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 manutention

Info

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
Application number
FR0502993A
Other languages
English (en)
Other versions
FR2868173A1 (fr
Inventor
Keith A Tabor
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.)
Husco International Inc
Original Assignee
Husco International Inc
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 Husco International Inc filed Critical Husco International Inc
Publication of FR2868173A1 publication Critical patent/FR2868173A1/fr
Application granted granted Critical
Publication of FR2868173B1 publication Critical patent/FR2868173B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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)
FR0502993A 2004-03-26 2005-03-25 Procede et systeme de commande d'un element tel qu'une fleche d'engin de manutention Active FR2868173B1 (fr)

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)

* Cited by examiner, † Cited by third party
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

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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
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US5424623A (en) * 1993-05-13 1995-06-13 Caterpillar Inc. Coordinated control for a work implement
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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

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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