DE102022105450A1 - Construction machine or agricultural machine - Google Patents

Abstract

A mobile work machine (1) such as a construction machine or agricultural machine with a lifting device (4,5,6,7) for guiding an attachment tool, in particular a machine with a loading system, lifting frame or crane arm, such as an excavator with an excavator boom (4), wherein a kinematic chain (2,3,5,6,7,9,14,15) of movable parts of the work machine, the lifting device (4,5,6,7) and a tool holder (9) for movably holding a work tool (8) and a control unit (22) is present, which enables improved control of the machine by an operator. This is achieved according to the invention in that the control unit (22) is also responsible for a controlled movement of the tool holder (9) relative to the lifting device (4,5,6,7,) for a constant orientation or alignment of the work tool (8) during the controlled movement the lifting device (4,5,6,7) is designed for positioning the tool holder (9).

Description

The invention relates to a mobile work machine with a loading system, lifting frame or crane arm, in particular an excavator with a guide of the attachment tool by means of movement of an excavator boom according to the preamble of claim 1.

State of the art

The loading device of an excavator usually includes an excavator boom, which is usually moved by linear drives. The kinematic elements of an excavator boom are connected to each other using swivel joints. In order to be able to move the links of the transmission chain, additional linear drives are used between two interconnected elements. By changing the linear drive lengths, the individual elements can be moved relative to one another. This means that each downstream element of the kinematic chain experiences a circular movement in relation to the upstream element when the linear drive length changes. This means that when at least one drive is activated, the absolute angular position of the attachment tool is changed if the operator does not compensate for this with compensating control commands.

Especially when horizontal or vertical movements of the attachment are required, this requires a high concentration of the operator to move the tool to the desired position, to guide the tool horizontally or vertically and also to keep the absolute angle of the attachment constant. Such movements of the attachment are very helpful, for example when drawing contours or when craning.

Classic applications for excavators are the removal of surfaces to create terrain contours or cranes, e.g. when inserting pipes, manhole rings, sheet pile walls or other objects. Even with rotating attachments, such as milling machines, sweepers or when using pallet forks, horizontal tracking of the attachment tool on the plane of movement of the excavator boom is essential so that the load or the pallet itself cannot slip or tip over from the fork if it is at an angle is inclined by a movement of the upstream elements. To compensate for lateral inclinations, for example due to rotational movements of the superstructure, if this does not occur around the axis of gravity, a so-called tilt rotator must also be inserted into the kinematic chain between the excavator boom and the mining tool. The operator's need for control increases significantly at.

The control of such a machine is, for example, in the publication EP 2 860 315 A1 or DE 10 2014 212 480 A1 described. Although automated linear movements under the control of a control unit are known from this, during the movement of the lifting device either the tool holder is fixed at its pivot point or tip of the tool relative to the lifting device, which makes certain work more difficult.

Task of the invention

The object of the invention is to propose a machine according to the preamble of claim 1, which enables improved control of the machine by an operator.

This task is based on a machine according to the preamble of claim 1 solved by its characterizing features.

The measures mentioned in the subclaims make advantageous embodiments and developments of the invention possible.

Features and advantages of the invention

Accordingly, a machine according to the invention is characterized in that the control unit is also designed for a controlled movement of the tool holder and thus also of a work tool located in the tool holder relative to the lifting device for aligning the tool holder during the movement of the lifting device for positioning the tool holder, so that a Adjustment of the orientation of the work tool is possible.

This measure makes it possible to work with a predetermined alignment of the tool, which can be maintained by automatic tracking during the movement of the lifting device. For example, flat surfaces can be drawn or created with a constantly set alignment or orientation of the work tool while maintaining an optimal working angle. This is, among other things, when creating horizontal surfaces, e.g. B. then pouring a floor slab or vertical surfaces is of great advantage, for example to create embankments or embankment fortifications with L-stones or the like. Also for creating areas with one or more sections with a specified gradient, e.g. B. for controlled water drainage during precipitation.

For this purpose, it is advantageous to specify a fixed orientation or angular position of the tool holder using at least one control element to be carried out during the movement of the lifting device. The operator can therefore first set the position or angular position or orientation of the tool located in the tool holder by specifying a control element. During the subsequent movement of the lifting device, this position or angular position or orientation is then automatically maintained.

