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EP1467031B1 - Back-hoe with telescopic dipper - Google Patents

Back-hoe with telescopic dipper Download PDF

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Publication number
EP1467031B1
EP1467031B1 EP04101384A EP04101384A EP1467031B1 EP 1467031 B1 EP1467031 B1 EP 1467031B1 EP 04101384 A EP04101384 A EP 04101384A EP 04101384 A EP04101384 A EP 04101384A EP 1467031 B1 EP1467031 B1 EP 1467031B1
Authority
EP
European Patent Office
Prior art keywords
tool
dipper arm
boom
actuator
designed
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
EP04101384A
Other languages
German (de)
French (fr)
Other versions
EP1467031A1 (en
Inventor
Scott Svend Hendron
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
Application filed by Deere and Co filed Critical Deere and Co
Publication of EP1467031A1 publication Critical patent/EP1467031A1/en
Application granted granted Critical
Publication of EP1467031B1 publication Critical patent/EP1467031B1/en
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
    • 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

Definitions

  • the present invention relates to a backhoe with a telescopic dipper stick, for a work vehicle with a telescopic handler having a tool.
  • Such a work vehicle in the form of a backhoe goes out US 2003/0061742 A1 out.
  • the backhoe has a working device in the form of a hydraulically pivotable blade, wherein the blade via a boom, a first strut and a relation to the first strut extendable or telescopic second strut with the backhoe is in communication.
  • the boom can be pivoted by means of a hydraulic cylinder opposite the backhoe.
  • a first end of the rigid strut is attached to the boom via a hinge connection, with another hydraulic cylinder allowing pivoting of the rigid strut relative to the cantilever.
  • a hydraulic adjusting cylinder is present, which allows an extension of the second strut relative to the first strut.
  • the control of the hydraulic cylinder takes place by means of respective associated manually operated controls.
  • the driver must perform at the same time performing a ride a variety of operations on the controls.
  • EPC EP 1 362 958 A2 discloses in this context a work vehicle in the form of a scoop loader. At a front part of the bucket loader, a lifting rocker swinging up and down about a pivot point is arranged. At a front end of the lifting rocker bearing is provided, on which a working tool is arranged in the form of a blade.
  • the bucket is connected via a toggle lever with the piston of a hydraulic tilting cylinder.
  • a position controller controls the hydraulic tilting cylinder in accordance with a signal provided by a rotation rate sensor in such a way that the blade retains a position predefined on the driver's side even when road-related unevenness occurs relative to the earth's horizon.
  • the present invention relates to a tractor designed as a backhoe working vehicle.
  • the work vehicle includes a frame, a boom, a boom actuator, a telescopic dipper stick, a dipper stick actuator, an actuator for telescoping the dipper stick, a tool, a tool actuator, a tool command input unit, and a controller.
  • the boom has a first end and a second end, wherein the first end is pivotally mounted about an axis on the frame.
  • the dipper stick has a first end and a second end, the first end being pivotally mounted about an axis at the second end of the cantilever.
  • the second end of the dipper stick is telescopically movable relative to the first end of the dipper stick.
  • the tool is pivotally mounted about an axis at the second end of the dipper stick and provided for performing a work function.
  • the tool actuator has a hydraulic cylinder and an electronic driveable hydraulic circuit, the hydraulic cylinder extending between the dipper stick and the tool and configured to controllably move the tool in response to a tool control signal about the axis.
  • the boom actuator includes a hydraulic cylinder extending between the frame and the boom and configured to controllably move the boom about the axis.
  • the spoon handle actuator has a hydraulic cylinder extending between the boom and the dipper stick and configured to controllably move the dipper stick about the axis.
  • the actuator has for telescoping the arm of the dipper on a hydraulic cylinder which extends between the first and the second end of the dipper and is designed to controllably telescopically move the second end of the dipper stick.
  • the tool command input unit is configured to generate a tool command signal in response to an operator's operation corresponding to a desired tool movement.
  • the control unit has computational, memory and / or real-time capabilities and communicates with the tool actuator and the tool command input unit.
  • the control unit is configured to receive the tool command signal and in response to this generate a tool control signal in order to achieve a predefinable tool movement.
  • An angular velocity sensor connected to the control unit is associated with the tool and configured to detect the angular velocity of the tool about the axis and to continuously generate an angular velocity signal.
  • the control unit is configured to generate a tool control signal to continuously provide a predeterminable tool angular velocity in response to the received angular velocity signal to achieve if no tool command signal is received.
  • an angular velocity sensor which is attached to the tool or associated with the tool, and which is used to detect the orientation or the orientation of the tool on the one hand and on the other hand a fixable orientation of the tool relative to a regardless of the orientation of 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.
  • Angular velocity sensors suitable for use with the present invention are available on the market.
  • An example of such an angular velocity sensor is the "BEI GYROCHIP" model AQRS offered by Systron Donner Internal Devision of BEI Technologies of California.
  • the backhoe according to the invention accordingly comprises a system for detecting and automatically controlling the orientation of a tool which is pivotally mounted on the telescopic dipper stick.
  • the predeterminable angular velocity is zero, whereby an initial tool orientation is substantially maintainable.
  • 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 communicates with the control unit and which is configured to generate a tool maintenance command signal in response to an operation of an operator.
  • the control unit is configured to ignore the angular rate signal unless the tool maintenance command signal is received.
  • the tool comprises a backhoe bucket which has properties of a telescopic loader tool.
  • Fig. 1 shows a self-propelled work vehicle, which is designed in the form of a known from the prior art backhoe 10.
  • the backhoe 10 comprises a frame 12 to which are attached wheels 14 connected to the ground to support and move the work vehicle.
  • a bucket device 18 is attached at the rear of the work vehicle.
  • the backhoe device 18 performs a variety of excavator and material handling functions.
  • An operator controls the functions of the work vehicle from an operator station 20.
  • the backhoe device 18 includes a pivotable frame 62, a boom 64, a telescopic boom 66, and a tool, such as a bucket 68 with a telescopic handler feature.
  • the pivotable frame 62 includes a first end 70 which is pivotally mounted to 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 about a substantially horizontally disposed axis 78 of the backhoe is rotatably mounted on the second end 74 of the pivotable frame 62, and a second end 80.
  • the telescopic A dipper stick 66 includes a first end 82 rotatably disposed about a generally horizontally disposed axis 84 at the second end 80 of the cantilever 64 and a second end 86 translationally extendible relative to the first end 82 and at which the paddle 68 of the backhoe is rotatably disposed 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 work vehicle 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.
  • a bucket bucket actuator 96 includes a hydraulic cylinder 98 disposed between the bucket 66 and the bucket 68 and which controllably moves the bucket 68 about the axis 88.
  • Fig. 2 shows a schematic representation of a system according to the invention for detecting the orientation and for the automatic control of the bucket bucket with telekopierbarem dipper stick.
  • an actuator 95 for extending the dipper stick 66 has a hydraulic cylinder extending between the first end 82 of the dipper stick 66 and the second end 86 of the dipper stick 66 and controllably the second end 86 of the dipper stick 66 relative to the first end 82 moves or extends.
  • the bucket blade actuator 96 includes an electro-hydraulic bucket shovel circuit 100 which communicates with the hydraulic cylinder 98 of the bucket shovel 68 and which supplies and controls the flow of hydraulic fluid to the hydraulic cylinder 98 of the bucket shovel 68.
  • the operator controls the movement of the backhoe device 18 by manipulating a bucket shovel command input unit 102, a shovel command input unit 104, a bucket telescope command input unit 105, a boom command input unit 106, and a pivotable frame input unit 62.
  • the bucket shovel command input unit 102 is configured to apply a bucket shovel command signal 108 as a function of the manipulation of the operator, which is proportional to a desired bucket shovel movement.
  • a control unit 50 communicates with the bucket shovel command input unit 102, the shoestring command input unit 104, the bucket telescope command input unit 105, the boom command input unit 106, and the bucket shovel 68 actuator 96.
  • the control unit 50 receives the bucket shovel command signal 108 and in response generates a bucket shovel control signal 110 which originates from the bucket shovel command signal 110 electrohydraulic bucket shovel circuit 100 is received.
  • the electrohydraulic Bucket bucket circuit 100 responds to bucket blade control signal 110 by passing hydraulic fluid to hydraulic bucket 98 of bucket bucket 68, causing hydraulic cylinder 98 to move bucket bucket 68 accordingly.
  • Adjusting the orientation of the backhoe bucket 68, in conjunction with the simultaneous operation of the boom command input unit 106, the bucket telescope command input unit 105, and the bucket handle command input unit 104 and associated movement of the bucket boom 64 and the arm 62, requires the operator to be more attentive and skilled in manual skill. which reduces overall work efficiency and increases operator fatigue.
  • an angular rate sensor 112 is used for the bucket bucket 68 associated with the bucket 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 the axis 88 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.
  • an automatic hold function which is to maintain the operator's initial or initial orientation of the low loader bucket 68 relative to gravity, the required or desired angular speed of the bucket bucket 68 is substantially zero. Furthermore, the control unit 50 suspends the automatic hold function while the bucket shovel command signal 108 is being received, that is, when the operator is making the shovel bucket 68 move. The controller 50 immediately upon completion of the bucket shovel command signal 108 assumes the then present orientation of the backhoe bucket 68 as the initial orientation of the bucket shovel 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 angular velocity signal 114 of the bucket 68 unless it receives the maintenance command signal 118 from the maintenance command switch 116.

