EP1362958A2 - Véhicule muni d'un outil de travail ainsi qu'un système de commande pour un outil de travail à guidage parallèle - Google Patents

Véhicule muni d'un outil de travail ainsi qu'un système de commande pour un outil de travail à guidage parallèle Download PDF

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Publication number
EP1362958A2
EP1362958A2 EP03008649A EP03008649A EP1362958A2 EP 1362958 A2 EP1362958 A2 EP 1362958A2 EP 03008649 A EP03008649 A EP 03008649A EP 03008649 A EP03008649 A EP 03008649A EP 1362958 A2 EP1362958 A2 EP 1362958A2
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EP
European Patent Office
Prior art keywords
vehicle
drive
sensor
working tool
work tool
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Withdrawn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
EP03008649A
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German (de)
English (en)
Other versions
EP1362958A3 (fr
Inventor
Iise Botschafter-Knopff
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.)
Individual
Original Assignee
Individual
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Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of EP1362958A2 publication Critical patent/EP1362958A2/fr
Publication of EP1362958A3 publication Critical patent/EP1362958A3/fr
Withdrawn legal-status Critical Current

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    • 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
    • E02F3/627—Devices to connect beams or arms to tractors or similar self-propelled machines, e.g. drives therefor
    • 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 a vehicle with a work tool, in which the Working tool connected to the vehicle via a fastening device is in which the fastening device is rotatable at one end is connected to the vehicle in which the fastening device on its other, free end is rotatably connected to the work tool, in which a lifting drive is provided which rotates the fastening device around it end connected to the vehicle upwards or downwards swivels and so raises or lowers the work tool a control device is provided for the position of the work tool which control device is a parallel guide device for the work tool having.
  • the invention also relates to a control device for such a vehicle with a work tool.
  • Parallel guidance devices are provided for this purpose.
  • mechanical means such as rods, ropes or chains, but they are are subject to heavy wear due to the forced mechanics.
  • DE 40 09 163 A1 describes an excavator with an automatic one Parallel holding of his hand-controllable work tool proposed.
  • sensors are provided here.
  • a sensor for the position of the work tool and a sensor for an arm sensor work together that the most plane possible processing of a certain level by multi-way valves and connections of the hydraulic cylinders.
  • the area ratio for the load holding valves is in common hydraulic Parallel loaders between 4: 1 and 8: 1. This then results in practice a loss of lifting power in such devices between 12% and 20%, which for the Users of such devices are very substantial and uneconomical.
  • the object of the invention is, in contrast, a vehicle with an improved Propose parallel guidance in generic control devices.
  • This object is achieved in that a second drive for rotating the Working tool is provided at the free end of the fastening device, and that the second drive is independent of that provided by the linear drive Lifting capacity is.
  • the Sensor is a sensor that detects the relative orientation, and that the Output value of the sensor as an input value for the control device for the Position of the working tool is used.
  • a sensor is used in one possible embodiment, which is arranged on the vehicle and feels the current position, in particular thus the relative position to the horizontal. This sensor then gives corresponding information about a transmission path.
  • This transmission route can be an electrical wire, but it can also be a wire wireless transmission via radio, in special cases also via optical signals, or other information carriers.
  • This information is recorded on the work tool by a recipient.
  • This receiver then controls the device cylinder, for example a tilt cylinder.
  • a variant of this possibility is the angle of rotation of the base part to tap and over an information transmission link the implement and to supply a corresponding element available there.
  • Another possibility in this embodiment is gravity-related Control, so like a pendulum.
  • Another option is to track it here using separate servomotors to reach.
  • a second term would be parallel to the ground, or more precisely one Parallelism to the horizontal.
  • vehicle parallelism or Parallelism to the horizontal is identical, namely when the vehicle with its Working tool moves on a flat surface or at a standstill on any Place works.
  • a targeted, appropriately dosed deviation can now be made controlled by an exact parallel. So it can happen that a vehicle with a pallet fork or a scoop or similar Tools over uneven terrain. This causes the fastener with its end connected to the vehicle the bumps of the site and with a hydraulic or mechanical transmission exactly the bumps on the other end with the working tool be transmitted. This has to be done conventionally by being careful Driving or other efforts will be offset. According to the invention can now be disregarded the exact angle of rotation of the fastening device to tap for their end connected to the vehicle, Instead, for example, the sensor can directly determine the relative position Recognize the horizontal and pass this setting on to the working tool. This means that uneven floors are completely absorbed.
  • Inclination sensors for example, are suitable as sensors. These are relative inexpensive, but still quite accurate. They work completely without wear and tear have an analog or a digital signal output. This is one Further processing of the measurement signals in a computer is possible without any problems.
  • Yaw rate sensors can also be used as sensors, which belong to the Gyro systems belong.
  • Solid gyros for example, are suitable here, who work according to the vibration structure method using the Coriolis force, So use the relative inertia as a basis.
  • Vehicles and work tools with the invention can be used without any problems Control device are equipped, other conventional functions continue to run. So these are not affected. This applies approximately for functions such as "parallel off", ie if a parallel guidance or modification of which may not be desired in a particular current operation should, and also for the "rapid traverse” function, which in connection with the Emptying the work tool is used.
  • This weighing device can, for example, be a digital, self-summing Have a net weighing device. These values can be used in the control are also taken into account because the load on the work tool in predictable way of achieving and maintaining a position required forces influenced.
