EP1156162A1 - Baumaschine - Google Patents

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Publication number
EP1156162A1
EP1156162A1 EP01420072A EP01420072A EP1156162A1 EP 1156162 A1 EP1156162 A1 EP 1156162A1 EP 01420072 A EP01420072 A EP 01420072A EP 01420072 A EP01420072 A EP 01420072A EP 1156162 A1 EP1156162 A1 EP 1156162A1
Authority
EP
European Patent Office
Prior art keywords
tool holder
control circuit
acceleration
tool
arm
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Withdrawn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
EP01420072A
Other languages
English (en)
French (fr)
Inventor
Henri Marchetta
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.)
Groupe Mecalac SAS
Original Assignee
Groupe Mecalac SAS
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 Groupe Mecalac SAS filed Critical Groupe Mecalac SAS
Publication of EP1156162A1 publication Critical patent/EP1156162A1/de
Withdrawn legal-status Critical Current

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Classifications

    • 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
    • E02F3/436—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like for keeping the dipper in the horizontal position, e.g. self-levelling
    • 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
    • E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
    • E02F3/432—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude
    • E02F3/433—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude horizontal, e.g. self-levelling

Definitions

  • the invention relates to an improvement made to construction machinery. public, and more particularly to vehicles which include an articulated arm for receive several types of tool dedicated to specific tasks.
  • the invention allows in particular to maintain a constant orientation of the tool.
  • multipurpose public works vehicles that can be used loader, loader-excavator or mechanical shovel, or even forklift have an articulated arm.
  • This arm can include one or several axes of articulation relative to the turret.
  • This articulated arm is composed of several segments articulated one by compared to the others, and equipped with jacks allowing to adjust the different angles between the segments.
  • the so-called "versatile" machines have at the end of the articulated arm a tool holder capable of receiving a specific working tool which may be a bucket, a bucket-loader, clamshell bucket, or even a pallet carrier. All the tools usable on the same machine have identical arrangements allowing installation on the tool holder.
  • the tool holder is itself hinged at the end of the arms to allow the tool to adopt the orientation corresponding to the functionality used.
  • the machine described in this document includes a inclinometer arranged on the tool holder. Depending on the signal it generates, this inclinometer, induces the control of a compensating cylinder connecting the tool holder and the arm. Thus, it is possible to maintain a certain horizontality of the tool.
  • the signal generated by an inclinometer has a discontinuity when the inclinometer performs a large amplitude rotation.
  • the signal generated by the inclinometer is a function of the angle of a movable lever relative to the rest of the inclinometer.
  • the inclinometer rotates more than 360 °, it therefore inevitably appears a discontinuity in the output signal which causes problems in the servo and control chain of the jack compensation.
  • a such amplitude can be frequently observed.
  • the device described in the aforementioned document aims to maintain a horizontality of a load when it is moved during the movement of the craft.
  • the horizontal correction is made by measuring the angle of the tool holder with respect to the vertical. This correction is therefore only effective for substantially rectilinear displacements, and does not compensate for variations dynamically tilt.
  • the device described in this document has a inclinometer which provides only one piece of information, that of the angle of pitch. So, when the machine is on a slope, corresponding to an inclination side of the machine, the information generated by the inclinometer does not take into account the slope angle. It follows that the correction generated by the device servo is wrong, and can even be dangerous.
  • a problem which the invention therefore proposes to solve is that of the dynamic correction of the orientation of the tool and the tool holder according to the movements of the latter, regardless of the lateral inclination of the machine.
  • the tool holder is equipped with two accelerometers which allow to define the direction and intensity of the acceleration undergone by the tool holder, in the workplan.
  • the characteristic accelerometers determine the component of acceleration not relative to the horizontal as in the devices of the prior art, but well in the plane in which is deploy the articulated arm.
  • the measurement of the acceleration of the tool holder and therefore of the tool makes it possible to dynamically compensate for the displacements of the latter, especially during the acceleration or braking phases, or even when the tool moves along a curved path and therefore undergoes a centrifugal force.
  • the two accelerometers are arranged in quadrature, so as to measure each component vectorially independent in the work plan.
  • the electronic means are interfaced with a manipulator which, when activated, triggers the recording of the measurement acceleration current as a setpoint.
  • a manipulator which, when activated, triggers the recording of the measurement acceleration current as a setpoint.
  • the means acting on the circuit hydraulic control control the distributor of the compensation cylinder responsible for the movement of the tool holder relative to the articulated arm.
  • control of the distributor can be carried out directly in debit.