To achieve the controlled alignment or orientation of the tool holder, the position of all machine elements moving in a controlled manner is recorded using a sensor system. Based on this, the calculation and implementation of the movement of the tool holder and thus also of the work tool accommodated therein can be carried out by the control unit using control algorithms as a function of coordinates in a coordinate system depending on a selected operating mode.

The control unit can be designed to guide the tool holder with a constant orientation in a two-dimensional movement in a surface or three-dimensional movement in a space.

In order to enable the operator to control the lifting device in one plane, the control unit is designed in a specific embodiment so that a controlled movement of the lifting device can be controlled with a constant orientation of the tool holder or the work tool in a plane of a Cartesian coordinate system.

To operate the machine, at least one control element is advantageously used to specify one or more linear or rotating movements, for example to specify a horizontal movement and/or a vertical movement and/or a rotary movement, which is provided by an operator.

For flexible handling of the machine by an operator, the control unit is designed in such a way that, by means of further specifications, a machine-controlled superimposition of one or more further movements takes place by means of at least one control element to superimpose at least one already predetermined movement.

The target specifications for the desired movement should be converted into a desired movement for positioning and aligning the tool holder. For this purpose, it is advantageous if there is at least one compensating movement of the tool holder to maintain the specified movement as a function of coordinates either using algorithms by the control unit, taking into account the position of moving parts of the kinematic chain by means of automatic control of the required axes and / or by an additional hydraulic Coupling of drive elements of moving parts of the kinematic chain is provided.

The target speeds in all directions of movement can be determined by the control element or elements depending on the specifications of an operator. In this case, for example, a proportional relationship between the extent of the operation of the control element or elements, for example the extent of the deflection of the control element or elements, and a target speed of a movement is provided.

Machine control by an operator in different applications can be facilitated in that the control unit has at least two selectable operating modes, with a selection by the operator between at least two types of coordinates of the coordinate system on which the coordinate control is based, for example between Cartesian coordinates or cylindrical or polar coordinates , is provided. The type of machine control can therefore be adapted to the work area and the movements to be carried out in it. Cylindrical coordinates are advantageous, for example, when lifting movements of the lifting device involve a rotary movement, e.g. B. the upper structure of an excavator must be combined.

Depending on the work process, it is important whether the automatic control or tracking of the machine is based on a coordinate system related to the machine or a machine element or on the basis of an independent coordinate system, for example related to the surroundings of the machines. It is therefore advantageous if, in one operating mode, the position of the coordinate system on which the coordinate control in the control unit is based is related to the position of a machine element, for example the position of a rotation axis, or in another operating mode in the form of absolute coordinates to the surroundings of the machine.

For example, in two special, different developments according to the invention, on the one hand, a first angle of the work tool and/or a spoon blade, shovel or the like to the ground can be advantageously defined and/or fixed and then maintained in the spirit of the invention. On the other hand, in Advantageously, a different or second angle of the work tool and / or a spoon blade, shovel or the like for the tool holder or the boom and / or a so-called gripper arm or the like can be defined and / or fixed and then retained in the sense of the invention.

In these two, different, advantageous variants according to the invention, the coordinate system on which the control unit is based differs, i.e., among other things, the respective reference point or the respective reference plane for defining or advantageously determining the corresponding angle. In the first case, the ground or the horizontal advantageously serves as a reference plane. In the second case, the tool holder or the boom and/or a so-called gripper arm or a bolt or the like is advantageously the advantageous reference point. In the first case, the advantageous tracking takes place, for example, through a cylinder of the machine arm or the kinematic chain. In the second case, no tracking is absolutely necessary, since the length of the aforementioned cylinder of the gripper arm does not need to be changed in order to maintain the appropriate angle of the shovel or the like for the tool holder.

In a further development of this embodiment, the orientation of the coordinate axes of the coordinate system on which the coordinate control in the control unit is based is designed to be freely selectable in space by the operator using associated control elements. This makes certain tasks easier. For example, if a slope (mathematically referred to as a plane) is to be subtracted and the machine is not in a normal position to this plane with the rotation of the upper and lower carriages, the reference plane could also be selected to be tilted.

This also makes it easier for the operator to control a controlled movement of a work tool in any plane with a predetermined orientation in space using associated control elements.

