EP2957679B1 - Superordinate control system - Google Patents

Description

The present invention relates to a device with a carrier device and an attachment, such as a construction machine, such. As a crawler excavator with a drill mount as an attachment, according to the preamble of claim 1.

Attachments, such as drills, spray guns, grapples, harvesters, etc., for attachment to suitable carrier equipment, such as crawler excavators, walking excavators, wheeled excavators, mini and midi excavators, two-way excavators, mobile cranes, telescopic loaders, etc. are known in the art. In these devices, the operation of the attachment is usually done by hand, cable or radio remote control, while the carrier device is conventionally operated in a cab, or by its own hand, cable, or radio remote control.

Depending on the conditions on site, eg when drilling, two or more persons, for example one or more operators or instructors are required for positioning or operating the equipment (attachment and carrier device). Currently, for example, two operators are currently required in drilling application, a first operator for the drill and a second operator for the carrier. On the one hand, this is uneconomical due to the increased use of personnel. If only a single operator is available to operate the equipment, on the other hand, frequent change of location, for example due to inadequate control of the drilling operations, is necessary, resulting in an additional loss of time. In such operations, there is often danger to life, as the operator of the attachment must be within the danger zone, or because of visual problems such as dust, unclear terrain, structures, etc. the communication of the referrer with the operator of the carrier device is difficult. The increased noise emission at construction sites also contributes to this.
The pamphlets US 2002/0189435 A1 . WO 01/57324 A1 . KR 101164179 B1 and US 2002/014352 A1 disclose further prior art to drive systems. The WO 01/57324 A1 discloses the features of the preamble of claim 1.

The object of the present invention is therefore to develop a holistic operating and control concept with universally applicable control systems and the associated actuators, such as directional valves, etc. for all known carrier devices and attachments, regardless of the control system of the carrier device and the attachment, wherein the Functions from the existing cab or from the control station on a central control unit are mapped. In this case, all relevant safety and locking systems, such as brakes, emergency stop systems, etc. must be maintained and the economic implementation by using largely constant components, such as in a modular system can be done. All required components of the superior system should have the most compact dimensions and should have a sufficiently high resistance to external influences, such as moisture, dust, dirt, vibration, shock, corrosion, chemical resistance, etc., to be installed in the respective carrier and attachments to be able to.
This object is achieved by a device according to claim 1. Advantageous embodiments are disclosed in the subclaims.

The inventive apparatus comprises an attachment and a carrier mechanically connected to the attachment, and first and second receivers mechanically fixed on or to the carrier, or mechanically attached to or on the attachment. Furthermore, the device has at least one radio remote control, which can communicate with the first and the second receiver and communicate with them if necessary, so that the first and / or the second receiver transmit electrical signals to the carrier device and / or to the attachment, if the at least one radio remote control communicates with the first and / or the second receiver.

If the first receiver is mechanically fastened or arranged on or on the carrier device, it can thus transmit electrical signals to the attachment in the preferred embodiment. If the second receiver is mechanically fastened or arranged on or on the attachment, it can transmit electrical signals to the carrier device in the preferred embodiment. This allows radio remote control of the entire device, regardless of where the first and second receivers are located.

The electrical signals are preferably control signals that cause movement of the attachment and / or parts of the attachment and / or the carrier device, when the radio remote control transmits the first and / or the second receiver a designated first signal. The carrier device is advantageously designed to move the attachment.

The radio remote control can, for example, communicate with a receiver mounted on the carrier and also control the attachment via already existing additional functions.

For example, in order to communicate with the first and the second receiver, the radio remote control may have a transmitter, but possibly also several transmitters which transmit on different frequencies.

The device according to the invention comprises an attachment, a carrier device which is mechanically connected to the attachment and may be adapted to move the attachment on, a first and a second receiver, as well as a radio remote control, with the one or more receivers, for example with the first receiver and / or with the second receiver, preferably possibly also simultaneously, can communicate. The carrier device may be, for example, a hydraulic unit. According to the invention, the first receiver communicates with the carrier via control signals which cause the implement to move with the carrier when the radio remote controller transmits to the first receiver a first signal intended therefor. The second receiver transmits control signals to the attachment, the control signals causing movement of parts of the attachment when the radio remote control transmits to the second receiver a dedicated second signal, both the movement of the attachment and movement of the carrier with the same radio remote control be controlled, wherein advantageously still other auxiliary functions, such as engine start, pressure readings, oil pressure, temperatures, etc. are communicated with the above-mentioned radio remote control.

