WO2014168540A1 - Système pour commander un raccord rapide agencé sur un bras d'outil - Google Patents

Système pour commander un raccord rapide agencé sur un bras d'outil Download PDF

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Publication number
WO2014168540A1
WO2014168540A1 PCT/SE2014/000036 SE2014000036W WO2014168540A1 WO 2014168540 A1 WO2014168540 A1 WO 2014168540A1 SE 2014000036 W SE2014000036 W SE 2014000036W WO 2014168540 A1 WO2014168540 A1 WO 2014168540A1
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WO
WIPO (PCT)
Prior art keywords
control
control unit
signal
control means
tool
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.)
Ceased
Application number
PCT/SE2014/000036
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English (en)
Inventor
Niklas Bjuhr
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.)
Indexator Group AB
Original Assignee
Indexator Group 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 Indexator Group AB filed Critical Indexator Group AB
Publication of WO2014168540A1 publication Critical patent/WO2014168540A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • E02F3/3604—Devices to connect tools to arms, booms or the like
    • E02F3/3609—Devices to connect tools to arms, booms or the like of the quick acting type, e.g. controlled from the operator seat
    • 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
    • E02F9/24—Safety devices, e.g. for preventing overload
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/24—Pc safety
    • G05B2219/24188—Redundant processors run different programs

