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EP4361351B1 - Handhabungsmaschine - Google Patents

Handhabungsmaschine Download PDF

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Publication number
EP4361351B1
EP4361351B1 EP23205293.6A EP23205293A EP4361351B1 EP 4361351 B1 EP4361351 B1 EP 4361351B1 EP 23205293 A EP23205293 A EP 23205293A EP 4361351 B1 EP4361351 B1 EP 4361351B1
Authority
EP
European Patent Office
Prior art keywords
tool
cylinder
boom
compensation
tipping
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.)
Active
Application number
EP23205293.6A
Other languages
English (en)
French (fr)
Other versions
EP4361351C0 (de
EP4361351A1 (de
Inventor
Pierre GERMANAUD
Tommy PINEL
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.)
ManuRob SAS
Original Assignee
ManuRob SAS
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 ManuRob SAS filed Critical ManuRob SAS
Publication of EP4361351A1 publication Critical patent/EP4361351A1/de
Application granted granted Critical
Publication of EP4361351C0 publication Critical patent/EP4361351C0/de
Publication of EP4361351B1 publication Critical patent/EP4361351B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • E02F3/34—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 with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines
    • E02F3/3414—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 with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines the arms being pivoted at the rear of the vehicle chassis, e.g. skid steer loader
    • 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
    • E02F3/34—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 with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines
    • E02F3/3405—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 with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines and comprising an additional linkage mechanism
    • 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
    • E02F3/38—Cantilever beams, i.e. booms;, e.g. manufacturing processes, forms, geometry or materials used for booms; Dipper-arms, e.g. manufacturing processes, forms, geometry or materials used for dipper-arms; Bucket-arms
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles

Definitions

  • the invention relates to the field of handling machines comprising a pivotally mounted boom and a tool, such as a bucket for example, which is mounted articulated on the boom.
  • handling machines are known in which the boom is pivotally mounted on the chassis by means of a deformable parallelogram type articulation device, i.e. comprising two connecting rods which are each pivotally mounted, on the one hand, on the chassis and, on the other hand, on the boom.
  • the machines also comprise a lifting cylinder which is pivotally mounted, on the one hand, on the chassis and, on the other hand, on the boom and which thus makes it possible to move the boom between an extreme lowered position and an extreme raised position.
  • a tool or a tool-carrying frame intended to receive a tool is pivotally mounted on one end of the boom and a dump cylinder makes it possible to pivot said tool or tool-carrying frame relative to the boom.
  • Such articulation means are particularly advantageous in that the deformable parallelogram articulation device is such as to prevent, or at least limit, the longitudinal displacement of the center of gravity of the machine when the boom pivots. The risks of the machine tipping over are thus limited.
  • the reliability of the compensation is variable since the operation of the compensation valve depends on the viscosity of the oil used and this varies according to the duration and conditions of use (in particular outside temperature).
  • An idea underlying the invention consists of proposing a handling machine which does not have the aforementioned drawbacks, i.e. equipped with compensation means which make it possible to reliably maintain the inclination of the tool relative to the chassis, constant or substantially constant, during the movement of the boom.
  • the use of the aforementioned compensation cylinder does not have the disadvantages of the aforementioned compensation valve, in particular in that the reliability of the compensation which is ensured by the compensation cylinder no longer depends on the viscosity of the oil used.
  • the arrangement of said compensation cylinder which acts between the front connecting rod and the boom is particularly compact and allows said compensation cylinder to be positioned in a configuration allowing it to ensure a substantially constant position of the tool or the tool-carrying frame relative to the chassis during movement of the boom, for at least one inclination of the tool or the tool-carrying frame relative to the chassis.
  • such a handling machine may have one or more of the following characteristics.
  • the compensation cylinder is arranged to extend during a movement towards the second compensation position and to retract during a movement towards the first compensation position.
  • the compensation cylinder is arranged to exert an assistance force participating with the lifting cylinder in the movement of the boom towards the extreme raised position. This makes it possible to restrict the dimensioning of the lifting cylinder and consequently its size, its cost and the flow rate of hydraulic fluid to be provided to actuate it.
  • the dump cylinder is arranged to extend during a movement towards the second dump position and to retract during a movement towards the first dump position.
  • the boom comprises two lifting arms extending on either side of a longitudinal axis of the machine, the front connecting rod being arranged between the two lifting arms and being mounted articulated on each of the two lifting arms around the third axis. This contributes in particular to the compactness of the machine.
