WO2023118588A1

WO2023118588A1 - Sensor device with conversion of the horizontal angular movement of a boom of an earth-moving machine

Info

Publication number: WO2023118588A1
Application number: PCT/EP2022/087781
Authority: WO
Inventors: Mathieu STOFFELS
Original assignee: Stoffels Mathieu
Priority date: 2021-12-23
Filing date: 2022-12-23
Publication date: 2023-06-29
Also published as: FR3131334A1; FR3131333A1

Abstract

The invention relates to a sensor device with conversion of the horizontal angular movement of a boom (14) of an earth-moving machine (1), and to an earth-moving machine comprising such a device. This device has a sensor holder (25) comprising: - a transmitter part (21) intended to be fixedly mounted on a portion of the boom (14); - a mechanical transmission (27) configured to transmit to a receiver part (21A) a horizontal angular movement of said transmitter part (21) with respect to a frame (4) about a first axis (B), said receiver part (21A) then being moved angularly about a second axis (A) perpendicular to the first axis (B); - the sensor holder (25) being configured to receive at least one sensor (38), of the gravity and/or accelerometer type, designed to measure said angular movement of the receiver part (21A) about the second axis (A); - said sensor holder (25) being rigidly connected to the frame (4) so as to rotate about the first axis (B).

Description

SENSOR DEVICE FOR CONVERSING THE HORIZONTAL ANGULAR DISPLACEMENT OF A BOOM OF AN EARTH-MOVING MACHINE

The present invention belongs to the technical field of guiding earthmoving machinery, for example mechanical shovels used for excavation, digging, earthwork, backfilling, etc. The invention applies in particular to hydraulic shovels, equipped with an arm having an offset at the level of the boom foot or of a part of the boom.

The invention relates more particularly to an angular displacement conversion device intended to be mounted on a boom of such an earth-moving machine and in particular of a hydraulic shovel, preferably a shovel having a boom offset, to measure a vertical angular displacement, but also a horizontal angular displacement of the boom on the hydraulic excavator.

The invention relates, on a secondary basis, to an earth-moving machine equipped with such an angular displacement conversion device.

STATE OF THE PRIOR ART

[0004] A standard hydraulic excavator, used for work such as digging, excavation or backfilling, comprises an articulated arm which generally imitates the movement of a human arm. This articulated arm ends in a bucket, suitable for digging land. The articulated arm is connected to the turret. The latter comprises a cabin in which the driver is positioned and from which he controls the movement of the arm. An articulated arm of a hydraulic excavator generally comprises a "boom" connected, at one end, to the turret, while on the opposite end of this boom is mounted, articulated, the end of a "dipperstick". The bucket is placed at the opposite end of this arm.

[0005] The boom and the rocker arm are generally actuated by respective hydraulic cylinders, in particular in rotation around their joints. In the field of mechanical shovels, arms with a one-piece boom or a variable-flight boom, with or without boom offset, are known in particular.

[0006] From the turret mounted on the chassis, the driver generally has a guidance system (comprising for example a dashboard) allowing him to know several arm position parameters, such as the position of the bucket, the inclination of the pendulum, or even the inclination of the arrow. The driver has access to these measurements from inside the turret, which makes it possible to limit the driver's dependence on ground crew to receive information in real time. [0007] Known shovel guidance systems may comprise angular motion sensors fixed to the boom, to the bucket, etc. these sensors making it possible to measure a vertical angular displacement of the various portions of the arm relative to the frame, or relative to a portion of the jib, etc. The information acquired by these sensors can be transcribed on the dashboard in the cabin. The guidance is for example carried out by GPS (“Global Positioning System”).

[0008] The boom of the arm of a hydraulic excavator is mounted by means of a boom foot on the turret, generally in the vicinity of the cabin, this in an articulated manner around a horizontal axis. In some cases, this jib is also pivotable around a vertical axis at this end which is integral with the turret via a jib foot.

[0009] The driver thus has an additional degree of freedom to move the arm and the bucket without modifying its trajectory. This is referred to as a “boom offset” excavator, the boom foot and its articulation being offset with respect to the turret. In such an architecture, the boom foot has more mobility vis-à-vis the turret and the rest of the frame of the hydraulic excavator. Hydraulic excavators on the market, less than 25 tonnes, often have such a boom offset.

[0010] In an excavator equipped with a boom offset, the boom can pivot with respect to the chassis of the shovel, not only vertically (around an axis of rotation substantially parallel to the ground) but also horizontally (around a axis of rotation substantially orthogonal to the ground). To know the position and inclination of the boom, it is therefore necessary to measure in real time the angular displacement in these two directions.

