EP2728073B1 - Lader - Google Patents

Lader Download PDF

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Publication number
EP2728073B1
EP2728073B1 EP13188684.8A EP13188684A EP2728073B1 EP 2728073 B1 EP2728073 B1 EP 2728073B1 EP 13188684 A EP13188684 A EP 13188684A EP 2728073 B1 EP2728073 B1 EP 2728073B1
Authority
EP
European Patent Office
Prior art keywords
loader
sensor
pivot
link
boom
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.)
Active
Application number
EP13188684.8A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP2728073A1 (de
Inventor
Andreas Wehle
Alonso Ignacio Martinez
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 EP2728073A1 publication Critical patent/EP2728073A1/de
Application granted granted Critical
Publication of EP2728073B1 publication Critical patent/EP2728073B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • E02F9/006—Pivot joint assemblies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems
    • 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
    • E02F3/34—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 with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines
    • E02F3/3405—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 with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines and comprising an additional linkage mechanism
    • E02F3/3408—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 with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines and comprising an additional linkage mechanism of the parallelogram-type
    • 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
    • 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
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool

Definitions

  • the invention relates to a loader with a loader rocker and arranged on the loader rocker tool carrier or tool, wherein the tool carrier or the tool is connected at a first pivot point with the loader rocker and at a second pivot point with a pivot linkage, wherein the pivot linkage a first and a second Handlebar includes, which are pivotally connected to each other at a first link point and wherein the first link at a second link point on the loader link and the second link at a second link point at the second pivot point are pivotally connected to the tool carrier or the tool, further comprising a sensor is provided, by means of which a pivot angle between the tool carrier or tool and loader rocker is detected, wherein the sensor is positioned in a cavity on the loader and an actuating device is arranged for the sensor, which is partially out of one of the cavity formed opening and connects the sensor with the pivot linkage.
  • the JP S64 57150 U discloses a wheel loader with a loader rocker and a loader bucket, the pivoting angle of which is detected by an arranged on the loader rocker and with a pivot joint of the loader blade associated angle sensor.
  • the JP 2000 054423 a front loader with a control system for monitoring a loader tool, in particular a loader bucket.
  • the front loader includes a loader arm which is lifted by hydraulic cylinders.
  • a supercharger tool is provided at the end of the loader, which is pivotable about another cylinder. The swivel angle on the supercharger tool is determined by means of a sensor in response to an actuation of the supercharger.
  • Loaders such as front loaders, wheel loaders, telescopic loaders, rear loaders and the like are known. It is also known to provide such loaders with a sensor device, by means of which a pivoting angle of the loader arranged tool carrier or tool is measured, wherein the pivot angle indicates a pivot position of the tool carrier, in particular relative to a loader arm or a boom of the loader.
  • the arrangement of a sensor device on the loader is often difficult or expensive, since the sensor can be exposed to considerable stress and in particular must withstand soiling and damage due to load and must be correspondingly robust trained or protected.
  • magnetostrictive sensors are arranged directly on a lifting cylinder of the supercharger, so that the stroke of the cylinder can be measured and can be deduced from the swivel angle on the tool.
  • Magnetostrictive sensors are usually expensive to install and correspondingly expensive.
  • rotation angle or rotation sensors on the loader, for example on the loader rocker, on the tool carrier or on the pivot linkage of the loader.
  • the sensor must be additionally protected, for example by a robust cover.
  • a cover can on the one hand limit the view of the tool, on the other hand, it causes additional installation and cost.
  • the object underlying the invention is seen in a front loader of the type mentioned in such a way that the above problems are overcome.
  • a front loader of the type mentioned above is formed such that the cavity is formed in the loader rocker, wherein the loader rocker on its inner side at a swing member in the region of the pivot linkage has the opening in the wall of the loader rocker, access to the cavity in the loader swing forms.
  • the fact that the sensor is arranged in a cavity on the loader this is protected by external influences, or automatically covered, so that externally acting objects have no access to the sensor.
  • the assembly is also easy, since no additional covers are required.
  • the cavity is preferably sought near the pivot linkage, so that the actuator can be made compact and a pivoting movement can be recorded and measured directly on the tool carrier or on the pivot linkage. This avoids inaccuracies and minimizes error tolerances.
  • the sensor may be formed, for example, as a magnetic, potentiometric or optical rotation angle sensor or rotation sensor or rotation sensor.
  • the cavity is formed in the loader rocker near the pivot linkage.
  • the loader arm or a boom may be formed as a hollow profile, so that the opening is formed as a section of a hollow profile wall.
  • the assembly also designed as simple and straightforward.
