EP1467031A1 - Engin de travaux publics, en particulier excavatrice avec bras de godet télescopique - Google Patents

Engin de travaux publics, en particulier excavatrice avec bras de godet télescopique Download PDF

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Publication number
EP1467031A1
EP1467031A1 EP04101384A EP04101384A EP1467031A1 EP 1467031 A1 EP1467031 A1 EP 1467031A1 EP 04101384 A EP04101384 A EP 04101384A EP 04101384 A EP04101384 A EP 04101384A EP 1467031 A1 EP1467031 A1 EP 1467031A1
Authority
EP
European Patent Office
Prior art keywords
tool
angular velocity
bucket
actuator
dipper stick
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.)
Granted
Application number
EP04101384A
Other languages
German (de)
English (en)
Other versions
EP1467031B1 (fr
Inventor
Scott Svend Hendron
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.)
Deere and Co
Original Assignee
Deere and Co
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 Deere and Co filed Critical Deere and Co
Publication of EP1467031A1 publication Critical patent/EP1467031A1/fr
Application granted granted Critical
Publication of EP1467031B1 publication Critical patent/EP1467031B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • E02F3/431—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

Definitions

  • the present invention relates to a work vehicle, especially a backhoe with a telescopic Dipper stick, a vehicle with a telescopic loader function having tool.
  • a variety of work vehicles can use tools be equipped with which a work function is carried out can be.
  • work machines or work vehicles include a wide variety of loaders, excavators, telehandlers and forklifts.
  • An in Backhoe shape with one loader and one extendable dipper stick running work vehicle can for example, be equipped with a tool which a backhoe bucket with telescopic loader properties with which excavator and / or material processing functions can be executed.
  • There is a swivel frame rotatably / pivotably attached to a frame of the vehicle.
  • On Boom or a backhoe boom can be rotated / pivoted on the swivel frame attached.
  • An extendable or Telescopic dipper stick can be rotated / swiveled on the Boom attached. Extendable or telescopic Hereinafter also referred to as translationally movable.
  • the Tool can be rotated / swiveled on the telescopic Dipper stick attached.
  • An operator of the work vehicle controls the orientation or the orientation of the tool in relation to the dipper stick Using a tool actuator.
  • the operator also controls the rotation or pivoting of the boom and dipper stick as well as the translational movement of the dipper stick with the help corresponding actuators.
  • the actuators usually include one or more double acting hydraulic cylinders and an associated hydraulic circuit.
  • the tool being a backhoe bucket with a Telehandler property is an operator must continuously the alignment or the orientation of the tool with the help adjust the tool command input unit when the boom and / or the dipper stick moves during operation become.
  • a variety of devices and systems have been developed proposed automatic alignment or To control the orientation of a tool, especially for Tools such as a loader bucket or a backhoe bucket.
  • Examples of electronic sensors and control systems are from US 4,923,326, US 4,844,685, US 5,356,260 and US 6,233,511 known.
  • the known from this prior art Control systems usually use position sensors, which at different locations on the work vehicle are arranged to the orientation of the weapon relative to Detect and control the frame of the work vehicle.
  • the present invention is therefore based on the object Work vehicle - especially a backhoe with a telescopic dipper stick - of the type mentioned to specify and develop, through which the aforementioned Problems are overcome.
  • a Work vehicle to be specified its control system for Control of a tool is simplified and therefore can be implemented more cost-effectively.
  • such a work vehicle comprises a frame, a Boom, a boom actuator, a telescopic Dipper stick, a dipper stick actuator, an actuator for Telescoping the dipper stick, a tool, a tool actuator, an angular velocity sensor, a tool command input unit and a control unit.