[0011] To provide these angle measurements, it has been proposed to equip the boom arm with a plurality of angular sensors capable of positioning the bucket relative to at least one other sensor of the GNSS ("Global Navigation Satellite Systems”) allowing real-time geolocation of the bucket. For example, an angular, so-called gravity sensor, of the heated air bubble type, operating by gravity, is used for this purpose. However, such gravity sensors cannot determine a horizontal angular displacement, i.e. by rotation around a vertical axis.

[0012] Sensors of the accelerometer type are also used, but they are not suitable for slow movements during which they tend to drift, so that they should be readjusted each time.

[0013] To the Applicant's knowledge, there is therefore not to date a simple, compact and inexpensive system adaptable to an excavator having a boom offset, for measuring the horizontal angular displacement of the boom relative to the chassis. .

[0014] GENERAL DESCRIPTION OF THE INVENTION

[0015] A first objective of the invention is to provide an arm guidance system an earth-moving machine making it possible to respond to the problems raised above, and which is in particular better suited to controlling the position of the arm of a jib offset excavator.

An additional objective is to provide a machine incorporating a device for converting the horizontal angular displacement of the boom around a substantially vertical axis of rotation (angular displacement which is therefore carried out horizontally). Combined with an angular measurement sensor, this conversion device must allow precise measurement, insensitive to excavator vibrations and insensitive to wear of the ring surrounding the vertical axis of rotation of the boom.

[0017] This device is also desired to be compact and compact, so as to adapt easily to any type of hydraulic excavator.

[0018] Another object is to provide a jib displacement measuring device which is inexpensive and simple to manufacture, in particular as regards the angular sensor(s). It is preferably desired to reuse the same type of angular sensor which is already usually used to measure the displacement of a boom and/or a stick and/or a bucket and/or a turret along the pitch axis or along the roll axis.

To meet these objectives, a first aspect of the invention relates to a sensor device for converting the horizontal angular displacement of an arrow of an earth-moving machine, said device being intended to be carried on the earth-moving machine. earthworks and comprising a sensor support comprising:

- a transmitter part intended to be fixedly mounted on a part (16) of the arrow;

[0021] - a mechanical transmission configured to transmit to a receiving part a horizontal angular displacement of said transmitting part relative to a frame around a first axis, said receiving part then being moved angularly around a second axis perpendicular to the first axis;

[0022] - the sensor support being configured to receive at least one sensor, of the gravity type and/or accelerometer, designed to measure said angular displacement of the receiving part around the second axis,

[0023] - said sensor support being mounted integral with the frame and in rotation about the first axis.

An angular displacement conversion device as defined above may, optionally and without limiting the definition of the invention, have the following characteristics taken alone or in combination:

[0025] According to a second aspect, the present invention relates to an earth-moving machine comprising a frame and a boom comprising a boom foot movable relative to said frame, said machine preferably being a hydraulic excavator, said machine comprising furthermore a conversion device as defined above, comprising an angular movement sensor for measuring a displacement of the jib relative to the frame around an axis, and further comprising a support integral with the frame, the movement sensor angle being mounted on said support.

[0026] GENERAL DESCRIPTION OF THE FIGURES

Other objectives and advantages of the invention will emerge from reading the description below, given by way of illustration and not limitation, this description being supplemented by the appended figures, including:

- The [Fig.1] [Fig.1] represents a hydraulic excavator with boom offset mounted on tracks, side view.

- The [Fig.2][Fig.2] schematically illustrates a device for converting the horizontal angular displacement of the boom according to a first embodiment, the conversion device being mounted on a hydraulic excavator with boom offset, the device being seen next to.

- The [Fig.3] [Fig.3] schematically illustrates the same conversion device, seen from the side.

- The [Fig.4] [Fig.4] is a schematic side view of a device for converting the horizontal angular displacement of the jib according to a second embodiment;

- [Fig.5] [Fig.5] is a schematic front view of [Fig.4];

- [Fig.6] [Fig.6] is a schematic sectional view of [Fig.4];

- [Fig.7][Fig.7] is a view similar to [Fig.6] of a conversion device according to a third embodiment.

[0028] DESCRIPTION OF AN EXAMPLE OF EMBODIMENT

With reference to [Fig.l], there is shown a hydraulic shovel 1 according to an example. The shovel 1 comprises a frame 2, mounted on rolling means 3, of the caterpillar or wheel type. On this chassis 2 is mounted in rotation around a vertical axis a turret, also called frame 4, surmounted by a cabin 5 accommodating a cockpit for the driver. On this turret 4 is still fixed an articulated arm 6.

