EP1245739B1 - Construction machine - Google Patents

Construction machine Download PDF

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Publication number
EP1245739B1
EP1245739B1 EP02356029.5A EP02356029A EP1245739B1 EP 1245739 B1 EP1245739 B1 EP 1245739B1 EP 02356029 A EP02356029 A EP 02356029A EP 1245739 B1 EP1245739 B1 EP 1245739B1
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EP
European Patent Office
Prior art keywords
turret
actuators
machine according
public works
jib
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
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EP02356029.5A
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German (de)
French (fr)
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EP1245739A1 (en
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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    • 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
    • E02F3/425—Drive systems for dipper-arms, backhoes or the like
    • 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
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/301—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom with more than two arms (boom included), e.g. two-part boom with additional dipper-arm
    • 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
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/308—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working outwardly

Definitions

  • the invention relates to the field of public works machinery. It relates more particularly to machines comprising an articulated arm. It aims to perfect this type of gear, which allows to take advantage of a large range of arm movements.
  • the public works machinery of the excavator or elevator type comprise a frame on which is mounted a turret.
  • This turret receives an articulated arm at the end of which is put in place the working tool.
  • This work tool can be either a bucket or a skip loader, depending on the type of use.
  • the articulated arm comprises several segments articulated with respect to each other. The first segment connected to the turret and usually called "arrow". Depending on the configuration of the arm, it may have one or two additional segments.
  • the arm may be required to have a large clearance to allow the work tool to move within a larger volume possible. Indeed, when the machine performs the function of excavator, it can be used to dig deep, virtually in line with the frame. Conversely, when the same machine is used as a loader, it may be necessary to lift relatively high loads for example to deposit them in an evacuation truck.
  • the parallelogram mechanism occupies a large space next to the cabin, which decreases the driver's field of vision.
  • the document US-3,900,113 presents a construction machine with a structure comprising a frame, a turret mounted on the frame, an articulated arm relative to the turret.
  • the movements of the boom relative to the turret are controlled by the actuation of two jacks.
  • the first cylinder is fixed to the boom by a first attachment axis.
  • This first cylinder is fixed to the structure by a second axis of attachment.
  • the second cylinder is fixed to the boom by a first axis of attachment.
  • This same second cylinder is fixed to the structure by a second axis of attachment.
  • the axes of attachment and the pivot axis of the arrow are the vertices of a first deformable triangle, and the attachment axes and the pivot axis of the arrow are the vertices of a second deformable triangle.
  • the two cylinders comprise two offset attachment axes which are positioned on the boom and on the turret.
  • the document US 4,218,171 discloses a public works vehicle comprising a frame, a turret mounted on the frame, an articulated arm comprising an articulated boom relative to the turret, and a hinged segment relative to the boom.
  • the movements of the boom and the segment relative to the turret are controlled by the actuation of two jacks articulated with respect to the turret and with respect to the segment at the level of axes of attachment.
  • the two cylinders comprise a common attachment axis on the turret and two attachment axes offset on the segment.
  • the two jacks comprise a common attachment axis on the segment and two attachment axes offset on the turret.
  • the two cylinders comprise two offset attachment axes or a common attachment axis which are positioned not on the boom, but on the segment.
  • a problem to be solved by the invention is that of providing a simple mechanism that allows a large deflection of the boom without increasing too much the level of maximum forces that must exercise the cylinders over the entire range of amplitude of inclination of the arrow. Indeed, the maximum level of forces determines the sizing of the jacks to use, and therefore in part the cost of the machine.
  • the boom is connected to the turret by two jacks having a single common point located either on the boom or on the turret.
  • each of the two cylinders produce a different torque, each being predominant over a portion of the inclination range of the boom, so that the maximum force exerted remains relatively limited.
  • the offset between the axes of attachment of two jacks is determined so that, whatever the inclination of the boom relative to the turret, at least one of the two jacks has a lever arm to exercise a sufficient lifting torque.
  • one of the two jacks ensures most of the torque.
  • the two cylinders exert on the arrow a pair of the same sign, regardless of the inclination of the arrow relative to the turret. Indeed, it is important that the two cylinders are simultaneously driven to avoid antagonistic situations in which the power supplied to one of the cylinders is used to compensate for the effect of the opposite cylinder.
  • the common attachment axis of the two cylinders can be located on the turret or on the boom.
  • the two jacks may have their common attachment axis is at their foot, at their head or at the foot of one, and the head of the other.
  • the two cylinders can be identical, which is advantageous for questions of manufacture and assembly of the machine.
  • the two cylinders can be supplied in parallel, with the same precision, which simplifies the hydraulic control device.
  • the two cylinders can be powered independently so as to modulate the force exerted by each cylinder according to the geometry of the arm.
  • the invention relates to a versatile public works vehicle that can perform excavator loader, elevator or other functions.
  • the invention is therefore not limited to its sole embodiment illustrated in FIG. Figure 1 but covers many other variants not shown.
  • a vehicle (1) comprises a frame (2) equipped with a translation system such as wheels (3, 4).
  • This frame (2) receives on its front part a turret (5) which can advantageously be pivotable relative to the frame (2).
  • This turret (5) comprises a cabin (6) and a zone (7) on which is articulated the working arm (10).
  • the working arm (10) comprises an arrow (11) which is directly articulated with respect to the turret (5), as well as two other segments (12, 13). One of these segments (12) is articulated with respect to the arrow (11). The other segment (13) receives at its end the working tool (15).
  • This tool (15) may be, as illustrated, a bucket or any other type of tool.
  • the invention is not limited to the illustrated form of machines in which the arm (10) comprises three segments (11, 12, 13) articulated with respect to each other, but it also covers the variants in which the arm has only two segments namely the arrow and a segment receiving the working tool.
  • the boom (11) can assume a position in a range of about 140 °, going to a position illustrated in FIG. Figure 2 wherein the boom (11) is inclined slightly below the vertical to a position illustrated in FIG. Figure 1 , in which the arrow (11) is oriented at the rear, substantially at 45 °.
  • the movement of the boom (11) relative to the turret (5) is controlled by the actuation of two jacks (20, 21).
  • These two jacks (20, 21) have a common attachment point (23) at the jib (11), and the two attachment points (25, 26) offset at the turret (5).
  • the two heads (28, 29) of the cylinders (20, 21) are mounted collinearly about a common axis (23) integral with the boom (11), as can be seen at Figures 3 to 6 .
  • the feet (30, 31) of the two cylinders (20, 21) are articulated each on a clean axis (25, 26) integral with the turret
  • the invention covers other variants not shown in which the common point between the two jacks is located not on the boom, but on the turret, or else in which the orientations of the jacks are opposite to those illustrated. to the Figures 1 to 6 , or even mixed.
  • the two jacks (20, 21) are mounted integral with the turret having at the end the hinge axis (37) about which the boom (11) is hinged.
  • the two feet (30, 31) of the cylinders are positioned at a height sufficient for the two cylinders (20, 21) to work in the same direction, regardless of the inclination of the boom (11).
  • the direction of the two cylinders (20, 21) is always located above the point of articulation (37) of the arrow (11) relative to the turret (5). In this way, the two jacks (20, 21), when powered by the same chamber, exert efforts in the same direction and are both engines.
  • the height difference between the two attachment points (25, 26) of the jacks (20, 21) located on the turret is determined so that at least one of the two jacks is capable of exerting a lifting torque. sufficient regardless of the position of the arrow (11).
  • the top cylinder (21) exerts the most important torque.
  • the lower cylinder (20) exerts, at identical force, a torque greater than that exerted by the top cylinder (21).
  • the maximum force exerted by the jack varies in a ratio of about one to four, which is quite acceptable.
  • the curve (42) illustrates the variation of the maximum effort for a system that includes only one jack. The effort varies in this case in a ratio of one to ten, which is totally unacceptable because requiring a very large oversizing of the cylinder.
  • FIGs 8 and 9 the performance observed respectively in lifting and digging for the solution according to the invention and the solution of the single cylinder of the prior art, in comparison with the solution of the deformable quadrilateral described in the document FR-2,532,671 . More precisely, the angle in degree formed by the arrow with the horizontal is plotted on the abscissa, and the performance comparison with respect to the deformable quadrilateral solution is calculated on the ordinate. More precisely, each curve represents, as a function of the angle of the arrow, the ratio of the force exerted on the value of the force exerted for the same angle of deflection with the so-called deformable quadrilateral solution.
  • the lifting performance is higher for the solution according to the invention (curve 51) compared to the single-jack solution (curve 52).

