EP1156162A1 - Construction machine - Google Patents

Construction machine Download PDF

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Publication number
EP1156162A1
EP1156162A1 EP01420072A EP01420072A EP1156162A1 EP 1156162 A1 EP1156162 A1 EP 1156162A1 EP 01420072 A EP01420072 A EP 01420072A EP 01420072 A EP01420072 A EP 01420072A EP 1156162 A1 EP1156162 A1 EP 1156162A1
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EP
European Patent Office
Prior art keywords
tool holder
control circuit
acceleration
tool
arm
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.)
Withdrawn
Application number
EP01420072A
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German (de)
French (fr)
Inventor
Henri Marchetta
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.)
Groupe Mecalac SAS
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Groupe Mecalac SAS
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Filing date
Publication date
Application filed by Groupe Mecalac SAS filed Critical Groupe Mecalac SAS
Publication of EP1156162A1 publication Critical patent/EP1156162A1/en
Withdrawn legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/436—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like for keeping the dipper in the horizontal position, e.g. self-levelling
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
    • E02F3/432—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude
    • E02F3/433—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude horizontal, e.g. self-levelling

Definitions

  • the invention relates to an improvement made to construction machinery. public, and more particularly to vehicles which include an articulated arm for receive several types of tool dedicated to specific tasks.
  • the invention allows in particular to maintain a constant orientation of the tool.
  • multipurpose public works vehicles that can be used loader, loader-excavator or mechanical shovel, or even forklift have an articulated arm.
  • This arm can include one or several axes of articulation relative to the turret.
  • This articulated arm is composed of several segments articulated one by compared to the others, and equipped with jacks allowing to adjust the different angles between the segments.
  • the so-called "versatile" machines have at the end of the articulated arm a tool holder capable of receiving a specific working tool which may be a bucket, a bucket-loader, clamshell bucket, or even a pallet carrier. All the tools usable on the same machine have identical arrangements allowing installation on the tool holder.
  • the tool holder is itself hinged at the end of the arms to allow the tool to adopt the orientation corresponding to the functionality used.
  • the machine described in this document includes a inclinometer arranged on the tool holder. Depending on the signal it generates, this inclinometer, induces the control of a compensating cylinder connecting the tool holder and the arm. Thus, it is possible to maintain a certain horizontality of the tool.
  • the signal generated by an inclinometer has a discontinuity when the inclinometer performs a large amplitude rotation.
  • the signal generated by the inclinometer is a function of the angle of a movable lever relative to the rest of the inclinometer.
  • the inclinometer rotates more than 360 °, it therefore inevitably appears a discontinuity in the output signal which causes problems in the servo and control chain of the jack compensation.
  • a such amplitude can be frequently observed.
  • the device described in the aforementioned document aims to maintain a horizontality of a load when it is moved during the movement of the craft.
  • the horizontal correction is made by measuring the angle of the tool holder with respect to the vertical. This correction is therefore only effective for substantially rectilinear displacements, and does not compensate for variations dynamically tilt.
  • the device described in this document has a inclinometer which provides only one piece of information, that of the angle of pitch. So, when the machine is on a slope, corresponding to an inclination side of the machine, the information generated by the inclinometer does not take into account the slope angle. It follows that the correction generated by the device servo is wrong, and can even be dangerous.
  • a problem which the invention therefore proposes to solve is that of the dynamic correction of the orientation of the tool and the tool holder according to the movements of the latter, regardless of the lateral inclination of the machine.
  • the tool holder is equipped with two accelerometers which allow to define the direction and intensity of the acceleration undergone by the tool holder, in the workplan.
  • the characteristic accelerometers determine the component of acceleration not relative to the horizontal as in the devices of the prior art, but well in the plane in which is deploy the articulated arm.
  • the measurement of the acceleration of the tool holder and therefore of the tool makes it possible to dynamically compensate for the displacements of the latter, especially during the acceleration or braking phases, or even when the tool moves along a curved path and therefore undergoes a centrifugal force.
  • the two accelerometers are arranged in quadrature, so as to measure each component vectorially independent in the work plan.
  • the electronic means are interfaced with a manipulator which, when activated, triggers the recording of the measurement acceleration current as a setpoint.
  • a manipulator which, when activated, triggers the recording of the measurement acceleration current as a setpoint.
  • the means acting on the circuit hydraulic control control the distributor of the compensation cylinder responsible for the movement of the tool holder relative to the articulated arm.
  • control of the distributor can be carried out directly in debit.
  • the means acting on the hydraulic control circuit may further include a third accelerometer whose direction is not located in the work plane, so that determine the transverse acceleration component, which can then be used to determine the acceleration of the tool in a frame linked to the machine. So it is so possible to compensate with an additional compensation cylinder, the effects of a transverse acceleration which one observes in particular when the arm of work rotates relative to the turret.
  • the invention relates to a public works machine of the type known, comprising an articulated arm capable of deploying relative to the turret or the chassis on which it is mounted.
  • This type of machine being widely known, it will not be therefore not described or illustrated in detail.
