WO2002081828A1 - Engin de travaux publics du type chargeuse - Google Patents
Engin de travaux publics du type chargeuse Download PDFInfo
- Publication number
- WO2002081828A1 WO2002081828A1 PCT/FR2002/000976 FR0200976W WO02081828A1 WO 2002081828 A1 WO2002081828 A1 WO 2002081828A1 FR 0200976 W FR0200976 W FR 0200976W WO 02081828 A1 WO02081828 A1 WO 02081828A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- bucket
- arms
- manipulator
- relative
- orientation
- Prior art date
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
- E02F3/432—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
- E02F3/432—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude
- E02F3/433—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude horizontal, e.g. self-levelling
Definitions
- the invention relates to the field of public works vehicles, and more particularly to loaders. It relates more precisely to a device ensuring an automatic correction of the orientation of the bucket during the various loading operations.
- a loader is a public works machine which allows materials taken up from the ground to be taken up and dumped into a bucket or a truck, or vice versa.
- a loader therefore comprises, in a known manner, a chassis and special work equipment.
- This work equipment generally includes two parallel arms which are articulated with respect to the chassis. These arms can be raised under the action of jacks generally called “arm jacks”.
- the ends of the arms receive a bucket, which is itself articulated relative to the arms.
- the work equipment also includes a set of links which form with a portion of the bucket and the arms, a deformable parallelogram. Generally, one of these links is articulated with respect to the bucket, while the other is articulated with respect to the arms, these two links being articulated with one another by their ends.
- the work equipment also includes a bucket cylinder which is controlled to cause deformation of the deformable parallelogram, thereby ensuring the orientation of the bucket relative to the arms.
- the operator can control the arm cylinder and the bucket cylinder separately.
- the arm cylinder By acting on the arm cylinder, it raises the arms by raising the level of the bucket.
- the bucket cylinder By acting on the bucket cylinder, it changes the orientation of the bucket relative to the arms, and therefore relative to the chassis.
- it is pivoted backwards so that its opening is oriented upwards.
- the bucket Conversely, when the bucket has reached the desired height, it is pivoted forward, so as to be emptied inside the destination bucket.
- the orientation of the bucket varies relative to the ground.
- the orientation of the bucket relative to the arms it is necessary for the orientation of the bucket relative to the arms to be modified by the deformation of the deformable parallelogram.
- the bucket cylinder is therefore actuated to maintain the opening of the bucket in a constant inclination, in order to prevent the latter from unexpectedly spilling backwards.
- This bucket tilt correction can be performed by the driver who acts appropriately on the bucket cylinder via the manipulator.
- This correction of the inclination of the bucket can also take place automatically by a correction device.
- a correction device comprises in known manner a connecting rod which is articulated at one of these ends on one of the links of the deformable parallelogram. At its other end, the connecting rod acts on a hydraulic distributor valve supplying the bucket cylinder. This connecting rod actuates the distributor slide which acts on the bucket cylinder as a function of the position of the connecting rod, that is to say as a function of the orientation of the bucket relative to the arms.
- this solution has certain drawbacks and in particular the fact that it acts directly on the dispenser drawer, which results in a reaction from the control manipulator on which the conductor acts. In other words, this automatic correction generates a resistance in the movement of the manipulator which is felt by the driver and which can be unpleasant.
- a first problem which the invention proposes to solve is that of allowing a correction of the inclination of the bucket, without the latter being felt at the level of the manipulator.
- Another problem that the invention seeks to solve is that of allowing automatic correction of the inclination of the bucket compatible with the use of a hydraulic manipulator, more ergonomic than a mechanical manipulator.
- the invention therefore relates to a public works machine of the "loader" type.
- Such a machine comprises a chassis and work equipment.
