EP3976889A1 - Hydrostatisches hubwerk, mobile arbeitsmaschine damit, und verfahren zur lastermittlung am hubwerk - Google Patents
Hydrostatisches hubwerk, mobile arbeitsmaschine damit, und verfahren zur lastermittlung am hubwerkInfo
- Publication number
- EP3976889A1 EP3976889A1 EP20727277.4A EP20727277A EP3976889A1 EP 3976889 A1 EP3976889 A1 EP 3976889A1 EP 20727277 A EP20727277 A EP 20727277A EP 3976889 A1 EP3976889 A1 EP 3976889A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- load
- function
- course
- hoist
- recorded
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000002706 hydrostatic effect Effects 0.000 title claims abstract description 10
- 238000001514 detection method Methods 0.000 claims abstract description 9
- FFYPMLJYZAEMQB-UHFFFAOYSA-N diethyl pyrocarbonate Chemical compound CCOC(=O)OC(=O)OCC FFYPMLJYZAEMQB-UHFFFAOYSA-N 0.000 claims 8
- 238000011161 development Methods 0.000 description 14
- 230000018109 developmental process Effects 0.000 description 14
- 230000015572 biosynthetic process Effects 0.000 description 3
- 238000011982 device technology Methods 0.000 description 3
- 238000009530 blood pressure measurement Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005303 weighing Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 239000013590 bulk material Substances 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000011895 specific detection Methods 0.000 description 1
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
-
- 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
- E02F3/422—Drive systems 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
Definitions
- Hydrostatic hoist mobile work machine with it, and method for determining the load on the hoist
- the invention relates to a hydrostatic lifting mechanism for a mobile work machine according to the preamble of claim 1, a mobile work machine with the lifting mechanism according to claim 11, and a method for determining the load on the lifting mechanism according to claim 12.
- Hoists of mobile work machines are equipped, for example, with a shovel, fork or gripper.
- a work machine designed as a front loader has a shovel as a hoist, which is tiltably mounted on a boom. This is in principle articulated by a boom cylinder, with another cylinder for actuating a
- the pressure in the boom or lifting cylinder is a measure of the load that the bucket carries, so that all conventional hoists and processes are based on its detection.
- the pressure varies with the position of the vane due to the changing kinematic position or posture.
- At least one position sensor is installed, for example, via which the kinematics position can be detected and the load can be determined therefrom together with the pressure measurement.
- Several such sensors increase accuracy and reliability.
- a disadvantage of this is the comparatively high outlay in terms of device technology for the position sensor or sensors.
- the position sensor or sensors fail, there is also a risk of failure of the load determination.
- a simpler solution in terms of device technology provides a contact sensor which switches when a predetermined kinematic position is reached. The operator must specifically control this with the hoist so that the load can be determined. In the predetermined and thus known kinematics position, the load can then be determined again together with the pressure measurement.
- the position for determining the load every time it is lifted, to have to approach it every time it is loaded, represents a considerable disruption of an optimal lifting or loading process and is associated with considerable expenditure of time.
- the invention is based on the objects of creating a hoist for a mobile work machine with simplified load determination, a mobile work machine with it and a method with simplified load determination on the hoist.
- the first object is achieved by a hydrostatic lifting mechanism according to claim 1, the second object by a mobile work machine with the features of claim 11 and the third object by a method according to claim 12.
- a hydrostatic lifting mechanism for a mobile working machine has at least one actuator, in particular a hydraulic cylinder, from which a load pick-up can be or articulated directly or indirectly as a function of a lifting requirement.
- a pressure detection unit in particular a pressure sensor, is provided, via which a load pressure of the at least one actuator can be detected. In particular, this can be signal-connected or signal-connected to the control unit.
- a particular electronic control unit of the hoist is designed in such a way that it can absorb a load of the
- Load absorption depending on the load pressure and a position or position of the Hoist can be determined.
- an especially electronic estimation device is provided for this purpose, via which the position can be estimated.
- the estimation device offers the possibility of dispensing with these means, which are complex and therefore expensive in terms of device technology.
