EP3719221B1 - Procédé de commande pour actionner un mouvement d'agitation d'un seau connecté à une flèche dans un véhicule de travail alimenté par un moteur, système de commande correspondant et véhicule de travail comprenant un tel système de commande - Google Patents

Procédé de commande pour actionner un mouvement d'agitation d'un seau connecté à une flèche dans un véhicule de travail alimenté par un moteur, système de commande correspondant et véhicule de travail comprenant un tel système de commande Download PDF

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Publication number
EP3719221B1
EP3719221B1 EP20168293.7A EP20168293A EP3719221B1 EP 3719221 B1 EP3719221 B1 EP 3719221B1 EP 20168293 A EP20168293 A EP 20168293A EP 3719221 B1 EP3719221 B1 EP 3719221B1
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EP
European Patent Office
Prior art keywords
bucket
driving current
work vehicle
actuating
motor
Prior art date
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Active
Application number
EP20168293.7A
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German (de)
English (en)
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EP3719221A1 (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 date
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Publication of EP3719221A1 publication Critical patent/EP3719221A1/fr
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
    • E02F3/434—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
    • 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
    • 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
    • E02F9/221—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for generating actuator vibration
    • 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
    • E02F9/2282—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 of actuating a movement of a bucket connected to the boom in a work vehicle powered by a motor and to a corresponding control system.
  • Motorized work vehicles are well known for use in material handling that carry a bucket and have a hydraulically operated lifting arm for moving the bucket. Examples of such vehicles are tractors and loaders as disclosed in patent application US2010/312437A1 .
  • 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 bucket, such as a bucket, attached to a lift arm or boom, that is hydraulically powered.
  • 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 bucket or attachment.
  • the movement 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 bucket 2 is moved by an hydraulic control circuit 10 comprising a hydraulic actuators 12 which is controlled by an electronic control unit 16 through a solenoid valves 18 according to the position of the joystick 7 controlled by the user.
  • Figure 3 shows an exemplary joystick of a work vehicle.
  • the preset axis x presents a neutral position N of the joystick.
  • the neutral position of the joystick is a position where the bucket is not actuated.
  • 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 flow rate at a predetermined opening degree is dependent upon the pump inlet flow, the number of valves supplied by the pump and the load downstream each valve.
  • 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 is controlled by means of an open centre directional solenoid valves 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 as a function of the position of the joystick 7.
  • 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. 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, it is necessary a large movement of the joystick by the user to start the movement of the bucket.
  • an 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 bucket in a work vehicle so as to allow the possibility to perform a function for shaking the bucket in order to remove undesired material form the bucket also when the motor of the work vehicle is working at low motor rotational speed.
  • this aim is achieved by a control method for actuating a movement of a bucket connected to a boom in a work vehicle powered by a motor, having the features claimed in claim 1.
  • control system for actuating a movement of a bucket connected to a boom in a work vehicle powered by a motor, as well as a work vehicle, as claimed.
  • an actuation strategy of a bucket (and possibly of any further attachment) of a work vehicle is disclosed.
  • actuation strategy according to the position of the joystick, it is recognized if a user is performing a shaking maneuverer and in such case, a proper driving current is provided to a open centre directional solenoid valve of the hydraulic actuating means that actuate the bucket, so as to allow a constant shake of the bucket in view of the motor rotational speed of the motor of the work vehicle.
  • actuation of the bucket 2 occurs by means of a joystick 7 controlled by a user, a movement of the joystick 7 in a predetermined control area A according to a preset axis x causes the actuation of the bucket 2 by hydraulic actuating means 12,
  • the hydraulic actuating means 12 include an hydraulic cylinder operatively connected the bucket 2, and an open centre directional solenoid valve 18 whose opening degree is adapted to control the flow of a working fluid to the hydraulic cylinder.
  • An hydraulic flow rate of the working fluid is produced by a hydraulic pump P driven by the motor M.