  • the machine comprises two compensation cylinders which are positioned on either side of the front connecting rod and which are respectively pivotally mounted on one and the other of the two lifting arms around the sixth axis and are pivotally mounted on the front connecting rod around the seventh axis, each of the two compensation cylinders being hydraulically connected to said tipping cylinder.
  • This arrangement allows the compensation cylinders to exert forces on the boom and the front connecting rod which are balanced relative to the median plane of the machine without however harming the compactness of the machine.
  • the dump cylinder comprises a first chamber and a second chamber which are separated from each other by a piston which is integral with a rod of the dump cylinder, said rod of the dump cylinder passing through the second chamber;
  • the compensation cylinder comprising a first chamber and a second chamber which are separated from each other by a piston which is integral with a rod of said compensation cylinder, said rod of said compensation cylinder passing through the second chamber of said compensation cylinder, the first chamber and the second chamber of the dump cylinder being hydraulically connected respectively to the first chamber and to the second chamber of the dump cylinder.
  • the predetermined position of the tool frame or the tool when the boom is in the extreme lowered position is the extreme digging position. This makes it possible to ensure that the inclination of the tool relative to the chassis is maintained substantially constantly for the digging positions of the tool, i.e. those which are most critical to prevent material from escaping from the tool during movement of the boom.
  • the dumping cylinder is pivotally mounted on a balance beam and on the boom, a dumping connecting rod being pivotally mounted on the balance beam and on the tool-carrying frame or the tool.
  • the tipping cylinder is pivotally mounted on fixing ears each projecting upwards from a cross member connecting two lifting arms of the boom.
  • the boom comprises two lifting arms extending on either side of a longitudinal axis of the machine.
  • the frame comprises a projecting portion which projects upwardly between the two lifting arms, said projecting portion projecting beyond the two lifting arms when the boom is in the extreme lowered position.
  • the projecting portion comprises two uprights arranged between the two lifting arms respectively on either side of the longitudinal plane of the machine, the front connecting rod being pivotally mounted around the fourth axis between said uprights.
  • the chassis comprises two side members which extend longitudinally on either side of the longitudinal plane, between the two lifting arms, the side members being connected to each other by cross members, the two uprights of the projecting portion being respectively formed in one and the other of the two side members.
  • the front connecting rod comprises a bent portion which has an upwardly oriented concavity so that a front portion of the front connecting rod, located in front of said bent portion, is located between the two uprights of the projecting portion when the boom is in the extreme lowered position.
  • the machine does not have a cabin intended to accommodate a driver, which makes the machine particularly compact.
  • the first, second, third and fourth axes are positioned so that, during a movement of the boom between the extreme lowered position and the extreme raised position, the fifth axis moves horizontally over a distance h and vertically over a distance v with h less than 15% of v, preferably less than 10% of v, for example of the order of 7% of v. This makes it possible to significantly limit the risks of the machine tipping over since the center of gravity of the machine moves little in the longitudinal direction of the machine during movements of the boom.
  • the machine comprises a lifting cylinder which comprises a first end pivotally mounted on the boom and a second end pivotally mounted on the chassis.
  • the front connecting rod comprises a bent portion which has an upwardly oriented concavity so that a front portion of the front connecting rod, located in front of said bent portion, is located between the two uprights of the projecting portion when the boom is in the extreme lowered position. This contributes to the compactness and aesthetics of the machine.
  • the machine comprises two anti-friction pads which are respectively fixed on a lateral face of one and the other of the uprights so as to be positioned between said upright and one of the lifting arms when the boom is in the extreme lowered position.
  • the anti-friction pads make it possible to limit the friction likely to occur between the boom and the projecting portion of the chassis, in the event of transverse bending of the boom.
  • the machine further comprises a body fixed to the chassis, said body having a central recess in which the boom is housed in the extreme lowered position.
  • the machine comprises a front axle and a rear axle, which are each mounted on the chassis along a transverse axis and are each equipped with two wheels, the machine further comprising an electric motor which is coupled to at least one of the front and rear axles via a transmission device.
  • the machine comprises an electrical energy storage device comprising one or more batteries and connected to the electric motor, said electrical energy storage device being arranged in a housing space of the bodywork, positioned behind the rear axle. This makes it possible to form a counterweight intended to compensate for the load carried by the tool.
  • the "longitudinal” direction of the handling machine corresponds to the front-rear orientation. Furthermore, the “transverse” direction is oriented perpendicular to the longitudinal direction.
  • the terms “rear” and “front” correspond respectively to the abbreviations AR and AV indicated in the figures and are used to define the relative position of one element with respect to another in the longitudinal direction.