  • such an arm (1) consists of several articulated segments relative to each other and whose relative movements are ensured by a hydraulic control circuit including several cylinders.
  • Figure 1 illustrates therefore only the end of the articulated arm (1) in its segment which receives the tool holder (2). More specifically, the last segment of the articulated arm (1) comprises its end a hinge (3) on which is mounted the tool holder (2).
  • This tool holder (2) is intended to receive the working tool (4) and to secure it by relative to the arm (1).
  • the tool (4) shown is a pallet carrier, but the invention cannot be limited to this single type of tool and covers well obviously many other types of work tools, such as buckets, bucket-loaders, grab buckets or whatever.
  • the tool holder (2) is equipped with two accelerometers (10,11) illustrated schematically in Figure 1, and advantageously arranged in quadrature so that their directions of sensitivity are perpendicular.
  • these accelerometers (10,11) are arranged on a lateral face of the tool holder (2), so that the plane defined by their sensitivity is parallel to the work plane in which the articulated arm (1) is deployed. These two accelerometers therefore make it possible to determine the acceleration of the tool holder (2) in the characteristic work plan.
  • the invention is not limited to the single embodiment. illustrated in which the accelerometers (10,11) are arranged on a side face of the tool holder (2), but obviously covers all the variants in which these accelerometers are arranged at another location on the tool holder, provided that their directions of sensitivity define a plane parallel to the plane of job.
  • the control of the jack (5) connected to the tool holder is illustrated in Figure 2.
  • the tool holder (2) has two accelerometers (10,11) which deliver a signed signal (20,21).
  • These two accelerometers (10,11) deliver their analog signal (20,21) to a computer (15) which determines the direction of the current acceleration as a function of the two analog signals (20,21). More precisely, this calculator (15) determines the intensity of the acceleration undergone in the work plane from the two orthogonal components managed by each accelerometer (10,11).
  • the orientation of the acceleration in the work plane is determined by the determination of the angle whose tangent is equal to the ratio of the two signals (20,21) delivered by the two accelerometers (10,11).
  • the different intensity (22) and orientation (23) signals determined by the computer (15), are then transmitted to an electronic management system (16) intended to ensure the correction and control of the compensation cylinder (5). More precisely, this electronic system compares the intensity values (22) and orientation (23) measured, with a reference or setpoint value, for develop a control signal from the distributor supplying the actuator compensation (5).
  • the electronic management system (16) can have different digital filtering stages as well as stages PID or self-adaptive servo control.
  • the set value to which the electronic system (16) controls the orientation of the acceleration can be chosen by the driver according to the situation of the machine and the maneuvers it wishes to perform. More precisely, this setpoint is set by the driver after the driver has arranged the work tool according to the desired orientation. So when the driver uses the manipulator (13) dedicated to the compensation cylinder (5), it acts directly on the distributor (17) which controls the compensation cylinder (5) for placing the tool holder (2) in the desired position. When the driver releases the manipulator (13), the electronic management system (16) detects that the manipulator (13) is no longer used and stores the current value of the acceleration as the setpoint.
  • the representation of the connection between the manipulator (13) and the electronic management system (16) of Figure 2 is schematic, and this can be carried out according to several modes of execution, electric or hydraulic, without departing from the scope of the invention.
  • the electronic management system (16) therefore determines two signals electric (25,26) able to control the flow rate of the two drawers of the distributor (17) which feeds the compensation cylinder (5).
  • the invention is not limited to this single direct debit order, but also covers other less sophisticated variants in which the distributor control is carried out by pressure reducers controlled by the electronic system Management.
  • the compensation cylinder (5) sees each of its chambers (8,9) supplied according to the value of the acceleration measured in relation to the value setpoint chosen.
  • the machine may include in addition to a third accelerometer, located perpendicular to the work plane, and able to determine the transverse acceleration undergone by the tool.
  • a cylinder additional, or a similar mechanism allows the tool holder to be oriented by report to the work plan.
  • the device then comprises also a computer capable of determining the measurement of acceleration perpendicular to the work plan, so as to compare with respect to a additional setpoint and enslaved by an electronic management system additional the cylinder ensuring the movement of the tool holder, perpendicular to the work plane.

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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)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

The control circuit actuating member having a pair of accelerometers (10,11) mounted on the tool holder, and an electronic unit (15,16) to determine the acceleration of the tool holder, and comparing it with a pre-defined acceleration, and acting on the hydraulic circuit as a function of this comparison. The machine has a pivotable hydraulic arm (1) deployable in the work plane, and a tool holder (2), receiving a work tool (4), mounted at the end of the hydraulic arm, and actuated by a jack (5) of the control circuit. There is a member acting on the control circuit to compensate for movement of the work tool during the movement of the arm.

Description

Domaine techniqueTechnical area

L'invention concerne un perfectionnement apporté aux engins de travaux publics, et plus particulièrement aux engins qui comportent un bras articulé pour recevoir plusieurs types d'outil dédiés à des tâches spécifiques. L'invention permet notamment de conserver une orientation constante de l'outil.The invention relates to an improvement made to construction machinery. public, and more particularly to vehicles which include an articulated arm for receive several types of tool dedicated to specific tasks. The invention allows in particular to maintain a constant orientation of the tool.

