WO2017069692A1 - Adaptive control of hydraulic tool on remote controlled demolition robot - Google Patents

Adaptive control of hydraulic tool on remote controlled demolition robot Download PDF

Info

Publication number
WO2017069692A1
WO2017069692A1 PCT/SE2016/051021 SE2016051021W WO2017069692A1 WO 2017069692 A1 WO2017069692 A1 WO 2017069692A1 SE 2016051021 W SE2016051021 W SE 2016051021W WO 2017069692 A1 WO2017069692 A1 WO 2017069692A1
Authority
WO
WIPO (PCT)
Prior art keywords
pressure
valve
mode
remote controlled
demolition robot
Prior art date
Application number
PCT/SE2016/051021
Other languages
French (fr)
Inventor
Tommy Olsson
Original Assignee
Husqvarna Ab
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 Husqvarna Ab filed Critical Husqvarna Ab
Priority to EP16857888.8A priority Critical patent/EP3365513B1/en
Priority to US15/769,210 priority patent/US10422357B2/en
Priority to CN201680061122.9A priority patent/CN108138505B/en
Publication of WO2017069692A1 publication Critical patent/WO2017069692A1/en

Links

Classifications

    • 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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
    • F15B11/165—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load for adjusting the pump output or bypass in response to demand
    • 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
    • E02F3/96—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements
    • E02F3/965—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements of metal-cutting or concrete-crushing implements
    • 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
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles
    • 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
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2062—Control of propulsion units
    • E02F9/207—Control of propulsion units of the type electric propulsion units, e.g. electric motors or generators
    • 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
    • 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
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • 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
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
    • E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00—Working measures on existing buildings
    • E04G23/08—Wrecking of buildings
    • 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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/0406—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed during starting or stopping
    • 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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/042—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in"
    • F15B11/0423—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in" by controlling pump output or bypass, other than to maintain constant speed
    • 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
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
    • F15B11/162—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load for giving priority to particular servomotors or users
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • 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
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20546—Type of pump variable capacity
    • 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
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/25—Pressure control functions
    • F15B2211/251—High pressure control
    • 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
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/25—Pressure control functions
    • F15B2211/252—Low pressure control
    • 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
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/255—Flow control functions
    • 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
    • F15B2211/31—Directional control characterised by the positions of the valve element
    • F15B2211/3144—Directional control characterised by the positions of the valve element the positions being continuously variable, e.g. as realised by proportional valves
    • 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
    • F15B2211/35—Directional control combined with flow control
    • F15B2211/351—Flow control by regulating means in feed line, i.e. meter-in control
    • 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
    • F15B2211/40—Flow control
    • F15B2211/41—Flow control characterised by the positions of the valve element
    • F15B2211/413—Flow control characterised by the positions of the valve element the positions being continuously variable, e.g. as realised by proportional valves
    • 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
    • F15B2211/40—Flow control
    • F15B2211/455—Control of flow in the feed line, i.e. meter-in control
    • 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
    • F15B2211/605—Load sensing circuits
    • 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
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • 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
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6309—Electronic controllers using input signals representing a pressure the pressure being a pressure source supply pressure
    • 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
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
    • 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
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6652—Control of the pressure source, e.g. control of the swash plate angle
    • 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
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6653—Pressure control
    • 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
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6654—Flow rate control
    • 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
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6658—Control using different modes, e.g. four-quadrant-operation, working mode and transportation mode
    • 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
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • 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
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7058—Rotary output members
    • 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
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • F15B2211/7135—Combinations of output members of different types, e.g. single-acting cylinders with rotary motors
    • 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
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/85—Control during special operating conditions
    • F15B2211/851—Control during special operating conditions during starting

