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EP1467031B1 - Excavatrice avec bras de godet télescopique - Google Patents

Excavatrice avec bras de godet télescopique 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)
English (en)
Other versions
EP1467031A1 (fr
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/fr
Application granted granted Critical
Publication of EP1467031B1 publication Critical patent/EP1467031B1/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
    • 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)

Claims (5)

  1. Excavatrice, avec un châssis (12), un cantilever (64), un actionneur de cantilever (92), un bras de godet télescopique (66), un actionneur de bras de godet (94), un actionneur (95) pour télescoper le bras de godet (66), un outil (68), un actionneur d'outil (96), une unité d'entrée de commande d'outil (102) et une unité de commande (50), le cantilever (64) comportant une première extrémité (76) et une deuxième extrémité (80), la première extrémité (76) étant disposée au niveau du châssis (12) de façon à pivoter autour d'un axe (78), le bras de godet (66) comportant une première extrémité (82) et une deuxième extrémité (86), la première extrémité (82) étant disposée au niveau de la deuxième extrémité (80) du cantilever (64) de façon à pivoter autour d'un axe (84), la deuxième extrémité (86) du bras de godet (66) pouvant être déplacée de façon télescopique par rapport à la première extrémité (82) du bras de godet (66), l'outil (68) étant disposé au niveau de la deuxième extrémité (86) du bras de godet (66) de façon à pivoter autour d'un axe (88) et étant prévu pour accomplir une fonction de travail, l'actionneur d'outil (96) comportant un vérin hydraulique (98) et un circuit hydraulique (100) commandable électronique, le vérin hydraulique (98) s'étendant entre le bras de godet (66) et l'outil (68) et étant réalisé pour déplacer l'outil (68) de façon contrôlée, en réaction à un signal de commande d'outil (110), autour de l'axe (88), l'actionneur de cantilever (92) comportant un vérin hydraulique s'étendant entre le châssis (12) et le cantilever (64) et étant réalisé pour déplacer de façon contrôlée le cantilever (64) autour de l'axe (78), l'actionneur de bras de godet (94) comportant un vérin hydraulique s'étendant entre le cantilever (64) et le bras de godet (66) et étant réalisé pour déplacer de façon contrôlée le bras de godet (66) autour de l'axe (84), l'actionneur (95) comportant un vérin hydraulique pour télescoper le bras de godet (66) s'étendant entre la première et la deuxième extrémité (82, 86) du bras de godet (66) et étant réalisé pour déplacer de façon télescopique la deuxième extrémité (86) du bras de godet (66), l'unité d'entrée de commande d'outil (102) étant réalisée pour émettre un signal de commande d'outil (108) prenant la forme d'une réaction à un actionnement correspondant à un mouvement d'outil souhaité par un utilisateur, l'unité de commande (50) présentant des capacités de calcul au niveau de la mémoire et/ou en temps réel et étant reliée à l'actionneur d'outil (96) et à l'unité d'entrée de commande d'outil (102), l'unité de commande (50) étant réalisée pour recevoir le signal de commande d'outil (108) et pour émettre en réaction à celui-ci un signal de commande d'outil (110), pour obtenir un mouvement d'outil prédéfini, caractérisée en ce qu'un capteur de vitesse angulaire (112) relié à l'unité de commande (50) est associé à l'outil (68) et est réalisé pour détecter la vitesse angulaire de l'outil (68) autour de l'axe (88) et pour émettre en continu un signal de vitesse angulaire (114), l'unité de commande (50) étant en outre réalisée pour émettre un signal de commande d'outil (110) pour atteindre en continu une vitesse angulaire d'outil prédéfinie en réaction au signal de vitesse angulaire (114), en l'absence de réception de signal de commande d'outil (108).
  2. Excavatrice selon la revendication 1, caractérisée en ce que la vitesse angulaire prédéfinie est nulle, ce qui permet de conserver pour l'essentiel l'orientation d'outil du début.
  3. Excavatrice selon la revendication 2, caractérisée en ce que l'orientation d'outil du début correspond pour l'essentiel à l'orientation de l'outil (68) observée lorsque l'unité d'entrée de commande d'outil (102) n'envoie plus aucun signal de commande d'outil (108).
  4. Excavatrice selon l'une quelconque des revendications 1 à 3, caractérisée en ce qu'un commutateur de commande de maintien d'outil (116) est prévu, lequel est relié à l'unité de commande (50) et est réalisé pour émettre un signal de commande de maintien d'outil (118) en réaction à un actionnement d'utilisateur, l'unité de commande (50) étant réalisée pour ignorer le signal de vitesse angulaire (114) en l'absence de réception d'un signal de commande de maintien d'outil (118).
  5. Excavatrice selon l'une quelconque des revendications 1 à 4, caractérisée en ce que l'outil (68, 150) comporte une pelle à godet présentant les propriétés d'un outil de chargement télescopique.
EP04101384A 2003-04-11 2004-04-02 Excavatrice avec bras de godet télescopique Expired - Lifetime EP1467031B1 (fr)

Applications Claiming Priority (2)

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

Publications (2)

Publication Number Publication Date
EP1467031A1 EP1467031A1 (fr) 2004-10-13
EP1467031B1 true EP1467031B1 (fr) 2010-09-08

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Family Applications (1)

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EP04101384A Expired - Lifetime EP1467031B1 (fr) 2003-04-11 2004-04-02 Excavatrice avec bras de godet télescopique

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US (1) US6757994B1 (fr)
EP (1) EP1467031B1 (fr)
DE (1) DE502004011628D1 (fr)

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Publication number Publication date
US6757994B1 (en) 2004-07-06
EP1467031A1 (fr) 2004-10-13
DE502004011628D1 (de) 2010-10-21

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