  • a wiring for the sensor can be guided through the interior of the hollow profile, so that protection against damage from outside for the sensor and the wiring is given.
  • the senor could also be positioned in a cavity of the pivot linkage or the tool carrier, for example, between two spaced arms or support plates, wherein the opening is formed either by a recess on the handlebars or support plates or by the spacing of Leneker or support plates to each other.
  • the actuating device comprises an axis of rotation connected to the sensor, a rotary lever and a control arm, wherein the rotary lever is rotatably connected to the axis of rotation and the control arm pivotally connects the rotary lever with the pivot linkage.
  • the axis of rotation serves as a rotary encoder or - transformer for the sensor and can be connected directly or indirectly, for example by a rotation angle translation with the sensor.
  • the rotary lever is designed as a rigid connecting arm to the axis of rotation and extends radially to this.
  • the rotary lever thus transmits a movement exerted on the rotary lever movement directly on the axis of rotation.
  • the control arm which is designed as a pivotable arm or as a connecting rod, a movement of the pivot linkage is transmitted to the rotary lever by this or this at a connection point with the pivot link on one of the links and on a another connection point is pivotally connected to the rotary lever, so that a pivoting movement of one of the links of the pivot link in a pivoting movement of the rotary lever and thus in a rotational movement of the axis of rotation is transmitted.
  • the control arm may be connected to the first link of the pivot link and connects it to the rotary lever. This ensures a compact design of the actuator, since the first link directly with the Loader rocker or is connected to the boom and thus the opening of the cavity can be formed in close proximity to the pivot linkage.
  • the mounting plate By a mounting plate to which the sensor is attached and the axis of rotation mounted, also a simple assembly can be ensured because the sensor and the actuator can be pre-assembled and then the entire assembly conveniently as a compact component assembly on the mounting plate in the region of the opening by a few Mounting steps can be placed.
  • the mounting plate is fastened in the region of the opening of the cavity in such a way that the axis of rotation extends through the opening.
  • the mounting plate and the opening may for example be oval-shaped, oblong-shaped or rectangular, with mounting holes on the longitudinal sides (long sides) of the opening and threaded holes on the transverse sides (short sides) of the mounting plate are formed.
  • the opening By rotating the mounting plate after insertion into the cavity relative to the opening, the opening can be bridged by the mounting plate in the transverse direction to the longitudinal sides of the opening so that the transverse sides of the mounting plate protrude beyond the longitudinal sides of the opening (bridging the opening in the transverse direction) that an attachment of the mounting plate by, for example, screwing to said holes and without additional aids, eg Mounting bracket, mounting straps or the like can be done.
  • the loader can be designed as a front loader, wheel loader, telescopic loader or rear loader, wherein the loader rocker is designed as a loader swing of a front loader or wheel loader or as a boom of a telescopic loader or rear loader.
  • Front loaders and rear loaders can be used on agricultural tractors or construction machinery as attachments.
  • Other loader-like devices and machines that have a Ladeerschwinge or a boom, such as construction equipment, such as Excavators, bulldozers, or forestry machines for forestry, or possibly cranes, are to fall under the term loader.
  • FIG. 1 a part of a loader 10 in the form of a front loader is shown.
  • the front loader is operated in combination with a host vehicle, such as an agricultural tractor (not shown), and is commonly used in the agricultural and construction machinery industries.
  • a host vehicle such as an agricultural tractor (not shown)
  • a carrier vehicle (non-detachable) mounted loader 10 is referred to as a wheel loader, but in the context of this invention essentially a carrier vehicle with detachably mounted loader 10 (front loader) is similar.
  • the loader 10 includes a loader boom 12 or boom.
  • the loader rocker 12 comprises a first and a second swing member 14, 16 which are guided parallel to each other and connected to each other via a cross member 18.
  • the loader rocker 12 or the boom can also comprise only one swing part, as may be the case for example in telescopic loaders, cranes, excavators or forestry machines.
  • the loader rocker 12 further comprises a first and second lifting cylinder 20, 22, at which a pivot linkage 24 with a transverse to the loader rocker 12 extending tool carrier 26 connects.
  • the tool carrier 26 can be equipped with a tool (not shown) via a tool holder 28.
  • permanently installed tools can be used in the form of a blade, so that can be dispensed with a tool carrier 26 and the pivot linkage 24 acts directly on the tool.
  • the pivot linkage 24 comprises on both sides of the loader rocker 12, ie at each rocker part 14, 16, a first link 30, 32 and a second link 34, 36, which are hingedly connected to each other at a first link point 38, 40, wherein the said lifting cylinder 20, 22 at the first link point 38, 40 attack.
  • the aforementioned arms 30, 32, 34, 36 are usually formed by pairs, arranged at a distance from each other, flat profiles for dynamic and static reasons, so that the pivot link 20 on both sides of the loader rocker 12 for each of said handlebars 30, 32, 34, 36 comprises a pair of flat profiles 30 ', 30 ", 32', 32", 34 ', 34 "and 36', 36".
  • the said links 30, 32, 34, 36 can also be used as one-piece links 30, 32, 34, 36 (not paired flat profile pairs 30 ', 30 ", 32', 32", 34 ', 34 "and 36', 36 ") to be ordered.
