DE3346800A1 - ROTATING WORK VEHICLE - Google Patents

Description

Uipl.-Ing. Olio wing, Dipl.-Ing. Manfred Säger, patent attorneys, Cosimastr. 81, D-8 Munich 81

Japanese Patent Application 234298/1982, filed December 14, has priority for the present application 1982, Japanese Utility Model Application 49852/1983 filed April 4, 1983, and Japanese Patent Application 134987/1983 of July 21, 1983.

The invention relates to a rotatable work vehicle with a vehicle underbody and one with an implement rotating carriages equipped for earthworks, a hydraulic motor for driving the rotating carriage, which is rotated with respect to the substructure, and a control valve for the hydraulic drive.

The work equipment of such a work vehicle should work alternately, that is, the ground is excavated at one point and transported from there to a loading point, which is a truck or like that can be. Therefore, the rotating carriage equipped with the work implement must be so steered that the alternating movement in relation to the vehicle chassis is exactly at an angle between two holding positions, that is, it is performed alternately from one position to the other.

For this purpose, it is customary to move the cart equipped with the implement from the starting position to the To steer the stopping position by a switching valve manually in time intervals considered suitable for this is switched.

BATH ORIGINAL

, '' 3346 80C

Di |) I.-iiig. Otto Flügel, Dipl.-Ing. Manfred Säger, patent attorneys, Cosimastr. 81, D-8 Munich 81

However, this has the disadvantage that the hydraulic system and the mechanics of the vehicle due to the large Moment of inertia of the rotating carriage and related parts subjected to an impact are, because namely the switching valve is inevitably closed quickly in practice. Also the driver of the vehicle is affected by such inconveniences. Another disadvantage can be seen in the ease of use, to the extent that a a high degree of experience and skill is required to stop the rotating carriage exactly at the target angle. The correct assessment of the driving time required to the stopping position is up to the vehicle driver the duration exhausting and tiring.

The invention is therefore based on the object of providing a work vehicle of the type described at the outset To make available, in which the stop in the course of the alternating operation of the implement without the previously usual Requirements for experience and skill of the vehicle driver automatically and reliably in the given angular position takes place, occurring vibrations and impact effects are suppressed and that Work vehicle through sensible use of the indispensable parts in conventional designs is designed as economically as possible.

In the case of an object according to the preamble of claim 1, this object is achieved according to the invention by the latter characteristic features solved.

To solve this problem, a rotatable work vehicle according to the invention is characterized by a Vehicle underbody, a work device for earthworks, which can be pivoted with respect to the vehicle body.

BATH ORIGINAL

Dipl.-Ing. Otto Flügel, Dipl.-Ing. Manfred Säger, patent attorneys, Cosimaslr. 81, D-8 Munich 81

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is arranged, a hydraulic motor for the pivoting movement of the implement, an electric control valve, with which the operating direction is switched and the flow rate of the hydraulic medium to the hydraulic motor can be set or regulated, an actuator for the control valve, a electrical sensor, its output depending on the actuation direction and actuation size of the actuation device takes place, a control device for controlling the control valve as a function the information of the sensor, a setting device for setting the left and right stop position with respect to the vehicle body, the implement in the successive work phases between this position is reciprocated, means for detecting the angle of left and right movement of the implement with respect to the vehicle body and a control device through which the control valve is automatically steered to the lower flow rate side whenever the facility for the position verification indicates that the implement has arrived in the vicinity of one of the stopping positions which are set in advance by means of the setting device.

The device for the automatic stop control thus receives information relating to the position on the one hand the previously set target angle of the implement in relation to the vehicle body and other information with regard to the actually proven position of the implement, based on of this information, the flow rate of the hydraulic

Dipl.-Ing. Otto Flügel, Dipl.-Ing. Manfred Säger, patent attorneys, Cosimastr. 81, D-8 Munich 81

Lischen drive motor of the working device supplied working medium can be reduced whenever that The implement has reached the vicinity of the set target position, the implement for earthworks being automatic stopped at the target position set by means of the setting device and thereby the Swing angular speed of the implement is reduced in a suitable manner. Accordingly, it is so far Required experience and skill of the driver for stopping the implement in the desired stop position is no longer necessary. Sudden stops are avoided and undesirable Vibrations are suppressed. The stop operation takes place smoothly and smoothly.

In particular, it is also the aim of the invention to provide the control valve which is indispensable in conventional constructions as sensible and expedient as possible for the automatic stop of the implement according to the present invention Invention use, so that the construction compared to the conventional principle that specifically provides a regulator for the flow rate for the automatic stop is largely simplified.

