EP0787235B1 - Erdbewegungsmaschine - Google Patents

Erdbewegungsmaschine Download PDF

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Publication number
EP0787235B1
EP0787235B1 EP95933476A EP95933476A EP0787235B1 EP 0787235 B1 EP0787235 B1 EP 0787235B1 EP 95933476 A EP95933476 A EP 95933476A EP 95933476 A EP95933476 A EP 95933476A EP 0787235 B1 EP0787235 B1 EP 0787235B1
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EP
European Patent Office
Prior art keywords
rams
distributor
civil engineering
control
distributors
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.)
Expired - Lifetime
Application number
EP95933476A
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English (en)
French (fr)
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EP0787235A1 (de
Inventor
Henri Marchetta
Georges Charles
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.)
Mecalac
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Mecalac
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Publication date
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant

Definitions

  • the invention relates to a public works vehicle in particular of loader-excavator type, including articulated work equipment, more precisely a device allowing the control of an arm complex with a reduced number of manipulators, according to the preamble of claim 1.
  • the excavator loaders have work equipment installed on a chassis.
  • This work equipment consists of four parts hinged together, namely an arrow articulated by relation to the chassis by the boom cylinder, a boom spout articulated by relation to the boom by a boom spout cylinder, an arm articulated by relation to the arrow spout by an arm jack and finally a bucket or tool articulated with respect to the arm thanks to a bucket cylinder.
  • Such four-cylinder system has a number of degrees of freedom four. To this is added an additional movement made up by the rotation of the turret relative to the chassis.
  • the driving of such devices is carried out by means two manipulators installed in the turret. These manipulators, movable longitudinally and transversely, therefore allow the control of four degrees of freedom. It therefore follows that with this mode of conventional driving, the use of work equipment improved as described above, requires adjustments.
  • the problem which the invention proposes to solve is to allow driving a public works machine including work equipment has more degrees of freedom than control manipulators to available to the driver, in the same way as a machine simple conventional, while retaining the possibility of achieving with the tool, the multiplicity of positions that an equipment can reach complex work.
  • JP A 61 028632 describes a mechanical shovel, the work equipment has two arms at the end of which is mounted a bucket. To allow horizontal erasure, it is planned to provide this machine with means for simultaneously controlling with a single manipulator, the two cylinders determining the orientation of the arms. Unfortunately, this solution does not resolve the problem posed, because on the one hand, the number of manipulators available is equal to the number of cylinders, and on the other hand, it absolutely impossible thanks to the system described to bring the bucket to a level different from that of the ground.
  • the invention aims to overcome these drawbacks.
  • the invention aims to make compatible with an order conventional, piloting complex work equipment, with more degrees of freedom than manipulator positions accessible.
  • the invention consists in supplying two cylinders simultaneously, so that the operator actuates these two cylinders in a single operation with a single manipulator.
  • the simultaneous actuation of the two coupled cylinders is ensured by a circuit comprising valves putting in relation to the distributor control circuit of one of the cylinders with the distributor control circuit of the other cylinder.
  • the order of order is a pressure but the invention also covers control systems electric.
  • the flow rates of the distributors corresponding to the coupled cylinders are adjusted so that the full stroke times of the two coupled cylinders are equal.
  • the cylinders coupled at the same time, from the maximum folded position to the maximum deployment position, and vice versa.
  • the flow rates of the corresponding distributors coupled cylinders are adjusted to maintain the horizontality of the tool.
  • one of the two coupled cylinders is supplied by its distributor which is controlled directly by the manipulator, and the control pressure of the distributor of the other cylinder is developed by a device control according to the angles corresponding to the two cylinders.
  • This form of control by a regulating device allows get rid of leaks and drifts by adjusting the flow rates of the distributors.
