EP1416095B1 - Véhicule de travail, en particulier une pelle rétro et/ou un véhicule avec un chargeur frontal - Google Patents

Véhicule de travail, en particulier une pelle rétro et/ou un véhicule avec un chargeur frontal Download PDF

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Publication number
EP1416095B1
EP1416095B1 EP03024734A EP03024734A EP1416095B1 EP 1416095 B1 EP1416095 B1 EP 1416095B1 EP 03024734 A EP03024734 A EP 03024734A EP 03024734 A EP03024734 A EP 03024734A EP 1416095 B1 EP1416095 B1 EP 1416095B1
Authority
EP
European Patent Office
Prior art keywords
tool
boom
designed
angular velocity
work vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP03024734A
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German (de)
English (en)
Other versions
EP1416095A1 (fr
Inventor
Scott Svend Hendron
Judson P. Clark
Bryan D. Sulzer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Deere and Co
Original Assignee
Deere and Co
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
Priority claimed from US10/285,732 external-priority patent/US6763619B2/en
Priority claimed from US10/285,733 external-priority patent/US6609315B1/en
Application filed by Deere and Co filed Critical Deere and Co
Publication of EP1416095A1 publication Critical patent/EP1416095A1/fr
Application granted granted Critical
Publication of EP1416095B1 publication Critical patent/EP1416095B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • 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
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
    • E02F3/432—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude
    • E02F3/433—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude horizontal, e.g. self-levelling
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/436—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like for keeping the dipper in the horizontal position, e.g. self-levelling
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • 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
    • E02F3/963—Arrangements on backhoes for alternate use of different tools
    • E02F3/964—Arrangements on backhoes for alternate use of different tools of several tools mounted on one machine
    • 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
    • E02F9/2004—Control mechanisms, e.g. control levers

Definitions

  • the present invention relates to a work vehicle, in particular a backhoe and / or a vehicle with a front loader.
  • a variety of work vehicles can be equipped with tools with which a work function can be performed.
  • work machines include a wide variety of loaders, excavators, tele-dealers and forklifts.
  • a work vehicle constructed in the form of a backhoe with a loader may be equipped with a tool having a loader bucket or similar arrangement with which excavator and material handling functions can be performed.
  • a loader arm is rotatably mounted on the frame of the work vehicle about a substantially horizontal axis.
  • the tool is mounted on the loader arm about a substantially horizontal axis.
  • An operator of the work vehicle controls the orientation or orientation of the tool relative to the loading arm with the aid of a tool actuator.
  • the operator controls the rotation or pivoting of the loader arm relative to the frame of the work vehicle by means of a Laderarmaktuators.
  • Both actuators typically include one or more bi-directional hydraulic cylinders and associated hydraulic circuit.
  • a work function including, for example, during the lifting or transport of material with the tool, it is desirable to maintain the initial orientation or orientation of the tool relative to gravity to prevent premature unloading of the material.
  • an operator must continually adjust the orientation of the tool, particularly during pivotal movement of the loader arm relative to the work vehicle frame, such as during an upward movement, and / or when the vehicle frame changes its inclination during movement over rough terrain during a transportation operation. Continuously adjusting the orientation of the tool requires an increased level of attention from the operator as well as manual skill, which reduces overall work efficiency and increases operator fatigue.
  • a variety of devices and systems have been proposed to control automatic orientation of a tool, particularly for tools such as a loader bucket or a backhoe bucket.
  • Examples of electronic sensors and drive systems are from the US 4,923,326 . US 4,844,685 . US 5,356,260 and US 6,233,511 known.
  • the control systems known from this prior art typically employ position sensors which are located at different locations on the work vehicle to detect and control the alignment of the weir relative to the frame of the work vehicle.
  • the known from this state of the art control systems are complex and therefore expensive.
  • the present invention is therefore an object of the invention to provide a work vehicle - in particular a backhoe and / or a vehicle with a front loader - of the type mentioned and further, by which the aforementioned problems are overcome.
  • a work vehicle is to be specified whose control system for Activation of a tool can be performed in a simplified manner and can therefore be implemented more cost-effectively.
  • Such a work vehicle comprises a frame, a moving unit, a tool, a tool actuator, an angular velocity sensor and a control unit.
  • the moving unit includes a first end and a second end with the first end attached to the frame.
  • the tool is rotatably mounted about an axis at the second end of the movement unit and provided for performing a work function.
  • the tool actuator is mounted on the tool and configured to controllably move the tool about the axis in response to a tool control signal.
  • the angular velocity sensor is associated with the tool and configured to detect the angular velocity of the tool and to continuously generate an angular velocity signal.