  • the terms “front” and “rear” are adopted here in relation to the tool loading direction, i.e. the tool is positioned at the front of the machine. This definition does not prefigure the preferred direction of movement of the machine, which can therefore occur either forward or backward.
  • a handling machine 1 is described according to one embodiment.
  • the machine 1 comprises a chassis 2, visible in the figures 5 to 7 , and an arrow 3 which is mounted articulated on the chassis 2 by an articulation device described below.
  • a tool-carrying frame 4 intended to receive a tool 5, is mounted articulated at the end of the arrow 3.
  • tool we mean, for example, forks or a bucket, such as a simple bucket, a silage bucket, a distributor bucket or others.
  • the machine 1 does not have a tool-carrying frame 4 and the tool 5 is permanently mounted in an articulated manner, that is to say in an irremovable manner, at the end of the boom 3.
  • the chassis 2 is movable.
  • the machine 1 comprises two axles, a front axle 6 and a rear axle 7, which are each mounted on the chassis 2 along a transverse axis and are each equipped with two wheels, one on the left and the other on the right.
  • At least one and preferably both the front 6 and rear 7 axles are steering axles, i.e. are equipped with means for varying the orientation of the wheels relative to the longitudinal direction of the machine 1.
  • Machine 1 has a body 8, visible on the figures 1 to 4 , which rests on the chassis 2 and is fixed to it.
  • the body 8 has housing spaces for receiving equipment of the machine 1.
  • the machine 1 comprises at least one electric motor, not shown, which is fixed to the chassis 2 and which is coupled to at least one of the front 6 or rear 7 axles, or to both, by means of a mechanical or hydraulic transmission device.
  • the machine 1 also comprises an electrical energy storage device, not visible, which comprises one or more batteries and which is connected to the electric motor in order to supply it with electrical energy.
  • the electrical energy storage device is arranged in a housing space 9, shown for example in the Figure 1 , which is arranged at the rear of the bodywork 8, behind the rear axle 7. Taking this arrangement into account, the bodywork 8 has a height which decreases from the rear to the front.
  • the boom 3 comprises two lifting arms 12, 13 which extend longitudinally, parallel to each other and which are arranged on either side of the median longitudinal plane of the machine 1.
  • the two lifting arms 12, 13 are connected to each other by means of crosspieces 14, 15, 16, for example visible on the Figure 4 .
  • the boom 3 is mounted to move relative to the chassis 2 between an extreme lowered position, shown in the Figure 3 , and an extreme raised position, shown on the Figure 6 .
  • the arrow 3 is thus able to take a plurality of positions between the two aforementioned extreme positions and in particular a transport position, shown in the Figures 1 and 2 in which the tool-carrying frame 4 is positioned at a sufficient distance from the ground so as not to reduce the ground clearance of the machine 1.
  • the boom 3 is mounted articulated on the chassis 2 by means of an articulation device comprising two connecting rods, namely a front connecting rod 17 and a rear connecting rod 18, notably visible on the figures 5 to 7 .
  • the rear connecting rod 18 is, on the one hand, pivotally mounted on the chassis 2 about an axis A and, on the other hand, pivotally mounted on the boom 3 about an axis B.
  • the front connecting rod 17 is, on the one hand, pivotally mounted on the boom 3 about an axis D and, on the other hand, pivotally mounted on the chassis 2 about an axis C.
  • the four geometric axes A, B, C and D are parallel to each other and oriented transversely.
  • the axes A, B, C and D thus define the vertices of a deformable quadrilateral.
  • the axes A, B, C and D are positioned so that when the front connecting rod 17 and the rear connecting rod 18 straighten, the boom 3 tilts and the front end of the boom 3 rises relative to its rear end.
  • the axes A, B, C and D are further positioned so that the articulation axis G of the tool-carrying frame 4 relative to the boom 3 moves only very little horizontally during the movement of the boom 3.
  • the articulation axis G moves vertically by a distance v and horizontally by a distance h; with h less than 15% of v, preferably less than 10% of v and for example of the order of 7% of v.
  • this kinematics of the arrow 3 is obtained in particular thanks to the position of the axis C on a projecting portion 11 of the chassis 2, that is to say at a height greater than that of the axis A.
  • the body 8 has a central recess 19 in which the lifting arms 12, 13 as well as the front connecting rod 17 and the rear connecting rod 18 are housed at least partially when the boom 3 is in the transport position.