  • Figure 1 is an overview of a machine highlighting the different elements of work equipment.
  • Figure 2 is a hydraulic control diagram of the equipment according to the invention.
  • Figure 3 is a hydraulic control diagram incorporating a servo device.
  • Figure 4 is a diagram showing the envelope of positions accessible by the tool, with and without coupling of the cylinders.
  • Figure 5 is an overview of a machine used as charger.
  • Such a machine as shown in Figure 1, carried a work (1) in four elements: an arrow (2), an arrow spout (3), an arm (4) and a bucket (5).
  • the boom (2) is articulated relative to the turret (6) and its position is adjusted by the boom cylinder (7) by means of two arms (8,9).
  • the beak of arrow (3) is connected to the other end (10) of the arrow (2) and the position angular ⁇ of these two elements (2,3) is adjusted by means of the jack (11) of arrowhead.
  • the arm (4) is connected to the other end (12) of the arrow spout (3) and the corresponding angle ⁇ is a function of the position of the arm cylinder (13).
  • the bucket (5) is hooked to the end (14) of the arm (4) and its position is adjusted by the bucket cylinder (15).
  • FIG. 2 illustrates the most preferred embodiment. simple that makes it easy to understand how are ordered the different cylinders (11,13), to ensure a operating in a conventional manner, each cylinder being controlled by a manipulator, i.e. operation in accordance to the invention where a single manipulator makes it possible to control two cylinders simultaneously.
  • each cylinder (11,13) is associated with a distributor (30,31).
  • This distributor (30,31) is used to supply the room elongation (32,33) and the withdrawal chamber (34,35) of the jack (11,13).
  • All the distributors (30,31) are supplied by a variable flow pump (36) driven by the engine of the machine.
  • This pump (36) supplies also a pressure reduction block (40) which delivers pressure (41) to the manipulators 42,43).
  • These manipulators (42,43) depending on their position, deliver this pressure (41) to the different distributors (30,31) with which they are associated.
  • the opposite positions of each manipulator (42,43) generates opposite movements of the cylinders (11,13) to which they relate.
  • control circuit of the second distributor (31) can be supplied either by the associated manipulator (43), either by the first manipulator (42).
  • the manipulator (42) controls the distributor (30) which supplies the jack (11) and the manipulator (43) controls the distributor (31) which supplies the cylinder (13).
  • valves (45,46) set communication, thanks to branches (47,48), ks control circuits (37) of the distributor (30) of the first cylinder (11) with the circuit of control (38) of the distributor (31) of the second cylinder (13).
  • the manipulator (42) feeds the distributor (30) as well as the distributor (31).
  • the manipulator (43) is therefore available for controlling a other organ.
  • the two distributors (30) and (31) being controlled by the same pressure, the adjustment of the flow rates is obtained by the proportional effect of the dispenser drawers.
  • the control of the second cylinder (13) is done by a device regulation to correct any drifts observed in a purely hydraulic device.
  • the most loaded cylinder that is to say providing the most effort, is conventionally controlled by a manipulator (42) and a distributor (30).
  • the second cylinder (13) is controlled by a servo device consisting of two potentiometers (50,51) determining the angles ( ⁇ , ⁇ ) corresponding to the jacks (11), a housing computer (52) supplying two moderatable solenoid valves (53,54), which solenoid valves (53,54) control the distributor (31) of the second cylinder (13), the actions of the two solenoid valves being opposite.
  • This excursion is represented in figure 4, and materializes one of the key points of the invention.
  • This diagram shows in solid lines (70) the envelope of all the points accessible by the tool (5) when the four cylinders (7,11,13,15) are actuated independently. In other words, the interior of this outline represents the useful workspace.
  • a second curve (71) in dotted lines which also represents the envelope of accessible points, but in the case where two of the cylinders are coupled.
  • the cylinders chosen in this coupling specific are the boom cylinder (11) and the arm cylinder (13), and the comparative observation of the two curves (70,71) shows that the decrease in a degree of freedom only results in a decrease limited workspace.
  • one of the objects essential of the invention is to determine which of the four cylinders (7,11,13,15) must be coupled to obtain a working space acceptable.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Paleontology (AREA)
  • Operation Control Of Excavators (AREA)