Advantageous configurations and developments of the invention are characterized in the subclaims.

There follows a description of preferred embodiments of the invention in conjunction with the drawings.

BATH ORIGINAL

Dipl.-Ing. OtIo wing, Dipl.-Ing. Manfred Säger, patent attorneys, Cosimuslr. 81, D-8 Munich 81

It shows:
Figure 1
Figure 2
Figure 3

Figure 4

Figure 5
Figure 6

Figure 7

Figure 8

a side view of the work vehicle as a whole;

a circuit diagram of the hydraulics for driving the rotary movement;

a graph showing how the time control expressed in terms of the angular position for the automatic start of the control for the speed reduction before stopping the rotary movement is switched depending on the highest angular speed;
a detailed graph of the control of the angular velocity of rotation in a length of rotation;
a schematic block diagram of the control of the angular velocity of rotation;
Fig. 3 is a flow chart showing the operation of a data processor used as part of the controller;
a side view, partly as a sectional view, of an embodiment of a device for detecting the angle of rotation, which is used as part of the control;
a side view, comparable to FIG. 7, of a modified embodiment of the device for detecting the angle of rotation.

BATH ORIGINAL

Dipl.-Ing. Otto Flügel, Dipl.-Ing. Munfircd Säger, Pulcntanwiille, Cosimiislr. 81, D-8 Munich 81

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As a special example of a rotatable construction vehicle, FIG. 1 shows a bucket excavator with a rotatable one Car 2, which is rotatably mounted on a vehicle chassis or vehicle body, which latter a Has a pair of left and right crawler tracks 1. The carriage 2 can be rotated about a stationary axis P by the drive via a hydraulic motor 3. on an operating unit 4 for driving operation and a drive unit 5 are stationary on the rotatable carriage 2 arranged. At the foremost end of the rotatable carriage 2 is an implement in the form of a backhoe 6 pivotally attached. The implement 6 is for a pivoting movement up and down as well as for designed a sweeping and hauling motion. At the foremost end of the vehicle chassis or vehicle body a working device in the form of a front loading shovel 7 is movably attached, which is pivotable can be articulated up and down.

Figure 2 shows the hydraulic circuit for driving the rotatable carriage 2. A motor 3 is hydraulic lines connected to a hydraulic pump 8, the hydraulic lines being a control or switching valve 10 have, with the help of which the operating mode of the rotatable carriage can be switched, namely alternatively alternating between a swivel movement to the right, to the left and a stop position. In In this case, the control or switching valve 10 is designed for double operation and therefore serves at the same time as a valve regulator for setting or regulating the flow rate of the hydraulic supplied to the motor 3 Medium, the controller in proportion to the control variable or position in each of the respective operating modes is operated.

Dipl.-Ing. OUo l'liigul, Üipl.-Ing. Manfred Säger, Palenlanwülle, Cosimaslr. 81, D-8 Munich 81

In the respective hydraulic lines that lead to the connections for actuating the control valve 10, is a pair of proportional electromagnetic valves 11,12 arranged depending on their Pilot pressure at the input for switching and proportional control of the control or switching valve 10 worries. In this way, suitable control of the rotating operation of the rotating carriage 2 is enabled, namely, the control of the rotational angular velocity and the stop by sending a command to a Drive controller 13 is output, which is provided for controlling the electromagnetic valves 11,12 is.

Numeral 14 denotes a brake valve mechanism which prevents the rotating carriage 2 from owing its inertia is still rotated after the drive has stopped. Reference number 15 denotes expansion valves, which exert a damping effect in the event of a sudden or jerky stop of the rotatable carriage 2.

The drive controller 13 is designed for both manually and automatically commanded steering operation. In the present Case, the automatic stop is included in the automatically commanded steering or control mode, which, however, includes some manual steering or control operations. The actual fully automatic Steering or control consists entirely of automatic processes.

First, the description of the automatic stop mode, in which some manual operations are incorporated are.

