EP3719218B1 - Procédé de commande d'actionnement d'un mouvement d'inversion d'au moins une flèche et d'un outil 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 d'inversion d'au moins une flèche et d'un outil 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
EP3719218B1
EP3719218B1 EP20168285.3A EP20168285A EP3719218B1 EP 3719218 B1 EP3719218 B1 EP 3719218B1 EP 20168285 A EP20168285 A EP 20168285A EP 3719218 B1 EP3719218 B1 EP 3719218B1
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EP
European Patent Office
Prior art keywords
boom
implement
driving current
joystick
actuating
Prior art date
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Application number
EP20168285.3A
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German (de)
English (en)
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EP3719218A1 (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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Publication of EP3719218A1 publication Critical patent/EP3719218A1/fr
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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
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E02F9/2012—Setting the functions of the control levers, e.g. changing assigned functions among operations levers, setting functions dependent on the operator or seat orientation
    • 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
    • E02F9/20—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
    • 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
    • E02F9/2285—Pilot-operated systems

Definitions

  • the present invention relates generally to a work vehicle, such as for example a compact wheel loader, and particularly to a control method of actuating a movement inversion of at least one of a boom and an implement 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 US2017107696A1 discloses a technique for a work machine of such a type to control the hydraulic pump therein.
  • 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 control diagram of the work vehicle 1
  • the boom 3 and the bucket 2 are moved by an hydraulic control circuit 10 comprising a first and a second hydraulic actuators 12, 14 which are controlled by an electronic control unit 16 through respective solenoid valves 18, 20 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.
  • each hydraulic actuator comprises an hydraulic cylinder operatively connected respectively to the boom and the implement, that uses hydraulic power of a working fluid to facilitate mechanical operation, the working fluid being controlled by means of open centre directional solenoid valves 18, 20.
  • a hydraulic actuator can exert a large force.
  • the rate of actuation of the boom and implement is controlled by the opening degree of the respective open centre directional solenoid valve 18, 20 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 boom and the implement 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 boom and the implement 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 boom and/or the implement. 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 boom and/or 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 implement.
  • 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 implement are not actuated.
  • a region externally surrounding the neutral region is defined a driving region and indicated D in this figure.
  • the implement when the joystick is moved up from the origin O of the control area A according to the y direction the boom is lowered with respect to ground and when the joystick is moved down from the origin O according to the y direction the boom is lifted towards ground.
  • the implement e.g. a bucket
  • the implement when the joystick is moved right from the origin O according to the x direction the implement, e.g. a bucket, is tilted towards a dumping position
  • the implement e.g. the bucket, is tilted towards a dig or rollback position and beyond.
  • 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.
  • 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 controllability of a boom and an implement in a work vehicle in a direction inversion manoeuvre.
  • a further aim of the present invention is to increase the comfort of the user when such manoeuvre occurs, without impacting the cycle time.
  • this aim is achieved by a control method for actuating a movement inversion of at least one of a boom and an implement in a work vehicle, having the features claimed in claim 1.
  • control system for actuating a movement inversion of at least one of a boom and an implement in a work vehicle, as well as a work vehicle, as claimed.
  • an actuation strategy of at least one of a boom and an implement of a work vehicle is disclosed according to which, based on information about the joystick position - that can be retrieved as an electronic signal provided by a position sensor associated with the joystick - 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 direction inversion manoeuvre of at least one of the boom and the implement and, in the affirmative, by modulating the driving current of the open centre directional solenoid valve of the hydraulic actuating means associated with said at least one of the boom and the implement, depending on the motor rotational speed.