  • the boom has a first end and a second end, the first End rotatably / pivotally arranged on the frame is.
  • the dipper stick has a first end and a second end on, the first end being rotatable / pivotable about an axis the second end of the boom is attached.
  • the second end the dipper stick is translational / telescopic relative to movable first end of the arm.
  • the tool is one Rotatable / swiveling axis at the second end of the dipper stick attached and intended to perform a work function.
  • the tool actuator has a hydraulic cylinder and one electronically controllable hydraulic circuit, the Hydraulic cylinder between the dipper stick and the tool extends or is mounted between and is formed the tool in response to a tool control signal around the Move axis controllably.
  • the boom actuator points a hydraulic cylinder, which is between the frame and the boom extends and is formed around the boom to move the axis in a controllable manner.
  • the dipper stick actuator has a hydraulic cylinder, which is between the Boom and the arm extends and is formed the Movable dipper stick around the axis.
  • the actuator has a hydraulic cylinder for telescoping the dipper stick which is between the first and second ends of the Arm extends and is formed, the second end of the Dipperstick controllable telescopic / translational move.
  • the tool command input unit is designed, a Tool command signal in response to a desired one Tool movement corresponding operation by an operator to generate.
  • the angular velocity sensor is the tool assigned and trained the angular velocity of the Detect tool around the axis and continuously Generate angular velocity signal.
  • the control unit has computational, storage and / or real-time capabilities and stands with the tool actuator, the tool command input unit and the angular velocity sensor.
  • the Control unit is designed to switch the tool command signal received and in response to a tool control signal generate a predeterminable or desired tool movement to achieve.
  • the control unit is designed to be a Tool control signal to generate a continuous specifiable or desired tool angular velocity as Response to the received angular velocity signal achieve if no tool command signal is received.
  • the position information of the tool with the from the stand to determine the position sensors known in the art.
  • an angular velocity sensor is used, which on attached to or associated with the tool, and which is used for orientation or Detect tool orientation on the one hand and on the other hand, a definable orientation of the tool relative to an initial or original targeting of the Tool, regardless of orientation the frame of the work vehicle.
  • a control unit used, for example in the form of a computer or Computer board.
  • the angular velocity sensor detects the Angular velocity of the tool relative to one Earth-related or another coordinate system. In any case is not intended to be the angular velocity of the tool or the location and orientation information of the tool directly relative to a vehicle coordinate system determine.
  • Angular velocity sensors which are used for the present invention are on the market available.
  • US 4,628,734, US 5,850,035 and US 6,003,373 angular velocity sensors known which are suitable for the present invention are.
  • An example of such an angular velocity sensor is the BEI GYROCHIP ® model AQRS, which is from the company Systron Donner Internal Devision of BEI Technologies of California is offered.
  • the work vehicle according to the invention accordingly comprises a improved system for detection and automatic Control of the orientation of a tool which rotatable / swiveling on the telescopic dipper stick is appropriate.
  • a boom Loader bucket of a work vehicle can also be telescoped or translate, so that the Loader bucket or one used in place of the loader bucket Tool essentially the capabilities of a telehandler having.
  • the loader bucket or the tool could also be a Angular velocity sensor can be assigned, which to a control of the loader bucket or of the invention Tool of the work vehicle could be used.
  • the specifiable or desired zero angular velocity, creating an initial Tool orientation is essentially maintainable.