The movement of the attachment as a whole unit with the carrier device is advantageously controlled independently of the movement of, for example, parts of the attachment or the function of the attachment.

Such a device has a number of different advantages: for example, the operator can assume an operating position outside the danger zone, for example, outside of high voltage power lines, rockfall, landslides, contaminated areas, etc. without limiting the ease of use. The operator can choose his operating position with an optimal view of the current events himself and move without restriction by noise and / or dust sources. Moreover, in such a device, only a single operator is required, which results in increased economy due to the reduction in personnel, since e.g. a referrer is no longer required.

The device thus achieves an increased operating and positioning speed as well as an increased positioning accuracy by higher-level control, as well as an increased quality of operation, because only a single and higher-level operation is required. In this case, the operator no longer has to enter the cab of, for example, an excavator in order to position the attachment. The resulting lower physical load allows the operator to work safer and error-free. In addition, an energy saving can be effected, for example, when engine start / stop functions, or speed reductions are provided. The control unit is universally applicable to all known carrier devices and attachments, regardless of their respective control system. The higher-level control also allows the operation of the carrier device in stand-alone mode, ie without attachment.

With such a superior operating and control concept, universal attachments and also carrier devices can be operated with only a single radio remote control. Both the implements and the carrier devices can be operated in this way centrally and location-independent with only a single radio remote control.

In a preferred embodiment, a connecting part is arranged between the carrier device and the attachment, which is mechanically connected to both the carrier device, and with the attachment. The connecting part is preferably a support arm having at least one joint and / or at least one telescopic extension. This has the advantage that the attachment can be moved so that its relative position to the carrier device changes. In order to move the attachment from a first position to a second position, the carrier device can, for example, have a mobile subset, and / or a swivel joint, which is constructed, for example, on the mobile subset or on a pedestal. In this way, the attachment can be moved with the carrier from one location to another location.

If the relative distance between the carrier and the attachment is variable, the carrier to move the attachment from a first location to a second location does not always have to be necessarily moved.

The first receiver is preferably mechanically connected to the carrier and the second receiver is advantageously mechanically connected to the attachment. The first recipient thus controls the carrier, while the second receiver controls the attachment.

In a further embodiment, it is conceivable that, for example, the first receiver transmits control signals to the attachment via one or more signal / control lines, for example electrically, hydraulically, pneumatically or by radio signal, thus initiating one or more movements and / or functions of the attachment.

In a further embodiment, it is conceivable that, for example, the second receiver transmits control signals to the carrier via one or more signal / control lines, for example electrically, hydraulically, pneumatically or by radio signal, thus initiating one or more movements and / or functions of the carrier device become.

The carrier may be, for example, a crawler excavator, a walking excavator, a wheeled excavator, a mini or midi excavator, a two-way excavator, a mobile crane, a telehandler, or the like.

Of course, the carrier may also be a hydraulic excavator. Under a hydraulic excavator is understood to be an excavator whose chassis and work equipment are moved mainly by hydraulic power transmission. The hydraulic excavator may be e.g. a walking chain or wheeled excavator.

The attachment can be, for example, a drill, a sprayer, a gripper, a harvester or similar device, for example a drill, a drill mount, a mulcher, slope leveler, compactor, a vibratory plate and hydraulic quick-change devices, rotators, Tiltrotatoren, swivel quick coupler or the like or include.

It is essential that both the carrier device, as well as the attachment with a single radio remote control can be operated. If the selection is made between several attachments, each attachment advantageously has, in order to ensure universal applicability, its own second receiver, which can communicate with the existing radio remote control and which transmits or receives control signals to the respective implement, which movement of parts effect of the respective attachment, when the radio remote control transmits a signal intended for the second receiver. However, the movement of the implement as a whole is controlled by the carrier. The carrier device has a first receiver, which transmits control signals to the carrier device, which cause the implement to move with the carrier device when the radio remote control transmits a signal intended for this purpose to the first receiver.

