EP3976889B1 - Mécanisme de levage hydrostatique, machine de travail mobile pourvue de celui-ci, et procédé permettant de déterminer une charge sur le mécanisme de levage - Google Patents

Mécanisme de levage hydrostatique, machine de travail mobile pourvue de celui-ci, et procédé permettant de déterminer une charge sur le mécanisme de levage Download PDF

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Publication number
EP3976889B1
EP3976889B1 EP20727277.4A EP20727277A EP3976889B1 EP 3976889 B1 EP3976889 B1 EP 3976889B1 EP 20727277 A EP20727277 A EP 20727277A EP 3976889 B1 EP3976889 B1 EP 3976889B1
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EP
European Patent Office
Prior art keywords
load
lifting
function
profile
lifting unit
Prior art date
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EP20727277.4A
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German (de)
English (en)
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EP3976889A1 (fr
Inventor
Egor ERET
Frank Bender
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
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Robert Bosch GmbH
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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
    • 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

  • the invention relates to a hydrostatic hoist for a mobile work machine according to the preamble of claim 1, a mobile work machine with the hoist according to claim 11, and a method for determining the load on the hoist according to claim 12.
  • Hoists of mobile machines are equipped with a bucket, a fork or a grapple, for example.
  • a machine designed as a front loader has a bucket as a hoist, which is tiltably mounted on a boom. This is generally connected to a boom cylinder, with another cylinder being provided for operating a tilt lever of the bucket.
  • Such a device is in WO2017/186247A1 disclosed.
  • a pressure in the boom or lifting cylinder is a measure of the load that the bucket is carrying, so all conventional lifting devices and methods are based on its detection.
  • the pressure varies with the position of the bucket due to the changing kinematic position or attitude.
  • At least one position sensor is conventionally installed, which can be used to record the kinematic position and, together with the pressure measurement, to determine the load.
  • Several such sensors increase accuracy and reliability.
  • the disadvantage is the comparatively high outlay on the device for the position sensor(s).
  • the position sensor(s) fail, there is a risk of the load determination failing.
  • a simpler solution in terms of device technology provides a contact sensor that switches when a predetermined kinematics position is reached. The operator must specifically control this with the hoist so that the load can be determined. In the predetermined and therefore known kinematics position, the load can then be determined together with the pressure measurement.
  • the invention is based on the tasks 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 gear 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 gear for a mobile work machine has at least one actuator, in particular a hydraulic cylinder, from which a load pickup can be articulated or articulated directly or indirectly depending on 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.
  • 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 a load picked up by the load receiver is determined via it depending on the load pressure and a position or position of the Hoist can be determined.
  • a particularly electronic estimating device is provided for this purpose, via which the position can be estimated.
  • the estimation device offers the possibility of dispensing with these technically complex and therefore expensive means.
  • the weight of the load in particular the load of a bucket, can be determined via the estimated position or attitude and the load pressure and a favorable weighing function for the hoist can be realized.
  • a kinematics of the lifting gear in particular its parameters mass(es), inertia, levers and/or joints, at least from the hydraulic cylinder to the load-bearing device, is known or substantially known and stored in the control unit.
  • the solution according to the invention makes it possible to calculate the proportion of the absorbed load in the recorded load pressure from the recorded load pressure.
  • the load pressure can additionally or alternatively be a temporal load pressure curve.
  • load pressure detection is provided over a, in particular known and/or predetermined, time period.
  • the lifting requirement is that of the actuator or the load carrier.
  • a stroke depending on the stroke requirement is that of the actuator or the load bearing device.
  • the position can be estimated via the estimating device depending on a course of the load pressure that can be detected or recorded depending on the lifting request.
  • 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 lifting requirement under a reference load.