  • the initial tool orientation essentially corresponds to that Orientation of the tool that exists when the Tool command input unit no more tool command signal generated.
  • a tool maintenance command switch is very particularly preferred provided, which in connection with the control unit stands and which is formed, a tool maintenance command signal in response to operator action to generate.
  • the control unit is designed to Ignore angular velocity signal if not that Tool maintenance command signal is received.
  • the tool has a Backhoe bucket on what properties a Has telescopic loader tool.
  • Fig. 1 shows a self-propelled work vehicle, which in Form of a backhoe 10 is executed.
  • the Backhoe 10 includes a frame 12 on which the the ground connected wheels 14 are attached to the Carrying and moving the vehicle.
  • At the front of the Vehicle is a charger 16 and at the rear of the A backhoe device 18 is attached to the vehicle.
  • Either the loading device 16 as well as the backhoe device 18 each carry a variety of excavator and Material processing functions.
  • An operator controls the Functions of the vehicle from an operator station 20.
  • the loader 16 includes a loader arm 22 and a Tool, such as a loader bucket 24 or one other arrangement.
  • the loader arm 22 could be telescopic be trained.
  • Loader arm 22 includes a first end 26 which around a horizontally arranged loader arm axis 28 is rotatably / pivotally attached to the frame 12, and a second end 30, at which the loader bucket 24 by one horizontally arranged loader bucket axis 32 rotatable / pivotable is appropriate.
  • the loader arm actuator includes a hydraulic cylinder 36, which between the frame 12 of the vehicle and the loader arm 22 extends.
  • An actuator 38 for the loader bucket 24 comprises a hydraulic cylinder 40 which is between the Loader boom 22 and the loader bucket 24 extends.
  • loader bucket 24 is controllable movable around the loader bucket axis 32.
  • Embodiment shown includes the bucket actuator 38 an electro-hydraulic loader circuit 42, which hydraulically with the hydraulic cylinder 40 of the loader bucket 24 in Connection is established.
  • the electro-hydraulic loader bucket circuit 42 supplies and controls the flow of the Hydraulic fluid to the hydraulic cylinder 40 the Loader bucket 24.
  • the operator controls the movement of the loading device 16 actuation of a bucket command input unit 44 and a loader arm command input unit 46.
  • the loader bucket command input unit 44 is designed such that it is a Loader bucket command signal 48 depending on the Actuation of the operator generates which is proportional to a intended or desired loader bucket movement.
  • a Control unit 50 is with the loader bucket command input unit 44 and the bucket actuator 38 in communication and receives the bucket command signal 48 and responds by the control unit 50 generates a loader bucket control signal 52, which from the electro-hydraulic loader circuit 42 Will be received.
  • the electro-hydraulic loader circuit 42 responds to the bucket control signal 52 by Hydraulic fluid to the hydraulic cylinder 40 the Loader bucket 24 is directed, whereby hydraulic cylinder 40 the loader bucket 24 moves accordingly.
  • Fig. 2 shows an embodiment of an improved Actuator control system, which is designed to original or a desired orientation of the Maintain loader bucket 24.
  • Angular velocity sensor 54 associated with the loader blade used, which is connected to the unit 50.
  • the Angular velocity sensor 54 of the bucket 24 is trained, the angular velocity of the loader bucket relative to detect the loader bucket axis 32 and continuously to generate the corresponding angular velocity signal 56.
  • the loader arm 22 could be made telescopic.
  • the control unit 50 is designed such that Angular velocity signal 56 to receive and a To generate loader vane control signal 52 in response thereto whereby the bucket actuator 38, the bucket 24 such moves that a predetermined or desired Angular velocity of the loader bucket 24 is achieved. If it is about an automatic retention function for Retain those originally set by the operator Orientation of the loader bucket 24 relative to gravity achieve the required angular velocity of the Loader bucket 24 has a value of zero. Furthermore, the Control unit 50 designed such that the automatic Suspend function if the operator has a Movement of the bucket 24 controls, so if for example, control unit 50 receives a loader bucket command signal 48 receives. The control unit 50 is still trained as initial or original Orientation of the loader bucket 24 is the set orientation the loader bucket 24, which is present as soon as that Loader bucket command signal 48 fails or ends.