  • the control unit has computational, storage and / or real-time capabilities and communicates with the tool actuator and the angular rate sensor.
  • the control unit is configured to generate a tool control signal in order to continuously achieve a predefinable and / or a desired tool angular velocity in response to the angular velocity signal.
  • an angular velocity sensor is used which on attached to the tool or associated with the tool, and which is used to detect the orientation of the tool on the one hand and to maintain a definable orientation of the tool relative to an initial or original orientation of the tool, regardless of the orientation the frame of the work vehicle.
  • a control unit is used, for example in the form of a computer or a computer board.
  • the angular velocity sensor detects the angular velocity of the tool relative to an earth-related or other coordinate system. In any case, it is not intended to determine the angular velocity of the tool or the bearing and orientation information of the tool directly relative to a vehicle coordinate system.
  • Angular velocity sensors suitable for use with the present invention are available on the market. For example, from the publications US 4,628,734 . US 5,850,035 and US 6,003,373 Angular velocity sensors are known which are suitable for the present invention.
  • An example of such an angular rate sensor is the BEI GYROCHIP® Model AQRS offered by Systron Donner Internal Devision of BEI Technologies of California.
  • the working vehicle accordingly comprises an improved system for detecting and automatically controlling the orientation of a tool, which is rotatably / pivotally mounted on a moving unit.
  • a moving unit for example, a boom, which has a first end and a second end.
  • the first end is preferably pivotally mounted on the frame about a cantilever axis.
  • Such a configuration corresponds, for example, to a charger device.
  • a tool command input unit in communication with the control unit is provided and configured to generate a tool command signal in response to an operator's operation corresponding to a desired tool movement.
  • the control unit is configured to receive the tool command signal and, in response, to generate a tool control signal in order to achieve a predeterminable or desired tool movement.
  • the control unit is further configured to no longer govern the angular velocity signal to achieve a predetermined tool angular velocity while receiving the tool control signal.
  • the initial tool orientation substantially corresponds to the orientation of the tool that is present when the tool command input unit no longer generates a tool command signal.
  • a tool maintenance command switch which cooperates with the control unit is connected and which is configured to generate a tool maintenance command signal in response to an operation of the operator.
  • the control unit is further configured to receive the tool maintenance command signal and to ignore the angular velocity signal if the tool maintenance command signal is not received.
  • control unit is designed to integrate the angular velocity signal as a function of time or to determine the integral of the time-dependent function of the angular velocity signal with respect to time.
  • a deviation of an initial tool orientation can be calculated and a tool control signal can be generated in order to achieve a predefinable or desired deviation of the tool.
  • the control unit is further configured to no longer govern the angular velocity signal in order to achieve the predefinable or desired tool angular velocity in order to achieve the predefinable or desired deviation of the tool.
  • the predetermined or desired deviation of the tool is substantially zero.
  • control unit is configured to no longer govern the angular velocity signal to achieve the predetermined tool angular velocity and the predetermined deviation of the tool while the control unit receives the tool command signal.
  • the predetermined or desired deviation of the tool is essentially zero in a preferred embodiment, whereby the initial tool orientation is substantially maintainable.
  • the first end of the boom is pivotally mounted on the frame about an axis.
  • the work vehicle has a boom actuator attached to the boom and to the frame.
  • the boom actuator is configured to controllably move the boom about the axis.
  • Both the tool actuator and the boom actuator could each include one or more hydraulic cylinders and a corresponding electronically controlled hydraulic circuit.
  • the tool is designed in a preferred embodiment in the form of a loader bucket.
  • the work vehicle in this case is a loader, in particular a front loader.
  • the work vehicle could also be designed in the form of a backhoe. Most preferably, it is a backhoe loader having a (front) loading device.
  • a supercharger blade actuator comprises a hydraulic cylinder and an electronically controllable hydraulic circuit.
  • the hydraulic cylinder is disposed between the boom and the loader bucket.
  • the loader bucket actuator is configured to controllably move the loader bucket about the axis in response to a loader bucket command signal.
  • a boom actuator has a Hydraulic cylinder, which is arranged between the frame and the boom. The boom actuator is configured to controllably move the boom about the axis.
  • a controller communicates with the loader bucket command input unit and is configured to generate a loader bucket control signal to achieve a desired bucket movement in response to the loader bucket command signal. The controller is configured to generate a loader bucket control signal to continuously achieve a desired bucket angular velocity as a draft to the angular velocity signal when no loader bucket command signal is received.
  • the moving unit could alternatively or additionally comprise a boom and a dipper stick, the boom having a first end and a second end.
  • the first end is preferably rotatable / pivotable about an axis on the frame.
  • the dipper stick has a first end and a second end, the first end being pivotally mounted about the axis on the cantilever.