  • the lifting cylinder 24 as well as the compensation cylinders 30, 31, described below, are also housed in the central recess 19 when the boom 3 is in the transport position.
  • the lifting arms 12, 13 have a general shape which substantially follows the profile of the upper surface of the body 8, when the boom 3 is in the transport position. In other words, in the transport position of the boom 3, the lifting arms 12, 13 are, from the rear to the front, inclined downwards.
  • the lifting arms 12, 13 further comprise a bent portion 20 whose concavity is oriented towards the ground so that the front end of said lifting arms 12, 13 is positioned in front of the chassis 2 and the bodywork 8 of the machine 1, when the boom 3 is in the transport position or in the extreme lowered position.
  • the rear connecting rod 18 comprises two articulation flanges which respectively carry an articulation axis cooperating with one and the other of the two lifting arms 12, 13. Furthermore, the front connecting rod 17 is positioned between the two lifting arms 12, 13. The front connecting rod 17 therefore extends in the median longitudinal plane of the machine 1. Furthermore, the front connecting rod 17 is articulated on a projecting portion 11 of the chassis 2 which projects, between the two lifting arms 12, 13, upwards, beyond said lifting arms 12, 13 when the boom 3 is in the transport position or in the extreme lowered position.
  • the projecting portion 11 comprises two uprights 21, 22, parallel to each other, and arranged between the two lifting arms 12, 13, respectively on either side of the median longitudinal axis of the machine 1.
  • the uprights 21, 22 are formed in a single piece with the two longitudinal side members of the chassis 2 which are connected to each other by crosspieces, and extend on either side of the median longitudinal plane, between the two lifting arms 12, 13.
  • the projecting portion 11 also makes it possible to absorb the forces exerted on the boom 3 in a transverse direction and tending to cause it to bend, which makes it possible to limit the risks of the boom 3 becoming irreversibly deformed.
  • the projecting portion 11 comprises anti-friction pads 23, visible in particular on the figures 3, 4 And 6 , which are each fixed on a lateral face of one of the uprights 21, 22 of the projecting portion 11.
  • the anti-friction pads 23 are thus each positioned between one of the uprights 21, 22 and one of the lifting arms 12, 13 when the boom is in the transport position or in the extreme lowered position.
  • the anti-friction pads 23 are made of a material having a low coefficient of friction, such as polyamide 6 for example.
  • the anti-friction pads 23 are each spaced transversely from one of the lifting arms 12, 13 by a determined clearance so that one of said lifting arms 12, 13 only comes into contact with the corresponding anti-friction pad 23 when said lifting arm 12, 13 is subjected to a transverse force causing it to flex in the direction of said anti-friction pad 23.
  • the front end of the front connecting rod 17 is housed in the space provided between the two uprights 21, 22. Furthermore, as shown in particular on the figures 7 and 8 , the front connecting rod 17 has a bent portion 39 whose concavity is oriented upwards. Thus, when the boom 3 is in the transport position or in the extreme lowered position, the front portion of the front connecting rod 17, that is to say that which is arranged in front of the bent portion 39 is also located between the two uprights 21, 22 of the projecting portion 11, which contributes to the compactness and aesthetics of the machine 1.
  • Machine 1 includes a lifting cylinder 24, notably visible on the figures 5 to 7 , allowing the boom 3 to be moved between the extreme lowered position and the extreme raised position.
  • the lifting cylinder 24 has one end which is mounted articulated on the chassis 2 around a hinge axis E and another end which is mounted articulated on the boom 3 around a hinge axis F, the hinge axes E and F being parallel to A, B, C and D.
  • the lifting cylinder 24 deploys, it causes the boom 3 to move towards the extreme raised position.
  • the lifting cylinder 24 retracts, it causes the boom 3 to move towards the extreme lowered position.
  • the machine 1 comprises a tool-carrying frame 4 which is intended to be secured to a tool 5 and which is mounted articulated at the front end of the boom 3 around an axis G.
  • the tool-carrying frame 4 is thus able to take a plurality of positions between two extreme positions, namely an extreme digging position and an extreme dumping position.
  • a dump cylinder 25 acts on the tool-carrying frame 4 via a rocker arm 26 so as to pivot said tool-carrying frame 4 (or the tool 5 if the latter is permanently mounted in an articulated manner on the boom 3) around the axis G, relative to the boom 3.