  • the second independent drive for the rotation of the working tool has further advantages. This enables targeted vibration and vibration forces for the work tool, which are applied in a series of Use cases are desired. These forces are much better Decouple from the linear actuator and the vehicle.
  • a function can also be provided, which is the work tool any position immediately when it is emptied into a horizontal position. That too was hardly or only very difficult with conventional controls additional measures possible.
  • the operation for the second drive can be designed very comfortably, and with integrated for the linear actuator.
  • control units to think like a joystick. If necessary, you can other functions are also added, such as those for tillage for tractor work tools.
  • FIG. 1 schematically shows a vehicle 10, here a shovel loader.
  • the vehicle 10 has four wheels 11, two of which are visible in FIG. 1.
  • the body 12 with the area contained therein for the driver can also be seen.
  • Fastening device 20 On its front part is a pivotable up and down about a pivot point 15 Fastening device 20, for example a lifting rocker is arranged.
  • a bearing 22 At the front end 21 of the lifting arm or other fastening device 20, a bearing 22 is provided.
  • a work tool 30 rotatably mounted, in the present case this work tool 30 designed as a shovel and shown in three different positions.
  • a skip or another tiltable work tool may be provided.
  • the lifting arm or fastening device 20 is by means of a lifting drive 25 movable, which has a lifting cylinder on the one hand on the vehicle 10 and on the other hand is attached to the lifting arm 20.
  • the working tool 30 has a second drive 35 which is independent of the lifting force of the lifting drive 25.
  • the drive tool 30 is via a toggle lever 33 with the piston 36 of a hydraulic tilt cylinder connected.
  • the tilt cylinder also has a cylinder housing that is pivotally mounted on the lifting arm or fastening device 20.
  • the work tool 30 can be moved by moving the tilting cylinder piston 36 via the toggle lever 33 from a horizontal or parallel position denoted by B. in a tilting position A inclined towards the horizontal, bring a tilted tilt position C and any intermediate positions.
  • Position B is also the basic position or position 0.
  • FIG. 1 also shows plastically, in addition to this possibility of turning or tilting the work tool 30 around the bearing 22 also possibilities are provided, the work tool 30 parallel to the vehicle 10 and / or horizontally and therefore parallel to the ground when the vehicle 10 via the linear actuator 25, the elements attached to it (lifting arm or fastening device 20, working tool 30) up or down moves.
  • the horizontal or parallel position should also be maintained if the lifting cylinder of the lifting drive 25 the lifting arm or fastening device 20 just lifts, for example because of the work tool 30 load resting on the floor is to be lifted upwards.
  • This control device can either with essential components Vehicle 10 or also arranged adjacent to work tool 30 his. Both variants have their advantages, since either work tool equipped with a control device specially designed for this tool can be or also cost-saving for different work tools only one control device, then be provided on the vehicle got to.
  • the control device first includes a sensor 40, for example a displacement sensor or tilt angle sensor. Only the rotation has to be regulated about a single axis, since the axis of rotation of the work tool 30 is fixed is.
  • the vertical direction is determined by the direction of gravitational acceleration given and therefore only one angular position relative to the vertical can be set.
  • the sensor 40 outputs its measured values to a computer 41, these being passed on can certainly take place over a certain distance, if such as the sensor 40 on the tool 30 and the computer 41 on the vehicle 10 is.
  • the control device thus acts as a position controller.
  • a position controller is a in Figure 2
  • Two-point controller is provided, which has an integrated inclination angle sensor features.
  • the output signal of the inclination angle sensor corresponds to the actual value the angular position.
  • this actual value is in the range from -1 ° to + 1 ° (in relation to the angle)
  • the controller does not intervene, as this is only for continuous operation leads.
  • the control device controls the control device with the help of two complementary switches Corresponding proportional solenoid valves.
  • the proportional control unit is provided overall with the reference number 42.
  • the control device can also have an activation input as well have the option of connecting a remote operating display.
  • FIG. 3 shows the operation of the parallel guide is shown schematically. The illustration is limited to the fact that the vehicle 10 with the pivot point 15 is standing on the floor 17.
  • the fastening device 20 extends from the pivot point 15 away from the vehicle 10.
  • FIG. 3 shows four different directions in which this fastening direction 20 could be directed by way of example.
  • the bearing 22 is again closed recognize, on which in turn the working tool 30 is arranged.
  • the sensor 40 (not shown) is located at the pivot point 15 fixed by what angle the fastening device 20 relative to Vehicle 10 is inclined. As an example here are the angles a °, b °, c ° and d ° for the four mentioned positions. Overall, the function runs smoothly.
  • This angle uses a °, b °, c ° or d ° on the bearing 22 in order to position the work tool 30 via the second drive 35 adjust. In the example shown, this stands in all four cases horizontal or parallel to the floor 17.
  • FIG. 4 shows how the parallel guidance according to the invention can also work.
  • a floor 17 is shown which clearly contains an inclined plane, that is to say differently than in Figure 3, which otherwise corresponds to the representation.
  • the sensor 40 is an inclination sensor arranged on the working tool 30.
  • this represents the deviation or the angle a °, b °, c °, or d ° of the fastening view 20 with respect to a vertical fixed, that is, regardless of the orientation of the vehicle 10 and the slope of the floor 17.
  • the four angles on the right side of the (symbolic) vehicle 10 are additional to illustrate the inclined plane of the bottom 17 applied.
  • the Sensor 40 or its output value only the control device for the position of the Work tool 30 cause the latter exactly horizontal or parallel to Level. Of course, this is not parallel to the ("crooked") floor 17 or to the vehicle 10.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP03008649A 2002-05-14 2003-04-15 Véhicule muni d'un outil de travail ainsi qu'un système de commande pour un outil de travail à guidage parallèle Withdrawn EP1362958A3 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10221551 2002-05-14
DE2002121551 DE10221551A1 (de) 2002-05-14 2002-05-14 Steuereinrichtung für ein Arbeitswerkzeug mit einer Parallelführung

