EP0787235A1 - Earthmoving machine - Google Patents

Earthmoving machine

Info

Publication number
EP0787235A1
EP0787235A1 EP95933476A EP95933476A EP0787235A1 EP 0787235 A1 EP0787235 A1 EP 0787235A1 EP 95933476 A EP95933476 A EP 95933476A EP 95933476 A EP95933476 A EP 95933476A EP 0787235 A1 EP0787235 A1 EP 0787235A1
Authority
EP
European Patent Office
Prior art keywords
cylinders
control
jacks
distributor
elements
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.)
Granted
Application number
EP95933476A
Other languages
German (de)
French (fr)
Other versions
EP0787235B1 (en
Inventor
Henri Marchetta
Georges Charles
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.)
Mecalac
Original Assignee
Mecalac
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 Mecalac filed Critical Mecalac
Publication of EP0787235A1 publication Critical patent/EP0787235A1/en
Application granted granted Critical
Publication of EP0787235B1 publication Critical patent/EP0787235B1/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
    • 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
    • E02F9/22—Hydraulic or pneumatic drives
    • 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
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant

Definitions

  • the invention relates to a public works machine, in particular of the loader-excavator type, comprising articulated work equipment, more precisely a device allowing the control of a complex arm with a reduced number of manipulators.
  • the excavator loaders comprise working equipment installed on a chassis.
  • This work equipment consists of four parts hinged together, namely an arrow articulated with respect to the frame by the boom cylinder, a boom spout articulated with respect to the boom by a boom spout cylinder, a arm articulated with respect to the boom spout by an arm cylinder and finally a bucket or tool articulated with respect to the arm thanks to a bucket cylinder.
  • a system with four jacks has a number of degrees of freedom of four. To this is added an additional movement constituted by the rotation of the turret relative to the chassis.
  • the driving of such vehicles is carried out by means of two manipulators installed in the turret.
  • These manipulators movable longitudinally and transversely, therefore allow the control of four degrees of freedom. It therefore follows that with this conventional driving mode, the use of improved work equipment as described above, requires adjustments.
  • To control the five degrees of freedom by means of the four directions of the manipulators it has been envisaged to install a contactor on one of the manipulators allowing, depending on the stress on said contactor, to assign the manipulator control of two jacks separate.
  • This solution makes it possible to have access to all the degrees of freedom of the machine, but is not satisfactory because it is markedly distinguished from conventional driving modes, which can disturb operators using various types of machine.
  • the problem which the invention proposes to solve is to allow the operation of a public works machine whose work equipment has more degrees of freedom than control manipulators available to the driver, in the same way as a simple conventional machine, while retaining the possibility of reaching with the tool, the multiplicity of positions that makes it possible to reach complex work equipment.
  • JP A 61 028632 describes a mechanical shovel, the working equipment of which comprises two arms at the end of which one is mounted a bucket. To allow horizontal scraping, it is planned to provide this machine with means making it possible to control simultaneously with a single manipulator, the two jacks determining the orientation of the arms. Unfortunately, this solution does not solve the problem, because on the one hand, the number of manipulators available is equal to the number of cylinders, and on the other hand, it is absolutely impossible thanks to the system described to bring the bucket to a level different from that of the ground. The invention aims to overcome these drawbacks.
  • the invention aims to make compatible with conventional control, the control of complex work equipment, comprising more degrees of freedom than accessible manipulator positions.
  • the invention relates to a public works machine comprising:
  • Means for controlling the angular displacement of said elements relative to each other comprising: a) hydraulic cylinders, capable of modifying the angular positioning between two consecutive elements, the supply of fluid to each cylinder being ensured by a distributor, b) manipulators issuing a control order actuating the distributors, characterized in that the number of manipulators is less than the number of hydraulic cylinders, and in that it comprises means for coupling the control orders of the distributors of two of the cylinders, making it possible to actuate them simultaneously by the command command of a single manipulator, in order to ensure the positioning of the tool at any point included within a contour of a determined working space .
  • the invention consists in simultaneously feeding two jacks, so that the operator actuates these two jacks in one operation with a single manipulator.
  • two of the jacks are coupled to reduce the number of degrees of freedom of the work equipment and make it equal to the number of positions accessible by the manipulators.
  • the simultaneous actuation of the two coupled jacks is ensured by a circuit comprising valves connecting the control circuit of the distributor of one of the jacks with the control circuit of the distributor of the other jack.
  • control order is a pressure but the invention also covers electrically controlled systems.
  • the flow rates of the distributors corresponding to the coupled cylinders are adjusted so that the complete stroke times of the two coupled cylinders are equal.
  • the coupled jacks go at the same time, from the maximum folded position to the maximum deployment position, and vice versa.
  • the flow rates of the distributors corresponding to the coupled jacks are adjusted to maintain the horizontality of the tool.
