FR2868173B1 - Procede et systeme de commande d'un element tel qu'une fleche d'engin de manutention - Google Patents
Procede et systeme de commande d'un element tel qu'une fleche d'engin de manutentionInfo
- Publication number
- FR2868173B1 FR2868173B1 FR0502993A FR0502993A FR2868173B1 FR 2868173 B1 FR2868173 B1 FR 2868173B1 FR 0502993 A FR0502993 A FR 0502993A FR 0502993 A FR0502993 A FR 0502993A FR 2868173 B1 FR2868173 B1 FR 2868173B1
- Authority
- FR
- France
- Prior art keywords
- controlling
- handling gear
- bow
- gear bow
- handling
- 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.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
- B66F9/0655—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted with a telescopic boom
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
-
- 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
- E02F3/432—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude
- E02F3/433—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude horizontal, e.g. self-levelling
-
- 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
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/33—Director till display
- G05B2219/33263—Conversion, transformation of coordinates, cartesian or polar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/33—Director till display
- G05B2219/33264—Conversion of angle between links to linear displacement of actuator
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39002—Move tip of arm on straight line
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39221—Control angular position of joint by length of linear actuator
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41255—Mode switch, select independent or dependent control of axis
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41273—Hydraulic
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45017—Agriculture machine, tractor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45049—Forklift
Landscapes
- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Operation Control Of Excavators (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Fluid-Pressure Circuits (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/810,377 US7856282B2 (en) | 2004-03-26 | 2004-03-26 | Hydraulic system with coordinated multiple axis control of a machine member |
Publications (2)
Publication Number | Publication Date |
---|---|
FR2868173A1 FR2868173A1 (fr) | 2005-09-30 |
FR2868173B1 true FR2868173B1 (fr) | 2011-05-13 |
Family
ID=34981103
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR0502993A Active FR2868173B1 (fr) | 2004-03-26 | 2005-03-25 | Procede et systeme de commande d'un element tel qu'une fleche d'engin de manutention |
Country Status (3)
Country | Link |
---|---|
US (1) | US7856282B2 (fr) |
JP (1) | JP2005280997A (fr) |
FR (1) | FR2868173B1 (fr) |
Families Citing this family (28)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7093383B2 (en) * | 2004-03-26 | 2006-08-22 | Husco International Inc. | Automatic hydraulic load leveling system for a work vehicle |
US7409825B2 (en) * | 2006-08-02 | 2008-08-12 | Husco International, Inc. | Hydraulic system with a cylinder isolation valve |
US20080034957A1 (en) * | 2006-08-09 | 2008-02-14 | Stephenson Dwight B | Hydraulic Actuator Control Circuit With Pressure Operated Counterbalancing Valves |
US7729833B2 (en) * | 2006-09-11 | 2010-06-01 | Caterpillar Inc. | Implement control system based on input position and velocity |
EP1950351A3 (fr) * | 2007-01-17 | 2010-04-28 | Muncie Power Products, Inc. | Système de contrôle électrohydraulique pour véhicule |
DE202007007951U1 (de) * | 2007-06-06 | 2007-08-16 | Jungheinrich Aktiengesellschaft | Bedienvorrichtung für mindestens zwei Funktionen eines Flurförderzeugs |
JP4351281B2 (ja) * | 2007-12-13 | 2009-10-28 | ファナック株式会社 | 5軸加工機を制御する数値制御装置 |
US8209094B2 (en) * | 2008-01-23 | 2012-06-26 | Caterpillar Inc. | Hydraulic implement system having boom priority |
US20100204891A1 (en) * | 2009-02-12 | 2010-08-12 | Cnh America Llc | Acceleration control for vehicles having a loader arm |
JP5037561B2 (ja) * | 2009-05-13 | 2012-09-26 | 株式会社小松製作所 | 作業車両 |
AU2012327156B2 (en) * | 2011-10-17 | 2015-03-26 | Hitachi Construction Machinery Co., Ltd. | System for indicating parking position and direction of dump truck, and transportation system |
US8966871B2 (en) * | 2011-12-28 | 2015-03-03 | Agco Corporation | Automatic roll-back and return-to-position for header tilt on an agricultural machine |
