EP3719217B1 - Procédé de commande d'actionnement d'un mouvement de retour en position d'excavation d'un outil, tel qu'un godet, dans un véhicule de travail, système de commande correspondant et véhicule de travail comprenant un tel système de commande - Google Patents

Procédé de commande d'actionnement d'un mouvement de retour en position d'excavation d'un outil, tel qu'un godet, dans un véhicule de travail, système de commande correspondant et véhicule de travail comprenant un tel système de commande Download PDF

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Publication number
EP3719217B1
EP3719217B1 EP20168282.0A EP20168282A EP3719217B1 EP 3719217 B1 EP3719217 B1 EP 3719217B1 EP 20168282 A EP20168282 A EP 20168282A EP 3719217 B1 EP3719217 B1 EP 3719217B1
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EP
European Patent Office
Prior art keywords
implement
motor
dig
driving current
joystick
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EP20168282.0A
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German (de)
English (en)
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EP3719217A1 (fr
Inventor
Adriano GARRAMONE
Andrea Gravili
Stefano Liberti
Antonio Venezia
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CNH Industrial Italia SpA
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CNH Industrial Italia SpA
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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
    • E02F3/28—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
    • E02F3/434—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like providing automatic sequences of movements, e.g. automatic dumping or loading, automatic return-to-dig
    • 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
    • E02F9/2278—Hydraulic circuits
    • E02F9/2282—Systems using center bypass type changeover valves