  • the dump cylinder 25 comprises a first end which is mounted in an articulated manner on the boom 3 around an axis H, parallel to the axes A, B, C and D. More particularly, in the embodiment shown, the first end of the dump cylinder 25 is mounted in an articulated manner on two fixing lugs 27, 28 which each project upwards from the crosspiece 15 connecting the two lifting arms 12, 13. The second end of the dump cylinder 25 is mounted in an articulated manner on the rocker arm 26 around an axis I, parallel to H. As shown in particular in the Figure 1 to 3 , when the boom 3 is in the transport position or in the extreme lowered position, the fixing ears 27, 28 are located in front of the projecting portion 11, close to it.
  • the fixing ears 27, 28 extend to a height lower than that of the projecting portion 11 when the boom 3 is in the transport position or below it.
  • the machine 1 may also comprise several, and in particular two, tipping cylinders 25.
  • the tipping cylinders 25 are arranged parallel to each other and mounted articulated on the boom 3 and on the rocker 26 around the same geometric axes.
  • the two ends of the balance 26 are respectively mounted articulated on the boom 3 around an axis J and on a tipping rod 29 around an axis K.
  • Said tipping rod 29 is further mounted articulated around an axis L on the tool-carrying frame 4. so that the pivoting movement of the balance 26 about the axis K causes the tool holder frame 4 to pivot about the axis G.
  • the axes G, J, K and L are parallel to each other, as well as to the axes A, B, C and D and oriented transversely.
  • the axes G, J, K and L thus define the vertices of a deformable quadrilateral.
  • the dumping cylinder 25 when the dumping cylinder 25 deploys, it causes the tool-carrying frame 4 to pivot relative to the boom 3, around the axis G, in a first direction, i.e. in the direction of the extreme dumping position, whereas, on the contrary, when the dumping cylinder 25 retracts, it causes the tool-carrying frame 4 to pivot relative to the boom 3 in a second direction, i.e. in the direction of the extreme digging position.
  • the machine 1 comprises at least one compensation cylinder 30, 31 which is hydraulically connected to the tipping cylinder 25.
  • the machine comprises two compensation cylinders 30, 31, visible in particular on the Figure 7 , which are each hydraulically connected to the tipping cylinder 25.
  • the machine comprises a hydraulic control circuit which is configured to provide control of the lifting cylinder 24 and the dumping cylinder 25.
  • the hydraulic circuit comprises in particular a reservoir 35, a pump 36 connected to the reservoir 35 as well as a flow-sharing distributor 37.
  • the pump 36 is also supplied with electrical energy by the electrical energy storage device described above.
  • the flow-sharing distributor 37 is configured to put the hydraulic fluid coming from the pump into communication with the lifting cylinder 24, with the dumping cylinder 25 or simultaneously with the lifting cylinder 24 and the dumping cylinder 25.
  • the dump cylinder 25 is a double-acting cylinder. In other words, it has two variable-volume chambers, namely a first chamber 38, on the bottom side, and a second chamber 40, on the rod side, which are separated from each other by a piston 41 which is integral with the rod 42 of the dump cylinder 25 and is housed in the body of said dump cylinder 25.
  • the first chamber 38 and the second chamber 40 comprise a respective supply orifice by which said first or second chamber 38, 40 is connected to a line 43, 44 of the hydraulic circuit.
  • the dump cylinder 25 extends whereas, on the contrary, when the hydraulic pressure in the second chamber 40 is greater than that prevailing in the first chamber 38, the dump cylinder 25 retracts.
  • the line of the hydraulic circuit leading to the second chamber 40 is equipped with a valve balancing valve 45 for blocking the outlet of hydraulic fluid from the second chamber 40 when the pressure difference between the two lines 43, 44 connected to the dump cylinder 25 is abnormal and exceeds a threshold. In such a case, the balancing valve 45 prohibits the uncontrolled extension of the dump cylinder 25, which prevents the movement of the tool 5 towards its extreme dumping position
  • the lifting cylinder 24 is also a double-acting cylinder and also has two variable-volume chambers, namely a first chamber 46, on the bottom side, and a second chamber 47, on the rod side, which are separated from each other by a piston 48 which is integral with the rod 49 of the lifting cylinder 24.
  • the lifting cylinder 24 is also associated with a balancing valve 50.
  • the balancing valve 50 is here associated with the line 51 leading to the first chamber 46.
  • the balancing valve 50 aims to prevent uncontrolled retraction of the lifting cylinder 24, which prevents the movement of the boom 3 towards the extreme lowered position.
  • the compensation cylinders 30, 31 are also double-acting cylinders which each comprise two variable-volume chambers, namely a first chamber 52, on the bottom side, and a second chamber 53, on the rod side, separated from each other by a piston 54 connected to the rod 55 of said compensation cylinder 30, 31.