Techniques antérieuresPrevious techniques

De façon générale, les engins de travaux publics polyvalents pouvant servir de chargeur, de chargeur-excavateur ou de pelle mécanique, ou bien encore de chariot élévateur comportent un bras articulé. Ce bras peut comporter un ou plusieurs axes d'articulation par rapport à la tourelle.In general, multipurpose public works vehicles that can be used loader, loader-excavator or mechanical shovel, or even forklift have an articulated arm. This arm can include one or several axes of articulation relative to the turret.

Ce bras articulé est composé de plusieurs segments articulés les uns par rapport aux autres, et équipés de vérins permettant de régler les différents angles entre les segments.This articulated arm is composed of several segments articulated one by compared to the others, and equipped with jacks allowing to adjust the different angles between the segments.

Les engins dits "polyvalents" possèdent à l'extrémité du bras articulé un porte-outil apte à recevoir un outil de travail spécifique qui peut-être un godet, un godet-chargeur, une benne preneuse, voire un porte-palettes. Tous les outils utilisables sur un même engin comportent des agencements identiques permettant la mise en place sur le porte-outil. Le porte-outil est lui-même articulé au bout du bras pour permettre à l'outil d'adopter l'orientation correspondant à la fonctionnalité utilisée.The so-called "versatile" machines have at the end of the articulated arm a tool holder capable of receiving a specific working tool which may be a bucket, a bucket-loader, clamshell bucket, or even a pallet carrier. All the tools usable on the same machine have identical arrangements allowing installation on the tool holder. The tool holder is itself hinged at the end of the arms to allow the tool to adopt the orientation corresponding to the functionality used.

On conçoit que lorsque l'engin est utilisé en tant que chargeur par exemple, il importe que le godet conserve une certaine horizontalité pour éviter que son chargement ne se déverse avant sa destination. Autrement dit, il est nécessaire de conserver une certaine horizontalité, ou plus généralement une certaine orientation de l'outil.It is understood that when the machine is used as a loader for example, it It is important that the bucket retains a certain horizontality to prevent its load does not spill before its destination. In other words, it is necessary to keep a certain horizontality, or more generally a certain orientation of the tool.

Plusieurs solutions ont déjà été proposées, et notamment celle décrite dans le document FR 2 669 663. L'engin décrit dans ce document comporte un inclinomètre disposé sur le porte-outil. En fonction du signal qu'il génère, cet inclinomètre, induit la commande d'un vérin compensateur reliant le porte-outil et le bras. Ainsi, il est possible de conserver une certaine horizontalité de l'outil.Several solutions have already been proposed, and in particular that described in the document FR 2 669 663. The machine described in this document includes a inclinometer arranged on the tool holder. Depending on the signal it generates, this inclinometer, induces the control of a compensating cylinder connecting the tool holder and the arm. Thus, it is possible to maintain a certain horizontality of the tool.

Cette solution présente néanmoins un certain nombre d'inconvénients. Ainsi, le signal généré par un inclinomètre présente une discontinuité lorsque l'inclinomètre effectue une rotation de grande amplitude. En effet, le signal généré par l'inclinomètre est fonction de l'angle d'un levier mobile par rapport au reste de l'inclinomètre. Lorsque l'inclinomètre effectue une rotation de plus de 360°, il apparaít donc inévitablement une discontinuité dans le signal de sortie qui provoque des problèmes dans la chaíne d'asservissement et de commande du vérin de compensation. Or, dans les modes de fonctionnement d'un engin polyvalent, une telle amplitude peut être fréquemment observée.This solution nevertheless has a number of drawbacks. So, the signal generated by an inclinometer has a discontinuity when the inclinometer performs a large amplitude rotation. Indeed, the signal generated by the inclinometer is a function of the angle of a movable lever relative to the rest of the inclinometer. When the inclinometer rotates more than 360 °, it therefore inevitably appears a discontinuity in the output signal which causes problems in the servo and control chain of the jack compensation. However, in the modes of operation of a multipurpose machine, a such amplitude can be frequently observed.

En outre, le dispositif décrit dans le document précité vise à maintenir une horizontalité d'une charge lorsque celle-ci est déplacée lors du mouvement de l'engin. La correction d'horizontalité se fait par la mesure de l'angle du porte-outil par rapport à la verticale. Cette correction n'est donc efficace que pour des déplacements sensiblement rectilignes, et ne compense pas des variations d'inclinaison de façon dynamique.In addition, the device described in the aforementioned document aims to maintain a horizontality of a load when it is moved during the movement of the craft. The horizontal correction is made by measuring the angle of the tool holder with respect to the vertical. This correction is therefore only effective for substantially rectilinear displacements, and does not compensate for variations dynamically tilt.

En outre et surtout, le dispositif décrit dans ce document possède un inclinomètre qui ne fournit qu'une seule information à savoir celle de l'angle de tangage. Ainsi, lorsque l'engin se trouve en dévers, correspondant à une inclinaison latérale de l'engin, l'information générée par l'inclinomètre ne tient pas compte de l'angle de dévers. Il s'ensuit que la correction générée par le dispositif d'asservissement est erronée, et peut même s'avérer dangereuse.Furthermore and above all, the device described in this document has a inclinometer which provides only one piece of information, that of the angle of pitch. So, when the machine is on a slope, corresponding to an inclination side of the machine, the information generated by the inclinometer does not take into account the slope angle. It follows that the correction generated by the device servo is wrong, and can even be dangerous.