Definitions

  • the present invention relates generally to a work vehicle, such as for example a compact wheel loader, and particularly to a control method for actuating a return-to-dig movement of an implement, such as a bucket, in a work vehicle, and to a corresponding control system.
  • Motorized work vehicles are well known for use in material handling that carry an implement and have a hydraulically operated lifting arm for moving the implement. Examples of such vehicles are tractors and loaders.
  • a loader is a heavy equipment machine used in construction to move aside on the ground or load materials such as asphalt, demolition debris, dirt, snow, feed, gravel, logs, raw minerals, recycled material, rock, sand, woodchips, etc. into or onto another type of machinery (such as a dump truck, conveyor belt, feed-hopper, or railroad car).
  • loader which, depending on design and application, are called by various names, including bucket loader, front loader, front-end loader, payloader, scoop, shovel, skip loader, wheel loader, or skid-steer.
  • compact wheel loaders are compact vehicles that have road wheels and carry a working implement, such as a bucket, attached to a lift arm or boom, that is hydraulically powered.
  • patent application US2008313935A1 disclose a backhoe loader with a controller that uses angular signals from at least one sensor to calculate a loader tool angle and to maintain the loader tool angle as a function of the angular signals and commands to a boom actuator.
  • a work vehicle 1 such as a compact wheel loader
  • the invention is not limited to such a kind of work vehicle, but is applicable to any other kind of work vehicle.
  • a compact wheel loader includes a bucket 2 connected to a frame 3 of the work vehicle for movement relative thereto. As shown, a pair of booms 5 (only one being shown) is each pivotally connected at one end on opposite sides of frame 3. The bucket 2 is pivotally connected at the opposite end of booms for tilting movement relative to the frame 3 about a generally horizontal axis.
  • the above-described features form no substantial part of the present invention and are generally well known in the art.
  • a bucket may be replaced in operation by any other implement or attachment.
  • the movement of the boom 5 and of the bucket 2 is controlled by the user through a joystick 7 placed inside an operator's cab or cabin 9 of the work vehicle 1.
  • FIG 2 which shows a partial control diagram of the work vehicle 1, referred only to the control of bucket movement
  • the bucket 2 is moved by an hydraulic control circuit 10 comprising an hydraulic actuators 12 which is controlled by an electronic control unit 16 through a solenoid valve 18 according to the position of the joystick 7 controlled by the user.
  • Load-sensing valves allow a pressure compensation so that downstream channels take proportional allocation of flow depending on the load.
  • the flow rate at a predetermined opening degree is not dependent upon the load downstream each valve and is not dependent upon the pump inlet flow.
  • load-sensing valves with flow sharing also prevent the working fluid from taking the path of least resistance.
  • this solution is very expensive.
  • open centre directional solenoid valves are less expensive than load-sensing valves.
  • the hydraulic actuator comprises an hydraulic cylinder operatively connected to the bucket, that uses hydraulic power of a working fluid to facilitate mechanical operation, the working fluid being controlled by means of an open centre directional solenoid valve 18.
  • a hydraulic actuator can exert a large force.
  • the rate of actuation of the bucket is controlled by the opening degree of the open centre directional solenoid valve 18 by means of a driving current thereof as a function of the position of the joystick.
  • the hydraulic flow rate of the working fluid required to operate the bucket is produced by a hydraulic fixed displacement pump P connected to a fluid reservoir T and driven by an internal combustion engine or an electrical motor M (hereinafter simply referred to as motor) of the vehicle, e.g. by a mechanical linkage.
  • motor an electrical motor M
  • the same motor is also used to drive the wheels as a propulsion means of the work vehicle. Therefore, the rate of movement of the bucket at a predetermined joystick position is dependent upon the motor rotational speed. For instance, when the motor is working at a high rotational speed, it is necessary a minimum movement of the joystick by the user to start the movement of the bucket. On the contrary, when the motor is working at a low rotational speed, or at idle, it is necessary a large movement of the joystick by the user to start the movement of the bucket.
  • Figure 3 shows an exemplary joystick of a work vehicle.
  • a movement of the joystick in an associated bi-dimensional control area A according to a first direction y causes the actuation of the boom and a movement of the joystick in said bi-dimensional control area A according to a second direction x causes the actuation of the bucket.
  • the intersection of said x and y directions is defined as origin O of the control area A, and corresponds to the neutral position of the joystick.
  • a neutral region N around the neutral position of the joystick is a region where the boom and the bucket are not actuated.
  • a region externally surrounding the neutral region is defined a driving region and indicated D in this figure.
  • a combination of movement in both directions x and y of the joystick is allowed in order to move simultaneously the boom and the bucket.
  • a proximity sensor switch is arranged to detect a bucket dig position, i.e. a bucket reference tilt position where it is horizontally aligned to ground or tilted at a predetermined threshold angle with respect to ground.
  • the aim of the present invention is to provide a solution that avoids the drawbacks of the prior art.
  • an aim of the present invention is to improve the precision of a return-to-dig functionality, particularly for any rotational speed of the vehicle motor.
  • this aim is achieved by a control method for actuating a return-to-dig movement of an implement, such as a bucket, in a work vehicle, having the features claimed in claim 1.
  • control system for actuating a return-to-dig movement of an implement, such as a bucket, in a work vehicle, as well as a work vehicle, as claimed.