Definitions

  • This application relates to controlling a hydraulic tool on a remote demolition robot, and in particular to a method and an apparatus for providing an adaptive control of a hydraulic tool on a remote demolition robot using a load sensing hydraulic system.
  • a load sensing hydraulic system functions in such a way that the flow of the hydraulic fluid supplied by one (or more) pump ( s ) is shared between more than one actuator, an actuator in this application meaning a hydraulic motor or cylinder for operating a robot member such as an arm, a boom, a tool, a tool holder or a hand to mention a few examples.
  • an actuator in this application meaning a hydraulic motor or cylinder for operating a robot member such as an arm, a boom, a tool, a tool holder or a hand to mention a few examples.
  • such actuators may be the cylinders 12 for operating the arms 11, or with reference to figure 3, the motor (not shown explicitly) for operating a power saw or a rotating drum cutter lib being two examples of a tool.
  • a saw or rotating drum cutter (hereafter simply referred to as a cutter) is first activated it revs up, bringing for example the saw blade to rotate at a very high revolution speed. When this is done, the saw blade or cutter is most likely not in contact with the material to be cut and the revving up can thus be performed at a very low pressure.
  • Load sensing hydraulic systems operate in such a manner that the flow generated by one pump is shared among more than one actuator. If one actuator is operating at a low pressure and another actuator is operating at a high pressure and when the pump is operating to provide full flow, all or most of the fluid will flow in the direction presenting the least pressure. The situation may thus occur that the arms are operated to move the cutter in to close vicinity of for example a wall and then as the cutter or saw is revved up, which happens at low pressure, the fluid will redirect itself to the tool, leaving the arms unworkable, the cylinders for the arms presenting a much higher working pressure. The arms will thus not be operable and the tool can not be moved while operating freely. To overcome this, the prior art provides for using a proportional hydraulic valve. Such a valve does not open fully and only allows a portion of the flow to pass through, for example 75-80 %, leaving the remaining 20- 25% of fluid flow to flow to other actuators . In such a manner the flow is shared between different actuators .
  • a first aspect of the teachings herein provides a remote controlled demolition robot comprising a controller and at least one actuator controlled through a hydraulic system comprising at least one valve connected to a corresponding actuator for a tool and a pump, wherein the controller is configured to: operate in a first mode wherein the fluid flow is controlled through the at least one valve, wherein said valve is a proportional valve; receive a pressure indication indicating a pressure in the hydraulic system and determine if the pressure in the hydraulic system is above a first mode threshold and/or if a pressure change fulfills a first mode condition, and if so operate in a second mode wherein the at least one valve is in an opened state and fluid flow is controlled through the pump .
  • a second aspect provides a method for operating a remote controlled demolition robot comprising at least one actuator controlled through a hydraulic system comprising at least one valve connected to a corresponding actuator for a tool and a pump, wherein the method comprises : operating in a first mode wherein the fluid flow is controlled through the at least one valve, wherein said valve is a proportional valve; receiving a pressure indication indicating a pressure in the hydraulic system and determining if the pressure in the hydraulic system is above a first mode threshold and/or if a pressure change fulfills a first mode condition, and if so operate in a second mode wherein the at least one valve is in an opened state and the fluid flow is controlled through the pump .
  • a third aspect provides a computer-readable medium comprising software code instructions, that when loaded in and executed by a controller causes the execution of a method according to herein.
  • One benefit is that such a demolition robot is enabled to operate irrespective of what tools are used and without wasting energy or generating heat unnecessarily.
  • valves 13a Compared with, for example, throttling all valves 13a, when the flow required to maintain a pressure is higher than the maximum flow of the pump, the present invention has the benefit of valves 13a having a simple construction and saving energy, providing a higher power efficiency. Calculations have shown that an increase in power efficiency of approximately 10-20% is to be expected . Other features and advantages of the disclosed embodiments will appear from the following detailed disclosure, from the attached dependent claims as well as from the drawings . BRIEF DESCRIPTION OF DRAWING
  • Figure 1 shows a remote controlled demolition robot according to an embodiment of the teachings herein;
  • Figure 2 shows a remote control 22 for a remote controlled demolition robot according to an embodiment of the teachings herein;
  • Figure 3 shows a schematic view of a robot according to an embodiment of the teachings herein;
  • Figure 4 shows a schematic view of a hydraulic system according to an embodiment of the teachings herein ;
  • FIG. 5a shows a flowchart for a general method according to an embodiment of the teachings herein;
  • Figure 5b shows a flowchart for a general method according to an embodiment of the teachings herein.
  • Figure 6 shows a schematic view of a computer- readable product comprising instructions for executing a method according to one embodiment of the teachings herein .
  • FIG 1 shows a remote controlled demolition robot 10, hereafter simply referred to as the robot 10.
  • the robot 10 comprises one or more robot members, such as arms 11, the arms 11 possibly constituting one (or more) robot arm member (s) .
  • One member may be an accessory tool holder 11a for holding an accessory lib (not shown in figure 1, see figure 3) .
  • the accessory lib may be a tool such as a hydraulic breaker (or hammer), a cutter (or a rotary concrete cutter), a saw, or a digging bucket to mention a few examples .
  • the accessory may also be a payload to be carried by the robot 10.
  • the arms 11 are movably operable through at least one cylinder 12 for each arm 11.
  • the cylinders are preferably hydraulic and controlled through a hydraulic valve block 13 housed in the robot 10.
  • the hydraulic valve block 13 comprises one or more valves 13a for controlling the amount of hydraulic fluid (oil) provided to for example a corresponding cylinder 12.
  • the valve 13a is a proportional hydraulic valve.
  • the valve block 13 also comprises (possibly by being connected to) at least one pressure sensor 13b for determining the pressure before or after a valve 13a. Further details on the hydraulic system will be given with reference to figure 4 below.
  • the robot 10 comprises caterpillar tracks 14 that enable the robot 10 to move.
  • the robot may alternatively or additionally have wheels for enabling it to move, both wheels and caterpillar tracks being examples of drive means .
  • the robot further comprises outriggers 15 that may be extended individually (or collectively) to stabilize the robot 10. At least one of the outriggers 15 may have a foot 15a (possibly flexibly arranged on the corresponding outrigger 15) for providing more stable support in various environments.
  • the robot 10 is driven by a drive system 16 operably connected to the caterpillar tracks 14 and the hydraulic valve block 13.
  • the drive system may comprise an electrical motor in case of an electrically powered robot 10 powered by a battery and/or an electrical cable 19 connected to an electrical grid (not shown), or a cabinet for a fuel tank and an engine in case of a combustion powered robot 10.
  • the body of the robot 10 may comprise a tower 10a on which the arms 11 are arranged, and a base 10b on which the caterpillar tracks 14 are arranged.
  • the tower 10a is arranged to be rotatable with regards to the base 10b which enables an operator to turn the arms 11 in a direction other than the direction of the caterpillar tracks 14.
  • the operation of the robot 10 is controlled by one or more controllers 17, comprising at least one processor or other programmable logic and possibly a memory module for storing instructions that when executed by the processor controls a function of the demolition robot 10.
  • the one or more controllers 17 will hereafter be referred to as one and the same controller 17 making no differentiation of which processor is executing which operation. It should be noted that the execution of a task may be divided between the controllers wherein the controllers will exchange data and/or commands to execute the task.
  • the robot 10 may further comprise a radio module 18.
  • the radio module 18 may be used for communicating with a remote control (see fig 2, reference 22) for receiving commands to be executed by the controller 17
  • the radio module 18 may be used for communicating with a remote server (not shown) for providing status information and/or receiving information and/or commands .
  • the controller may thus be arranged to receive instructions through the radio module 18.
  • the radio module may be configured to operate according to a low energy radio frequency communication standard such as ZigBee®, Bluetooth® or WiFi®.
  • the radio module 18 may be configured to operate according to a cellular communication standard, such as GSM (Global System Mobile) or LTE (Long Term Evolution) .
  • the robot 10 in case of an electrically powered robot 10) comprises a power cable 19 for receiving power to run the robot 10 or to charge the robots batteries or both.
  • the robot may also operate solely or partially on battery power .
  • the robot 10 being a hydraulic robot, comprises a motor (not shown) that is arranged to drive a pump (referenced 410 in figure 4) for driving the hydraulic system. More details on the hydraulic system are given with reference to figure 4 below.
  • the remote control 22 may alternatively be connected through or along with the power cable 19.
  • the robot may also comprise a Human- Machine Interface (HMI), which may comprise control buttons, such as a stop button 20, and light indicators, such as a warning light 21.
  • HMI Human- Machine Interface
  • Figure 2 shows a remote control 22 for a remote controlled demolition robot such as the robot 10 in figure 1.
  • the remote control 22 may be assigned an identity code so that a robot 10 may identify the remote control and only accept commands from a correctly identified remote control 22. This enables for more than one robot 10 to be working in the same general area.
  • the remote control 22 has one or more displays 23 for providing information to an operator, and one or more controls 24 for receiving commands from the operator.
  • the controls 24 include one or more joysticks, a left joystick 24a and a right joystick 24b for example as shown in figure 2, being examples of a first joystick 24a and a second joystick 24b.
  • a joystick 24a, 24b may further be arranged with a top control switch 25.
  • each joystick 24a, 24b is arranged with two top control switches 25a, 25b.
  • the joysticks 24a, 24b and the top control switches 25 are used to provide maneuvering commands to the robot 10.
  • the control switches 24 may be used to select one out of several operating modes, wherein an operating mode determines which control input corresponds to which action.
  • the left joystick 24a may control the caterpillar tracks 14 and the right joystick 24b may control the tower 10a (which can come in handy when turning in narrow passages); whereas in a Work mode, the left joystick 24a controls the tower 10a, the tool lib and some movements of the arms 11, and the right joystick 24b controls other movements of the arms 11; and in a Setup mode, the each joystick 24a, 24b controls each a caterpillar track 14, and also controls the outrigger (s) 15 on a corresponding side of the robot 10. It should be noted that other associations of functions to joysticks and controls are also possible .
  • the remote control 22 may be seen as a part of the robot 10 in that it is the control panel of the robot 10. This is especially apparent when the remote control is connected to the robot through a wire. However, the remote control 22 may be sold separately to the robot 10 or as an additional accessory or spare part.