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

Description

Domaine techniqueTechnical area

L'invention se rattache au domaine des engins de travaux publics. Elle concerne plus particulièrement les engins comportant un bras articulé. Elle vise un perfectionnement à ce type d'engin, qui permet de mettre à profit une grande amplitude de mouvements du bras.The invention relates to the field of public works machinery. It relates more particularly to machines comprising an articulated arm. It aims to perfect this type of gear, which allows to take advantage of a large range of arm movements.

Techniques antérieuresPrevious techniques

De façon connue, les engins de travaux publics du type chargeur excavateur ou élévateur, comprennent un châssis sur lequel est montée une tourelle. Cette tourelle reçoit un bras articulé à l'extrémité duquel est mis en place l'outil de travail. Cet outil de travail peut être soit un godet, soit une benne chargeuse, en fonction du type d'utilisation. Généralement, le bras articulé comprend plusieurs segments articulés les uns par rapport aux autres. Le premier segment relié à la tourelle et généralement appelée « flèche ». En fonction de la configuration du bras, celui-ci peut comporter un ou deux segments supplémentaires.In known manner, the public works machinery of the excavator or elevator type, comprise a frame on which is mounted a turret. This turret receives an articulated arm at the end of which is put in place the working tool. This work tool can be either a bucket or a skip loader, depending on the type of use. Generally, the articulated arm comprises several segments articulated with respect to each other. The first segment connected to the turret and usually called "arrow". Depending on the configuration of the arm, it may have one or two additional segments.

De façon connue, les mouvements relatifs des différents segments du bras entre eux et par rapport à la tourelle sont commandés par l'actionnement de vérins. L'alimentation de chacun de ces vérins permet de modifier l'inclinaison relative des segments entre eux.In known manner, the relative movements of the different segments of the arm between them and with respect to the turret are controlled by actuating cylinders. The power supply of each of these cylinders makes it possible to modify the relative inclination of the segments between them.

Dans les engins polyvalents, par exemple les chargeurs-excavateurs, le bras peut être amené à avoir un débattement important pour permettre à l'outil de travail de se déplacer à l'intérieur d'un volume le plus large possible. En effet, lorsque l'engin exerce la fonction d'excavateur, il peut être utilisé pour creuser profondément, pratiquement à l'aplomb du châssis. A l'inverse, lorsque le même engin est utilisé en chargeur, il peut être amené à soulever les charges relativement haut par exemple pour les déposer dans un camion d'évacuation.In multi-purpose machines, for example loader-excavators, the arm may be required to have a large clearance to allow the work tool to move within a larger volume possible. Indeed, when the machine performs the function of excavator, it can be used to dig deep, virtually in line with the frame. Conversely, when the same machine is used as a loader, it may be necessary to lift relatively high loads for example to deposit them in an evacuation truck.