The constant alignment or orientation of the tool holder or the work tool accommodated therein makes it easier for an operator to focus on the movement of an area of the work tool, such as a spoon blade. However, this can be further improved if the position of such an area of the work tool is automatically taken into account by the control unit. For this purpose, an operating mode of the control unit can be provided, which includes the control of a controlled movement of a specific area of a work tool in space, for example a spoon blade, by means of associated operating elements. For example, the position of this tool area can be detected using sensors or via the position of the various drive elements, e.g. B. by lifting cylinders, and based on this the movement of this tool area can be controlled automatically.

Basically, according to the invention, the work tool or tool can either be bolted directly to a section or the kinematic chain or a so-called “handle” or via a so-called “quick coupler” to the section or the kinematic chain or the so-called "Stem" can be connected and/or this so-called "quick coupler" can additionally or indirectly have a so-called "tilt function" and/or a so-called "tilt rotator" on the section or the kinematic chain or the so-called “stem”.

Example embodiment

An exemplary embodiment of the invention is shown in the drawing and is explained in more detail below with reference to the figures.

• 1 eine Seitenansicht eines Baggers,
• 2 eine vergrößerte Darstellung eines Baggerauslegers,
• 3 eine Darstellung entsprechen 2 mit veränderter Stellung des Baggerauslegers,
• 4 eine Seitenansicht eines sogenannten Tilt-Rotators,
• 5 eine Seitenansicht eines montierten Tilt-Rotators mit Löffel und
• 6 ein schematisches Blockdiagramm zur Veranschaulichung der Kontrolleinheit.

Show in detail

• 1 a side view of an excavator,
• 2 an enlarged view of an excavator boom,
• 3 correspond to a representation 2 with a changed position of the excavator boom,
• 4 a side view of a so-called tilt rotator,
• 5 a side view of an assembled tilt rotator with bucket and
• 6 a schematic block diagram to illustrate the control unit.

The excavator 1 in 1 comprises a mobile undercarriage 2 and an uppercarriage 3 rotatably mounted thereon about a vertical axis V1. An excavator boom 4 is attached to the uppercarriage 3, which can advantageously be rotated about a vertical axis V2 by means of a swivel console and about a horizontal axis H1 by means of a joint. The terms “vertical axis” and “horizontal axis” here preferably refer to an excavator that stands on a horizontal surface. If the excavator moves onto an inclined surface, these axes, which are at right angles to one another, are of course also inclined.

The excavator boom can be rotated in three relative to each other about horizontal axes H1, H2, H3 divided into 5,6,7. On the last section 7, a spoon 8 is attached to a tool holder 9 which can be rotated about a further horizontal axis H4. Hydraulic cylinders 10, 11, 12, 13 are provided as drive elements for the movements of the excavator boom 4. This structure is typical of well-known excavators.

In 2 and 3 The excavator boom is shown in two different positions. Dashed working lines LH and LV illustrate the path of a spoon cutting edge 14 or a so-called “Tool Center Point (TCP) when hoisting a flat surface horizontally or vertically. It can be seen from this that several hydraulic cylinders 10, 11, 12 always have to be actuated simultaneously, which represents a major challenge for the excavator operator. In the embodiment shown, a so-called tilt rotator 15 is also used, which will be described further below 4 and 5 is explained in more detail. A tilt-rotator 15 between the excavator boom 4 and the work tool 8 is advantageous for compensating for lateral inclinations, for example due to rotational movements of the superstructure 3 or the swivel console, if this does not occur around the axis of gravity, for example when the excavator 1 is at an angle.

In 4 the tilt rotator 15 is shown in side view. Essential for controlling the working movement of the spoon 8 in the tool holder 9 are the additional rotation axes T1 and T2, around which the tool holder 9 can be rotated with the spoon 8 or another tool. Two hydraulic cylinders 16, 17 operating in parallel are provided as drive elements for the axis T1 and a hydraulic motor 18 for the axis T2.

With a tilt rotator 15 the tool, e.g. B. the spoon 8 can be adjusted during the work process by two further angles with respect to the axes T1 and T2. For example, when the excavator 1 is standing horizontally, a sloping embankment can be subtracted as a flat surface, or when the excavator 1 is standing at an angle, a horizontal plane can be subtracted. However, the operator must control the rotational movements around all axes of rotation described, which further increases the requirements.