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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)

Description

Die vorliegende Erfindung betrifft einen Tieflöffelbagger mit einem teleskopierbaren Löffelstiel, für ein Arbeitsfahrzeug mit einem eine Teleskopladerfunktion aufweisenden Werkzeug.The present invention relates to a backhoe with a telescopic dipper stick, for a work vehicle with a telescopic handler having a tool.

Ein derartiges Arbeitsfahrzeug in Gestalt eines Tieflöffelbaggers geht beispielsweise aus US 2003/0061742 A1 hervor. Der Tieflöffelbagger weist ein Arbeitsgerät in Gestalt einer hydraulisch verschwenkbaren Schaufel auf, wobei die Schaufel über einen Ausleger, eine erste Strebe sowie eine gegenüber der ersten Strebe ausfahrbare bzw. teleskopierbare zweite Strebe mit dem Tieflöffelbagger in Verbindung steht. Der Ausleger lässt sich mittels eines hydraulischen Zylinders gegenüber dem Tieflöffelbagger verschwenken. Ein erstes Ende der starren Strebe ist über eine Gelenkverbindung an dem Ausleger befestigt, wobei ein weiterer hydraulischer Zylinder ein Verschwenken der starren Strebe gegenüber dem Ausleger erlaubt. Des Weiteren ist ein hydraulischer Verstellzylinder vorhanden, der ein Ausfahren der zweiten Strebe gegenüber der ersten Strebe ermöglicht. Die Ansteuerung der hydraulischen Zylinder erfolgt mittels jeweils zugehöriger manuell zu bedienender Steuerelemente.Such a work vehicle in the form of a backhoe, for example, goes out US 2003/0061742 A1 out. The backhoe has a working device in the form of a hydraulically pivotable blade, wherein the blade via a boom, a first strut and a relation to the first strut extendable or telescopic second strut with the backhoe is in communication. The boom can be pivoted by means of a hydraulic cylinder opposite the backhoe. A first end of the rigid strut is attached to the boom via a hinge connection, with another hydraulic cylinder allowing pivoting of the rigid strut relative to the cantilever. Furthermore, a hydraulic adjusting cylinder is present, which allows an extension of the second strut relative to the first strut. The control of the hydraulic cylinder takes place by means of respective associated manually operated controls.