Un problème que se propose donc de résoudre l'invention est celui de la correction dynamique de l'orientation de l'outil et du porte-outil en fonction des mouvements de ce dernier, et ce quelle que soit l'inclinaison latérale de l'engin.A problem which the invention therefore proposes to solve is that of the dynamic correction of the orientation of the tool and the tool holder according to the movements of the latter, regardless of the lateral inclination of the machine.

Exposé de l'inventionStatement of the invention

L'invention concerne donc un engin de travaux publics, du type comportant

  • un bras articulé apte à se déployer dans un plan de travail, ledit bras étant actionné par un circuit de commande hydraulique ;
  • un porte-outil apte à recevoir un outil de travail, ledit porte-outil étant monté à une extrémité du bras articulé et étant mû par rapport au bras par l'intermédiaire d'un vérin du circuit de commande ;
  • des moyens agissant sur le circuit de commande pour compenser les déplacements de l'outil de travail durant les mouvements du bras articulé.
The invention therefore relates to a public works machine, of the type comprising
  • an articulated arm capable of deploying in a work plan, said arm being actuated by a hydraulic control circuit;
  • a tool holder adapted to receive a working tool, said tool holder being mounted at one end of the articulated arm and being moved relative to the arm by means of a jack of the control circuit;
  • means acting on the control circuit to compensate for the movements of the working tool during the movements of the articulated arm.

Cet engin se caractérise en ce que les moyens agissant sur le circuit de commande comprennent :

  • une paire d'accéléromètre monté sur le porte-outil, dont les directions sont non colinéaires, et parallèles au plan de travail ;
  • des moyens électroniques pour :
    • déterminer, grâce auxdits accéléromètres, la composante de l'accélération du porte-outil dans le plan de travail ;
    • comparer ladite composante d'accélération avec une consigne d'accélération ;
    • agir sur le circuit hydraulique de commande en fonction de ladite comparaison.
This machine is characterized in that the means acting on the control circuit include:
  • a pair of accelerometers mounted on the tool holder, the directions of which are non-collinear, and parallel to the work plane;
  • electronic means for:
    • determine, by means of said accelerometers, the component of the acceleration of the tool holder in the work plane;
    • comparing said acceleration component with an acceleration setpoint;
    • act on the hydraulic control circuit according to said comparison.

Autrement dit, le porte-outil est équipé de deux accéléromètres qui permettent de définir la direction et l'intensité de l'accélération subit par le porte-outil, dans le plan de travail. L'action du vérin de compensation liant le porte-outil et le bras articulé, permet donc une correction appropriée puisque les efforts exercés par ce vérin sont exercés dans le plan dans lequel est mesurée l'accélération du porte-outil.In other words, the tool holder is equipped with two accelerometers which allow to define the direction and intensity of the acceleration undergone by the tool holder, in the workplan. The action of the compensation cylinder linking the tool holder and the arm articulated, therefore allows an appropriate correction since the forces exerted by this cylinders are exerted in the plane in which the acceleration of the tool holder is measured.

Ainsi, même en position de dévers, les accéléromètres caractéristiques déterminent la composante de l'accélération non pas par rapport à l'horizontale comme dans les dispositifs de l'Art antérieur, mais bien dans le plan dans lequel se déploie le bras articulé. En outre, la mesure de l'accélération du porte-outil et donc de l'outil permet de compenser de façon dynamique les déplacements de ce dernier, notamment durant les phases d'accélération ou de freinage, ou bien encore lorsque l'outil se déplace selon une trajectoire courbe et subit donc une force centrifuge.Thus, even in the superelevation position, the characteristic accelerometers determine the component of acceleration not relative to the horizontal as in the devices of the prior art, but well in the plane in which is deploy the articulated arm. In addition, the measurement of the acceleration of the tool holder and therefore of the tool makes it possible to dynamically compensate for the displacements of the latter, especially during the acceleration or braking phases, or even when the tool moves along a curved path and therefore undergoes a centrifugal force.

Dans une forme préférée, les deux accéléromètres sont disposés en quadrature, de manière à mesurer chacun les composantes vectoriellement indépendantes dans le plan de travail. In a preferred form, the two accelerometers are arranged in quadrature, so as to measure each component vectorially independent in the work plan.

Avantageusement en pratique, les moyens électroniques sont interfacés avec un manipulateur qui, lorsqu'il est actionné, déclenche l'enregistrement de la mesure courante d'accélération en tant que consigne. De la sorte, il est possible au conducteur de choisir l'orientation de l'outil par rapport à une direction fixe, qui peut donc être différente de la verticale, pour ensuite faire en sorte que l'asservissement maintienne l'outil dans une position où l'accélération qu'il subit est identique à la consigne qu'il a sélectionnée.Advantageously in practice, the electronic means are interfaced with a manipulator which, when activated, triggers the recording of the measurement acceleration current as a setpoint. In this way, it is possible to driver to choose the orientation of the tool relative to a fixed direction, which can therefore be different from the vertical, and then make sure that the control maintains the tool in a position where the acceleration it undergoes is identical to the setpoint he selected.