Definitions

  • the present invention relates to a system for controlling a quick coupler. Furthermore, the present invention relates to a machine comprising such a system.
  • the manoeuvring device 15 exhibits an upper attachment part 10B for holding interaction with the upper fastening part 10A on the work arm 2.
  • the manoeuvring device 15 also supports a lower attachment part 16A for holding interaction with an attachment part 16B of a work accessory which in the shown case is constituted by a bucket 5 but may be any other suitable accessory or tool.
  • the manoeuvring device 15 constitutes an example on an intermediate part 20 which is mounted between the work arm 2 and the work accessory 5 in order to increase the movability of the work accessory 5.
  • this series connected intermediate part 20 may be designed in many different ways and exhibit a number of different additional qualifications.
  • the intermediate part may of course be omitted when no additional qualifications are desired and then direct coupling between the guest parts 10A and 16B occurs.
  • the attachment part 10B of the intermediate part 20 comprises two parallel attachment pins 30, 31, which are arranged to fit in corresponding recesses 40, 41, which are arranged in the attachment part 10A of the work frame 2.
  • the attachment part 16B of the work accessory 5 exhibits two parallel attachment pins 30, 31, which are arranged in the corresponding way as the previously mentioned attachment pins 30, 31.
  • the attachment pins 30, 31, fit in the corresponding recesses 40, 41, which are arranged in the attachment part 16A.
  • Fig. 3-5 illustrate the structure of a concurrent pair of attachment parts as for example might be 10A+10B, 16A-16B or 10A-16B.
  • a coupling phase between for example an upper attachment part 10A of a work frame 2 and a lower attachment part 16B of for example a work accessory 5 is shown.
  • the attachment part 10A exhibits two first recesses 41 which engages the fastening pin 31 and at the same time allows a slewing motion between the parts 10A and 16B around the attachment pin 31.
  • a coupling operation (or locking operation) is normally initiated with a manoeuvring to the just mentioned engagement (see Fig. 3). Then a slew manoeuvring occurs so that the fastening pin 30 reaches the bottom of two other recesses 40 of the attachment part 10A.
  • a locking of the attachment parts 10A and 16A occurs by manoeuvring a locking wedge 50 forward from a starting position according to Fig 4 to a locking position according to Fig. 5.
  • the wedge manoeuvring normally occurs with a double acting hydraulic cylinder 51. From Fig. 5 it is evident that the locking wedge 50 fixates the fastening pin 30 in the recesses 40 at the same time as the attachment pin 31 is fixated in the recesses 41.
  • the above described scenario results in a very secure locking provided that the locking wedge 50 ends up in correct contact with the attachment pin 30, which unfortunately is not always the case. The just mentioned may result in accessory detachment where a falling accessory run the risk of causing damages on personnel as well as on material.
  • Fig. 6 illustrates a system for controlling a just mentioned quick coupler according to the prior art.
  • the system comprises a so called control unit which receives a manoeuvring signal, generated by, e.g., an operator when he wants to lock and detach, respectively, a tool from the tool arm. After the realization of a checking procedure a control signal is sent to a control means which controls the quick coupler between a locked position and an unlocked position depending of the instruction of the manoeuvring signal and the result of the checking procedure.
  • An objective of the present invention is to provide a solution which entirely or partly solves problems and/or drawbacks with known solutions for controlling a quick coupler. Specifically, the present invention aims to provide a system with which the safety for quick couplers according to the above is improved.
  • a system for controlling a quick coupler which quick coupler is arranged at a tool arm and is arranged to assume a locked position in which at least one tool/accessory is locked to the tool arm and an unlocked position in which the tool/accessory is detached from the tool arm;
  • which system comprises a first control unit arranged to receive an input signal Si and, after a first checking procedure, output a first control signal S I to at least one control means;
  • the system further comprises a second separate control unit arranged to receive the input signal Si and, after a second separate checking procedure, to output a second control signal to the control means, wherein the control means is arranged to control the quick coupler to the unlocked position if the first control signal SI and the second control signal S2 both indicate a value which corresponds to a valid signal for the unlocked position.
  • the invention also relates to a machine comprising at least one system according to the invention.
  • a system according to the present invention provides a solution which improves the security when using a quick coupler. In that way the risk for accidents is reduced significantly and furthermore, damage on material may be reduced as unintentional detachment of accessories is decreased. Furthermore, the present invention fulfils the requirements of new sets of safety rules and regulations.
  • Fig. 1 shows in a perspective view a pointed portion of an accessory arm/work arm (stick) of an excavator, which arm via two accessory attachments support coupled fittings/accessories;
  • Fig. 2 corresponds to Fig. 1 except for that the accessory attachments are uncoupled so that the fittings/accessories are detached;
  • Fig. 3 shows a schematical longitudinal cut through an accessory attachment during a coupling phase
  • Fig. 4 shows a schematical longitudinal cut through the accessory attachment when the attachment is put together to a real end position but not coupled
  • Fig. 5 shows the accessory attachment after finished coupling
  • Fig. 6 illustrates a system for controlling a quick coupler according to the prior art
  • Fig. 7 illustrates an embodiment of a system according to the invention
  • Fig. 8 illustrates another embodiment of a system according to the invention.
  • Fig. 9 shows a system outline of an embodiment of a system according to the invention.
  • Fig. 10A shows a block diagram over the first control unit (CCU);
  • Fig. 10B shows a block diagram over the second control unit (TCU);
  • Fig. 11 illustrates a further embodiment of the invention.
  • Fig. 12 shows two parallel checking sequences according to an embodiment.
  • the present invention relates to a system 100 for controlling a quick coupler 101 for an accessory arm/work arm.
  • the quick coupler is arranged on a tool arm and is arranged to be positioned in a locked position in which at least one tool/accessory is locked to the tool arm and an unlocked position in which the tool/accessory is detached or may be detached from the tool arm.
  • the function of the quick coupler is to lock and detach, respectively, an accessory to/from the tool arm.