  • the tool carrier 26 has on both sides a first pivot point 42, 44, on which it is pivotally connected to a respective rocker part 14, 16 of the loader rocker 12 (pivot point 42 on the rocker part 14, pivot point 44 on the rocker part 16). Furthermore, the tool carrier 26 on both sides of a second pivot point 46, 48, to which it is connected at a second link point 50, 52 of the second link 34, 36 therewith. At a second link point 54, 56 of the first link 30, 32 of this, in each case above the connection of the tool carrier 26 with the loader rocker 12 at the first pivot points 42, 44, pivotally connected to a swing member 14, 16 of the loader rocker 12.
  • the arrangement described above causes the tool carrier 26 through the said lifting cylinder 20, 22 via the first and second links 30, 32, 34, 36 or via the pivot link 24 controlled with a fixed kinematics can be tilted, with a certain tilt angle of the tool carrier 26 with a fixed pivotal movement of the first and second link 30th , 32, 34, 36 (see in particular FIG. 2 and FIG. 3 ).
  • a sensor 58 is arranged, which is connected via an actuating device 60 with the pivot linkage 26, in particular with the first link 30 and with its flat profile 30 '.
  • the sensor makes it possible, for example, to reproduce a swivel angle relative to the loader rocker 12.
  • the actuating device 60 comprises an axis of rotation A, a rotary lever 62 and a control arm 64.
  • the rotary lever is non-rotatably connected to the axis of rotation A, so that by actuation of the rotary lever 62, the axis of rotation A is rotated and the sensor 58 is actuated.
  • the sensor information is routed via a corresponding data transfer, for example by cable or radio (not shown) to a data processor or to a data display (not shown) in a known manner and displayed.
  • the axis of rotation A can pass on the angle information directly to the sensor (as in the illustrated embodiment) or it can be a further translation in mechanical form, for example by a gear stage.
  • the control arm 64 is pivotable at a hinge point 66, so articulated, connected to the rotary lever 62, and forms with this a pivot axis B. Further, the control arm 64 at another hinge point 68 is pivotally, so articulated, on the first arm 30, in particular on the flat profile 30 ', whereby a further pivot axis C is formed.
  • the sensor 58 is mounted on a mounting plate 70, wherein the axis of rotation A extends through an opening in the mounting plate 70, so that the actuator 60 on the opposite side of the mounting plate 70th extends.
  • a bearing point 72 for supporting the axis of rotation A on the mounting plate 70 is also provided.
  • the loader rocker 12 has on its inner side on the rocker part 14 in the region of the pivot linkage 24 an opening 74, which in the wall of the loader rocker 12, and the rocker part 14, access to a cavity 76 in the loader rocker 12, and the rocker part 14th , forms.
  • the opening 74 is oval-shaped formed as a slot cutout and has mounting holes 78 on their long sides.
  • the opening 74 may alternatively be formed rectangular as a rectangular cutout.
  • the mounting holes 78 are formed as through holes.
  • the mounting plate 70 is also formed oval-shaped, wherein the dimensions of the mounting plate are selected so that the mounting plate 70 can be inserted through the opening 74.
  • the mounting holes 80 on the mounting plate 70 are provided with a thread, such that the mounting plate 70 by means of threaded screws 82 to the wall of the loader rocker 12, and the swing member 14, fastened (see FIGS. 6 and 10 ).
  • An assembly of the actuator 60 and the sensor 58 to the loader rocker 12 is such that initially a pre-assembly of the sensor 58 to the mounting plate 70 by screwing takes place and also the actuator 60 is pre-assembled at the bearing 72 to the mounting plate 70, as in particular FIG. 8 is shown. It follows the insertion of the sensor 58 and the mounting plate 70 through the opening 74 in the cavity 76, as it FIGS. 8 and 9 demonstrate. By then rotating the sensor and the mounting plate 70 in the cavity 76, the mounting plate 70 is positioned across the opening 74 so that the mounting holes 78, 80 coincide and the mounting plate 70 bridges the opening widthwise (in the transverse direction).
  • the Mounting plate 70 is attached to the wall of the loader rocker 12 and the swing member 14, wherein the threaded screw heads are outside the cavity 76, on the outside of the wall and the mounting plate 70 with sensor 58 within the cavity 76 on the inside of the wall, so that the actuator 60, or the axis of rotation A of the actuator 60, through the opening 74 horrckt.
  • the sensor 58 itself is now in the cavity 76 of the loader rocker 12 (see FIG. 10 ) and is protected by the wall of the loader rocker 12 from any external influences. The same applies to a wiring of the sensor, which can be easily passed through the cavity 76.
  • the actuator 60 By connecting the control arm 64 with the first arm 30 of the pivot link, or with the flat profile 30 'of the arm 30 at the pivot point 68, the actuator 60 is brought into contact with the pivot link 24.
  • This connection is made, for example, by a simple spigot connection by passing a pin 84 formed on the control arm 64 through a bore 86 formed on the first link 30 and securing it via a securing ring 88 (see FIG FIGS. 4 . 6 . 9 ).
  • a pivoting movement of the tool carrier 26 or a tool attached thereto is thus transmitted by the first link 30 of the pivot link 24 to the control arm 64, which in turn actuates the axis of rotation A via the rotary lever 62 and transmits a corresponding pivot angle signal to the sensor 58.
  • the swivel angle signal represents a swivel angle or a change in the swivel angle between the tool carrier 26 and the loader rocker 12. Measurement errors are kept small due to the close positioning of the sensor 58 on the swivel rod 24.
  • the actuator 60 can be made in a compact form with a small design, so that in total, in addition to the protection of the sensor 58 through the wall on the cavity 76, given a small attack surface for external objects and the assembly is easy to implement.