Dans une forme particulière d'exécution, les moyens agissant sur le circuit de commande hydraulique pilotent le distributeur du vérin de compensation responsable du mouvement du porte-outil par rapport au bras articulé.In a particular embodiment, the means acting on the circuit hydraulic control control the distributor of the compensation cylinder responsible for the movement of the tool holder relative to the articulated arm.

Avantageusement en pratique, le pilotage du distributeur peut s'effectuer directement en débit.Advantageously in practice, the control of the distributor can be carried out directly in debit.

Dans une forme plus perfectionnée de l'invention, les moyens agissant sur le circuit de commande hydraulique peuvent comprendre en outre un troisième accéléromètre dont la direction n'est pas située dans le plan de travail, de manière à déterminer la composante d'accélération transversale, qui peut être ensuite utilisée pour déterminer l'accélération de l'outil dans un repère lié à l'engin. Il est donc ainsi possible de compenser par un vérin de compensation supplémentaire, les effets d'une accélération transversale que l'on observe notamment lorsque le bras de travail effectue une rotation par rapport à la tourelle.In a more improved form of the invention, the means acting on the hydraulic control circuit may further include a third accelerometer whose direction is not located in the work plane, so that determine the transverse acceleration component, which can then be used to determine the acceleration of the tool in a frame linked to the machine. So it is so possible to compensate with an additional compensation cylinder, the effects of a transverse acceleration which one observes in particular when the arm of work rotates relative to the turret.

Description sommaire des figuresBrief description of the figures

La manière de réaliser l'invention ainsi que les avantages qui en découlent ressortiront bien de la description du mode de réalisation qui suit, à l'appui des figures annexées dans lesquelles :

  • La figure 1 représente une vue en perspective sommaire de l'extrémité du bras de travail d'un engin conforme à l'invention.
  • La figure 2 est un schéma d'un principe illustrant les moyens agissant sur le vérin de compensation d'inclinaison du porte-outil.
    • The manner of carrying out the invention as well as the advantages which result therefrom will emerge clearly from the description of the embodiment which follows, in support of the appended figures in which:
  • Figure 1 shows a summary perspective view of the end of the working arm of a machine according to the invention.
  • FIG. 2 is a diagram of a principle illustrating the means acting on the tilting compensation cylinder of the tool holder.

    • Manière de réaliser l'inventionWay of realizing the invention

    Comme déjà dit, l'invention concerne un engin de travaux publics de type connu, comportant un bras articulé apte à se déployer par rapport à la tourelle ou le châssis sur lequel il est monté. Ce type d'engin étant largement connu, il ne sera donc pas décrit ni illustré en détail.As already said, the invention relates to a public works machine of the type known, comprising an articulated arm capable of deploying relative to the turret or the chassis on which it is mounted. This type of machine being widely known, it will not be therefore not described or illustrated in detail.

    De façon générale, un tel bras (1) est constitué de plusieurs segments articulés les uns par rapport aux autres et dont les mouvements relatifs sont assurés par un circuit de commande hydraulique incluant plusieurs vérins. La figure 1 illustre donc uniquement l'extrémité du bras articulé (1) dans son segment qui reçoit le porte-outil (2). Plus précisément, le dernier segment du bras articulé (1) comporte à son extrémité une articulation (3) sur laquelle est montée le porte-outil (2). Ce porte-outil (2) est destiné à recevoir l'outil de travail (4) et à le solidariser par rapport au bras (1). Dans la forme illustrée, l'outil (4) représenté est un porte-palettes, mais l'invention ne saurait être limitée à ce seul type d'outil et couvre bien évidemment de nombreux autres types d'outil de travail, tels que godets, godets-chargeurs, bennes-preneuses ou autre.In general, such an arm (1) consists of several articulated segments relative to each other and whose relative movements are ensured by a hydraulic control circuit including several cylinders. Figure 1 illustrates therefore only the end of the articulated arm (1) in its segment which receives the tool holder (2). More specifically, the last segment of the articulated arm (1) comprises its end a hinge (3) on which is mounted the tool holder (2). This tool holder (2) is intended to receive the working tool (4) and to secure it by relative to the arm (1). In the illustrated form, the tool (4) shown is a pallet carrier, but the invention cannot be limited to this single type of tool and covers well obviously many other types of work tools, such as buckets, bucket-loaders, grab buckets or whatever.

    Les mouvements de ce porte-outil (2) par rapport au segment terminal du bras (1) sont assurés par l'intermédiaire d'un vérin (5) d'un ensemble de biellettes (6,7) prévues à cet effet.The movements of this tool holder (2) relative to the terminal segment of the arms (1) are provided by means of a jack (5) of a set of connecting rods (6,7) provided for this purpose.