  • actuation of the boom 5 and the implement 2 occurs by means of joystick 7 controlled by a user, whose movement in the control area A according to direction y causes the actuation of the boom 5 by first hydraulic actuating means 12 and whose movement in the control area A according to direction x causes the actuation of the implement 2 by second hydraulic actuating means 14.
  • Each hydraulic actuating means 12, 14 include an hydraulic cylinder operatively connected respectively to the boom 5 and the implement 2, and a respective first and second open centre directional solenoid valve 18, 20 whose opening degree is adapted to control the flow of a working fluid to the respective hydraulic cylinder.
  • the rate of actuation of the boom 5 is controlled by the opening degree of the first open centre directional solenoid valve 18 by means of the driving current thereof as a function of a first component of the position P of the joystick 7 along direction y in the control area A.
  • the rate of actuation of the implement 2 is controlled by the opening degree of the second open centre directional solenoid valve 20 by means of the driving current thereof as a function of a second component of the position P of the joystick 7 along direction x in the control area A.
  • the first component of the position P of the joystick 7 along direction y is indicated y P in figure 3 and is the projection over y axis of a vector representing the position P of the joystick in the control area A.
  • the second component of the position P of the joystick 7 along direction x is indicated x P in figure 3 and is the projection over x axis of the vector representing the position P of the joystick in the control area A.
  • First and second components y P , x P of the position of the joystick may take on any combination of a "positive" value and a "negative" value on the y axis and x axis, respectively with respect to origin O of the control area A that corresponds to the neutral position of the joystick.
  • a null value is defined as a direction inversion manoeuvre of at least one of the boom and the implement.
  • a travel of the joystick along the y direction and passing through the neutral position corresponds to an inversion manoeuvre of the movement of the boom - from lifting to lowering or vice versa.
  • a travel of the joystick along a straight direction at an angle from the x axis and the y axis and passing through the neutral position corresponds to an inversion manoeuvre of both the movement of the boom - from lifting to lowering or vice versa - and the implement - from dumping to rollback or vice versa.
  • the electronic control unit 16 has first input means adapted to receive at least a signal S J indicative of a position of the joystick in the control area as well as second input means adapted to receive at least a signal S E indicative of the rotational speed of the motor M, and output means adapted to issue at least a signal S DC indicative of the respective driving currents intended to control an opening degree of the open centre directional solenoid valve 18, 20.
  • the electronic control unit has also memory means (not shown) storing at least a predetermined reference model of a modified driving current of each open centre directional solenoid valve 18, 20, indicative of a nominal relation between the hydraulic flow rate of the working fluid and the evolution of the driving current over time, and preferably also the actuation command of the boom and/or the implement.
  • said reference model is an analytical relationship between, or a map of numerical values in a bijective correspondence of, the rotational speed of the motor - corresponding to the hydraulic flow rate of the working fluid and the evolution over time of the driving current of the open centre directional solenoid valves 18, 20 for actuation of the boom and the implement, and preferably also the target operating position of the joystick - corresponding to the actuation command of the boom and the implement.
  • different reference models are provided, for a manoeuvre of movement inversion of the boom and the implement, respectively. It is also possible that different models be provided depending upon the manoeuvre direction.
  • FIG. 5 An exemplary predetermined reference model in shown in Figure 5 as a plurality of curves representing the evolution of the modified driving current of an open centre directional solenoid valve of an hydraulic actuator for a bucket as a function of the time when the inversion manoeuvre occurs (on the x-axis).
  • the Figure depicts the evolution of the modified driving current over time upon a rollback request from a dump position, i.e. the rate of change of the driving current as a function of the rotational speed of the motor.