  • the remote control 22 is thus configured to provide control information, such as commands, to the robot 10 which information is interpreted by the controller 17, causing the robot 10 to operate according to the actuations of the remote control 22.
  • Figure 3 shows a schematic view of a robot 10 according to figure 1.
  • the caterpillar tracks 14, the outriggers 15, the arms 11 and the hydraulic cylinders 12 are shown.
  • a tool lib in the form of a transverse drum or a circular cutter lib or any other tool having a rotational operation, is also shown (being shaded to indicate that it is optional) .
  • the tool will hereafter simply be referred to as the exemplifying cutter .
  • the controller 17 receives input relating for example to moving a robot member 11, for example from any of the joysticks 24, the corresponding valve 13a is controlled to open or close depending on the movement or operation to be made.
  • One example of such movements is moving a robot member 11.
  • One example of such operations is activating a tool lib such as a cutter.
  • Figure 4 shows a schematic view of a hydraulic system 400 for use in a demolition robot .
  • the demolition robot may be electrically powered.
  • the demolition robot may alternatively be a combustion engine powered robot .
  • the description herein will focus on an electrically powered demolition robot .
  • the hydraulic system 400 comprises a pump 410 that is driven by for example an electric motor 450.
  • the pump 410 is used to provide a flow of a hydraulic fluid through conduits 430 generating a pressure in the hydraulic system 400. Only when there is some resistance in the hydraulic system, such as when a hydraulic motor is operated, will there be a build up of pressure. Otherwise the fluid will flow freely.
  • the pump 410 is a load sensing variable pump 410.
  • the hydraulic system 400 is a load sensing system and the fluid is propagated to one or more actuators, such as a cylinder 12 that may be used to move an arm 11a or for example a hydraulic motor 12a that may be used to operate a tool, such as a cutter lib.
  • the hydraulic system 400 is arranged to operate at a main pressure of for example 200 bars.
  • the hydraulic system may also be arranged to be able to operate at an increased main pressure when more demanding tasks are to be performed such as when maintaining the outriggers in an extended position and/or when a tool requires more power, such as when operating a cutter lib at an increased pressure.
  • the hydraulic system 400 also comprises a fluid tank 420 for holding a hydraulic fluid (most often oil) which is led to the various components through the conduits 430.
  • a hydraulic fluid most often oil
  • valve block 13 is used comprising several valves (referenced 13a in figure 1) . As one valve 13a is opened, a corresponding actuator 12 is activated.
  • the inventors have realized that as a tool has built up enough pressure, such as when a rotating saw or a rotating drum cutter makes contact with material to be cut, there is no longer a problem with sharing the flow between actuators in that there is no longer any low pressure conduit through which the fluid may flow relatively freely.
  • the use of proportional valves may be used, as in the prior art, during startup of a tool, whereas when a pressure has been built up, the proportional valve may be opened fully and the operation may be controlled by controlling the pump 410. Therefore at least one of the valves 13a is a proportional valve 13a.
  • the valve 13a operating the tool lib is a proportional valve.
  • the valve 13a is over-dimensioned with respect to available pump flow.
  • valve 13a is enabled to control a tool lib and is dimensioned to allow a flow of 80 litres/minute (1/m) at a pressure drop of 20 bars.
  • the pump 410 is enabled to deliver 65 1/m and will thus not be able to provide enough flow to build up the pressure drop over the valve - instead of a pressure drop of 20 bars, the over-dimensioned valve 13a may only cause a pressure drop of 10 bars.
  • this adds to the problems discussed in the background section in that, as the pump 410 is not able to build up the maximum pressure of a valve 13a, and as the hydraulic fluid will flow through a conduit 431 having the least pressure, the fluid will flow to the tool being operated at a low pressure thereby possibly rendering other functions (requiring a higher pressure) inoperable .
  • the inventors have devised a clever and insightful arrangement for controlling the fluid flow of a load sensing hydraulic system 400 by operating in one of two modes; a first mode wherein flow is controlled through the use of proportional valves 13a, and a second mode wherein flow is controlled by controlling the pump 410.
  • the inventors have realized that in order to benefit from the reduced pressure loss provided by the use of over-dimensioned valves 13a while still not diminishing the operation of other members or functions, the flow should be restricted through the valve 13a in order not to take all available flow from the pump.
  • the pressure in the tool lib will increase. As the pressure increases, the fluid will start to flow also through other valves (possibly having a lower pressure) .
  • FIG. 5a shows a flowchart for a general method according to the teachings herein.
  • the controller 17 is configured to operate in the first mode 500 controlling the flow by using proportional vale s 13a.
  • the pump 410 comprises a load sensing (LS) regulator 411.
  • the LS regulator 411 is provided to adapt the flow of the pump 410 based on the current need. For example, when a valve is restricted, less flow will be required and the LS regulator 411 regulates the pump 410 so that less fluid is provided further saving power.
  • the pump is thus arranged to operate using the LS regulator in the first mode.
  • the controller 17 is configured to receive a pressure indication 510.
  • the pressure indication is provided by the pressure sensor 13b.
  • the pressure sensor 13B may be arranged on or adjacent to the valve 13a, or it may be arranged adjacent to a corresponding actuator 12.
  • the pressure sensor 13b may also or alternatively be arranged on a general conduit for providing an overall system pressure as in figure 4. This arrangement saves on cost as the number of pressure sensors needed is reduced.
  • the pressure reading may also be a combined pressure reading representing various pressures in the hydraulic systems. One such combination is a pressure for the tool and a pressure for the overall system .
  • the controller 17 determines if the pressure indicated by the pressure indication is above a first mode threshold level 520, and if so, the controller opens 530 the valve 13a and starts to operate in a second mode where the flow is controlled by controlling the pump 410.
  • the first mode threshold may be set based on the minimum pressure required, hereafter the needed pressure, for moving an arm member 11a. This pressure may be input through for example the remote control 22, or it may be communicated to the controller 17 by a electronic control unit of the tool, such electronic control unit being considered to be part of the controller 17.
  • more than one such first mode threshold may be utilized wherein the proportional valve is opened successively as each sub level is reached or continuously as through a ramping function. For example, in idle mode the valve is at 70 % and as the pressure exceeds a first mode threshold of 80 bars corresponding to a needed pressure of 100 bars, the valve is opened to 80 %. Then, as the pressure exceeds a second first mode threshold of 90 bars, the valve is opened to 90 %. And, as the pressure exceeds a third first mode threshold of 100 bars, the valve is opened to 100 %. This provides for a smooth and gradual switch between full valve control and full pump control .
  • controller 17 may, in some embodiments, determine if the pressure indication fulfills a first mode condition 525 relating to a change in pressure. This is shown in Fig. 5b.
  • the controller 17 determines if the pressure indication fulfills a first mode condition and/or if the pressure indication is above a first mode threshold, and if so, the controller opens 530 the valve 13a and starts to operate in a second mode where the flow is controlled by controlling the pump 410.
  • the first mode condition is a condition set up to that uses the information of pressure changes in the system.
  • the first mode condition may be a condition comprising a time limit, pressure values, number of oscillations and/or a combination of the same . By looking at the pressure change information it is possible to determine if the system shall proceed into a second mode or continue working in the first mode .
  • the controller 17 may be configured to receive a pressure indication 550 from the pressure sensor 13b. The controller 17 determines if the pressure indicated by the pressure indication is below a second mode threshold level 560, and if so, the controller closes 570 the valve 13a and starts to operate in the first mode where the flow is controlled by controlling the valve 13a.
  • the pump 410 comprises a pressure regulator 412.
  • the pressure regulator 412 is provided to ensure that the pressure in the pump does not exceed a maximum value, for example 200 bar.
  • the pump 410 is thus arranged to operate using the pressure regulator 412 in the second mode.
  • the second mode threshold value may be set according to the arm member's indicated needed pressure, such as a minimum operating pressure. This may be input through for example the remote control 22, or it may be communicated to the controller 17 by a electronic control unit of the tool, such electronic control unit being considered to be part of the controller 17.
  • the second mode threshold is, in one embodiment set to be the needed pressure.
  • the second mode threshold is, in one embodiment set to be the first mode threshold.
  • the second mode threshold is, in one embodiment set to be lower than the first mode threshold. In such an embodiment the first threshold may be set to be higher than the needed pressure and the second threshold may be set to be lower than the needed pressure.
  • the second mode threshold may also comprise several thresholds or a ramping function .
  • the controller 17 when operating in the second mode 540, determines if the pressure indication is below a second mode threshold level 560 the controller 17 may, in some embodiments, determine if the pressure indication fulfills a second mode condition 565 relating to a change in pressure. This is shown in Fig. 5b.
  • the controller 17 determines if the pressure indication fulfills a second mode condition 565 and/or if the pressure indication is below a second mode threshold, and if so, the controller closes 570 the valve 13a and starts to operate in the first mode where the flow is controlled by controlling the valve 13a.
  • the second mode condition is a condition set up to that uses the information of pressure changes in the system.
  • the second mode condition may be a condition comprising a time limit, pressure values, number of oscillations and/or a combination of the same .
  • the controller 17 is thus configured to operate in the first mode (wherein flow control is achieved through throttling) when the pressure is low, and the second mode (wherein flow control is achieved through controlling the pump) when the pressure is high (enough), thereby reducing the energy wasted through heat dissipation in the valve .
  • the pressure indication may indicate a closed valve and will then not be used to determine the operating mode .
  • the present invention has the benefit of providing a higher power efficiency.
  • the valve 13a is beneficially an uncompensated valve 13a as it allows for the reduced pressure drop of the valve.
  • Figure 6 shows a computer-readable medium 600 comprising software code instructions 610, that when read by a computer reader 620 loads the software code instructions 610 into a controller, such as the controller 17, which causes the execution of a method according to herein.
  • the computer-readable medium 600 may be tangible such as a memory disk or solid state memory device to mention a few examples for storing the software code instructions 610 or intangible such as a signal for downloading or transferring the software code instructions 610.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Electrochemistry (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Chemical & Material Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

