JP2013002279A - 特定の角度範囲に並行リフトを実行するシステム - Google Patents
特定の角度範囲に並行リフトを実行するシステム Download PDFInfo
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- 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
-
- 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
- E02F3/436—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like for keeping the dipper in the horizontal position, 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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/3056—Assemblies of multiple valves
- F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
- F15B2211/30575—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve in a Wheatstone Bridge arrangement (also half bridges)
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6346—Electronic controllers using input signals representing a state of input means, e.g. joystick position
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
【解決手段】液圧システムが開示される。本液圧システムはポンプ、リフトアクチュエータ、リフト弁装置、チルトアクチュエータ、チルト弁装置、および第1信号を生成するように構成された傾斜角度センサを有してもよい。本液圧システムはさらに、所望のリフト速度を示す第2信号および所望の傾斜速度を示す第3信号を生成するために動かすことができる少なくとも1つの操作者インターフェース装置と、制御器とを有してもよい。制御器は、第2信号に基づいて加圧流体を計量するようにリフト弁装置に命令を出すように、第3信号に基づいて加圧流体を計量するようにチルト弁装置に命令を出すように、そして、リフティングする間、実際の傾斜角度が特定の傾斜角度範囲に入ったことを第1信号が示す時、実際の傾斜角度が特定の範囲内にある間、第2信号に基づいて加圧流体を計量するようにチルト弁装置に命令を出すように、構成されてもよい。
【選択図】図2
Description
12 連結システム
14 作業器具
16 原動機
17 ブーム
18 地面
20 液圧シリンダ
26 液圧シリンダ
28 水平軸
30 水平軸
32 本体
34 管
36 ピストンアセンブリ
36a ロッド部
38 第1チャンバ
40 第2チャンバ
42 ヘッド端部
44 ロッド端部
46 矢印
47 矢印
48 液圧制御システム
50 弁スタック
52 エンジン駆動ポンプ
53 タンク
54 リフト弁装置
56 チルト弁装置
58 制御器
60 供給流路
62 排出流路
66 流路
68 流路
72 流路
74 流路
78 圧力補償弁
79 逆止弁
80 ヘッド端部供給弁
82 ロッド端部供給弁
84 ヘッド端部排出弁
86 ロッド端部排出弁
88 ヘッド端部供給弁
90 ロッド端部供給弁
92 ヘッド端部排出弁
94 ロッド端部排出弁
96 ストローク調整機構
98 インターフェース装置
102 センサ
103 センサ
104 流路
105 圧力センサ
106 流路
108 流路
110 流路
112 表面
116 機械牽引装置
Claims (10)
- 液圧システムであって、
流体を加圧するポンプと、
リフトアクチュエータと、
作業器具をリフティングするためにポンプからの加圧流体を計量してリフトアクチュエータに供給するように構成されたリフト弁装置と、
チルトアクチュエータと、
作業器具を傾斜させるためにポンプからの加圧流体を計量してチルトアクチュエータに供給するように構成されたチルト弁装置と、
チルトアクチュエータに関連付けられ、作業器具の実際の傾斜角度を示す第1信号を生成するように構成された少なくとも1つのセンサと、
作業器具の所望のリフト速度を示す第2信号および作業器具の所望の傾斜速度を示す第3信号を生成するために操作者によって動かすことができる少なくとも1つの操作者インターフェース装置と、
リフト弁装置、チルト弁装置、少なくとも1つのセンサ、および少なくとも1つの操作者インターフェース装置と通信する制御器であって、
第2信号に基づいて、作業器具をリフティングするために加圧流体を計量しリフトアクチュエータに供給するようにリフト弁装置に命令を出し、
第3信号に基づいて、作業器具を傾斜させるために加圧流体を計量しチルトアクチュエータに供給するようにチルト弁装置に命令を出し、および
