EP4086394A1 - Verbessertes system und verfahren zur steuerung des schüttelns einer schaufel für ein arbeitsfahrzeug - Google Patents

Verbessertes system und verfahren zur steuerung des schüttelns einer schaufel für ein arbeitsfahrzeug Download PDF

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Publication number
EP4086394A1
EP4086394A1 EP22171205.2A EP22171205A EP4086394A1 EP 4086394 A1 EP4086394 A1 EP 4086394A1 EP 22171205 A EP22171205 A EP 22171205A EP 4086394 A1 EP4086394 A1 EP 4086394A1
Authority
EP
European Patent Office
Prior art keywords
bucket
alternate
control signal
work vehicle
movement
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.)
Pending
Application number
EP22171205.2A
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English (en)
French (fr)
Inventor
Adriano GARRAMONE
Andrea Gravili
Stefano Liberti
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.)
CNH Industrial Italia SpA
Original Assignee
CNH Industrial Italia SpA
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by CNH Industrial Italia SpA filed Critical CNH Industrial Italia SpA
Publication of EP4086394A1 publication Critical patent/EP4086394A1/de
Pending legal-status Critical Current

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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
    • E02F9/22—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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
    • B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
    • B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
    • B06B1/18—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency wherein the vibrator is actuated by pressure fluid

Definitions

  • the present invention concerns a system and method for controlling an alternate movement of a bucket of machine work vehicle.
  • the present invention finds its preferred, although not exclusive, application in a system and a method for controlling an earth-moving machine such as a wheel loader.
  • the boom and the bucket are carried by respective hydraulic actuators that moves the bucket and the boom with respect to their hinge points.
  • Such hydraulic actuators are controlled by a joystick that is hand operated by the user to move the boom and bucket thereby moving the earth.
  • the shaking movement of the bucket may be used for different purposes.
  • the shaking is a smooth shaking used for metering operations, i.e. for providing a material carried in the bucket to the ground with a sufficient precision while the vehicle is moving.
  • the shaking is a hard shaking that is used for cleaning operation, i.e. to allow the user to clean the bucket from the carried material; usually such operation is carried with standstill vehicle.
  • An aim of the present invention is to satisfy the above mentioned needs in a cost effective and optimized way.
  • Figure 1 discloses a control system 1 of a work vehicle 2 (partially shown in figures 2 and 3 ) .
  • the work vehicle 2 comprises a bucket 3 carried by a boom 4 and may advantageously be configured as a wheel loader.
  • the work vehicle 2 comprises a hydraulic circuit 5 configured to control the operation of a bucket actuator 6 and a boom actuator 7 by controlling the passage of fluid between a source 8 of fluid in pressure and a tank 9 of the work vehicle.
  • the hydraulic circuit 5 comprises a valve arrangement 11 that may be design as an open center distribution system provided with a pair of electric valves 12, 13 respectively voted to control the actuators 6, 7 in function of control signals acting on respective sides of the valves 12, 13 themselves.
  • actuators 6, 7 are double effect hydraulic cylinders.
  • valves 12, 13 may be proportional six ways - three position valves wherein the six ways are fluidly connected, respectively (making reference to one of valves 12, 13) to 9, two of them to source 8, to two sides of the actuator 6, 7 and one to the other valve 12, 13.
  • the valves 12, 13 may therefore assume at least the following limit positions: a first position wherein fluid may flow from source 8 to a first side of the actuator 6, 7 and the opposite one is fluidly connected to tank 9, a second position opposite with respect to the preceding and a third position wherein the source 8 is directly connected to tank 9(the one represented in figure 1 ) .
  • the control system 1 further comprises a joystick 15 configured to be handled to the user to impart a control signal for controlling bucket and boom actuators 6, 7 via valve arrangement 11.
  • the control system 1 further comprises an electronic control unit 16 that is electronically connected to joystick 15 and comprising elaboration means configured to retrieve data related to joystick position and to elaborate this latter to provide control signals to control valve arrangement 11, i.e. in the disclosed arrangement valves 12, 13.
  • Work vehicle 2 comprises sensor means 17 configured to detect the position of bucket 3.
  • sensor means 17 may be position sensors carried by actuator means 6.
  • sensor means 17 may be of any typology, e.g. radar means or image acquisition means carried by the boom 4 and configured to detect position of bucket 3 or rotation position sensor carried in the hinge connection between the bucket 3 and boom 4.
  • the elaboration means are configured to detect the frequency of an alternate movement of the joystick 15 along a preset direction.
  • the frequency may be elaborated by detecting the movement of the joystick 15 within a first position and a second position along a travel direction passing through a starting, rest, position.
  • control unit If such frequency is higher with respect to a predefined preset threshold, then the control unit provides an alternate control signal, as shown in figure 4 , to actuate the movement of valve 12 that control the bucket actuator 6 both in dumping and rollback direction.
  • the alternate control signal is preferably a square signal, that acts on opposite sides of valve 12 to move alternately the bucket 3 about its hinge axis. It is noticed that "alternate” means a signal that has the same amplitude both in dumping and in rollback direction, as shown in figure 4 graph.
  • the sensor means 17 are electrically connected to the electronic control unit 16 whose elaboration means are configured to elaborate the data retrieved to sensor means 17 and to vary accordingly the amplitude of the control signal defined by the elaboration of the joystick position, i.e. to vary the bucket shaking amplitude.
  • the frequency of the alternate control signal is fixed.
  • the amplitude of the control signal is function of the data retrieved by sensor means 17. If sensor means 17 detects, in the time instant when the alternate control signal is commanded, that the bucket 3 is positioned with respect to boom 4 with an angle ⁇ ' lower than a predetermined angle ⁇ , then the control signal will have an amplitude Q', while if it is detected a bucket position with respect to boom 4 with an angle ⁇ " higher than the said angle ⁇ , then the control signal will have an amplitude Q".
  • the first range of the bucket position angle ⁇ ' ⁇ ⁇ is related to a metering operation of the vehicle 1 and therefore amplitude Q' is smaller than amplitude Q" that is related to the second range with a bucket position angle ⁇ "> ⁇ relating to a cleaning operation.
  • the predetermined angle value ⁇ is advantageously memorized in the elaboration means.
  • amplitude Q' makes rotate (see figure 2 ) the bucket 3 with an angular movement ⁇ over and under with respect to the bucket position angle ⁇ '
  • amplitude Q" makes rotate (see figure 3 ) the bucket 3 with an angular movement ⁇ over and under with respect to the bucket position angle ⁇ ".
  • angular movement ⁇ is greater, in module, with respect to angular movement ⁇ .
  • the operator will position the bucket 3 with respect to boom 4 according to the operative needs. Therefore, if a metering operation is needed, it will control the bucket 3 to be positioned with an angle ⁇ ' ⁇ ⁇ , while if a cleaning operation is needed, the bucket will be controlled to be positioned with an angle ⁇ "> ⁇ . Then, when metering/shaking is needed, the driver will start an alternate movement of joystick that, over a predefined frequency, will be recognized by the electronic control unit 16. The electronic control unit 16 will receive data about the angle ⁇ ', ⁇ ", will verify if ⁇ ' ⁇ ⁇ or ⁇ "> ⁇ and associate a corresponding amplitude Q', Q" to the control signal for controlling valve 12.
  • the invention is furthermore related to a method for controlling an alternate movement of the bucket of the described work vehicle comprising the following steps:
  • control signal the preset memorized values of the aforementioned steps are memorized in the elaboration means of control unit.
  • Such elaboration means are furthermore configured to automatically execute the steps i) to v) during the entire operation of the vehicle.
  • step ii) may be executed continually in time or with a frequency of a preset time.
  • the efficiency of the operation is increased both in metering operation and in cleaning operation.
  • the comfort of the user is increased since the same command may be used for controlling the two different operations.
  • the optimization of the signal according to the detected position of the bucket best manages the valve arrangement 11 thereby reducing the oil consumption and, then, vehicle fuel consumption.
  • the proposed system is substantially compact and may be integrated or provided into already existing systems.
  • control signal may be a different signal, such as a sinusoidal signal.
  • the provided valve arrangement may vary.
  • the provided control signals could be in greater number, with related different amplitudes, with respect to the described two positions.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Control And Safety Of Cranes (AREA)
  • Operation Control Of Excavators (AREA)
EP22171205.2A 2021-05-03 2022-05-02 Verbessertes system und verfahren zur steuerung des schüttelns einer schaufel für ein arbeitsfahrzeug Pending EP4086394A1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT102021000011213A IT202100011213A1 (it) 2021-05-03 2021-05-03 Sistema e metodo migliorato per controllare un movimento alternato di una benna di un veicolo di lavoro