On conçoit que les vérins qui commandent l'inclinaison des différents segments du bras articulé, et de la flèche elle-même par rapport à la tourelle, doivent être dimensionnés et positionnés pour assurer des efforts suffisants, quelle que soit la position et la configuration du bras de travail.It is conceivable that the cylinders that control the inclination of the different segments of the articulated arm, and the boom itself relative to the turret, must be sized and positioned to ensure sufficient effort, whatever the position and configuration of the working arm.

De nombreuses solutions ont été proposées pour assurer le mouvement de la flèche du bras au moyen d'au moins un vérin qui permet d'atteindre toutes les positions dans la plage d'inclinaison souhaitée.Many solutions have been proposed to ensure the movement of the boom of the arm by means of at least one jack which makes it possible to reach all the positions in the desired inclination range.

Une telle solution a notamment été décrite dans le document FR- 2.532.671 . L'engin décrit dans ce document comprend un ensemble de deux bielles articulées l'une par rapport à l'autre, et formant, avec la tourelle et la flèche sur lesquelles elles sont articulées, un parallélogramme déformable. Un vérin assure le déplacement d'un des sommets du parallélogramme. Ce mouvement est ensuite transmis à la flèche, par les deux bielles. Cette configuration permet d'assurer un grand débattement de la flèche, avec un niveau d'effort exercé par le vérin, qui varie relativement peu sur toute la plage d'inclinaison de la flèche. Bien qu'elle donne tout à fait satisfaction au point de vue technique, cette solution présente néanmoins les inconvénients de nécessiter un nombre important de pièces mécaniques qui augmente son prix de revient.Such a solution has notably been described in the document FR-2,532,671 . The machine described in this document comprises a set of two connecting rods articulated with respect to each other, and forming, with the turret and the boom on which they are articulated, a deformable parallelogram. A cylinder ensures the displacement of one of the vertices of the parallelogram. This movement is then transmitted to the arrow, by the two connecting rods. This configuration ensures a large deflection of the boom, with a level of effort exerted by the cylinder, which varies relatively little over the entire range of inclination of the boom. Although it gives quite satisfactory from the technical point of view, this solution nevertheless has the disadvantages of requiring a large number of mechanical parts that increases its cost.

En outre, le mécanisme de parallélogramme occupe un espace important à côté de la cabine, ce qui diminue le champ de vision du conducteur.In addition, the parallelogram mechanism occupies a large space next to the cabin, which decreases the driver's field of vision.

Le document US- 3.900.113 présente un engin de travaux publics avec une structure comportant un châssis, une tourelle montée sur le châssis, un bras articulé par rapport à la tourelle. Les mouvements de la flèche par rapport à la tourelle sont commandés par l'actionnement de deux vérins. Le premier vérin est fixé à la flèche par un premier axe d'attache. Ce premier vérin est fixé à la structure par un deuxième axe d'attache. Le deuxième vérin est fixé à la flèche par un premier axe d'attache. Ce même deuxième vérin est fixé à la structure par un deuxième axe d'attache.The document US-3,900,113 presents a construction machine with a structure comprising a frame, a turret mounted on the frame, an articulated arm relative to the turret. The movements of the boom relative to the turret are controlled by the actuation of two jacks. The first cylinder is fixed to the boom by a first attachment axis. This first cylinder is fixed to the structure by a second axis of attachment. The second cylinder is fixed to the boom by a first axis of attachment. This same second cylinder is fixed to the structure by a second axis of attachment.

Les axes d'attache et l'axe de pivotement de la flèche constituent les sommets d'un premier triangle déformable, et les axes d'attache et l'axe de pivotement de la flèche constituent les sommets d'un deuxième triangle déformable. Ainsi, les deux vérins comportent deux axes d'attache décalés qui sont positionnés sur la flèche et sur la tourelle.The axes of attachment and the pivot axis of the arrow are the vertices of a first deformable triangle, and the attachment axes and the pivot axis of the arrow are the vertices of a second deformable triangle. Thus, the two cylinders comprise two offset attachment axes which are positioned on the boom and on the turret.

Le document US- 4.218.171 décrit un engin de travaux publics comportant un châssis, une tourelle montée sur le châssis, un bras articulé comprenant une flèche articulée par rapport à la tourelle, et un segment articulé par rapport à la flèche. Les mouvements de la flèche et du segment par rapport à la tourelle sont commandés par l'actionnement de deux vérins articulés par rapport à la tourelle et par rapport au segment au niveau d'axes d'attache.The document US 4,218,171 discloses a public works vehicle comprising a frame, a turret mounted on the frame, an articulated arm comprising an articulated boom relative to the turret, and a hinged segment relative to the boom. The movements of the boom and the segment relative to the turret are controlled by the actuation of two jacks articulated with respect to the turret and with respect to the segment at the level of axes of attachment.

Dans le premier mode de réalisation, les deux vérins comportent un axe d'attache commun sur la tourelle et deux axes d'attache décalés sur le segment. Dans le deuxième mode de réalisation, les deux vérins comportent un axe d'attache commun sur le segment et deux axes d'attache décalés sur la tourelle. Ainsi, les deux vérins comportent deux axes d'attache décalés ou un axe d'attache commun qui sont positionnés non pas sur la flèche, mais sur le segment.In the first embodiment, the two cylinders comprise a common attachment axis on the turret and two attachment axes offset on the segment. In the second embodiment, the two jacks comprise a common attachment axis on the segment and two attachment axes offset on the turret. Thus, the two cylinders comprise two offset attachment axes or a common attachment axis which are positioned not on the boom, but on the segment.

