EP1263673B1 - Machine de travail - Google Patents

Machine de travail Download PDF

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Publication number
EP1263673B1
EP1263673B1 EP01933674A EP01933674A EP1263673B1 EP 1263673 B1 EP1263673 B1 EP 1263673B1 EP 01933674 A EP01933674 A EP 01933674A EP 01933674 A EP01933674 A EP 01933674A EP 1263673 B1 EP1263673 B1 EP 1263673B1
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EP
European Patent Office
Prior art keywords
hydraulic function
hydraulic
lifting
tilting
control
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
Application number
EP01933674A
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German (de)
English (en)
Other versions
EP1263673A2 (fr
Inventor
Olaf Bittner
Gustav Leidinger
Jürgen Weber
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.)
CNH Industrial Baumaschinen GmbH
Original Assignee
O&K Orenstein and Koppel GmbH
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Publication date
Application filed by O&K Orenstein and Koppel GmbH filed Critical O&K Orenstein and Koppel GmbH
Publication of EP1263673A2 publication Critical patent/EP1263673A2/fr
Application granted granted Critical
Publication of EP1263673B1 publication Critical patent/EP1263673B1/fr
Anticipated expiration legal-status Critical
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/22—Hydraulic devices or systems
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/34—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines
    • E02F3/3405—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines and comprising an additional linkage mechanism
    • E02F3/3411—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines and comprising an additional linkage mechanism of the Z-type
    • 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
    • E02F3/434—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like providing automatic sequences of movements, e.g. automatic dumping or loading, automatic return-to-dig
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2292—Systems with two or more pumps
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/20—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors controlling several interacting or sequentially-operating members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means