  • one of the two coupled cylinders is supplied by its distributor which is controlled directly by the manipulator, and the control pressure of the distributor of the other cylinder is produced by a servo device according to the angles corresponding to the two cylinders.
  • the servo device advantageously comprises:
  • each solenoid valve controlling the displacement of the cylinder in one direction.
  • This form of control by a regulating device makes it possible to avoid leaks and drifts in the adjustment of the flow rates of the distributors.
  • the jacks are coupled respectively connecting the chassis with the arrow and the arrow with the pendulum.
  • Figure 1 is an overview of a machine highlighting the different elements of the work equipment.
  • Figure 2 is a hydraulic control diagram of the equipment according to the invention.
  • Figure 3 is a hydraulic control diagram incorporating a servo device.
  • FIG. 4 is a diagram representing the envelope of the positions accessible by the tool, with and without coupling of the jacks.
  • Figure 5 is an overview of a machine used as a loader. Way of realizing the invention
  • Such a machine as shown schematically in Figure 1, carries a work equipment (1) in four elements: an arrow (2), an arrow spout (3), an arm (4) and a bucket (5).
  • the boom (2) is articulated with respect to the turret (6) and its position is adjusted by the boom cylinder (7) by means of two arms (8,9).
  • the boom spout (3) is connected to the other end (10) of the boom (2) and the angular position ⁇ of these two elements (2,3) is adjusted by means of the boom spout cylinder (11) .
  • the arm (4) is connected to the other end (12) of the arrow spout (3) and the corresponding angle ⁇ is a function of the position of the arm jack (13).
  • the bucket (5) is hooked to the end (14) of the arm (4) and its position is adjusted by the bucket cylinder (15).
  • FIG. 2 illustrates the simplest embodiment which makes it easy to understand the way in which the different jacks are controlled (11, 13), in order to ensure operation either in a conventional manner, each jack being controlled by a manipulator, ie an operation in accordance with the invention where a single manipulator makes it possible to simultaneously control two jacks.
  • each cylinder (11,13) is associated with a distributor (30,31).
  • This distributor (30,31) is used to supply the elongation chamber (32,33) and the withdrawal chamber (34,35) of the jack (11,13).
  • All the distributors (30,31) are supplied by a pump (36) with variable flow driven by the engine of the machine.
  • This pump (36) supplies also a pressure reduction block (40) which delivers a control pressure (41) to the manipulators 42,43).
  • These manipulators (42,43) depending on their position, deliver this pressure (41) to the various distributors (30,31) with which they are associated.
  • the opposite positions of each manipulator (42,43) generate opposite movements of the jacks (11,13) to which they relate.
  • control circuit of the second distributor (31) can be supplied either by the associated manipulator (43) or by the first manipulator (42).
  • the manipulator (42) controls the distributor (30) which supplies the cylinder (11) and the manipulator (43) controls the distributor (31) which supplies the cylinder (13).
  • the valves (45,46) put in communication, thanks to the branches (47,48), the control circuits (37) of the distributor (30) of the first cylinder (11) with the control circuit (38) of the distributor (31) of the second cylinder (13).
  • the manipulator (42) feeds the distributor (30) as well as the distributor (31).
  • the manipulator (43) is therefore available for controlling another member.
  • the two distributors (30) and (31) being controlled by the same pressure, the adjustment of the flow rates is obtained by the proportional effect of the distributors' drawers.
  • This fully hydraulic control principle admits a drift of one cylinder with respect to the other over time, which can be corrected by an action of the operator by bringing the two cylinders back to the end of their travel, these reaching their mechanical stop. This operation occurs naturally when using the shovel on large deflections.
  • the control of the second cylinder (13) is done by a regulation device making it possible to correct any drifts observed in a purely hydraulic device.
  • the most loaded cylinder that is to say providing the most effort, is conventionally controlled by a manipulator (42) and a distributor (30).
  • the second cylinder (13) is controlled by a servo device made up of two potentiometers (50,51) determining the angles ( ⁇ , ⁇ ) corresponding to the cylinders (11), a computer unit (52) supplying two solenoid valves moderable (53,54), which solenoid valves (53,54) control the distributor (31) of the second cylinder (13), the actions of the two solenoid valves being opposite.
  • the stroke times of the two cylinders (11,13) being equal, this translates geometrically by a relationship between the angles ⁇ and ⁇ . This relationship is recorded in the computer unit (52). It is therefore able to compare the angle ⁇ observed with the theoretical value recorded.
  • the computer unit determines a current (56) to be applied to one or the other solenoid valve (53,54) which delivers a pressure (55,57) enabling the distributor to be controlled (31).
  • This excursion is shown in Figure 4, and materializes one of the key points of the invention.
  • This diagram shows in solid lines (70) the envelope of all the points accessible by the tool (5) when the four jacks (7,11,13,15) are actuated independently. In other words, the inside of this outline represents the useful workspace.
  • a second curve (71) is observed inside this curve in dotted lines which also represents the envelope of the accessible points, but in the case where two of the jacks are coupled.
  • the jacks chosen in this precise coupling are the spout jack (11) of the boom and the arm jack (13), and the comparative observation of the two curves (70,71) shows that the decrease in a degree of freedom n 'results in a limited reduction of the workspace.
  • one of the essential objects of the invention consists in determining which of the four jacks (7,11,13,15) must be coupled to obtain an acceptable working space.