Un problème que se propose de résoudre l'invention est celui de fournir un mécanisme simple qui autorise un grand débattement de la flèche sans augmenter trop fortement le niveau d'efforts maximum que doivent exercer les vérins sur toute la plage d'amplitude d'inclinaison de la flèche. En effet, le niveau maximum d'efforts conditionne le dimensionnement des vérins à utiliser, et donc en partie le prix de revient de l'engin.A problem to be solved by the invention is that of providing a simple mechanism that allows a large deflection of the boom without increasing too much the level of maximum forces that must exercise the cylinders over the entire range of amplitude of inclination of the arrow. Indeed, the maximum level of forces determines the sizing of the jacks to use, and therefore in part the cost of the machine.

Exposé de l'inventionPresentation of the invention

L'invention concerne un engin de travaux publics du type chargeur excavateur ou élévateur, comportant :

  • ◆ un châssis,
  • ◆ une tourelle montée sur le châssis,
  • ◆ un bras articulé comprenant :
    • ◊ une flèche articulée à la tourelle,
    • ◊ au moins un segment dont un est articulé par rapport à la flèche. les mouvements de la flèche par rapport à la tourelle étant commandés par l'actionnement simultané de deux vérins articulés par rapport à la tourelle et à la flèche au niveau d'axes d'attache. Cet engin se caractérise en ce que les deux vérins comportent :
  • ◆ un axe d'attache commun sur la tourelle ou sur la flèche ;
  • ◆ deux axes d'attache décalés sur la flèche ou sur la tourelle.
The invention relates to a public works machine of the type excavator or elevator loader, comprising:
  • ◆ a chassis,
  • ◆ a turret mounted on the chassis,
  • An articulated arm comprising:
    • ◊ an articulated boom at the turret,
    • At least one segment, one of which is articulated with respect to the arrow. the movements of the boom relative to the turret being controlled by the simultaneous actuation of two jacks articulated with respect to the turret and the arrow at the axis of attachment. This machine is characterized in that the two cylinders comprise:
  • ◆ a common attachment pin on the turret or boom;
  • ◆ two attachment axes offset on the boom or turret.

Autrement dit, la flèche est reliée à la tourelle par deux vérins présentant un seul point commun situé soit sur la flèche, soit sur la tourelle.In other words, the boom is connected to the turret by two jacks having a single common point located either on the boom or on the turret.

Les efforts exercés par chacun des deux vérins produisent un couple différent, chacun étant prépondérant sur une partie de la plage d'inclinaison de la flèche, de sorte que l'effort maximum exercé reste relativement limité.The forces exerted by each of the two cylinders produce a different torque, each being predominant over a portion of the inclination range of the boom, so that the maximum force exerted remains relatively limited.

Avantageusement en pratique, le décalage entre les axes d'attache de deux vérins est déterminé pour que, quelle que soit l'inclinaison de la flèche par rapport à la tourelle, au moins un des deux vérins possède un bras de levier permettant d'exercer un couple de relevage suffisant.Advantageously in practice, the offset between the axes of attachment of two jacks is determined so that, whatever the inclination of the boom relative to the turret, at least one of the two jacks has a lever arm to exercise a sufficient lifting torque.

Ainsi, dans les positions extrêmes, un des deux vérins assure la majeure partie du couple.Thus, in the extreme positions, one of the two jacks ensures most of the torque.

En pratique, les deux vérins exercent sur la flèche un couple de même signe, quelle que soit l'inclinaison de la flèche par rapport à la tourelle. En effet, il importe que les deux vérins soient simultanément moteurs pour éviter des situations antagonistes dans lesquelles la puissance fournie à l'un des vérins sert à compenser l'effet du vérin opposé.In practice, the two cylinders exert on the arrow a pair of the same sign, regardless of the inclination of the arrow relative to the turret. Indeed, it is important that the two cylinders are simultaneously driven to avoid antagonistic situations in which the power supplied to one of the cylinders is used to compensate for the effect of the opposite cylinder.

De multiples configurations peuvent être adoptées concernant l'orientation et la position des deux vérins. Ainsi, l'axe d'attache commun des deux vérins peut être situé sur la tourelle ou sur la flèche. Les deux vérins peuvent présenter leur axe d'attache commun soit au niveau de leur pied, au niveau de leur tête ou encore au niveau du pied de l'un, et de la tête de l'autre.Multiple configurations can be adopted concerning the orientation and the position of the two jacks. Thus, the common attachment axis of the two cylinders can be located on the turret or on the boom. The two jacks may have their common attachment axis is at their foot, at their head or at the foot of one, and the head of the other.

En pratique, les deux vérins peuvent être identiques, ce qui s'avère avantageux pour des questions de fabrication et de montage de l'engin.In practice, the two cylinders can be identical, which is advantageous for questions of manufacture and assembly of the machine.

Avantageusement en pratique, les deux vérins peuvent être alimentés en parallèle, avec la même précision, ce qui simplifie le dispositif de commande hydraulique.Advantageously in practice, the two cylinders can be supplied in parallel, with the same precision, which simplifies the hydraulic control device.

Dans d'autres variantes plus perfectionnées, les deux vérins peuvent être alimentés indépendamment de manière à moduler l'effort exercé par chaque vérin en fonction de la géométrie du bras.In other more advanced variants, the two cylinders can be powered independently so as to modulate the force exerted by each cylinder according to the geometry of the arm.