BATH ORIGINAL

Üipl.-Ing. OUo wing, Dipi.-lng. Manfred Säger, patent attorneys, Cosimaslr. 81, D-8 Munich 81

The area at the top right in Figure 2 shows a Lenkbzw. Control device 150 for manual steering or control of the rotary movement to the left or right in the illustration and a potentiometer 160 for the Proof of the steering direction of the steering device 150 in relation to its neutral position N and for the proof the steering or control variable. A control device 20 shown as a block receives the potentiometer 160 verified information and controls the hydraulic depending on this information Control or switching valve 10 via the electromagnetic valves 11, 12 in such a way that the rotatable carriage 2 as a result of a left steering movement of the steering device 150 to the left and, in the opposite case, to the right is rotated and that the angular speed of rotation is controlled in both directions so that this with increasing distance of the steering device 150 from its neutral position N becomes greater. In this way the movement of the rotatable carriage 2 can be controlled so that the implement or the backhoe 6 in a suitable Way is swiveled to the left or right as desired.

The control device 20 has a sufficient large information memory and is designed with regard to its function so that the operating direction of the Hydraulic motor 3 and the amount of the hydraulic motor 3 supplied working medium both based on the information previously entered into the memory as well as based on the information from the potentiometer 160 with respect to the steering position of the steering device 150, which is in the form of a potentiometer 160 output different voltage signal are supplied, it is judged that the control unit

Dipl.-Ing. Olio wing, Dipl.-Ing. Manfred Säger, patent attorneys, Cosimaslr. 81, D-8 Munich 81

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direction for the rotary movement to the left, namely the electromagnetic valve 12, or the control device for the rotary movement to the right, namely the electromagnetic valve 11, depending on the results this judgment is operated in such a way that an intermittent Power is supplied in the form of a pulse train signal, while the repetition frequency of the pulse signal is changed appropriately so that the total duration of the power supply per unit time interval corresponds exactly to the assessed situation or situation, and that further information is already stored with regard to the task of the control device 20, namely the actuation or control of the control or Changeover valve 10, which will be described below.

The most important facilities for this task are shown as block 18 and block 19. Block 18 is a sensor for detecting the angle of rotation of the rotatable carriage 2 with respect to the substructure by means of a Potentiometers. Block 19 is a setting device as a whole, consisting of a first setting device 19a for setting a first stop position or standard angle of rotation position with respect to the Substructure consists in which the rotating carriage 2 stopped, for example, to carry out excavation work is, and from a second setting device 19b for setting a second stop position or standard angle of rotation position with respect to the substructure in which the rotatable carriage 2 is for example stopped for unloading soil. In this connection, reference numeral 120 denotes a Manual switch for switching the control device 20 between the active state or the operating state for the inclusion of information both the angular

■ · « ψ 9

Dipl.-Ing. OtIo wing, Dipl.-Ing. Manfred Säger, patent attorneys, Cosimaslr. 81, D-8 Munich 81

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pointing device, namely the sensor 18, as well as the two setting devices 19a, 19b and the implementation of the control on the basis of this information and an inactive or inoperative state. By actuating the hand switch accordingly 120 selected active state or operating state means that the control or switching valve 10 is automatically controlled by the control device 20 to the side where a decrease in the flow rate takes place when the rotatable carriage 2 is in relation on the substructure in the course of one of the alternating movements in a previously defined area in the Proximity of the two stop positions or positions set by means of the respective setting devices 19a, 19b Standard angular positions is reached, the movement of that of the other of the two standard positions, so the starting angle position in this case, to one of the two standard positions, in this case Case corresponds to the target angular position with respect to the substructure.

When drawing trenches or digging holes, where the backhoe alternates with respect to the vehicle between a side position in which the excavation is carried out and another side position in which the Earth is dumped, reciprocated or the rotatable carriage 2 with respect to the vehicle underbody of a its standard angular positions, namely the starting position for this movement, to the other standard angular position, namely the target stop position in this movement, rotated and the backhoe 6 in relation is carried on the vehicle body, it is possible to automatically set the rotatable carriage 2 in the desired position

• 9 ir β r

Di |) l.-Ing. Olto wing, Dipl.-Ing. Manfred Säger, patent attorneys, Cosimastr. 81, D-8 Munich 81

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Stop target angle as soon as the driver of the vehicle simply manually actuates the steering Steering device 150 has initiated once, in the course of the automatic stop, the angular speed of rotation of the rotatable carriage 2 is automatically decreased when the rotatable carriage 2 with respect to the vehicle body has reached the previously determined range of the target angular position. In this way, the rotating carriages can be stopped shock-free and vibration-free.