Definitions

  • the invention relates to a work machine with a working equipment, which for their operation at least two operator-controlled functions for a first and at least has a second element of work equipment, wherein the first and the at least second hydraulic function are connected via a signal generator.
  • Modern wheel loaders are intensified in different times in today's time Fields of application used. Starting from the They are mainly used in industrial applications, too and increasingly also used in agriculture. In the field of earth movement, this is the most common to loosen and transport material. It is the Wheel loader equipped with a shovel. In industrial use, if goods and pallets are to be transported, Quick couplers with carrying forks are used. Other work tools are light goods shovels, high tip buckets, Buckets with hold-downs and clamp forks in many designs.
  • A1 are a method and a device for controlling a tool of a working machine, which also has a different kinematics system.
  • the method is essentially the use of Angle sensors for detecting the kinematics position, a Joysticks for specifying the operator signal and the modification of the operator signal as a function of the kinematics position using data from lookup tables.
  • lookup tables are fixed maps of the kinematics positions, depending on which Signal modifications take place.
  • the control method is based thus essentially on these fixed Nachschautabellen and is therefore very inflexible.
  • EP 0 608 096 A1 is a generic working machine with a working equipment, namely a front loader with a loading shovel known.
  • the front loader has two hydraulic operating functions (lifting and lowering and tilting) for a first and a second element of the work equipment (Lift cylinder, tilt cylinder) on.
  • the first and the second hydraulic function are via a signal transmitter (hand lever) connected by an operator in two mutually perpendicular directions, namely in an X direction and a Y-direction can be actuated, wherein the one direction one function and the other direction the other function is assigned.
  • hydraulic functions are unrelated to each other. Is the hand lever (signal lifter) in one Direction brought into an overpress or end position, the other hydraulic function automatically in a rest position brought, but this is a simple Einund Off, a control technology link of both hydraulic functions is not provided.
  • the object of the invention is a universally applicable To create a work machine whose hydraulic functions as possible can be operated easily and flexibly.
  • This task is at a work machine of the beginning designated type inventively achieved in that the at least second hydraulic function via an electronic Control is controllable, which is a controller, the control signals of the signal generator of the first hydraulic Function be forwarded, and has storage means, in which in mathematical and / or graphical Form at least a kinematic relationship between the stored first and at least the second hydraulic function is, where the controller according to this kinematic Connect the connection to at least the second produces hydraulic function.
  • controllable which is a controller
  • the control signals of the signal generator of the first hydraulic Function be forwarded
  • storage means in which in mathematical and / or graphical Form at least a kinematic relationship between the stored first and at least the second hydraulic function is, where the controller according to this kinematic Connect the connection to at least the second produces hydraulic function.
  • Such a work machine is very simple and flexible can be used and is particularly easy to operate by the operator, because the operator only the first hydraulic function for example, by using a joystick as a signal generator, the lifting cylinder of the lifting frame of a Wheel loader operated. Based on this operating signal for The first hydraulic function will then be without one further operator signal must be generated based on on the signaler, from a suitable electronic Control the second hydraulic function and possibly additional hydraulic functions automatically without further Intervention of the operator pressed.
  • the handling of the working machine is thereby greatly simplified for the operator, by modification of the electronic control (i.e. the associated stored functions) is the working machine suitable for many applications.
  • the kinematic relationship between the rocker arm and the lifting frame in the storage means then what, based on the control signal the signaler for the first hydraulic function (e.g. Lifting frame), from the controller based on the kinematic Correlate the control signal for the second hydraulic Function, such as the tilt cylinder, is determined and then controlled accordingly.
  • the signaler for the first hydraulic function e.g. Lifting frame
  • the controller based on the kinematic Correlate the control signal for the second hydraulic Function, such as the tilt cylinder is determined and then controlled accordingly.
  • a manual To allow operation by the operator is advantageous provided that the at least second hydraulic Function by a second signal transmitter by the operator Override of the electronic control at least temporarily is directly controllable.