[0030] More particularly, the articulated arm 6 comprises a rocker arm 7, a first free end 8 of which is equipped, by means of an articulation 9, with a tool 10, here represented in the form of a bucket, at least rotatable around of a horizontal axis. At its second end 11 and thanks to an articulation 12, this pendulum 7 is pivotally mounted around a horizontal axis of rotation on a first end 13 of an arrow 14 whose second opposite end 15 is articulated around a horizontal axis. on a jib foot 16, this using a joint 17.

[0031] It should be noted that the boom 14 may be composed of a first boom member connected to the boom foot 16 and extended through an articulation by a second boom member receiving the pendulum 7, configuration which is not shown in the drawings.

[0032] Thus, the articulated arm 6 may have an articulation 9 between the bucket 10 and the arm 7, an articulation 12 between the arm 7 and the boom 14 (or even between a first and a second boom member), and an articulation 17 between this boom 14 and the boom foot 17. The different parts are hinged together, for example, by a respective hydraulic cylinder.

[0033] In the case of a so-called “boom offset” hydraulic excavator, this boom offset 18 can intervene at the level of the boom foot 16. This can itself be secured to the turret or frame 4 at the through a joint 19 vertical axis of rotation.

In the embodiment not shown and already mentioned above, this boom offset is defined by a hinge pin between the first member and the second member of a two-part boom.

[0035] In the case of a jib offset 18 at the jib foot 16, this takes the form of a yoke partly designing this articulation 19.

This design leads in that the boom 14 is rotatable relative to the turret or frame 4, mainly around the following two perpendicular axes:

- a first substantially vertical axis B, passing through the articulation 19 of the jib foot 16 on this turret or frame 4 (which corresponds to a horizontal angular displacement of the jib 14 parallel to the ground);

- a second axis passing through the joint 17, here perpendicular to the first axis B, said axis being substantially parallel to the surface of the ground and passing through the jib foot 16 (which corresponds to a vertical angular displacement of the jib 14 perpendicular to the floor).

[0037] In the case where the boom 14 comprises a first boom member articulated with a second boom member carrying the pendulum, the second boom member can also undergo an angular displacement, for example horizontal, relative to the boom base .

[0038] By way of illustration, [Fig.1] shows the position of an axis C around which the second boom member can be rotatable relative to the first boom member.

A device 20 for converting the angular displacement of the boom 14 is described below. The device 20 makes it possible to convert the horizontal angular displacement of the boom 14 around the axis B relative to the turret into vertical angular displacement. yes frame 4. This device 20 is illustrated in various embodiments in Figures 2 to 7. It is intended to be mounted on the jib 14, for example on the jib foot 16.

Alternatively, this conversion device 20 could be used on another type of earth-moving machinery.

The device 20 comprises a sensor support 25 (described later) comprising a transmitter part 21 which follows the horizontal angular displacement of the arrow 14. For example, the transmitter part 21 comprises a vertical shaft in the form of a hinge 22 mounted by welding or through a base 23 on the jib foot 16, preferably in the axial extension of the axis B of vertical pivoting (for horizontal movement) of this jib foot 16 with respect to the turret or frame 4.

On this shaft 22 is engaged, free to rotate and by means of a bearing 30, a first horizontal wing 24 of a bracket 25 integrally connected to the turret or frame 4. Consequently, when the jib foot 16 rotates relative to the turret 4 around the vertical pivot axis B defined by the articulation 19 which connects it to this turret 4, the horizontal wing 24 of the bracket 25 pivots, it around the shaft 22.

[0043] More particularly, this bracket 25 defines at least in part the sensor support that comprises the conversion device according to the invention. In particular, as shown in Figures 2 to 7, the sensor support can take the form of a box including two 24; 24A perpendicular walls design angle 25.

[0044] It will be noted that in an alternative example where the arrow 14 would have a first and second arrow member hinged together around an axis C (as illustrated in [Fig.l]), the emitting part 21 could be mounted on one end of the second boom member, to follow its angular displacement around the axis C relative to the first boom member.

According to a first embodiment corresponding to Figures 2 and 3, the transmitting part 21 comprises at least one drive disc 26 mounted integral in rotation on the shaft 22 to transmit the horizontal angular displacement around the axis B (or around of the C axis in the alternative example mentioned above). This drive disc 26 belongs to a mechanical transmission 27.