  • an actuation strategy of an implement, such as a bucket, of a work vehicle in a return-to-dig actuation is disclosed according to which, based on information about a return-to-dig request by a user - that can be retrieved as an electronic signal provided by a push-button 8 associated with the joystick, the joystick position along the x direction - that can be retrieved as an electronic signal provided by a position sensor associated with the joystick, the achievement of a predetermined bucket reference tilt position where it is horizontally aligned to ground or tilted at a predetermined threshold angle with respect to ground - that can be retrieved as an electronic signal provided by a proximity sensor associated with the implement, and about the current rotational speed of the motor - that can be retrieved as an electronic signal provided on a CAN network of the vehicle, actuation is controlled by recognizing if the user is performing a return-to-dig manoeuvre of the implement and, in the affirmative, by modulating the driving current of the open centre directional solenoid valve of
  • actuation of the implement 2 occurs by means of joystick 7 controlled by a user, whose movement in the control area A according to direction x causes the actuation of the implement 2 by hydraulic actuating means 12.
  • a return-to-dig manoeuvre is be triggered by a push-button 14 associated with the joystick 7, if a return-to-dig enabling switch (not shown) is set to ON and the joystick is moved in the left direction along the x axis.
  • Hydraulic actuating means 12 include an hydraulic cylinder operatively connected respectively to the implement 2, and a respective open centre directional solenoid valve 18 whose opening degree is adapted to control the flow of a working fluid to the hydraulic cylinder.
  • the rate of actuation of the implement 2 is controlled by the opening degree of the open centre directional solenoid valve 18 by means of the driving current thereof, whose amplitude is generally a function of the position of the joystick 7 along direction x in the control area A.
  • the rate of actuation of the rollback of the implement 2 is controlled by an opening degree of the open centre directional solenoid valve 18 set by means of a predetermined setpoint amplitude of the driving current and is dependent upon the rotational speed of the motor.
  • a proximity sensor 20 is coupled to the hydraulic actuating means 12 of the implement, and a proximity switch 22 is connected to the proximity sensor and configured to switch a binary proximity signal S P from a first value indicative of the fact that the current bucket tilt is different from a predetermined bucket reference tilt position where the bucket is tilted at a predetermined threshold angle with respect to ground, i.e. the bucket is remote from a bucket dig position, and a second value indicative of the fact that the current bucket tilt corresponds to the predetermined bucket reference tilt position where the bucket is tilted at a predetermined threshold angle with respect to ground, i.e. the bucket is proximate to the bucket dig position.
  • the actuation of the bucket is enabled, whereas when the bucket tilt is proximate to the bucket dig position the actuation of the bucket is stopped.
  • the electronic control unit 16 has first input means adapted to receive a signal S J indicative of a position of the joystick along the x axis in the control area, second input means adapted to receive a signal S R indicative of a return-to-dig request or command, third input means adapted to receive a signal S E indicative of the rotational speed of the motor M, and fourth input means adapted to receive the proximity signal S P , as well s output means adapted to issue at least a signal S DC indicative of the driving current intended to control an opening degree of the open centre directional solenoid valve 18.
  • the electronic control unit has also memory means (not shown) storing a predetermined reference model of a modulated driving current of the open centre directional solenoid valve 18, indicative of a nominal relation between the driving current and the rotational speed of the motor.
  • said reference model is an analytical relationship between, or a map of numerical values in a bijective correspondence of, the driving current and the rotational speed of the motor - corresponding to the actuation command of the implement when Return to dig function is activated by operator as previously described.
  • the electronic control unit 16 is configured to acquire the signal S J indicative of the position of the joystick 7 in the control area A, particularly the component of the position of the joystick along the x axis.
  • the electronic control unit is also configured to acquire the signal S E indicative of the rotational speed of the motor M.
  • a return-to-dig enabling switch (not shown) is set to ON
  • the electronic control unit is able to detect a return-to-dig operation by receiving the signal S J indicative of a joystick position corresponding to an implement rollback actuation and the signal S R indicative of a return-to-dig request or command.
  • the electronic control unit determines that a return-to-dig operation is requested the electronic control unit applies a modulated driving current to the open centre directional solenoid valve 18 of the implement according to the stored predetermined reference model, based on the current rotational speed of the motor acquired through the signal S E , by means of the signal S DC .
  • the modulated driving current is applied as long as the proximity signal S P has a first value indicative that the current bucket tilt is different from the predetermined bucket reference tilt position, i.e. the bucket is remote from a bucket dig position.
  • the electronic control unit 16 detects that the proximity signal S P has a second value indicative that the current bucket tilt corresponds to the predetermined bucket reference tilt position, i.e. the bucket is proximate to the bucket dig position, the electronic control unit 16 sets the modulated driving current to zero.
  • the predetermined bucket reference tilt position detected by the proximity sensor is set at a reference rotational speed of the motor, such as for example a reference minimum rotational speed of the motor (idle) and a predetermined return-to-dig nominal driving current of the open centre solenoid valve 18, corresponding to a predetermined hydraulic flow rate of the working fluid, whereby the bucket dig position horizontal to ground is reached due to known hydraulic actuation delay and the inertia of the bucket. Consequently, the reference model is calculated as a modulation of the driving current so as to maintain the hydraulic flow rate of the working fluid constant when the rotational speed of the motor varies.
  • the opening degree of the open centre directional solenoid valve of the hydraulic actuating means associated with the implement is modulated depending on the motor rotational speed so as to mitigate effect of said speed in a return-to-dig manoeuvre for actuating the implement, such as a bucket, to a bucket dig position where it is horizontally aligned to ground .

