EP1640512B2 - Steuersystem für einen Lader. - Google Patents

Steuersystem für einen Lader. Download PDF

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Publication number
EP1640512B2
EP1640512B2 EP05020754.7A EP05020754A EP1640512B2 EP 1640512 B2 EP1640512 B2 EP 1640512B2 EP 05020754 A EP05020754 A EP 05020754A EP 1640512 B2 EP1640512 B2 EP 1640512B2
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EP
European Patent Office
Prior art keywords
bucket
pressure
arms
control
joystick
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
EP05020754.7A
Other languages
English (en)
French (fr)
Other versions
EP1640512A2 (de
EP1640512A3 (de
EP1640512B1 (de
Inventor
Bernard Hublart
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.)
AGCO SA
Original Assignee
AGCO SA
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
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Priority claimed from GB0421497A external-priority patent/GB0421497D0/en
Priority claimed from GB0421499A external-priority patent/GB0421499D0/en
Priority claimed from GB0421495A external-priority patent/GB0421495D0/en
Application filed by AGCO SA filed Critical AGCO SA
Publication of EP1640512A2 publication Critical patent/EP1640512A2/de
Publication of EP1640512A3 publication Critical patent/EP1640512A3/de
Application granted granted Critical
Publication of EP1640512B1 publication Critical patent/EP1640512B1/de
Publication of EP1640512B2 publication Critical patent/EP1640512B2/de
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
    • 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
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations
    • 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
    • E02F9/2004—Control mechanisms, e.g. control levers
    • 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
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
    • E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller

