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WO2016162893A1 - Machine auto-propulsée sans essieux de direction - Google Patents

Machine auto-propulsée sans essieux de direction Download PDF

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Publication number
WO2016162893A1
WO2016162893A1 PCT/IT2016/000084 IT2016000084W WO2016162893A1 WO 2016162893 A1 WO2016162893 A1 WO 2016162893A1 IT 2016000084 W IT2016000084 W IT 2016000084W WO 2016162893 A1 WO2016162893 A1 WO 2016162893A1
Authority
WO
WIPO (PCT)
Prior art keywords
machine
eff
wheels
machine according
rotation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/IT2016/000084
Other languages
English (en)
Inventor
Antonio Bertini
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.)
Ihimer SpA
Original Assignee
Ihimer SpA
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 Ihimer SpA filed Critical Ihimer SpA
Publication of WO2016162893A1 publication Critical patent/WO2016162893A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
    • B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
    • B62D11/003—Electric or electronic control systems

Definitions

  • the present invention relates to a self-propelled working machine, for example of the type called "skid steer loader", i.e. a machine provided with four or more wheels and/or two or more tracks with non-steering axles performing the steering operation through the variation of speed and/or reversal of the rotation direction of the machine driving wheels.
  • skid steer loader i.e. a machine provided with four or more wheels and/or two or more tracks with non-steering axles performing the steering operation through the variation of speed and/or reversal of the rotation direction of the machine driving wheels.
  • the skid steer loaders are normally employed in areas of extremely diverse activities thanks to the versatility of coupling with different types of tools.
  • they can be equipped with buckets, harvester, mini loaders, spreaders supported by bucket, blades and cutters, etc.
  • the traction system of these vehicles is generally realized by means of two hydraulic motors (one for the right side and one for the left side) connected to the wheels through a chain transmission or, alternatively, with four hydraulic motor wheels.
  • the adjustment of speed and torque of said motor is operated by means of hydraulic systems.
  • the steering operations require experienced operators.
  • the left wheels have a speed independent from the wheels of the right side.
  • the vehicle in fact has no steering mechanism and the wheels maintain a fixed rectilinear alignment with respect to the machine body.
  • the machine By rotating the pairs of left and right wheels at different speeds, the machine turns by means of a kind of slip, around a vertical axis with respect to the plane where the same wheels rest.
  • the vertical position of the axis on which the machine is destined to rotate is controlled by the position of the joystick that has two axes (X, called translation axis; Y called rotation axis) which correspond, respectively, to the forward / backward (x- axis) and the left / right (y-axis) displacement.
  • X translation axis
  • Y rotation axis
  • the machine will go straight forward or backward at a speed determined by the X-axis value (for example, when X assumes the maximum positive value, the vehicle will move forward in a straight line at the maximum speed) .
  • the machine when the X-axis has null values the machine will rotate, ideally around a vertical axis equidistant from the four wheels, clockwise or counterclockwise, at a rotation speed determined by the Y-axis value (for example, when Y assumes the maximum positive value, the vehicle will rotate clockwise at maximum speed around said vertical axis).
  • This steering mode has limitations.
  • the actual position of rotation depends on the distribution of the loads on the four wheels and on the coefficient of friction of the individual wheels (which may be in different grip condition) and on the capacity and accuracy of control of the individual actuators.
  • a self- propelled machine in accordance with the present invention is adapted to be used for all applications of a conventional machine but with greater efficiency and greater safety.
  • FIG. 1 shows a possible embodiment of a self-propelled machine in accordance with the invention in which the parties are represented only schematically and not to scale;
  • FIG. 2 schematically show two examples of the handling of a machine realized according to the present invention.
  • a self-propelled machine or loader (1) is provided with non-steered wheels (2), which are arranged in fixed alignment condition with respect to the machine body, body which is represented schematically in discontinuous-point line in the drawing of Fig.1 and is identified by the reference (10).
  • the example represents a loader with four drive wheels (2), each of which is connected to an electric geared motor (3) which transmits the motion directly to them.
  • the motion transmitted to the wheels (2) is controlled by means of corresponding control circuits represented by blocks (5).
  • On each wheel (2) it is also arranged and acting a sensor device (4) for sensing the angular position thereof; in other words, the motion provided by the motor is controlled by means of control circuits (5) and the movement performed by each wheel is monitored by the respective sensor (4).
  • the control circuits (5) controls the motor driving current thus determining the actual torque generated by the drive wheel.
  • a bus or communication channel (11) which connects all the devices and their components with a central processing unit or control unit (6) that is able to communicate with the devices exchanging information and/or data through the transmission of signals.
  • the bus which defines the transmission system is represented with a dashed line; the connection can be achieved by means of wired connections or it can be of the wireless type.
  • the control unit (6) is also connected to the command means of the machine (1) which can be constituted by a man/machine interface placed on board, represented by the joystick (7), or by a remote interface, represented by a remote control (7').
  • the control means may be differently configured in function of the use of the machine (1) and of the related communication requirements; similarly to what has been said for the internal connecting system of the machine (1), also outside of it the communication signals may be transmitted by wired or wireless connections.
  • the control unit (6) can be connected to a display screen (8), which may be on board the machine and/or remote and which can provide sound and/or visual signals related to the operation of the machine (1).