  • the first chambers 52, 53 of the compensation cylinders 30, 31 are hydraulically connected to the first chamber 38 of the tipping cylinder 25 while the second chambers 53 of the compensation cylinders 30, 31 are hydraulically connected to the second chamber 40 of the tipping cylinder 25.
  • the retraction of the compensation cylinders 30, 31 causes the tipping cylinder 25 to extend while, on the contrary, the extensions of the compensation cylinders 30, 31 causes the tipping cylinder 25 to retract.
  • the compensation cylinders 30, 31 are each pivotally mounted, on the one hand, on the front connecting rod 17 around an axis M, and, on the other hand, on one of the lifting arms 12, 13 around an axis N, the axes N and M being parallel to the axes A, B, C and D.
  • the two compensation cylinders 30, 31 are respectively arranged on either side of the front connecting rod 17 and between the two lifting arms 12, 13.
  • the axis N is positioned, relative to the axis D of articulation of the front connecting rod 17, downwards and backwards.
  • the compensation cylinders 30, 31 retract which causes the extension of the dump cylinder 25 and, consequently, the movement of the tool-carrying frame 4 towards the extreme dumping position.
  • the compensation cylinders 30, 31 extend which causes the retraction of the dump cylinder 25 and, consequently, the movement of the tool-carrying frame 4 towards the extreme digging position.
  • the compensation cylinders 30, 31 as well as the tipping cylinder 25 are arranged so that, from a determined position of the tool-carrying frame 4 or of the tool 5 when the boom 3 is in the extreme lowered position, the angular displacement ⁇ 1 of the tool-carrying frame 4 or of the tool 5 around the axis G relative to the boom 3 during a movement of the boom 3 from the extreme lowered position to the extreme raised position is between - ⁇ 2-x and - ⁇ 2+x; with: ⁇ 2: the angular movement of the boom 3 relative to the chassis 2 during a movement of the boom 3 from the extreme lowered position to the extreme raised position; x: a tolerance of 20.
  • the determined position of the tool-carrying frame 4 or of the tool 5 relative to the boom 3 is the extreme digging position.
  • such an arrangement is advantageous in that the compensation cylinders 30, 31 make it possible to pivot the tool-carrying frame 4 or the tool 5 around the axis G in order to compensate for the angular movement of the boom 3 relative to the chassis 2 during the movement of the boom 3 so that the relative inclination of the tool-carrying frame 4 or the tool 5 relative to the chassis 2 remains constant or substantially constant.
  • the embodiment shown is advantageous in that the compensation cylinders 30, 31 make it possible to exert an assistance force participating with the lifting cylinder 24 in the movement of the boom 3 in the direction of the extreme raised position.
  • the machine 1 is autonomous, that is to say that it is capable of moving and carrying out handling operations in an automated manner, without the intervention of a driver.
  • the machine 1 is therefore devoid of a cabin intended to accommodate a driver, which allows it to be make it particularly compact.
  • the machine 1 comprises at least one spatial detection sensor 10, that is to say a sensor generating signals which comprise information representative of the position of the objects located in the environment of the machine 1.
  • the spatial detection sensor 10 is fixed on the projecting portion 11, preferably at its top.
  • the spatial detection sensor 10 is chosen from cameras and in particular stereoscopic cameras, time-of-flight cameras, LIDARS, radars and ultrasonic sensors.
  • the spatial detection sensor 10 is a stereoscopic camera.
  • the machine 1 may also comprise at least one other spatial position sensor, which is advantageously of a different type from the spatial detection sensor 10 described previously and making it possible to ensure redundancy of the information collected.
  • the machine 1 may in particular comprise other spatial position sensors, such as LIDARS for example, at the front and rear of the machine 1, for example under its chassis 2.