  • the control unit 50 formed such that they computational, if necessary storage and real-time capabilities has, in particular regarding the storage a temporal course of signals or a signal sequence.
  • the control unit 50 is in particular designed such that the integral of the angular velocity of the loader bucket 24 as a function of time can resolve the deviation from the originally set orientation of the loader bucket 24 to be able to determine.
  • the control unit 50 is still formed, a bucket control signal 52 in response to generate a deviation that occurs when a desired or predefinable range of deviation for a Orientation of the loader bucket 24 is exceeded.
  • actuator 38 moves loader bucket 24 such that the loader bucket 24 in a predetermined range of deviation the orientation of the loader bucket 24. If one automatic retention function can be provided which is the original set by the operator or initial orientation of the loader bucket 24 relative to Maintaining gravity is the predetermined or desired Deviation or the predefinable or desired Deviation range of the orientation of the loader bucket 24 about zero.
  • the control unit 50 is designed to no longer reach a desired angular velocity of the To rule the loader bucket 24 when they are on the specifiable or desired range of deviation of the orientation of the Loader shovel reacts.
  • a Maintenance command switch 58 of the charger 18 with the Control unit 50 in connection is a Maintenance command switch 58 of the charger 18 with the Control unit 50 in connection.
  • the maintenance command switch 58 is formed, a keep command signal 60 to generate, which is an operation of the maintenance command switch 58 by the operator corresponds to the operation of the automatic maintenance function for the loader bucket 24 too activate.
  • the control unit 50 is designed that the Loader vane 24 related to angular velocity signal 56 ignore unless they are the keep command signal 60 received from the keep command switch 58.
  • the backhoe device 18 comprises a pivotable frame 62, a boom 64 or a backhoe boom, one telescopic dipper stick 66 and a tool, for example a backhoe bucket 68 with a telescopic handler tool feature.
  • the pivotable frame 62 includes a first end 70 which is substantially vertical arranged axis 72 rotatably / pivotally arranged on the frame 12 and a second end 74.
  • the arm 64 includes one first end 76 which is substantially horizontal arranged axis 78 of the bucket boom rotatable on the second end 74 of the pivotable frame 62 is arranged, and a second end 80.
  • the telescopic arm 66 includes a first end 82 which is substantially one horizontally disposed axis 84 rotatable at second end 80 of the boom 64 is arranged, and a second end 86, which can be extended translationally relative to the first end 82 and on which the bucket 68 of the bucket by one in Axis 88 arranged essentially horizontally is rotatably arranged is.
  • An actuator for the pivotable frame 62 which one hydraulic cylinder 90 and which between the Frame 12 of the vehicle 10 and the pivotable frame 62 is arranged, moves the pivotable frame 62 around the vertically arranged axis 72 in a controllable manner.
  • On Actuator for boom 64 includes a hydraulic one Cylinder 92, which between the pivotable frame 62 and the Boom 64 is arranged and which the boom 64 around the Axis 78 moved in a controllable manner.
  • An actuator for the Arm 66 includes a hydraulic cylinder 94, which is arranged between the arm 64 and the arm 66 and which the dipper stick 66 about the axis 84 in moved in a controllable way.
  • An actuator 96 for the Bucket bucket includes a hydraulic cylinder 98 which is between the dipper arm 66 and the backhoe bucket 68 is arranged and which the backhoe bucket 68 around the Axis 88 moved in a controllable manner.