  • a first sensor for determining the position of the from the first hydraulic operated element the work equipment and at least one second sensor for Determining the position of the at least second hydraulic Function operated element of working equipment are provided, wherein the sensors with the electronic Control are connected. It is particularly preferred provided that the electronic control so is set up that from the first sensor Actual value of the first element, the desired value of the second Element determined and with that of the second sensor determined actual value compares and in case of deviation one Correction value determined and taking into account this Correction value the at least second hydraulic function controls accordingly. This makes it easy to to realize a position correction of the work equipment.
  • the flexibility of the machine can be even further improve that in the storage means more mathematical and / or graphical functions for several kinematic Connections between the first and the least second hydraulic function are stored, which can be optionally activated by the operator. So let yourself up Very simple way to realize special hydraulic functions and the same.
  • the at least one signal generator designed as a joystick is.
  • a joystick can then also as a signal generator for a possible second signal.
  • a work machine according to the invention can, for example be designed as an excavator.
  • Such an excavator usually has three hydraulic functions, namely raising / lowering of the jib, movement of the handle and movement of the spoon.
  • other special functions are possible.
  • the first hydraulic function only the raising or lowering of the boom by the operator controlled, the other hydraulic functions are based on it controlled by the electronic control.
  • the inventive Work machine as a mobile loader with front load equipment educated.
  • the first hydraulic function will be then formed by the lifting cylinder of the lifting frame, the second for example, from the tilt cylinder of the rocker arm, further further, for example special functions, possible.
  • a universal kinematics contains, as these basically known from DE 198 00 164 A1 is. It is then due to the almost linear relationship between the lifting angle and the rocker arm angle the loader, the determination of the respective control signal for the second hydraulic function (tilt cylinder) in the electronic Control for the parallel guidance of the implement especially easy.
  • a universal wheel loader available, both in the earth movement, industry, agriculture as well as in other fields of application can be used without having to change the kinematics.
  • An inventively designed loader offers a variety of advantages, which are exemplified below become.
  • the characteristic of the Joysticks is modifiable (aggresive, soft) and the kinematics allows high dumping angles and spreading speeds.
  • the controller allows automatic detection of the desired shaking (frequency) and a setting the Auskippanteiles for evenly pouring Material.
  • the maximum engine retraction when driving by Slopes and simultaneous lifting of loads are limited.
  • the flow rate is reduced to the hydraulic cylinders, the range of services offered by the reduced engine braking increased and redistributed in favor of the drive.
  • the maximum flow rate greater than customary to interpret, since the control of the power distribution between traction drive and working hydraulics, depending on the application, is possible.
  • the lifting speed may vary depending on the Lifting height can be made variable, which also has a cushioning the cylinder allows. This also allows cylinders without integrated hydraulic-mechanical cushioning be equipped with this feature, everyone other movement content is made more comfortable by this feature. Furthermore, it is possible by reducing the flow cross sections in the control slide at high loads a load-independent Lowering speed to realize. The vehicle is thereby safer for the driver. Furthermore is an active pitch vibration damping of the vehicle, in particular during the transport journey, through the use of Pressure sensors in the lifting cylinders and control of the valve functions Lifting / lowering as possible, that vehicle vibrations be minimized by the weight of the working tool with or without payload by controlling the lifting cylinder movement serves for vibration damping. advantageously, is the pump control when using a load-sensing system from a pressure control via the load-sensing signal to change to a constant pump behavior.
  • pressure sensors as well to realize a simple weighing function.
  • Pressure and angle sensors can also be an automatic filling provide for the blades in the ground, so that, for example the blade can be controlled so that on a wall a uniform chip removed from bottom to top becomes.
  • pressure sensors can also a burst safety can be ensured in case of sudden Pressure loss can close the spool.
  • a work machine according to the invention is described below a special embodiment, namely one Mobile loader with front-loading equipment, described the working machine but in principle can also be designed differently be, for example, as an excavator or the like. be realized.