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 :

  • les Figures 1 et 2 sont des vues de côté générales d'un engin conforme à l'invention dans lequel le bras articulé est représenté dans deux configurations extrêmes.
  • la Figure 3 est une vue de côté de détail de la cabine des deux vérins et de la flèche conforme à l'invention.
  • la Figure 4 est une vue en perspective de trois quarts arrière gauche de la cabine et des deux vérins de la flèche de la Figure 3.
  • la Figure 5 est une vue de détail de trois quarts avant de l'assemblage des deux vérins et de la flèche conformément à l'invention.
  • la Figure 6 est une vue en perspective de trois quarts de dessus de l'assemblage de la Figure 5.
  • la Figure 7 est un diagramme illustrant la variation de l'effort à exercer pour obtenir un couple constant sur toute la plage d'inclinaison de la flèche, pour l'engin conforme à l'invention, et deux solutions différentes.
  • la Figure 8 est un diagramme illustrant un comparatif des performances de relevage sur toute la plage d'inclinaison de la flèche, pour un engin conforme à l'invention comparé à une solution de l'Art antérieur.
  • la Figure 9 est un diagramme illustrant un comparatif des performances de creusement sur toute la plage d'inclinaison de la flèche, pour un engin conforme à l'invention comparé à une solution de l'Art antérieur.
The manner of carrying out the invention as well as the advantages which result therefrom will emerge from the description of the embodiment which follows, in support of the appended figures in which:
  • the Figures 1 and 2 are general side views of a machine according to the invention wherein the articulated arm is shown in two extreme configurations.
  • the Figure 3 is a detailed side view of the cabin of the two cylinders and the arrow according to the invention.
  • the Figure 4 is a perspective view of three quarters left rear of the cabin and two jacks of the arrow of the Figure 3 .
  • the Figure 5 is a detail view of three quarters before the assembly of the two jacks and the arrow according to the invention.
  • the Figure 6 is a perspective view of three quarters of top of the assembly of the Figure 5 .
  • the Figure 7 is a diagram illustrating the variation of the effort to be exerted to obtain a constant torque over the entire range of inclination of the boom, for the machine according to the invention, and two different solutions.
  • the Figure 8 is a diagram illustrating a comparison of the lifting performance over the entire range of inclination of the boom, for a machine according to the invention compared to a solution of the prior art.
  • the Figure 9 is a diagram illustrating a comparison of digging performance over the entire range of inclination of the boom, for a machine according to the invention compared to a solution of the prior art.

Manière de réaliser l'inventionWay of realizing the invention

Comme déjà dit, l'invention concerne un engin de travaux publics polyvalent pouvant exercer des fonctions de chargeur excavateur, d'élévateur ou autres. L'invention n'est donc pas limitée à sa seule forme de réalisation illustrée à la Figure 1, mais couvre bien d'autres variantes non représentées.As already said, the invention relates to a versatile public works vehicle that can perform excavator loader, elevator or other functions. The invention is therefore not limited to its sole embodiment illustrated in FIG. Figure 1 but covers many other variants not shown.

Ainsi, comme on le voit à la Figure 1, un engin (1) conforme à l'invention comprend un châssis (2) équipé d'un système de translation comme par exemple de roues (3, 4). Ce châssis (2) reçoit sur sa partie avant une tourelle (5) qui peut avantageusement être pivotante par rapport au châssis (2). Cette tourelle (5) comprend une cabine (6) et une zone (7) sur laquelle est articulée le bras de travail (10).So, as we see in the Figure 1 , a vehicle (1) according to the invention comprises a frame (2) equipped with a translation system such as wheels (3, 4). This frame (2) receives on its front part a turret (5) which can advantageously be pivotable relative to the frame (2). This turret (5) comprises a cabin (6) and a zone (7) on which is articulated the working arm (10).

Comme illustré à la Figure 1, le bras de travail (10) comprend une flèche (11) qui est directement articulée par rapport à la tourelle (5), ainsi que deux autres segments (12, 13). Un de ces segments (12) est articulé par rapport à la flèche (11). L'autre segment (13) reçoit à son extrémité l'outil de travail (15). Cet outil (15) peut être, comme illustré, un godet ou tout autre type d'outil. L'invention n'est pas limitée à la forme illustrée d'engins dans lesquels le bras (10) comporte trois segments (11, 12, 13) articulés les uns par rapport aux autres, mais elle couvre également les variantes dans lesquelles le bras ne comporte que deux segments à savoir la flèche et un segment recevant l'outil de travail.As illustrated in Figure 1 , the working arm (10) comprises an arrow (11) which is directly articulated with respect to the turret (5), as well as two other segments (12, 13). One of these segments (12) is articulated with respect to the arrow (11). The other segment (13) receives at its end the working tool (15). This tool (15) may be, as illustrated, a bucket or any other type of tool. The invention is not limited to the illustrated form of machines in which the arm (10) comprises three segments (11, 12, 13) articulated with respect to each other, but it also covers the variants in which the arm has only two segments namely the arrow and a segment receiving the working tool.

Les différents vérins assurant la variation d'inclinaison entre la flèche (11) et les segments (12, 13) ne sont pas représentés. Comme on le voit en comparant les Figures 1 et 2, un engin polyvalent du type chargeur excavateur élévateur possède un bras qui présente une grande amplitude de mouvements. Cette amplitude est notamment conférée par la capacité de la flèche (11) à s'incliner vers l'arrière et vers l'avant.The various cylinders ensuring the variation of inclination between the arrow (11) and the segments (12, 13) are not shown. As can be seen by comparing the Figures 1 and 2 , a versatile machine of the elevator loader type has an arm that has a large range of motion. This amplitude is particularly conferred by the ability of the boom (11) to tilt backwards and forwards.