Soll die Schaufel während der Fahrt gegenüber der Erdhorizontalen eine bestimmte Lage beibehalten, was beispielsweise beim Transport von Schüttgut oder dergleichen auf unebenem Gelände von Vorteil ist, muss der Fahrer neben der Durchführung der Fahrt zugleich eine Vielzahl von Bedienhandlungen an den Steuerelementen ausführen.If the blade while driving against the earth's horizontal maintain a certain position, which is for example when transporting bulk or the like on rough terrain advantageous, the driver must perform at the same time performing a ride a variety of operations on the controls.

Es besteht daher der Wunsch, den Fahrer unter derartigen Bedingungen zu entlasten.There is therefore a desire to relieve the driver under such conditions.

Die Stand der Technik nach Art. 54 (3) EPÜ bildende EP 1 362 958 A2 offenbart in diesem Zusammenhang ein Arbeitsfahrzeug in Gestalt eines Schaufelladers. An einem vorderen Teil des Schaufelladers ist eine um einen Drehpunkt auf- und abschwenkbare Hubschwinge angeordnet. An einem vorderen Ende der Hubschwinge ist ein Lager vorgesehen, an dem ein Arbeitswerkzeug in Gestalt einer Schaufel angeordnet ist. Die Schaufel ist über einen Kniehebel mit dem Kolben eines hydraulischen Kippzylinders verbunden. Ein Lageregler steuert den hydraulischen Kippzylinder nach Maßgabe eines von einem Drehratensensor bereitgestellten Signals derart an, dass die Schaufel auch bei Auftreten fahrtbedingter Geländeunebenheiten gegenüber der Erdhorizontalen eine fahrerseitig vorgegebene Lage beibehält.The state of the art according to Art. 54 (3) EPC EP 1 362 958 A2 discloses in this context a work vehicle in the form of a scoop loader. At a front part of the bucket loader, a lifting rocker swinging up and down about a pivot point is arranged. At a front end of the lifting rocker bearing is provided, on which a working tool is arranged in the form of a blade. The bucket is connected via a toggle lever with the piston of a hydraulic tilting cylinder. A position controller controls the hydraulic tilting cylinder in accordance with a signal provided by a rotation rate sensor in such a way that the blade retains a position predefined on the driver's side even when road-related unevenness occurs relative to the earth's horizon.