Publications (2)

Publication Number Publication Date
EP1362958A2 true EP1362958A2 (fr) 2003-11-19
EP1362958A3 EP1362958A3 (fr) 2004-03-31

Family

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Application Number Title Priority Date Filing Date
EP03008649A Withdrawn EP1362958A3 (fr) 2002-05-14 2003-04-15 Véhicule muni d'un outil de travail ainsi qu'un système de commande pour un outil de travail à guidage parallèle

Country Status (2)

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EP (1) EP1362958A3 (fr)
DE (1) DE10221551A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1467031A1 (fr) 2003-04-11 2004-10-13 Deere & Company Engin de travaux publics, en particulier excavatrice avec bras de godet télescopique
WO2005052265A1 (fr) * 2003-11-25 2005-06-09 Bosch Rexroth Ag Dispositif de commande hydraulique d'un equipement mobile

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE8416495U1 (de) 1984-08-23 Knopff, Dieter, 3330 Helmstedt Steuerungsvorrichtung für hydraulische Arbeitsglieder
DE2834480C2 (de) 1978-08-05 1986-01-02 Baas Technik GmbH, 2000 Wedel Steuereinrichtung eines Schaufelladers od.dgl.
DE4009163A1 (de) 1990-03-02 1991-09-05 Schwing Gmbh F Bagger mit automatischer parallelhaltung seines von hand steuerbaren arbeitswerkzeuges und armsystem durch sensoren
DE10012389A1 (de) 2000-03-14 2001-09-27 Orenstein & Koppel Ag Arbeitsmaschine

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3872990A (en) * 1970-07-09 1975-03-25 Clark Equipment Co Loader bucket position maintaining system
FR2220630B1 (fr) * 1973-03-09 1975-08-22 Poclain Sa
JPS5820835A (ja) * 1981-07-31 1983-02-07 Hitachi Constr Mach Co Ltd 腕式作業機のバケツト角制御装置
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
JPS60133127A (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
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
NL1008432C2 (nl) * 1998-02-27 1999-08-30 Johannes Nijhuis Wiellader met een Z-kinematiek, waarvan een aangekoppeld hulpstuk evenwijdig aan zichzelf kan worden verplaatst en een werkwijze voor het parallel kunnen verplaatsen van een aangekoppeld hulpstuk.
JP2000096601A (ja) * 1998-09-25 2000-04-04 Komatsu Ltd 作業機の角度制御方法及びその制御装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE8416495U1 (de) 1984-08-23 Knopff, Dieter, 3330 Helmstedt Steuerungsvorrichtung für hydraulische Arbeitsglieder
DE2834480C2 (de) 1978-08-05 1986-01-02 Baas Technik GmbH, 2000 Wedel Steuereinrichtung eines Schaufelladers od.dgl.
DE4009163A1 (de) 1990-03-02 1991-09-05 Schwing Gmbh F Bagger mit automatischer parallelhaltung seines von hand steuerbaren arbeitswerkzeuges und armsystem durch sensoren
DE10012389A1 (de) 2000-03-14 2001-09-27 Orenstein & Koppel Ag Arbeitsmaschine

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1467031A1 (fr) 2003-04-11 2004-10-13 Deere & Company Engin de travaux publics, en particulier excavatrice avec bras de godet télescopique
WO2005052265A1 (fr) * 2003-11-25 2005-06-09 Bosch Rexroth Ag Dispositif de commande hydraulique d'un equipement mobile
US7621711B2 (en) 2003-11-25 2009-11-24 Bosch Rexroth Ag Hydraulic control system for mobile equipment

Also Published As

Publication number Publication date
EP1362958A3 (fr) 2004-03-31
DE10221551A1 (de) 2003-12-04

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