In order to simplify operation, a control unit according to the invention is used, as shown in 6 is indicated schematically. Using controls 19, 20, 21, which can be designed as a joystick and/or additional controls such as buttons, roller wheels, etc., for example on a joystick, an operator is able to enter target values for desired movements or positions. For example, the angular position of a work tool relative to one or more axes H3, H4, T1, T2 can be entered via the control element 19.

The control unit 22 has one or more operating modes, one operating mode being designed such that inputs from the operator via further control elements 20, 22 are understood as vertical and/or horizontal arm movements of the excavator boom 4 and converted into control commands for the simultaneous drive of the required drive element 10, 10a,10b,11,12,13 can be implemented. The deflection of one or more operating elements 20, 22 can be processed by the control unit 22 as the target speed for one or more movements. It is also possible to superimpose a vertical and a horizontal movement, so that a resulting linear or free movement is created.

The control commands from the control unit 22 are passed, for example, as electrical signals to the required electro-hydraulic control valves 23, 24, 25, 26, 27, whereby hydraulic drive elements such as the hydraulic cylinders 10, 11, 12, 13, 16, 17 or hydraulic motors such as the hydraulic motor 18 and /or the rotary drive of the superstructure 3 can be controlled. The positions of all movable links of the excavator 1 and in particular of the excavator boom 4 are constantly recorded via a sensor system 28 in order to initiate corresponding compensating movements in the event of deviations from the target movements.

According to the invention, the angular position of the working tool 8 is now maintained during all movements of the excavator boom 4, that is, the tool holder 9 is tracked around one or more axes H3, H4, T1, T2 in order to keep this angular position constant. The positions or movements to be controlled by the control unit 22 can depend on the position of a machine element, for example the position of a rotation axis V1, V2, H1, H2, H3, H4, T1, T2 or the undercarriage 2, or in the form of absolute coordinates the environment of the machine 1 can be determined.

In general, in two special developments according to the invention, either a first angle of the spoon cutting edge 14 to the ground can be defined and/or fixed and then maintained in the sense of the invention and/or a second angle of the shovel 8 to the tool holder 9 can be defined and/or determined and then retained in the spirit of the invention. In these two advantageous variants according to the invention, the difference is, among other things, the reference point or the reference plane for defining or advantageously determining the corresponding angle. In the first case The ground or the horizontal advantageously serves as a reference plane. In the second case, the tool holder 9 or a bolt or similar is advantageously the advantageous reference point. In the first case, the advantageous tracking is preferably carried out by the cylinder 12. In the second case, no tracking is absolutely necessary since the length of the cylinder 12 does not need to be changed in order to maintain the corresponding angle of the blade 8 to the tool holder 9. The arm would then preferably be moved using the cylinder 11.

Reference symbol list

1

excavator

2

Undercarriage

3

Uppercarriage

4

Excavator boom

5

section

6

section

7

section

8th

Spoon

9

Tool holder

10

Hydraulic cylinder

11

Hydraulic cylinder

12

Hydraulic cylinder

13

Hydraulic cylinder

14

spoon edge

15

Tilt rotator

16

Hydraulic cylinder

17

Hydraulic cylinder

18

Hydraulic motor

19

Control element

20

Control element

21

Control element

22

Control unit

23

Electro-hydraulic control valve

24

Electro-hydraulic control valve

25

Electro-hydraulic control valve

26

Electro-hydraulic control valve

27

Electro-hydraulic control valve

28

Sensors

V1

Vertical axis

V2

Vertical axis

H1

Horizontal axis

H2

Horizontal axis

H3

Horizontal axis

H4

Horizontal axis

T1

Tilt rotor axis

T2

Tilt rotor axis

LH

Work line

LV

Work line

QUOTES INCLUDED IN THE DESCRIPTION

This list of documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• EP 2860315 A1 [0005]
• DE 102014212480 A1 [0005]

Claims (14)

