EP0397076A1 - Elektrohydraulisches System - Google Patents

Elektrohydraulisches System Download PDF

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Publication number
EP0397076A1
EP0397076A1 EP90108550A EP90108550A EP0397076A1 EP 0397076 A1 EP0397076 A1 EP 0397076A1 EP 90108550 A EP90108550 A EP 90108550A EP 90108550 A EP90108550 A EP 90108550A EP 0397076 A1 EP0397076 A1 EP 0397076A1
Authority
EP
European Patent Office
Prior art keywords
boom
responsive
command
signals
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP90108550A
Other languages
English (en)
French (fr)
Inventor
Robert D. Jacobson
Richard S. Leemhuis
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Vickers Inc
Original Assignee
Vickers Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Vickers Inc filed Critical Vickers Inc
Publication of EP0397076A1 publication Critical patent/EP0397076A1/de
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
    • B66F9/0655—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted with a telescopic boom

Definitions

  • the present invention is directed to electrohydraulic systems for controlling motion at a load, and more particularly to systems for controlling motion at the free end of an extensible boom.
  • a typical rough-terrain fork lift includes a wheeled base, an extensible boom pivotally mounted at one end to the base and a fork platform carried at the base-remote or free end of the boom. Hydraulic actuators are coupled to associated hydraulic valves for controlling pivotal motion and extension of the boom with respect to the base as functions of operator input command signals.
  • Hydraulic actuators are coupled to associated hydraulic valves for controlling pivotal motion and extension of the boom with respect to the base as functions of operator input command signals.
  • electronic circuitry for automatically maintaining a predetermined orientation at the load includes a pair of sensors for providing respective signals as functions of associated degrees of motion at the load, circuitry responsive to an operator for directly controlling one degree of motion at the load, and feedback circuitry responsive to the sensor signals for controlling the other degree of motion as a function of operator-control motion in the one degree.
  • control circuitry is responsive to operator input command signals in a manual mode of operation for directly controlling both boom extension and boom angle with respect to the support base, and in an automatic mode of operation for controlling one of such motions as a function of the other independently of direct operator input and to maintain a desired orientation at the boom end selected upon entry of the automatic mode of operation.
  • fork height above a horizontal plane that intersects the boom/base pivot axis is determined upon initiation of the automatic mode of operation.
  • a pair of sensors provide associated signals as functions of boom extension and boom angle respectively.
  • Boom extension remains directly controlled by the operator during the automatic mode of operation, while boom angle is controlled as a combined function of the angle and extension sensor output signals, and desired platform height above horizontal.
  • velocity of motion at the boom platform end remains directly controlled by the vehicle operator.
  • FIG. 1 illustrates a rough-terrian fork-lift vehicle 10 that includes a wheeled base 12.
  • An extensible boom 14, typically comprising multiple telescoping sections, is coupled at one end to base 12 to pivot about an axis 16 at fixed position with respect to base 12.
  • a platform 18 is carried at the base-­remote or free end of boom 14, and has a pair of fork blades 20 projecting outwardly therefrom.
  • a hydraulic actuator or cylinder 22 (FIGS. 1 and 2) is coupled between base 12 and boom 14 for controlling pivotal motion of boom 14 about axis 16.
  • a second actuator or cylinder 24 (FIG. 2) controls extension of boom 14 with respect to axis 16.
  • An extension 26 is pivotally coupled by pins 28, 30 to the free end of boom 14 and platform 18 respectively. Pivotal motion of platform 20 about pin 30 is slaved (by means not shown) to motion at cylinder 22.
  • vehicle 10 is of conventional construction.
  • FIG. 2 illustrates boom control system 32 as comprising a joystick or the like 34 for generating electrical EXTEND and LIFT motion command signals Ce, Cl as a function of manipulation by a vehicle operator.
  • a first valve drive amplifier 36 receives the EXTEND command signal Ce from joystick 34, and provides a corresponding output to an electrohydraulic valve 38 that feeds hydraulic fluid from a source (not shown) to cylinder 24 as a function of such output signal.
  • a second valve drive amplifier 40 receives the LIFT command signal Ce from joystick 34, and provides a corresponding output signal to an electrohydraulic valve 42 that feeds fluid to cylinder 22 as a function of such output signal.
  • boom angle and extension are directly controlled by the vehicle operator through manipulation of joystick 34.
  • a first sensor 44 is coupled to boom 14 for providing a sensor output signal R3 (FIGS. 1 and 2) as a function of extension or length of boom 14 from pivot axis 16.
  • a second sensor 46 is coupled to boom 14 for providing a second sensor signal A3 (FIGS. 1 and 2) as a function of angle of boom 14 about axis 16 with respect to a horizontal plane 48 (FIG. 1) at intersects axis 16.
  • Sensor 44 maybe of any suitable type mounted within or adjacent to boom 14 to provide an output as a function of extension thereof.
  • sensor 46 maybe of any suitable type, with a pendulum-­type sensor mounted on boom 14 adjacent to pivot 16 being presently preferred so as to be independent of orientation of vehicle base 12.
  • a control circuit 50 (FIG. 2), which is preferably microprocessor-based, includes a first functional block or module 52 that receives sensor signals R3, A3 and calculates height R5 of platform pin 30 (FIG. 1) above horizontal plane 48.
  • the signal R5 at the output of calculation block 52 is fed through a normally open switch 54 to a second block or module 58.
  • Block 58 receives boom extension sensor signal R3 as a second input, and provides a desired boom angle command signal Ac to a comparator 60.
  • Comparator 60 receives a second input A3 from sensor 46, and provides an output signal E to a valve drive amplifier 62 indicative of a difference or error between the desired and actual boom angle signals Ac and A3.
  • a second switch 64 normally connects the input of valve 42 to amplifier 40, and may be selectively switched to connect the valve input to the output of amplifier 62.
  • Suitable valve drive amplifiers 36, 40 and 62, suitable valves 38, 42, and suitable actuator cylinders 22, 24 are disclosed, for example, in U.S. Patent No.- 4,757,747, which also discloses a microprocessor-based controller in which circuit 50 may be implemented.
  • boom angle cylinder 22 is driven as a direct function of the joystick operator LIFT command signal through amplifier 40, switch 64 and valve 42. Height R5 is continually calculated and indicated at 52, but ignored.
  • switches 54, 64 are switched, the most current height signal R5 is fed to module 58, and thereafter valve 42 and cylinder 22 are driven by amplifier 26 and lift calculation block 58 as a function of height signal R5, boom extension sensor signal R3 and boom angle signal A3 as previously described.
  • boom extension is directly controlled by the operator, while boom angle is automatically indirectly controlled so as to maintain height R5 constant as the boom is extended and retracted. The speed of such extension is directly controlled by the operator.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Operation Control Of Excavators (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Jib Cranes (AREA)
  • Vehicle Body Suspensions (AREA)
EP90108550A 1989-05-11 1990-05-07 Elektrohydraulisches System Withdrawn EP0397076A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US35033489A 1989-05-11 1989-05-11
US350334 1989-05-11