  • the present system for controlling a quick coupler comprises a first control unit 1 11 arranged to receive an input signal Si and, after a first checking procedure CM1, to output a first control signal S I to one or several control means 121, 122.
  • the input signal S 1 is typically an electric signal (but may be any other type of suitable signal) which initiates the checking procedure and may for example be provided over a communication bus system.
  • the input signal may be generated and sent from a manoeuvring or terminal unit manoeuvred by the operator of the machine when this person wants the quick coupler to be brought to the locked or unlocked position depending on a present position of the quick coupler.
  • the input signal may therewith be interpreted as an instruction to "open” (bring to an unlocked position) or “close” (bring to a locked position) the quick coupler.
  • the checking procedure or function means that a number of conditions are checked so that they are fulfilled before a control signal is sent to the control means.
  • the value of the control signal thus becomes a result of the value of the input signal and the result of the checking procedure.
  • the present system comprises a second control unit 112 separated from the first control unit 111.
  • the second control unit is arranged to receive the input signal Si and, after a second separate checking procedure CM2, to output a second control signal S2 to the control means 121, 122.
  • the control means 121, 122 is in turn arranged to control the quick coupler 101 to the unlocked position only if the first control signal S I and the second control signal S2 both indicate a value VI and V2, respectively, which correspond to a valid signal for the unlocked position.
  • the first checking procedure CM1 which is performed by the first control unit, means checking that a first group of conditions are fulfilled.
  • the second checking procedure CM2 which is performed by the second control unit, means checking that a second group of conditions are fulfilled. It should be noted that the first and second group of conditions are not identical according to a preferred embodiment of the invention.
  • Fig. 8 shows a further preferred embodiment of the invention in which the system in this case comprises two entirely separate control means, i.e. a first 121 and a second 122 control means. They are independent of each other and consist of separate hardware units as is shown in Fig. 8.
  • the first control member is connected to the first control unit 11 1 and is arranged to receive the first control signal S I in contrast to the second control member 122, which instead is connected to the second control unit 1 12 and is arranged to receive the second control signal S2.
  • the quick coupler 101 is positioned in the unlocked position only if the first control means has been controlled to the desired position at the same time as the second control means has been controlled to the desired position.
  • the quick coupler may further comprise at least one locking wedge 50 with which the accessory or the tool is locked to the accessory arm in the locked position.
  • the locking wedge is manoeuvred by means of at least one hydraulic cylinder 51, which has been described above.
  • the tool arm comprises preferably also a hydraulically controlled rotational device (rotator), or a combined rotational and tilting device (tiltrotator), with which the accessory/tool may be rotated around a rotational axis, and be rotated around a rotational axis and be tilted around a tilting axis, respectively.
  • the present system is thereby arranged to control a quick coupler for a rotator or tiltrotator.
  • the first control unit 111 may be a cabin control unit (sometimes also called CCU, "Cabin Control Unit”) or similar, i.e. a control unit for controlling various functions in relation to the driver cabin or operator cabin on a machine.
  • the second control unit 112 is a control unit for the rotational device or the combined rotational and tilting device (sometimes also called TCU, "Tiltrotator Control Unit”).
  • the first checking procedure CM1 means checking that a first group of conditions are fulfilled and in the corresponding way it is valid that the second checking procedure CM2 means checking that a second group of conditions are fulfilled.
  • the conditions in the first and the second group need not be identical which has been mentioned earlier. According to an embodiment they are not identical.
  • the checking, which takes place in each checking procedure, may concern checking of voltage levels at different units in the control system in a certain sequence, etcetera.
  • Fig. 10A and Fig. 10B illustrate block diagrams for the CCU and the TCU, respectively, in the system.
  • the system according to the invention is further arranged so that the first and second control unit may communicate with each other, for example with a CAN bus (CAN-bus", i.e., "Controller Area Network bus"), which is also shown in Fig. 8, 10A, 10B and 1 1.
  • CAN bus CAN-bus
  • the two control units may cross-check each other. This may take place by that one or several of the conditions in the first group for the first checking procedure is that a valid value (OK) has been provided from the second control unit and inversely that one of the conditions in the second group for the second checking procedure is that a valid value (OK) has been provided from the first control unit.
  • Fig. 11 shows how the CCU and the TCU are connected with the CAN bus for communication between them but otherwise are separated from each other.
  • Fig. 12 shows an example on checking sequences for the CCU and the TCU, respectively, which coordinated are executed for cross-checking.
  • the left checking sequence concerns the CCU and for each loop holds for this example:
  • SW1 Is input 1 of SW1 (the switch of the lock in the panel) activated? If NO send an NOK to the TCU and output an "invalid" control signal, if YES continue sequence;
  • SW2 Is input 2 of SW2 (the switch of the lock in the panel) activated? If NO send an NOK to the CCU and output "invalid" control signal, if YES continue sequence;
  • SWl, Ol, SW2, Buzzer and 02 may be other suitable checking conditions than the ones mentioned above depending on the application.
  • Fig. 9 shows a system overview over a further embodiment of the present invention.
  • the CCU and the TCU are according to this embodiment in communication with each other via a CAN bus so that they may cross-check each other.
  • a terminal unit HMI
  • the CCU and the TCU are connected to different control means.
  • Various input signals from different functions of the machine, such as rotator, tilt, pulse functions, etcetera, are also shown in Fig. 9.
  • Fig. 1 1 is shown how the CCU and the HMI belong to the subsystem "cabin” while the TCU belong to the system "tiltrotator".
  • the invention relates to a machine which comprises at least one system according to any of the above embodiments.
  • machines are an excavator, forestry machine or woodwork machine, but also other types of machines may use a system according to the invention which is readily appreciated by the person skilled in the art.
  • the machine it further comprises at least one quick coupler and/or at least one tool arm as described above.