  • Different curves A, B and C are depicted by way of example that correspond to different rotational speeds of the work vehicle motor driving the pump supplying the working fluid under pressure to the hydraulic actuator of the bucket.
  • the evolution from curve A to curve C correspond to an increasing rotational speed of the motor.
  • the reference model is not limited to the depicted curves, but the number of curves depends upon the granularity of the rotational speed measurement, or a predetermined number of curves is provided, each being applicable in a respective range of rotational speeds of the motor.
  • each modified driving current curve A, B, C has a rate of change (slope) varying as a function of the target operating position of the joystick.
  • the modified driving current curves are linear, and they have a plurality of constant slope ranges, including at least a first range having a first slope which is associated with a target operating position of the joystick (along the x-axis, in the non-limitative example of Figure 5 ) having a distance from the neutral position lower than a predetermined threshold, and a second range having a second slope associated with a target operating position of the joystick (along the x-axis, in the non-limitative example of Figure 5 ) having a distance from the neutral position greater than said predetermined threshold, where the first slope is higher than the second slope.
  • the electronic control unit 16 is configured to acquire over time the signal S J indicative of the position of the joystick 7 in the control area A, particularly a position in a driving region D of the control area A external to the neutral region N.
  • the electronic control unit is also configured to acquire the signal S E indicative of the rotational speed of the motor M.
  • the electronic control unit By receiving the signal S J indicative of the joystick position over time, the electronic control unit acquires or determines the evolution of the first component Y P of the position P of the joystick 7 along direction y and the second component X P of the position P of the joystick 7 along direction x, and it is therefore able to detect a travel of the joystick from a first operating position to a second, target, operating position where at least one of the first and the second component of the joystick position is reversed with respect to the neutral position, i.e. passes through a null value, which corresponds to a direction inversion in the actuation of the boom and/or the implement.
  • the electronic control unit If the electronic control unit does not detect a travel of the joystick position that determines a direction inversion in the actuation of the boom and/or the implement, the electronic control unit applies the nominal driving current to the open centre directional solenoid valves 18, 20 of the boom and the implement by means of the signal S DC .
  • the electronic control unit applies, by means of the signal S DC , a modified driving current to the open centre directional solenoid valves 18, 20 of the boom and the implement according to the stored predetermined reference model, based on the target operating position of the joystick acquired through the signal S J , and the current rotational speed of the motor acquired through the signal S E .
  • a bucket is actuated from a dump position to a rollback position, by moving the joystick from a dump control position at time t 0 to a target rollback control position, a driving current I D corresponding to the dump control position and a driving current I RB corresponding to the rollback control position.
  • a predetermined driving current threshold is indicated I th , that corresponds to a predetermined distance threshold of the joystick target position from the neutral position.
  • the electronic control unit that has detected a travel of the joystick position that determines a direction inversion in the actuation of the bucket applies to the open centre directional solenoid valve 18 of the bucket a modified driving current varying in time according to the rate of curve A, until the driving current I RB corresponding to the target rollback control position is reached at time t 1 .
  • the electronic control unit would apply a modified driving current varying in time according to the rate of curve A until time t 2 , the modified driving current varying in time according to a first rate from t 0 to t' and according to a second, lower, rate from t' to t 2 .
  • a plurality of reference models may be considered, depending upon different control modes of the work vehicle that may be provided by the manufacturer, such as a “smooth” mode, a “moderate” mode, an “aggressive” mode.
  • the electronic control unit is configured to select the corresponding reference model.
  • the opening degree of the open centre directional solenoid valve of the hydraulic actuating means associated with at least one of the boom and the implement is modulated depending on the motor rotational speed so as to achieve a smooth direction inversion manoeuvre of said at least one of the boom and the implement.