  • the estimation device has a first comparison operation of the curve with the reference curve, from which the position can be estimated.
  • the first comparison operation is preferably a gradient and/or shape comparison of the two curves.
  • the estimation device has a second comparison operation of the curve with the reference curve, from which the absorbed load can be estimated.
  • the second comparison operation is preferably a difference or offset formation of the curves.
  • At least one of the courses mentioned, or both, is stored in the control unit depending on the stroke and/or the stroke request.
  • At least one of the courses mentioned, or both, is stored in the control unit regardless of time for better comparability.
  • the stroke can be or is stored in the control unit in a standardized manner based on the stroke requirement.
  • At least one further actuator in particular a hydraulic cylinder, is provided, by which the load-bearing device is directly or indirectly linked.
  • this further actuator is part of the kinematics.
  • this actuator also has, in a further development, a pressure detection unit that can be signal-connected or signal-connected to the control unit for detecting the load pressure of this actuator.
  • the estimated position can be or is processed via the control unit to determine another, position-dependent operating variable.
  • the first-mentioned actuator is preferably a boom cylinder. Its load pressure can preferably be detected or detected at a bottom of the boom cylinder.
  • the further actuator is preferably a rocker arm cylinder. Its load pressure can preferably be detected or detected at a bottom of the 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 or is detected by means of an operator interface of the lifting gear that can be connected to the control unit via a signal, in particular by means of a joystick.
  • a method for determining an absorbed load of a hoist which is designed according to at least one aspect of the preceding description, has a step "determining the absorbed load depending on the position and the load pressure". According to the invention, this is done using an “estimation of the position” step.
  • the method is stored in the above-mentioned control unit for execution.
  • the step "estimating the position" takes place depending on a curve of the load pressure recorded as a function of the stroke request and/or as a function of a reference curve of the load pressure detected as a function of the stroke request under a reference load.
  • the “estimation of the position” step is carried out using a “first comparison of the course with the reference course” step.
  • This first comparison is in particular a gradient and/or shape comparison of the courses mentioned.
  • 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 load recorded depending on the position and the load pressure" has a step “second comparison of the curve with the reference curve". This second comparison is in particular a difference or offset formation of the curves mentioned.
  • one or more other comparison variables can or can be included in the second comparison as an alternative or in addition to the difference or offset formation mentioned.
  • a mobile work machine 1 has a hoist 2 with a first hydraulic cylinder or boom cylinder 4, from which a boom 5 is articulated.
  • a load holder 6 designed as a blade is arranged in a pivoted manner on the boom 5.
  • a load m is accommodated in the blade 6.
  • the hoist 2 has a tilting cylinder 10, from which the bucket 6 is articulated via a rocker arm mechanism 11, 13 for tilting.
  • the rocker arm 11 is rotatably mounted on the boom 5.
  • Each cylinder 4, 10 has one each 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 p 1 and the sensor 12 transmits the load pressure p 2 of the respective hydraulic cylinder 4, 10.
  • An estimation device 16 is provided in the control unit 14 with a method 18 for estimating the load m stored therein for execution. Furthermore, a joystick 20 is signal-connected to the control unit 14, via which a lifting request s should be transmitted to the control unit 14.
  • the control unit 14 stores a kinematics of the lifting gear 2, including the necessary kinematics parameters, at least starting from the hydraulic cylinders 4, 10, via the boom 5, the rocker arm system 11, 13 up to the bucket 6.
  • the estimation device 16 determines an estimated value for the position of the bucket 6 from the reported load pressures p 1 , p 2 .
  • This estimated position is included in the process for determining the load m.
  • the position is estimated by comparing the shape and/or the gradient of the detected load pressure p 1actual with the reference load pressure p 1ref .
  • an interval ⁇ of the standardized stroke s 1 /s set of the boom cylinder 4 is determined according to Figure 2 evaluated.
  • a hydrostatic lifting gear 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 control unit connected to the latter by a signal, via which a position or attitude of the lifting gear can be estimated from at least the detected load pressure in order to determine the picked-up load.