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

Abstract

La présente invention concerne un système (100) pour commander un raccord rapide (101), lequel raccord rapide est agencé sur un bras d'outil et est agencé pour prendre une position verrouillée dans laquelle au moins un outil/accessoire est verrouillé sur le bras d'outil et une position déverrouillée dans laquelle l'outil/l'accessoire est séparé du bras d'outil. Ledit système comprend une première unité de commande (111) agencée pour recevoir un signal d'entrée S1 et, après une première procédure de contrôle (CM1), pour envoyer un premier signal de commande S1 à au moins un moyen de commande (121, 122), le système comprend en outre une seconde unité de commande séparée (112) agencée pour recevoir le signal d'entrée S1 et, après une seconde procédure de contrôle séparée (CM2), pour envoyer un second signal de commande S2 au moyen de commande (121, 122). Le moyen de commande (121, 122) est agencé pour commander le raccord rapide (101) pour qu'il prenne la position déverrouillée si le premier signal de commande S1 et le second signal de commande S2 indiquent tous les deux une valeur (V1, V2) qui correspond à un signal valide pour la position déverrouillée. En outre, la présente invention concerne une machine qui comprend un tel système.
PCT/SE2014/000036 2013-04-09 2014-04-04 Système pour commander un raccord rapide agencé sur un bras d'outil Ceased WO2014168540A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE1350441 2013-04-09
SE1350441-0 2013-04-09

Publications (1)

Publication Number Publication Date
WO2014168540A1 true WO2014168540A1 (fr) 2014-10-16

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015210857A1 (de) * 2015-06-12 2016-12-15 Lehnhoff Hartstahl Gmbh & Co. Kg Schnellwechsler
GB2549285A (en) * 2016-04-11 2017-10-18 Caterpillar Inc An apparatus comprising a coupling arrangement
DE102019118913A1 (de) * 2019-07-12 2021-01-14 OilQuick Deutschland KG Schnellwechsler
DE102019129510A1 (de) * 2019-10-31 2021-05-06 Thomas Jansen Baggerstiel
GB2591254A (en) 2020-01-22 2021-07-28 Caterpillar Work Tools Bv Decoupling a tool from tilt rotator
US12359393B2 (en) 2021-11-22 2025-07-15 Caterpillar Sarl System and method to support rotation operation of work tool
JP2025527236A (ja) * 2022-08-04 2025-08-20 キャタピラー インコーポレイテッド 自動化されたワークツール減圧回路および方法

Citations (6)

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Publication number Priority date Publication date Assignee Title
EP1318242A2 (fr) * 2001-12-06 2003-06-11 Geith Patents Limited Coupleur pour accoupler un accessoire à un bras de godet et système de commande pour un tel coupleur
WO2004072387A1 (fr) * 2003-02-17 2004-08-26 Oilquick Ab Systeme comprenant un dispositif de fixation d'outil et un outil
DE10334879A1 (de) * 2003-07-29 2005-03-03 Tormatic Gmbh Vorrichtung zur drahtlosen Inbetriebnahme eines Aufzuges, oder Kranes, insbesondere eines Treppenliftes und ein Verfahren zum Betrieb eines solchen Aufzuges oder Kranes, insbesondere eines Treppenliftes
US20070034587A1 (en) * 2005-07-22 2007-02-15 Liebherr-Werk Ehingen Gmbh Crane, preferably crawler or truck crane
US20110153038A1 (en) * 2009-12-23 2011-06-23 Liebherr-Werk Ehingen Gmbh Control system for construction machines and method for operating the control system
WO2012125104A1 (fr) * 2011-03-17 2012-09-20 Steelwrist Ab Coupleur rapide pour engin de terrassement