  • An actuator 95 for Extending the dipper stick 66 has a hydraulic cylinder on which is between the first end 82 of the dipper stick 66 and extends the second end 86 of the arm 66, and which controllable the second end 86 of the dipper stick 66 moves or extends relative to the first end 82.
  • the actuator 96 for the backhoe bucket includes an electro-hydraulic Bucket bucket circuit 100, which with the Hydraulic cylinder 98 of the bucket bucket 68 in connection stands and which the flow of hydraulic fluid to the Hydraulic cylinder 98 of the bucket bucket 68 supplied and controls.
  • the operator controls the movement of the bucket device 18 by manipulating the backhoe bucket command entry unit 102, the dipper stick input unit 104, the arm telescopic command input unit 105, the Boom command input unit 106 and the input unit for the swiveling frame 62.
  • the bucket shovel command input unit 102 is designed to be a Backhoe bucket command signal 108 depending on the Manipulation generated by the operator, which is proportional to a desired backhoe bucket movement.
  • the Control unit 50 is in communication with the backhoe bucket command input unit 102, which is for dipper stick input 104, the dipper arm telescopic command input unit 105, the boom command input unit 106 and the actuator 96 for the backhoe bucket 68.
  • the control unit 50 receives this Backhoe bucket command signal 108 and generates in response thereupon a backhoe bucket control signal 110 which is derived from the electro-hydraulic backhoe bucket circuit 100 Will be received.
  • the electro-hydraulic backhoe bucket circuit 100 responds to the bucket control signal 110 by adding hydraulic fluid to the hydraulic cylinder 98 of the Backhoe bucket 68 is passed, causing the Hydraulic cylinder 98 corresponding to the bucket bucket 68 emotional.
  • the initial orientation of the Tool relative to gravity or to another Coordinate system while maintaining the objects of be transported to another place.
  • the Operator continuously the backhoe bucket command input unit Use 102 to get the orientation of the Backhoe bucket 68 to adjust if during the Working operation of the boom 64 and / or the arm 66 be moved.
  • FIG. 3 shows an actuator control system which is designed an initial or original orientation of the Backhoe bucket 68, which is a telehandler tool automatically maintain.
  • a Angular velocity sensor 112 for the bucket bucket 68 used which is associated with the backhoe bucket 68 and which is in connection with the control unit 50.
  • the Angular velocity sensor 112 of the bucket 68 is trained, the angular velocity of the bucket 68 Detect relative to axis 88 and continuously to generate the corresponding angular velocity signal 114.
  • the control unit 50 is designed to be a Angular velocity signal 114 of the bucket 68 to received and a bucket control signal 110 in response to be generated thereon, causing the backhoe bucket actuator 96 the bucket 68 moves such that the Backhoe bucket 68 a corresponding or desired Executes angular velocity.
  • an automatic Maintenance functions which are those of the Operator set original or initial Orientation of the low loader bucket 68 relative to gravity to maintain is the required or desired Bucket bucket 68 angular velocity substantially Zero.
  • the control unit 50 also sets the automatic one Maintenance function off while the backhoe bucket command signal 108 is received, that is if the operator receives one Movement of the low loader bucket 68 makes.
  • the control unit 50 takes place immediately after the end of Backhoe bucket command signal 108 then present Orientation or alignment of the bucket 68 as initial or original targeting of Backhoe bucket 68.
  • a Maintenance command switch 116 is provided, which with the Control unit 50 is connected.
  • the maintenance command switch 116 is configured to receive a maintenance command signal 118 to generate, which an operation of the Maintenance command switch 116 by the operator corresponds to the operation of the automatic retention function to activate for the bucket bucket 68.
  • the Control unit 50 is designed, the angular velocity signal Ignore 114 of backhoe bucket 68, provided they do not the keep command signal 118 from the keep command switch 116 receives.