- Work equipment includes:
- this machine is characterized in that it also comprises:
- a hydraulic control circuit allowing the supply to the bucket cylinder via a distributor controlled by a hydraulic manipulator delivering a control pressure; a cam mechanism moved by a connecting bar connected at one end to the deformable parallelogram, so that the position of the cam is a function of the orientation of the bucket relative to the chassis; a hydraulic device making it possible to generate an additional control pressure as a function of the position of the cam; a circuit selector capable of transmitting to the distributor the highest pressure between the control pressure delivered by the manipulator, and the additional control pressure, so that the orientation of the bucket is maintained in a position preventing its unexpected overturning towards the 'rear, whatever the controls exerted by the driver on the manipulator.
- the link bar ensures the mechanical return of the information of the angle between the arm and the link of the deformable parallelogram.
- This connecting bar causes the rotation of a cam which acts on a hydraulic valve.
- This valve delivers a pressure which, if it is greater than that delivered by the manipulator, takes precedence over the latter so that the distributor supplies the bucket cylinder in a corrected manner.
- the circuit selector is arranged on the portion of the hydraulic circuit which ensures the bucket is spilled. Indeed, it is of paramount importance that the bucket does not tip over backwards when it is lifted during the loading operation.
- the correction device generates an additional control pressure which is compared with the pressure from the hydraulic manipulator when the latter is controlled for raising the arms.
- FIG. 1 is a general side view of a machine of the type loader / backhoe.
- Figure 2 is a side view of the work equipment of the loader of Figure 1 shown in two different positions of the arms.
- FIG. 3 is a summary perspective view of the cam mechanism according to the invention.
- Figure 4 is a diagram of the hydraulic circuit for controlling the bucket cylinder.
- FIG. 5 is a diagram showing the variations of the control pressure from the manipulator and the additional control pressure, as a function of the displacement of the connecting bar.
- this machine (1) comprises a work equipment (2) enabling it to perform the function of loader.
- This work equipment (2) mainly comprises two arms (3) located on either side of the machine. By their rear ends (4), these arms (3) are articulated on the chassis (5). These arms (3) have a slightly curved shape so that their front ends (6) are substantially at ground level in the lowest position of the arms (3).
- These arms (3) can be moved under the action of two arm cylinders (7) also located on either side of the frame (5).
- These cylinders (7) are articulated by one end (8) on the chassis, and by their opposite end (9) to the main arms (3), substantially at the median level (10) of the latter.
- the main arms (3) receive a bucket (15).
- This bucket (15) is articulated relative to the arms (3), so that it can be tilted at different angles.
- the opening (16) of the bucket can be oriented either towards the front when it is a matter of penetrating materials (17), or towards the rear when the bucket (15) is filled and that it is moved.
- the work equipment (2) also comprises two links (20, 21) which form, with the extremal part of the arm (3) and a part of the bucket (15), a deformable parallelogram. More specifically, the work equipment (2) comprises a first rear link (20) which is articulated by its lower end (22) on the main arm (3). The equipment also comprises a front link (21) articulated by its lower end (23) on the bucket, at a point situated at a level higher than the articulation point (13) of the bucket (15) relative to the arms (3). The two links (21) front and rear (20) are articulated with each other at their upper ends (25). Thus, when the orientation of the bucket (15) varies relative to the arms (3), the deformable parallelogram including the links (20, 21) is deformed.
- This deformation of the deformable parallelogram is caused by the action of a bucket cylinder (27).
- This bucket cylinder (27) has its rod (28) which is articulated on the bucket (15), substantially between the articulation point (23) of the front link (21) and the articulation point (13) of the bucket relative to the arms.
- the chamber (29) of the bucket cylinder (27) is connected in turn to the common point of articulation (25) of the two front (21) and rear (20) links.
- the work equipment comprises a connecting bar (30) which extends along the main arm (3), substantially from the area where the rear link (20) is articulated, and up to at the point of articulation (8) of the arm (3) relative to the frame (5).
- the front end (31) of this connecting bar (30) is articulated on the rear link (20), at the point of articulation (32).