A remote controlled demolition robot (10) comprising a controller (17) and at least one actuator (12) controlled through a hydraulic system (400) comprising at least one valve (13a) connected to a corresponding actuator for a tool (11b) and a pump (410). The controller (17) is configured to operate in a first mode wherein the fluid flow is controlled through the at least one valve (13a), wherein said valve (13a) is a proportional valve, receive a pressure indication indicating a pressure in the hydraulic system (400) and determine if the pressure in the hydraulic system (400) is above a first mode threshold and/or if a pressure change fulfills a first mode condition, and if so operate in a second mode wherein the at least one valve (13a) is in an opened state and the fluid flow is controlled through the pump (410).

Description

ADAPTIVE CONTROL OF HYDRAULIC TOOL ON REMOTE CONTROLLED
DEMOLITION ROBOT
TECHNICAL FIELD
This application relates to controlling a hydraulic tool on a remote demolition robot, and in particular to a method and an apparatus for providing an adaptive control of a hydraulic tool on a remote demolition robot using a load sensing hydraulic system.
BACKGROUND
Contemporary remote demolition robots using hydraulic tools sometimes experience a problem when the hydraulic pressure of a tool differs from the hydraulic pressure of other actuators, such as arms or booms. A load sensing hydraulic system functions in such a way that the flow of the hydraulic fluid supplied by one (or more) pump ( s ) is shared between more than one actuator, an actuator in this application meaning a hydraulic motor or cylinder for operating a robot member such as an arm, a boom, a tool, a tool holder or a hand to mention a few examples. With reference to figure 1, such actuators may be the cylinders 12 for operating the arms 11, or with reference to figure 3, the motor (not shown explicitly) for operating a power saw or a rotating drum cutter lib being two examples of a tool. When a saw or rotating drum cutter (hereafter simply referred to as a cutter) is first activated it revs up, bringing for example the saw blade to rotate at a very high revolution speed. When this is done, the saw blade or cutter is most likely not in contact with the material to be cut and the revving up can thus be performed at a very low pressure.
Load sensing hydraulic systems operate in such a manner that the flow generated by one pump is shared among more than one actuator. If one actuator is operating at a low pressure and another actuator is operating at a high pressure and when the pump is operating to provide full flow, all or most of the fluid will flow in the direction presenting the least pressure. The situation may thus occur that the arms are operated to move the cutter in to close vicinity of for example a wall and then as the cutter or saw is revved up, which happens at low pressure, the fluid will redirect itself to the tool, leaving the arms unworkable, the cylinders for the arms presenting a much higher working pressure. The arms will thus not be operable and the tool can not be moved while operating freely. To overcome this, the prior art provides for using a proportional hydraulic valve. Such a valve does not open fully and only allows a portion of the flow to pass through, for example 75-80 %, leaving the remaining 20- 25% of fluid flow to flow to other actuators . In such a manner the flow is shared between different actuators .
However, such a proportional valve, actively throttling the flow, generates an energy loss which is dissipated in the form of heat. Not only does this reduce the amount of power that is available from what is delivered by the pump by approximately 1.2 kW in an example where the available power is 18 kW, the reduction thus representing a fair share of the available power, but it also increases the temperature of the hydraulic fluid which leads to a decreased lubrication which can, in turn, decrease the longevity or lifespan of some components . There is thus a need for a remote controlled demolition robot that is able to operate fully irrespective of what function is undertaken even when flow is shared between several actuators. SUMMARY
One object of the present teachings herein is to solve, mitigate or at least reduce the drawbacks of the background art, which is achieved by the appended claims. A first aspect of the teachings herein provides a remote controlled demolition robot comprising a controller and at least one actuator controlled through a hydraulic system comprising at least one valve connected to a corresponding actuator for a tool and a pump, wherein the controller is configured to: operate in a first mode wherein the fluid flow is controlled through the at least one valve, wherein said valve is a proportional valve; receive a pressure indication indicating a pressure in the hydraulic system and determine if the pressure in the hydraulic system is above a first mode threshold and/or if a pressure change fulfills a first mode condition, and if so operate in a second mode wherein the at least one valve is in an opened state and fluid flow is controlled through the pump .
A second aspect provides a method for operating a remote controlled demolition robot comprising at least one actuator controlled through a hydraulic system comprising at least one valve connected to a corresponding actuator for a tool and a pump, wherein the method comprises : operating in a first mode wherein the fluid flow is controlled through the at least one valve, wherein said valve is a proportional valve; receiving a pressure indication indicating a pressure in the hydraulic system and determining if the pressure in the hydraulic system is above a first mode threshold and/or if a pressure change fulfills a first mode condition, and if so operate in a second mode wherein the at least one valve is in an opened state and the fluid flow is controlled through the pump . A third aspect provides a computer-readable medium comprising software code instructions, that when loaded in and executed by a controller causes the execution of a method according to herein. One benefit is that such a demolition robot is enabled to operate irrespective of what tools are used and without wasting energy or generating heat unnecessarily.
Compared with, for example, throttling all valves 13a, when the flow required to maintain a pressure is higher than the maximum flow of the pump, the present invention has the benefit of valves 13a having a simple construction and saving energy, providing a higher power efficiency. Calculations have shown that an increase in power efficiency of approximately 10-20% is to be expected . Other features and advantages of the disclosed embodiments will appear from the following detailed disclosure, from the attached dependent claims as well as from the drawings . BRIEF DESCRIPTION OF DRAWING
The invention will be described below with reference to the accompanying figures wherein:
Figure 1 shows a remote controlled demolition robot according to an embodiment of the teachings herein;
Figure 2 shows a remote control 22 for a remote controlled demolition robot according to an embodiment of the teachings herein;
Figure 3 shows a schematic view of a robot according to an embodiment of the teachings herein;
Figure 4 shows a schematic view of a hydraulic system according to an embodiment of the teachings herein ;
Figure 5a shows a flowchart for a general method according to an embodiment of the teachings herein;
Figure 5b shows a flowchart for a general method according to an embodiment of the teachings herein; and
Figure 6 shows a schematic view of a computer- readable product comprising instructions for executing a method according to one embodiment of the teachings herein .
DETAILED DESCRIPTION Figure 1 shows a remote controlled demolition robot 10, hereafter simply referred to as the robot 10. The robot 10 comprises one or more robot members, such as arms 11, the arms 11 possibly constituting one (or more) robot arm member (s) . One member may be an accessory tool holder 11a for holding an accessory lib (not shown in figure 1, see figure 3) . The accessory lib may be a tool such as a hydraulic breaker (or hammer), a cutter (or a rotary concrete cutter), a saw, or a digging bucket to mention a few examples . The accessory may also be a payload to be carried by the robot 10. The arms 11 are movably operable through at least one cylinder 12 for each arm 11. The cylinders are preferably hydraulic and controlled through a hydraulic valve block 13 housed in the robot 10.
The hydraulic valve block 13 comprises one or more valves 13a for controlling the amount of hydraulic fluid (oil) provided to for example a corresponding cylinder 12. The valve 13a is a proportional hydraulic valve.
The valve block 13 also comprises (possibly by being connected to) at least one pressure sensor 13b for determining the pressure before or after a valve 13a. Further details on the hydraulic system will be given with reference to figure 4 below.
The robot 10 comprises caterpillar tracks 14 that enable the robot 10 to move. The robot may alternatively or additionally have wheels for enabling it to move, both wheels and caterpillar tracks being examples of drive means . The robot further comprises outriggers 15 that may be extended individually (or collectively) to stabilize the robot 10. At least one of the outriggers 15 may have a foot 15a (possibly flexibly arranged on the corresponding outrigger 15) for providing more stable support in various environments. The robot 10 is driven by a drive system 16 operably connected to the caterpillar tracks 14 and the hydraulic valve block 13. The drive system may comprise an electrical motor in case of an electrically powered robot 10 powered by a battery and/or an electrical cable 19 connected to an electrical grid (not shown), or a cabinet for a fuel tank and an engine in case of a combustion powered robot 10.