Definitions

  • This invention relates to loader control systems for the control of a loader bucket pivoted on one end of a pair lift arms the other ends of which are pivotally mounted on a vehicle (such as a tractor) with first cylinder means for pivoting the bucket relative to the arms and second cylinder means for pivoting the arms relative to the vehicle.
  • a vehicle such as a tractor
  • first and second cylinder means are controlled by hydraulic valves which are typically controlled by the vehicle driver via a joystick or other command means, as disclosed in FR 2 827 320 A1 .
  • loader control systems may also include a control module which can include automatic routines for controlling a variety of parameters such as bucket angle and maximum bucket height.
  • a tractor loader comprises a bucket 10 pivotally mounted at 11 on a pair of loader arms 12 which are themselves pivotally mounted at 13a on a pair of posts 13 which are mounted on the associated tractor.
  • the loader is provided with a control system which includes a pair of first cylinders 14 which pivot the bucket relative to the arms 12 and a pair of second cylinders 15 which pivot the arms relative to the posts 13.
  • a block of valves 16 is provided for controlling the flow of fluids to and from the first and second pairs of cylinders.
  • Valve 16a controls the flow of fluid to and from cylinders 14 and valve 16b the flow of fluid to and from cylinders 15.
  • the valves receives their fluid flow from a reservoir 17 where a pump 18.
  • a first sensor 19 is provided for measuring the angular position of the bucket 10 relative to the arms 12.
  • a second sensor 20 measures the angular position of the arms 12 relative to the posts 13. These sensors may operate on a linear principle or may be rotary units associated with the pivot 11 of the bucket on the arms 12 or the pivot 13a of the arms on the posts 13.
  • An electronic control unit 21 is provided which receives the signals from sensors 19 and 20 and the inputs from a driver operated command means in the form of a joystick 22.
  • the electronic control unit 21 issues control signals to solenoids 16c and 16d of control valves 16a and 16b respectively so that the associated cylinders 14 and 15 are moved to position the bucket 10 and arms 12 in the position selected by the operators manipulation of the joystick 22.
  • the control unit 21 is also connected with a display means 23, which in the example disclosed is in the form of a LCD screen.
  • This display screen (shown in more detail on Figure 3 ) in accordance with the present invention displays a wide variety of operating parameters of the loader.
  • the control unit 21 also includes a number of automatic operating routines which may be initiated by the loader operator.
  • a bucket position indicator 32 which is also shown diagrammatically in Figure 4 .
  • the indicator includes a fixed graticule 33 which indicates a horizontal position of the rim of the bucket, a moveable graticule 34 which indicates a predetermined stored position of the bucket rim to which the operator requires the bucket to return during manual operation and/or during automatic routines, and a further graticule 35 which moves as the bucket rim moves to indicate the actual current position of the bucket rim.
  • the stored position graticule 34 may be highlighted by red arrow heads 36 and actual position graticule may be highlighted by yellow arrow heads 37.
  • this bucket position indicator provides a convenient method of communicating to the operator the actual current position of the bucket rim using graticule 35 when the bucket is being controlled directly by the operator's manipulation of the joystick thus enabling the operator to see at all times what movements he needs to make to move the bucket (whose current position is indicated by graticule 35) towards the bucket rim position which the operator requires. This is particularly convenient since the bucket may not be easily visible at all times to the operator.
  • the display unit 23 includes a simulated pointer dial 40 whose pointer 40a indicates the fluid flow rate available to power the cylinders 14 and 15, for example litres per minute.
  • a further simulated dial 41 with moveable pointer 41a indicates the pressure in the hydraulic system to power the cylinder 15.
  • Simulated dials 42 and 43 with their associated pointers 42a and 43a indicated the actual orientation of loader arms 12 and bucket 10 respectively.
  • the control system includes a further weighing function which is invoked by pressing button 51 at the left side of screen 23.
  • a light 44 is illuminated on the display screen when the weighing routine is activated.
  • a maximum height position button 25 on joystick 22 is also pressed and the automatic weighing routine automatically moves the bucket arms and bucket to predetermined weighing positions in which the pressure in the cylinders 15 is sensed to determine the weight of material currently in the bucket 10. This pressure is measured by pressure sensors 15a fitted to cylinders 15 and connected with control unit 21. After this pressure is sensed the arms continue their movement to the maximum height position. This measured weight is displayed on screen line display 45.
  • the display screen includes addition buttons 53 and 54 along its left side.
  • Button 53 is an “set up” button used during a "dealer only” menu-driven calibration of the system during which the various dials and movement indicators/sensors are calibrated by the dealer to the particular loader and tractor.
  • Button 54 is a "Help” button which when pressed informs the system operator how to use the system and the function of the various buttons etc.
  • buttons 55 to 59 are provided along the button edge of screen 23.
  • Button 55 and 56 are spare buttons with no predetermined assigned function.
  • Buttons 57 and 58 are respectively used to decrease and increase the time to open the grapple fork 29.
  • Button 59 is used to validate a new system parameter when this is changed during part of a "set up” routine and buttons 57 and 58 can also be used to step between menu instructions during "set up”.
  • buttons 51 to 59 could be incorporated into screen 23 as touch sensitive areas on the screen.