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

Abstract

Earthmoving machine with an operating assembly (1) comprising at least three elements (2, 3, 4, 5) that are articulated and angularly deployable in relation to one another, the first (2) being hinged to the chassis (6) while the last (5) consists of a tool; a means for controlling the angular displacement of the elements (2, 3, 4, 5) in relation to one another. The control means comprises hydraulic jacks (7, 11, 13, 15) for changing the angular positioning of two consecutive elements, fluid being supplied to each jack (7, 11, 13, 15) by a distributor (30, 31), and control levers (42, 43) which control the distributors (30, 31). The invention is characterized by the number of control levers (42, 43) which is less than the number of hydraulic jacks (7, 11, 13, 15) and by coupling means (45, 46). Commands to the distributor of two of the jacks (11, 13 - 13, 15) provide simultaneous control thereof with one command from a single control lever (42) so that the tool can be placed at any location within the limits of a given work space.

Description

ENGIN DE TRAVAUX PUBLICSPUBLIC WORKS MACHINE
Domaine TechniqueTechnical area
L'invention concerne un engin de travaux publics notamment du type chargeur-excavateur, comportant un équipement de travail articulé, plus précisément un dispositif permettant la commande d'un bras complexe avec un nombre de manipulateurs réduit.The invention relates to a public works machine, in particular of the loader-excavator type, comprising articulated work equipment, more precisely a device allowing the control of a complex arm with a reduced number of manipulators.
Art antérieurPrior art
De manière connue, notamment tel qu'enseigné dans le document FR-A-2 532 671 correspondant au brevet américain US 5 195 863, les chargeurs excavateurs comportent un équipement de travail installé sur un châssis. Cet équipement de travail est constitué de quatre parties articulées les unes entre les autres, à savoir une flèche articulée par rapport au châssis par le vérin de flèche, un bec de flèche articulé par rapport à la flèche par un vérin de bec de flèche, un bras articulé par rapport au bec de flèche par un vérin de bras et enfin un godet ou outil articulé par rapport au bras grâce à un vérin de godet. Ainsi, un tel système à quatre vérins, comporte un nombre de degrés de liberté de quatre. A ceci, vient s'ajouter un mouvement supplémentaire constitué par la rotation de la tourelle par rapport au châssis.In known manner, in particular as taught in document FR-A-2 532 671 corresponding to American patent US 5,195,863, the excavator loaders comprise working equipment installed on a chassis. This work equipment consists of four parts hinged together, namely an arrow articulated with respect to the frame by the boom cylinder, a boom spout articulated with respect to the boom by a boom spout cylinder, a arm articulated with respect to the boom spout by an arm cylinder and finally a bucket or tool articulated with respect to the arm thanks to a bucket cylinder. Thus, such a system with four jacks, has a number of degrees of freedom of four. To this is added an additional movement constituted by the rotation of the turret relative to the chassis.
De manière générale, la conduite de tels engins s'effectue au moyen de deux manipulateurs installés dans la tourelle. Ces manipulateurs, mobiles longitudinalement et transversalement, permettent donc la commande de quatre degrés de liberté. Il s'ensuit donc qu'avec ce mode de conduite conventionnel, l'utilisation d'équipement de travail perfectionné tel que décrit précédemment, nécessite des aménagements. Pour piloter les cinq degrés de liberté au moyen des quatre directions des manipulateurs, il a été envisagé d'installer sur un des manipulateurs un contacteur permettant, en fonction de la sollicitation de ce dit contacteur, d'attribuer au manipulateur la commande de deux vérins distincts. Cette solution permet d'avoir accès à tous les degrés de liberté de l'engin, mais n'est pas satisfaisante car elle se distingue notoirement des modes de conduite conventionnels, ce qui peut perturber les opérateurs utilisant divers types d'engins.Generally, the driving of such vehicles is carried out by means of two manipulators installed in the turret. These manipulators, movable longitudinally and transversely, therefore allow the control of four degrees of freedom. It therefore follows that with this conventional driving mode, the use of improved work equipment as described above, requires adjustments. To control the five degrees of freedom by means of the four directions of the manipulators, it has been envisaged to install a contactor on one of the manipulators allowing, depending on the stress on said contactor, to assign the manipulator control of two jacks separate. This solution makes it possible to have access to all the degrees of freedom of the machine, but is not satisfactory because it is markedly distinguished from conventional driving modes, which can disturb operators using various types of machine.
Il a également été envisagé d'assurer la commande d'un des vérins par une pédale, mais cette solution présente les mêmes inconvénients que la précédente.It has also been envisaged to control one of the jacks by a pedal, but this solution has the same drawbacks as the previous one.
Le problème que se propose de résoudre l'invention est de permettre la conduite d'un engin de travaux publics dont l'équipement de travail comporte plus de degrés de libertés que de manipulateurs de commande à disposition du conducteur, de la même manière qu'un engin conventionnel simple, tout en conservant la possibilité d'atteindre avec l'outil, la multiplicité de positions que permet d'atteindre un équipement de travail complexe.The problem which the invention proposes to solve is to allow the operation of a public works machine whose work equipment has more degrees of freedom than control manipulators available to the driver, in the same way as a simple conventional machine, while retaining the possibility of reaching with the tool, the multiplicity of positions that makes it possible to reach complex work equipment.
On a décrit dans le brevet JP A 61 028632, une pelle mécanique dont l'équipement de travail comporte deux bras au bout de l'un desquels est monté un godet. Pour permettre le raclage horizontal, il est prévu de munir cet engin de moyens permettant de commander simultanément avec un seul manipulateur, les deux vérins déterminant l'orientation des bras. Malheureusement, cette solution ne permet pas de résoudre le problème posé, car d'une part, le nombre de manipulateurs disponibles est égal au nombre de vérins, et d'autre part, il absolument impossible grâce au système décrit d'amener le godet à un niveau différent de celui du sol. L'invention vise à pallier ces inconvénients.JP A 61 028632 describes a mechanical shovel, the working equipment of which comprises two arms at the end of which one is mounted a bucket. To allow horizontal scraping, it is planned to provide this machine with means making it possible to control simultaneously with a single manipulator, the two jacks determining the orientation of the arms. Unfortunately, this solution does not solve the problem, because on the one hand, the number of manipulators available is equal to the number of cylinders, and on the other hand, it is absolutely impossible thanks to the system described to bring the bucket to a level different from that of the ground. The invention aims to overcome these drawbacks.