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  • 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)
  • Fluid-Pressure Circuits (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Claims (14)

  1. Mécanisme de levage hydrostatique pour une machine de travail mobile (1), comprenant au moins un actionneur (4, 10), en particulier un cylindre hydraulique, à partir duquel un dispositif de réception de charge (6) est articulé en fonction d'une demande de levage (ssoll), ainsi qu'au moins une unité de détection de pression (8, 12) qui permet de détecter une pression de charge (p1, p2) respective de l'actionneur (4, 10) associé, et une unité de commande (14) qui permet de déterminer une charge reçue (m) en fonction d'au moins une pression de charge (p1, p2) et d'une position ou d'un emplacement du mécanisme de levage (2), caractérisé par un moyen d'estimation (16) qui permet d'estimer la position, caractérisé en ce que la position peut être estimée par le moyen d'estimation (16) en fonction d'une courbe (p1ist), détectée en fonction de la demande de levage (ssoll), de la pression de charge (p1).
  2. Mécanisme de levage selon la revendication 1, dans lequel la position peut être estimée par le moyen d'estimation (16) en fonction d'une courbe de référence (p1ref), détectée en fonction de la demande de levage (ssoll) sous une charge de référence (mref), de la pression de charge (p1).
  3. Mécanisme de levage selon la revendication 2, dans lequel le moyen d'estimation (16) présente une première opération de comparaison de la courbe (p1ist) avec la courbe de référence (p1ref) à partir de laquelle la position peut être estimée.
  4. Mécanisme de levage selon la revendication 3, dans lequel la première opération de comparaison est une comparaison de pente ou de forme des courbes (p1ist, p1ref).
  5. Mécanisme de levage au moins selon les revendications 1 et 2, dans lequel le moyen d'estimation présente une deuxième opération de comparaison de la courbe (p1ist) avec la courbe de référence (p1ref) à partir de laquelle la charge reçue (m) peut être estimée.
  6. Mécanisme de levage selon la revendication 5, dans lequel la deuxième opération de comparaison présente ou est une différence ou un décalage (Δp1) des courbes (p1ist, p1ref).
  7. Mécanisme de levage au moins selon les revendications 1 et 2, dans lequel la courbe (p1ist) et/ou la courbe de référence (p1ref) sont mémorisées dans l'unité de commande (14) en fonction du levage (s, s1) et/ou de la demande de levage (ssoll).
  8. Mécanisme de levage au moins selon les revendications 1 et 2, dans lequel la courbe (p1ist) et/ou la courbe de référence (p1ref) sont mémorisées dans l'unité de commande (14) indépendamment du temps au moyen de la demande de levage (ssoll).
  9. Mécanisme de levage selon l'une quelconque des revendications précédentes, dans lequel un levage (s1), en particulier dudit au moins un actionneur (4), peut être ou est mémorisé dans l'unité de commande (14) de manière normalisée selon la demande de levage (ssoll).
  10. Machine de travail mobile comprenant un mécanisme de levage (2) qui est configuré selon l'une quelconque des revendications 1 à 9.
  11. Procédé permettant de déterminer une charge reçue (m) d'un mécanisme de levage (2) qui est réalisé selon au moins l'une des revendications 1 à 9, comprenant une étape « Détermination de la charge reçue (m) en fonction de la position et de ladite au moins une pression de charge (p1, p2) », caractérisé par une étape « Estimation de la position en fonction d'une courbe, détectée en fonction de la demande de levage, de la pression de charge ».
  12. Procédé selon la revendication 11, dans lequel l'étape « Estimation de la position » a lieu en fonction d'une courbe (p1ist), détectée en fonction de la demande de levage (ssoll), de ladite au moins une pression de charge (p1, p2) et/ou d'une courbe de référence (p1ref), détectée en fonction de la demande de levage (ssoll) sous une charge de référence (mref), de la pression de charge (p1).
  13. Procédé selon la revendication 12, dans lequel l'étape « Estimation de la position » présente une étape « Première comparaison de la courbe (p1ist) avec la courbe de référence (p1ref) ».
  14. Procédé selon l'une quelconque des revendications 12 à 13, dans lequel l'étape « Détermination de la charge reçue (m) en fonction de la position et de ladite au moins une pression de charge (p1, p2) » présente une étape « Deuxième comparaison de la courbe (p1ist) avec la courbe de référence (p1ref) ».
EP20727277.4A 2019-05-29 2020-05-20 Mécanisme de levage hydrostatique, machine de travail mobile pourvue de celui-ci, et procédé permettant de déterminer une charge sur le mécanisme de levage Active EP3976889B1 (fr)

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 (fr) 2019-05-29 2020-05-20 Mécanisme de levage hydrostatique, machine de travail mobile pourvue de celui-ci, et procédé permettant de déterminer une charge sur le mécanisme de levage

Publications (2)

Publication Number Publication Date
EP3976889A1 EP3976889A1 (fr) 2022-04-06
EP3976889B1 true EP3976889B1 (fr) 2024-04-03

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EP20727277.4A Active EP3976889B1 (fr) 2019-05-29 2020-05-20 Mécanisme de levage hydrostatique, machine de travail mobile pourvue de celui-ci, et procédé permettant de déterminer une charge sur le mécanisme de levage

Country Status (4)

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EP (1) EP3976889B1 (fr)
CN (1) CN113853463A (fr)
DE (1) DE102019207953A1 (fr)
WO (1) WO2020239567A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
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

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* Cited by examiner, † Cited by third party
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

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Publication number Publication date
DE102019207953A1 (de) 2020-12-03
WO2020239567A1 (fr) 2020-12-03
EP3976889A1 (fr) 2022-04-06
CN113853463A (zh) 2021-12-28

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