  • the control unit (6) can then control the targeted speed and torque to the drive circuits (5) according to commands given by the operator through the man-machine interfaces (7) or (7') or through a predetermined program or via the controls of an autonomous driving system and according to the actual grip condition of the individual wheels and/or the distribution of the weights on the same.
  • control unit (6) can implement useful control strategies for the use of the machine (1).
  • control unit (6) can correct the speed and the torque of each wheel in order to determine with the greatest possible accuracy the actual point of rotation of the machine in the various load and grip conditions.
  • the machine can perform steering maneuvers until now not possible with the solutions currently available on the market.
  • the machine can rotate about a desired vertical axis.
  • Fig. 2 the vertical axis of rotation of the machine (1) is represented with (z). Also in this case, the numeral reference (2) indicates the wheels that are in fixed alignment with respect to the body (10) of the machine (1).
  • the axis (z) in this case corresponds to a front wheel (2) and a 90° clockwise rotation (R).
  • the machine (1) performs a counterclockwise rotation (R) of 135° around a vertical axis
  • the actual point of rotation can then be corrected by the control unit (6) according to the actual response of the machine (which will depend on the type of soil, load conditions, etc %), thanks also to detections made by the sensors.
  • control unit (6) can independently control the four motors in order to implement the command imparted by the operator through the man-machine interface (7) or (7') or through a command imparted by an autonomous driving control system.
  • the point of rotation may be adjustable and correctable through the position of the joystick.
  • At the position corresponding to the maximum positive values for the axes x and y may correspond the clockwise rotation around the right front wheel or a point near the latter.
  • This feature is also particularly useful when the machine is remote-controlled and when the maneuvering spaces are very narrow to limit the number of commands to be sent in order to obtain a proper steering operation.
  • Fig. l schematically represents the joystick (7) seen from the above.
  • the operator can determine the position of the axis of rotation of the vehicle implementing an algorithm that, for example, can be the following.
  • (m) is identified the module related to the joystick position that in the example passes from position (70) to the position (70').
  • the module (m) is equal to i/% 2 + y 2 , with (x) representing the forward/backward movement and (y) representing the left/right movement of the joystick (7).
  • w is a calibration parameter of the joystick, which, for example, can assume values between 0.7 and 1.3 (0.7 ⁇ w ⁇ 1.3) and VAS, VPS, VAD, VPD are functions of x and y.
  • the position of the axis of rotation of the machine (1) (axis that is perpendicular to the plane of the paper in Fig.l) will therefore be determined by the values set by the operator.
  • W assumes the unitary value and the maximum values that can be assumed by the X and Y axes of the joystick are 1000
  • the operator when the operator will set with the joystick the values of axes at the maximum positive value, the machine will rotate around a vertical axis positioned close to the left front wheel in the rotation direction set by the operator.
  • the loader (1) must perform repeated operations, several times along a same path. i.e. it must perform a procedure defining a path that must be repeated several times. Examples may consist of earth-moving machine acting between two defined points, or of entry and exit from confined spaces (parking), or by moving goods between two fixed locations of departure and arrival, etc ..
  • a machine (1) in accordance with the present invention is capable of storing a number of sequences of commands that allow the substantial automation of procedures or implementing an autonomous driving system.
  • the programming data can be set by software, for example, with connection to a computer or by means of the keyboard associated with the display (8), or directly during handling of the machine (1), by means of the joystick (7) or the remote control (7').
  • the procedures that the control unit (6) can store can be derived from prior analysis or be set in function of the specific work to be performed.
  • the programming of the machine (1) may involve, in addition to the driving of the wheels (2), also the driving of any device or tool (12) connected to the machine.
  • Fig.l it is schematically illustrated a cylinder (12), connected to the communication channel (1 1) of the machine (1), to represent a possible tool associable to the loader.
  • the device (12) will be suitably connected to the hydraulic circuit of the loader (1) and the programming of the control unit (6) may foresee, for example, data relating to the piston strokes, action angles, etc ..
  • the present invention not only it is possible to perform programmed handling procedures of the loader (1) but it is also possible to move the device (12) connected to the loader (1) according to procedures stored for this purpose.
  • the machine On the body (10) of the machine (1), in correspondence of the outer portions of the body, the machine is provided with distance (9) and position sensors, using, for example, precision GPS sensors or through SMART stakes/pickets placed within the jobsite. These sensors can be used to make the handling of the machine (1) safer and faster, during the programming phase (for example to speed up the memory operations) as well as in conditions of use to provide a further alarm signal and / or an automatic machine stop signal (for example, in conditions of detected danger due to an obstacle). This is a further advantage provided by the invention.
  • a self-propelled machine is a machine of the type with non-steering axles carrying out the steering through variations of speed or rotation direction of the driving wheels provided on the opposite sides of the same machine (1), by means of the independent activation of the wheels (2) using control means (5) connected to a processing unit (6).
  • the latter is provided with a memory in which there are stored one or more machine handling programs (1), that is, one or more programs for the activation of the wheels (2), and that interacts with said control means (5) for controlling the activation of the wheels (2) according to a command or a program selectable by the user through the man-machine interface (7; 7') or, alternatively, the vehicle can implement an autonomous driving in order to perform a scheduled task.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