  • this embodiment could be a backhoe.
  • a tool actuator which has a hydraulic cylinder and an electronically controlled hydraulic circuit.
  • the hydraulic cylinder is mounted between the dipper stick and the tool.
  • a boom actuator has a hydraulic cylinder mounted between the frame and the boom.
  • the boom actuator is configured to controllably move the boom about the axis.
  • a Löffelstielaktuator points a hydraulic cylinder mounted between the boom and the dipper stick.
  • the arm-operated actuator is adapted to controllably move the arm of the dipper about the axis.
  • a tool command input unit may be provided which communicates with the control unit and which is configured to generate a tool command signal in response to an operator's operation corresponding to a desired tool movement.
  • a controller could be in communication with the tool command input unit and configured to generate a tool control signal to achieve a predetermined tool motion in response to the tool command signal.
  • the control unit is configured to generate a tool control signal to continuously achieve a desired tool angular velocity in response to the angular velocity signal when no tool command signal 108 is received.
  • a boom command input unit which communicates with the control unit and which is configured to generate a boom command signal in response to an operator's operation corresponding to a desired boom movement.
  • the control unit is configured to ignore the angular rate signal unless the boom command signal is received.
  • the work vehicle includes a dipper stick command input unit which communicates with the control unit and which is configured to receive a dipper command signal in response to a dart command signal desired arm movement to generate corresponding operation of an operator.
  • the control unit is configured to ignore the angular rate signal unless a dipper command signal is received.
  • the frame could include a pivotable frame and an actuator for the pivotable frame, wherein the first end of the boom could be pivotally mounted on the pivotable frame.
  • the actuator for the pivotable frame has a hydraulic cylinder which is designed to controllably move the pivotable frame about an axis.
  • Fig. 1 shows a self-propelled work vehicle, which is designed in the form of a backhoe 10.
  • a backhoe 10 includes a frame 12 to which the wheels 14 connected to the ground are mounted to support and propel the vehicle.
  • a loading device 16 At the front of the vehicle is a loading device 16 and at the rear of the vehicle a backhoe device 18 is mounted. Both the loader 16 and the bucket 18 each perform a variety of excavator and material handling functions.
  • An operator controls the functions of the vehicle from an operator station 20.
  • the charger device 16 includes a loader arm 22 and a tool such as a loader bucket 24 or other arrangement.
  • the loader arm 22 includes a first end 26 which is rotatably mounted on the frame 12 about a horizontally disposed loader arm axis 28, and a second end 30 to which the loader bucket 24 is rotatably mounted about a horizontally disposed loader bucket axis 32.
  • the loader actuator comprises a hydraulic cylinder 36 which extends between the frame 12 of the vehicle and the loader arm 22.
  • An actuator 38 for the loader bucket 24 includes a hydraulic cylinder 40 which extends between the loader boom 22 and the loader bucket 24.
  • the loader bucket 24 is controllable movable about the loader bucket axle 32.
  • the supercharger blade actuator 38 includes an electro-hydraulic supercharger vane circuit 42 which is hydraulically in communication with the hydraulic cylinder 40 of the supercharger blade 24.
  • the electro-hydraulic loader vane 42 supplies and controls the flow of hydraulic fluid to the hydraulic cylinder 40 of the loader vane 24.
  • the operator controls the movement of the charger 16 by the operation of a loader bucket command input unit 44 and a loader command input unit 46.
  • the loader bucket command input unit 44 is configured to generate a loader bucket command signal 48 in response to operator manipulation proportional to a desired bucket movement.
  • a controller 50 communicates with the loader vane command input unit 44 and the vane fan actuator 38 and receives the vane command signal 48 and responds by the controller 50 generating a vane control signal 52 received from the electro-hydraulic loader vane 42.
  • the electro-hydraulic loader vane 42 is responsive to the vane control signal 52 by directing hydraulic fluid to the hydraulic cylinder 40 of the bucket 24, whereby the hydraulic cylinder 40 moves the loader bucket 24 accordingly.
  • the initial orientation of the loader bucket 24 is desirable to have the initial orientation of the loader bucket relative to gravity or another Coordinate system to prevent premature unloading of the material.
  • the operator In order to maintain the initial orientation of the loader bucket, as the loader boom 22 is moved relative to the frame 12 during upward movement and while the vehicle frame 12 alters its slope during movement over rough terrain during a transport operation, the operator must continuously operate the loader bucket command input unit 44 adjust the orientation of the loader bucket 24. Continuously adjusting the orientation of the loader bucket 24 requires an increased level of attention and manual skill from the operator, which reduces overall work efficiency and increases operator fatigue.