Description de l'InventionDescription of the Invention
L'invention vise à rendre compatible à une commande conventionnelle, le pilotage d'un équipement de travail complexe, comportant plus de degrés de liberté que de positions de manipulateur accessibles.The invention aims to make compatible with conventional control, the control of complex work equipment, comprising more degrees of freedom than accessible manipulator positions.
L'invention concerne un engin de travaux publics comportant :The invention relates to a public works machine comprising:
- un équipement de travail composé d'au moins trois éléments articulés et angulairement déployables les uns par rapport aux autres, le premier étant articulé par rapport au châssis, le dernier étant constitué par un outil,- work equipment composed of at least three articulated and angularly deployable elements with respect to each other, the first being articulated with respect to the chassis, the last being constituted by a tool,
- des moyens permettant de commander le déplacement angulaire desdits éléments les uns par rapport aux autres, lesdits moyens comprenant : a) des vérins hydrauliques, aptes à modifier le positionnement angulaire entre deux éléments consécutifs, l'alimentation en fluide de chaque vérin étant assurée par un distributeur, b)des manipulateurs délivrant un ordre de commande actionnant les distributeurs, caractérisé en ce que le nombre de manipulateurs est inférieur au nombre de vérins hydrauliques, et en ce qu'il comporte des moyens de couplage des ordres de commande des distributeurs de deux des vérins, permettant de les actionner simultanément par l'ordre de commande d'un seul manipulateur, afin d'assurer le positionnement de l'outil en tout point compris à l'intérieur d'un contour d'un espace de travail déterminé. Autrement dit, pour un engin comportant un nombre de vérins à commander supérieur au nombre de positions accessibles par les manipulateurs du poste de commande, l'invention consiste à alimenter simultanément deux vérins, de sorte que l'opérateur actionne ces deux vérins en une seule opération avec un seul manipulateur. En d'autres termes, on couple deux des vérins pour réduire le nombre de degrés de liberté de l'équipement de travail et le rendre égal au nombre de positions accessibles par les manipulateurs.- Means for controlling the angular displacement of said elements relative to each other, said means comprising: a) hydraulic cylinders, capable of modifying the angular positioning between two consecutive elements, the supply of fluid to each cylinder being ensured by a distributor, b) manipulators issuing a control order actuating the distributors, characterized in that the number of manipulators is less than the number of hydraulic cylinders, and in that it comprises means for coupling the control orders of the distributors of two of the cylinders, making it possible to actuate them simultaneously by the command command of a single manipulator, in order to ensure the positioning of the tool at any point included within a contour of a determined working space . In other words, for a machine comprising a number of jacks to be controlled greater than the number of positions accessible by the manipulators of the control station, the invention consists in simultaneously feeding two jacks, so that the operator actuates these two jacks in one operation with a single manipulator. In other words, two of the jacks are coupled to reduce the number of degrees of freedom of the work equipment and make it equal to the number of positions accessible by the manipulators.
Avantageusement, en pratique, l'actionnement simultané des deux vérins couplés est assuré par un circuit comprenant des vannes mettant en relation le circuit de commande du distributeur de l'un des vérins avec le circuit de commande du distributeur de l'autre vérin.Advantageously, in practice, the simultaneous actuation of the two coupled jacks is ensured by a circuit comprising valves connecting the control circuit of the distributor of one of the jacks with the control circuit of the distributor of the other jack.
Dans la suite de la description, l'ordre de commande est une pression mais l'invention couvre également les systèmes à commande électrique.In the following description, the control order is a pressure but the invention also covers electrically controlled systems.
Dans une forme de réalisation particulière, plus particulièrement adaptée à la fonction d'excavateur, les débits des distributeurs correspondant aux vérins couplés, sont réglés de manière à ce que les temps de course complète des deux vérins couplés soient égaux.In a particular embodiment, more particularly suited to the excavator function, the flow rates of the distributors corresponding to the coupled cylinders are adjusted so that the complete stroke times of the two coupled cylinders are equal.
En d'autres termes, dans cette forme de réalisation, les vérins couplés vont dans le même temps, de la position repliée maximale jusqu'à la position de déploiement maximal, et vice versa.In other words, in this embodiment, the coupled jacks go at the same time, from the maximum folded position to the maximum deployment position, and vice versa.
Dans une autre forme de réalisation, plus particulièrement avantageuse pour les chargeurs, les débits des distributeurs correspondant aux vérins couplés sont réglés pour maintenir l'horizontalité de l'outil. Dans une forme de réalisation plus perfectionnée, un des deux vérins couplés est alimenté par son distributeur qui est commandé directement par le manipulateur, et la pression de commande du distributeur de l'autre vérin est élaborée par un dispositif d'asservissement en fonction des angles correspondants aux deux vérins.In another embodiment, more particularly advantageous for loaders, the flow rates of the distributors corresponding to the coupled jacks are adjusted to maintain the horizontality of the tool. In a more improved embodiment, one of the two coupled cylinders is supplied by its distributor which is controlled directly by the manipulator, and the control pressure of the distributor of the other cylinder is produced by a servo device according to the angles corresponding to the two cylinders.
Dans cette forme de réalisation, le dispositif d'asservissement comprend avantageusement :In this embodiment, the servo device advantageously comprises:
- deux capteurs de position angulaire déterminant les valeurs d'angle correspondant aux vérins couplés ; 0- two angular position sensors determining the angle values corresponding to the coupled cylinders; 0
- un boitier calculateur élaborant un courant en fonction de la différence pondérée des valeurs issues des capteurs ;- a computer box developing a current as a function of the weighted difference of the values from the sensors;
- deux électrovannes modérables commandées par ledit courant, et délivrant une pression de commande au distributeur d'alimentation du- two moderated solenoid valves controlled by said current, and delivering a control pressure to the supply distributor of the
_ vérin, chaque électrovanne commandant le déplacement du vérin dans un sens._ cylinder, each solenoid valve controlling the displacement of the cylinder in one direction.
Cette forme de commande par un dispositif de régulation permet de s'affranchir des fuites et des dérives du réglage des débits des distributeurs.This form of control by a regulating device makes it possible to avoid leaks and drifts in the adjustment of the flow rates of the distributors.
00
En pratique, dans le cas d'un engin comportant un équipement de travail composé de trois éléments, à savoir une flèche, un balancier et un godet, on couple les vérins reliant respectivement le châssis avec la flèche et la flèche avec le balancier.In practice, in the case of a machine comprising working equipment composed of three elements, namely an arrow, a pendulum and a bucket, the jacks are coupled respectively connecting the chassis with the arrow and the arrow with the pendulum.
55
0 De la même manière, dans le cas d'un engin comportant un équipement de travail en quatre éléments, à savoir une flèche, un bec de flèche, un bras et un godet, cet engin étant utilisé en tant qu'excavateur, on observe que les meilleurs résultats sont obtenus pour un couplage des vérins reliant respectivement la flèche avec le bec de flèche et le bec de flèche avec le bras. De même, le même engin utilisé en chargeur, donne plus particulièrement satisfaction lorsque le couplage associe les vérins reliant respectivement le bec de flèche avec le bras et le bras avec le godet.0 In the same way, in the case of a machine comprising a work equipment in four elements, namely a boom, a spout, an arm and a bucket, this machine being used as an excavator, it is observed that the best results are obtained for a coupling of the jacks connecting the boom respectively with the boom spout and the boom spout with the arm. Likewise, the same machine used in loader, gives more particularly satisfaction when the coupling associates the jacks respectively connecting the boom spout with the arm and the arm with the bucket.
Brève description des figuresBrief description of the figures
La manière dont l'invention peut être réalisée et les avantages qui en découlent, ressortiront mieux de l'exemple de réalisation qui suit à l'appui des figures annexées.The manner in which the invention can be implemented and the advantages which result therefrom will emerge more clearly from the embodiment which follows, supported by the appended figures.
La figure 1 est une vue d'ensemble d'un engin mettant en évidence les différents éléments de l'équipement de travail.Figure 1 is an overview of a machine highlighting the different elements of the work equipment.
La figure 2 est un schéma de commande hydraulique de l'équipement selon l'invention.Figure 2 is a hydraulic control diagram of the equipment according to the invention.
La figure 3 est un schéma de commande hydraulique incorporant un dispositif d'asservissement.Figure 3 is a hydraulic control diagram incorporating a servo device.
La figure 4 est un diagramme représentant l'enveloppe des positions accessibles par l'outil, avec et sans couplage des vérins.FIG. 4 is a diagram representing the envelope of the positions accessible by the tool, with and without coupling of the jacks.
La figure 5 est une vue d'ensemble d'un engin utilisé comme chargeur. Manière de réaliser l'inventionFigure 5 is an overview of a machine used as a loader. Way of realizing the invention
L'invention décrite est appliquée à un engin chargeur/ excavateur classique (figure 1) ou en tant que chargeur (figure 5).The invention described is applied to a conventional loader / excavator (Figure 1) or as a loader (Figure 5).
Un tel engin tel que schématisé à la figure 1, porte un équipement de travail (1) en quatre éléments : une flèche (2), un bec de flèche (3), un bras (4) et un godet (5).Such a machine as shown schematically in Figure 1, carries a work equipment (1) in four elements: an arrow (2), an arrow spout (3), an arm (4) and a bucket (5).
La flèche (2) est articulée par rapport à la tourelle (6) et sa position est réglée par le vérin de flèche (7) au moyen de deux bras (8,9). Le bec de flèche (3) est relié à l'autre extrémité (10) de la flèche (2) et la position angulaire α de ces deux éléments (2,3) est réglée au moyen du vérin (11) de bec de flèche. De même, le bras (4) est relié à l'autre extrémité (12) du bec de flèche (3) et l'angle β correspondant est fonction de la position du vérin (13) de bras. Enfin, le godet (5) est accroché au bout (14) du bras (4) et sa position est réglée par le vérin (15) de godet.The boom (2) is articulated with respect to the turret (6) and its position is adjusted by the boom cylinder (7) by means of two arms (8,9). The boom spout (3) is connected to the other end (10) of the boom (2) and the angular position α of these two elements (2,3) is adjusted by means of the boom spout cylinder (11) . Likewise, the arm (4) is connected to the other end (12) of the arrow spout (3) and the corresponding angle β is a function of the position of the arm jack (13). Finally, the bucket (5) is hooked to the end (14) of the arm (4) and its position is adjusted by the bucket cylinder (15).
Le diagramme de la figure 2 illustre le mode de réalisation le plus simple qui permet de comprendre aisément la manière dont sont commandés les différents vérins (11,13), afin d'assurer un fonctionnement soit de manière conventionnelle, chaque vérin étant commandé par un manipulateur, soit un fonctionnement conformément à l'invention où un seul manipulateur permet de commander simultanément deux vérins.The diagram in FIG. 2 illustrates the simplest embodiment which makes it easy to understand the way in which the different jacks are controlled (11, 13), in order to ensure operation either in a conventional manner, each jack being controlled by a manipulator, ie an operation in accordance with the invention where a single manipulator makes it possible to simultaneously control two jacks.