  • the rate of actuation of the bucket 2 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 a component of the position of the joystick 7 along said preset axis x in the control area A.
  • the control method comprises the steps of acquiring a signal or data indicative of a position of the joystick 7 along said preset axis x over time and of acquiring a signal or data indicative of a rotational speed of the motor M.
  • control method comprises the step of detecting the frequency of travel of the joystick 7 in said control area A from a first predetermined threshold position P1 to a second predetermined threshold position P2 arranged along said preset axis x and reversed with respect to a neutral position N, with a predetermined distance d among them.
  • a predetermined shaking driving current evolving according to a square wave according to joystick movement along x axis e.g. for a predetermined shaking time is provided to the open centre directional solenoid valve so as to produce a controlled shaking movement of the bucket.
  • Said predetermined shaking time may, for example, be pre-set by the manufacturer or be dependent upon the number of joystick travels.
  • the predetermined shaking driving current is based on a predetermined reference model of the shaking driving current, indicative of a nominal relation between the rotational speed of the motor M, and the amplitude of the driving current to the open centre directional solenoid valve 18.
  • the predetermined reference model can be an analytical relationship between, or a map of numerical values in a bijective correspondence of the rotational speed of the motor M and the amplitude of the driving current to the open centre directional solenoid valve 18 in the form of inverse proportional relation.
  • the first predetermined threshold position P1 is arranged along said preset axis x at a first distance d1 from the neutral position N according to a first oriented V1 direction and the second predetermined threshold position P2 is arranged along said preset axis x at a second distance d2 from the neutral position N according to a second oriented direction V2 opposite to the first oriented direction V1.
  • the square wave of the driving current can present an alternate passage of current value to Dumping solenoid or Rollback solenoid of the solenoid valve, those solenoids are responsible for bucket shake movement, in particular the square wave switches from a Dumping amplitude value of driving current to a Rollback amplitude value of driving current.
  • the Dumping amplitude value and the Rollback amplitude value can have the same amplitude value in absolute value.
  • the square wave of the driving current can have a frequency value comprised between two calibrated thresholds.
  • the first predetermined threshold position P1 and the second predetermined threshold position P2 are preset by the manufacturer of the work vehicle 1.
  • the invention concerns also a control system 10 for actuating a movement of a bucket 2 connected to a boom 5 in a work vehicle 1 powered by a motor.
  • the control system 10 comprises first input means adapted to receive at least a signal S j indicative of a position in a control area A of a joystick 7 controlled by a user for actuating the bucket 2, and second input means adapted to receive at least a signal S e indicative of the rotational speed of a motor M powering the work vehicle 1.
  • control system 10 comprises storage means adapted to store a reference model of a shaking driving current, indicative of a nominal relation between the rotational speed of the motor, and the amplitude of the driving current to the open centre directional solenoid valve 18.
  • control system 10 comprises output means adapted to issue at least a signal S DC indicative of the shaking driving current intended to control an opening degree of the open centre directional solenoid valve 18 of hydraulic actuating means of said bucket 2.
  • the control system 10 is arranged to carry out a control method according to the invention.
  • the invention further concerns also a work vehicle 1, in particular compact wheel loader, comprising a motor for propulsion of the work vehicle, a bucket connected to a boom, a joystick 7 operatively controlled by a user for actuating the bucket 2 that is movable in a predetermined control area A according to a preset axis x for actuating the bucket 2.
  • a work vehicle in particular compact wheel loader, comprising a motor for propulsion of the work vehicle, a bucket connected to a boom, a joystick 7 operatively controlled by a user for actuating the bucket 2 that is movable in a predetermined control area A according to a preset axis x for actuating the bucket 2.
  • the work vehicle comprises hydraulic actuating means for actuating the bucket 2.
  • the hydraulic actuating means include an hydraulic cylinder operatively connected respectively to the bucket 2, and a open centre directional solenoid valve 18 whose opening degree is adapted to control the flow of a working fluid to the hydraulic cylinder.
  • the opening degree of said open centre directional solenoid valve 18 is operatively controlled by means of a driving current.
  • the work vehicle comprise a a hydraulic pump driven by the motor of the work vehicle to produce the hydraulic flow rate of the working fluid and a control system for actuating the movement of the bucket 2 connected to a boom, according to the invention.