The transmitter in the radio remote control can communicate, for example, in this manner either simultaneously with the two receivers, namely the receiver on the attachment and the receiver on the carrier, or alternatively alternately.

In a further embodiment, several transmit / receive modules per transmitter or receiver can be used.

When the transmitter of the radio remote control communicates with the receiver on the carrier, in a preferred embodiment the carrier reports the electrical control signals to the implement. The radio remote control itself can be designed in this way be that they can receive, for example, feedback signals or feedback signals from the first receiver and / or the second receiver, so that the respective state of the device, so both the carrier device and the attachment on or on the radio remote control recognizable or visible is. The remote control is designed so that both the carrier and the attachment can be operated with the control unit alone and independently. If the first and / or second receiver sends feedback signals to the radio remote control, it is preferably also designed as a transmitter.

The carrier device can have, for example, hydraulic or electrical (CAN, PWM, digital, etc.) directional control valves (hydraulic block) or a combination of both.

In the case of hydraulic directional control valves, in one embodiment, a pilot hydraulic signal switching is installed, which is preferably electrically connected to the first receiver via a calculation unit.

In the case of electrical directional control valves, in one embodiment, control is via an electrical interface / computing unit that is electrically connected to the first receiver.

By way of example, the carrier device can have a hydraulic pilot control signal changeover, which is electrically connected to the first receiver, preferably via a calculation unit. The carrier device may also include a hydraulic block, which is preferably connected to the first receiver via a hydraulic pilot signal switching. Alternatively or additionally, the carrier device may have an electrical interface, which via a calculation unit electrically connected to the first receiver.

The attachment may comprise a hydraulic block which is electrically connected to the second receiver, preferably via a calculation unit.
In this way, hydraulic controls of both the attachment and the carrier device can be effectively realized and / or in the case of electrically powered devices, these devices can be electrically switched and / or controlled accordingly. The electrical switching or control pulses, for example, motors in the attachment and / or in the carrier device on and off, but possibly also control, or for example switch valves and / or control, but also control hydraulic devices.

In the inventive embodiment, the remote control is a radio remote control having a single transmitter for both communication with the first receiver and communication with the second receiver.

In a further embodiment, the radio remote control has two transmission modules, of which a first transmission module communicates with the first receiver and a second transmission module with the second receiver. Of course, the radio remote control may also have more than two transmitter modules.

It is essential, however, that both the carrier device and the attachment be controlled with a single radio remote control. This radio remote control is advantageously housed in a single housing and preferably a portable remote control. The radio remote control has only a single transmitter for communication with both the first receiver as well as with the second receiver, this communication can take place either on a single frequency band, for example in time-clocked mode, or on several frequency bands. As a power source for the radio remote control, for example, a battery can be used.

In order to exchange attachments quickly, and to use different attachments on a single carrier device, a mechanical connection for releasably attaching the attachment is advantageously arranged on the carrier device on the carrier device and / or on the connecting part.

Fig. 1

Ein Beispiel für eine Vorrichtung mit einem Trägergerät und einem Anbaugerät.

Fig. 2

Ein weiteres Beispiel für eine Vorrichtung mit einem Trägergerät und einem Anbaugerät

Fig. 3

Ein drittes Beispiel für eine Vorrichtung mit einem Trägergerät und einem Anbaugerät

Fig. 4

Ein viertes Beispiel für eine Vorrichtung mit einem Trägergerät und einem Anbaugerät.

The invention will be explained in more detail with reference to drawings. The terms used in the following description, such as "top", "bottom", "left", "right", and the like, refer to the figures and are not intended to be limiting in any way, even though they relate to preferred embodiments. In the following figures, the same elements are provided with the same reference numerals. In the drawings shows:

Fig. 1

An example of a device with a carrier and an attachment.

Fig. 2

Another example of a device with a carrier and an attachment

Fig. 3

A third example of a device with a carrier and an attachment

Fig. 4

A fourth example of a device with a carrier and an attachment.