  • FIG. 1 and 2 is a mobile loader as a working machine generally designated by the reference numeral 1.
  • This Loader 1 has a front frame part 2, on which a Universal kinematics is articulated, their basic structure is described in more detail in DE 198 00 164 A1.
  • This universal kinematics initially has a first Element of the working equipment forming lifting frame 3, the hinged with its rear end pivoted on the frame part 2 is.
  • This lifting frame 3 usually consists of two parallel frame parts that are suitable over their length with each other are connected.
  • the lifting cylinder By actuating the lifting cylinder is thus the lifting frame 3 with variable lifting angle between lifting frame 3 and Frame part 2 pivotable about the Hubrahmenfittician 5, i. raised and lowered.
  • the lifting frame 3 At the front end of the lifting frame 3 is in a blade fulcrum 6 pivoted a working tool, when Embodiment of Figure 1 a blade 7 and at Embodiment of Figure 2 a fork 7 '.
  • a dashed line indicated cross-beam 8 arranged on the two parallel Kipphebelhalterungen 9 are at their free ends in a rocker fulcrum Figure 10 illustrates a second element of the work equipment Rocker arm 11 is articulated.
  • the lower end of the rocker arm 11 is articulated in a tilt cylinder pivot point 12 with a second hydraulic function of the loader forming Tilting cylinder 13 connected to the other end in a tilt cylinder pivot point 14 on the front frame part 2 is articulated.
  • the upper end of the rocker arm 11 is in one Tilt rod fulcrum 15 hinged to a tilt rod 16, the one with its other end above the blade fulcrum 6 in a Kippstangenanlenkddling 17 on the working bucket 7 and the fork 7 'is articulated.
  • FIG. 3 shows that the arrangement of the rocker arm 11 opposite the lifting frame 3 is such that a substantially linear relationship between the stroke angle (the angle between the lifting frame 3 and the frame part 2) and the tilt angle (The angle between the rocker arm 11 and the lifting frame 3).
  • This linear characteristic makes it possible with simple control and control technology predetermined movements, e.g. the parallel guidance of the Work tool, implement.
  • the connection between the Lifting and the tilt angle is shown in detail in Figure 3.
  • This representation is from a zero position horizontal lifting frame 3 and one parallel in this position lying support fork 7 'from.
  • the kinematics shows an over the entire stroke range largely linear characteristic and no reversal of motion, as in Z-kinematics for the Tilting cylinder occurs when realizing a parallel guide want.
  • the invention is characterized trained loader by an electronic (Electrohydraulic) control of the kinematics of makes use of this linear characteristic.
  • the electro-hydraulics with a not shown Load-sensing system equipped so that both pumps 18 of the LS-pressures of the steering or the working hydraulics to be controlled.
  • the steering pump is also used to supply the working hydraulics used. With this control principle are faster Working cycles of the loader in use possible.
  • a priority circuit Prioro-valve 20 the priority supply of the steering.
  • the electrohydraulic has a generally designated 21 electrohydraulic valve block on, with not shown equipped with electrohydraulic pilot valves is. Their electrical control is done by a controller 22. In dependence of these drive signals the end faces of the main spool in the valve block 21st subjected to a corresponding pilot pressure and against a spring force shifted. In case of failure of the pilot system the spring force causes the return of the main spool in neutral position.
  • a Chargers are from the valve block 21 of the lifting and the tilting cylinder driven.
  • another valve section flanged to another hydraulic cylinder or Control hydraulic motor. This cylinder is shown in FIG third function and indicated by the reference numeral 24. In some cases, even more connections be provided to use specific equipment to Taxes.
  • a first signal transmitter connected to the controller 22, preferably in the form of a joystick 23, provided.
  • this electronic joystick 23 are corresponding Control signals generated, which are forwarded to the mobile controller 22 become.
  • the current position of the lifting frame 3 and the rocker arm 11th is constantly from two on the lifting frame 3 and the rocker arm 11th arranged angle sensors detected and also about CAN bus to the mobile controller 22 reported.
  • the position of Laderkinematik is for a variety of special functions or their monitoring, the necessary input information. ever according to equipment of the loader with special functions became with conventional control so far the position of the kinematics about a different number of initiators the control panel is reported, from which corresponding solenoid valves were driven.
  • These solenoid valves were in Connection with small auxiliary pistons installed on the control block, for example, in the case of a Hubendabscrien Raise the control piston upon reaching the by the initiator forcibly return to neutral position and thus to limit the lifting process.