    Conformément à l'invention, le porte-outil (2) est équipé de deux accéléromètres (10,11) illustrés schématiquement à la figure 1, et avantageusement disposés en quadrature de telle sorte que leurs directions de sensibilité sont perpendiculaires.According to the invention, the tool holder (2) is equipped with two accelerometers (10,11) illustrated schematically in Figure 1, and advantageously arranged in quadrature so that their directions of sensitivity are perpendicular.

    Dans la forme illustrée à la figure 1, ces accéléromètres (10,11) sont disposés sur une face latérale du porte-outil (2), de sorte que le plan que définissent leur sensibilité est parallèle au plan de travail dans lequel se déploie le bras articulé (1). Ces deux accéléromètres permettent donc de déterminer l'accélération du porte-outil (2) dans le plan de travail caractéristique.In the form illustrated in Figure 1, these accelerometers (10,11) are arranged on a lateral face of the tool holder (2), so that the plane defined by their sensitivity is parallel to the work plane in which the articulated arm (1) is deployed. These two accelerometers therefore make it possible to determine the acceleration of the tool holder (2) in the characteristic work plan.

    Il va de soi que l'invention n'est pas limitée à la seule forme de réalisation illustrée dans laquelle les accéléromètres (10,11) sont disposés sur une face latérale du porte-outil (2), mais couvre bien évidemment toutes les variantes dans lesquelles ces accéléromètres sont disposés à un autre endroit du porte-outil, pourvu que leurs directions de sensibilité définissent un plan parallèle au plan de travail.It goes without saying that the invention is not limited to the single embodiment. illustrated in which the accelerometers (10,11) are arranged on a side face of the tool holder (2), but obviously covers all the variants in which these accelerometers are arranged at another location on the tool holder, provided that their directions of sensitivity define a plane parallel to the plane of job.

    La commande du vérin (5) relié au porte-outil est illustrée à la figure 2. Comme on le voit, le porte-outil (2) comporte deux accéléromètres (10,11) qui délivrent un signal signé (20,21). On a obtenu de bons résultats concernant l'asservissement en utilisant des accéléromètres sensibles jusqu'à des accélérations de trois fois celle de la pesanteur, et dont la bande passante s'étend jusqu'à 40 hertz.The control of the jack (5) connected to the tool holder is illustrated in Figure 2. As can be seen, the tool holder (2) has two accelerometers (10,11) which deliver a signed signal (20,21). We have obtained good results concerning servo-control using sensitive accelerometers up to accelerations three times that of gravity, and whose bandwidth extends to 40 hertz.

    Ces deux accéléromètres (10,11) délivrent leur signal analogique (20,21) à un calculateur (15) qui détermine la direction de l'accélération courante en fonction des deux signaux analogiques (20,21). Plus précisément, ce calculateur (15) détermine l'intensité de l'accélération subie dans le plan de travail à partir des deux composantes orthogonales gérées par chaque accéléromètre (10,11).These two accelerometers (10,11) deliver their analog signal (20,21) to a computer (15) which determines the direction of the current acceleration as a function of the two analog signals (20,21). More precisely, this calculator (15) determines the intensity of the acceleration undergone in the work plane from the two orthogonal components managed by each accelerometer (10,11).

    L'orientation de l'accélération dans le plan de travail est déterminée par la détermination de l'angle dont la tangente est égale au rapport des deux signaux (20,21) délivrés par les deux accéléromètres (10,11).The orientation of the acceleration in the work plane is determined by the determination of the angle whose tangent is equal to the ratio of the two signals (20,21) delivered by the two accelerometers (10,11).

    Pour assurer une bonne précision dans les calculs, la détermination de l'angle se fait en calculant tout d'abord l'arc dont la tangente est égale au quotient du plus petit des signaux (20,21) par rapport au plus grand. En fonction de l'accéléromètre dont est issu le plus petit de ces signaux, l'orientation de l'accélération, comprise entre -45° et +45° est alors

    • soit l'arc tangente du quotient,
    • soit 90° moins l'arc tangente du même quotient.
    To ensure good accuracy in the calculations, the angle is determined by first calculating the arc whose tangent is equal to the quotient of the smallest of the signals (20,21) relative to the largest. Depending on the accelerometer from which the smallest of these signals is derived, the orientation of the acceleration, between -45 ° and + 45 ° is then
    • either the tangent arc of the quotient,
    • or 90 ° minus the tangent arc of the same quotient.

    On évite ainsi des cas de figures dans lesquels le signal généré par un des accéléromètres est nul ce qui provoquerait une erreur de calcul du quotient.This avoids scenarios in which the signal generated by one of the accelerometers is zero which would cause a quotient calculation error.

    Les différents signaux d'intensité (22) et d'orientation (23) déterminés par le calculateur (15), sont ensuite transmis à un système électronique de gestion (16) destiné à assurer la correction et la commande du vérin de compensation (5). Plus précisément, ce système électronique compare les valeurs d'intensité (22) et d'orientation (23) mesurées, avec une valeur de référence ou de consigne, pour élaborer un signal de commande du distributeur alimentant le vérin de compensation (5). En pratique, le système électronique de gestion (16) peut comporter différents étages de filtrage numérique ainsi que des étages d'asservissement du type PID ou auto-adaptatif.The different intensity (22) and orientation (23) signals determined by the computer (15), are then transmitted to an electronic management system (16) intended to ensure the correction and control of the compensation cylinder (5). More precisely, this electronic system compares the intensity values (22) and orientation (23) measured, with a reference or setpoint value, for develop a control signal from the distributor supplying the actuator compensation (5). In practice, the electronic management system (16) can have different digital filtering stages as well as stages PID or self-adaptive servo control.