  • the joystick is pivotable in a fore and aft sense about an axis X-X which is generally transverse relative to the tractor in order to raise and lower the lift arms 12.
  • a knurled wheel 24 is partially recessed into the top of the joystick, this wheel is rotatable by the operator's thumb about a general transverse axis K-K to roll back and tip the bucket 10 relative to the arms 12.
  • the joystick includes push button 25 previously referred to above and additional push button 26. These buttons when pressed by the operator invoke automatic routines which drive the loader arms to a preset maximum height position when button 25 is operated and a preset minimum height position when button 26 is operated. A further button 27 is provided for driving the bucket to a memorised position (e.g. the horizontal bucket position or some other predetermined bucket position set by the operator).
  • the loader arms are driven to the required maximum height position by manipulation of the joystick 22 whereupon the maximum height position button 25 and a "save” button 28 position on the side of the joystick is pressed simultaneously to memorise this maximum height position.
  • the preset positions associated buttons 26 and 27 are stored with the aid of the "save" button 28 when the buttons 26 and 27 are pressed simultaneously with button 28.
  • pivoting of the joystick 22 side to side about the fore and aft axis Y-Y can be arranged to operate a further function of the loader.
  • a grapple fork 29 pivoted on the bucket at 30 can be moved relative to the bucket by actuation of cylinder 31 under the control of additional valve 16e whose solenoid 16f operated by the control unit 21 in response to pivoting of joystick 22 about axis Y-Y.
  • Movement of the joystick to the right can, for example , open the grapple fork whilst movement to the left can close the fork.
  • the joystick can be set up to invoke an automatic grapple fork full opening routine if the joystick is held in the maximum right pivoting for say 1.5 seconds of if the joystick is moved to the maximum right position and the button 28 is pressed.
  • a damping system for the front loader is provided.
  • One example of a suitable damping systme includes a pressure control loop in which the pressure in lift cylinders 15 (measured by sensors 15a) is fed as a control signal into control unit 21 and which also includes a position control loop in which the position of lift arms 12 (measured by sensors 20) is also fed as a further control signal into control unit 21.
  • the control unit 21 includes a damping control algorithm which determines how the pressure and position control loops interact. This interaction will now be described with reference to Figure 2 which shows in its upper half the operation of its pressure control loop and in the lower half the operation of its position control loop.
  • the vehicle operator moves the joystick to position the support arms 12 in the desired carrying position and then releases the joystick to allow it to return to neutral. He then presses the button 51 which also illuminates light 44 and begins operation of the system.
  • the system measures the pressure in lift cylinders 15 using sensors 15a by sampling the pressure say 6 times in a given sampling time of say 3 seconds to establish the mean pressure present in the lift cylinders due to the weight supported by the support arms. This sampling procedure is variable depending on the particular loader.
  • This mean pressure is recorded in the control unit 21 and used as the reference pressure for the operation of the damping system. This pressure is shown as 'P' in Figure 2 . The time period during which this reference pressure is established is shown as 't' in Figure 2 .
  • a deadband is set up on either side of this reference pressure as indicated by the dotted lines r and s in the upper part of Figure 2 .
  • a deadband is established either side of the reference position Q which is shown by dotted lines u and v in the lower half of Figure 2 .
  • the position control loop takes over and increase the cylinder pressure to move the position of the lift arms back towards the initial stored position Q as indicated by the portion q5 of the position curve. This results in the pressure increasing in the support cylinders indicated by portion p5 of the pressure curve. If this pressure increase remains inside the upper limits 'r' of the pressure control loop the position of the support arms will be restored to the initial reference position Q as indicated by portion q6 of the curve.
  • the control algorithm includes the safety feature that, should the current support arm position stray outside the position deadband, the position control loop takes over to immediately adjust the support cylinder pressure to bring the support arms back within the deadband before any support cylinder pressure adjustment is made to provide damping.
  • This safety feature is necessary in order to avoid dangerous movements of the support arms in an attempt to damp large surges in support cylinder pressure.
  • FIG. 2 shows a second large surge in support cylinder pressure at portion p6 of the curve with a subsequent reduction in support cylinder pressure after reaction time 'c' along portion p7 of the curve back to point p8 and the point p9 due to the reaction delay 'c'.
  • the position of the lift arms moves along the portion q7 of the position curve to corresponding points q8 and q9 and at point q9 is still within the position control loop deadband.
  • the position control loop increases the cylinder pressure (potion p10 of the curve) to move the position of the support arm back towards the initial position Q (portion q10 of the curve.
  • Such an arrangement provides all the necessary control of the lift cylinders pressure fluctuations without the need to employ relatively costly accumulators etc. and uses sensors for lift cylinder pressure which are already incorporate into the loader control system for weighing the load in the loader bucket.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Operation Control Of Excavators (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Air Transport Of Granular Materials (AREA)
  • Centrifugal Separators (AREA)
  • Massaging Devices (AREA)