  • a desired Lift height change always required a mounting side Change of initiator position.
  • a higher one can be Create a degree of flexibility.
  • the operator starts just this, pressed a "teach-in" button and the controller 22 stores the new limit height.
  • the limit height can be without mechanical Effort as often as desired and very easily changed by the operator become.
  • a main task and a task 1 are the input and output relationships of the controller in Figure 6 22 is shown.
  • About the CAN connection are the Signals of the joysticks 23 and the angle sensors are read.
  • Parameterization is also carried out via the CAN interface of software features, such as one Service laptop.
  • Activation of the special functions by the machine operator is via a series of buttons, which are located in the control panel or in the side console.
  • buttons are via digital inputs of the controller 22 read.
  • the CAN signals and the digital signals Inputs (buttons) are processed in task 1 and the main task and lead to the activation and execution of Control routines.
  • According to the software routines are over PWM outputs Proportional magnets of electrohydraulic Pilot valves of the control block 22 or solenoids of Load stabilizer assembly or the float valve driven. LEDs signal different states the special functions.
  • the control routines are in two Organized groups, one group more time-critical and one group Group of non-time critical routines.
  • Figure 7 illustrates in a simplified way, the assignment of the control algorithms to the main task or task 1.
  • task 1 all time-critical routines processed, and here too to better temporal synchronization another subdivision in four groups.
  • Task 1 will be in 5 ms clock is called, whereby one routine group is processed one after the other becomes.
  • controller-internal safety functions are among the time-critical control shares the synchronization and the Reading in the data from the angle sensors, reading in the joystick data and their processing in relation to characteristic curve design as well as all basic functions raising / lowering, tipping, third and possibly fourth function for the actuation of Hoist and attachments.
  • the fork parallel guide and the automatic feed system is integrated into task 1.
  • the regulated Tracking the tilt angle for the parallelism of the Carrying fork 7 'as well as the constant calculation of the tilting cylinder length for bucket feedback are routines that defined Require clock rates.
  • Figure 8 is the example of the parallel guide of the support fork 7 'the control according to the invention shown in detail.
  • the first hydraulic function namely the lifting cylinder, directly hydraulically controlled.
  • the second hydraulic function (Tilting cylinder 13) is via the electronic control with the signal generator of the first hydraulic function (lifting cylinder) connected.
  • the corresponding signal is tapped (indicated by the reference numeral 25 point) and of the electronic control or edited by the controller 22.
  • the controller 22 accesses a memory means the electronic control stored kinematic Relationship between the first and the second hydraulic Function to, namely in the embodiment according to Figure 3 on the almost linear relationship between the Tilt angle of the rocker arm 11 and the lifting angle of the lifting frame 3. Derived therefrom, the controller 22 then determines the control signal for the second hydraulic function, i. the tilt cylinder 13 and controls this accordingly.
  • the basic idea is a speed control of the Tilting cylinder 13 and thus the rocker arm 11, whose error be corrected by a position control.
  • a setpoint input allows for low-frequency systems a good Follow-up behavior with sufficient stability.
  • the joystick signal is a speed signal for the stroke movement. Of which, taking into account the kinematic relationships and valve characteristics also a desired speed signal for the rocker arm 11 derived. This speed control of the rocker arm 11, a corrective attitude control is activated. The dependent of the position of the lifting frame 3 setpoint for The rocker arm angle is calculated using a kinematics model. The actual value of the lifting angle forms the input variable for the Calculation of the tilt angle setpoint of the position control. To Determination of the control deviation is performed in a position controller, e.g. PID controller that generates controlled variable, the setpoint input is superimposed. The I-part of the controller works as a switching integrator. The output becomes limited and sign dependent on the two pilot valves assigned.
  • This offset is used in the setpoint calculation of the tilt angle integrated and the parallel routing routine activated again. This feature allows corrections during the Transportation as well as the "teach-in" of desired Traggabel tooen for the parallel guidance.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Fluid Mechanics (AREA)
  • Chemical & Material Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Analytical Chemistry (AREA)
  • Combustion & Propulsion (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Operation Control Of Excavators (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