- the other end (33) of the connecting bar (30) is itself articulated substantially at the point of articulation (8) of the arm (3) relative to the frame (5). More specifically, this end of this connecting bar is articulated on a cam as illustrated in FIG. 3. Thus, the end (33) of the connecting bar is articulated relative to the cam (35) at the branch (36) having a through opening (37).
- This cam (35) is mounted with a pivoting capacity around a yoke (40) which is itself secured to the chassis (5). The rotation of the cam (35) relative to the yoke (40) takes place around the axis (41) passing through the opening (41) made for this purpose in the cam (35).
- the cam (35) has a curved surface (43) each point of which is at a different distance from the axis of rotation (41) of the cam.
- This curved surface (35) comes into contact with a lever (45) itself articulated relative to the yoke (40) around an axis of rotation (46).
- This lever has a groove (47) whose walls (48, 49) come from either side of the cam (35), to prevent the latter from moving away.
- This groove (47) is crossed by a rod (50) connecting the two walls (48, 49).
- the curved surface (43) of the cam (35) comes into contact with this rod (50).
- This hydraulic remote control (52) is inserted into the hydraulic control circuit illustrated in FIG. 4. More specifically, this hydraulic remote control (52) is connected upstream to the main pressure source that is the pump (53). Downstream, this hydraulic remote control (52) is connected to a circuit selector (54), which ensures the selective connection between on the one hand, the distributor (55) for controlling the bucket cylinder (27), and on the other part, either the outlet (56) of the hydraulic remote control (52), or there outlet (57) of the control manipulator (58). More specifically, this control manipulator (58) has a pressure supply (59) from the main pump (53), and two outlet channels (57, 60) each corresponding to a direction of orientation of the bucket. The first outlet (60) corresponds to the bucket lifting control, while the second outlet (57) corresponds to the bucket dumping control.
- the circuit selector (54) transmits to the distributor (55) the pressure which is greatest between the control pressure of the manipulator (58) and the pressure delivered by the hydraulic remote control (52). It is this pressure which then acts on the slide valve (61) of the distributor which causes the displacement of the bucket cylinder (27).
- the driver places his bucket (15) in such a way that it has its opening (16) directed towards the front, in order to fill the bucket. It then acts on the manipulator (58) to cause the bucket (15) to pivot backwards. The pressure from the manipulator (58) is then greater than the pressure from the hydraulic remote control (52), which is zero since the hydraulic remote control is not activated. Subsequently, when the main arms (3) are raised, as illustrated in Figure 2, the link bar (30) moves, thus causing the movement of the cam (35).
- the pressure from the hydraulic remote control T2 therefore exceeds that delivered by the manipulator (58), and it is this pressure which, via the circuit selector (54), acts on the distributor (55 ), to cause the bucket cylinder (27) to be fed in the direction of orientation of the latter towards the front, as illustrated in the upper part of FIG. 2.
- the system automatically compensates for the inclination of the bucket to prevent the latter from spilling backwards, if it remained in the initial inclination, corresponding to that of the lower part of FIG. 2.
- the machine according to the invention has the essential advantage of allowing automatic correction of the inclination of the bucket, which is insensitive to the level of the control manipulator. This automatic correction increases operator safety, since the risk of material falling backwards is eliminated.