- the weight of the load in particular the load of a shovel, can be determined via the estimated position and the load pressure and a favorable weighing function can be implemented for the lifting mechanism.
- Estimation device can easily be retrofitted.
- kinematics of the lifting mechanism in particular its parameters mass (es), inertia, levers and / or joints, at least from the hydraulic cylinder to the load pick-up, are known or essentially known and stored in the control unit.
- the solution according to the invention makes it possible to calculate the proportion of the recorded load in the recorded load pressure from the recorded load pressure.
- the load pressure can be a load pressure curve over time. There is one for this
- the stroke requirement is that of the actuator or the load pick-up.
- a stroke depending on the stroke requirement is that of the actuator or the
- the position can be estimated via the estimation device as a function of a profile of the load pressure that can be detected or detected as a function of the stroke requirement.
- the position can be estimated via the estimation device as a function of a reference curve of the load pressure recorded as a function of the stroke requirement under a reference load.
- the estimation device has a first comparison operation of the course with the reference course, from which the position can be estimated. The first
- Comparison operation is preferably a slope and / or shape comparison of the two courses.
- the estimation device has a second comparison operation of the curve with the reference curve, from which the recorded load can be estimated.
- the second comparison operation is preferably a difference or offset formation of the curves.
- At least one of the named courses, or both, depending on the stroke and / or the stroke request, is stored in the control unit.
- At least one of the named curves, or both, is stored in the control unit independently of time for better comparability.
- the stroke in particular can be stored or stored in the control unit, standardized to the stroke requirement.
- At least one further actuator in particular a hydraulic cylinder, is provided, from which the load pick-up is directly or indirectly linked.
- this additional actuator is part of the kinematics.
- this actuator also has, in a development, a pressure detection unit, which can be or is signal-connected to the control unit, for detecting the load pressure of this actuator.
- the estimated position can be processed or processed via the control unit to determine another, position-dependent operating variable.
- the first-mentioned actuator is preferably a boom cylinder. Its load pressure is preferably detectable or recorded on a base of the boom cylinder.
- the further actuator is preferably a rocker arm cylinder.
- the respective pressure detection unit of the respective cylinder is arranged accordingly.
- a mobile work machine in particular a front or wheel loader with a boom, has a hydrostatic lifting mechanism which is designed according to at least one of the aspects of the preceding description and has the advantages already mentioned.
- the lifting request can be detected or recorded by means of an operator interface of the lifting mechanism that can be or is connected to a signal with the control unit, in particular by means of a joystick.
- a method for determining a recorded load of a hoist which is designed according to at least one aspect of the preceding description, has a step “determining the recorded load as a function of the position and the
- Load pressure ". According to the invention, this is done by means of a “position estimation” step.
- the method is preferably stored in the above-mentioned control unit for execution.
- the step “estimate the position” takes place by means of a step “first comparison of the course with the reference course”.
- This first comparison is, in particular, a slope and / or shape comparison of the named courses.
- recorded comparison variables other than the slope and / or the shape can be included in the first comparison.
- comparison variables that are to be included in the first comparison or in a subsequent second comparison are determined in a step “Determining suitable or necessary comparison variables by evaluating the course”.
- the step “determining the recorded load as a function of the position and the load pressure” has a step “second comparison of the course with the reference course”. This second comparison is, in particular, a difference or offset formation between the profiles mentioned.
- one or more other comparison variables can or can be included in the second comparison.
- FIG. 1 shows a side view of a lifting mechanism according to the invention with a control unit and a method stored therein for execution, according to an exemplary embodiment
- FIG. 2 load pressure curves of the lifting mechanism according to FIG. 1.
- a mobile work machine 1 has a lifting mechanism 2 with a first one
- Hydraulic cylinder or boom cylinder 4 from which a boom 5 is articulated.
- a load pick-up 6 designed as a shovel is pivotably arranged on the boom 5.
- a load m is received in the shovel 6.
- the lifting mechanism 2 has a tilting cylinder 10, of which the shovel 6 is articulated for tilting via a tilting lever mechanism 11, 13.