Dans ce mode de réalisation, chaque vérin (11,13) est associé à un distributeur (30,31). Ce distributeur (30,31) permet d'alimenter la chambre d'élongation (32,33) et la chambre de retrait (34,35) du vérin (11,13). Tous les distributeurs (30,31) sont alimentés par une pompe (36) à débit variable entraînée par le moteur thermique de l'engin. Cette pompe (36) alimente également un bloc de réduction (40) de pression qui délivre une pression de commande (41) aux manipulateurs 42,43). Ces manipulateurs (42,43) , en fonction de leur position, délivrent cette pression (41) aux différents distributeurs (30,31) auxquels ils sont associés. Les positions opposées de chaque manipulateur (42,43) engendrent des mouvements opposés des vérins (11,13) auxquels ils se rapportent.In this embodiment, each cylinder (11,13) is associated with a distributor (30,31). This distributor (30,31) is used to supply the elongation chamber (32,33) and the withdrawal chamber (34,35) of the jack (11,13). All the distributors (30,31) are supplied by a pump (36) with variable flow driven by the engine of the machine. This pump (36) supplies also a pressure reduction block (40) which delivers a control pressure (41) to the manipulators 42,43). These manipulators (42,43), depending on their position, deliver this pressure (41) to the various distributors (30,31) with which they are associated. The opposite positions of each manipulator (42,43) generate opposite movements of the jacks (11,13) to which they relate.
Sur la figure 2, on observe que le circuit de commande du deuxième distributeur (31) peut être alimenté soit par le manipulateur associé (43), soit par le premier manipulateur (42).In FIG. 2, it can be seen that the control circuit of the second distributor (31) can be supplied either by the associated manipulator (43) or by the first manipulator (42).
Cette alternative dépend de la position des vannes (45,46).This alternative depends on the position of the valves (45,46).
En position "non couplée", tel que représenté, le manipulateur (42) commande le distributeur (30) qui alimente le vérin (11) et le manipulateur (43) commande le distributeur (31) qui alimente le vérin (13).In the "uncoupled" position, as shown, the manipulator (42) controls the distributor (30) which supplies the cylinder (11) and the manipulator (43) controls the distributor (31) which supplies the cylinder (13).
Dans la position "couplée ", les vannes (45,46) mettent en communication, grâce aux dérivations (47,48), les circuits de commandes (37) du distributeur (30) du premier vérin (11) avec le circuit de commande (38) du distributeur (31) du deuxième vérin (13). Le manipulateur (42) alimente le distributeur (30) ainsi que le distributeur (31). Le manipulateur (43) est donc disponible pour la commande d'un autre organe. Dans cette position couplée, les deux distributeurs (30) et (31) étant commandés par la même pression, le réglage des débits est obtenu par l'effet proportionnel des tiroirs des distributeurs.In the "coupled" position, the valves (45,46) put in communication, thanks to the branches (47,48), the control circuits (37) of the distributor (30) of the first cylinder (11) with the control circuit (38) of the distributor (31) of the second cylinder (13). The manipulator (42) feeds the distributor (30) as well as the distributor (31). The manipulator (43) is therefore available for controlling another member. In this coupled position, the two distributors (30) and (31) being controlled by the same pressure, the adjustment of the flow rates is obtained by the proportional effect of the distributors' drawers.
Avantageusement, on choisit de régler les débits des distributeurs (30,31) de manière à ce que les vérins (11,13) aient les mêmes temps de course complète. Cela implique que, lorsque les deux vérins (11,13) partent d'une position extrême, ils atteignent la position extrême opposée en même temps.Advantageously, we choose to adjust the flow rates of the distributors (30,31) so that the jacks (11,13) have the same full stroke times. This implies that when the two cylinders (11,13) start from an extreme position, they reach the opposite extreme position at the same time.
Ce principe de commande, entièrement hydraulique, admet une dérive d'un vérin par rapport à l'autre dans le temps, qui peut être corrigée par une action de l'opérateur en ramenant les deux vérins à fond de course, ceux-ci atteignant leur butée mécanique. Cette opération arrive naturellement lors de l'utilisation de la pelle sur de grands débattements.This fully hydraulic control principle admits a drift of one cylinder with respect to the other over time, which can be corrected by an action of the operator by bringing the two cylinders back to the end of their travel, these reaching their mechanical stop. This operation occurs naturally when using the shovel on large deflections.
Dans la variante de réalisation illustrée par la figure 3, en position couplée, la commande du deuxième vérin (13) se fait par un dispositif de régulation permettant de corriger les éventuelles dérives observées dans un dispositif purement hydraulique. Dans cette forme particulière, le vérin le plus chargé, c'est-à-dire fournissant le plus d'effort, est commandé de manière classique par un manipulateur (42) et un distributeur (30). En revanche, le deuxième vérin (13) est commandé par un dispositif d'asservissement constitué de deux potentiomètres (50,51) déterminant les angles (α,β) correspondants aux vérins (11), un boitier calculateur (52) alimentant deux électrovannes modérables (53,54), lesquelles électro vannes (53,54) commandent le distributeur (31) du second vérin (13), les actions des deux électro vannes étant opposées. Les temps de course des deux vérins (11,13) étant égaux, cela se traduit géométriquement par une relation entre les angles α et β. Cette relation est enregistiée dans le boitier calculateur (52). Celui-ci est donc apte à comparer l'angle β observé avec la valeur théorique enregistrée. En fonction de cet écart et de son signe, le boitier calculateur détermine un courant (56) à appliquer à l'une ou l'autre électro vanne (53,54) qui délivre une pression (55,57) permettant de commander le distributeur (31). Ainsi, on a affaire à un véritable système asservi dans lequel les deux vérins (11,13) suivent scrupuleusement la loi de commande optimale déterminée pour donner une excursion maximale à l'outil.In the variant embodiment illustrated in FIG. 3, in the coupled position, the control of the second cylinder (13) is done by a regulation device making it possible to correct any drifts observed in a purely hydraulic device. In this particular form, the most loaded cylinder, that is to say providing the most effort, is conventionally controlled by a manipulator (42) and a distributor (30). On the other hand, the second cylinder (13) is controlled by a servo device made up of two potentiometers (50,51) determining the angles (α, β) corresponding to the cylinders (11), a computer unit (52) supplying two solenoid valves moderable (53,54), which solenoid valves (53,54) control the distributor (31) of the second cylinder (13), the actions of the two solenoid valves being opposite. The stroke times of the two cylinders (11,13) being equal, this translates geometrically by a relationship between the angles α and β. This relationship is recorded in the computer unit (52). It is therefore able to compare the angle β observed with the theoretical value recorded. Depending on this difference and its sign, the computer unit determines a current (56) to be applied to one or the other solenoid valve (53,54) which delivers a pressure (55,57) enabling the distributor to be controlled (31). Thus, we are dealing with a real slave system in which the two jacks (11,13) scrupulously follow the optimal control law determined to give maximum excursion to the tool.