Demgegenüber betrifft die vorliegende Erfindung ein als Tieflöffelbagger ausgebildetes Arbeitsfahrzeug. Das Arbeitsfahrzeug umfasst einen Rahmen, einen Ausleger, einen Auslegeraktuator, einen teleskopierbaren Löffelstiel, einen Löffelstielaktuator, einen Aktuator zum Teleskopieren des Löffelstiels, ein Werkzeug, einen Werkzeugaktuator, eine Werkzeugkommandoeingabeeinheit und eine Steuereinheit. Der Ausleger weist ein erstes Ende und ein zweites Ende auf, wobei das erste Ende um eine Achse schwenkbar an dem Rahmen angeordnet ist. Der Löffelstiel weist ein erstes Ende und ein zweites Ende auf, wobei das erste Ende um eine Achse schwenkbar an dem zweiten Ende des Auslegers angebracht ist. Das zweite Ende des Löffelstiels ist teleskopierbar relativ zum ersten Ende des Löffelstiels bewegbar. Das Werkzeug ist um eine Achse schwenkbar an dem zweiten Ende des Löffelstiels angebracht und zur Verrichtung einer Arbeitsfunktion vorgesehen. Der Werkzeugaktuator weist einen Hydraulikzylinder und einen elektronisch ansteuerbaren Hydraulikkreis auf, wobei sich der Hydraulikzylinder zwischen dem Löffelstiel und dem Werkzeug erstreckt und ausgebildet ist, das Werkzeug als Reaktion auf ein Werkzeugsteuersignal um die Achse kontrollierbar zu bewegen. Der Auslegeraktuator weist einen Hydraulikzylinder auf, welcher sich zwischen dem Rahmen und dem Ausleger erstreckt und ausgebildet ist, den Ausleger um die Achse kontrollierbar zu bewegen. Der Löffelstielaktuator weist einen Hydraulikzylinder auf, welcher sich zwischen dem Ausleger und dem Löffelstiel erstreckt und ausgebildet ist, den Löffelstiel um die Achse kontrollierbar zu bewegen. Der Aktuator weist zum Teleskopieren des Löffelstiels einen Hydraulikzylinder auf, welcher sich zwischen dem ersten und dem zweiten Ende des Löffelstiels erstreckt und ausgebildet ist, das zweite Ende des Löffelstiels kontrollierbar teleskopierbar zu bewegen. Die Werkzeugkommandoeingabeeinheit ist ausgebildet, ein Werkzeugkommandosignal als Reaktion einer einer gewünschten Werkzeugbewegung entsprechenden Betätigung durch einen Bediener zu generieren. Die Steuereinheit weist rechnerische, Speicher- und/oder Echtzeitfähigkeiten auf und steht mit dem Werkzeugaktuator und der Werkzeugkommandoeingabeeinheit in Verbindung. Die Steuereinheit ist ausgebildet, das Werkzeugkommandosignal zu empfangen und als Reaktion hierauf ein Werkzeugsteuersignal zu generieren, um eine vorgebbare Werkzeugbewegung zu erzielen. Ein mit der Steuereinheit verbundener Winkelgeschwindigkeitssensor ist dem Werkzeug zugeordnet und ausgebildet, die Winkelgeschwindigkeit des Werkzeugs um die Achse zu detektieren und kontinuierlich ein Winkelgeschwindigkeitssignal zu generieren. Die Steuereinheit ist ausgebildet, ein Werkzeugsteuersignal zu generieren, um kontinuierlich eine vorgebbare Werkzeugwinkelgeschwindigkeit als Reaktion auf das empfangene Winkelgeschwindigkeitssignal zu erzielen, wenn kein Werkzeugkommandosignal empfangen wird.In contrast, the present invention relates to a tractor designed as a backhoe working vehicle. The work vehicle includes a frame, a boom, a boom actuator, a telescopic dipper stick, a dipper stick actuator, an actuator for telescoping the dipper stick, a tool, a tool actuator, a tool command input unit, and a controller. The boom has a first end and a second end, wherein the first end is pivotally mounted about an axis on the frame. The dipper stick has a first end and a second end, the first end being pivotally mounted about an axis at the second end of the cantilever. The second end of the dipper stick is telescopically movable relative to the first end of the dipper stick. The tool is pivotally mounted about an axis at the second end of the dipper stick and provided for performing a work function. The tool actuator has a hydraulic cylinder and an electronic driveable hydraulic circuit, the hydraulic cylinder extending between the dipper stick and the tool and configured to controllably move the tool in response to a tool control signal about the axis. The boom actuator includes a hydraulic cylinder extending between the frame and the boom and configured to controllably move the boom about the axis. The spoon handle actuator has a hydraulic cylinder extending between the boom and the dipper stick and configured to controllably move the dipper stick about the axis. The actuator has for telescoping the arm of the dipper on a hydraulic cylinder which extends between the first and the second end of the dipper and is designed to controllably telescopically move the second end of the dipper stick. The tool command input unit is configured to generate a tool command signal in response to an operator's operation corresponding to a desired tool movement. The control unit has computational, memory and / or real-time capabilities and communicates with the tool actuator and the tool command input unit. The control unit is configured to receive the tool command signal and in response to this generate a tool control signal in order to achieve a predefinable tool movement. An angular velocity sensor connected to the control unit is associated with the tool and configured to detect the angular velocity of the tool about the axis and to continuously generate an angular velocity signal. The control unit is configured to generate a tool control signal to continuously provide a predeterminable tool angular velocity in response to the received angular velocity signal to achieve if no tool command signal is received.

Zur Bestimmung der Lageinformationen des Werkzeugs wird somit ein Winkelgeschwindigkeitssensor verwendet, welcher an dem Werkzeug angebracht oder dem Werkzeug zugeordnet ist, und welcher dazu verwendet wird, die Orientierung bzw. die Ausrichtung des Werkzeugs einerseits zu detektieren und andererseits eine festlegbare Orientierung des Werkzeugs relativ zu einer anfänglichen oder ursprünglichen Ausrichtung des Werkzeugs beizubehalten, und zwar unabhängig von der Ausrichtung des Rahmens des Arbeitsfahrzeugs. Hierzu wird eine Steuereinheit eingesetzt, beispielsweise in Gestalt eines Computers oder einer Computerplatine. Der Winkelgeschwindigkeitssensor detektiert die Winkelgeschwindigkeit des Werkzeugs relativ zu einem erdbezogenen oder einem anderen Koordinatensystem.To determine the position information of the tool thus an angular velocity sensor is used, which is attached to the tool or associated with the tool, and which is used to detect the orientation or the orientation of the tool on the one hand and on the other hand a fixable orientation of the tool relative to a regardless of the orientation of the frame of the work vehicle. For this purpose, 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.

Winkelgeschwindigkeitssensoren, welche zum Einsatz der vorliegenden Erfindung geeignet sind, sind auf dem Markt erhältlich. Ein Beispiel eines solchen Winkelgeschwindigkeitssensors ist der "BEI GYROCHIP", Modell AQRS, welcher von der Firma Systron Donner Internal Devision der BEI Technologies of California angeboten wird.Angular velocity sensors suitable for use with the present invention are available on the market. An example of such an angular velocity sensor is the "BEI GYROCHIP" model AQRS offered by Systron Donner Internal Devision of BEI Technologies of California.

Der erfindungsgemäße Tieflöffelbagger umfasst demgemäß ein System zur Detektion und zur automatischen Ansteuerung der Orientierung eines Werkzeugs, welches schwenkbar an dem teleskopierbaren Löffelstiel angebracht ist.The backhoe according to the invention accordingly comprises a system for detecting and automatically controlling the orientation of a tool which is pivotally mounted on the telescopic dipper stick.

In einer bevorzugten Ausführungsform ist die vorgebbare Winkelgeschwindigkeit Null, wodurch eine anfängliche Werkzeugorientierung im Wesentlichen beibehaltbar ist. Die anfängliche Werkzeugorientierung entspricht im Wesentlichen der Orientierung des Werkzeugs, die vorliegt, wenn die Werkzeugkommandoeingabeeinheit kein Werkzeugkommandosignal mehr generiert.In a preferred embodiment, the predeterminable angular velocity is zero, whereby an initial tool orientation is substantially maintainable. 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.