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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)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Operation Control Of Excavators (AREA)
  • Feeding Of Workpieces (AREA)
  • Lifting Devices For Agricultural Implements (AREA)

Claims (10)

  1. Procédé de commande d'actionnement d'un mouvement
    d'inversion d'au moins une flèche (5) et d'un outil (2) dans un véhicule de travail (1) alimenté par un moteur (M),
    dans lequel l'actionnement de la flèche (5) et de l'outil (2) se produit au moyen d'une manette (7) commandée par un utilisateur, un mouvement de la manette dans une zone de commande prédéterminée (A) selon une première direction prédéfinie (y) provoquant l'actionnement de la flèche (5) par des premiers moyens d'actionnement hydraulique (12) et un mouvement de la manette (7) dans ladite zone de commande (A) selon une seconde direction prédéfinie (x) provoquant l'actionnement de l'outil (2) par des seconds moyens d'actionnement hydraulique (14),
    dans lequel les premiers moyens d'actionnement hydraulique (12) et les seconds moyens d'actionnement hydraulique (14) comprennent chacun un cylindre hydraulique relié de manière fonctionnelle respectivement à la flèche (5) et à l'outil (2), et une première et une seconde électrovanne directionnelle à centre ouvert respective (18, 20) dont le degré d'ouverture est adapté pour commander l'écoulement d'un fluide de travail vers le cylindre hydraulique respectif,
    la vitesse d'actionnement de la flèche (5) étant commandée par le degré d'ouverture de la première électrovanne directionnelle à centre ouvert (18) au moyen d'un courant d'attaque de celle-ci en fonction d'une première composante de la position de la manette (7) le long de ladite première direction prédéfinie (y) dans la zone de commande (A), et la vitesse d'actionnement de l'outil (2) étant commandée par le degré d'ouverture de la seconde électrovanne directionnelle à centre ouvert (20) au moyen d'un courant d'attaque de celle-ci en fonction d'une seconde composante de la position de la manette (7) le long de ladite seconde direction prédéfinie (x) dans la zone de commande (A),
    le procédé de commande étant caractérisé en ce qu'il comprend en outre les étapes consistant à :
    a) acquérir un signal (Se) ou des données indiquant une position de la manette (7) dans ladite zone de commande (A) au cours du temps ;
    b) acquérir un signal (Se) ou des données indiquant une vitesse de rotation actuelle du moteur (M) ;
    c) déterminer qu'une manoeuvre d'inversion de direction est demandée lorsqu'un déplacement de la manette (7) d'une première position de fonctionnement à une seconde position de fonctionnement comprend au moins l'inversion de la position d'une des première et seconde composantes (Yp, Xp) de la manette par rapport à la position neutre ; et
    d) lorsqu'une manoeuvre d'inversion de direction est demandée, appliquer un courant d'attaque modifié (Sdc) d'au moins l'une des première et seconde électrovannes directionnelles à centre ouvert (18, 20), respectivement, sur la base d'un modèle de référence prédéterminé du courant d'attaque modifié, indicatif d'une relation nominale entre la vitesse de rotation du moteur (M) et l'évolution dans le temps du courant d'attaque des première et seconde électrovannes directionnelles à centre ouvert (18, 20) respectives.
  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, la vitesse de rotation du moteur (M) et l'évolution dans le temps du courant d'attaque (I) des première et seconde électrovannes directionnelles à centre ouvert respectives (18, 20).
  3. Procédé de commande selon l'une quelconque des revendications précédentes, dans lequel ledit modèle de référence comprend une pluralité de courbes de courant d'attaque modifiées (I) en fonction de la vitesse de rotation du moteur (M).
  4. Procédé de commande selon la revendication 3, dans lequel ledit modèle de référence comprend un premier ensemble de courbes de courant d'attaque modifiées (I) en fonction de la vitesse de rotation du moteur pour actionner un mouvement d'inversion d'une flèche et un deuxième ensemble de courbes de courant d'attaque modifiées en fonction de la vitesse de rotation du moteur (M) pour actionner un mouvement d'inversion d'un outil (2).
  5. Procédé de commande selon l'une quelconque des revendications précédentes, dans lequel chaque courbe de courant d'attaque (I) modifiée présente une pente variant en fonction de la position de fonctionnement cible de la manette (7).
  6. Procédé de commande selon la revendication 5, dans lequel chaque courbe de courant d'attaque modifiée est une courbe linéaire.