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Earth Drilling (AREA)

Claims (8)

  1. Procédé de commande d'actionnement d'un mouvement de retour à l'excavation d'un outil (2) dans un véhicule de travail (1) alimenté par un moteur (M),
    dans lequel l'actionnement de l'outil (2) se produit au moyen d'une manette (7) commandée par un utilisateur, un mouvement de la manette (7) dans une zone de commande prédéterminée (A) selon une direction prédéfinie (x) provoquant l'actionnement de l'outil (2) par des moyens d'actionnement hydraulique (12),
    dans lequel les moyens d'actionnement hydraulique (12) comprennent un cylindre hydraulique relié de manière fonctionnelle à l'outil (2), et une électrovanne directionnelle à centre ouvert (18) dont le degré d'ouverture est adapté pour commander l'écoulement d'un fluide de travail vers le cylindre hydraulique,
    la vitesse d'actionnement de l'outil (2) étant commandée par le degré d'ouverture de l'électrovanne directionnelle à centre ouvert (18) au moyen d'un courant d'attaque (Sdc) de celle-ci,
    le procédé de commande étant caractérisé en ce qu'il comprend en outre les étapes consistant à :
    a) déterminer si une manoeuvre de retour à l'excavation est demandée ;
    b) acquérir un signal (Se) ou des données indiquant une vitesse de rotation actuelle du moteur (M) ;
    c) lorsqu'une manoeuvre de retour à l'excavation est demandée, appliquer un courant d'attaque modulé (Sdc) de l'électrovanne directionnelle à centre ouvert (18), sur la base d'un modèle de référence prédéterminé, indiquant une relation nominale entre le courant d'attaque de l'électrovanne directionnelle à centre ouvert (18), et la vitesse de rotation du moteur (M) ; et
    d) mettre le courant d'attaque modulé à zéro lorsqu'une position d'inclinaison de référence prédéterminée de l'outil (2) est atteinte.
  2. Procédé de commande selon la revendication 1, dans lequel ledit modèle de référence prédéterminé est une relation analytique entre, ou une carte de valeurs numériques dans une correspondance bijective de, le courant d'attaque de l'électrovanne directionnelle à centre ouvert (18) et la vitesse de rotation du moteur (M).
  3. Procédé de commande selon la revendication 1 ou 2, dans lequel ladite position d'inclinaison de référence de l'outil (2) est une position où l'outil est aligné horizontalement sur le sol ou incliné à un angle seuil prédéterminé par rapport au sol.
  4. Procédé de commande selon l'une quelconque des revendications précédentes, dans lequel la détermination du fait qu'une manoeuvre de retour à l'excavation est demandée comprend la détection du fait qu'un bouton-poussoir de retour à l'excavation associé à la manette (7) est actionné et la détection d'une position prédéterminée de la manette dans ladite direction prédéfinie.
  5. Procédé de commande selon la revendication 4, dans lequel ladite position prédéterminée de la manette (7) dans ladite direction prédéfinie est une position de la manette indiquant un actionnement de recul de l'outil (2).
  6. Procédé de commande selon l'une quelconque des revendications précédentes, dans lequel la position d'inclinaison de référence prédéterminée de l'outil (2) est réglée à une vitesse de rotation de référence du moteur (M) et à un courant d'attaque nominal prédéterminé de l'électrovanne à centre ouvert (18), et le modèle de référence est calculé pour fournir un courant d'attaque modulé (Sdc) en fonction de la vitesse de rotation du moteur (M) de façon à ce qu'un débit hydraulique prédéterminé du fluide de travail vers les moyens d'actionnement hydraulique (12) de l'outil corresponde au débit hydraulique qui serait obtenu à la vitesse de rotation de référence du moteur (M) et au courant d'attaque nominal prédéterminé.