Bevorzugt ist ein Werkzeugbeibehaltungskommandoschalter vorgesehen, welcher mit der Steuereinheit in Verbindung steht und welcher ausgebildet ist, ein Werkzeugbeibehaltungskommandosignal als Reaktion auf eine Betätigung eines Bedieners zu generieren. Die Steuereinheit ist ausgebildet, das Winkelgeschwindigkeitssignal zu ignorieren, wenn nicht das Werkzeugbeibehaltungskommandosignal empfangen wird.Preferably, a tool maintenance command switch is provided which communicates with the control unit and which is configured to generate a tool maintenance command signal in response to an operation of an operator. The control unit is configured to ignore the angular rate signal unless the tool maintenance command signal is received.

In einer vorteilhaften Ausführungsform umfasst das Werkzeug eine Tieflöffelschaufel, welche Eigenschaften eines Teleskopladerwerkzeugs aufweist.In an advantageous embodiment, the tool comprises a backhoe bucket which has properties of a telescopic loader tool.

Es gibt nun verschiedene Möglichkeiten, die Lehre der vorliegenden Erfindung in vorteilhafter Weise auszugestalten und weiterzubilden. Dazu wird einerseits auf die Unteransprüche und andererseits auf die nachfolgende Erläuterung der bevorzugten Ausführungsbeispiele der Erfindung anhand der Zeichnungen verwiesen. In Verbindung mit der Erläuterung der bevorzugten Ausführungsbeispiele der Erfindung anhand der Zeichnungen werden auch allgemein bevorzugte Ausgestaltungen und Weiterbildungen der erfindungsgemäßen Lehre erläutert. Hierbei sind bezüglich ihrer Funktion vergleichbare bzw. übereinstimmende Bauteile mit den selben Bezugszeichen versehen. Es zeigen:

Fig. 1
eine Teilansicht eines Tieflöffelbaggers, wie er aus dem Stand der Technik bekannt ist, und
Fig. 2
eine schematische Darstellung eines erfindungsgemäßen Systems zur Detektion der Orientierung und zur automa- tischen Steuerung einer Schaufel eines Tieflöffels mit einem telekopierbaren Löffelstiel.
There are now various possibilities for designing and developing the teaching of the present invention in an advantageous manner. For this purpose, reference is made on the one hand to the dependent claims and on the other hand to the following explanation of the preferred embodiments of the invention with reference to the drawings. In conjunction with the explanation of the preferred embodiments of the invention with reference to the drawings, generally preferred embodiments and developments of the teaching of the invention are explained. In this case, comparable or matching components are provided with the same reference numerals with regard to their function. Show it:
Fig. 1
a partial view of a backhoe as known in the art, and
Fig. 2
a schematic representation of a system according to the invention for detecting the orientation and for the automatic control of a bucket of a backhoe with a telekopierbaren dipper stick.

Fig. 1 zeigt ein selbstangetriebenes Arbeitsfahrzeug, welches in Gestalt eines aus dem Stand der Technik bekannten Tieflöffelbaggers 10 ausgeführt ist. Der Tieflöffelbagger 10 umfasst einen Rahmen 12, an welchem mit dem Untergrund verbundene Räder 14 angebracht sind, um das Arbeitsfahrzeug zu tragen und fortzubewegen. An der Rückseite des Arbeitsfahrzeugs ist eine Tieflöffelvorrichtung 18 angebracht. Die Tieflöffelvorrichtung 18 führt eine Vielzahl von Bagger- und Materialbearbeitungsfunktionen aus. Ein Bediener steuert die Funktionen des Arbeitsfahrzeugs von einer Bedienerstation 20 aus. Fig. 1 shows a self-propelled work vehicle, which is designed in the form of a known from the prior art backhoe 10. The backhoe 10 comprises a frame 12 to which are attached wheels 14 connected to the ground to support and move the work vehicle. At the rear of the work vehicle, a bucket device 18 is attached. The backhoe device 18 performs a variety of excavator and material handling functions. An operator controls the functions of the work vehicle from an operator station 20.

Die Tieflöffelvorrichtung 18 umfasst einen schwenkbaren Rahmen 62, einen Ausleger 64 bzw. einen Heckbaggerausleger, einen teleskopierbaren Löffelstiel 66 und ein Werkzeug, beispielsweise eine Tieflöffelschaufel 68 mit einer Teleskopladerwerkzeugeigenschaft. Der schwenkbare Rahmen 62 umfasst ein erstes Ende 70, welches um eine im Wesentlichen vertikal angeordnete Achse 72 schwenkbar am Rahmen 12 angeordnet ist, sowie ein zweites Ende 74. Der Ausleger 64 umfasst einen erstes Ende 76, welches um eine im Wesentlichen horizontal angeordnete Achse 78 des Tieflöffelauslegers drehbar an dem zweiten Ende 74 des schwenkbaren Rahmens 62 angeordnet ist, sowie ein zweites Ende 80. Der teleskopierbare Löffelstiel 66 umfasst ein erstes Ende 82, welches um eine im Wesentlichen horizontal angeordnete Achse 84 drehbar an dem zweiten Ende 80 des Auslegers 64 angeordnet ist, und ein zweites Ende 86, welches translatorisch relativ zum ersten Ende 82 ausfahrbar ist und an welchem die Schaufel 68 des Tieflöffels um eine im Wesentlichen horizontal angeordnete Achse 88 drehbar angeordnet ist.The backhoe device 18 includes a pivotable frame 62, a boom 64, a telescopic boom 66, and a tool, such as a bucket 68 with a telescopic handler feature. The pivotable frame 62 includes a first end 70 which is pivotally mounted to 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 about a substantially horizontally disposed axis 78 of the backhoe is rotatably mounted on the second end 74 of the pivotable frame 62, and a second end 80. The telescopic A dipper stick 66 includes a first end 82 rotatably disposed about a generally horizontally disposed axis 84 at the second end 80 of the cantilever 64 and a second end 86 translationally extendible relative to the first end 82 and at which the paddle 68 of the backhoe is rotatably disposed about a substantially horizontally disposed axis 88.