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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)
- Saccharide Compounds (AREA)
- Cephalosporin Compounds (AREA)
- Turning (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE60200655T DE60200655D1 (de) | 2001-03-22 | 2002-03-20 | Erdbewegungsmaschine des lader-typs |
EP02722354A EP1370731B1 (fr) | 2001-03-22 | 2002-03-20 | Engin de travaux publics du type chargeuse |
AT02722354T ATE269452T1 (de) | 2001-03-22 | 2002-03-20 | Erdbewegungsmaschine des lader-typs |
US10/659,643 US6912804B2 (en) | 2001-03-22 | 2003-09-10 | Loader-type heavy-construction machine |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR01/03858 | 2001-03-22 | ||
FR0103858A FR2822483B1 (fr) | 2001-03-22 | 2001-03-22 | Engin de travaux publics du type chargeuse |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US10/659,643 Continuation US6912804B2 (en) | 2001-03-22 | 2003-09-10 | Loader-type heavy-construction machine |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2002081828A1 true WO2002081828A1 (fr) | 2002-10-17 |
Family
ID=8861416
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR2002/000976 WO2002081828A1 (fr) | 2001-03-22 | 2002-03-20 | Engin de travaux publics du type chargeuse |
Country Status (6)
Country | Link |
---|---|
US (1) | US6912804B2 (fr) |
EP (1) | EP1370731B1 (fr) |
AT (1) | ATE269452T1 (fr) |
DE (1) | DE60200655D1 (fr) |
FR (1) | FR2822483B1 (fr) |
WO (1) | WO2002081828A1 (fr) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2005052265A1 (fr) * | 2003-11-25 | 2005-06-09 | Bosch Rexroth Ag | Dispositif de commande hydraulique d'un equipement mobile |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7059422B2 (en) * | 2004-04-26 | 2006-06-13 | Bobby Gene Burgin | Self-orienting loader bucket mechanism |
WO2007014985A1 (fr) * | 2005-08-02 | 2007-02-08 | Volvo Compact Equipment Sas | Engin de travaux publics du type chargeuse |
JP2008025161A (ja) * | 2006-07-19 | 2008-02-07 | Kubota Corp | 作業車 |
US8858151B2 (en) | 2011-08-16 | 2014-10-14 | Caterpillar Inc. | Machine having hydraulically actuated implement system with down force control, and method |
US8843282B2 (en) | 2011-11-02 | 2014-09-23 | Caterpillar Inc. | Machine, control system and method for hovering an implement |
US9068323B2 (en) | 2012-12-20 | 2015-06-30 | Caterpillar Inc. | Machine having hydraulically actuated implement system with combined ride control and downforce control system |
US9969283B2 (en) | 2013-09-10 | 2018-05-15 | General Electric Company | Battery changing system and method |
WO2017164785A1 (fr) * | 2016-03-24 | 2017-09-28 | Volvo Construction Equipment Ab | Unité avant de chargeuse sur pneus, et chargeuses sur pneus |
WO2017217572A1 (fr) * | 2016-06-17 | 2017-12-21 | Volvo Construction Equipment Ab | Nivellement automatique de benne chargeuse |
KR101907938B1 (ko) * | 2016-11-29 | 2018-10-15 | 가부시키가이샤 고마쓰 세이사쿠쇼 | 건설 기계의 제어 장치 및 건설 기계의 제어 방법 |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3521781A (en) * | 1968-09-26 | 1970-07-28 | Case Co J I | Anti-rollback mechanism |
US3695474A (en) * | 1970-08-05 | 1972-10-03 | Case Co J I | Hydraulic control linkage for implement |
US3856163A (en) * | 1972-07-17 | 1974-12-24 | Case Co J I | Method of using a hydraulic leveling circuit on an implement |
US3896951A (en) * | 1970-07-27 | 1975-07-29 | Case Co J I | Method for positioning bucket loader |
US3929245A (en) * | 1973-11-07 | 1975-12-30 | Komatsu Mfg Co Ltd | Device for setting the inclination of the bucket in a bulldozer |