Claims (6)

  1. Baumaschine, bestehend aus:
    einem Arbeitsgerät (1), das aus vier aneinander angelenkten und winkelmäßig in Bezug aufeinander ausschwenkbaren Elementen (2, 3, 4, 5) besteht, und zwar aus einem am Chassis (6) angelenkten Ausleger (2), einer Auslegerspitze (3), einem Arm (4) und einem Werkzeug (5),
    Mitteln zur Steuerung der Winkelbewegung der Elemente (2, 3, 4, 5) zueinander, die aus folgendem bestehen:
    a) vier hydraulische Zylinder (7, 11, 13, 15), die dafür ausgelegt sind, die Winkelpositionierung zwischen zwei aufeinanderfolgenden Elementen zu ändern, wobei die Fluidversorgung jedes Zylinders (7, 11, 13, 15) durch einen Verteiler (30, 31) gewährleistet wird,
    b) Manipulatoren (42, 43), die einen Steuerbefehl zur Betätigung der Verteiler (30, 31) liefern,
    gekennzeichnet durch Mittel (45, 46) zur Kopplung der Befehle zur Steuerung der Verteiler
    entweder der beiden Zylinder (11, 13), die den Ausleger (2) mit der Auslegerspitze (3) und die Auslegerspitze (3) mit dem Arm (4) verbinden,
    oder der beiden Zylinder (13, 15), die die Auslegerspitze (3) mit dem Arm (4) und den Arm (4) mit dem Werkzeug (5) verbinden,
    wobei die Kopplungsmittel die gleichzeitige Betätigung dieser beiden Zylinder durch den Steuerbefehl eines einzigen Manipulators und damit die Positionierung des Werkzeugs an jedem Punkt im Inneren eines Umrisses eines bestimmten Arbeitsraums gestatten.
  2. Baumaschine nach Anspruch 1, dadurch gekennzeichnet, daß die Kopplungsmittel aus einem Kreis (47, 48) bestehen, der Ventile (45, 46) aufweist, die den Steuerkreis des Verteilers (30) des einen der Zylinder (11) mit dem Steuerkreis des Verteilers (31) des anderen Zylinders (13) verbinden.
  3. Baumaschine nach Anspruch 1, dadurch gekennzeichnet, daß die Durchsätze der den gekoppelten Zylindern (11, 13) entsprechenden Verteiler (30, 31) so eingestellt sind, daß die Zeiten eines vollständigen Hubs der beiden gekoppelten Zylinder (11, 13) gleich sind.
  4. Baumaschine nach einem der Ansprüche 1 und 2, dadurch gekennzeichnet, daß die Durchsätze der Verteiler (30, 31) so eingestellt sind, daß die Horizontalität des Werkzeugs (5) beibehalten wird.
  5. Baumaschine nach Anspruch 1, dadurch gekennzeichnet, daß die Kopplungsmittel aus einer Regeleinheit (59) bestehen, die den Steuerbefehl (55) für den Verteiler (31) des einen der Zylinder (13) in Abhängigkeit von den den beiden Zylindern (11, 13) entsprechenden Winkeln (α, β) bilden.
  6. Baumaschine nach Anspruch 5, dadurch gekennzeichnet, daß die Regeleinheit folgendes aufweist:
    zwei Winkelstellungsfühler (50, 51), die die den gekoppelten Zylindern (11, 13) entsprechenden Winkelwerte (α, β) bestimmen,
    einen Rechnerkasten (52), der einen Strom (56) in Abhängigkeit von der gewichteten Differenz der von den Fühlern (50, 51) kommenden Werte bildet,
    zwei moderierbare Magnetventile (53, 54), die durch den Strom (56)gesteuert werden und dem Verteiler (31) zur Versorgung des Zylinders (13) einen Steuerdruck (55) liefern, wobei jedes Magnetventil (53, 54) die Bewegung des Zylinders in einer Richtung steuert.
EP95933476A 1994-10-18 1995-10-04 Erdbewegungsmaschine Expired - Lifetime EP0787235B1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR9412648A FR2725740B1 (fr) 1994-10-18 1994-10-18 Chargeur excavateur comportant un dispositif permettant la commande d'un bras complexe
FR9412648 1994-10-18
PCT/FR1995/001286 WO1996012069A1 (fr) 1994-10-18 1995-10-04 Engin de travaux publics

Publications (2)

Publication Number Publication Date
EP0787235A1 EP0787235A1 (de) 1997-08-06
EP0787235B1 true EP0787235B1 (de) 1999-06-09

Family

ID=9468113

Family Applications (1)

Application Number Title Priority Date Filing Date
EP95933476A Expired - Lifetime EP0787235B1 (de) 1994-10-18 1995-10-04 Erdbewegungsmaschine

Country Status (4)

Country Link
EP (1) EP0787235B1 (de)
DE (1) DE69510216T2 (de)
FR (1) FR2725740B1 (de)
WO (1) WO1996012069A1 (de)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6128632A (ja) * 1984-07-18 1986-02-08 Mitsubishi Heavy Ind Ltd 油圧シヨベルの操作装置
JPH0745746B2 (ja) * 1987-06-13 1995-05-17 日立建機株式会社 操作レバ−とアクチユエ−タの組合せ変更装置
JPH0794737B2 (ja) * 1989-08-02 1995-10-11 株式会社小松製作所 油圧掘削機における直線掘削制御装置
JPH0823155B2 (ja) * 1990-05-01 1996-03-06 株式会社小松製作所 作業機の制御装置

Also Published As

Publication number Publication date
DE69510216D1 (de) 1999-07-15
FR2725740B1 (fr) 1997-04-25
FR2725740A1 (fr) 1996-04-19
DE69510216T2 (de) 2000-01-20
WO1996012069A1 (fr) 1996-04-25
EP0787235A1 (de) 1997-08-06

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