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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)
EP04101384A 2003-04-11 2004-04-02 Excavatrice avec bras de godet télescopique Expired - Lifetime EP1467031B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US412519 1995-03-29
US10/412,519 US6757994B1 (en) 2003-04-11 2003-04-11 Automatic tool orientation control for backhoe with extendable dipperstick

Publications (2)

Publication Number Publication Date
EP1467031A1 true EP1467031A1 (fr) 2004-10-13
EP1467031B1 EP1467031B1 (fr) 2010-09-08

Family

ID=32595054

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04101384A Expired - Lifetime EP1467031B1 (fr) 2003-04-11 2004-04-02 Excavatrice avec bras de godet télescopique

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US (1) US6757994B1 (fr)
EP (1) EP1467031B1 (fr)
DE (1) DE502004011628D1 (fr)

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AUPR371501A0 (en) * 2001-03-14 2001-04-12 Wright, Stewart James Dampening apparatus
FR2822483B1 (fr) * 2001-03-22 2003-07-18 Volvo Compact Equipment Sa Engin de travaux publics du type chargeuse
US20070128013A1 (en) * 2005-12-01 2007-06-07 Grant Hanson Apparatus protecting vehicle with bucket when bucket strikes fixed object
KR100655330B1 (ko) * 2005-12-23 2006-12-08 두산인프라코어 주식회사 전동 지게차의 경사 작업시 자동 정지장치
US7627966B2 (en) * 2006-07-31 2009-12-08 Caterpillar Inc. Off-fall control for a trenching operation
US8881433B2 (en) 2006-11-30 2014-11-11 Glenridge, Inc. Implement attaching to a forward motion-producing machine for elevating an edge encountering an immovable object
US8732988B2 (en) 2006-11-30 2014-05-27 Glenridge, Inc. Implement with linkage assembly and work assembly wherein work assembly has dynamic skid shoe and a scraping edge
US7753132B2 (en) * 2006-11-30 2010-07-13 Caterpillar Inc Preparation for machine repositioning in an excavating operation
US7726048B2 (en) * 2006-11-30 2010-06-01 Caterpillar Inc. Automated machine repositioning in an excavating operation
US7694442B2 (en) * 2006-11-30 2010-04-13 Caterpillar Inc. Recommending a machine repositioning distance in an excavating operation
US7634863B2 (en) * 2006-11-30 2009-12-22 Caterpillar Inc. Repositioning assist for an excavating operation
US8392075B2 (en) * 2008-02-25 2013-03-05 Clark Equipment Company Carrier and backhoe control system and method
US8406963B2 (en) * 2009-08-18 2013-03-26 Caterpillar Inc. Implement control system for a machine
US8858151B2 (en) 2011-08-16 2014-10-14 Caterpillar Inc. Machine having hydraulically actuated implement system with down force control, and method
US8843282B2 (en) 2011-11-02 2014-09-23 Caterpillar Inc. Machine, control system and method for hovering an implement
US20130158818A1 (en) * 2011-12-20 2013-06-20 Caterpillar Inc. Implement control system for a machine
US8600621B2 (en) 2011-12-20 2013-12-03 Caterpillar Inc. System and method for controlling slip
US9068323B2 (en) 2012-12-20 2015-06-30 Caterpillar Inc. Machine having hydraulically actuated implement system with combined ride control and downforce control system
DE102014000027A1 (de) 2014-01-04 2014-10-30 Johannes Burde Teleskopsystem für die Integration in Monoblock- und Verstellausleger für das Verfahren des Stiel- und Hauptlagers
US9624643B2 (en) 2015-02-05 2017-04-18 Deere & Company Blade tilt system and method for a work vehicle
US9551130B2 (en) 2015-02-05 2017-01-24 Deere & Company Blade stabilization system and method for a work vehicle
US9328479B1 (en) 2015-02-05 2016-05-03 Deere & Company Grade control system and method for a work vehicle
US11939741B2 (en) * 2019-10-28 2024-03-26 Deere & Company Apparatus and method for controlling an attachment coupler for a work vehicle

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GB2208947A (en) * 1987-08-19 1989-04-19 Mcconnel F W Ltd System for controlling the angular position of an implement
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US4923362A (en) * 1988-06-06 1990-05-08 Deere & Company Bucket leveling system with dual fluid supply
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US5560431A (en) * 1995-07-21 1996-10-01 Caterpillar Inc. Site profile based control system and method for an earthmoving implement
US6233511B1 (en) * 1997-11-26 2001-05-15 Case Corporation Electronic control for a two-axis work implement
DE29908429U1 (de) * 1999-05-05 1999-07-29 Mulag Fahrzeugwerk Heinz Wössner GmbH u. Co KG, 77740 Bad Peterstal-Griesbach Vorrichtung zum Verstellen des Arbeitsabstandes
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Also Published As

Publication number Publication date
DE502004011628D1 (de) 2010-10-21
EP1467031B1 (fr) 2010-09-08
US6757994B1 (en) 2004-07-06

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