  • FIG. 12 illustrates one embodiment of an improved actuator control system configured to maintain an original or desired orientation of the loader blade 24.
  • an angular rate sensor 54 associated with the loader blade is used, which communicates with the unit 50.
  • the angular velocity sensor 54 of the loader bucket 24 is configured to detect the angular velocity of the bucket relative to a coordinate system of the earth or the environment and to continuously generate a corresponding angular velocity signal 56.
  • the control unit 50 is configured to receive the angular rate signal 56 and to generate a loader vane control signal 52 in response thereto, whereby the loader vane actuator 38 moves the loader vane 24 such that a predeterminable or desired angular velocity of the loader bucket 24 is achieved.
  • control unit 50 is designed to suspend the automatic maintenance function when the operator activates a movement of the loader bucket 24, that is to say when, for example, the control unit 50 receives a loader bucket command signal 48.
  • the control unit 50 is further configured to accept, as an initial or original orientation of the loader bucket 24, the set orientation of the loader bucket 24, which is presented as soon as the loader bucket command signal 48 fails.
  • control unit 50 is designed to have computational, possibly storage and real-time capabilities, in particular concerning the storage of a time course of signals or a burst of signals.
  • the control unit 50 is in particular designed such that it can solve the integral of the angular velocity of the loader bucket 24 as a function of time in order to be able to determine the deviation from the originally set orientation of the loader bucket 24.
  • the control unit 50 is further configured to generate a loader vane control signal 52 in response to a deviation that occurs when a desired or predefinable deviation range for an orientation of the loader bucket 24 is exceeded.
  • the actuator 38 moves the loader bucket 24 such that the loader bucket 24 is in a predetermined deviation range of the orientation of the loader bucket 24.
  • the predetermined or desired deviation or range of orientation of the loader bucket 24 is approximately zero .
  • the control unit 50 is configured to no longer govern to a desired angular velocity of the loader bucket 24 when it responds to the predetermined range of deviation of the orientation of the loader bucket.
  • a keep command switch 58 of the charger device 18 is in communication with the controller 50.
  • the keep command switch 58 is configured to generate a keep command signal 60 which corresponds to an operation of the keep command switch 58 by the operator to enable operation of the loader bucket automatic hold function 24 to activate.
  • the control unit 50 is configured to ignore the angular velocity signal 56 pertaining to the loader bucket 24 unless it receives the maintenance command signal 60 from the maintenance command switch 58.
  • the backhoe device 18 includes a pivotable frame 62, a boom 64, and a backhoe boom, respectively Spoon 66 and a tool, such as a bucket 68 or other arrangement.
  • the pivotable frame 62 includes a first end 70 which is rotatably mounted on the frame 12 about a substantially vertically disposed axis 72 and a second end 74.
  • the boom 64 includes a first end 76 which is disposed about a substantially horizontal
  • the bucket 66 has a first end 82 which is rotatable about a substantially horizontally disposed axis 84 of the arm of the dipper stick at the second end 80 of the dipper arm Jib 64 is arranged, and a second end 86, on which the bucket 68 of the bucket is rotatably mounted about a substantially horizontally disposed axis 88.
  • An actuator for the pivotable frame 62 which has a hydraulic cylinder 90 and which is disposed between the frame 12 of the vehicle 10 and the pivotable frame 62, moves the pivotable frame 62 about the vertically disposed axis 72 in a controllable manner.
  • An actuator for the boom 64 includes a hydraulic cylinder 92 which is disposed between the pivotable frame 62 and the boom 64 and which moves the boom 64 about the axis 78 in a controllable manner.
  • An actuator for the dipper stick 66 includes a hydraulic cylinder 94 which is disposed between the boom 64 and the dipper stick 66 and which moves the dipper stick 66 about the axis 84 in a controllable manner.
  • An actuator 96 for the backhoe bucket comprises a hydraulic cylinder 98, which is disposed between the dipper 66 and the bucket 68 and which moves the bucket 68 about the axis 88 in a controllable manner.
  • the bucket bucket actuator 96 includes an electro-hydraulic bucket bucket circle 100, which communicates with the hydraulic cylinder 98 of the bucket 68 and which supplies and controls the flow of hydraulic fluid to the hydraulic cylinder 98 of the bucket bucket 68.
  • the operator controls the movement of the backhoe device 18 through the manipulation of the bucket shovel command input unit 102, the shoestring command input unit 104, the boom command input unit 106, and the pivotable frame input unit 62.
  • the bucket shovel command input unit 102 is configured to provide a bucket shovel command signal 108 in response to manipulation of the operator which is proportional to a desired bucket shovel movement.
  • the control unit 50 is in communication with the bucket shovel command input unit 102, the shovel command input unit 104, the boom command input unit 106, and the bucket shovel actuator 68.