This also comprises at least one driven disc 28 of a receiving part 21A, placed on the other side of the transmission 27. This driven disc 28 is mounted integral in rotation on a shaft 29 of the receiving part 21 A, this shaft 29 being mounted free in rotation around a horizontal axis using a bearing 30A on the second wing 24A, perpendicular to the first wing 24, of the bracket 25.

The mechanical transmission 27 further comprises a direct transmission element 31, transmitting the movement of the drive disc 26 to the driven disc 28. In this first example, the transmission element 31 comprises at least one connecting rod 32; 33 connected by joints to the drive disc 26, on the one hand, and to the driven disc 28, on the other hand, so that a rotation of the first disc 26 around the vertical axis B corresponding to a horizontal displacement, generates a rotation of the second disc 28 around the horizontal axis A, corresponding to a vertical displacement. Such an embodiment, however, leads to displacements of these disks 26 and 28 which is not proportional to the horizontal angular displacement of the arrow 14, but rather exponential.

As shown in Figures 4, 5 and 6 applying to a second embodiment, the discs 26, 28, respectively of the emitting part 21 and the receiving part 21A, can be replaced, respectively, by a driving pulley 26A and a driven pulley 28A and the transmission element 31 by a belt 32A. This is partially wrapped around these 26 A pulleys; 28 A by bypassing a return roller 34 whose axis 35 extends perpendicular to the plane passing through the axes A and B, this to return the strands of this belt 32A, from horizontal directions of movement around the drive pulley 26A , in vertical displacement directions around the driven plate 28A.

[0050] It is understood that instead of a belt, a cable and/or a rope can be used.

[0051] The [Fig.7] illustrates a third embodiment in which the mechanical transmission 27 takes the form of a bevel gear 36, comprising, at the level of the transmitting part 21, a drive wheel with conical teeth 26B mounted integral in rotation on the shaft 22 and in direct contact with a driven wheel with conical teeth 28B mounted fixed in rotation on the shaft 29 of the receiving part 21A.

[0052] A horizontal angular displacement of the boom 14 around the axis B is thus transmitted, via the mechanical transmission 27, whatever its embodiment, from the transmitting part 21 to the receiving part 21 A which then produces a vertical angular displacement around axis A.

The angular conversion device 1 has a receiving base 37 configured to receive a sensor 38 of angular movement of the receiving part 21A. The receiving base 37 has for example the general shape of a disk, or alternatively a generally rectangular shape. It is mounted integral in rotation on the shaft 29 of this receiving part 21A. Thus, relative to the second vertical wing 26A of the bracket 25, this receiving base 37 can be located on this shaft 29, either on the side, depending on the case, of the driven disc 26, of the driven pulley 26A or of the driven bevel wheel 26B, or on the opposite side (preferred solution and illustrated in the figures). It will be noted that the sensor 38 can be removably mounted on this receiving base 37.

Once positioned on the receiving base 37, it is configured to measure the vertical angular displacement of the receiving part 21 A with respect to the transmitting part 21 and therefore of the turret or frame 4. A measurement frequency of the angular motion sensor 38 is for example between 50 Hertz and 150 Hertz, for example equal to 100 Hertz. [0055] An important advantage of the device 1 is to make possible, for the measurement of the horizontal angular displacement, the use of a standard sensor 38, of the gravity type and/or accelerometer, as usually implemented to measure a displacement vertical angle of an excavator boom. The sensor 38 is for example a hot air bubble angular sensor operating by gravity.

The conversion device 1, associated with such a sensor, thus makes it possible to measure a horizontal angular displacement of the shovel boom, and it is possible to dispense with a complex sensor which would be specifically dedicated to this purpose.

An additional advantage is that the precision of the horizontal angular displacement perceived by this device is not affected by any play that could exist at the level of the joint 19 of the jib foot 16 on the turret or frame 4.

As explained above, the sensor support 25 is rotatably mounted on the shaft 22 whose axis coincides with the axis B, corresponding to the axis of rotation of the jib foot 16 with respect to the frame 4 , in this case the turret. Furthermore, this sensor support 25 is fixed relative to the frame 4. In this regard, any connecting means 39 capable of fixing this sensor support 25 in rotation relative to the frame 4 can be implemented. In FIGS. 3 and 5, a threaded rod defining, at least in part, this connecting means can be seen secured to the sensor support 25. However, it can take many other embodiments.