    La valeur de consigne à laquelle le système électronique (16) asservit l'orientation de l'accélération, peut être choisie par le conducteur en fonction de la situation de l'engin et des manoeuvres qu'il souhaite effectuer. Plus précisément, cette valeur de consigne est fixée par le conducteur après que ce dernier ait disposé l'outil de travail selon l'orientation souhaitée. Ainsi, lorsque le conducteur utilise le manipulateur (13) dédié au vérin de compensation (5), il agit directement sur le distributeur (17) qui commande le vérin de compensation (5) pour mettre le porte-outil (2) dans la position voulue. Lorsque le conducteur relâche le manipulateur (13), le système électronique de gestion (16) détecte que le manipulateur (13) n'est plus utilisé et enregistre la valeur courante de l'accélération comme étant la valeur de consigne. La représentation de la liaison entre le manipulateur (13) et le système électronique de gestion (16) de la figure 2 est schématique, et celle-ci peut être réalisée selon plusieurs modes d'exécution, électriques ou hydrauliques, sans sortir du cadre de l'invention.The set value to which the electronic system (16) controls the orientation of the acceleration, can be chosen by the driver according to the situation of the machine and the maneuvers it wishes to perform. More precisely, this setpoint is set by the driver after the driver has arranged the work tool according to the desired orientation. So when the driver uses the manipulator (13) dedicated to the compensation cylinder (5), it acts directly on the distributor (17) which controls the compensation cylinder (5) for placing the tool holder (2) in the desired position. When the driver releases the manipulator (13), the electronic management system (16) detects that the manipulator (13) is no longer used and stores the current value of the acceleration as the setpoint. The representation of the connection between the manipulator (13) and the electronic management system (16) of Figure 2 is schematic, and this can be carried out according to several modes of execution, electric or hydraulic, without departing from the scope of the invention.

    Le système électronique de gestion (16) détermine donc deux signaux électriques (25,26) aptes à commander en débit les deux tiroirs du distributeur (17) qui alimente le vérin de compensation (5). Bien entendu, l'invention n'est pas limitée à cette seule commande directe en débit, mais couvre également d'autres variantes moins sophistiquées dans lesquelles la commande du distributeur s'effectue par des réducteurs de pression commandés par le système électronique de gestion.The electronic management system (16) therefore determines two signals electric (25,26) able to control the flow rate of the two drawers of the distributor (17) which feeds the compensation cylinder (5). Of course, the invention is not limited to this single direct debit order, but also covers other less sophisticated variants in which the distributor control is carried out by pressure reducers controlled by the electronic system Management.

    Ainsi, le vérin de compensation (5) voit chacune de ses chambres (8,9) alimentées en fonction de la valeur de l'accélération mesurée par rapport à la valeur de consigne choisie.Thus, the compensation cylinder (5) sees each of its chambers (8,9) supplied according to the value of the acceleration measured in relation to the value setpoint chosen.

    Dans une forme plus perfectionnée non illustrée, l'engin peut comporter en outre un troisième accéléromètre, situé perpendiculairement au plan de travail, et apte à déterminer l'accélération transversale subit par l'outil. Dans ce cas, un vérin supplémentaire, ou un mécanisme analogue permet d'orienter le porte-outil par rapport au plan de travail. Fonctionnellement, le dispositif comprend alors également un calculateur apte à déterminer la mesure de l'accélération perpendiculairement au plan de travail, de manière à comparer par rapport à une consigne supplémentaire et d'asservir par un système électronique de gestion supplémentaire le vérin assurant le déplacement du porte-outil, perpendiculairement au plan de travail.In a more sophisticated form not illustrated, the machine may include in addition to a third accelerometer, located perpendicular to the work plane, and able to determine the transverse acceleration undergone by the tool. In this case, a cylinder additional, or a similar mechanism allows the tool holder to be oriented by report to the work plan. Functionally, the device then comprises also a computer capable of determining the measurement of acceleration perpendicular to the work plan, so as to compare with respect to a additional setpoint and enslaved by an electronic management system additional the cylinder ensuring the movement of the tool holder, perpendicular to the work plane.

    Il ressort de ce qui précède que l'engin conforme à l'invention présente de multiples avantages, et notamment :

    • la possibilité de travailler en dévers tout en permettant une correction appropriée de la position de l'outil de travail selon l'accélération qu'il subit ;
    • la possibilité de compensation dynamique selon les mouvements de l'engin ou du bras en compensant les accélérations et les freinages ou les rotations de la tourelle.
    It appears from the above that the machine according to the invention has multiple advantages, and in particular:
    • the possibility of working on a slope while allowing an appropriate correction of the position of the working tool according to the acceleration it undergoes;
    • the possibility of dynamic compensation according to the movements of the machine or arm by compensating for acceleration and braking or rotations of the turret.