Mobile work machine (1) such as a construction machine or agricultural machine with a lifting device (4,5,6,7) for guiding an attachment, in particular a machine with a loading system, lifting frame or crane arm, such as an excavator with an excavator boom (4), wherein a kinematic Chain (2,3,5,6,7,9,14,15) of moving parts of the work machine has the lifting device (4,5,6,7) and a tool holder (9) for movably holding a work tool (8) and a Control unit (22) is present, by means of position detection of elements of the kinematic chain (2,3,5,6,7,9,14,15) of the work machine (1) using algorithms required for positioning the tool holder (9). Movements of the lifting device can be controlled automatically, the control unit (22) being designed to control the movement for positioning the tool holder (9) in the form of a coordinate control, and at least one control element (20, 21) for specifying a desired target movement an operator and an implementation of an operator's specifications by the control unit (22) into a target movement within a coordinate system is provided, characterized in that the control unit (22) is also responsible for a controlled movement of the tool holder (9) relative to the lifting device (4 ,5,6,7,) is designed for a constant orientation or alignment of the work tool (8) during the controlled movement of the lifting device (4,5,6,7) for positioning the tool holder (9). Machine according to one of the preceding claims, characterized in that at least one operating element (19) is provided for specifying a fixed orientation or angular position of the tool holder (9) during the movement of the lifting device (4,5,6,7). Machine (1) according to one of the preceding claims, characterized in that for the controlled alignment of the tool holder (9), the position of all controlled moving machine elements (4,5,6,7,9,15) is detected by means of a sensor system (28) and the calculation and implementation of the movement of the tool holder (9) depending on a selected operating mode as a function of coordinates in a coordinate system is provided by the control unit (22) using control algorithms. Machine according to one of the preceding claims, characterized in that the control unit (22) is designed to guide the tool holder (9) in a two-dimensional movement in a surface or three-dimensional movement in a space. Machine according to one of the preceding claims, characterized in that the control unit (22) is designed for positioning and/or aligning the tool holder (9) during the controlled movement of the lifting device (4,5,6,7) in a plane of a Cartesian coordinate system . Machine according to one of the preceding claims, characterized in that at least one operating element (20, 21) is provided for specifying one or more linear or rotating movements, for example for specifying a horizontal movement and/or a vertical movement and/or a rotary movement by an operator. Machine according to one of the preceding claims, characterized in that a superimposition of one or more further movements is provided for superimposition with at least one already predetermined movement by means of specifications using at least one operating element (20, 21). Machine according to one of the preceding claims, characterized in that at least one compensating movement of the tool holder (9) to comply with the predetermined movement as a function of coordinates either using algorithms by the control unit (22) taking into account the position of moving parts of the kinematic chain (2, 3,5,6,7,9,14,15) by means of automatic control of the required axes (V1,V2,H1,H2,H3,H4,T1,T2) and/or by an additional hydraulic coupling of drive elements (10, 11,12,13,16,17,18) moving parts of the kinematic chain (2,3,5,6,7,9,14,15) is provided. Machine according to one of the preceding claims, characterized in that the target speeds in all directions of movement are dependent on the specifications of an operator through the control element or elements (20, 21), with a proportional and / or continuous relationship between the extent of the operation of the or the control elements (20,21), for example the extent of the deflection of a control element (20,21), and a target speed of a movement is provided. Machine according to one of the preceding claims, characterized in that the control unit (22) has at least two selectable operating modes, with a selection between at least two types of coordinates of the The coordinate system underlying the coordinate control is provided by the operator, for example between Cartesian coordinates or cylindrical or polar coordinates. Machine according to one of the preceding claims, characterized in that the position of the coordinate system on which the coordinate control in the control unit (22) is based is related to the position of a machine element, for example the position of a rotation axis, or in the form of absolute coordinates to the surroundings of the machine. Machine according to one of the preceding claims, characterized in that the orientation of the coordinate axes of the coordinate system on which the coordinate control in the control unit (22) is based can be freely selected in space by the operator using associated control elements (29, 21). Machine according to one of the preceding claims, characterized in that a controlled movement of the tool holder (9) or a work tool (8) attached to it in a plane with a predetermined orientation in space can be controlled by the operator using associated control elements (20, 21). Machine according to one of the preceding claims, characterized in that the operator uses associated control elements (20, 21) to control a specific area of the tool holder (9) or a specific area of a work tool (8) attached to it in space, for example a spoon blade (14), can be controlled.

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