リフティングの間、作業器具の実際の傾斜角度が特定の傾斜角度範囲に入ったことを第1信号が示す時、第2信号に基づいて加圧流体を計量しチルトアクチュエータに供給して、作業器具の実際の傾斜角度が特定の範囲内にある限り、作業器具の所望の傾斜角度を維持するようにチルト弁装置に命令を出す
ように構成された制御器と、
を含む、液圧システム。 - 制御器が、
所望のリフト速度をスケーリングすることによって、リフティングの間、作業器具を所望の傾斜角度に維持するチルトコマンドを決定し、
第3信号が、閾値量未満の所望の傾斜速度を示す時のみ、作業器具をリフティングする間、チルト弁装置にチルトコマンドの全値を送る
ように構成される、請求項1に記載の液圧システム。 - 制御器が、第3信号の絶対値が、閾値量を超えて増大する所望の傾斜速度を示す時、チルトコマンドを段階的に軽減するように構成される、請求項2に記載の液圧システム。
- 閾値量が、最大傾斜速度の約50%である、請求項3に記載の液圧システム。
- 制御器が、所望の傾斜角度と実際の傾斜角度との比較に基づいて、チルトコマンドを調整するようにさらに構成される、請求項3に記載の液圧システム。
- 制御器が、第3信号の絶対値が約ゼロの時のみ、所望の傾斜角度と実際の傾斜角度との比較に基づいて、チルトコマンドを調整するようにさらに構成される、請求項4に記載の液圧システム。
- 制御器が、
所望の傾斜角度を維持するために、作業器具の傾斜が、リフティングする間特定の地点で方向を切り替えなければならないことを決定し、
特定の地点への接近に基づいて、加圧流体の計量を停止するようにチルト弁装置に命令を出す
ようにさらに構成される、請求項4に記載の液圧システム。 - 作業器具の現在の傾斜角度が範囲の境界に近づく時、制御器が、所望の傾斜角度と実際の傾斜角度との比較に基づいてチルトコマンドを調整することを停止し、境界からの距離に基づいてチルトコマンドを徐々に軽減するように構成される、請求項4に記載の液圧システム。
- 制御器が、
所望の傾斜角度と実際の傾斜角度との間の差が閾値量を超えていることを比較が示す時のみ、チルトコマンドの調整を始め、
所望の傾斜角度と実際の傾斜角度との間の差が約ゼロになるまで、チルトコマンドの調整を続ける
ようにさらに構成される、請求項4に記載の液圧システム。 - 機械を操作する方法であって、
作業器具の所望のリフト速度および作業器具の所望の傾斜速度を示す操作者入力を受信するステップと、
流体を加圧するステップと、
所望のリフト速度に基づいて加圧流体を計量してリフトアクチュエータに供給するステップと、
所望の傾斜速度に基づいて加圧流体を計量してチルトアクチュエータに供給するステップと、
作業器具の実際の傾斜角度を検知するステップと、
作業器具の実際の傾斜角度が、リフティングする間、傾斜角度の特定の範囲に入った時、所望のリフト速度に基づいて加圧流体を計量してチルトアクチュエータに供給し、作業器具の実際の傾斜角度が特定の範囲内にある限り、リフティングする間、作業器具の所望の傾斜角度を維持するステップと、
を含む、方法。
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US13/162,356 | 2011-06-16 | ||
US13/162,356 US8886415B2 (en) | 2011-06-16 | 2011-06-16 | System implementing parallel lift for range of angles |
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JP2013002279A true JP2013002279A (ja) | 2013-01-07 |
JP6096428B2 JP6096428B2 (ja) | 2017-03-15 |
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US (1) | US8886415B2 (ja) |
EP (1) | EP2535465A3 (ja) |
JP (1) | JP6096428B2 (ja) |
CN (1) | CN102829007B (ja) |
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Also Published As
Publication number | Publication date |
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EP2535465A2 (en) | 2012-12-19 |
US20120321425A1 (en) | 2012-12-20 |
US8886415B2 (en) | 2014-11-11 |
EP2535465A3 (en) | 2014-10-15 |
CN102829007B (zh) | 2017-06-20 |
CN102829007A (zh) | 2012-12-19 |
JP6096428B2 (ja) | 2017-03-15 |
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