L'invention concerne une machine auto-propulsée ou un chargeur, du type sans essieux dirigés qui effectuent la direction autour d'un axe de rotation avec un changement de vitesse et/ou par inversion de la direction de rotation de ses roues ou de ses chenilles, laquelle machine est caractérisée en ce qu'elle comprend des roues et/ou des chenilles actionnées par des moteurs à engrenages électriques correspondants (3) dont chacun comporte un capteur de position respectif (4) et est commandé de manière indépendante.
PCT/IT2016/000084 2015-04-08 2016-04-06 Machine auto-propulsée sans essieux de direction Ceased WO2016162893A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITF12015A000105 2015-04-08
ITFI20150105 2015-04-08

Publications (1)

Publication Number Publication Date
WO2016162893A1 true WO2016162893A1 (fr) 2016-10-13

Family

ID=53442839

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IT2016/000084 Ceased WO2016162893A1 (fr) 2015-04-08 2016-04-06 Machine auto-propulsée sans essieux de direction

Country Status (1)

Country Link
WO (1) WO2016162893A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001026280A (ja) * 1999-07-14 2001-01-30 Hitachi Constr Mach Co Ltd 走行駆動指令装置および油圧式建設機械の走行駆動制御装置
JP2002104227A (ja) * 2000-09-28 2002-04-10 Aichi Corp クローラ式車両の走行制御装置
JP2005160289A (ja) * 2003-10-28 2005-06-16 Honda Motor Co Ltd 電動車両
US20120159916A1 (en) * 2007-01-15 2012-06-28 Kanzaki Kokyukoki Manufacturing Co., Ltd. Control sysytem for motor-driven lawnmower vehicle
EP2712840A1 (fr) * 2012-09-28 2014-04-02 Kabushiki Kaisha Aichi Corporation Véhicule mobile de type à chenilles

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001026280A (ja) * 1999-07-14 2001-01-30 Hitachi Constr Mach Co Ltd 走行駆動指令装置および油圧式建設機械の走行駆動制御装置
JP2002104227A (ja) * 2000-09-28 2002-04-10 Aichi Corp クローラ式車両の走行制御装置
JP2005160289A (ja) * 2003-10-28 2005-06-16 Honda Motor Co Ltd 電動車両
US20120159916A1 (en) * 2007-01-15 2012-06-28 Kanzaki Kokyukoki Manufacturing Co., Ltd. Control sysytem for motor-driven lawnmower vehicle
EP2712840A1 (fr) * 2012-09-28 2014-04-02 Kabushiki Kaisha Aichi Corporation Véhicule mobile de type à chenilles

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