In this case, the control device 20 also has a program and data information that are suitable for Time control settings expressed by the angle of rotation position are stored, so that the automatic stop control at the control valve 10 can be initiated. The right setting the time control means that the automatic stop control is started when the rotatable carriage 2 with respect to the vehicle chassis an angular position upstream of the set Target stop has reached, namely at an angle which is the highest with regard to the estimated plateau-shaped Angular speed of the rotatable carriage 2 is to be set. Therefore, the stored Program also information received from a facility 18 'for calculating the actual Angle of rotation output by processing a signal from the device 18 for the detection of the angle of rotation will. Based on this information, the timing for the start is corrected the stop control on the control valve 10, which takes place at an appropriate time before the plateau-shaped highest angular velocity of the rotatable carriage 2 increases for one reason or another.

Dipl.-Ing. OUo wing, Dipl.-Ing. Muni'rcU Siigcr, Patentanwalle, Cosimastr. 81, D-8 Munich 81

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FIG. 3 shows a graphic representation of a modified time control, the angle of rotation θ des With respect to the vehicle substructure rotatable carriage 2 on the abscissa and the angular speed V of rotation is expressed on the ordinate, the solid line being a normal line beginning at the angular position S. automatic stop control and the phantom line shows an abnormal case in which the plateau-shaped highest angular speed is slightly higher than in the normal case and the automatic stop control accordingly starts earlier than normal.

In this way, problems that arise when the rotational angular velocity is effectively counteracted slightly exceeds the norm due to work on extremely uneven terrain. Even in such In abnormal cases, the angular speed of the rotating carriage is automatically reduced 2, so that the automatic stop takes place smoothly and smoothly, as desired.

In the practical embodiment of the invention, the rotatability of the carriage 2 can be replaced or supplemented by a hydraulic cylinder 3 ¹ (Figure 1), with the help of which the bucket 6 is pivotable with respect to the rotatable carriage 2 or with respect to the vehicle chassis and thus the vehicle body in general, in the event that the carriage 2 is not rotatable.

Needless to say, the present invention is used in connection with a variety of Working vehicles is used and is not limited to the backhoe excavator described in this example is. The present invention is suitable for

Dipl.-Ing. Olio wing, Dipl.-Ing. Manfred Siigcr, patent attorneys, Cosimastr. 81, D-8 Munich 81

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Example also for front shovel vehicles.

Instead of the control or switching valve 10, a valve can also be used whose actuation with With the help of a servomotor, the special training of the control mechanism is used for the adaptation by appropriate modification of the valve 10, a number of known possibilities are available.

When performing the work in the course of the alternating movement of the backhoe bucket 6 is also possible according to the invention, the automatic stop of the rotary or pivoting movement to be provided in the individual movements only in a certain direction, the starting position a predetermined, standard angular position on one side of the vehicle and the target position a predetermined, standard angular position on the other side of the vehicle.

In connection with FIGS. 2 and 3, which have already been discussed above, and with the figures 4 to 6 is the description of a particularly useful design of the automatic Control for the automatic stop of the rotating or swiveling movement including system through which it allows the angular velocity of the rotatable carriage to be increased with each movement from the beginning is defined to the end, namely by the predetermined function of a for the highest possible rotational speed applied angle of rotation, with a steady start and stop of the rotating carriage as well as an excellent aiming accuracy with regard to the stop position with automatic stop ensured are.

Dipl.-Ing. Olto wing, Dipl.-Ing. Manfred Siiger, patent attorneys, Cosimaslr. 81.D-8 Munich 81

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As can be seen from FIG. 2, the control valve 10 is equipped with a sensor device 17 in the manner of a limit switch for the detection of the actual rotational or pivoting position. As has already been explained, block 18 describes a sensor in the form of a potentiometer, namely the angle detection sensor, which is arranged on a rotatable shaft of the rotatable carriage 2 or connected to it and for detecting the right and left angles of rotation of the carriage 2 with respect to the Vehicle substructure is used. After the manually initiated or commanded start in the manner already described, the control device 20 takes over the automatic control of the drive controller 13 as a function of the information given by both sensors 17,18 such that the rotatable carriage 2 at an angular speed Θθ, which is determined by a predetermined function of the angle of rotation θ is reliably defined, rotated or pivoted and is finally stopped for this movement in the target position 9 _f set by the setting device 19. In this way, the frequent rotating or pivoting movement of the rotatable carriage 2 from the excavation point to the unloading point can be controlled or steered relatively easily and efficiently without the angular speed of rotation and the stop having to be manually controlled with relatively great effort.