Publications (1)

Publication Number Publication Date
EP0397076A1 true EP0397076A1 (de) 1990-11-14

Family

ID=23376251

Family Applications (1)

Application Number Title Priority Date Filing Date
EP90108550A Withdrawn EP0397076A1 (de) 1989-05-11 1990-05-07 Elektrohydraulisches System

Country Status (3)

Country Link
EP (1) EP0397076A1 (de)
JP (1) JPH0318600A (de)
CN (1) CN1047061A (de)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2314551A (en) * 1996-06-25 1998-01-07 Bamford Excavators Ltd Material handling vehicle with positioning sensors
FR2761972A1 (fr) * 1997-04-11 1998-10-16 Modules Associes Engin automoteur porte-outils perfectionne
FR2791717A1 (fr) * 1999-03-31 2000-10-06 Caterpillar Inc Appareil et procede pour assurer une commande coordonnee d'un outil
FR2801876A1 (fr) * 1999-12-02 2001-06-08 Caterpillar Inc Extension de fleche et commande d'angle de fleche pour une machine
EP1384698A1 (de) * 2002-07-23 2004-01-28 MANITOU COSTRUZIONI INDUSTRIALI S.r.l. Hubfahrzeug mit teleskopischen Auslegern zum Umschlag von Lasten
WO2018111169A1 (en) * 2016-12-14 2018-06-21 Cargotec Patenter Ab A working vehicle including a crane
EP3378823A1 (de) * 2017-03-23 2018-09-26 EPSILON Kran GmbH. Kran
WO2019136505A1 (de) * 2018-01-09 2019-07-18 Palfinger Ag Hebevorrichtung

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109516420B (zh) * 2018-12-14 2020-08-21 中联重科股份有限公司 速度控制装置和控制方法、高空作业平台
CN109969996A (zh) * 2019-03-21 2019-07-05 广东博智林机器人有限公司 叉车