  7. Procédé de commande selon la revendication 6, dans lequel chaque courbe de courant d'attaque modifié (I) a une pluralité de plages de pente constante, comprenant au moins une première plage ayant une première pente associée à une position de fonctionnement cible de la manette (7) ayant une distance de la position neutre inférieure à un seuil prédéterminé (Ith) ou avec un courant d'attaque modifié inférieur à un seuil de courant d'attaque prédéterminé, et une deuxième plage ayant une deuxième pente associée à une position de fonctionnement cible de la manette (7) ayant une distance par rapport à la position neutre supérieure à un seuil prédéterminé (Ith) ou avec un courant d'attaque modifié supérieur à un seuil de courant d'attaque prédéterminé, où la première pente est supérieure à la deuxième pente.
  8. Procédé de commande selon l'une quelconque des revendications précédentes, dans lequel ledit modèle de référence prédéterminé est l'un d'une pluralité de modèles de référence prédéterminés associés à différents modes de commande du véhicule de travail.
  9. Système de commande (10) d'actionnement d'un mouvement d'inversion d'au moins une flèche (5) et d'un outil (2) dans un véhicule de travail (1) alimenté par un moteur (M),
    comprenant :
    - des premiers moyens d'entrée adaptés pour recevoir au moins un signal (Sj) indiquant une position (P) dans une zone de commande (A) d'une manette (7) commandée par un utilisateur pour actionner la flèche (5) et l'outil (2) ;
    - des seconds moyens d'entrée adaptés pour recevoir au moins un signal (Se) indiquant la vitesse de rotation du moteur (M) ;
    - des moyens de sortie adaptés pour émettre au moins un premier signal indicatif d'un courant d'attaque (Sdc) destiné à commander un degré d'ouverture d'au moins l'une d'une première et d'une seconde électrovannes directionnelles à centre ouvert (18, 20) de premier et second moyens d'actionnement hydrauliques respectifs (12, 14) de ladite flèche et dudit outil (2), respectivement ; et
    - des moyens de mémoire adaptés pour stocker un modèle de référence prédéterminé d'un courant d'attaque modifié, indiquant une relation nominale entre la vitesse de rotation du moteur (M) et l'évolution dans le temps du courant d'attaque des première et deuxième électrovannes directionnelles à centre ouvert respectives ;
    le système étant caractérisé par la mise en oeuvre d'un procédé de commande selon l'une quelconque des revendications 1 à 8.
  10. Véhicule de travail (1), en particulier un chargeur sur pneus compact, comprenant
    - un moteur (M) pour la propulsion du véhicule de travail ;
    - une flèche (5) et un outil (2) relié à la flèche ;
    - une manette (7) commandée de manière fonctionnelle par un utilisateur pour actionner la flèche et l'outil, la manette étant mobile dans une zone de commande prédéterminée selon une première direction prédéfinie pour actionner la flèche et dans une seconde direction prédéfinie pour actionner l'outil ;
    - des premiers moyens d'actionnement hydraulique (12) pour actionner la flèche et des seconds moyens d'actionnement hydraulique (14) pour actionner l'outil, dans lequel les premiers moyens d'actionnement hydraulique et les seconds moyens d'actionnement hydraulique comprennent chacun un cylindre hydraulique relié de manière fonctionnelle respectivement à la flèche et à l'outil, et une première et une seconde électrovanne directionnelle à centre ouvert (18, 20) respectives 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 respectif, les moyens de pompage étant entraînés par le moteur (M) du véhicule de travail (1),
    dans lequel le degré d'ouverture desdites première et seconde électrovannes directionnelles à centre ouvert (18, 20) est commandé de manière fonctionnelle au moyen d'un courant d'attaque respectif ; et
    - un système de commande d'actionnement d'un mouvement d'inversion d'au moins un parmi la flèche (5) et l'outil (2), selon la revendication 9.
EP20168285.3A 2019-04-05 2020-04-06 Procédé de commande d'actionnement d'un mouvement d'inversion d'au moins une flèche et d'un outil dans un véhicule de travail, système de commande correspondant et véhicule de travail comprenant un tel système de commande Active EP3719218B1 (fr)

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IT102019000005212A IT201900005212A1 (it) 2019-04-05 2019-04-05 Procedimento di controllo per l'attuazione di una inversione del movimento di almeno uno tra un braccio ed un attrezzo in una macchina operatrice, sistema di controllo corrispondente e macchina operatrice comprendente tale sistema di controllo

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EP3719218B1 true EP3719218B1 (fr) 2023-02-15

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Publication number Priority date Publication date Assignee Title
CN104011400A (zh) * 2012-01-11 2014-08-27 日立建机株式会社 液压闭合回路的驱动装置
JP6259371B2 (ja) * 2014-07-31 2018-01-10 株式会社クボタ 作業機
JP6695620B2 (ja) * 2015-01-06 2020-05-20 住友重機械工業株式会社 建設機械

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IT201900005212A1 (it) 2020-10-05

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