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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)
  • Jib Cranes (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Claims (10)

  1. Materialumschlagmaschine (1), umfassend:
    - ein Fahrgestell (2); und
    - einen Ausleger (3), der auf dem Fahrgestell (2) der Maschine (1) mittels einer Gelenkvorrichtung, die eine vordere Verbindungsstange (17) und eine hintere Verbindungsstange (18) umfasst, zwischen einer abgesenkten Endposition und einer angehobenen Endposition gelenkig montiert ist, wobei die hintere Verbindungsstange (18) schwenkbar um eine erste Achse (A) auf dem Fahrgestell (2) und um eine zweite Achse (B) auf dem Ausleger (3) montiert ist, wobei die vordere Verbindungsstange (17) schwenkbar um eine dritte Achse (D) auf dem Ausleger (3) und um eine vierte Achse (C) auf dem Fahrgestell (2) montiert ist, wobei die erste Achse (A), die zweite Achse (B), die dritte Achse (D) und die vierte Achse (C) parallel zueinander verlaufen,
    - ein Werkzeug (5) oder einen Werkzeughalterahmen (4), der zur Aufnahme eines Werkzeugs (5) bestimmt ist, wobei das Werkzeug (5) oder der Werkzeughalterahmen (4) schwenkbar um eine fünfte Achse (G) auf einem vorderen Ende des Auslegers (3) montiert ist, die parallel zur ersten, zweiten, dritten und vierten Achse (A, B, D, C) verläuft, wobei das Werkzeug (5) oder der Werkzeugrahmen (4) somit in der Lage ist, in eine erste Richtung zu einer Endposition des Auskippens oder in eine zweite Richtung zu einer Endposition des Aushubs zu schwenken;
    - mindestens einen Kippzylinder (25), der einen definierten Hub zwischen einer ersten und einer zweiten Kippposition aufweist, wobei der mindestens eine Kippzylinder (25) einerseits mit dem Ausleger (3) und andererseits mit dem Werkzeug (5) oder dem Werkzeughalterahmen (4) verbunden ist, so dass eine Bewegung des Kippzylinders (25) in die erste Kippposition ein Schwenken des Werkzeugs (5) oder des Werkzeughalterahmens (4) in die zweite Richtung bewirkt und eine Bewegung des Kippzylinders (25) in die zweite Kippposition ein Schwenken des Werkzeugs (5) oder des Werkzeughalterahmens (4) in die erste Richtung bewirkt;
    dadurch gekennzeichnet, dass sie umfasst:
    - mindestens einen Ausgleichszylinder (30, 31), der einen definierten Hub zwischen einer ersten und einer zweiten Ausgleichsposition aufweist, wobei der Ausgleichszylinder (30, 31) hydraulisch mit dem Kippzylinder (25) verbunden ist, so dass eine Bewegung des Ausgleichszylinders (30, 31) in Richtung der ersten Ausgleichsposition eine Bewegung des Kippzylinders (25) in Richtung der zweiten Kippposition bewirkt und dass eine Bewegung des Ausgleichszylinders (30, 31) in Richtung der zweiten Ausgleichsposition eine Bewegung des Kippzylinders (25) in Richtung der ersten Kippposition bewirkt; wobei der Ausgleichszylinder (30, 31) schwenkbar um eine sechste Achse (N) auf dem Ausleger (3) und um eine siebte Achse (M) auf der vorderen Verbindungsstange (17) derart montiert ist, dass bei einer Aufwärtsbewegung des Auslegers (3) in Richtung der angehobenen Endposition der Ausgleichszylinder (30, 31) sich in Richtung der ersten Ausgleichsposition bewegt, so dass das Werkzeug (5) oder der Werkzeughalterahmen (4) in die erste Richtung schwenkt, und dass sich bei einer Abwärtsbewegung des Auslegers (3) in Richtung der abgesenkten Endposition der Ausgleichszylinder (30, 31) in Richtung der zweiten Ausgleichsposition bewegt, so dass das Werkzeug (5) oder der Werkzeughalterahmen (4) in die zweite Richtung schwenkt.
  2. Materialumschlagmaschine (1) nach Anspruch 1, bei der der Ausgleichszylinder (30, 31) dazu ausgelegt ist, sich bei einer Bewegung in Richtung der zweiten Ausgleichsposition auszudehnen und bei einer Bewegung in Richtung der ersten Ausgleichsposition zusammenzuziehen.
  3. Materialumschlagmaschine (1) nach Anspruch 1 oder 2, bei der der Kippzylinder (25) dazu ausgelegt ist, sich bei einer Bewegung in Richtung der zweiten Kippposition auszudehnen und bei einer Bewegung in Richtung der ersten Kippposition zusammenzuziehen.
  4. Materialumschlagmaschine (1) nach einem der Ansprüche 1 bis 3, bei der der Ausleger (3) zwei Hebearme (12, 13) umfasst, die sich beiderseits einer Längsachse der Maschine (1) erstrecken, wobei die vordere Verbindungsstange (17) zwischen den beiden Hebearmen (12, 13) angeordnet und auf jedem der beiden Hebearme (12, 13) gelenkig um die dritte Achse (D) montiert ist.
