EP4269702A1 - Procédé de commande pour l'actionnement d'une pelle d'un véhicule de travail ou agricole - Google Patents

Procédé de commande pour l'actionnement d'une pelle d'un véhicule de travail ou agricole Download PDF

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Publication number
EP4269702A1
EP4269702A1 EP22169835.0A EP22169835A EP4269702A1 EP 4269702 A1 EP4269702 A1 EP 4269702A1 EP 22169835 A EP22169835 A EP 22169835A EP 4269702 A1 EP4269702 A1 EP 4269702A1
Authority
EP
European Patent Office
Prior art keywords
shovel
signal
control
amplitude
control lever
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.)
Withdrawn
Application number
EP22169835.0A
Other languages
German (de)
English (en)
Inventor
Adriano GARRAMONE
Andrea Gravili
Stefano Liberti
Antonio Venezia
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
Priority to EP22169835.0A priority Critical patent/EP4269702A1/fr
Publication of EP4269702A1 publication Critical patent/EP4269702A1/fr
Withdrawn legal-status Critical Current

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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
    • E02F3/40—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets
    • E02F3/402—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with means for facilitating the loading thereof, e.g. conveyors
    • E02F3/405—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with means for facilitating the loading thereof, e.g. conveyors using vibrating means
    • 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
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
    • 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

Definitions

  • the present invention relates to the field of electro-hydraulic controls and in particular to a control method for implementing the shaking of a shovel of a work or agricultural vehicle.
  • Motorized agricultural or work vehicles are well known for handling materials and performing specific demanding tasks. They are often equipped with a hydraulically operated lift arm to move a shovel or bucket.
  • DE102014111505A1 discloses a hydrostatic drive system with at least one hydraulic member which is controlled by a directional control valve.
  • An electronic control device generates an actuation signal to operate the directional control valve when a button is pressed in order to generate a shaking function of the hydraulic organ when the button is pressed.
  • the shaking function generates a signal that is added to a control signal for the actuation of the hydraulic organ.
  • US2018135274 describes another control system similar to the previous one, in which, however, the purpose is to sift, that is to spread material, typically gravel, on the ground, while the shovel and the relative arm are in an approximately fixed position suitable for the operation of sieving with fluctuations in a horizontal plane.
  • the purpose of the present invention is to present a method and system for emptying the shovel to assist the operator of a work vehicle equipped with a mechanical shovel.
  • the basic idea of the present invention relates to the fact that when the shaking function is active and at the same time the shovel control lever is operated according to one of the two opposite directions of movement, the signal generated by the control lever is combined with the signal oscillatory function of the shaking function by limiting the half-wave defining a direction of rotation opposite to the direction of rotation selected with the control lever.
  • the combination of the two signals is subtractive, i.e. the signal generated by the control lever subtracts from the oscillatory signal.
  • the combination is not constant over time, but applies only to half-waves having the opposite direction of rotation to the direction indicated by the control lever signal.
  • the amplitude of the oscillations can be selectively set by means of a switch arranged in a vehicle cabin.
  • This switch preferably has three positions. The same functionality can be controlled through a touch screen interface.
  • the same switch operates predetermined settings on some actuator drive parameters which simultaneously impact on the shaking function and on the lifting or unloading function of the shovel.
  • the operation of the hydraulic actuator that controls the reciprocal position of the shovel with respect to the arm is achieved by means of a valve equipped with a movable spool.
  • the drive parameters include the movement speed of the movable spool inside the valve body and the stroke of the movable spool.
  • the known art only shows the possibility of varying the amplitude of the oscillation half-waves.
  • the period of oscillation can also be varied in addition to the amplitude. This variation of the period can be controlled by means of the same switch described above or by means of a different switch dedicated to the control of the period of oscillation.
  • Figure 1 shows the possibility of imparting an alternating control signal to the shovel with different amplitudes, LOW, MEDIUM, HIGH. This possibility is also described by the known art.
  • the sinusoidal signal shown in figure 1 is activated, preferably by means of an activation button positioned on the control lever of the JOYSTICK shovel, the amplitude of the signal can be changed using a special switch indicated in figure 3 as MODE SELECTOR.
  • This switch can be a switch that allows to adjust the shovel shaking amplitude to minimum (LOW), medium (MEDIUM) and maximum (HIGH) shaking.
  • This button causes the generation of the sinusoidal signal that controls the movable spool of the valve V shown in figure 3 .
  • This valve is preferably of the open center directional type.
  • the movable spool of the valve slides inside the relative valve body allowing to pressurize one of the opposite chambers of the shovel hydraulic cylinder BUCKET that controls the rotation of the shovel BK.
  • the spool assumes a rest position shown centrally in the representation of Figure 3 , in which at least one of the chambers of the hydraulic cylinder is closed, so that the shovel remains immobile in its position.
  • the spool can move in two mutually opposite directions to determine a forward rotation DUMP, called “dump”, or a back rotation, ROLLBACK, called “rollback”.
  • the shovel rotates alternately forwards and backwards with the amplitude of the movement corresponding to the amplitude of the signal shown in figure 1 .
  • Figure 2 shows the forward angular rotation ⁇ and backward ⁇ of the shovel BK around the hinge HG with which it is rotatably fixed to the arm B.
  • FIGS. 1 , 4a , 4b and 5 show timing diagrams of the valve V control signal.
  • Figures 4a and 4b show lines with continuous and discontinuous lines.
  • the lines with a continuous line are those that actually condition the valve V when the shaking function is active and at the same time, the control lever JOYSTICK of the shovel is activated, while the one with a discontinuous line is the one that would occur when the shaking function is active while JOYSTICK control lever is released.
  • the operator activates the shaking and maneuvers the shovel control lever to perform the rollback.
  • the signal generated by the control lever towards the rollback rotation does not affect the rollback half-wave (s), but rather the dump half-wave (s) limiting its intensity in proportion to the deviation of the control lever itself with respect to the rest position.
  • the limitation affects one or more half-waves in relation to the duration of the action on the control lever.
  • the activation of the joystick lever does not impact in any way on the dynamics of the shovel drive, as the joystick only imposes a limitation on the amplitude of certain half waves.
  • the processing and control unit CONTROL UNIT autonomously generates the shaking signal when it detects the activation of the activation button.
  • the same processing and control unit receives the signal generated by the shovel control lever at its input and combines it with the shaking signal as described above.
  • Figure 5 shows three linear curves that show the increase in the shovel control signal in relation to the setting selected with the switch MODE SELECTOR.
  • the slope of the variation of the shovel control signal also varies in relation to the setting selected with the switch MODE SELECTOR or with a distinct and separate switch. It is noted that not only the slope can be varied but also the relative limit value which corresponds to the stroke of the movable spool inside the relative valve body.
  • the settings selected through the switch MODE SELECTOR impacts not only on the amplitude of the half waves, but also on the period of oscillation.
  • a work or agricultural vehicle has a joystick for controlling the shovel with respect to the arm and the possibility of activating the shaking function by means of a dedicated command, which can be the aforementioned activation button.
  • the signal generated by the joystick can possibly be combined with the shaking control signal.
  • the present invention can be advantageously carried out by means of a computer program which comprises coding means for carrying out one or more steps of the method, when this program is executed on a computer. Therefore it is intended that the scope of protection extends to said computer program and further to computer readable means comprising a recorded message, said computer readable means comprising program coding means for carrying out one or more steps of the method, when said program is run on a computer.