Claims (7)

  1. System zur Steuerung oder Regelung (im Folgenden "Steuerung") eines Laders für eine Schaufel (10), die an einem Ende eines Paares von Liftarmen (12) verschwenkt wird, wobei die anderen Enden der Liftarme (12) an einem Tragfahrzeug (13) verschwenkt werden, mit ersten Zylinder-Mitteln (14) zum Verschwenken der Schaufel relativ zu den Armen und mit zweiten Zylinder-Mitteln (15) zum Verschwenken der Arme relativ zu dem Fahrzeug, wobei das System Ventilmittel (16a, 16b) zur Steuerung des Flusses von Fluid zu und von dem ersten und zweiten Zylinder-Mittel aufweist, mit ersten Sensor-Mitteln (19) zum Messen des Schwenkwinkels der Schaufel relativ zu den Armen, zweiten Sensor-Mitteln (20) zum Messen des Schwenkwinkels der Arme relativ zu dem Fahrzeug, mit vom Fahrer betätigten Joystick-Steuerhebeln (22) zur Erteilung von Steuerbefehlen betreffend gewünschte Positionen der Schaufel und der Arme, mit mindestens einem elektronischen Steuerungs-Mittel (21), welches von dem Joystick (22) sowie dem ersten und zweiten Sensor-Mittel (19, 20) Eingangssignale empfängt zur Steuerung des Ventil-Mittels (16a, 16b), so dass das erste und zweite Zylinder-Mittel (14, 15) betrieben werden, damit die gewünschten Positionen der Schaufel und der Arme, die von dem Befehls-Mittel gesetzt oder vorgegeben werden, herbeigeführt werden, wobei das System dadurch gekennzeichnet ist, dass ein visuelles Anzeigemittel (23) vorgesehen ist, weiches mit dem elektronischen Steuerungs-Mittel (21) verbunden ist und auf dem die gegenwärtige WinkelPosition (35) der Schaufel (10) für den Fahrer angezeigt wird, wobei das elektronische Steuerungs-Mittel (21) zur Aufrechterhaltung einer gewünschten Orientierung der Schaufel relativ zu dem Boden mit dem Anheben und Absenken der Arme (12) angeordnet ist, wobei das Anzeigemittel (23) eine Anzeige (33) einer horizontalen Orientierung der Schaufel und eine Anzeige (34) der gewünschten Orientierung der Schaufel aufweist, um den Fahrer zu unterstützen, wenn die Schaufel unter der Steuerung des Fahrers ist, wobei das System zur Steuerung des Laders weiterhin ein Dämpfungssystem mit einem Druckniveau-Regelkreis aufweist, mit einem Druckmess-Mittel zum Messen des Drucks in den Liftzyündern (15) aufgrund der gegenwärtig auf die Tragarme (12) einwirkenden Last, mit Speicher-Mitteln (21) zum Speichern des gemessenen Liftzylinderdrucks als Referenzwert (P), wobei das Druckmess-Mittel auch den Liftzylinderdruck beim Transportieren der Last überwacht, und mit Steuerungs-Mitteln (21) zum aktiven Einstellen des Drucks in den Liftzylindern (15) unter Verwendung der elektrisch aktivierten hydraulischen Ventile (16b), wenn der Druck außerhalb einer vorbestimmten Totzone (r, s) auf einer beliebigen Seite des Referenzwerts (P) variiert, um den Liftzylinderdruck in die Totzone zurückzuführen und die Trageposition (Q) des Tragarms beizubehalten.
  2. System nach Anspruch 1, wobei das visuelle Anzeigemittel (23) mindestens einen der folgenden weiteren Parameter anzeigt:
    - Orientierung (35) der Liftarme (12);
    - fluidischer Fluss (40a), der verfügbar ist zur Beaufschlagung der Zylinder (beispielsweise in l/min);
    - Druck (41a) in dem hydraulischen System, welches die Zylinder versorgt;