DE2853775A1 (de) * | 1978-12-13 | 1980-07-03 | Stoll Maschf Gmbh Wilhelm | Front- bzw. hecklader |
US4375344A (en) * | 1981-07-02 | 1983-03-01 | J. I. Case Company | Bucket leveling mechanism |
DE3822145A1 (de) * | 1988-06-30 | 1990-01-04 | Mi N Proizv Ob Doroznogo Masin | Frontlader |
US5501570A (en) * | 1994-01-21 | 1996-03-26 | Case Corporation | Anti-rollback mechanism for a loader mechanism of an off-highway implement |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3141562A (en) * | 1962-04-12 | 1964-07-21 | Clark Equipment Co | Height limiter |
US3522897A (en) * | 1968-05-28 | 1970-08-04 | Caterpillar Tractor Co | Kickout control for bucket loaders |
US3872990A (en) * | 1970-07-09 | 1975-03-25 | Clark Equipment Co | Loader bucket position maintaining system |
US3642159A (en) * | 1970-08-19 | 1972-02-15 | Massey Ferguson Inc | Earthworking vehicle |
US4109812A (en) * | 1977-03-25 | 1978-08-29 | Caterpillar Tractor Co. | Dump control for loaders |
US4810161A (en) * | 1986-09-30 | 1989-03-07 | The Olofsson Corporation | Reach attachment |
US5383390A (en) * | 1993-06-28 | 1995-01-24 | Caterpillar Inc. | Multi-variable control of multi-degree of freedom linkages |
US6757994B1 (en) * | 2003-04-11 | 2004-07-06 | Deere & Company | Automatic tool orientation control for backhoe with extendable dipperstick |
-
2001
- 2001-03-22 FR FR0103858A patent/FR2822483B1/fr not_active Expired - Fee Related
-
2002
- 2002-03-20 WO PCT/FR2002/000976 patent/WO2002081828A1/fr not_active Application Discontinuation
- 2002-03-20 DE DE60200655T patent/DE60200655D1/de not_active Expired - Lifetime
- 2002-03-20 AT AT02722354T patent/ATE269452T1/de not_active IP Right Cessation
- 2002-03-20 EP EP02722354A patent/EP1370731B1/fr not_active Expired - Lifetime
-
2003
- 2003-09-10 US US10/659,643 patent/US6912804B2/en not_active Expired - Fee Related
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3521781A (en) * | 1968-09-26 | 1970-07-28 | Case Co J I | Anti-rollback mechanism |
US3896951A (en) * | 1970-07-27 | 1975-07-29 | Case Co J I | Method for positioning bucket loader |
US3695474A (en) * | 1970-08-05 | 1972-10-03 | Case Co J I | Hydraulic control linkage for implement |
US3856163A (en) * | 1972-07-17 | 1974-12-24 | Case Co J I | Method of using a hydraulic leveling circuit on an implement |
US3929245A (en) * | 1973-11-07 | 1975-12-30 | Komatsu Mfg Co Ltd | Device for setting the inclination of the bucket in a bulldozer |
DE2853775A1 (de) * | 1978-12-13 | 1980-07-03 | Stoll Maschf Gmbh Wilhelm | Front- bzw. hecklader |
US4375344A (en) * | 1981-07-02 | 1983-03-01 | J. I. Case Company | Bucket leveling mechanism |
DE3822145A1 (de) * | 1988-06-30 | 1990-01-04 | Mi N Proizv Ob Doroznogo Masin | Frontlader |
US5501570A (en) * | 1994-01-21 | 1996-03-26 | Case Corporation | Anti-rollback mechanism for a loader mechanism of an off-highway implement |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2005052265A1 (fr) * | 2003-11-25 | 2005-06-09 | Bosch Rexroth Ag | Dispositif de commande hydraulique d'un equipement mobile |
US7621711B2 (en) | 2003-11-25 | 2009-11-24 | Bosch Rexroth Ag | Hydraulic control system for mobile equipment |
Also Published As
Publication number | Publication date |
---|---|
EP1370731A1 (fr) | 2003-12-17 |
EP1370731B1 (fr) | 2004-06-16 |
FR2822483B1 (fr) | 2003-07-18 |
FR2822483A1 (fr) | 2002-09-27 |
US20040060711A1 (en) | 2004-04-01 |
ATE269452T1 (de) | 2004-07-15 |
DE60200655D1 (de) | 2004-07-22 |
US6912804B2 (en) | 2005-07-05 |
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