Ein Aktuator für den schwenkbaren Rahmen 62, welcher einen hydraulischen Zylinder 90 aufweist und welcher zwischen dem Rahmen 12 des Arbeitsfahrzeugs und dem schwenkbaren Rahmen 62 angeordnet ist, bewegt den schwenkbaren Rahmen 62 um die vertikal angeordnete Achse 72 in kontrollierbarer Weise. Ein Aktuator für den Ausleger 64 umfasst einen hydraulischen Zylinder 92, welcher zwischen dem schwenkbaren Rahmen 62 und dem Ausleger 64 angeordnet ist und welcher den Ausleger 64 um die Achse 78 in kontrollierbarer Weise bewegt. Ein Aktuator für den Löffelstiel 66 umfasst einen hydraulischen Zylinder 94, welcher zwischen dem Ausleger 64 und dem Löffelstiel 66 angeordnet ist und welcher den Löffelstiel 66 um die Achse 84 in kontrollierbarer Weise bewegt. Ein Aktuator 96 für die Tieflöffelschaufel umfasst einen hydraulischen Zylinder 98, welcher zwischen dem Löffelstiel 66 und der Tieflöffelschaufel 68 angeordnet ist und welcher die Tieflöffelschaufel 68 um die Achse 88 in kontrollierbarer Weise bewegt.An actuator for the pivotable frame 62, which has a hydraulic cylinder 90 and which is disposed between the frame 12 of the work vehicle 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. A bucket bucket actuator 96 includes a hydraulic cylinder 98 disposed between the bucket 66 and the bucket 68 and which controllably moves the bucket 68 about the axis 88.

Fig. 2 zeigt eine schematische Darstellung eines erfindungsgemäßen Systems zur Detektion der Orientierung und zur automatischen Steuerung der Tieflöffelschaufel mit telekopierbarem Löffelstiel. Fig. 2 shows a schematic representation of a system according to the invention for detecting the orientation and for the automatic control of the bucket bucket with telekopierbarem dipper stick.

Demgemäß weist ein Aktuator 95 zum Ausfahren des Löffelstiels 66 einen hydraulischen Zylinder auf, welcher sich zwischen dem ersten Ende 82 des Löffelstiels 66 und dem zweiten Ende 86 des Löffelstiels 66 erstreckt, und welcher kontrollierbar das zweite Ende 86 des Löffelstiels 66 relativ zum ersten Ende 82 bewegt bzw. ausfährt. Der Aktuator 96 für die Tieflöffelschaufel umfasst einen elektrohydraulischen Tieflöffelschaufelschaltkreis 100, welcher mit dem Hydraulikzylinder 98 der Tieflöffelschaufel 68 in Verbindung steht und welcher den Fluss der Hydraulikflüssigkeit zu dem Hydraulikzylinder 98 der Tieflöffelschaufel 68 versorgt und steuert.Accordingly, an actuator 95 for extending the dipper stick 66 has a hydraulic cylinder extending between the first end 82 of the dipper stick 66 and the second end 86 of the dipper stick 66 and controllably the second end 86 of the dipper stick 66 relative to the first end 82 moves or extends. The bucket blade actuator 96 includes an electro-hydraulic bucket shovel circuit 100 which communicates with the hydraulic cylinder 98 of the bucket shovel 68 and which supplies and controls the flow of hydraulic fluid to the hydraulic cylinder 98 of the bucket shovel 68.

Der Bediener steuert die Bewegung der Tieflöffelvorrichtung 18 durch die Manipulation einer Tieflöffelschaufelkommandoeingabeeinheit 102, einer Löffelstielkommandoeingabeeinheit 104, einer Löffelstielteleskopkommandoeingabeeinheit 105, einer Auslegerkommandoeingabeeinheit 106 und einer Eingabeeinheit für den schwenkbaren Rahmen 62. Die Tieflöffelschaufelkommandoeingabeeinheit 102 ist derart ausgebildet, dass diese ein Tieflöffelschaufelkommandosignal 108 in Abhängigkeit von der Manipulation des Bedieners erzeugt, welches proportional zu einer gewünschten Tieflöffelschaufelbewegung ist. Eine Steuereinheit 50 steht in Verbindung mit der Tieflöffelschaufelkommandoeingabeeinheit 102, der Löffelstielkommandoeingabeeinheit 104, der Löffelstielteleskopkommandoeingabeeinheit 105, der Auslegerkommandoeingabeeinheit 106 und dem Aktuator 96 für die Tieflöffelschaufel 68. Die Steuereinheit 50 empfängt das Tieflöffelschaufelkommandosignal 108 und erzeugt als Antwort hierauf ein Tieflöffelschaufelsteuersignal 110, welches von dem elektrohydraulischen Tieflöffelschaufelschaltkreis 100 empfangen wird. Der elektrohydraulische Tieflöffelschaufelschaltkreis 100 reagiert auf das Tieflöffelschaufelsteuersignal 110, indem Hydraulikflüssigkeit zu dem Hydraulikzylinder 98 der Tieflöffelschaufel 68 geleitet wird, wodurch der Hydraulikzylinder 98 die Tieflöffelschaufel 68 entsprechend bewegt.The operator controls the movement of the backhoe device 18 by manipulating a bucket shovel command input unit 102, a shovel command input unit 104, a bucket telescope command input unit 105, a boom command input unit 106, and a pivotable frame input unit 62. The bucket shovel command input unit 102 is configured to apply a bucket shovel command signal 108 as a function of the manipulation of the operator, which is proportional to a desired bucket shovel movement. A control unit 50 communicates with the bucket shovel command input unit 102, the shoestring command input unit 104, the bucket telescope command input unit 105, the boom command input unit 106, and the bucket shovel 68 actuator 96. The control unit 50 receives the bucket shovel command signal 108 and in response generates a bucket shovel control signal 110 which originates from the bucket shovel command signal 110 electrohydraulic bucket shovel circuit 100 is received. The electrohydraulic Bucket bucket circuit 100 responds to bucket blade control signal 110 by passing hydraulic fluid to hydraulic bucket 98 of bucket bucket 68, causing hydraulic cylinder 98 to move bucket bucket 68 accordingly.