The graph in FIG. 4 shows a specific example of the automatic control of the rotational angular velocity Θθ in a position at the rotational angle start position θ _? beginning and ending at the angle of rotation end position 9 _f movement train by means of the control device 20 as a predetermined function of the

Dipl.-Ing. Otto Flügel, Dipl.-Ing. Manfred Säger, patent attorneys, Cosimastr. 81, D-8 Munich 81

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Angle of rotation θ from the start position θ, which is why θ is zero here. (Although the successive rotations are usually repeated in reverse order, the value of θ after the start is always considered positive, and the value of θ at the end position θ.ρ is also simply referred to as θ x .) Like the solid curve in Figure 4 shows, the functional or operating phases of the illustrated example each correspond to a steady state of acceleration at the beginning of the rotary or pivoting movement, which is shown as part of a curve X , expressing the first predetermined formula A, to a steady state of deceleration at the end of the rotary movement. or pivoting movement, which is shown as part of a curve m, which expresses a second predetermined formula B, and a state of constant speed at a plateau-shaped highest angular speed Θ _Μ , which is set to perform the entire movement quickly and evenly beforehand, like that shows part of a horizontal straight line η, which shows a third given formula C expresses:

Θθ = _Λ / 2Κ ₁ (θ + £) (A)

Θθ = / j2K ₂ (0 _f - £ - θ) (B)

ββ = Θ _Μ (C)

Corresponds to:

K ₁ , K "given constants (which in this case K ₁ = K ₃
= Should be K)?

6 an auxiliary parameter that defines the angular velocity at the rotation start position θ and

E is a given constant that expresses the insensitivity range around the end of rotation position 6 _f .

Dipl.-Ing. Otto Flügel, Dipl.-Ing. Manfred Säger, patent attorneys, Cosimastr. 81, D-8 Munich 81

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It is assumed that three formulas A, B, C have already been previously stored in the memory of the control device 20 are and after receiving the information about the end position θ ~ of the rotary or pivoting movement and the Direction of rotation by the setting device 19 and the sensor 17 for the detection of the steering status (which was on can best be seen from FIGS. 5 and 6) the calculation of the three values of Θθ according to FIG Formulas A, B, C are made, the value of actually being detected angle of rotation θ is used, which is continuously used by the sensor 18 for the angle detection is made available. It can be seen from FIG. 6 that a block 20a shown in FIG. 5 is an arithmetic processor which always selects the smallest of the three values of Θθ calculated in the above way and outputs as the target angular velocity Θ © for the control command. A differentiating circuit is shown using a block 20b in Figure 5, which as an input of the actual angle of rotation θ of the Angular detection sensor 18 receives and the actually detected rotational angular velocity θ continuously issues.

The block 20c shown as a phantom image in Figure 5 denotes a correction signal composer, the receives output information from both the arithmetic processor 20a and the differentiating circuit 20b, namely, the values of the angular velocity of the control target Θθ and the actual proof Θ, for the determination the difference θ = θ - Θθ the former from the latter subtracts the difference to determine the result Θ, = ke with a given. Correction factor k is multiplied and this result subtracted from the control target value Θθ, so that an output

33468UU-

Dipl.-Ing. Otlü wing, Dipl.-Ing. Manfred Säger, patent attorneys, Cosimastr. 81, D-8 Munich 81

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Correction signal value θ ^ _θ = Θθ - θ ^ = Θθ - k (6 - Θθ) (1 + k) Θθ - k0 is determined, which is entered as a command in the drive controller 13.

The automatic control of the drive controller 13 is based on this feedback principle, so that the actually proven rotational angular velocity θ controllable at each value of the proven rotational angle θ is controllable and can be brought close enough to the target value of θθ that always defined by one of the three formulas A, B, C. which then indicates the smallest value θθ for correcting the actual rotational angular velocity θ as a function of and agreement with the command target speed Θθ as mentioned above. In this way, the angular speed of rotation Over the entire distance of the rotary or pivoting movement, that is to say during the acceleration phase Beginning of rotary motion, during the constant speed phase in the middle of the Distance of the rotary or swivel movement and reliable during the deceleration phase at the end of the rotary movement automatically control, in an optimal way for each of the operating phases, so that the rotating carriage 2 steered evenly over the entire movement path and finally with absolute accuracy in the specified target position is stopped.