FIG. 1 shows a device 1 with a carrier device 2, an attachment 4, a remote control 5, a first receiver 6, and a second receiver 8. The carrier device 2 is with the attachment 4 via a connecting part 10, which has a joint 12 connected. With the joint 12, the relative distance between the carrier 2 and the attachment be set. The carrier 2 is in the present example a crawler excavator, comprising a chassis 14, a chassis structure 16 in the form of a driver's cab, and a pivot 18 arranged between the chassis 14 and the chassis structure 16 with which the chassis structure 16 can be rotated about the chassis 14 to implement the attachment 4, in this case a drill rig, from a first to a second location on a construction site.

The attachment 4 is detachably connected to the connecting part 10 via a mechanical connection 20. The carrier device 2 has a computer unit 22 connected to the first receiver 6, which is electrically connected to a hydraulic block 28 both via a hydraulic pilot control signal changeover 24 and via an electrical interface 26. The hydraulic block 28 controls, for example, the connecting part 10, the joint 12 of the connecting part 10 or the rotary joint 18. The attachment 4 is mechanically connected to the second receiver 8 and has a computer unit 30 which is electrically connected to the second receiver 8 and a hydraulic block 32 connected is. The hydraulic block 32 controls, for example, the movement of parts of the attachment 4, for example a lifting movement of a drill 34 of the drill mount 4 and / or the rotational movement of the drill 34.

The remote control 5 can communicate both with the first receiver 6 of the carrier device 2, and with the second receiver 8 of the attachment 4, to corresponding control signals via the computer unit 22 of the carrier device and / or the computer unit 30 of the attachment to the corresponding hydraulic blocks 28, 32nd to convey to the carrier 2 and the attachment 4, or parts of the attachment 4 to control.

FIG. 2 shows another example of a device 1 with a carrier device 2 and an attachment 4. Similarly as in the example of FIG. 1 The carrier device 2 here also has the computer unit 22 connected to the first receiver, which is electrically connected to a hydraulic block 28 via a hydraulic pilot control signal changeover 24. As in the first exemplary embodiment, the computer unit 22 is connected to an electrical control system 36 via an electrical interface 26. The electric control unit 36 here controls the hydraulic block carrier device 28 electrically. The control signals which electrically control the hydraulic block 28 are therefore not provided directly by the electrical interface 26 in the present example. Compared to a purely hydraulic or compared to a purely electrical control of the hydraulic block carrier device 28, the parallel control, which is both electrically, and hydraulically, the advantage of better potential error detection when driving, as if the supplied by the hydraulic control branch 22, 24 feedback from would distinguish the feedback supplied by the electrical control branch 22, 26, 36, this could indicate a possible error.
Another embodiment shows FIG. 3 , which differs from the second embodiment in that the control here takes place purely hydraulically by means of a hydraulic pilot signal switching 24. The first receiver 6 controls for this purpose via the computer unit 22 of the carrier device 2, the hydraulic pilot signal switching 24 directly.

FIG. 4 shows a fourth embodiment in which only the electrical control branch 22, 26, 36 is formed. The carrier device 2 has the computer unit 22 connected to the first receiver 6 via the electrical interface 26 electrical control system 36 to electrically control the hydraulic block 28.

The invention has been explained with reference to four embodiments, without being limited to these embodiments.

For example, the carrier device 2 may also be a crane, the connection part 10 may be a cable or a rope to which the attachment 4 is attached, and it is also possible that a carrier device with a plurality of connection parts 10, each having an attachment 4 , wherein different connecting parts may also have different attachments, is connected, or the connecting part, or the connecting parts has or have a plurality of joints and / or one or more telescopic extensions. Numerous modifications and refinements of the device according to the invention are thus possible for the person skilled in the art without thereby departing from the inventive idea.

LIST OF REFERENCE NUMBERS

1

contraption

2

Carrier, crawler excavator

4

Attachment, drill carriage

5

Remote control

6

first recipient

8th

second receiver

10

connecting part

12

joint

14

chassis

16

Chassis construction, driver's cab

18

swivel

20

mechanical connection

22

Computer unit carrier device

24

hydraulic pilot signal switching

26

electrical interface

28

Hydraulic block carrier device

30

Computing unit attachment

32

Hydraulic block attachment

34

drill

36

Electric control system Carrier

Claims (15)