  5. Materialumschlagmaschine (1) nach Anspruch 4, umfassend zwei Ausgleichszylinder (30, 31), die beiderseits der vorderen Verbindungsstange (17) positioniert sind und jeweils auf beiden Hebearmen (12, 13) schwenkbar um die sechste Achse (N) montiert sind und auf der vorderen Verbindungsstange (17) schwenkbar um die siebte Achse (M) montiert sind, wobei jeder der beiden Ausgleichszylinder (30, 31) hydraulisch mit dem mindestens einen Kippzylinder (25) verbunden ist.
  6. Materialumschlagmaschine (1) nach einem der Ansprüche 1 bis 5, bei der der Kippzylinder (25) eine erste Kammer (38) und eine zweite Kammer (40) umfasst, die voneinander durch einen Kolben (41) getrennt sind, der fest mit einem Schaft (42) des Kippzylinders (25) verbunden ist, wobei der Schaft (42) des Kippzylinders (25) durch die zweite Kammer (40) verläuft; der Ausgleichszylinder (30, 31) eine erste Kammer (52) und eine zweite Kammer (53) umfasst, die voneinander durch einen Kolben (54) getrennt sind, der fest mit einem Schaft (55) des Ausgleichszylinders (30, 31) verbunden ist, wobei der Schaft (55) des Ausgleichszylinders (30, 31) durch die zweite Kammer (53) des Ausgleichszylinders (30, 31) verläuft, wobei die erste Kammer (38) und die zweite Kammer (40) des Kippzylinders (25) hydraulisch mit der ersten Kammer (52) bzw. der zweiten Kammer (53) des Kippzylinders (25) verbunden sind.
  7. Materialumschlagmaschine (1) nach einem der Ansprüche 1 bis 6, bei der der Kippzylinder (25) und der Ausgleichszylinder (30, 31) so ausgelegt sind, dass ausgehend von einer bestimmten Position des Werkzeughalterahmens (4) oder des Werkzeugs (5), wenn der Ausleger (3) sich in der abgesenkten Endposition befindet, der Winkelausschlag Δα1 des Werkzeughalterahmens (4) oder des Werkzeugs (5) relativ zum Ausleger (3) um die fünfte Achse (G) bei einer Bewegung des Auslegers (3) von der abgesenkten Endposition in die angehobene Endposition zwischen -Δα2 - x und -Δα2 + x liegt; wobei gilt:
    Δα2: der Winkelausschlag des Auslegers (3) relativ zum Fahrgestell (2) bei einer Bewegung des Auslegers (3) von der abgesenkten Endposition in die angehobene Endposition; und x = 20 ° .
    Figure imgb0004
  8. Materialumschlagmaschine (1) nach Anspruch 7, bei der die vorgegebene Position des Werkzeughalterahmens (4) oder des Werkzeugs (5), wenn der Ausleger (3) sich in der abgesenkten Endposition befindet, die Endposition des Aushubs darstellt.
  9. Materialumschlagmaschine (1) nach einem der Ansprüche 1 bis 8, bei der der Kippzylinder (25) schwenkbar auf einem Schwingarm (26) und auf dem Ausleger (3) montiert ist und bei der eine Kippstange (29) schwenkbar auf dem Schwingarm (26) und auf dem Werkzeughalterahmen (4) oder dem Werkzeug (5) montiert ist.
  10. Materialumschlagmaschine (1) nach einem der Ansprüche 1 bis 9, bei der der Ausleger (3) zwei Hebearme (12, 13) umfasst, die sich beiderseits einer Längsachse der Maschine (1) erstrecken, und bei der das Fahrgestell (2) einen hervorstehenden Abschnitt (11) umfasst, der zwischen den beiden Hebearmen (12, 13) nach oben hervorsteht, wobei der hervorstehende Abschnitt (11) über die beiden Hebearme (12, 13) hervorsteht, wenn sich der Ausleger (3) in der abgesenkten Endposition befindet.
EP23205293.6A 2022-10-24 2023-10-23 Handhabungsmaschine Active EP4361351B1 (de)

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FR2731729B1 (fr) * 1995-03-16 1997-06-06 Soc Et Et D Innovation Dans Le Systeme de commande hydraulique pour chargeur
GB2485157B (en) * 2010-11-02 2014-04-30 Bamford Excavators Ltd A hose burst protection system for use in a hydraulic lifting machine with a lifting arm
US11142885B2 (en) * 2019-01-30 2021-10-12 Clark Equipment Company Mechanical self-leveling lift arm structure for power machine
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FR3141156B1 (fr) 2024-10-11

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