La présente invention concerne une machine de travail d'utilisation universelle, comprenant un équipement de travail qui présente, pour sa manoeuvre, au moins deux fonctions hydrauliques, pouvant être commandées par l'utilisateur et étant destinées à au moins un premier élément et un second élément dudit équipement de travail. L'objectif de cette invention est de réaliser une telle machine de travail, dont les fonctions hydrauliques peuvent être utilisées de la manière la plus simple et la plus souple possible. Cet objectif est atteint en ce que la seconde fonction hydraulique (13) peut être conjointement commandée par une commande électronique (21, 22), qui présente une unité de commande (22), à laquelle sont conduits les signaux de commande issus de l'émetteur de signaux (23) de la première fonction hydraulique, ainsi qu'un système d'enregistrement, dans lequel au moins une relation cinématique entre la première et la seconde fonction hydraulique est entrée en mémoire sous forme mathématique et/ou graphique. Ladite unité de commande (22) établit la connexion à ladite seconde fonction, en correspondance avec cette relation cinématique.

Claims (8)

  1. Machine de travail dotée d'un appareillage présentant, aux fins de son maniement, au moins deux fonctions hydrauliques commandées par l'opérateur servant à un premier et à un au moins deuxième élément (3, 11) de l'appareillage, où le premier élément et l'au moins deuxième élément (3, 11) de l'appareillage sont reliés l'un à l'autre par une cinématique et où la première et l'au moins deuxième fonction hydraulique sont reliées à un émetteur de signaux (23) commun, où l'au moins deuxième fonction hydraulique minimum (13) peut être co-contrôlée par une commande électronique (21, 22) qui présente un organe de commande (22), auquel sont amenés les signaux de commande de l'émetteur de signaux (23) de la première fonction hydraulique, et un moyen d'enregistrement dans lequel est stockée en mémoire, sous forme mathématique et/ou graphique, au moins une relation cinématique, décrivant la cinématique entre le premier élément et l'au moins deuxième élément (3, 11) de l'appareillage, entre la première et l'au moins deuxième fonction hydraulique, où l'organe de commande (22) établit, en corrélation avec cette relation cinématique, la liaison avec l'au moins deuxième fonction hydraulique, où sont prévus un premier capteur pour la détermination de la position de l'élément (3) de l'appareillage actionné par la première fonction hydraulique et au moins un deuxième capteur pour la détermination de la position de l'élément (11) de l'appareillage actionné par l'au moins deuxième fonction hydraulique (13), où les capteurs sont reliés à l'organe de commande (22), où la commande électronique (21, 22) est ajustée de façon à ce qu'elle détermine la valeur théorique du deuxième élément (11) à partir de la valeur réelle déterminée par le premier capteur et qu'elle la compare avec la valeur réelle déterminée par le deuxième capteur et que, en cas de divergence, une valeur corrective soit déterminée et que l'au moins deuxième fonction hydraulique (13) soit ajustée en conséquence, compte tenu de cette valeur corrective.
  2. Machine de travail selon la revendication 1 caractérisée en ce que l'au moins deuxième fonction hydraulique (13) peut être au moins temporairement directement réglée par surmodulation de la commande électronique (21, 22) par l'opérateur, par le biais d'un deuxième émetteur de signaux (23).
  3. Machine de travail selon la revendication 1 ou 2 caractérisée en ce que plusieurs fonctions mathématiques et/ou graphiques pour plusieurs relations cinématiques entre la première fonction hydraulique et l'au moins deuxième fonction hydraulique sont stockées en mémoire dans les moyens d'enregistrement, relations qui peuvent être activées au choix par l'opérateur.
  4. Machine de travail selon la revendication 3 caractérisée en ce que des touches d'entrée « teach-in » sont prévues pour la modification de la fonction mathématique et/ou graphique dans les moyens d'enregistrement.
  5. Machine de travail selon une ou plusieurs des revendications 1 à 4 caractérisée en ce que l'émetteur de signaux au moins au nombre de un est conçu en tant que joystick (23).
  6. Machine de travail selon une ou plusieurs des revendications 1 à 5 caractérisée en ce que celle-ci est conçue en tant que pelle.
  7. Machine de travail selon une ou plusieurs des revendications 1 à 6 caractérisée en ce que celle-ci est conçue en tant que chargeuse mobile (1) à dispositif de chargement frontal.
  8. Machine de travail selon la revendication 7 caractérisée en ce que la chargeuse mobile (1) présente un montant (3) relié, par l'extrémité arrière, de façon articulée, à un élément avant du châssis (2) de la chargeuse, montant orientable avec un angle de levage modifiable entre le montant (3) et l'élément du châssis (2) moyennant au moins un vérin hydraulique constituant la première fonction hydraulique, où, à l'extrémité avant du montant (3), un outil de travail (7, 7') est relié de façon articulée au niveau d'un pivot de godet (6) et, où, dans la zone centrale du montant, un balancier (11) est relié de façon articulée au niveau d'un pivot de balancier, balancier dont l'extrémité inférieure est reliée avec des charnières à un vérin de basculement constituant la deuxième fonction hydraulique et orientable grâce à celui-ci, avec un angle modifiable, entre le balancier (11) et le montant (3), où le vérin de basculement (13) est relié de façon articulée, au niveau de l'autre extrémité, à la partie avant du châssis (2) et où l'extrémité supérieure du balancier (11) est reliée de façon articulée à une barre basculante (16) qui est elle-même reliée, par son autre extrémité, en amont du pivot de godet, de façon articulée à l'outil de travail (7, 7'), où la disposition du balancier (11) par rapport au montant (3) est telle qu'il y a une relation fondamentalement linéaire entre l'angle de levage et l'angle de balancier.
EP01933674A 2000-03-14 2001-03-09 Machine de travail Expired - Lifetime EP1263673B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10012389A DE10012389B4 (de) 2000-03-14 2000-03-14 Arbeitsmaschine
DE10012389 2000-03-14
PCT/EP2001/002663 WO2001069089A2 (fr) 2000-03-14 2001-03-09 Machine de travail