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB966609A (de) * 1965-03-10 1900-01-01
FR2183782A1 (de) * 1972-05-05 1973-12-21 Clark Equipment Co
DE3310568A1 (de) * 1983-03-23 1984-09-27 Liebherr-Hydraulikbagger Gmbh, 7951 Kirchdorf Hydraulikbagger
US4553899A (en) * 1983-11-16 1985-11-19 Riccardo Magni High lift truck with telescoping boom assemblies
DE3602213A1 (de) * 1986-01-25 1987-07-30 Hugo Dipl Ing Cordes Mehrzweckeinrichtung fuer hydraulikbagger und krane
WO1988001600A1 (en) * 1986-09-01 1988-03-10 Ösa Ab Device for maintaining a tool attachment in a knuckle boom crane on a constant level above the ground
EP0288314A1 (de) * 1987-04-24 1988-10-26 Laser Alignment, Inc. Vorrichtung und Verfahren zum Steuern eines hydraulischen Baggers
DE3800930A1 (de) * 1988-01-14 1989-08-03 Hfh Herbst Foerder Und Hebetec Transportfahrzeug

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB966609A (de) * 1965-03-10 1900-01-01
FR2183782A1 (de) * 1972-05-05 1973-12-21 Clark Equipment Co
DE3310568A1 (de) * 1983-03-23 1984-09-27 Liebherr-Hydraulikbagger Gmbh, 7951 Kirchdorf Hydraulikbagger
US4553899A (en) * 1983-11-16 1985-11-19 Riccardo Magni High lift truck with telescoping boom assemblies
DE3602213A1 (de) * 1986-01-25 1987-07-30 Hugo Dipl Ing Cordes Mehrzweckeinrichtung fuer hydraulikbagger und krane
WO1988001600A1 (en) * 1986-09-01 1988-03-10 Ösa Ab Device for maintaining a tool attachment in a knuckle boom crane on a constant level above the ground
EP0288314A1 (de) * 1987-04-24 1988-10-26 Laser Alignment, Inc. Vorrichtung und Verfahren zum Steuern eines hydraulischen Baggers
DE3800930A1 (de) * 1988-01-14 1989-08-03 Hfh Herbst Foerder Und Hebetec Transportfahrzeug

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
F\RDERN UND HEBEN, vol. 34, no. 12, December 1984, pages 929-932, Mainz, DE; H.H. COHRS: "Verwendungsmöglichkeiten der Mikroelektronik in Tagebaugeräten" *

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2314551A (en) * 1996-06-25 1998-01-07 Bamford Excavators Ltd Material handling vehicle with positioning sensors
EP0816282A1 (de) * 1996-06-25 1998-01-07 J.C. Bamford Excavators Limited Handhabungsfahrzeug für Material
GB2314551B (en) * 1996-06-25 2000-03-01 Bamford Excavators Ltd Material handling vehicle
US6056503A (en) * 1996-06-25 2000-05-02 J C Bamford Excavators Limited Material handling vehicle
US6132164A (en) * 1996-06-25 2000-10-17 J. C. Bamford Excavators Limited Material handling vehicle
FR2761972A1 (fr) * 1997-04-11 1998-10-16 Modules Associes Engin automoteur porte-outils perfectionne
FR2791717A1 (fr) * 1999-03-31 2000-10-06 Caterpillar Inc Appareil et procede pour assurer une commande coordonnee d'un outil
US6374147B1 (en) 1999-03-31 2002-04-16 Caterpillar Inc. Apparatus and method for providing coordinated control of a work implement
GB2357750A (en) * 1999-12-02 2001-07-04 Caterpillar Inc A boom extension and boom angle controller for a machine
FR2801876A1 (fr) * 1999-12-02 2001-06-08 Caterpillar Inc Extension de fleche et commande d'angle de fleche pour une machine
US6434437B1 (en) 1999-12-02 2002-08-13 Caterpillar Inc. Boom extension and boom angle control for a machine
GB2357750B (en) * 1999-12-02 2003-11-19 Caterpillar Inc A boom extension and boom angle control for a machine
EP1384698A1 (de) * 2002-07-23 2004-01-28 MANITOU COSTRUZIONI INDUSTRIALI S.r.l. Hubfahrzeug mit teleskopischen Auslegern zum Umschlag von Lasten
WO2018111169A1 (en) * 2016-12-14 2018-06-21 Cargotec Patenter Ab A working vehicle including a crane
EP3378823A1 (de) * 2017-03-23 2018-09-26 EPSILON Kran GmbH. Kran
WO2019136505A1 (de) * 2018-01-09 2019-07-18 Palfinger Ag Hebevorrichtung
RU2737758C1 (ru) * 2018-01-09 2020-12-02 Палфингер Аг Подъемное устройство
AU2019207511B2 (en) * 2018-01-09 2022-04-07 Palfinger Ag Lifting device

Also Published As

Publication number Publication date
CN1047061A (zh) 1990-11-21
JPH0318600A (ja) 1991-01-28

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