US20180110190A1 (en) * | 2016-10-20 | 2018-04-26 | Deere & Company | Work vehicle gyroscopic boom control system and method |
CN109944843B (zh) * | 2016-11-22 | 2021-01-05 | 北京航空航天大学 | 一种机器人液压驱动转动关节闭环控制系统 |
SE1651640A1 (sv) | 2016-12-14 | 2018-06-15 | Cargotec Patenter Ab | A working vehicle including a crane |
JP6936690B2 (ja) * | 2017-10-18 | 2021-09-22 | 川崎重工業株式会社 | 油圧ショベル駆動システム |
CA3039321A1 (fr) | 2018-04-06 | 2019-10-06 | The Raymond Corporation | Systemes de detection de charge multipositionnelle et methodes |
US10875753B2 (en) | 2018-09-20 | 2020-12-29 | Manitou Equipment America, Llc | Telehandler boom extension monitoring system |
CN109648556B (zh) * | 2018-12-18 | 2020-09-18 | 华中科技大学 | 基于数据驱动的机械臂位置级联分数阶控制方法及系统 |
CA3129703A1 (fr) | 2019-02-22 | 2020-08-27 | Clark Equipment Company | Circuit de mise a niveau hydraulique pour machines electriques |
GB2582260B (en) | 2019-03-01 | 2023-03-08 | Bamford Excavators Ltd | Working machine |
GB201903399D0 (en) * | 2019-03-01 | 2019-04-24 | Bamford Excavators Ltd | A working machine and a controller |
GB2582261B (en) | 2019-03-01 | 2023-06-21 | Bamford Excavators Ltd | Working machine |
CN109940618A (zh) * | 2019-04-04 | 2019-06-28 | 天津理工大学 | 一种基于正交模糊pid的串联机械手驱动系统运动控制方法 |
US20220194765A1 (en) * | 2020-12-17 | 2022-06-23 | Xtreme Manufacturing, Llc | Systems and methods for use in coordinating boom motion of a construction machine |
FR3123339B3 (fr) * | 2021-05-26 | 2023-09-22 | Manitou Bf | Machine de manutention a bras et procede correspondant |
DE102021210112A1 (de) | 2021-09-14 | 2023-03-16 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren zur Steuerung einer Ausrüstungsbewegung einer Arbeitsausrüstung einer Arbeitsmaschine und Arbeitsmaschine |
CN113697729B (zh) * | 2021-10-28 | 2022-02-18 | 宁波如意股份有限公司 | 一种叉车横移旋转联动控制方法及控制系统 |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5552437A (en) * | 1978-10-06 | 1980-04-16 | Komatsu Ltd | Working instrument controller |
US4722044A (en) | 1985-03-19 | 1988-01-26 | Sundstrand Corporation | Boom control system |
US4844685A (en) * | 1986-09-03 | 1989-07-04 | Clark Equipment Company | Electronic bucket positioning and control system |
US4964780A (en) | 1988-01-11 | 1990-10-23 | Robert Karvonen | Extendible boom forklift with level reach control |
US5218895A (en) * | 1990-06-15 | 1993-06-15 | Caterpillar Inc. | Electrohydraulic control apparatus and method |
DE4030954C2 (de) | 1990-09-29 | 1994-08-04 | Danfoss As | Verfahren zur Steuerung der Bewegung eines hydraulisch bewegbaren Arbeitsgeräts und Bahnsteuereinrichtung zur Durchführung des Verfahrens |
KR950009324B1 (ko) * | 1991-11-26 | 1995-08-19 | 삼성중공업주식회사 | 액츄에이터 작동속도 자동조절장치 및 그 제어방법 |
US5424623A (en) * | 1993-05-13 | 1995-06-13 | Caterpillar Inc. | Coordinated control for a work implement |
US6032093A (en) * | 1996-07-17 | 2000-02-29 | Caterpillar Inc. | Apparatus and method for restricting implement movement of a work machine |
US6374147B1 (en) | 1999-03-31 | 2002-04-16 | Caterpillar Inc. | Apparatus and method for providing coordinated control of a work implement |
US6374153B1 (en) | 1999-03-31 | 2002-04-16 | Caterpillar Inc. | Apparatus and method for providing coordinated control of a work implement |
US6434437B1 (en) | 1999-12-02 | 2002-08-13 | Caterpillar Inc. | Boom extension and boom angle control for a machine |
US6473679B1 (en) * | 1999-12-10 | 2002-10-29 | Caterpillar Inc. | Angular velocity control and associated method for a boom of a machine |
SE526096C2 (sv) * | 2002-07-15 | 2005-07-05 | Stock Of Sweden Ab | Anordning vid ett för lasthantering avsett fordon |
US6968264B2 (en) * | 2003-07-03 | 2005-11-22 | Deere & Company | Method and system for controlling a mechanical arm |
US7093383B2 (en) * | 2004-03-26 | 2006-08-22 | Husco International Inc. | Automatic hydraulic load leveling system for a work vehicle |
US20070021895A1 (en) * | 2005-07-21 | 2007-01-25 | Caterpillar Inc. | System and method for monitoring the status of a work machine |
-
2004
- 2004-03-26 US US10/810,377 patent/US7856282B2/en not_active Expired - Fee Related
-
2005
- 2005-03-25 JP JP2005087412A patent/JP2005280997A/ja active Pending
- 2005-03-25 FR FR0502993A patent/FR2868173B1/fr active Active
Also Published As
Publication number | Publication date |
---|---|
US7856282B2 (en) | 2010-12-21 |
FR2868173A1 (fr) | 2005-09-30 |
US20050216105A1 (en) | 2005-09-29 |
JP2005280997A (ja) | 2005-10-13 |
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Legal Events
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