  7. Système de commande (10) d'actionnement d'un mouvement de retour à l'excavation d'un outil (2) dans un véhicule de travail (1) alimenté par un moteur (M), comprenant :
    - des premiers moyens d'entrée (8) adaptés pour recevoir une demande de manoeuvre de retour à l'excavation ;
    - des deuxièmes moyens d'entrée adaptés pour recevoir un signal (Se) indiquant la vitesse de rotation du moteur (M) ;
    - des troisièmes moyens d'entrée adaptés pour recevoir un signal corrélé à la position d'inclinaison actuelle de l'outil (2) ;
    - des moyens de sortie adaptés pour émettre un signal indiquant un courant d'attaque modulé (Sdc) destiné à commander un degré d'ouverture de l'électrovanne directionnelle à centre ouvert (18) de moyens d'actionnement hydraulique (12) dudit outil (2) ; et
    - des moyens de mémoire adaptés pour stocker un modèle de référence prédéterminé d'un courant d'attaque modulé, indiquant une relation nominale entre le courant d'attaque de l'électrovanne directionnelle à centre ouvert, et la vitesse de rotation du moteur (M) ;
    le système étant caractérisé par la mise en oeuvre d'un procédé de commande selon l'une quelconque des revendications 1 à 6.
  8. Véhicule de travail (1), en particulier un chargeur sur pneus compact, comprenant :
    - un moteur (M) pour la propulsion du véhicule de travail (1) ;
    - un outil (2) ;
    - une manette (7) commandée de manière fonctionnelle par un utilisateur pour actionner l'outil (2), la manette (7) étant mobile dans une zone de commande prédéterminée (A) selon une direction prédéfinie (X) pour actionner l'outil (2) ;
    - des moyens d'actionnement hydraulique (12) pour actionner l'outil (2), comprenant un cylindre hydraulique relié de manière fonctionnelle à l'outil (2), et une électrovanne directionnelle à centre ouvert (18) dont le degré d'ouverture est adapté pour commander l'écoulement d'un fluide de travail fourni par des moyens de pompage au cylindre hydraulique (12), les moyens de pompage étant entraînés par le moteur (M) du véhicule de travail (1),
    dans lequel le degré d'ouverture de ladite électrovanne directionnelle à centre ouvert (18) est commandé de manière fonctionnelle au moyen d'un courant d'attaque de celle-ci ; et
    - un système de commande d'actionnement d'un mouvement de retour à l'excavation de l'outil (2) selon la revendication 7.
EP20168282.0A 2019-04-05 2020-04-06 Procédé de commande d'actionnement d'un mouvement de retour en position d'excavation d'un outil, tel qu'un godet, dans un véhicule de travail, système de commande correspondant et véhicule de travail comprenant un tel système de commande Active EP3719217B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT102019000005248A IT201900005248A1 (it) 2019-04-05 2019-04-05 Procedimento di controllo per l'attuazione di un movimento di ritorno in posizione di scavo di un attrezzo in una macchina operatrice, sistema di controllo corrispondente e macchina operatrice comprendente tale sistema di controllo

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EP3719217A1 EP3719217A1 (fr) 2020-10-07
EP3719217B1 true EP3719217B1 (fr) 2023-02-22

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CN113983226B (zh) * 2021-10-26 2023-08-22 三一重机有限公司 挖掘机行走控制方法、装置及挖掘机
IT202200003371A1 (it) 2022-02-23 2023-08-23 Cnh Ind Italia Spa Sistema e metodo migliorato per controllare una funzionalita' di ritorno in un veicolo da lavoro

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US7530185B2 (en) * 2007-06-22 2009-05-12 Deere & Company Electronic parallel lift and return to carry on a backhoe loader
US8594896B2 (en) * 2009-12-18 2013-11-26 Caterpillar Sarl Lift arm control system
JP2012087541A (ja) * 2010-10-20 2012-05-10 Hitachi Constr Mach Co Ltd 作業機の作動速度制御装置

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