  • the means acting on the hydraulic control circuit may further include a third accelerometer whose direction is not located in the work plane, so that determine the transverse acceleration component, which can then be used to determine the acceleration of the tool in a frame linked to the machine. So it is so possible to compensate with an additional compensation cylinder, the effects of a transverse acceleration which one observes in particular when the arm of work rotates relative to the turret.
  • the invention relates to a public works machine of the type known, comprising an articulated arm capable of deploying relative to the turret or the chassis on which it is mounted.
  • This type of machine being widely known, it will not be therefore not described or illustrated in detail.
  • such an arm (1) consists of several articulated segments relative to each other and whose relative movements are ensured by a hydraulic control circuit including several cylinders.
  • Figure 1 illustrates therefore only the end of the articulated arm (1) in its segment which receives the tool holder (2). More specifically, the last segment of the articulated arm (1) comprises its end a hinge (3) on which is mounted the tool holder (2).
  • This tool holder (2) is intended to receive the working tool (4) and to secure it by relative to the arm (1).
  • the tool (4) shown is a pallet carrier, but the invention cannot be limited to this single type of tool and covers well obviously many other types of work tools, such as buckets, bucket-loaders, grab buckets or whatever.
  • the tool holder (2) is equipped with two accelerometers (10,11) illustrated schematically in Figure 1, and advantageously arranged in quadrature so that their directions of sensitivity are perpendicular.
  • these accelerometers (10,11) are arranged on a lateral face of the tool holder (2), so that the plane defined by their sensitivity is parallel to the work plane in which the articulated arm (1) is deployed. These two accelerometers therefore make it possible to determine the acceleration of the tool holder (2) in the characteristic work plan.
  • the invention is not limited to the single embodiment. illustrated in which the accelerometers (10,11) are arranged on a side face of the tool holder (2), but obviously covers all the variants in which these accelerometers are arranged at another location on the tool holder, provided that their directions of sensitivity define a plane parallel to the plane of job.
  • the control of the jack (5) connected to the tool holder is illustrated in Figure 2.
  • the tool holder (2) has two accelerometers (10,11) which deliver a signed signal (20,21).
  • These two accelerometers (10,11) deliver their analog signal (20,21) to a computer (15) which determines the direction of the current acceleration as a function of the two analog signals (20,21). More precisely, this calculator (15) determines the intensity of the acceleration undergone in the work plane from the two orthogonal components managed by each accelerometer (10,11).
  • the orientation of the acceleration in the work plane is determined by the determination of the angle whose tangent is equal to the ratio of the two signals (20,21) delivered by the two accelerometers (10,11).
  • the different intensity (22) and orientation (23) signals determined by the computer (15), are then transmitted to an electronic management system (16) intended to ensure the correction and control of the compensation cylinder (5). More precisely, this electronic system compares the intensity values (22) and orientation (23) measured, with a reference or setpoint value, for develop a control signal from the distributor supplying the actuator compensation (5).
  • the electronic management system (16) can have different digital filtering stages as well as stages PID or self-adaptive servo control.
  • the set value to which the electronic system (16) controls the orientation of the acceleration can be chosen by the driver according to the situation of the machine and the maneuvers it wishes to perform. More precisely, this setpoint is set by the driver after the driver has arranged the work tool according to the desired orientation. So when the driver uses the manipulator (13) dedicated to the compensation cylinder (5), it acts directly on the distributor (17) which controls the compensation cylinder (5) for placing the tool holder (2) in the desired position. When the driver releases the manipulator (13), the electronic management system (16) detects that the manipulator (13) is no longer used and stores the current value of the acceleration as the setpoint.
  • the representation of the connection between the manipulator (13) and the electronic management system (16) of Figure 2 is schematic, and this can be carried out according to several modes of execution, electric or hydraulic, without departing from the scope of the invention.
  • the electronic management system (16) therefore determines two signals electric (25,26) able to control the flow rate of the two drawers of the distributor (17) which feeds the compensation cylinder (5).
  • the invention is not limited to this single direct debit order, but also covers other less sophisticated variants in which the distributor control is carried out by pressure reducers controlled by the electronic system Management.
  • the compensation cylinder (5) sees each of its chambers (8,9) supplied according to the value of the acceleration measured in relation to the value setpoint chosen.
  • the machine may include in addition to a third accelerometer, located perpendicular to the work plane, and able to determine the transverse acceleration undergone by the tool.
  • a cylinder additional, or a similar mechanism allows the tool holder to be oriented by report to the work plan.
  • the device then comprises also a computer capable of determining the measurement of acceleration perpendicular to the work plan, so as to compare with respect to a additional setpoint and enslaved by an electronic management system additional the cylinder ensuring the movement of the tool holder, perpendicular to the work plane.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
EP01420072A 2000-05-15 2001-03-29 Baumaschine Withdrawn EP1156162A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0006148A FR2808817A1 (fr) 2000-05-15 2000-05-15 Engin de travaux publics
FR0006148 2000-05-15