The body of the robot 10 may comprise a tower 10a on which the arms 11 are arranged, and a base 10b on which the caterpillar tracks 14 are arranged. The tower 10a is arranged to be rotatable with regards to the base 10b which enables an operator to turn the arms 11 in a direction other than the direction of the caterpillar tracks 14.
The operation of the robot 10 is controlled by one or more controllers 17, comprising at least one processor or other programmable logic and possibly a memory module for storing instructions that when executed by the processor controls a function of the demolition robot 10. The one or more controllers 17 will hereafter be referred to as one and the same controller 17 making no differentiation of which processor is executing which operation. It should be noted that the execution of a task may be divided between the controllers wherein the controllers will exchange data and/or commands to execute the task. The robot 10 may further comprise a radio module 18. The radio module 18 may be used for communicating with a remote control (see fig 2, reference 22) for receiving commands to be executed by the controller 17 The radio module 18 may be used for communicating with a remote server (not shown) for providing status information and/or receiving information and/or commands . The controller may thus be arranged to receive instructions through the radio module 18. The radio module may be configured to operate according to a low energy radio frequency communication standard such as ZigBee®, Bluetooth® or WiFi®. Alternatively or additionally, the radio module 18 may be configured to operate according to a cellular communication standard, such as GSM (Global System Mobile) or LTE (Long Term Evolution) .
The robot 10, in case of an electrically powered robot 10) comprises a power cable 19 for receiving power to run the robot 10 or to charge the robots batteries or both. The robot may also operate solely or partially on battery power .
The robot 10, being a hydraulic robot, comprises a motor (not shown) that is arranged to drive a pump (referenced 410 in figure 4) for driving the hydraulic system. More details on the hydraulic system are given with reference to figure 4 below.
For wired control of the robot 10, the remote control 22 may alternatively be connected through or along with the power cable 19. The robot may also comprise a Human- Machine Interface (HMI), which may comprise control buttons, such as a stop button 20, and light indicators, such as a warning light 21.
Figure 2 shows a remote control 22 for a remote controlled demolition robot such as the robot 10 in figure 1. The remote control 22 may be assigned an identity code so that a robot 10 may identify the remote control and only accept commands from a correctly identified remote control 22. This enables for more than one robot 10 to be working in the same general area. The remote control 22 has one or more displays 23 for providing information to an operator, and one or more controls 24 for receiving commands from the operator. The controls 24 include one or more joysticks, a left joystick 24a and a right joystick 24b for example as shown in figure 2, being examples of a first joystick 24a and a second joystick 24b. It should be noted that the labeling of a left and a right joystick is merely a labeling used to differentiate between the two joysticks 24a, 24b. A joystick 24a, 24b may further be arranged with a top control switch 25. In the example of figure 2A, each joystick 24a, 24b is arranged with two top control switches 25a, 25b. The joysticks 24a, 24b and the top control switches 25 are used to provide maneuvering commands to the robot 10. The control switches 24 may be used to select one out of several operating modes, wherein an operating mode determines which control input corresponds to which action. For example: in a Transport mode, the left joystick 24a may control the caterpillar tracks 14 and the right joystick 24b may control the tower 10a (which can come in handy when turning in narrow passages); whereas in a Work mode, the left joystick 24a controls the tower 10a, the tool lib and some movements of the arms 11, and the right joystick 24b controls other movements of the arms 11; and in a Setup mode, the each joystick 24a, 24b controls each a caterpillar track 14, and also controls the outrigger (s) 15 on a corresponding side of the robot 10. It should be noted that other associations of functions to joysticks and controls are also possible .
The remote control 22 may be seen as a part of the robot 10 in that it is the control panel of the robot 10. This is especially apparent when the remote control is connected to the robot through a wire. However, the remote control 22 may be sold separately to the robot 10 or as an additional accessory or spare part.
The remote control 22 is thus configured to provide control information, such as commands, to the robot 10 which information is interpreted by the controller 17, causing the robot 10 to operate according to the actuations of the remote control 22.
Figure 3 shows a schematic view of a robot 10 according to figure 1. In figure 3, the caterpillar tracks 14, the outriggers 15, the arms 11 and the hydraulic cylinders 12 are shown. A tool lib, in the form of a transverse drum or a circular cutter lib or any other tool having a rotational operation, is also shown (being shaded to indicate that it is optional) . The tool will hereafter simply be referred to as the exemplifying cutter .
As the controller 17 receives input relating for example to moving a robot member 11, for example from any of the joysticks 24, the corresponding valve 13a is controlled to open or close depending on the movement or operation to be made. One example of such movements is moving a robot member 11. One example of such operations is activating a tool lib such as a cutter.
Figure 4 shows a schematic view of a hydraulic system 400 for use in a demolition robot . The demolition robot may be electrically powered. The demolition robot may alternatively be a combustion engine powered robot . The description herein will focus on an electrically powered demolition robot .
The hydraulic system 400 comprises a pump 410 that is driven by for example an electric motor 450. The pump 410 is used to provide a flow of a hydraulic fluid through conduits 430 generating a pressure in the hydraulic system 400. Only when there is some resistance in the hydraulic system, such as when a hydraulic motor is operated, will there be a build up of pressure. Otherwise the fluid will flow freely. The pump 410 is a load sensing variable pump 410. The hydraulic system 400 is a load sensing system and the fluid is propagated to one or more actuators, such as a cylinder 12 that may be used to move an arm 11a or for example a hydraulic motor 12a that may be used to operate a tool, such as a cutter lib.
The hydraulic system 400 is arranged to operate at a main pressure of for example 200 bars. The hydraulic system may also be arranged to be able to operate at an increased main pressure when more demanding tasks are to be performed such as when maintaining the outriggers in an extended position and/or when a tool requires more power, such as when operating a cutter lib at an increased pressure.
The hydraulic system 400 also comprises a fluid tank 420 for holding a hydraulic fluid (most often oil) which is led to the various components through the conduits 430.
To enable control of a specific actuator 12, a valve block 13 is used comprising several valves (referenced 13a in figure 1) . As one valve 13a is opened, a corresponding actuator 12 is activated.
The inventors have realized that as a tool has built up enough pressure, such as when a rotating saw or a rotating drum cutter makes contact with material to be cut, there is no longer a problem with sharing the flow between actuators in that there is no longer any low pressure conduit through which the fluid may flow relatively freely. Thus, the use of proportional valves may be used, as in the prior art, during startup of a tool, whereas when a pressure has been built up, the proportional valve may be opened fully and the operation may be controlled by controlling the pump 410. Therefore at least one of the valves 13a is a proportional valve 13a. In one embodiment the valve 13a operating the tool lib is a proportional valve. In one embodiment the valve 13a is over-dimensioned with respect to available pump flow. This allows fluid to flow unrestricted when the valve 13a is fully opened, and keep the pressure drop to a minimum. Using over-dimensioned valves, such as the valve 13a, brings about the benefit, that as the valve 13a is over- dimensioned, the pump 410 will not be able to build up enough pressure to reach the maximum capacity of the valve 13a - thus reducing the pressure loss caused by the valve 13a. For example, in one embodiment, the valve 13a is enabled to control a tool lib and is dimensioned to allow a flow of 80 litres/minute (1/m) at a pressure drop of 20 bars. The pump 410 is enabled to deliver 65 1/m and will thus not be able to provide enough flow to build up the pressure drop over the valve - instead of a pressure drop of 20 bars, the over-dimensioned valve 13a may only cause a pressure drop of 10 bars. However, this adds to the problems discussed in the background section in that, as the pump 410 is not able to build up the maximum pressure of a valve 13a, and as the hydraulic fluid will flow through a conduit 431 having the least pressure, the fluid will flow to the tool being operated at a low pressure thereby possibly rendering other functions (requiring a higher pressure) inoperable .