It is believed that the three formulas A, B, C two other formulas in the memory means of the controller 20 additionally already been previously stored, which are shown in Figure 4 ^x using a curve Jt, the area shown by a solid line a uniform Deceleration phase in the reverse order of the rotary movement

Dipl.-Ing. Otto Flügel, Dipl.-Ing. Manfred Säger, patent attorneys, Cosiniastr. 81, D-8 Munich 81

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speaks and expresses a fourth predetermined formula D, and using a horizontal, straight line n ¹ , the area of which, shown with a solid line, corresponds to a uniform, constant speed state with a plateau-shaped, absolutely highest angular speed, but with a negative value -§ _M , ( In this case, the value should correspond to θ = Q ) and in reverse order to the rotary or swivel movement, whereby a fifth predefined formula E is valid:

θ © = - V-2K ₃ (6 _f + C-θ) (D)

« ^Θ = -β _Μ . (E)

Corresponds to:

Κ, a given constant for the definition of the steepness of the deviation of the angular velocity in the final stage of the movement in reverse order (in this case corresponds to K ₃ = K ₁ = K ₃ = K)
and in the event that the rotating carriage is inadvertently moved beyond the stop at the target position 0 _f due to external disturbances or influences, causes the operation to proceed as in the normal course of the forward rotation described above, that is, the respective values of θ © according to the Formulas D, E are calculated, the smallest of the two values θθ is always selected and the drive controller 13 is controlled according to the principle of feedback so that the actually detected angular velocity θ at each value of the detected angle of rotation θ is close enough to a specially selected one of the values of θθ can be introduced, which are defined by the formulas D or E. In this way, an automatic

Di |) l.-Ing. Otto Flügel, Dipl.-Ing. Manfred Säger, l'uicntunwällc, Cosimnslr. 81, ü-8 Munich 81

table return of the rotatable carriage 2 quickly and smoothly to the previously set target stop position 9 _{f possible} in the same way as in the normal course in the forward rotation, without the need for manual control to correct the movement beyond the target.

The sensors for detecting the angle of rotation θ of the rotating carriage 2 with respect to the vehicle chassis and for the verification of the switching status of the tax or Switching valve 10 are not on training limited as a potentiometer or limit switch, but can be in the form of known for this purpose Contact sensors or non-contact sensors are provided, which are generally used as angle detection devices 18 for the detection of the angle of rotation with respect to the vehicle body or as a device 17 for the Proof of the condition of the control or switching valve.

The device 17 for the detection of the switching state or the switching position of the control or switching valve 10 is not limited to training for direct evidence, but also allows training for indirect proof of the switching state of the valve 10, for example by changing the direction of rotation of the rotatable carriage 2 based on the information of the device 18 for the detection of the angle of rotation in relation is determined on the vehicle body.

Instead of a single control valve 10 in the form of a A valve can be arranged as a pilot valve which, as described above, has a double function be, which the rotatable carriage 2 when switching

BATH ORIGINAL

Dipl.-Ing. Otto Flügel, Dipl.-Ing. Manfred Säger, patent attorneys, Cosimastr. 81, D-8 Munich 81

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controls or steers on its forward rotation, reverse rotation and stop position, as well as a valve, that for the purpose of controlling the angular velocity of the hydraulic motor 3 supplied hydraulic Adjusts the working medium in a regulating manner. Finally, it is also possible to use a separate one for the relevant purpose To arrange valve.

It is obvious that the formulas A, B, C, D, E

₃ ,

* ^θ _Μ ' ^θ _Μ ΐ'

^the before

used constants K ₁ , ₂
to be stored in the controller 20 can be selected in accordance with the actual conditions.

As a specific example of the sensor 18 for detecting the rotation angle of the rotatable carriage 2, the following is shown in connection with FIG. 7 a first alternative embodiment in the manner of a rotary encoder described.

Reference numeral 18 denotes a rotary encoder which is a specific embodiment of the angle detection sensor represents which is functionally connected to the control device 20 and for indicating the direction and angular speed of the rotational movement of the rotatable carriage 2 with respect to the vehicle chassis and the automatic stop of the carriage 2 in the predetermined target position. Reference numeral 110 denotes generally a speed reduction device for driving the rotatable carriage 2 and comprises an output shaft 110a, a housing 110b and a rotatable intermediate shaft 110c, which with respect to the power transmission upstream of the output shaft

Dipl.-Ing. OtIo hill, l) ipl.-lng. Manfred Säger, I'alcntanwiillc, Cosimuslr. 8I ₁ d-8 Munich 81

110a with one end protruding outwardly through the housing. The rotary encoder 18 is via a Coupling 117 attached to the protruding end of the intermediate rotatable shaft 110c. In this way the rotary encoder 18 is allowed to rotate at an angle proportional to the angle of rotation of the rotatable carriage at a rate so highly proportional that the former angle is much larger than the latter, making the angle of rotation of the rotatable carriage 2 at quite high Resolution is recorded or demonstrated. Numeral 107 denotes a rotatable connector for lubrication purposes .