Publications (1)

Publication Number Publication Date
EP4086394A1 true EP4086394A1 (de) 2022-11-09

Family

ID=76808090

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22171205.2A Pending EP4086394A1 (de) 2021-05-03 2022-05-02 Verbessertes system und verfahren zur steuerung des schüttelns einer schaufel für ein arbeitsfahrzeug

Country Status (2)

Country Link
EP (1) EP4086394A1 (de)
IT (1) IT202100011213A1 (de)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016180686A1 (en) * 2015-05-11 2016-11-17 Caterpillar Sarl Automatic vibration device of work machine
US20180180067A1 (en) * 2016-12-23 2018-06-28 Robert Bosch Gmbh Hydraulic system and method of operating the same
US20190093310A1 (en) * 2017-09-27 2019-03-28 Deere & Company Implement vibration system and method
EP3719221A1 (de) 2019-04-05 2020-10-07 CNH Industrial Italia S.p.A. Steuerverfahren zum auslösen einer schüttelbewegung einer mit einem ausleger verbundenen schaufel in einem von einem motor angetriebenen arbeitsfahrzeug, entsprechendes steuersystem und arbeitsfahrzeug mit einem solchen steuersystem
EP3722618A1 (de) * 2017-12-07 2020-10-14 Sumitomo (S.H.I.) Construction Machinery Co., Ltd. Bagger

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016180686A1 (en) * 2015-05-11 2016-11-17 Caterpillar Sarl Automatic vibration device of work machine
US20180180067A1 (en) * 2016-12-23 2018-06-28 Robert Bosch Gmbh Hydraulic system and method of operating the same
US20190093310A1 (en) * 2017-09-27 2019-03-28 Deere & Company Implement vibration system and method
EP3722618A1 (de) * 2017-12-07 2020-10-14 Sumitomo (S.H.I.) Construction Machinery Co., Ltd. Bagger
EP3719221A1 (de) 2019-04-05 2020-10-07 CNH Industrial Italia S.p.A. Steuerverfahren zum auslösen einer schüttelbewegung einer mit einem ausleger verbundenen schaufel in einem von einem motor angetriebenen arbeitsfahrzeug, entsprechendes steuersystem und arbeitsfahrzeug mit einem solchen steuersystem

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Publication number Publication date
IT202100011213A1 (it) 2022-11-03

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