Während des Teleskopladerbetriebs mit der Tieflöffelschaufel 68, welche ein Teleskopladerwerkzeug 150 zum Anheben und Bewegen von Rundballenmaterial oder Paletten aufweist, ist es wünschenswert, die anfängliche Orientierung bzw. Ausrichtung des Werkzeugs relativ zur Schwerkraft oder zu einem anderen Koordinatensystem beizubehalten, während die Gegenstände von einem zum anderen Ort transportiert werden. Um die anfängliche Orientierung der Tieflöffelschaufel 68 während einer Bewegung des Auslegers 64 und/oder des Löffelstiels 66 im Arbeitsbetrieb relativ zur Schwerkraft beizubehalten, muss der Bediener kontinuierlich die Tieflöffelschaufelkommandoeingabeeinheit 102 bedienen, um die Orientierung der Tieflöffelschaufel 68 anzupassen, wenn während des Arbeitsbetriebs der Ausleger 64 und/oder der Löffelstiel 66 bewegt wird. Eine Anpassung der Orientierung der Tieflöffelschaufel 68 in Verbindung mit der gleichzeitigen Bedienung der Auslegerkommandoeingabeeinheit 106, der Löffelstielteleskopkommandoeingabeeinheit 105 und der Löffelstielkommandoeingabeeinheit 104 und einer hiermit verbundenen Bewegung des Tieflöffelauslegers 64 und des Löffelstiels 66, erfordert von dem Bediener einen erhöhten Grad seiner Aufmerksamkeit und manuellen Fertigkeit, was insgesamt die Arbeitseffizienz verringert und die Ermüdung des Bedieners erhöht.During telehandler operation with the backhoe bucket 68 having a telehandler tool 150 for lifting and moving round bales or pallets, it is desirable to maintain the initial orientation of the tool relative to gravity or other coordinate system while moving the articles from one to the other be transported to another place. To maintain the initial orientation of the backhoe bucket 68 during movement of the boom 64 and / or the boom 64 in working mode relative to gravity, the operator must continually operate the bucket shovel command input unit 102 to adjust the orientation of the bucket 68 when the boom 64 is in operation and / or the dipper stick 66 is moved. Adjusting the orientation of the backhoe bucket 68, in conjunction with the simultaneous operation of the boom command input unit 106, the bucket telescope command input unit 105, and the bucket handle command input unit 104 and associated movement of the bucket boom 64 and the arm 62, requires the operator to be more attentive and skilled in manual skill. which reduces overall work efficiency and increases operator fatigue.

Zur Beibehaltung einer anfänglichen bzw. ursprünglichen Orientierung der Tieflöffelschaufel 68, welche ein Teleskopladerwerkzeug aufweist, wird ein Winkelgeschwindigkeitssensor 112 für die Tieflöffelschaufel 68 verwendet, welcher der Tieflöffelschaufel 68 zugeordnet ist und welcher in Verbindung mit der Steuereinheit 50 steht. Der Winkelgeschwindigkeitssensor 112 der Tieflöffelschaufel 68 ist ausgebildet, die Winkelgeschwindigkeit der Tieflöffelschaufel 68 relativ zur Achse 88 zu detektieren und kontinuierlich ein entsprechendes Winkelgeschwindigkeitssignal 114 zu generieren. Die Steuereinheit 50 ist ausgebildet, ein Winkelgeschwindigkeitssignal 114 der Tieflöffelschaufel 68 zu empfangen und ein Tieflöffelschaufelsteuersignal 110 als Antwort hierauf zu generieren, wodurch der Tieflöffelschaufelaktuator 96 die Tieflöffelschaufel 68 derart bewegt, dass die Tieflöffelschaufel 68 eine entsprechende bzw. gewünschte Winkelgeschwindigkeit ausführt. Falls eine automatische Beibehaltungsfunktionen vorgesehen ist, welche die von dem Bediener eingestellte ursprüngliche bzw. anfängliche Orientierung der Tiefladerschaufel 68 relativ zur Schwerkraft beibehalten soll, ist die erforderliche oder gewünschte Winkelgeschwindigkeit der Tieflöffelschaufel 68 im Wesentlichen Null. Weiterhin setzt die Steuereinheit 50 die automatische Beibehaltungsfunktion aus, während das Tieflöffelschaufelkommandosignal 108 empfangen wird, wenn also der Bediener eine Bewegung der Tiefladerschaufel 68 vornimmt. Die Steuereinheit 50 nimmt unmittelbar nach Beendigung des Tieflöffelschaufelkommandosignals 108 die dann vorliegende Orientierung bzw. Ausrichtung der Tieflöffelschaufel 68 als anfängliche bzw. ursprüngliche Ausrichtung der Tieflöffelschaufel 68 an.To maintain an initial orientation of the backhoe bucket 68 having a telescopic handler tool, an angular rate sensor 112 is used for the bucket bucket 68 associated with the bucket 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 the axis 88 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. If an automatic hold function is provided which is to maintain the operator's initial or initial orientation of the low loader bucket 68 relative to gravity, the required or desired angular speed of the bucket bucket 68 is substantially zero. Furthermore, the control unit 50 suspends the automatic hold function while the bucket shovel command signal 108 is being received, that is, when the operator is making the shovel bucket 68 move. The controller 50 immediately upon completion of the bucket shovel command signal 108 assumes the then present orientation of the backhoe bucket 68 as the initial orientation of the bucket shovel 68.