Cette excursion est représentée à la figure 4, et matérialise un des points clés de l'invention. Ce diagramme représente en traits pleins (70) l'enveloppe de tous les points accessibles par l'outil (5) lorsque les quatre vérins (7,11,13,15) sont actionnés indépendamment. En d'autres termes, l'intérieur de ce contour représente l'espace de travail utile. On observe à l'intérieur de cette courbe une deuxième courbe (71) en traits pointillés qui représente également l'enveloppe des points accessibles, mais dans le cas où deux des vérins sont couplés. Les vérins choisis dans ce couplage précis sont le vérin de bec (11) de flèche et le vérin de bras (13), et l'observation comparative des deux courbes (70,71) montre que la diminution d'un degré de liberté n'entraîne qu'un amoindrissement limité de l'espace de travail. Bien évidemment, un des objets primordiaux de l'invention consiste à déterminer lesquels des quatre vérins (7,11,13,15) doivent être couplés pour obtenir un espace de travail acceptable.This excursion is shown in Figure 4, and materializes one of the key points of the invention. This diagram shows in solid lines (70) the envelope of all the points accessible by the tool (5) when the four jacks (7,11,13,15) are actuated independently. In other words, the inside of this outline represents the useful workspace. A second curve (71) is observed inside this curve in dotted lines which also represents the envelope of the accessible points, but in the case where two of the jacks are coupled. The jacks chosen in this precise coupling are the spout jack (11) of the boom and the arm jack (13), and the comparative observation of the two curves (70,71) shows that the decrease in a degree of freedom n 'results in a limited reduction of the workspace. Obviously, one of the essential objects of the invention consists in determining which of the four jacks (7,11,13,15) must be coupled to obtain an acceptable working space.
Comme on l'a vu précédemment, dans le cas d'une pelle ou excavateur, le couplage optimal est obtenu en couplant les vérins de bec de flèche (11) et de bras (13).As we have seen previously, in the case of a shovel or excavator, the optimal coupling is obtained by coupling the jacks with boom jib (11) and arm (13).
En revanche, dans le cas d'une chargeuse illustrée à la figure 5 , l'utilisation des vérins est différente. En effet, dans ce cas, la flèche (2) prend une position fixe tout le temps de l'opération> c'est-à-dire inclinée au maximum vers l'arrière, repliée sur la tourelle (6). Les opérations de chargement ont lieu par le mouvement du bec de flèche (3) du bras (4) et du godet (5). Les meilleurs résultats ont été obtenus en couplant le vérin de bras (13) et le vérin de godet (15), ceci pour maintenir l'horizontalité du godet. Dans ce cas précis, les vérins (13,15) respectent une loi de mouvement différente de celle déjà observée, c'est-à-dire que leur course complète ne s'opère pas dans le même temps, mais suit une loi qui garde constant l'angle du godet avec l'horizontale. De la même manière que précédemment, les débits des distributeurs correspondants sont adaptés et calculés pour obtenir ce résultat. De cette manière, la commande par un seul manipulateur, permet de maintenir l'horizontalité du godet sans avoir à faire des corrections manuelles tels que les systèmes actuels l'obligent.On the other hand, in the case of a loader illustrated in FIG. 5, the use of the jacks is different. Indeed, in this case, the arrow (2) takes a fixed position all the time of the operation > that is to say inclined as far back as possible, folded over the turret (6). The loading operations take place by the movement of the boom spout (3) of the arm (4) and of the bucket (5). The best results have been obtained by coupling the arm cylinder (13) and the bucket cylinder (15), this to maintain the horizontality of the bucket. In this specific case, the jacks (13,15) respect a law of movement different from that already observed, that is to say that their complete stroke does not take place at the same time, but follows a law which keeps constant the angle of the bucket with the horizontal. In the same way as previously, the flows of the corresponding distributors are adapted and calculated to obtain this result. In this way, the control by a single manipulator, makes it possible to maintain the horizontality of the bucket without having to make manual corrections such as current systems require it.
Les exemples décrits précédemment concernent des engins comportant des équipements de travail à quatre éléments, mais il est bien évident que les moyens mis en oeuvre peuvent également l'être pour des équipements à trois éléments seulement, ce qui permettrait de réduire le nombre de manipulateurs nécessaires à la conduite, et donc de simplifier celle-ci.The examples described above relate to machines comprising work equipment with four elements, but it is obvious that the means used can also be used for equipment with only three elements, which would make it possible to reduce the number of manipulators required. driving, and therefore to simplify it.
Il ressort de la description qui précède que les chargeurs excavateurs selon l'invention présentent des avantages certains.It appears from the foregoing description that the excavator loaders according to the invention have certain advantages.
D'une part, ils permettent d'utiliser un équipement de travail complexe comportant une multitude de degrés de liberté, tout en étant compatibles avec des postes de conduite traditionnelle à deux manipulateurs à double commande. D'autre part, ils simplifient nettement la conduite d'engins perfectionnés en assurant automatiquement le positionnement relatif des vérins, éliminant par là des opérations manuelles délicates, tout en gardant la possibilité d'uen commande individuelle de chaque vérin. On the one hand, they make it possible to use complex work equipment comprising a multitude of degrees of freedom, while being compatible with traditional driving positions with two manipulators with double control. On the other hand, they clearly simplify the operation of improved machines by automatically ensuring the relative positioning of the cylinders, thereby eliminating delicate manual operations, while retaining the possibility of individual control of each cylinder.