The inventors have devised a clever and insightful arrangement for controlling the fluid flow of a load sensing hydraulic system 400 by operating in one of two modes; a first mode wherein flow is controlled through the use of proportional valves 13a, and a second mode wherein flow is controlled by controlling the pump 410.
Continuing the example above, as the tool lib is started and operates at a low pressure, the inventors have realized that in order to benefit from the reduced pressure loss provided by the use of over-dimensioned valves 13a while still not diminishing the operation of other members or functions, the flow should be restricted through the valve 13a in order not to take all available flow from the pump. By using a proportional valve, the valve 13a may thus be restricted to for example 40 1/m. There will thus be enough flow (25 1/m = 65 - 40 1/m in this example) to enable operation of other members or functions . As the tool is brought into operation it will be put under a load, such as when a saw blade hits the subject to be sawed, the pressure in the tool lib will increase. As the pressure increases, the fluid will start to flow also through other valves (possibly having a lower pressure) .
The inventors have further realized that at this point, it will be more beneficial to control the hydraulics with the pump 410 and therefore a switch in operating modes would be beneficial . The inventors therefore propose a two mode operation where when operating at low pressures the control is provided through proportional valves and when operating at high pressures, the control is provided through pump control . This arrangement will now be disclosed simultaneously with a method of operating such an arrangement . Figure 5a shows a flowchart for a general method according to the teachings herein. In low pressure situations, such as in idle or when moving, the controller 17 is configured to operate in the first mode 500 controlling the flow by using proportional vale s 13a. In one embodiment, the pump 410 comprises a load sensing (LS) regulator 411. The LS regulator 411 is provided to adapt the flow of the pump 410 based on the current need. For example, when a valve is restricted, less flow will be required and the LS regulator 411 regulates the pump 410 so that less fluid is provided further saving power. The pump is thus arranged to operate using the LS regulator in the first mode.
The controller 17 is configured to receive a pressure indication 510. In one embodiment, the pressure indication is provided by the pressure sensor 13b. The pressure sensor 13B may be arranged on or adjacent to the valve 13a, or it may be arranged adjacent to a corresponding actuator 12. The pressure sensor 13b may also or alternatively be arranged on a general conduit for providing an overall system pressure as in figure 4. This arrangement saves on cost as the number of pressure sensors needed is reduced. The pressure reading may also be a combined pressure reading representing various pressures in the hydraulic systems. One such combination is a pressure for the tool and a pressure for the overall system .
The controller 17 determines if the pressure indicated by the pressure indication is above a first mode threshold level 520, and if so, the controller opens 530 the valve 13a and starts to operate in a second mode where the flow is controlled by controlling the pump 410. The first mode threshold may be set based on the minimum pressure required, hereafter the needed pressure, for moving an arm member 11a. This pressure may be input through for example the remote control 22, or it may be communicated to the controller 17 by a electronic control unit of the tool, such electronic control unit being considered to be part of the controller 17.
In one embodiment, more than one such first mode threshold (sub levels) may be utilized wherein the proportional valve is opened successively as each sub level is reached or continuously as through a ramping function. For example, in idle mode the valve is at 70 % and as the pressure exceeds a first mode threshold of 80 bars corresponding to a needed pressure of 100 bars, the valve is opened to 80 %. Then, as the pressure exceeds a second first mode threshold of 90 bars, the valve is opened to 90 %. And, as the pressure exceeds a third first mode threshold of 100 bars, the valve is opened to 100 %. This provides for a smooth and gradual switch between full valve control and full pump control .
In addition to, or instead of, the controller 17 determining if the pressure indication is above a first mode threshold level 520 the controller 17 may, in some embodiments, determine if the pressure indication fulfills a first mode condition 525 relating to a change in pressure. This is shown in Fig. 5b.
In one embodiment the controller 17 determines if the pressure indication fulfills a first mode condition and/or if the pressure indication is above a first mode threshold, and if so, the controller opens 530 the valve 13a and starts to operate in a second mode where the flow is controlled by controlling the pump 410. The first mode condition is a condition set up to that uses the information of pressure changes in the system. The first mode condition may be a condition comprising a time limit, pressure values, number of oscillations and/or a combination of the same . By looking at the pressure change information it is possible to determine if the system shall proceed into a second mode or continue working in the first mode .
Similarly, when the controller is operating in the second mode 540 the controller 17 may be configured to receive a pressure indication 550 from the pressure sensor 13b. The controller 17 determines if the pressure indicated by the pressure indication is below a second mode threshold level 560, and if so, the controller closes 570 the valve 13a and starts to operate in the first mode where the flow is controlled by controlling the valve 13a.
In one embodiment, the pump 410 comprises a pressure regulator 412. The pressure regulator 412 is provided to ensure that the pressure in the pump does not exceed a maximum value, for example 200 bar.
The pump 410 is thus arranged to operate using the pressure regulator 412 in the second mode.
The second mode threshold value may be set according to the arm member's indicated needed pressure, such as a minimum operating pressure. This may be input through for example the remote control 22, or it may be communicated to the controller 17 by a electronic control unit of the tool, such electronic control unit being considered to be part of the controller 17.
The second mode threshold is, in one embodiment set to be the needed pressure. The second mode threshold is, in one embodiment set to be the first mode threshold. The second mode threshold is, in one embodiment set to be lower than the first mode threshold. In such an embodiment the first threshold may be set to be higher than the needed pressure and the second threshold may be set to be lower than the needed pressure.
As for the first mode threshold, the second mode threshold may also comprise several thresholds or a ramping function . In addition to, or instead of, the controller 17, when operating in the second mode 540, determines if the pressure indication is below a second mode threshold level 560 the controller 17 may, in some embodiments, determine if the pressure indication fulfills a second mode condition 565 relating to a change in pressure. This is shown in Fig. 5b.
In one embodiment the controller 17 determines if the pressure indication fulfills a second mode condition 565 and/or if the pressure indication is below a second mode threshold, and if so, the controller closes 570 the valve 13a and starts to operate in the first mode where the flow is controlled by controlling the valve 13a. The second mode condition is a condition set up to that uses the information of pressure changes in the system. The second mode condition may be a condition comprising a time limit, pressure values, number of oscillations and/or a combination of the same . By looking at the pressure change information it is possible to determine if the system shall proceed into a first mode or continue working in the second mode .
The controller 17 is thus configured to operate in the first mode (wherein flow control is achieved through throttling) when the pressure is low, and the second mode (wherein flow control is achieved through controlling the pump) when the pressure is high (enough), thereby reducing the energy wasted through heat dissipation in the valve .
In one embodiment the pressure indication may indicate a closed valve and will then not be used to determine the operating mode .
Compared with, for example, throttling all valves 13a, when the flow required to maintain a pressure is higher than the maximum flow of the pump, the present invention has the benefit of providing a higher power efficiency.
The valve 13a is beneficially an uncompensated valve 13a as it allows for the reduced pressure drop of the valve.
Figure 6 shows a computer-readable medium 600 comprising software code instructions 610, that when read by a computer reader 620 loads the software code instructions 610 into a controller, such as the controller 17, which causes the execution of a method according to herein. The computer-readable medium 600 may be tangible such as a memory disk or solid state memory device to mention a few examples for storing the software code instructions 610 or intangible such as a signal for downloading or transferring the software code instructions 610.
By utilizing such a computer-readable medium 600 existing robots 10 may be updated to operate according to the invention disclosed herein.
The invention has mainly been described above with reference to a few embodiments. However, as is readily appreciated by a person skilled in the art, other embodiments than the ones disclosed above are equally possible within the scope of the invention, as defined by the appended patent claims .