A number of known possibilities are available for the formation of the speed reduction device Available, and there is no restriction that the rotary encoder 18 can be used at a specific one Shaft of the speed reduction device 110 upstream of the output shaft 110a with regard to must be arranged on the power transmission.

Figure 8 shows one of the possibilities for the arrangement of the rotary encoder 18, which in this case on a Motor output shaft 3a is attached.

Several known possibilities are available for the formation of the rotary encoder 18, for example on an optical or magnetic basis. Also for attaching a base or an outer housing of the rotary encoder 18 on the cover housing 110b of the speed reduction device 110 and Several known possibilities are available for the formation of the coupling 117.

Dipl.-lng, OtIo wing, Dipl.-lng. Manlred Siiger, l'alenlanwiiUo, Cosimaslr, 81, D-8 Munich 81

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In either case, it can be a commercially available rotary encoder More compact design can be used by the conventional speed reduction device is modified in that one of its shafts extends through the housing, wherein the rotary encoder is connected to the protruding end of the shaft via a coupling and the base or the outer housing of the rotary encoder on the cover housing of the speed reduction device is attached. In this way, the function of the speed reduction device used sensibly and has the effect that the moving part of the rotary encoder is at an angle rotates, which is far greater than the angle of rotation of the rotatable carriage, so that the angle of rotation of the carriage with fairly high resolution is detected, although the rotary encoder's own resolution itself may be is not very high.

According to the present invention, a work vehicle made available, which is extremely easy to use in terms of rotatability, since the Control of the automatic stop of the rotating carriage and the detection of the direction of rotation and the absolute amount of rotation precise and reliable. In addition, the manufacturing costs as well as the costs for replacement and accessories of the vehicle within a reasonable range.

Briefly summarized, the invention relates to a rotatable work vehicle with a rotatable carriage 2 and a hydraulic motor 3 for the rotary drive. Furthermore, a control device 20 is provided, which ensures that

Dipl.-Ing. ütlü l'lüiiol, Dipl.-lny. Manfred Säger, l'ulcnlunwiillc, Cosimaslr. 81, D-8 Munich 81

that the flow rate of the hydraulic working medium supplied to the engine 3 is decreased, whenever the rotating carriage 2 in a predetermined area in the vicinity of either the right or left predetermined one Stop position is reached, whereby the rotational speed is reduced in this area.

^ß AD ORIGfNAL

Dipi.-lng. Otto wing, Uipl.-Ing. Manfred Siiger, patent attorneys, Cosimastr. 81, D-8 Munich 81 1 Crawler tracks 2 rotating carriage 3 Hydraulic motor 3 ' Hydraulic cylinder 3a Output shaft 4th Control unit 5 Drive unit 6th Working device 7th Front loading bucket ο οο hydraulic pump 10 Control or switching valve 11th electromagnetic proportional valve 12th electromagnetic proportional valve 13th Drive controller 14th Brake valve mechanism 15th Relief valves 16 17th Sensor device for the verification of the actual rotational position 18th Angle detection facility 18 ' Device for calculating the actual angle of rotation 19th Adjustment device 19a Device for setting a first stop position 19b Device for setting a second stop position 20th Control device 20a Arithmetic processor 20b Differentiating circuit 20c Correction signal composer 107 rotatable connection for the oil supply 110 Speed reduction device HOa Output shaft HOb Cover housing HOc rotatable intermediate shaft 116 117 Coupling 120 Tape switch 150 Steering device 160 Potentiometer

Claims (6)