Ainsi, la flèche (11) peut adopter une position dans une plage couvrant environ 140°, allant dans une position illustrée dans la Figure 2 dans laquelle la flèche (11) est inclinée légèrement en dessous de la verticale jusqu'à une position illustrée dans la Figure 1, dans laquelle la flèche (11) est orientée à l'arrière, sensiblement à 45°.Thus, the boom (11) can assume a position in a range of about 140 °, going to a position illustrated in FIG. Figure 2 wherein the boom (11) is inclined slightly below the vertical to a position illustrated in FIG. Figure 1 , in which the arrow (11) is oriented at the rear, substantially at 45 °.

Conformément à l'invention, le mouvement de la flèche (11) par rapport à la tourelle (5) est commandé par l'actionnement de deux vérins (20, 21). Ces deux vérins (20, 21) possèdent un point d'attache commun (23) au niveau de la flèche (11), et les deux points d'attache (25, 26) décalés au niveau de la tourelle (5). Plus précisément, les deux têtes (28, 29) des vérins (20, 21) sont montées de façon colinéaire autour d'un axe commun (23) solidaire de la flèche (11), comme on peut l'observer aux Figures 3 à 6. Les pieds (30, 31) des deux vérins (20, 21) sont articulés chacun sur un axe propre (25, 26) solidaire de la tourelleAccording to the invention, the movement of the boom (11) relative to the turret (5) is controlled by the actuation of two jacks (20, 21). These two jacks (20, 21) have a common attachment point (23) at the jib (11), and the two attachment points (25, 26) offset at the turret (5). More specifically, the two heads (28, 29) of the cylinders (20, 21) are mounted collinearly about a common axis (23) integral with the boom (11), as can be seen at Figures 3 to 6 . The feet (30, 31) of the two cylinders (20, 21) are articulated each on a clean axis (25, 26) integral with the turret

Comme déjà dit, l'invention couvre d'autres variantes non représentées dans lesquelles le point commun entre les deux vérins est situé non pas sur la flèche, mais sur la tourelle, ou bien encore dans lesquelles les orientations des vérins sont opposées à celles illustrées aux Figures 1 à 6, ou bien encore mixtes.As already stated, the invention covers other variants not shown in which the common point between the two jacks is located not on the boom, but on the turret, or else in which the orientations of the jacks are opposite to those illustrated. to the Figures 1 to 6 , or even mixed.

Plus précisément, comme illustré à la Figure 6, les deux vérins (20, 21) sont montés solidaires de la tourelle présentant à l'extrémité l'axe d'articulation (37) autour duquel la flèche (11) est articulée. Les deux pieds (30, 31) des vérins sont positionnés à une hauteur suffisante pour que les deux vérins (20, 21) travaillent dans le même sens, quelle que soit l'inclinaison de la flèche (11). Autrement dit, quelle que soit la position de la flèche, la direction des deux vérins (20, 21) est toujours située au dessus du point d'articulation (37) de la flèche (11) par rapport à la tourelle (5). De la sorte, les deux vérins (20, 21), lorsqu'ils sont alimentés par la même chambre, exercent des efforts de même sens et sont tous les deux moteurs.More specifically, as illustrated in Figure 6 , the two jacks (20, 21) are mounted integral with the turret having at the end the hinge axis (37) about which the boom (11) is hinged. The two feet (30, 31) of the cylinders are positioned at a height sufficient for the two cylinders (20, 21) to work in the same direction, regardless of the inclination of the boom (11). In other words, regardless of the position of the arrow, the direction of the two cylinders (20, 21) is always located above the point of articulation (37) of the arrow (11) relative to the turret (5). In this way, the two jacks (20, 21), when powered by the same chamber, exert efforts in the same direction and are both engines.

Le décalage en hauteur entre les deux points d'attache (25, 26) des vérins (20, 21) situés sur la tourelle, est déterminé de telle sorte qu'au moins un des deux vérins est capable d'exercer un couple de relevage suffisant quelle que soit la position de la flèche (11). Ainsi, dans l'inclinaison de la flèche illustrée des Figures 2 à 6, le vérin de dessus (21) exerce le couple le plus important. A l'inverse, dans la configuration illustrée à la Figure 1, le vérin de dessous (20) exerce, à effort identique, un couple supérieur à celui exercé par le vérin de dessus (21).The height difference between the two attachment points (25, 26) of the jacks (20, 21) located on the turret is determined so that at least one of the two jacks is capable of exerting a lifting torque. sufficient regardless of the position of the arrow (11). Thus, in the inclination of the arrow illustrated Figures 2 to 6 , the top cylinder (21) exerts the most important torque. Conversely, in the configuration illustrated in Figure 1 , the lower cylinder (20) exerts, at identical force, a torque greater than that exerted by the top cylinder (21).

Pour mieux faire ressortir l'avantage de l'invention, on a établi un certain nombre de tests comparatifs avec des solutions de l'Art antérieur. Ainsi, il est possible d'assurer le mouvement de la flèche conformément à la solution décrite dans le document FR- 2.532.671 précité. Dans ce cas, on utilise un vérin qui assure la déformation d'un quadrilatère formé par deux bielles, la flèche et une portion de la tourelle.To further highlight the advantage of the invention, a number of comparative tests with prior art solutions have been established. Thus, it is possible to ensure the movement of the boom in accordance with the solution described in the document FR-2,532,671 supra. In this case, a jack is used which ensures the deformation of a quadrilateral formed by two rods, the boom and a portion of the turret.

On peut également choisir la solution la plus simple consistant à utiliser un seul vérin reliant la tourelle et la flèche.One can also choose the simplest solution to use a single cylinder connecting the turret and the arrow.