Claims

1. A remote controlled demolition robot (10) comprising a controller (17) and at least one actuator (12) controlled through a hydraulic system (400) comprising at least one valve (13a) connected to a corresponding actuator for a tool (lib) and a pump (410), wherein the controller (17) is configured to:
operate in a first mode wherein the fluid flow is controlled through the at least one valve (13a), wherein said valve (13a) is a proportional valve;
receive a pressure indication indicating a pressure in the hydraulic system (400) and
determine if the pressure in the hydraulic system
(400) is above a first mode threshold and/or if a pressure change fulfills a first mode condition, and if so operate in a second mode wherein the at least one valve (13a) is in an opened state and the fluid flow is controlled through the pump (410) .
2. The remote controlled demolition robot (10) according to claim 1, wherein the controller (17) is further configured to:
determine if the pressure in the hydraulic system
(400) is below a second mode threshold and/or if a pressure change fulfills a second mode condition, and if so operate in the first mode.
3. The remote controlled demolition robot (10) according to claim 1, wherein the valve is an uncompensated valve (13a) .
4. The remote controlled demolition robot (10) according to any preceding claim, wherein the pump (410) comprises a load sensing regulator (411), wherein the pump (410) is configured to operate using the load sensing regulator (411) in the first mode.
5. The remote controlled demolition robot (10) according to any preceding claim, wherein the pump (410) comprises a pressure regulator (412), wherein the pump (410) is configured to operate using the pressure regulator (412) in the second mode.
6. The remote controlled demolition robot (10) according to any preceding claim, wherein the first mode threshold value is based on a minimum required operating pressure for moving an arm member (11a) .
7. The remote controlled demolition robot (10) according to claim 3, wherein the first mode threshold value is higher than the minimum required operating pressure for moving an arm member (11a) .
8. The remote controlled demolition robot (10) according to claim 2, wherein the second mode threshold value is based on a minimum required operating pressure for the moving an arm member (11a) .
9. The remote controlled demolition robot (10) according to claim 8, wherein the second mode threshold value is lower than the minimum required operating pressure for moving an arm member (11a) .
10. The remote controlled demolition robot (10) according to any preceding claim, wherein the pressure in the hydraulic system (400) is a pressure for moving an arm member (11a) .
11. The remote controlled demolition robot (10) according to any preceding claim, wherein the pressure in the hydraulic system (400) is a system pressure for the hydraulic system (400) .
12. The remote controlled demolition robot (10) according to any preceding claim, wherein the first mode threshold level comprises several sub levels and wherein the controller (17) is configured to open the valve (13a) successively as the pressure exceeds a corresponding sub level .
13. The remote controlled demolition robot (10) according to any preceding claim, wherein the valve (13a) is over- dimensioned with respect to a pump (410) in the hydraulic system (400) .
14. The remote controlled demolition robot (10) according to any preceding claim, wherein the tool (lib) is a saw or a cutter .
15. The remote controlled demolition robot (10) according to any preceding claim, wherein the first mode condition comprises information relating to time, pressure values, number of oscillations and/or a combination of the same.
16. The remote controlled demolition robot (10) according to any preceding claim, wherein the second mode condition comprises information relating to time, pressure values, number of oscillations and/or a combination of the same.
17. A method for operating a remote controlled demolition robot (10) comprising at least one actuator (12) controlled through a hydraulic system (400) comprising at least one valve (13a) connected to a corresponding actuator for a tool (lib) and a pump (410), wherein the method comprises :
operating in a first mode wherein the fluid flow is controlled through the at least one valve (13a), wherein said valve (13a) is a proportional valve;
receiving a pressure indication indicating a pressure in the hydraulic system (400) and
determining if the pressure in the hydraulic system (400) is above a first mode threshold and/or if a pressure change fulfills a first mode condition, and if so operate in a second mode wherein the at least one valve (13a) is in an opened state and the fluid flow is controlled through the pump (410) .
18. A computer readable medium (600) comprising software code instructions (610), that when loaded in and executed by a controller (17) causes the execution of a method according to claim 16.
PCT/SE2016/051021 2015-10-19 2016-10-19 Adaptive control of hydraulic tool on remote controlled demolition robot WO2017069692A1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP16857888.8A EP3365513B1 (en) 2015-10-19 2016-10-19 Adaptive control of hydraulic tool on remote controlled demolition robot
US15/769,210 US10422357B2 (en) 2015-10-19 2016-10-19 Adaptive control of hydraulic tool on remote controlled demolition robot
CN201680061122.9A CN108138505B (en) 2015-10-19 2016-10-19 Adaptive control of hydraulic tools on a remote demolition robot

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE1551349A SE539241C2 (en) 2015-10-19 2015-10-19 Adaptive control of hydraulic tool on remote demolition robot
SE1551349-2 2015-10-19

Publications (1)

Publication Number Publication Date
WO2017069692A1 true WO2017069692A1 (en) 2017-04-27

Family

ID=58557534

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE2016/051021 WO2017069692A1 (en) 2015-10-19 2016-10-19 Adaptive control of hydraulic tool on remote controlled demolition robot

Country Status (5)

Country Link
US (1) US10422357B2 (en)
EP (1) EP3365513B1 (en)
CN (1) CN108138505B (en)
SE (1) SE539241C2 (en)
WO (1) WO2017069692A1 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019089945A1 (en) * 2017-11-01 2019-05-09 Clark Equipment Company Remotely operated power machine
WO2020040684A1 (en) 2018-08-24 2020-02-27 Brokk Aktiebolag Demolition robot and method for supplying hydraulic power to a hydraulically powered tool at a demolition robot
SE2050210A1 (en) * 2020-02-25 2021-08-26 Brokk Ab Demolition robot

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU198095U1 (en) * 2019-12-31 2020-06-17 Федеральное государственное бюджетное образовательное учреждение высшего образования "Пензенский государственный технологический университет" ADAPTIVE HYDRAULIC ENGINE CONTROL SYSTEM OF ACTIVE MOVEMENT OF THE WORKING WORK OF THE METAL CUTTING MACHINE
RU199898U1 (en) * 2020-03-10 2020-09-24 Федеральное государственное бюджетное образовательное учреждение высшего образования "Пензенский государственный технологический университет" ADAPTIVE CONTROL SYSTEM OF HYDRAULIC CYLINDER FEEDING THE POWER UNIT HEAD FOR MACHINING MACHINE

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130312397A1 (en) * 2012-05-25 2013-11-28 Caterpillar Inc. On Demand Displacement Control of Hydraulic Power System
US20140060020A1 (en) * 2012-08-31 2014-03-06 Caterpillar Inc. Hydraulic control system having over-pressure protection
US20150159682A1 (en) * 2012-07-27 2015-06-11 Volvo Construction Equipment Ab Hydraulic system for construction machine