  • the control unit 50 receives the bucket shovel command signal 108 and in response generates a bucket shovel control signal 110 which is from the electro-hydraulic Bucket bucket circle 100 is received.
  • the electro-hydraulic backhoe bucket circle 100 responds to the bucket shovel control signal 110 by passing hydraulic fluid to the hydraulic cylinder 98 of the bucket shovel 68, whereby the Hydraulic cylinder 98 moves the backhoe bucket 68
  • Adjusting the orientation of the backhoe bucket 68 in conjunction with the simultaneous operation of the boom command input unit 106 and the dipper command input unit 104 and associated movement of the bucket boom 64 and the dipper stick 66 requires an increased level of attention from the operator and a manual skill, which overall Reduces work efficiency and increases operator fatigue.
  • Fig. 3 shows an improved actuator control system configured to automatically maintain an initial orientation of the bucket 68.
  • an angular velocity sensor 112 used for the backhoe bucket 68 which is associated with the backhoe bucket 68 and which is in communication with the control unit 50.
  • the angular velocity sensor 112 of the bucket 68 is configured to detect the angular velocity of the bucket 68 relative to an earth-related coordinate system and to continuously generate a corresponding angular velocity signal 114.
  • the control unit 50 is configured to receive an angular velocity signal 114 from the bucket 68 and to generate a bucket control signal 110 in response thereto, whereby the bucket shovel actuator 96 moves the bucket 68 so that the bucket 68 performs a corresponding angular velocity.
  • control unit 50 is configured to suspend the automatic hold function while the bucket shovel command signal 108 is being received, that is, when the operator makes a movement of the shoebox bucket 68.
  • the control unit 50 is further configured such that immediately after completion of the bucket shovel command signal 108, the then present orientation or orientation of the bucket bucket 68 is assumed to be the initial orientation of the bucket bucket 68.
  • a keep command switch 116 is provided which communicates with the control unit 50.
  • the keep command switch 116 is configured to generate a keep command signal 118 that corresponds to an operator operate the keep command switch 116 to enable the operation of the bucket shovel 68 automatic hold function.
  • the control unit 50 is configured to ignore the low speed bucket angular rate signal 114 unless it receives the keep command signal 118 from the keep command switch 116.
  • an adjustment of the initial orientation of the low loader bucket 68 is usually required only due to a corresponding movement of the boom 64 or the dipper stick 66 to maintain the initial alignment of the backhoe bucket 68.
  • the controller 50 could be configured to ignore the bucket bucket angular velocity signal 114 unless it receives a boom command signal 122 from the boom command input unit 106, or a dipper command signal 120 from the dipper command input unit 104.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Claims (21)

  1. Véhicule de travail, comprenant un châssis (12), une unité de déplacement (22 ; 64, 66), un outil (24 ; 68), un actionneur d'outil (38 ; 69), un capteur de vitesse angulaire (54 ; 112) et une unité de commande (50), l'unité de déplacement (22 ; 64, 66) présentant une première extrémité (26 ; 76) et une deuxième extrémité (30 ; 86), la première extrémité (26 ; 76) étant montée sur le châssis (12), l'outil (24 ; 68) étant monté de manière rotative/pivotante autour d'un axe (32 ; 88) sur la deuxième extrémité (30 ; 86) de l'unité de déplacement (22 ; 64, 66) et étant prévu pour effectuer une fonction de travail, l'actionneur d'outil (38 ; 96) étant monté et réalisé sur l'outil (24 ; 68), afin de déplacer de manière contrôlable autour de l'axe (32 ; 88) l'outil (24 ; 68) en réaction à un signal de commande d'outil (52 ; 110), le capteur de vitesse angulaire (54 ; 112) étant associé à l'outil (24 ; 68) et réalisé de manière à détecter la vitesse angulaire de l'outil (24 ; 68) et à produire en continu un signal de vitesse angulaire (56 ; 114), l'unité de commande (50) présentant des capacités de calcul, de mémoire et/ou en temps réel, et étant en liaison avec l'actionneur d'outil (38 ; 69) et le capteur de vitesse angulaire (54 ; 112), et l'unité de commande (50) étant réalisée de manière à produire un signal de commande d'outil (52 ; 110) afin de produire en continu une vitesse angulaire d'outil prédéfinissable ou souhaitée en réaction au signal de vitesse angulaire (56 ; 114).
  2. Véhicule de travail selon la revendication 1, dans lequel l'unité de déplacement (22 ; 64, 66) présente un bras en porte-à-faux (22) avec une première extrémité (26) et une deuxième extrémité (30), et la première extrémité (26) étant montée sur le châssis (12) de préférence de manière rotative/pivotante autour d'un axe de bras en porte-à-faux (28).