Pour faire le comparatif des performances de l'invention par rapport à diverses solutions de l'art antérieur, les hypothèses suivantes ont été adoptées :

  • la même pression maximum exercée pour l'ensemble des vérins,
  • la même surface totale du côté de la grande chambre des vérins,
  • la même surface annulaire totale du côté de la petite chambre des vérins.
In order to compare the performances of the invention with respect to various solutions of the prior art, the following hypotheses have been adopted:
  • the same maximum pressure exerted for all the cylinders,
  • the same total area on the side of the large cylinder chamber,
  • the same total annular surface on the side of the small cylinder chamber.

A titre d'exemple il peut s'agir :

  • d'un vérin 160 x 90 (c'est-à-dire ayant un piston de diamètre 160 mm et une tige de diamètre 90 mm) pour le cas du quadrilatère déformable ou du vérin unique, correspondant aux solutions de l'Art antérieur. Dans ce cas, la surface de la grande chambre vaut 20.106 mm2, et la surface de la petite chambre vaut 13.774 mm2 ;
  • et de deux vérins 110 x 60 pour la solution de l'invention. Dans ce cas, la surface de la grande chambre vaut 19.007 mm2 et la surface petite chambre vaut 13.352 mm2.
For example, it can be:
  • a cylinder 160 x 90 (that is to say having a piston diameter 160 mm and a rod diameter 90 mm) for the case of the deformable quadrilateral or the single cylinder, corresponding to the solutions of the prior art. In this case, the surface of the large chamber is 20.106 mm 2 , and the surface of the small chamber is 13.774 mm 2 ;
  • and two 110 x 60 cylinders for the solution of the invention. In this case, the surface of the large chamber is 19.007 mm 2 and the small chamber area is 13.352 mm 2 .

Lorsque la flèche (11) passe entre ces deux positions d'inclinaison extrêmales, le bras de levier varie, de telle sorte qu'il est nécessaire d'exercer un effort variable pour fournir un couple identique. On a représenté en Figure 7 trois courbes montrant la variation de l'effort à exercer pour obtenir un couple constant avec la solution conforme à l'invention, et deux solutions de l'Art antérieur. On a porté en abscisse l'angle en degré que fait la flèche avec l'horizontale, et en ordonnée le rapport Effort / Effort minimal, l'effort minimal pris en considération étant celui qui est obtenu lorsque l'équipement est en fond de fouille. Ainsi, on observe que la solution de l'Art antérieur utilisant un quadrilatère déformable (courbe 40) s'avère avantageuse sur ce point puisque l'effort exercé par le vérin varie dans un rapport sensiblement de un à deux. Cependant, cette solution présente les inconvénients précités en ce qui concerne la complexité mécanique et le coût.When the arrow (11) passes between these two extreme inclination positions, the lever arm varies, so that it is necessary to exert a variable force to provide an identical torque. We have shown in Figure 7 three curves showing the variation of the effort to exert to obtain a constant torque with the solution according to the invention, and two solutions of the prior art. The abscissa is the angle in degrees that the arrow makes with the horizontal, and on the ordinate the ratio Effort / Minimum effort, the minimum effort taken into consideration being that obtained when the equipment is at the bottom of the search. . Thus, it is observed that the solution of the prior art using a deformable quadrilateral (curve 40) proves advantageous on this point since the force exerted by the jack varies in a ratio substantially from one to two. However, this solution has the aforementioned drawbacks as regards mechanical complexity and cost.

Dans la solution conforme à l'invention (courbe 41), l'effort maximal exercé par le vérin varie dans un rapport d'environ un à quatre, ce qui est tout à fait acceptable. A l'inverse, la courbe (42) illustre la variation de l'effort maximum pour un système n'incluant qu'un seul vérin. L'effort varie dans ce cas dans un rapport de un à dix, ce qui est totalement rédhibitoire car nécessitant un surdimensionnement très important du vérin.In the solution according to the invention (curve 41), the maximum force exerted by the jack varies in a ratio of about one to four, which is quite acceptable. Conversely, the curve (42) illustrates the variation of the maximum effort for a system that includes only one jack. The effort varies in this case in a ratio of one to ten, which is totally unacceptable because requiring a very large oversizing of the cylinder.

On a représenté aux Figures 8 et 9 les performances observées respectivement en levage et en creusement pour la solution conforme à l'invention et la solution du vérin unique de l'Art antérieur, en comparaison avec la solution du quadrilatère déformable décrite dans le document FR- 2.532.671 . Plus précisément, on a porté en abscisse l'angle en degré que forme la flèche avec l'horizontale, et en ordonnée le comparatif de performance par rapport à la solution quadrilatère déformable. Plus précisément, chaque courbe représente, en fonction de l'angle de la flèche, le rapport de l'effort exercé sur la valeur de l'effort exercé pour le même angle de flèche avec la solution dite de quadrilatère déformable. On constate ainsi en Figure 8, que les performances en levage sont supérieures pour la solution conforme à l'invention (courbe 51) par rapport à la solution à un seul vérin (courbe 52).Representatives Figures 8 and 9 the performance observed respectively in lifting and digging for the solution according to the invention and the solution of the single cylinder of the prior art, in comparison with the solution of the deformable quadrilateral described in the document FR-2,532,671 . More precisely, the angle in degree formed by the arrow with the horizontal is plotted on the abscissa, and the performance comparison with respect to the deformable quadrilateral solution is calculated on the ordinate. More precisely, each curve represents, as a function of the angle of the arrow, the ratio of the force exerted on the value of the force exerted for the same angle of deflection with the so-called deformable quadrilateral solution. We thus see Figure 8 that the lifting performance is higher for the solution according to the invention (curve 51) compared to the single-jack solution (curve 52).

En creusement (Figure 9), les performances de la solution à un seul vérin (courbe 62) sont nettement inférieures à celles obtenues grâce à l'invention (courbe 61).In digging ( Figure 9 ), the performance of the single cylinder solution (curve 62) are significantly lower than those obtained thanks to the invention (curve 61).

