator or tool turning motor endlessly rotating", a movement of the operating direction in the X direction the function "pivoting in / out", a movement of the operating element in the Y direction the function " Pivoting the uppercarriage or outrigger "and a movement of the control element in the Z direction activates the function" lift / lower boom ". Steuerung für Arbeitsmaschinen mit Ausleger nach Anspruch 3, dadurch gekennzeichnet, dass eine Bewegung des Bedienorgans in X_B-Richtung auch eine Bewegung des Arbeitswerkzeugs in X_W-Richtung, eine Bewegung des Bedienorgans in Y_B-Richtung eine Bewegung des Arbeitswerkzeugs in Y_W-Richtung, eine Bewegung des Bedienorgans in Z_B-Richtung eine Bewegung des Arbeitswerkzeugs in Z_W-Richtung, eine Rotation des Bedienorgans um die X_B-Achse eine Rotation des Arbeitswerkzeugs um die X_W Achse, eine Rotation des Bedienorgans um die Y_B-Achse eine Rotation des Arbeitswerkzeugs um die Y_W-Achse und eine Rotation des Bedienorgans um die Z_B-Achse eine Rotation des Arbeitswerkzeugs um die Z_W-Achse zur Folge hat.Control for machines with boom according to claim 3, characterized in that a movement of the operating member in X_B direction and a movement of the working tool in the X_W direction, a movement of the operating member in Y_B- Direction movement of the working tool in Y_W direction, movement of the operating element in Z_B direction movement of the working tool in Z_W direction, rotation of the operating member to the X_B axis rotation of the working tool to the X_W axis, a rotation of the operating member the Y_B axis results in a rotation of the work tool about the Y_W axis and a rotation of the operator about the Z_B axis results in a rotation of the work tool about the Z_W axis. Steuerung für Arbeitsmaschinen mit Ausleger nach Anspruch 4 oder 5, dadurch gekennzeichnet, dass sich am Bedienorgan, das sich in der Hand des Fahrers befindet, eine zusätzliche Schaltwippe und oder zusätzliche Taster befinden, die zum Ansteuern der Zusatzfunktionen „Arbeitswerkzeug betätigen”, „Arbeitswerkzeug schwenken”, „Arbeitswerkzeug rotieren”, „Planierschild heben/senken”, „Vorwärts-/Rückwärtsfahrt” oder „Verstellausleger verstellen”, „Umschalten des Betriebsmodus” oder sonstigen Funktionen dienen.Control for work machines with boom according to claim 4 or 5, characterized in that the control element, which is in the driver's hand, an additional rocker switch and or additional buttons are located, which operate for driving the additional functions "work tool", "work tool "," Rotate Work Tool "," Raise / Lower Dozer "," Forwards / Reverse Drive "or" Adjust Adjustment Boom "," Switching Operating Mode "or other functions. Steuerung für Arbeitsmaschinen mit Ausleger nach Anspruch 4, 5 oder 6, dadurch gekennzeichnet, dass das Bedienorgan aus der Fahrerkabine entfernt werden kann und auch außerhalb der Maschine betrieben werden kann, um die Maschine von außen fern zu steuern.Control for machines with boom with boom according to claim 4, 5 or 6, characterized in that the operating member can be removed from the driver's cab and can also be operated outside the machine to remotely control the machine from the outside. Steuerung für Arbeitsmaschinen mit Ausleger nach Anspruch 7, dadurch gekennzeichnet, dass die Daten zwischen Bedienorgan und Maschine mittels Kabel oder kabellos mittels elektromagnetischen Wellen übertragen werden.Control for working machines with boom according to claim 7, characterized in that the data between the operating element and the machine by means of cables or wirelessly transmitted by means of electromagnetic waves.
DE202011003220U 2011-02-25 2011-02-25 Control for working machines with boom Expired - Lifetime DE202011003220U1 (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012024399A1 (en) 2011-12-13 2013-06-13 Vemcon UG (haftungsbeschränkt) Control element for use as human-machine interface for control machine, has plane stretched through non-deflected rotational-X-axis and non-stretched rotation-Z-axes rotating in angle at second plane stretched through X- and Z-axes
EP3014026A4 (en) * 2013-06-25 2017-02-22 Steelwrist AB System and methods for with a first and a second hand operated control, controlling motion on a work tool for a construction machine
CN107532897A (en) * 2015-04-13 2018-01-02 莱卡地球系统公开股份有限公司 Dynamic motion compensates
WO2018022499A1 (en) 2016-07-27 2018-02-01 Caterpillar Trimble Control Technologies Llc Excavating implement heading control
EP4310261A1 (en) * 2022-07-18 2024-01-24 Leica Geosystems Technology A/S A system for handling the seamless transition of breaklines during an excavation task

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012024399A1 (en) 2011-12-13 2013-06-13 Vemcon UG (haftungsbeschränkt) Control element for use as human-machine interface for control machine, has plane stretched through non-deflected rotational-X-axis and non-stretched rotation-Z-axes rotating in angle at second plane stretched through X- and Z-axes
DE202012012959U1 (en) 2011-12-13 2014-05-22 Vemcon UG (haftungsbeschränkt) control element
DE102012024399B4 (en) 2011-12-13 2019-08-08 Vemcon UG (haftungsbeschränkt) Six degrees of freedom control element
EP3014026A4 (en) * 2013-06-25 2017-02-22 Steelwrist AB System and methods for with a first and a second hand operated control, controlling motion on a work tool for a construction machine
CN107532897A (en) * 2015-04-13 2018-01-02 莱卡地球系统公开股份有限公司 Dynamic motion compensates
CN107532897B (en) * 2015-04-13 2020-11-17 莱卡地球系统公开股份有限公司 Method for providing compensation for kinematic accelerations and system for compensating measurements
WO2018022499A1 (en) 2016-07-27 2018-02-01 Caterpillar Trimble Control Technologies Llc Excavating implement heading control
EP3491196A4 (en) * 2016-07-27 2019-08-07 Caterpillar Trimble Control Technologies LLC Excavating implement heading control
EP4310261A1 (en) * 2022-07-18 2024-01-24 Leica Geosystems Technology A/S A system for handling the seamless transition of breaklines during an excavation task

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