Publications (1)

Publication Number Publication Date
EP1156162A1 true EP1156162A1 (de) 2001-11-21

Family

ID=8850217

Family Applications (1)

Application Number Title Priority Date Filing Date
EP01420072A Withdrawn EP1156162A1 (de) 2000-05-15 2001-03-29 Baumaschine

Country Status (2)

Country Link
EP (1) EP1156162A1 (de)
FR (1) FR2808817A1 (de)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5826128A (ja) * 1981-08-11 1983-02-16 Hitachi Constr Mach Co Ltd 腕式作業機のバケツト角制御方法
US4431060A (en) * 1981-04-15 1984-02-14 Caterpillar Tractor Co. Earth working machine and blade condition control system therefor
JPS60133126A (ja) * 1983-12-22 1985-07-16 Hitachi Constr Mach Co Ltd ロ−デイングシヨベルのバケツト角制御方法
FR2669663A1 (fr) * 1990-11-23 1992-05-29 Hydromo Engin de travaux publics comportant des moyens permettant de controler le positionnement de l'outil qu'il comporte.
DE4415029A1 (de) * 1994-04-29 1995-11-02 Hafentechnik Eberswalde Gmbh Steuerung des Lastenaufnahmepunktes K eines Kranes oder Baggers
JPH08319631A (ja) * 1995-05-24 1996-12-03 Yanmar Diesel Engine Co Ltd 作業機器の安全操作構造
WO1999035462A1 (en) * 1998-01-12 1999-07-15 Griffith University Monitoring arrangement for a multi-element boom

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4431060A (en) * 1981-04-15 1984-02-14 Caterpillar Tractor Co. Earth working machine and blade condition control system therefor
JPS5826128A (ja) * 1981-08-11 1983-02-16 Hitachi Constr Mach Co Ltd 腕式作業機のバケツト角制御方法
JPS60133126A (ja) * 1983-12-22 1985-07-16 Hitachi Constr Mach Co Ltd ロ−デイングシヨベルのバケツト角制御方法
FR2669663A1 (fr) * 1990-11-23 1992-05-29 Hydromo Engin de travaux publics comportant des moyens permettant de controler le positionnement de l'outil qu'il comporte.
DE4415029A1 (de) * 1994-04-29 1995-11-02 Hafentechnik Eberswalde Gmbh Steuerung des Lastenaufnahmepunktes K eines Kranes oder Baggers
JPH08319631A (ja) * 1995-05-24 1996-12-03 Yanmar Diesel Engine Co Ltd 作業機器の安全操作構造
WO1999035462A1 (en) * 1998-01-12 1999-07-15 Griffith University Monitoring arrangement for a multi-element boom

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 007, no. 104 (M - 212) 6 May 1983 (1983-05-06) *
PATENT ABSTRACTS OF JAPAN vol. 009, no. 294 (M - 431) 20 November 1985 (1985-11-20) *
PATENT ABSTRACTS OF JAPAN vol. 1997, no. 04 30 April 1997 (1997-04-30) *

Also Published As

Publication number Publication date
FR2808817A1 (fr) 2001-11-16

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