It should also be noted that the conversion device can be equipped with remote communication means and/or wired connection means for transmitting the information from the sensor 38 towards a management unit, for example located at the level of the cockpit 5 and communicating with display means capable of informing the driver of the angular position of the arrow 14 around the axis B. These display means may be those intended to give this driver other altimetric information of the position of the tool 10.

Claims

9 Claims

[Claim 1] Sensor device for converting the horizontal angular displacement of a boom (14) of an earth-moving machine (1), said device being intended to be mounted on the earth-moving machine (1) and comprising a support sensor (25) comprising:

- a transmitter part (21) intended to be fixedly mounted on part of the boom (14),

- a mechanical transmission (27) configured to transmit to a receiving part (21 A) a horizontal angular displacement of said transmitting part (21) relative to a frame (4) around a first axis (B), said receiving part (21A) then being moved angularly around a second axis (A) perpendicular to the first axis (B);

- the sensor support (25) being configured to receive at least one sensor (38), of the gravity and/or accelerometer type, designed to measure said angular displacement of the receiving part (21 A) around the second axis (A),

- said sensor support (25) being mounted integral with the frame (4) and in rotation around the first axis (B).

[Claim 2] Conversion device according to claim 1, characterized in that the transmitting part (21) comprises a vertical shaft in the form of a hinge (22) mounted by welding or through a base (23) on a part ( 16) of the boom (16), on this shaft (22) being engaged, free in rotation, a first horizontal wing (24) of a bracket (25) integrally connected to the frame (4) and comprising a second wing (24A ), perpendicular to the first (24), on which is mounted free to rotate about a horizontal axis on a shaft (29) of the receiving part (21A).

[Claim 3] Conversion device according to Claims 1 and 2, characterized in that the transmitting part (21) comprises at least one drive disc (26) mounted integral in rotation on the shaft (22) to transmit the horizontal angular displacement around the axis (B) to a driven disc (28) of the receiving part (21A), the mechanical transmission (27) comprising a direct transmission element (31) in the form of at least one connecting rod (32; 33 ) connected by joints to the drive disc (26), on the one hand, and to the driven disc (28), on the other hand, so that a rotation of the drive disc (26) around the vertical axis ( B), generates a rotation of the driven disc (28) around the axis ho- rizontal (A).

[Claim 4] Conversion device according to Claims 1 and 2, characterized in that the transmitting part (21) comprises at least one driving pulley (26 A) mounted integral in rotation on the shaft (22) to transmit the horizontal angular displacement around the axis (B) to a driven pulley (28A) of the receiving part (21A), the mechanical transmission (27) comprising a direct transmission element (31) in the form of a belt (32A) coming from s 'partially wrap around these pulleys (26A; 28A) bypassing a return roller (34) whose axis (35) extends perpendicular to the plane passing through the axes (A) and (B).

[Claim 5] Conversion device according to Claims 1 and 2, characterized in that the mechanical transmission (27) takes the form of a bevel gear (36), comprising, at the level of the transmitting part (21), a wheel driver with conical teeth (26B) mounted fixed in rotation on the shaft (22) and in direct drive with a driven wheel with conical teeth (28B) mounted fixed in rotation on the shaft (29) of the receiving part (21 A ).

[Claim 6] Conversion device according to one of the preceding claims, characterized in that it is the sensor support (25) comprises a receiving base (37), configured to receive a sensor (38) of angular movement of the receiving part (21 A).

[Claim 7] Conversion device according to claim 6, characterized in that the receiving base (37) has the general shape of a disk, or alternatively a generally rectangular shape and is mounted integral in rotation on the shaft (29) of the receiving part (21A).

[Claim 8] Conversion device according to claim 7, characterized in that with respect to the second vertical wing (26A) of the bracket (25), the receiving base (37) is located on the shaft (29 ), either on the side of the driven disk (26), of the driven pulley (26A) or of the driven bevel wheel (26B), or on the opposite side.

[Claim 9] Conversion device according to one of Claims 6 to 8, characterized in that the sensor (38) can be removably mounted on the receiving base (37).

[Claim 10] Earth-moving machine comprising a frame (4), and a boom (14) comprising a boom foot (16) rotatable about a vertical axis (B) relative to the frame (4), the machine preferably being a hydraulic excavator, the machine further comprising: 11

- an angular displacement conversion device (1) according to any one of claims 1 to 9.

[Claim 11] Earth-moving machine according to claim 10, in which the device (1) is placed on the jib foot (16) and the emitting part (21) is secured to the latter.