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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)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Paleontology (AREA)
  • Operation Control Of Excavators (AREA)
EP22169835.0A 2022-04-25 2022-04-25 Procédé de commande pour l'actionnement d'une pelle d'un véhicule de travail ou agricole Withdrawn EP4269702A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP22169835.0A EP4269702A1 (fr) 2022-04-25 2022-04-25 Procédé de commande pour l'actionnement d'une pelle d'un véhicule de travail ou agricole

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP22169835.0A EP4269702A1 (fr) 2022-04-25 2022-04-25 Procédé de commande pour l'actionnement d'une pelle d'un véhicule de travail ou agricole

Publications (1)

Publication Number Publication Date
EP4269702A1 true EP4269702A1 (fr) 2023-11-01

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Family Applications (1)

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EP22169835.0A Withdrawn EP4269702A1 (fr) 2022-04-25 2022-04-25 Procédé de commande pour l'actionnement d'une pelle d'un véhicule de travail ou agricole

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EP (1) EP4269702A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050203691A1 (en) * 2004-03-10 2005-09-15 Volvo Construction Equipment Holding Sweden Ab Automatic vibration device and method for use in construction equipment
DE102014111505A1 (de) 2014-08-12 2016-02-18 Linde Hydraulics Gmbh & Co. Kg Hydrostatisches Antriebsystem und Verfahren zum Erzeugen einer Schüttelfunktion eines hydraulischen Verbrauchers
US20180135274A1 (en) 2015-05-11 2018-05-17 Caterpillar Sarl Automatic vibration device of work machine
US20190093310A1 (en) * 2017-09-27 2019-03-28 Deere & Company Implement vibration system and method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050203691A1 (en) * 2004-03-10 2005-09-15 Volvo Construction Equipment Holding Sweden Ab Automatic vibration device and method for use in construction equipment
DE102014111505A1 (de) 2014-08-12 2016-02-18 Linde Hydraulics Gmbh & Co. Kg Hydrostatisches Antriebsystem und Verfahren zum Erzeugen einer Schüttelfunktion eines hydraulischen Verbrauchers
US20180135274A1 (en) 2015-05-11 2018-05-17 Caterpillar Sarl Automatic vibration device of work machine
US20190093310A1 (en) * 2017-09-27 2019-03-28 Deere & Company Implement vibration system and method

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