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1318242A2 (fr) * 2001-12-06 2003-06-11 Geith Patents Limited Coupleur pour accoupler un accessoire à un bras de godet et système de commande pour un tel coupleur
WO2004072387A1 (fr) * 2003-02-17 2004-08-26 Oilquick Ab Systeme comprenant un dispositif de fixation d'outil et un outil
DE10334879A1 (de) * 2003-07-29 2005-03-03 Tormatic Gmbh Vorrichtung zur drahtlosen Inbetriebnahme eines Aufzuges, oder Kranes, insbesondere eines Treppenliftes und ein Verfahren zum Betrieb eines solchen Aufzuges oder Kranes, insbesondere eines Treppenliftes
US20070034587A1 (en) * 2005-07-22 2007-02-15 Liebherr-Werk Ehingen Gmbh Crane, preferably crawler or truck crane
US20110153038A1 (en) * 2009-12-23 2011-06-23 Liebherr-Werk Ehingen Gmbh Control system for construction machines and method for operating the control system
WO2012125104A1 (fr) * 2011-03-17 2012-09-20 Steelwrist Ab Coupleur rapide pour engin de terrassement

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015210857A1 (de) * 2015-06-12 2016-12-15 Lehnhoff Hartstahl Gmbh & Co. Kg Schnellwechsler
WO2016198636A1 (fr) 2015-06-12 2016-12-15 Lehnhoff Hartstahl Gmbh & Co. Kg Dispositif de changement rapide
GB2549285A (en) * 2016-04-11 2017-10-18 Caterpillar Inc An apparatus comprising a coupling arrangement
EP3231946A3 (fr) * 2016-04-11 2017-12-27 Caterpillar Inc. Appareil comprenant un agencement de couplage
GB2549285B (en) * 2016-04-11 2018-07-11 Caterpillar Inc An apparatus comprising a coupling arrangement
DE102019118913A1 (de) * 2019-07-12 2021-01-14 OilQuick Deutschland KG Schnellwechsler
US11482083B2 (en) 2019-07-12 2022-10-25 OilQuick Deutschland KG Quick-change device having an electrical lock status indicator
DE102019129510A1 (de) * 2019-10-31 2021-05-06 Thomas Jansen Baggerstiel
WO2021148236A1 (fr) 2020-01-22 2021-07-29 Caterpillar Work Tools B.V. Découplage d'un outil d'un rotateur d'inclinaison
CN114981502A (zh) * 2020-01-22 2022-08-30 卡特彼勒作业机具有限公司 将工具与倾斜旋转器断开
GB2591254A (en) 2020-01-22 2021-07-28 Caterpillar Work Tools Bv Decoupling a tool from tilt rotator
JP2023510969A (ja) * 2020-01-22 2023-03-15 キャタピラー ワーク ツールズ ベスローテン フェンノートシャップ チルトローテータからのツールの分離
JP7594014B2 (ja) 2020-01-22 2024-12-03 キャタピラー ワーク ツールズ ベスローテン フェンノートシャップ チルトローテータからのツールの分離
CN114981502B (zh) * 2020-01-22 2025-07-29 卡特彼勒作业机具有限公司 将工具与倾斜旋转器断开的方法
AU2021211839B2 (en) * 2020-01-22 2026-01-29 Caterpillar Work Tools B.V. Decoupling a tool from tilt rotator
US12359393B2 (en) 2021-11-22 2025-07-15 Caterpillar Sarl System and method to support rotation operation of work tool
JP2025527236A (ja) * 2022-08-04 2025-08-20 キャタピラー インコーポレイテッド 自動化されたワークツール減圧回路および方法

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