  3. Véhicule de travail selon la revendication 1 ou 2, dans lequel il est prévu et réalisé une unité d'entrée de contrôle d'outil (44 ; 102) en liaison avec l'unité de commande (50) pour produire un signal de contrôle d'outil (48 ; 108) en réaction à un actionnement par un opérateur correspondant à un déplacement souhaité de l'outil, l'unité de commande (50) étant réalisée pour recevoir le signal de contrôle d'outil (48 ; 108) et pour produire en réaction à celui-ci un signal de commande d'outil (52 ; 110), afin de produire un déplacement prédéfinissable ou souhaité de l'outil et l'unité de commande (50) étant réalisée pour ne plus réagir au signal de vitesse angulaire (56 ; 114) afin de produire une vitesse angulaire d'outil prédéfinissable ou souhaitée, pendant que le signal de contrôle d'outil (48 ; 108) est reçu.
  4. Véhicule de travail selon la revendication 3, dans lequel la vitesse angulaire prédéfinissable ou souhaitée est nulle, de sorte qu'une orientation d'outil initiale puisse essentiellement être conservée.
  5. Véhicule de travail selon la revendication 3 ou 4, dans lequel l'orientation d'outil initiale correspond essentiellement à l'orientation de l'outil (24 ; 68) qui existe lorsque l'unité d'entrée de contrôle d'outil (44 ; 102) ne produit plus de signal de contrôle d'outil (48 ; 108).
  6. Véhicule de travail selon l'une quelconque des revendications 1 à 5, dans lequel un commutateur de contrôle de conservation d'outil (58 ; 116) est prévu, lequel est en liaison avec l'unité de commande (50) et est réalisé de manière à produire un signal de contrôle de conservation d'outil (60 ; 118) en réaction à un actionnement de l'opérateur, et l'unité de commande (50) étant réalisée de manière à recevoir le signal de contrôle de conservation d'outil (60 ; 118) et à ignorer le signal de vitesse angulaire (56 ; 114) lorsque le signal de contrôle de conservation d'outil (60 ; 118) n'est pas reçu.
  7. Véhicule de travail selon l'une quelconque des revendications 1 à 6, dans lequel l'unité de commande (50) est réalisée de manière à intégrer le signal de vitesse angulaire (56 ; 114) en fonction du temps, afin de calculer un écart d'une orientation d'outil initiale et de produire un signal de commande d'outil (52 ; 110) afin de produire un écart prédéfinissable ou souhaité de l'outil, l'unité de commande (50) étant réalisée de manière à ne plus réagir au signal de vitesse angulaire (56 ; 114) afin de produire la vitesse angulaire d'outil prédéfinissable ou souhaitée, afin de produire l'écart prédéfinissable ou souhaité de l'outil, et de préférence l'écart prédéfinissable ou souhaité de l'outil étant essentiellement nul.
  8. Véhicule de travail selon l'une quelconque des revendications 1 à 7, dans lequel l'unité de commande (50) est réalisée de manière à ne plus réagir au signal de vitesse angulaire (56 ; 114) pour produire la vitesse angulaire d'outil prédéfinie ou souhaitée et l'écart prédéfini ou souhaité de l'outil, pendant que l'unité de commande (50) reçoit le signal de contrôle d'outil (48 ; 108).
  9. Véhicule de travail selon la revendication 8, dans lequel l'écart prédéfinissable ou souhaité de l'outil est essentiellement nul, de sorte que l'orientation initiale de l'outil peut essentiellement être conservée.
  10. Véhicule de travail selon l'une quelconque des revendications 2 à 9, dans lequel la première extrémité (26) du bras en porte-à-faux (22) est montée sur le châssis (12) de manière rotative/pivotante autour d'un axe (28), le véhicule de travail (10) présentant un actionneur de bras en porte-à-faux (36) qui est monté sur le bras en porte-à-faux (22) et sur le châssis (12), et l'actionneur de bras en porte-à-faux (36) étant réalisé de manière à déplacer le bras en porte-à-faux (22) de manière contrôlable autour de l'axe (28).
  11. Véhicule de travail selon la revendication 10, dans lequel à la fois l'actionneur d'outil (38) et l'actionneur de bras en porte-à-faux (36) présentent chacun un ou plusieurs vérins hydrauliques (36, 40) et un circuit hydraulique (42) commandé électroniquement en conséquence.
  12. Véhicule de travail selon l'une quelconque des revendications 1 à 11, dans lequel l'outil est réalisé sous forme de pelle de chargeur (24) et/ou dans lequel le véhicule de travail (10) est réalisé en forme de chargeur et/ou en forme de pelle fouilleuse.