- the rocker arm 11 is rotatably mounted on the boom 5.
- Each cylinder 4, 10 has one respectively assigned pressure sensor 8, 12, via which the respective ground pressure or load pressure of the cylinder 4, 10 can be detected.
- the sensors 8, 12 are signal-connected to a control unit 14 via signal lines.
- the sensor 8 transmits the load pressure pi and the sensor 12 transmits the load pressure P2 of the respective hydraulic cylinder 4, 10.
- an estimation device 16 is provided with a method 18 stored therein for execution for estimating the load m. Furthermore, a joystick 20 is signal-connected to the control unit 14, via which a lifting request S SO II can be transmitted to the control unit 14. Kinematics of the lifting mechanism 2, including the necessary kinematics parameters, are stored in the control unit 14, at least starting from the hydraulic cylinders 4, 10, via the boom 5, the rocker arm mechanism 11, 13 up to the shovel 6.
- the estimation device 16 determines an estimated value for the position of the blade 6 from the reported load pressures pi, P2. This estimated position is included in the method for determining the load m. In the case of the exemplary embodiment shown, the position is estimated via a
- a hydrostatic lifting mechanism with at least one hydrostatic actuator for lifting a picked up load and with an associated pressure sensor for detecting its load pressure, as well as with a signal-connected control unit via which a position of the lifting mechanism from at least the detected one to determine the picked up load Load pressure is estimable.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Operation Control Of Excavators (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102019207953.9A DE102019207953A1 (de) | 2019-05-29 | 2019-05-29 | Hydrostatisches Hubwerk, mobile Arbeitsmaschine damit, und Verfahren zur Lastermittlung am Hubwerk |
PCT/EP2020/064045 WO2020239567A1 (de) | 2019-05-29 | 2020-05-20 | Hydrostatisches hubwerk, mobile arbeitsmaschine damit, und verfahren zur lastermittlung am hubwerk |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3976889A1 true EP3976889A1 (de) | 2022-04-06 |
EP3976889B1 EP3976889B1 (de) | 2024-04-03 |
Family
ID=70779777
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20727277.4A Active EP3976889B1 (de) | 2019-05-29 | 2020-05-20 | Hydrostatisches hubwerk, mobile arbeitsmaschine damit, und verfahren zur lastermittlung am hubwerk |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP3976889B1 (de) |
CN (1) | CN113853463A (de) |
DE (1) | DE102019207953A1 (de) |
WO (1) | WO2020239567A1 (de) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113502860B (zh) * | 2021-08-20 | 2022-08-16 | 东北大学秦皇岛分校 | 一种11杆2自由度装载机工作装置 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6845334B2 (en) * | 2002-12-06 | 2005-01-18 | Caterpillar Inc. | System for determining a linkage position |
US8515627B2 (en) * | 2008-12-23 | 2013-08-20 | Caterpillar Inc. | Method and apparatus for calculating payload weight |
DE102009018070A1 (de) * | 2009-04-20 | 2010-10-21 | Robert Bosch Gmbh | Mobile Arbeitsmaschine mit einer Positionsregeleinrichtung eines Arbeitsarms und Verfahren zur Positionregelung eines Arbeitsarms einer mobilen Arbeitsmaschine |
DK179285B1 (en) * | 2016-04-29 | 2018-04-03 | Ins Europe | Method of weight determination of a load carried by a lifter of a lifting device and weighing device |
-
2019
- 2019-05-29 DE DE102019207953.9A patent/DE102019207953A1/de active Pending
-
2020
- 2020-05-20 WO PCT/EP2020/064045 patent/WO2020239567A1/de unknown
- 2020-05-20 CN CN202080039500.XA patent/CN113853463A/zh active Pending
- 2020-05-20 EP EP20727277.4A patent/EP3976889B1/de active Active
Also Published As
Publication number | Publication date |
---|---|
CN113853463A (zh) | 2021-12-28 |
DE102019207953A1 (de) | 2020-12-03 |
WO2020239567A1 (de) | 2020-12-03 |
EP3976889B1 (de) | 2024-04-03 |
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