Claims

REVENDICATIONS
1/ Engin de travaux publics comportant :1 / Public works vehicle comprising:
- un équipement de travail (1) composé d'au moins trois éléments (2,3,4,5) articulés et angulairement déployables les uns par rapport aux autres, le premier (2) étant articulé par rapport au châssis (6), le dernier (5) étant constitué par un outil,a work equipment (1) composed of at least three elements (2,3,4,5) articulated and angularly deployable with respect to each other, the first (2) being articulated with respect to the chassis (6), the last (5) being constituted by a tool,
- des moyens permettant de commander le déplacement angulaire desdits éléments (2,3,4,5) les uns par rapport aux autres, lesdits moyens comprenant : a) des vérins hydrauliques (7,11,13,15), aptes à modifier le positionnement angulaire entre deux éléments consécutifs, l'alimentation en fluide de chaque vérin (7,11,13,15) étant assurée par un distributeur (30,31), b) des manipulateurs (42,43) délivrant un ordre de commande actionnant les distributeurs (30,31), caractérisé en ce que le nombre de manipulateurs (42,43) est inférieur au nombre de vérins hydrauliques (7,11,13,15), et en ce qu'il comporte des moyens de couplage (45,46) des ordres de commande des distributeurs de deux des vérins (11J3)-(13,15) permettant de les actionner simultanément par l'ordre de commande d'un seul manipulateur (42), afin d'assurer le positionnement de l'outil en tout point compris à l'intérieur d'un contour d'un espace de travail déterminé.- Means for controlling the angular displacement of said elements (2,3,4,5) relative to each other, said means comprising: a) hydraulic cylinders (7,11,13,15), capable of modifying the angular positioning between two consecutive elements, the fluid supply to each cylinder (7,11,13,15) being provided by a distributor (30,31), b) manipulators (42,43) issuing an actuating control order distributors (30,31), characterized in that the number of manipulators (42,43) is less than the number of hydraulic cylinders (7,11,13,15), and in that it comprises coupling means ( 45,46) control orders from the distributors of two of the jacks (11J3) - (13,15) enabling them to be actuated simultaneously by the control order from a single manipulator (42), in order to ensure the positioning of the tool at any point included within a contour of a given workspace.
2/ Engin de travaux publics selon la revendication 1, caractérisé en ce que les moyens de couplage sont constitués par un circuit (47,48) comprenant des vannes (45,46) mettant en relation le circuit de commande du distributeur (30) de l'un des vérins (11) avec le circuit de commande du distributeur (31) de l'autre vérin (13). 3/ Engin de travaux publics selon la revendication 1, caractérisé en ce que les débits des distributeurs (30,31) correspondant aux vérins couplés (11,13), sont réglés de manière à ce que les temps de course complète des deux vérins (11,13) couplés soient égaux.2 / public works machine according to claim 1, characterized in that the coupling means are constituted by a circuit (47,48) comprising valves (45,46) connecting the control circuit of the distributor (30) of one of the cylinders (11) with the distributor control circuit (31) of the other cylinder (13). 3 / Public works machine according to claim 1, characterized in that the flow rates of the distributors (30,31) corresponding to the coupled cylinders (11,13), are adjusted so that the complete stroke times of the two cylinders ( 11,13) coupled are equal.
4/ Engin de travaux publics selon l'une des revendications 1 et 2, caractérisé en ce que les débits des distributeurs (30,31) sont réglés pour maintenir l'horizontalité de l'outil (5).4 / Public works machine according to one of claims 1 and 2, characterized in that the flow rates of the distributors (30,31) are adjusted to maintain the horizontality of the tool (5).
5/ Engin de travaux publics selon la revendication 1, caractérisé en ce que les moyens de couplage sont constitués par un ensemble d'asservissement (59) élaborant l'ordre de commande (55) du distributeur (31) d'un des vérins (13) en fonction des angles (α, β) correspondants aux deux vérins (11,13).5 / public works machine according to claim 1, characterized in that the coupling means are constituted by a servo assembly (59) developing the control order (55) of the distributor (31) of one of the cylinders ( 13) as a function of the angles (α, β) corresponding to the two cylinders (11,13).
6/ Engin de travaux publics selon la revendication 5, caractérisé en ce l'ensemble d'asservissement comprend :6 / Public works machine according to claim 5, characterized in that the servo assembly comprises:
- deux capteurs (50,51) de position angulaire déterminant les valeurs (α,β) d'angle correspondant aux vérins couplés (11,13) ;- two angular position sensors (50,51) determining the angle values (α, β) corresponding to the coupled cylinders (11,13);
- un boitier calculateur (52) élaborant un courant (56) en fonction de la différence pondérée des valeurs issues des capteurs (50,51) ;- a computer unit (52) generating a current (56) as a function of the weighted difference of the values from the sensors (50,51);
- deux électrovannes (53,54) modérables commandées par ledit courant (56), et délivrant une pression de commande (55) au distributeur (31) d'alimentation du vérin (13), chaque électrovanne (53,54) commandant le déplacement du vérin dans un sens. 71 Engin de travaux publics selon l'une des revendications 1 à 6, caractérisé en ce que l'équipement de travail est composé de trois éléments, à savoir une flèche, un balancier et un godet, les vérins reliant respectivement le châssis avec la flèche et la flèche avec le balancier, étant couplés.- two moderatable solenoid valves (53,54) controlled by said current (56), and delivering a control pressure (55) to the distributor (31) supplying the jack (13), each solenoid valve (53,54) controlling the movement in one direction. 71 Public works machine according to one of claims 1 to 6, characterized in that the work equipment is composed of three elements, namely a boom, a pendulum and a bucket, the jacks respectively connecting the chassis with the boom and the boom with the pendulum, being coupled.
8/ Engin de travaux publics selon l'une des revendications 1 à 6, utilisé comme excavateur, caractérisé en ce que l'équipement de travail est composé de quatre éléments, à savoir une flèche (2), un bec de flèche (3), un bras (4) et un godet (5), les vérins (11,13) reliant respectivement la flèche (2) et le bec de flèche (3) et le bec de flèche (3) avec le bras (4), étant couplés.8 / public works machine according to one of claims 1 to 6, used as an excavator, characterized in that the work equipment is composed of four elements, namely an arrow (2), a spout (3) , an arm (4) and a bucket (5), the jacks (11,13) respectively connecting the arrow (2) and the arrow spout (3) and the arrow spout (3) with the arm (4), being coupled.
9/ Engin de travaux publics selon l'une des revendications 1 à 6, utilisé comme chargeur, caractérisé en ce que l'équipement de travail (1) est composé de quatre éléments, à savoir une flèche (2), un bec de flèche (3), un bras (4) et un godet (5), les vérins (13,15) reliant respectivement le bec de flèche (3) avec le bras (4) et le bras (4) avec le godet (5), étant couplés. 9 / Public works machine according to one of claims 1 to 6, used as a loader, characterized in that the work equipment (1) is composed of four elements, namely an arrow (2), an arrow spout (3), an arm (4) and a bucket (5), the jacks (13,15) respectively connecting the boom spout (3) with the arm (4) and the arm (4) with the bucket (5) , being coupled.
EP95933476A 1994-10-18 1995-10-04 Earthmoving machine Expired - Lifetime EP0787235B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR9412648A FR2725740B1 (en) 1994-10-18 1994-10-18 EXCAVATOR LOADER COMPRISING A DEVICE FOR CONTROLLING A COMPLEX ARM
FR9412648 1994-10-18
PCT/FR1995/001286 WO1996012069A1 (en) 1994-10-18 1995-10-04 Earthmoving machine

Publications (2)

Publication Number Publication Date
EP0787235A1 true EP0787235A1 (en) 1997-08-06
EP0787235B1 EP0787235B1 (en) 1999-06-09

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EP95933476A Expired - Lifetime EP0787235B1 (en) 1994-10-18 1995-10-04 Earthmoving machine

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EP (1) EP0787235B1 (en)
DE (1) DE69510216T2 (en)
FR (1) FR2725740B1 (en)
WO (1) WO1996012069A1 (en)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6128632A (en) * 1984-07-18 1986-02-08 Mitsubishi Heavy Ind Ltd Operator for oil-pressure shovel
JPH0745746B2 (en) * 1987-06-13 1995-05-17 日立建機株式会社 Device for changing the combination of operating lever and actuator
JPH0794737B2 (en) * 1989-08-02 1995-10-11 株式会社小松製作所 Linear excavation control device in hydraulic excavator
JPH0823155B2 (en) * 1990-05-01 1996-03-06 株式会社小松製作所 Work machine control device

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO9612069A1 *

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Publication number Publication date
DE69510216D1 (en) 1999-07-15
EP0787235B1 (en) 1999-06-09
FR2725740A1 (en) 1996-04-19
WO1996012069A1 (en) 1996-04-25
FR2725740B1 (en) 1997-04-25
DE69510216T2 (en) 2000-01-20

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