  13. Véhicule de travail selon la revendication 12, dans lequel un actionneur de pelle de chargeur (38) comprend un vérin hydraulique (40) et un circuit hydraulique (42) à commande électronique, le vérin hydraulique (40) étant disposé entre le bras en porte-à-faux (22) et la pelle de chargeur (24), l'actionneur de pelle de chargeur (38) étant réalisé pour déplacer de manière contrôlable la pelle de chargeur (24) autour de l'axe (32) en réaction à un signal de contrôle de pelle de chargeur (48), un actionneur de bras en porte-à-faux présentant un vérin hydraulique (36) qui est disposé entre le châssis (12) et le bras en porte-à-faux (22), l'actionneur de bras en porte-à-faux étant réalisé pour déplacer de manière contrôlable le bras en porte-à-faux (22) autour de l'axe (28), une unité de commande (50) étant en liaison avec l'unité d'entrée de contrôle de pelle de chargeur (44) et étant réalisée de manière à produire un signal de commande de pelle de chargeur (52) afin de produire un déplacement souhaité de la pelle de chargeur (52) en réaction au signal de contrôle de la pelle de chargeur (48), et l'unité de commande (50) étant réalisée de manière à produire un signal de commande de pelle de chargeur (52) afin de produire en continu une vitesse angulaire de pelle de chargeur souhaitée en réaction au signal de vitesse angulaire (56) lorsqu'aucun signal de contrôle de pelle de chargeur (48) n'est reçu.
  14. Véhicule de travail selon l'une quelconque des revendications 1 à 13, dans lequel l'unité de déplacement (22 ; 64, 66) présente un bras en porte-à-faux (64) et un bras de pelle (66), le bras en porte-à-faux (64) présentant une première extrémité (67) et une deuxième extrémité (80), la première extrémité (76) étant disposée sur le châssis (12) de préférence de manière rotative/pivotante autour d'un axe (78), le bras de pelle (66) présentant une première extrémité (82) et une deuxième extrémité (86), et la première extrémité (82) étant montée sur le bras en porte-à-faux (64) de manière rotative/pivotante autour de l'axe (84).
  15. Véhicule de travail selon la revendication 14, dans lequel un actionneur d'outil (96) est prévu, lequel présente un vérin hydraulique (98) et un circuit hydraulique (100) à commande électronique, et dans lequel le vérin hydraulique (98) est disposé entre le bras de pelle (66) et l'outil (68).
  16. Véhicule de travail selon la revendication 14 ou 15, dans lequel un actionneur de bras en porte-à-faux présente un vérin hydraulique (92), qui est monté entre le châssis (12) et le bras en porte-à-faux (64), et dans lequel l'actionneur de bras en porte-à-faux est réalisé de manière à déplacer le bras en porte-à-faux (64) de manière contrôlable autour de l'axe (78).
  17. Véhicule de travail selon l'une quelconque des revendications 14 à 16, dans lequel un actionneur de bras de pelle présente un vérin hydraulique (94) qui est monté entre le bras en porte-à-faux (64) et le bras de pelle (66), et l'actionneur de bras de pelle étant réalisé de manière à déplacer le bras de pelle (66) de manière contrôlable autour de l'axe (84).
  18. Véhicule de travail selon l'une quelconque des revendications 14 à 17, dans lequel une unité d'entrée de contrôle d'outil (102) est en liaison avec l'unité de commande (50) et est réalisée de manière à produire un signal de contrôle d'outil (108) en réaction à un actionnement d'un opérateur correspondant à un déplacement souhaité de l'outil.
  19. Véhicule de travail selon l'une quelconque des revendications 14 à 18, dans lequel une unité de commande (50) est en liaison avec l'unité d'entrée de contrôle d'outil (102) et est réalisée de manière à produire un signal de commande d'outil (110) afin de produire un déplacement prédéfinissable ou souhaité de l'outil en réaction au signal de contrôle d'outil (108), et l'unité de commande (50) étant réalisée de manière à produire un signal de commande d'outil (110) afin de produire en continu une vitesse angulaire d'outil prédéfinissable ou souhaitée en réaction au signal de vitesse angulaire (114), lorsqu'aucun signal de contrôle d'outil (108) n'est reçu.