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

  • ◆ une simplicité mécanique ;
  • ◆ une libération de l'espace latéral de la cabine augmentant la visibilité du conducteur ;
  • ◆ un couple de levage suffisant quelle que soit l'inclinaison de la flèche, sans nécessiter l'emploi de vérin surdimensionné ;
  • ◆ un effort maximal qui varie de façon nettement plus limitée que pour un système n'incluant qu'un seul vérin ;
  • ◆ des performances nettement supérieures à celles des engins utilisant soit un seul vérin, soit un mécanisme de quadrilatère déformable.
It follows from the foregoing that the machine according to the invention has multiple advantages and in particular:
  • ◆ mechanical simplicity;
  • ◆ a release of the side space of the cab increasing the visibility of the driver;
  • ◆ sufficient lifting torque irrespective of the inclination of the boom, without requiring the use of oversized cylinders;
  • ◆ a maximum effort that varies significantly more than for a system that includes only one cylinder;
  • ◆ significantly better performances than those using either a single cylinder or a deformable quadrilateral mechanism.

Claims (12)

  1. Public works machine (1) of the loader-excavator or elevator type, comprising:
    ◆ a chassis (2),
    ◆ a turret (5) mounted on the chassis (2),
    ◆ an articulated arm (10) comprising:
    ◊ a jib (11) articulating on chassis (5),
    ◊ at least one segment (12, 13) of which one (12) is articulated with respect to the jib (11),
    the movements of the jib (11) with respect to the turret (5) being controlled by the simultaneous operation of two actuators (20, 21), articulated with respect to the chassis (5) and the jib (11) at the attaching pins, characterized in that the two actuators (20, 21) comprise:
    ◆ a common attaching pin (23) on the turret or on the jib (11);
    ◆ two offset attaching pins (25, 26) on the jib or on the turret (5).
  2. Public works machine according to claim 1, characterized in that the offset between the attaching pins (25, 26) of the two actuators (20, 21) is determined so that, whatever the inclination of the jib (11) with respect to the turret (5) at least one of the actuators (20, 21) has a lever arm allowing a sufficient lifting torque to be applied.
  3. Public works machine according to claim 1, characterized in that the two actuators (20, 21) apply to the jib (11) torque of the same polarity (sign), whatever the inclination of the jib (11) with respect to the turret (5).
  4. Public works machine according to claim 1, characterized in that the common attaching pin of the two actuators is located on the turret.
  5. Public works machine according to claim 1, characterized in that the common attaching pin (23) of the two actuators (20, 21) is situated on the jib (11).
  6. Public works machine according to claim 1, characterized in that the two actuators (20, 21) have a common attaching pin (23) at their foot (28, 29).
  7. Public works machine according to claim 1, characterized in that the two actuators have a common attaching pin at their head.
  8. Public works machine according to claim 1, characterized in that the two actuators have a common attaching pin at the foot of the one and at the head of the other.
  9. Public works machine according to claim 1 characterized in that the two actuators (20, 21) are identical.
  10. Public works machine according to claim 1, characterized in that the two actuators (20, 21) are different.
  11. Public works machine according to claim 1, characterized in that the two actuators (20, 21) are fed in parallel.
  12. Public works machine according to claim 1, characterized in that the two actuators (20, 21) are fed in parallel.
EP02356029.5A 2001-03-29 2002-02-14 Construction machine Expired - Lifetime EP1245739B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0104272 2001-03-29
FR0104272A FR2822860B1 (en) 2001-03-29 2001-03-29 PUBLIC WORKS ENGINE

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EP1245739A1 EP1245739A1 (en) 2002-10-02
EP1245739B1 true EP1245739B1 (en) 2016-11-09

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EP02356029.5A Expired - Lifetime EP1245739B1 (en) 2001-03-29 2002-02-14 Construction machine

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EP (1) EP1245739B1 (en)
FR (1) FR2822860B1 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL1019918C2 (en) 2002-02-07 2003-08-21 Dingenis Laurens Huissoon Mobile device for earthmoving and other activities, such as lifting and moving loads.
NL2002125C2 (en) 2008-07-14 2010-01-18 Hudson Bay Holding B V Mobile device.
CN111827380A (en) * 2020-07-31 2020-10-27 杨军 Long-distance excavator movable arm suitable for river course operation

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Publication number Priority date Publication date Assignee Title
US3204792A (en) * 1963-10-08 1965-09-07 Beloit Corp Adjustable boom for material handling apparatus
US3862697A (en) * 1972-08-24 1975-01-28 Caterpillar Tractor Co Front loading hydraulic excavator
FR2238076B1 (en) * 1973-07-19 1978-09-29 Poclain Sa
FR2389722B1 (en) * 1977-05-04 1983-03-04 Poclain Sa
US4103791A (en) * 1977-06-03 1978-08-01 Harnischfeger Corporation Shovel attachment means for hydraulic excavator
FR2483486A1 (en) * 1980-05-28 1981-12-04 Poclain Sa Earth moving vehicle arm - has double pivoted jib with four rams some double acting controlled via distributor
DE3104072C2 (en) * 1981-02-06 1986-07-03 O & K Orenstein & Koppel Ag, 1000 Berlin Backhoe
RU2007515C1 (en) * 1991-05-12 1994-02-15 Оренбойм Борис Данилович Working equipment of hydraulic shovel
JP3446847B2 (en) * 1994-11-08 2003-09-16 株式会社小松製作所 Work vehicle

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FR2822860A1 (en) 2002-10-04
EP1245739A1 (en) 2002-10-02
FR2822860B1 (en) 2003-08-15

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