1. Device (1), comprising an attachment (4), a carrier machine (2) which is mechanically linked to the attachment (4),
   at least one receiver (6, 8) which is located on or near the carrier machine (2), or which is located on or near the attachment (4),
   and at least one remote control (5) capable of communicating with the at least one receiver (6, 8), where the at least one receiver (6, 8) transmits electrical signals to the carrier machine (2) and/or to the attachment (4) when the at least one remote control (5) communicates with the at least one receiver (6, 8), where the at least one receiver (6, 8) is a first receiver (6), and the device (1) comprises a second receiver (8) capable of communicating with the at least one remote control (5), where the first receiver (6) transmits control signals via an electrical connection to the carrier machine (2) which cause a movement of the attachment (4) together with the carrier machine (2) when the remote control (5) transmits to the first receiver (6) a first signal intended therefor, and the second receiver (8) transmits control signals to the attachment (4) which cause a movement of parts of the attachment (4) when the remote control (5) transmits to the second receiver (8) a second signal intended therefor, and where the movement of the attachment (4) together with the carrier machine (2) and the movement of parts of the attachment (4) are controlled with the same remote control (5),
   characterised in that the remote control (5) is a wireless remote control, which has a single transmitter for communication with the first receiver (6) and with the second receiver (8), or has two transmission modules, of which a first transmission module communicates with the first receiver (6) and a second transmission module communicates with the second receiver (8), and where both the carrier machine (2) and the attachment (4) are controlled with the single remote control (5).
2. Device (1) in accordance with Claim 1,
   characterised in that the electrical signals are control signals which cause a movement of the attachment (4) and/or of parts of the attachment (4) and/or of the carrier machine (2) when the remote control (5) transmits to the at least one receiver (6, 8) a first signal intended therefor, the carrier machine (2) being so designed as to move the attachment (4).
3. Device (1) in accordance with one of the preceding Claims,
   characterised in that between the carrier machine (2) and the attachment (4) is located a connecting part (10) which has a telescopic extension, such that the connecting part (10) is mechanically linked to the carrier machine (2) and to the attachment (4).
4. Device (1) in accordance with one of the preceding Claims,
   characterised in that between the carrier machine (2) and the attachment (4) is located a connecting part (10) which comprises at least one articulation (12), such that the connecting part (10) is mechanically linked to the carrier machine (2) and to the attachment (4).
5. Device (1) in accordance with one of the preceding Claims,
   characterised in that the movement of the attachment (4) is controllable independently of the movement of the parts of the attachment (4).
6. Device (1) in accordance with one of the preceding Claims,
   characterised in that the position of the carrier machine (2) is alterable relative to the attachment (4), the attachment (4) preferably being rotatable about the carrier machine (2).
7. Device (1) in accordance with one of the preceding Claims,
   
   characterised in that the first receiver (6) is mechanically connected to the carrier machine (2) and the second receiver (8) is mechanically connected to the attachment (4).
8. Device (1) in accordance with one of the preceding Claims,
   characterised in that the carrier machine (2) is a hydraulic excavator, in particular a wheeled, walking or crawler excavator.
9. Device (1) in accordance with one of the preceding Claims,
   characterised in that the attachment is a drilling attachment.
10. Device (1) in accordance with one of the preceding Claims,
    characterised in that the carrier machine (2) has a hydraulic pilot signal switch (24) which is electrically connected to the first receiver (6), preferably via a computing unit (22).
11. Device (1) in accordance with one of the preceding Claims,
    characterised in that the carrier machine (2) comprises a hydraulic unit (28) which, preferably via a hydraulic pilot signal switch (24), is connected to the first receiver (6), preferably electrically.
12. Device (1) in accordance with one of the preceding Claims,
    characterised in that the carrier machine (2) comprises an electrical interface (26) which is electrically connected to the first receiver (6) via a computing unit (22).
13. Device (1) in accordance with one of the preceding Claims,
    characterised in that the attachment (4) comprises a hydraulic unit (32) which is electrically connected to the second receiver (8), preferably via a computing unit (30).
14. Device (1) in accordance with one of the preceding Claims,
    characterised in that the remote control (5) is a wired remote control.
15. Device (1) in accordance with one of Claims 3 to 14,
    characterised in that a mechanical connection (20) is provided on the carrier machine (2) and/or on the connecting part (10) for removably affixing the attachment (4) to the carrier machine (2).

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