    - Gewicht der Substanz, die gerade in der Schaufel (45) angehoben wird; und/oder
    - Gesamtgewicht der Substanz, die in der Schaufel (47) seit dem letzten Reset angehoben worden ist.
  3. System nach Anspruch 1 oder 2, wobei der Joystick (22) um eine erste Achse (X-X) schwenkbar ist zur Steuerung eines hydraulischen Ventils (16b) zum Anheben/Absenken der Arme (12), wobei der Joystick ein Rändelrad (24) trägt, welches teilweise in dem Joystick aufgenommen oder von diesem ausgebildet ist, wobei eine Verdrehung des Rads die Position und/oder Orientierung der Schaufel (10) relativ zu den Armen (12) steuert.
  4. System nach Anspruch 3, wobei der Joystick (22) mindestens ein zusätzliches SteuerMittel (25-28) trägt zur Aktivierung von Steuerungs-Routinen wie beispielsweise für das Bewegen oder Fahren der Arme (12) zu einer vorbestimmten Höhen-Position.
  5. System nach Anspruch 4, wobei der Joystick (22) einen ersten Knopf oder Schalter (25) besitzt, der bei Betätigung ein Signal erzeugt zum Bewegen oder Antreiben der Arme (12) zu einer vorgegebenen maximalen Höhen-Position, sowie einen zweiten Knopf oder Schalter (26) besitzt, welcher bei Betätigung ein Signal erzeugt zum Bewegen oder Antreiben der Arme (12) zu einer vorgegebenen minimalen Höhen-Position, sowie einen dritten Knopf oder Schalter (27) besitzt, der bei Betätigung ein Signal erzeugt zum Bewegen oder Antreiben der Schaufel (10) zu einer vorbestimmten Position der Schaufel.
  6. System nach einem der Ansprüche 3 bis 5, wobei der Joystick (22) um eine zweite Achse (Y-Y), die relativ zu der ersten Achse (X-X) geneigt ist, verschwenkbar ist zur Erzeugung eines Signals zur Betätigung eines Ventils (16e) zur Steuerung einer weiteren Punktion (29), die relativ zu der Schaufel (10) durch einen weiteren hydraulischen Zylinder (31) verschwenkt werden kann.
  7. System nach Anspruch 6, wobei der Joystick (22) um die erste und zweite Achse (X-X, Y-Y) verschwenkbar ist zur Gewährleistung einer simultanen und proportionalen Steuerung der zwei separaten Funktionen (12, 29).
EP05020754.7A 2004-09-28 2005-09-23 Steuersystem für einen Lader. Expired - Lifetime EP1640512B2 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB0421497A GB0421497D0 (en) 2004-09-28 2004-09-28 Implement damping system
GB0421499A GB0421499D0 (en) 2004-09-28 2004-09-28 Loader control system
GB0421495A GB0421495D0 (en) 2004-09-28 2004-09-28 Loader controls

Publications (4)

Publication Number Publication Date
EP1640512A2 EP1640512A2 (de) 2006-03-29
EP1640512A3 EP1640512A3 (de) 2007-05-30
EP1640512B1 EP1640512B1 (de) 2010-11-17
EP1640512B2 true EP1640512B2 (de) 2015-02-25

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Application Number Title Priority Date Filing Date
EP05020754.7A Expired - Lifetime EP1640512B2 (de) 2004-09-28 2005-09-23 Steuersystem für einen Lader.

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EP (1) EP1640512B2 (de)
AT (1) ATE488649T1 (de)
DE (1) DE602005024754D1 (de)

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Also Published As

Publication number Publication date
EP1640512A2 (de) 2006-03-29
EP1640512A3 (de) 2007-05-30
DE602005024754D1 (de) 2010-12-30
ATE488649T1 (de) 2010-12-15
EP1640512B1 (de) 2010-11-17

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