    Claims (6)

    Engin de travaux publics comportant : un bras articulé (1), apte à se déployer dans un plan de travail, ledit bras étant actionné par un circuit de commande hydraulique ; un porte-outil (2) apte à recevoir un outil de travail (4), ledit porte-outil (2) étant monté à une extrémité du bras articulé (1) et étant mû par rapport au bras (1) par l'intermédiaire d'un vérin (5) du circuit de commande ; des moyens agissant sur le circuit de commande pour compenser les déplacements de l'outil de travail (4) durant les mouvements du bras articulé (1), caractérisé en ce que lesdits moyens agissant sur le circuit de commande comprennent : une paire d'accéléromètres (10,11) montés sur le porte-outil (2), dont les directions sont non colinéaires, et parallèles au plan de travail ; des moyens électroniques (15,16) pour : déterminer, grâce auxdits accéléromètres (10,11), la composante de l'accélération du porte-outil (2) dans le plan de travail ; comparer ladite composante d'accélération avec une consigne d'accélération ; agir sur le circuit hydraulique de commande en fonction de ladite comparaison. Public works vehicle comprising: an articulated arm (1), capable of deploying in a work surface, said arm being actuated by a hydraulic control circuit; a tool holder (2) able to receive a working tool (4), said tool holder (2) being mounted at one end of the articulated arm (1) and being moved relative to the arm (1) via a cylinder (5) of the control circuit; means acting on the control circuit to compensate for the movements of the working tool (4) during the movements of the articulated arm (1), characterized in that said means acting on the control circuit include: a pair of accelerometers (10,11) mounted on the tool holder (2), the directions of which are non-collinear, and parallel to the work plane; electronic means (15,16) for: determining, thanks to said accelerometers (10,11), the component of the acceleration of the tool holder (2) in the work plane; comparing said acceleration component with an acceleration setpoint; act on the hydraulic control circuit according to said comparison. Dispositif selon la revendication 1, caractérisé en ce que les deux accéléromètres (10,11) sont disposés en quadrature.Device according to claim 1, characterized in that the two accelerometers (10,11) are arranged in quadrature. Dispositif selon la revendication 1, caractérisé en ce que les moyens électroniques sont interfacés avec un manipulateur (13) qui, lorsqu'il est actionné par le conducteur, déclenche l'enregistrement de la mesure courante d'accélération en tant que consigne.Device according to claim 1, characterized in that the electronic means are interfaced with a manipulator (13) which, when actuated by the driver, triggers the recording of the current acceleration measurement as a setpoint. Dispositif selon la revendication 1, caractérisé en ce que les moyens agissant sur ledit circuit de commande hydraulique pilotent le distributeur (17) du vérin (4) responsable du mouvement du porte-outil (2) par rapport au bras articulé (1). Device according to claim 1, characterized in that the means acting on said hydraulic control circuit control the distributor (17) of the jack (4) responsible for the movement of the tool holder (2) relative to the articulated arm (1). Dispositif selon la revendication 4, caractérisé en ce que le pilotage du distributeur (17) est assuré directement en débit.Device according to claim 4, characterized in that the control of the distributor (17) is ensured directly in flow. Dispositif selon la revendication 1, caractérisé en ce que les moyens agissant sur le circuit de commande hydraulique comprennent un troisième accéléromètre dont la direction n'est pas comprise dans le plan de travail, de manière à déterminer la composant d'accélération transversale.Device according to claim 1, characterized in that the means acting on the hydraulic control circuit comprise a third accelerometer, the direction of which is not included in the working plane, so as to determine the transverse acceleration component.
    EP01420072A 2000-05-15 2001-03-29 Construction machine Withdrawn EP1156162A1 (en)

    Applications Claiming Priority (2)

    Application Number Priority Date Filing Date Title
    FR0006148 2000-05-15
    FR0006148A FR2808817A1 (en) 2000-05-15 2000-05-15 PUBLIC WORKS MACHINE

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    Publication Number Publication Date
    EP1156162A1 true EP1156162A1 (en) 2001-11-21

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    FR (1) FR2808817A1 (en)

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    US4431060A (en) * 1981-04-15 1984-02-14 Caterpillar Tractor Co. Earth working machine and blade condition control system therefor
    JPS60133126A (en) * 1983-12-22 1985-07-16 Hitachi Constr Mach Co Ltd Method of controlling bucket angle of loading shovel
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    US4431060A (en) * 1981-04-15 1984-02-14 Caterpillar Tractor Co. Earth working machine and blade condition control system therefor
    JPS5826128A (en) * 1981-08-11 1983-02-16 Hitachi Constr Mach Co Ltd Control of bucket angle for arm type working machine
    JPS60133126A (en) * 1983-12-22 1985-07-16 Hitachi Constr Mach Co Ltd Method of controlling bucket angle of loading shovel
    FR2669663A1 (en) * 1990-11-23 1992-05-29 Hydromo Civil engineering work machine including means making it possible to control the position of the tool which it includes
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