Family Cites Families (53)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2008053A (en) 1929-09-28 1935-07-16 Howard A Whiteside Controller for dental engines and the like
US2160217A (en) * 1936-01-23 1939-05-30 Kingsbury Edward Joslin Machine tool unit with feeding mechanism
US2214389A (en) * 1936-04-09 1940-09-10 Gunnar A Wahlmark Hydraulic circuit
US2427970A (en) * 1943-01-25 1947-09-23 Ex Cell O Corp Hydraulic control system for machine tools and the like
DE1166991B (en) * 1962-10-26 1964-04-02 Trepel K G Maschinenfabrik Hydraulically driven lifting table
FR2259262B1 (en) 1974-01-24 1976-11-26 Poclain Sa
US4121610A (en) * 1976-02-02 1978-10-24 Ambac Industries Incorporated Electrically operated proportional flow control hydraulic valve and manually operable remote control device therefor
JP2964607B2 (en) 1990-10-11 1999-10-18 日産自動車株式会社 Hydraulic supply device
JP2900290B2 (en) 1991-01-22 1999-06-02 富士重工業株式会社 Pressure control device for continuously variable transmission for vehicles
US5235809A (en) 1991-09-09 1993-08-17 Vickers, Incorporated Hydraulic circuit for shaking a bucket on a vehicle
WO1997013929A1 (en) 1995-10-09 1997-04-17 Shin Caterpillar Mitsubishi Ltd. Control system for construction machine
AU3862797A (en) 1997-07-23 1999-02-16 Idromeccanica Italiana S.R.L. Hydraulic percussion device
US6058632A (en) 1997-11-07 2000-05-09 Hawkins; Peter Arthur Taylor Tool holder with percussion member
US6305162B1 (en) 1999-03-31 2001-10-23 Caterpillar Inc. Method and apparatus for controlling the deadband of a fluid system
IT1312140B1 (en) 1999-06-22 2002-04-09 Priver Ind Srl PERCUSSION HYDRAULIC MACHINE OF INNOVATIVE CONCEPTION WORKING WITH CONSTANT HYDRAULIC PRESSURE.
US6138810A (en) 1999-08-04 2000-10-31 Ford Global Technologies, Inc. Method for controlling a hydraulic valve of an automatic transmission
US6397655B1 (en) 2000-04-03 2002-06-04 Husco International, Inc. Auto-calibration of a solenoid operated valve
JP3865590B2 (en) * 2001-02-19 2007-01-10 日立建機株式会社 Hydraulic circuit for construction machinery
US6571190B2 (en) 2001-04-30 2003-05-27 Case Corporation Automatic calibration of remote hydraulic valve flow
US6792902B2 (en) 2002-04-22 2004-09-21 Borgwarner Inc. Externally mounted DPCS (differential pressure control system) with position sensor control to reduce frictional and magnetic hysteresis
US8321096B2 (en) 2003-04-11 2012-11-27 Borg Warner Inc. Concept for using software/electronics to calibrate the control system for an automatic transmission
US6895798B2 (en) 2003-04-16 2005-05-24 Eaton Corporation Method of calibrating a solenoid operated pressure control valve and method of controlling same
DE10340993A1 (en) * 2003-09-05 2005-03-31 Wessel-Hydraulik Gmbh Controlling supply to hydraulic consumer units, employs variable delivery pump and controls distributor valve opening to satisfy demand from each consumer individually
DE10342037A1 (en) * 2003-09-11 2005-04-07 Bosch Rexroth Ag Control arrangement and method for pressure medium supply of at least two hydraulic consumers
US7412827B2 (en) * 2005-09-30 2008-08-19 Caterpillar Inc. Multi-pump control system and method
JP4353190B2 (en) 2006-02-27 2009-10-28 コベルコ建機株式会社 Hydraulic circuit for construction machinery
US7562554B2 (en) 2006-08-31 2009-07-21 Caterpillar Inc. Method for calibrating independent metering valves
DE102006057699A1 (en) 2006-12-07 2008-06-12 Hydac Filtertechnik Gmbh Method for operating a hydraulic system and hydraulic system
JP4858340B2 (en) 2007-07-18 2012-01-18 トヨタ自動車株式会社 Control device for variable valve gear
CN100575757C (en) 2008-01-31 2009-12-30 浙江大学 Digital positioner for electric controlled valve and method thereof
CN101763121B (en) 2008-01-31 2011-07-20 浙江大学 Positioning method for digital electric valve
US8061180B2 (en) 2008-03-06 2011-11-22 Caterpillar Trimble Control Technologies Llc Method of valve calibration
WO2009114003A1 (en) 2008-03-10 2009-09-17 Deere & Company Hydraulic system calibration method and apparatus
EP3276444B1 (en) 2008-06-11 2019-11-13 Eaton Corporation Controller auto-tuning method
JP5354650B2 (en) 2008-10-22 2013-11-27 キャタピラー エス エー アール エル Hydraulic control system for work machines
CN102282321B (en) 2009-01-20 2013-08-28 胡斯华纳有限公司 Control system for remote control work machine
SE1050386A1 (en) 2010-04-19 2011-10-20 Brokk Ab Device for a hydraulic drive system for a robotic vehicle.
US9200625B2 (en) 2010-12-02 2015-12-01 Sarcos Lc Regenerative hydraulic pump
JP5548113B2 (en) * 2010-12-17 2014-07-16 川崎重工業株式会社 Drive control method for work machine
JP2012141037A (en) * 2011-01-05 2012-07-26 Hitachi Constr Mach Co Ltd Hydraulic actuator driving circuit of construction machine
US20130287601A1 (en) 2011-01-06 2013-10-31 Hitachi Construction Machinery Co., Ltd. Hydraulic drive system for working machine including track device of crawler type
SE536152C2 (en) 2011-04-07 2013-06-04 Brokk Ab Control system for a remote controlled work machine equipped with an adjustable arm
US20130068309A1 (en) 2011-09-15 2013-03-21 Robb Gary Anderson Position controller for pilot-operated electrohydraulic valves
SE536147C2 (en) 2011-11-07 2013-05-28 Brokk Ab Control device for a remotely controlled, electrically operated work machine
SE542381C2 (en) 2012-04-23 2020-04-21 Brokk Ab Electrically powered demolition robot and its power supply system
DE102012008192A1 (en) 2012-04-26 2013-10-31 Deutz Aktiengesellschaft hydraulic hybrid
CN104603468B (en) * 2012-10-17 2017-07-11 株式会社日立建机Tierra The fluid pressure drive device of engineering machinery
CN203035627U (en) 2012-12-12 2013-07-03 江苏熙友磁电科技有限公司 Energy storage hydraulic pressure station
JP6089665B2 (en) * 2012-12-13 2017-03-08 コベルコ建機株式会社 Hydraulic control equipment for construction machinery
US9279736B2 (en) 2012-12-18 2016-03-08 Caterpillar Inc. System and method for calibrating hydraulic valves
US20140174069A1 (en) 2012-12-21 2014-06-26 Caterpillar Inc. Hydraulic control system having swing motor energy recovery
CN105764764B (en) 2013-06-26 2019-06-07 派克汉尼汾制造有限公司 Energy efficient control system for electric vehicle
KR20160116338A (en) 2014-02-04 2016-10-07 다나 이탈리아 에스피에이 Hybrid powermode with series hybrid

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130312397A1 (en) * 2012-05-25 2013-11-28 Caterpillar Inc. On Demand Displacement Control of Hydraulic Power System
US20150159682A1 (en) * 2012-07-27 2015-06-11 Volvo Construction Equipment Ab Hydraulic system for construction machine
US20140060020A1 (en) * 2012-08-31 2014-03-06 Caterpillar Inc. Hydraulic control system having over-pressure protection

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019089945A1 (en) * 2017-11-01 2019-05-09 Clark Equipment Company Remotely operated power machine
CN111295485A (en) * 2017-11-01 2020-06-16 克拉克设备公司 Remote operation power machine
CN111295485B (en) * 2017-11-01 2022-08-09 克拉克设备公司 Remote operation power machine
WO2020040684A1 (en) 2018-08-24 2020-02-27 Brokk Aktiebolag Demolition robot and method for supplying hydraulic power to a hydraulically powered tool at a demolition robot
EP3841255A4 (en) * 2018-08-24 2022-05-18 Brokk Aktiebolag Demolition robot and method for supplying hydraulic power to a hydraulically powered tool at a demolition robot
EP3841255B1 (en) 2018-08-24 2023-07-26 Brokk Aktiebolag Demolition robot and method for supplying hydraulic power to a hydraulically powered tool at a demolition robot
SE2050210A1 (en) * 2020-02-25 2021-08-26 Brokk Ab Demolition robot
WO2021173067A1 (en) * 2020-02-25 2021-09-02 Brokk Aktiebolag Demolition robot
SE544796C2 (en) * 2020-02-25 2022-11-15 Brokk Ab Remote controlled demolition robot with a saw scale and procedure for remote controlled automatic saw blade replacement on the saw tool
EP4110561A4 (en) * 2020-02-25 2024-03-06 Brokk Aktiebolag Demolition robot

Also Published As

Publication number Publication date
EP3365513A4 (en) 2019-07-10
US10422357B2 (en) 2019-09-24
CN108138505B (en) 2021-05-11
CN108138505A (en) 2018-06-08
SE539241C2 (en) 2017-05-23
SE1551349A1 (en) 2017-04-20
EP3365513B1 (en) 2021-06-30
US20180320711A1 (en) 2018-11-08
EP3365513A1 (en) 2018-08-29

Similar Documents

Publication Publication Date Title
US10422357B2 (en) Adaptive control of hydraulic tool on remote controlled demolition robot
KR101218018B1 (en) Control device for hybrid construction machine
EP2472010A1 (en) Remote management system for work machinery
KR102496324B1 (en) battery operated machine
EP3469219B1 (en) Improved arrangement and method for operating a hydraulic cylinder
CN101300415A (en) Engine controller of hydraulic shovel
SE542711C2 (en) Improved arrangement and method for operating a hydraulically operated boom carrying a tool
KR101286843B1 (en) Hybrid construction machine control system
EP3365561B1 (en) Automatic tuning of valve for remote controlled demolition robot
JP4952656B2 (en) Construction machinery
EP3365501B1 (en) Energy buffer arrangement and method for remote controlled demolition robot
US10570585B2 (en) Control device and control method for construction machine
JP2011196066A (en) Hydraulic circuit for working vehicle
RU2343104C2 (en) Cargo-hoisting machine control system (versions)
JP5688991B2 (en) Work machine
JP4974211B2 (en) Operation response performance control device and work machine
JP6162367B2 (en) Hydraulic drive work machine
JP2015058799A (en) Power control device of hybrid construction machinery
JP2018016462A (en) Load calculation system of work vehicle
JP2002087789A (en) Battery-driven working machine

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16857888

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 15769210

Country of ref document: US

NENP Non-entry into the national phase

Ref country code: DE

WWE Wipo information: entry into national phase

Ref document number: 2016857888

Country of ref document: EP