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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)

Claims (8)

  1. Procédé de commande d'actionnement d'un mouvement de secousse d'un godet (2) relié à une flèche (5) dans un véhicule de travail (1) alimenté par un moteur (M),
    dans lequel l'actionnement du godet (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 un axe prédéfini (x) provoquant l'actionnement du godet (2) par des moyens d'actionnement hydraulique (12),
    dans lequel les moyens d'actionnement hydraulique (12) comprennent un cylindre hydraulique relié de manière fonctionnelle au godet (2), et une électrovanne directionnelle à centre ouvert dont le degré d'ouverture est adapté pour commander l'écoulement d'un fluide de travail vers le cylindre hydraulique,
    la vitesse d'actionnement du godet étant commandée par le degré d'ouverture de l'électrovanne directionnelle à centre ouvert (18) au moyen d'un courant d'attaque de celle-ci en fonction d'une composante de la position de la manette (7) le long dudit axe prédéfini (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 (Sj) ou des données indiquant la position de la manette (7) le long dudit axe prédéfini au cours du temps ;
    b) acquérir un signal (Se) ou des données indiquant une vitesse de rotation du moteur (M) ;
    c) détecter la fréquence de déplacement de la manette (7) dans ladite zone de commande (A) d'une première position seuil prédéterminée (P1) à une seconde position seuil prédéterminée (P2) disposées le long dudit axe prédéfini et inversées par rapport à une position neutre, avec une distance prédéterminée entre elles ;
    d) si la fréquence de déplacement de la manette (7) dans ladite zone de commande (A) est supérieure à un seuil de fréquence prédéterminé, fournir un courant d'attaque de secousse prédéterminé évoluant selon une onde carrée à l'électrovanne directionnelle à centre ouvert (18) de manière à produire un mouvement de secousse contrôlé du godet (2), le courant d'attaque de secousse prédéterminé étant basé sur un modèle de référence prédéterminé du courant d'attaque de secousse, indiquant une relation nominale entre la vitesse de rotation du moteur (M), et l'amplitude du courant d'attaque vers l'électrovanne directionnelle à centre ouvert (18).
  2. Procédé de commande selon la revendication 1, dans lequel la première position seuil prédéterminée (P1) est disposée le long dudit axe prédéfini (x) à une première distance de la position neutre (N) selon une première direction orientée et la seconde position seuil prédéterminée (P2) est disposée le long dudit axe prédéfini (x) à une seconde distance de la position neutre selon une seconde direction orientée opposée à la première direction orientée.
  3. Procédé de commande selon la revendication 1 ou 2, dans lequel l'onde carrée du courant d'attaque présente un passage alternatif de la valeur du courant d'une valeur d'amplitude de décharge du courant d'attaque à une valeur d'amplitude de retour du courant d'attaque.
  4. Procédé de commande selon la revendication 3, dans lequel la valeur d'amplitude de décharge et la valeur d'amplitude de retour ont la même valeur d'amplitude en valeur absolue.
  5. Procédé de commande selon l'une quelconque des revendications précédentes, dans lequel l'onde carrée du courant d'attaque a une valeur de fréquence comprise entre deux seuils calibrés.
  6. Procédé de commande selon l'une quelconque des revendications précédentes, dans lequel le 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 et de l'amplitude du courant d'attaque vers l'électrovanne directionnelle à centre ouvert sous la forme d'une relation proportionnelle inverse.
  7. Système de commande d'actionnement d'un mouvement de secousse d'un godet (2) relié à une flèche (5) dans un véhicule de travail (1) comprenant :
    - des premiers moyens d'entrée adaptés pour recevoir au moins un signal indiquant une position dans une zone de commande (A) d'une manette (7) commandée par un utilisateur pour actionner le godet (2) ;
    - des seconds moyens d'entrée adaptés pour recevoir au moins un signal indiquant la vitesse de rotation du moteur (M) alimentant le véhicule de travail (1) ;
    - des moyens de stockage adaptés pour stocker un modèle de référence d'un courant d'attaque de secousse, indiquant une relation nominale entre la vitesse de rotation du moteur (M), et l'amplitude du courant d'attaque vers l'électrovanne directionnelle à centre ouvert (18) ;
    - des moyens de sortie adaptés pour émettre au moins un signal indiquant un courant d'attaque de secousse destiné à commander un degré d'ouverture d'une électrovanne directionnelle à centre ouvert (18) de moyens d'actionnement hydraulique (12) dudit godet,
    le système étant caractérisé par la mise en œuvre 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 ;
    - un godet (2) relié à une flèche (5) ;
    - une manette (7) commandée de manière fonctionnelle par un utilisateur pour actionner le godet (2), la manette étant mobile dans une zone de commande prédéterminée (A) selon un axe prédéfini (X) pour actionner le godet,
    - des moyens d'actionnement hydraulique (12) pour actionner le godet (2), dans lequel les moyens d'actionnement hydraulique comprennent un cylindre hydraulique relié de manière fonctionnelle respectivement au godet (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, le degré d'ouverture de ladite électrovanne directionnelle à centre ouvert (18) étant commandé de manière fonctionnelle au moyen d'un courant d'attaque ;
    - une pompe hydraulique (P) entraînée par le moteur (M) du véhicule de travail (1) pour produire la pression hydraulique du fluide de travail ;
    - un système de commande d'actionnement du mouvement de secousse du godet (2) relié à une flèche (5), selon la revendication 7.
EP20168293.7A 2019-04-05 2020-04-06 Procédé de commande pour actionner un mouvement d'agitation d'un seau connecté à une flèche dans un véhicule de travail alimenté par un moteur, système de commande correspondant et véhicule de travail comprenant un tel système de commande Active EP3719221B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT102019000005184A IT201900005184A1 (it) 2019-04-05 2019-04-05 Procedimento di controllo per l'attuazione di un movimento di scuotimento di una benna collegata ad un braccio in una macchina operatrice azionata da un motore, sistema di controllo corrispondente e macchina operatrice comprendente tale sistema di controllo

Publications (2)

Publication Number Publication Date
EP3719221A1 EP3719221A1 (fr) 2020-10-07
EP3719221B1 true EP3719221B1 (fr) 2023-02-22

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IT (1) IT201900005184A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT202100011213A1 (it) 2021-05-03 2022-11-03 Cnh Ind Italia Spa Sistema e metodo migliorato per controllare un movimento alternato di una benna di un veicolo di lavoro
EP4124760A1 (fr) * 2021-07-29 2023-02-01 CNH Industrial Italia S.p.A. Circuit d'actionnement électro-hydraulique d'un actionneur hydraulique pour un véhicule de travail électrifié et procédé correspondant

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5493798A (en) * 1994-06-15 1996-02-27 Caterpillar Inc. Teaching automatic excavation control system and method
JP2009197425A (ja) * 2008-02-20 2009-09-03 Komatsu Ltd 建設機械
JP6407132B2 (ja) * 2015-11-30 2018-10-17 日立建機株式会社 作業機械の操作支援装置

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EP3719221A1 (fr) 2020-10-07

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