Landscapes

  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Transportation (AREA)
  • Geology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Operation Control Of Excavators (AREA)
  • Component Parts Of Construction Machinery (AREA)
  • Shovels (AREA)
EP13188684.8A 2012-10-30 2013-10-15 Lader Active EP2728073B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102012021192.9A DE102012021192B4 (de) 2012-10-30 2012-10-30 Lader

Publications (2)

Publication Number Publication Date
EP2728073A1 EP2728073A1 (de) 2014-05-07
EP2728073B1 true EP2728073B1 (de) 2019-02-27

Family

ID=49382284

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13188684.8A Active EP2728073B1 (de) 2012-10-30 2013-10-15 Lader

Country Status (7)

Country Link
US (1) US20140119870A1 (pt)
EP (1) EP2728073B1 (pt)
CN (1) CN103821190A (pt)
BR (1) BR102013027645A2 (pt)
DE (1) DE102012021192B4 (pt)
EA (1) EA201301041A1 (pt)
IN (1) IN2013MU02664A (pt)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012021191B4 (de) * 2012-10-30 2016-03-03 Deere & Company Lader
DE102015004819A1 (de) * 2015-04-14 2016-10-20 Liebherr-Werk Bischofshofen Gmbh Arbeitsmaschine
US9816248B2 (en) 2015-10-30 2017-11-14 Deere & Company System and method for assisted bucket load operation

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06102905B2 (ja) * 1987-09-30 1994-12-14 株式会社クボタ ブーム型作業機の作業具姿勢検出装置
JPH0634431Y2 (ja) * 1987-09-30 1994-09-07 株式会社クボタ ブーム型作業機の作業具姿勢検出器
JPH0312948U (pt) * 1989-06-16 1991-02-08
JP2000054423A (ja) * 1998-08-04 2000-02-22 Yanmar Agricult Equip Co Ltd フロントロ−ダ
CN1748062A (zh) * 2003-02-26 2006-03-15 新卡特彼勒三菱株式会社 建筑机械中臂角度传感器装置
JP2004278288A (ja) * 2003-02-26 2004-10-07 Shin Caterpillar Mitsubishi Ltd 建設機械におけるアーム角度センサ装置
WO2008133244A1 (ja) * 2007-04-25 2008-11-06 Komatsu Ltd. 作業機ブーム
DE102007029795A1 (de) * 2007-06-27 2009-01-08 Deere & Company, Moline Ladegerät
SE533401C2 (sv) * 2008-04-29 2010-09-14 Atlas Copco Rock Drills Ab Schaktmaskin, upphängningsanordning och schaktverktyg
US20110301781A1 (en) * 2008-11-26 2011-12-08 Volvo Construction Equipment Method for calibrating an angle sensor and vehicle with an angle sensor

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Also Published As

Publication number Publication date
EA201301041A1 (ru) 2014-05-30
CN103821190A (zh) 2014-05-28
DE102012021192A1 (de) 2014-04-30
US20140119870A1 (en) 2014-05-01
EP2728073A1 (de) 2014-05-07
BR102013027645A2 (pt) 2015-06-23
DE102012021192B4 (de) 2016-03-03
IN2013MU02664A (pt) 2015-06-19

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