Publications (2)

Publication Number Publication Date
EP1263673A2 EP1263673A2 (fr) 2002-12-11
EP1263673B1 true EP1263673B1 (fr) 2004-02-18

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EP01933674A Expired - Lifetime EP1263673B1 (fr) 2000-03-14 2001-03-09 Machine de travail

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EP (1) EP1263673B1 (fr)
DE (2) DE10012389B4 (fr)
WO (1) WO2001069089A2 (fr)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10221551A1 (de) * 2002-05-14 2003-12-04 Botschafter Knopff Ilse Steuereinrichtung für ein Arbeitswerkzeug mit einer Parallelführung
JP4456360B2 (ja) 2003-12-04 2010-04-28 日立建機株式会社 作業車両の操作回路
FR2938561A1 (fr) * 2008-11-20 2010-05-21 Mailleux Dispositif de remise a niveau automatique de l'outil d'un chargeur hydraulique monte sur un tracteur
CN103015471B (zh) * 2012-12-28 2015-06-10 广西大学 一种自调式可控机构式微型多自由度装载机构
EP3127856B1 (fr) * 2015-08-07 2020-01-01 Linde Material Handling GmbH Systeme de commande hydraulique a economie d'energie pour chariot de manutention et procede de reduction de la consommation d'energie pour chariot de manutention
DE102019124951B4 (de) 2019-09-17 2023-09-28 Danfoss Power Solutions Gmbh & Co. Ohg Verfahren zum Ansteuern eines Kippschaufelladers
DE102019132845A1 (de) * 2019-12-03 2021-06-10 Danfoss Scotland Ltd. Weichenventilbock für eine hydraulisch betätigbare Arbeitsmaschine
US11549236B1 (en) 2021-06-16 2023-01-10 Cnh Industrial America Llc Work vehicle with improved bi-directional self-leveling functionality and related systems and methods
DE102023202499B3 (de) 2023-03-21 2024-06-06 Zf Friedrichshafen Ag Verfahren zum Steuern eines Radladers, Steuerung, Antriebsanordnung und Radlader

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Publication number Priority date Publication date Assignee Title
GB2252642B (en) * 1990-12-31 1995-05-24 Samsung Heavy Ind System for automatically controlling operation of construction vehicle
DE4211078C2 (de) * 1992-04-03 1995-05-24 Orenstein & Koppel Ag Hubwerk für Arbeitsgeräte an Ladefahrzeugen
GB2274903A (en) * 1993-01-21 1994-08-10 Fermec Mfg Ltd Control lever assembly for commanding several functions eg of a vehicle.
US5424623A (en) * 1993-05-13 1995-06-13 Caterpillar Inc. Coordinated control for a work implement
US5701793A (en) * 1996-06-24 1997-12-30 Catepillar Inc. Method and apparatus for controlling an implement of a work machine
US6233511B1 (en) * 1997-11-26 2001-05-15 Case Corporation Electronic control for a two-axis work implement
DE19800164A1 (de) * 1998-01-05 1999-07-22 Orenstein & Koppel Ag Mobile Lademaschine mit Frontladeausrüstung

Also Published As

Publication number Publication date
WO2001069089A3 (fr) 2002-04-25
DE50101507D1 (de) 2004-03-25
EP1263673A2 (fr) 2002-12-11
WO2001069089A2 (fr) 2001-09-20
DE10012389B4 (de) 2005-03-17
DE10012389A1 (de) 2001-09-27

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