i * OO UU Dipi.-Ing. OUo wing, Dipl.-lng. Mmilred Siigcr, Patent Attorneys, Cosiniustr. 81, D-8 Munich 81 KUBOTA LTD. 47-go, 2-ban, 1-chome, Shikitsuhigashi Naniwa-ku, Osaka-shi, Osaka-fu Japan 12,349 sä / wa ROTATING WORK VEHICLE Claims Rotatable work vehicle, marked by a vehicle body, a work device (6) for earthworks, which is arranged pivotably or rotatably with respect to the vehicle body, one Hydraulic motor (3, 3 ') for driving the rotary or pivoting movement of the implement (6), an electric one Control or switching valve (10) for switching the operating direction of the hydraulic motor (3, 3 ') and for setting the flow rate of the dem Hydraulic working medium fed to the hydraulic motor, a steering device (150) for the control or Switching valve (10), an electrical sensor (160) for the detection and output of information in Dependence of the steering direction and steering size of the steering device (150), a control mechanism for the Actuation or control of the control or switching valve (10) depending on the information of the Sensor (160), setting devices (19a, 19b) for setting a right and left stop position in with respect to the vehicle body, the working device (6) alternating in the successive working stages is guided back and forth between the two positions, an angle detection device (18) for proof of the right and left angle of movement üipl.-lng. Olio Huegel, Uipl.-Ing. Manfred Säger, patent attorneys, Cosimastr. 81, D-8 Munich 81 of the implement (6) with respect to the vehicle body and a control device (20) for the automatic Control of the control or switching valve (10) towards the side reducing the flow rate, if the information of the device (18) for the verification of the position always shows that the implement (6) has arrived in the predetermined area in the vicinity of one of the stop positions that are determined by means of the setting devices (19a, 19b) were set. 2. Work vehicle according to claim 1, characterized in that the control device (20) is equipped with a switch (120), with the aid of which the control device (20) is switched it is possible to switch between an active state or operating state and a passive state or idle state. 3. Work vehicle according to one of claims 1 or 2, characterized in that a device (17) for the detection of the valve position is provided which outputs this information to the control device (20), and that the control device (20) for the automatic control of the Steuerbzw. Switching valve (10) is designed so that the The implement (6) is rotated at an angular velocity which is defined by a predetermined one Function of the information both of the device (17) for the verification of the valve position and of the device (18) for the verification of the angle. BATH ORIGINAL Dipl.-Ing. Otto Flügel, Dipl.-Ing. Manfred Säger, patent attorneys, Cosimaslr. 81, D-8 Munich 81 4. Work vehicle according to one of claims 1 to 3, characterized in that the vehicle body has a vehicle underbody and a pivotable or rotatably arranged carriage (2) on the vehicle underbody, that the working device (6) is attached to the rotatable carriage (2) is that the control device (20) is designed for the automatic control of the control or switching valve (10) so that the rotatable carriage (2) is rotated with respect to the vehicle chassis, in a movement trajectory at a rotation start position (Q ₃ ) begins and _{ends at an end-of-rotation position (0 f} ) and at an angular velocity that is defined by the function selected from the following three formulas (A, B, C): θθ = / 2K ^ _f ~ (HJ) (B) θθ = Θ _Μ (C) in such a way that always those of the three formulas (A, B, *
C) is adopted which gives the smallest value of Θ © for the specific value of θ at this point in time; where θ corresponds to the angle of rotation from the starting position (Θ), which is why θ is equal to zero, and although the successive rotary movement is usually repeated in reverse order, the value of θ is always considered positive after the start of each movement, and the value of θ on the end position (9 _f ) is therefore simply referred to as 9 _f ; θ denotes the rotational angular velocity at the position defined by the angle θ; Θ., Denotes a constant known as the highest rated angular velocity of the Dipl.-Ing. OUo wing, üipl.-lng. Manfred Säger, patent attorneys, Cosimastr. 81, D-8 Munich 81 rotatable carriage 2 is attached; & is an auxiliary parameter for defining the angular velocity of the rotatable carriage (2) at the rotation start position (Θ); £ is a given constant for the definition of an insensitivity area around the end of rotation position (G _f ) and K ,, K ₂ are given constants for the definition of the steepness of the variation of the angular velocity in the start and end phase of the turn of the rotary movement. 5. Work vehicle according to one of claims 1 to 4, characterized by a speed reduction device (110) for driving the rotatable carriage (2), which is arranged on the rotatable carriage (2) and has an output shaft (110a), a cover housing (110b) and a rotatable intermediate shaft (110c), which is arranged upstream of the output shaft (110a) with regard to the power transmission, one end of the shaft (110c) extending outwardly through the housing (110b) and an angle detection device (18) serving rotary encoder via a coupling (117) at the protruding end of the rotatable intermediate shaft (110c) is attached. 6. Work vehicle according to one of claims 1 to 5, characterized by a speed reduction device (110) for driving the rotating carriage (2) on the rotating carriage (2) is arranged and which has a cover housing (110b) and its input shaft (3a), which is an output shaft of the hydraulic motor (3) is so arranged BATH ORIGINAL Dipl.-Ing. OtIo wing, Dipl.-Ing. Manfred Säger, patent attorneys, Cosimastr. 81, D-8 Miinelien 81 is that one end protrudes through the housing (110b), wherein a rotary encoder serving as an angle detection device (18) attached to the protruding end of the engine output shaft (3a) via a coupling (117) is.