Gemäß eines bevorzugten Ausführungsbeispiels ist ein Beibehaltungskommandoschalter 116 vorgesehen, welcher mit der Steuereinheit 50 in Verbindung steht. Der Beibehaltungskommandoschalter 116 ist ausgebildet, um ein Beibehaltungskommandosignal 118 zu generieren, welches einer Bedienung des Beibehaltungskommandoschalters 116 durch den Bediener entspricht, um den Betrieb der automatischen Beibehaltungsfunktion für die Tieflöffelschaufel 68 zu aktivieren. Die Steuereinheit 50 ist ausgebildet, das Winkelgeschwindigkeitssignal 114 der Tieflöffelschaufel 68 zu ignorieren, sofern sie nicht das Beibehaltungskommandosignal 118 von dem Beibehaltungskommandoschalter 116 empfängt.According to a preferred embodiment, 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 angular velocity signal 114 of the bucket 68 unless it receives the maintenance command signal 118 from the maintenance command switch 116.

Claims (5)

  1. Backhoe excavator, with a frame (12), a boom (64), a boom actuator (92), a telescopic dipper arm (66), a dipper arm actuator (94), an actuator (95) for telescoping the dipper arm (66), a tool (68), a tool actuator (96), a tool command input unit (102) and a control unit (50), wherein the boom (64) has a first end (76) and a second end (80), wherein the first end (76) is arranged on the frame (12) so as to be pivotable about an axis (78), wherein the dipper arm (66) has a first end (82) and a second end (86), wherein the first end (82) is mounted on the second end (80) of the boom (64) so as to be pivotable about an axis (84), wherein the second end (86) of the dipper arm (66) can be moved telescopically relative to the first end (82) of the dipper arm (66), wherein the tool (68) is mounted on the second end (86) of the dipper arm (66) so as to be pivotable about an axis (88) and is intended to perform a work function, wherein the tool actuator (96) has a hydraulic cylinder (98) and an electronically actuatable hydraulic switching circuit (100), wherein the hydraulic cylinder (98) extends between the dipper arm (66) and the tool (68) and is designed to move the tool (68) controllably about the axis (88) as a reaction to a tool control signal (110), wherein the boom actuator (92) has a hydraulic cylinder which extends between the frame (12) and the boom (64) and is designed to move the boom (64) controllably about the axis (78), wherein the dipper arm actuator (94) has a hydraulic cylinder which extends between the boom (64) and the dipper arm (66) and is designed to move the dipper arm (66) controllably about the axis (84), wherein the actuator (95) for telescoping the dipper arm (66) has a hydraulic cylinder which extends between the first and the second end (82, 86) of the dipper arm (66) and is designed to move the second end (86) of the dipper arm (66) telescopically in a controllable manner, wherein the tool command input unit (102) is designed to generate a tool command signal (108) as a reaction to an actuation by an operator corresponding to a desired tool movement, wherein the control unit (50) has computational, memory and/or real-time capabilities and is connected to the tool actuator (96) and to the tool command input unit (102), wherein the control unit (50) is designed to receive the tool command signal (108) and as a reaction thereto to generate a tool control signal (110) in order to achieve a predeterminable tool movement, characterized in that an angular velocity sensor (112) connected to the control unit (50) is assigned to the tool (68) and is designed to detect the angular velocity of the tool (68) about the axis (88) and to continuously generate an angular velocity signal (114), wherein the control unit (50) is further designed to generate a tool control signal (110) in order to continuously achieve a predeterminable tool angular velocity as a reaction to the received angular velocity signal (114) if no tool command signal (108) is received.
  2. Backhoe excavator according to Claim 1, characterized in that the predeterminable angular velocity is zero, with the result that an initial tool orientation can be substantially maintained.
  3. Backhoe excavator according to Claim 2, characterized in that the initial tool orientation substantially corresponds to the orientation of the tool (68) which is present when the tool command input unit (102) no longer generates a tool command signal (108).
  4. Backhoe excavator according to one of Claims 1 to 3, characterized in that a tool maintenance command switch (116) is provided which is in connection with the control unit (50) and which is designed to generate a tool maintenance command signal (118) as a reaction to an actuation by an operator, wherein the control unit (50) is designed to ignore the angular velocity signal (114) if the tool maintenance command signal (118) is not received.
  5. Backhoe excavator according to one of Claims 1 to 4, characterized in that the tool (68, 150) has a backhoe shovel which has properties of a telescopic loader tool.
EP04101384A 2003-04-11 2004-04-02 Back-hoe with telescopic dipper Expired - Lifetime EP1467031B1 (en)

Applications Claiming Priority (2)

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US412519 1995-03-29
US10/412,519 US6757994B1 (en) 2003-04-11 2003-04-11 Automatic tool orientation control for backhoe with extendable dipperstick

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