  20. Véhicule de travail selon l'une quelconque des revendications 14 à 19, dans lequel une unité d'entrée de contrôle de bras en porte-à-faux (106) est prévue, laquelle est en liaison avec l'unité de commande (50) et est réalisée de manière à produire un signal de contrôle de bras en porte-à-faux (122) en réaction à un actionnement par un opérateur correspondant à un déplacement souhaité du bras en porte-à-faux, l'unité de commande (50) étant réalisée de manière à ignorer le signal de Vitesse angulaire (114) lorsque le signal de contrôle de bras en porte-à-faux (122) n'est pas reçu, le véhicule de travail (10) présentant une unité d'entrée de contrôle de bras de pelle (104) qui est en liaison avec l'unité de commande (50) et qui est réalisée de manière à produire un signal de contrôle de bras de pelle (120) en réaction à un actionnement par l'opérateur correspondant à un déplacement souhaité du bras de pelle, l'unité de commande (50) étant réalisée de manière à ignorer le signal de vitesse angulaire (114) lorsqu'un signal de contrôle de bras de pelle (120) n'est pas reçu.
  21. Véhicule de travail selon l'une quelconque des revendications 14 à 20, dans lequel le châssis (12) présente un châssis pivotant (62) et un actionneur pour le châssis pivotant (62), la première extrémité (76) du bras en porte-à-faux (64) étant montée de manière rotative/pivotante sur le châssis pivotant (62), et l'actionneur pour le châssis pivotant (62) présentant un vérin hydraulique (90) qui est réalisé de manière à déplacer le châssis pivotant (62) de manière contrôlable autour d'un axe (72).
EP03024734A 2002-10-31 2003-10-29 Véhicule de travail, en particulier une pelle rétro et/ou un véhicule avec un chargeur frontal Expired - Lifetime EP1416095B1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US285733 1988-12-16
US10/285,732 US6763619B2 (en) 2002-10-31 2002-10-31 Automatic loader bucket orientation control
US10/285,733 US6609315B1 (en) 2002-10-31 2002-10-31 Automatic backhoe tool orientation control
US285732 2002-10-31

Publications (2)

Publication Number Publication Date
EP1416095A1 EP1416095A1 (fr) 2004-05-06
EP1416095B1 true EP1416095B1 (fr) 2011-10-12

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EP03024734A Expired - Lifetime EP1416095B1 (fr) 2002-10-31 2003-10-29 Véhicule de travail, en particulier une pelle rétro et/ou un véhicule avec un chargeur frontal

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EP (1) EP1416095B1 (fr)
AT (1) ATE528446T1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009018070A1 (de) 2009-04-20 2010-10-21 Robert Bosch Gmbh Mobile Arbeitsmaschine mit einer Positionsregeleinrichtung eines Arbeitsarms und Verfahren zur Positionregelung eines Arbeitsarms einer mobilen Arbeitsmaschine
DK3007553T4 (da) 2013-09-18 2023-02-27 Horsch Leeb Application Systems Gmbh Indretning til spredning af flydende og/eller faste, virksomme stoffer samt fremgangsmåde til styring af en sådan indretning
EP3065530B1 (fr) 2013-11-10 2022-03-30 HORSCH LEEB Application Systems GmbH Dispositif pour distribuer des substances actives liquides et/ou solides et procédé de commande d'un tel dispositif
DE102015102975A1 (de) 2015-03-02 2016-09-08 Horsch Leeb Application Systems Gmbh Vorrichtung zum Ausbringen von flüssigen und/oder festen Wirkstoffen und Verfahren zur Steuerung einer solchen Vorrichtung
JP7469127B2 (ja) * 2020-04-17 2024-04-16 株式会社小松製作所 制御システムおよび制御方法

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Publication number Priority date Publication date Assignee Title
JPS56150230A (en) * 1980-04-23 1981-11-20 Hitachi Constr Mach Co Ltd Control of angle of bucket of oil-pressure shovel, etc.
JPS56150229A (en) * 1980-04-24 1981-11-20 Hitachi Constr Mach Co Ltd Control of bucket angle of oil-pressure shovel, etc.
JPS5820835A (ja) * 1981-07-31 1983-02-07 Hitachi Constr Mach Co Ltd 腕式作業機のバケツト角制御装置
JPS5826128A (ja) * 1981-08-11 1983-02-16 Hitachi Constr Mach Co Ltd 腕式作業機のバケツト角制御方法
JPS60133127A (ja) * 1983-12-22 1985-07-16 Hitachi Constr Mach Co Ltd ロ−デイングシヨベルのバケツト角制御方法
US5383390A (en) * 1993-06-28 1995-01-24 Caterpillar Inc. Multi-variable control of multi-degree of freedom linkages
US5748097A (en) * 1997-02-28 1998-05-05 Case Corporation Method and apparatus for storing the boom of a work vehicle
US6233511B1 (en) * 1997-11-26 2001-05-15 Case Corporation Electronic control for a two-axis work implement

Also Published As

Publication number Publication date
ATE528446T1 (de) 2011-10-15
EP1416095A1 (fr) 2004-05-06

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