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WO2008153532A1 - Levage et retour parallèles électroniques pour transport ou déport latéral sur une chargeuse-pelleuteuse - Google Patents

Levage et retour parallèles électroniques pour transport ou déport latéral sur une chargeuse-pelleuteuse Download PDF

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Publication number
WO2008153532A1
WO2008153532A1 PCT/US2007/014604 US2007014604W WO2008153532A1 WO 2008153532 A1 WO2008153532 A1 WO 2008153532A1 US 2007014604 W US2007014604 W US 2007014604W WO 2008153532 A1 WO2008153532 A1 WO 2008153532A1
Authority
WO
WIPO (PCT)
Prior art keywords
boom
controller
tool
angle
loader
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.)
Ceased
Application number
PCT/US2007/014604
Other languages
English (en)
Inventor
Boris Trifunovic
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.)
Deere and Co
Original Assignee
Deere and Co
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from PCT/US2007/014196 external-priority patent/WO2008153529A1/fr
Priority claimed from PCT/US2007/014071 external-priority patent/WO2008156442A1/fr
Application filed by Deere and Co filed Critical Deere and Co
Priority to CA002689325A priority Critical patent/CA2689325A1/fr
Priority to US12/664,673 priority patent/US8500387B2/en
Publication of WO2008153532A1 publication Critical patent/WO2008153532A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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
    • 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
    • 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

Definitions

  • the invention relates to a system for sensing and automatically controlling the orientation of a work tool
  • a variety of work machines can be equipped with tools for performing a work function. Examples of such machines include a wide variety of loaders, excavators, telehandlers, and aerial lifts.
  • a work vehicle such as backhoe loader may be equipped with a backhoe tool, such as a backhoe bucket or other structure, for excavating and material handling functions as well as a loader tool such as a loader bucket.
  • a swing frame pivotally attaches to the vehicle frame at a rear portion of the vehicle
  • a backhoe boom pivotally attaches to the swing frame
  • a dipperstick pivotally attaches to the backhoe boom
  • the backhoe tool pivotally attaches to the dipperstick about a backhoe tool pivot.
  • a vehicle operator controls the orientation of the backhoe bucket relative to the dipperstick by a backhoe tool actuator.
  • the operator also controls the rotational position of the boom relative to the vehicle frame, and the dipperstick relative to the boom, by corresponding actuators.
  • the aforementioned actuators are typically comprised of one or more double acting hydraulic cylinders and a corresponding hydraulic circuit.
  • the loader boom In the loader portion of the backhoe loader the loader boom is pivotally attached to the vehicle frame at a front portion of the backhoe loader and a loader tool, such as a loader bucket, is pivotally attached to the loader boom at a loader bucket pivot.
  • a loader tool such as a loader bucket
  • the bucket is operatively attached to a linkage which is also connected to the vehicle frame or the boom.
  • Work operation with a loader bucket entails similar problems to those encountered in work operations with the backhoe bucket.
  • An object of the present invention is to provide an improved system for controlling the orientation of a tool for a work vehicle.
  • the illustrated invention comprises a backhoe loader which includes a backhoe assembly, and a loader assembly.
  • the backhoe assembly includes a swing frame pivotally attached to the frame of the backhoe loader, a backhoe boom of the truly attached to the swing frame, a backhoe boom actuator for controllably pivoting the boom relative to the swing frame, a dipperstick pivotally attached to the boom, a dipperstick actuator for controllably pivoting the dipperstick relative to the boom, a backhoe to definitely attest to the dipperstick, and a backhoe to actuator for controllably moving the backhoe tool about its pivot.
  • the loader assembly includes a loader boom pivotally attached to the vehicle frame, a loader boom actuator for controllably pivoting the loader boom relative to the vehicle frame, a loader tool pivotally attached to the loader boom, and a loader tool actuator for controllably pivoting the loader tool relative, to the loader boom.
  • the loader also includes a loader tool command device to effect operation of the loader tool actuator and a mode switch to enable and disable features of the invention.
  • the invention addresses the loader portion of the backhoe loader.
  • the vehicle has at least one of a first mode and a second mode, each mode being enabled by a mode switch.
  • a controller allows the loader tool to respond to boom manipulation in a conventional manner, i.e., the angle of the loader tool is adjusted on a strictly mechanical basis in accordance with the mechanical interplay between the boom, a loader tool linkage and the loader tool.
  • the second mode which is a parallel lift mode a controller causes the angle of the tool to be adjusted in accordance with an electronic program throughout an angular movement of the boom regardless of any particular mechanical relationship between the tool linkage, the boom and the loader tool.
  • the invention uses at least one sensor to detect an angle of a loader tool with respect to a datum such as, for example, the vehicle frame and maintain that angle throughout a boom rotation with respect to the datum unless parallel lift is deactivated during boom travel or the boom reaches an angle in which another function takes precedence.
  • the controller maintains the tool orientation by commanding the tool actuator to adjust the tool position as a function of the boom angle with respect to the vehicle frame.
  • the initial tool angle is set and stored at the time parallel lift is activated and updated each time the tool angle is changed via the manipulation of a tool command input device such as, for example, a joystick as long as parallel lift is enabled.
  • parallel lift is deactivated, i.e., disabled, the vehicle returns to the first mode and no new angles are set or updated until parallel lift is re- enabled.
  • the invention provides for other functions for controlling the loader tool such as, for example, return to carry, return to dig and anti-spill which is designed to keep a loader bucket from spilling its contents on the hood or cab of the vehicle.
  • Figure 1 is a side view of a backhoe loader
  • FIG. 2 is a detailed view of a loader portion of the backhoe loader
  • Figure 3 is a schematic diagram illustrating an exemplary embodiment of the components of the invention with respect to a control system for the loader tool;
  • Figure 4a illustrates how the angle of the loader tool changes as the boom rotates in an upward direction
  • Figure 4b illustrates more graphically how the angle of the loader tool with respect to the boom changes in Figure 4a;
  • Figure 5a illustrates how the angle of the loader tool changes as the boom rotates in an downward direction
  • Figure 5b is a schematic diagram illustrating how the angle of the loader tool changes as the boom rotates in an downward direction
  • Figure 6 graphically illustrates how the loader tool responds to one example joystick override command while parallel lift is enabled
  • Figure 7 illustrates how the angle of the loader to changes as the boom moves toward ⁇ 1 and toward ⁇ 2 while parallel lift is enabled
  • Figure 9 illustrates a flow chart outlining the initiation and operation of return to carry
  • Figure 10 illustrates a flow chart outlining the initiation and operation of boom height kickout
  • Figure 11 illustrates a flow chart outlining the initiation and operation of return to dig
  • Figure 12 illustrates the operation of the anti-spill function
  • Figure 13 illustrates a monitor used for anti-spill settings
  • Figure 14 illustrates a backhoe loader chair 14 showing the position of the monitor in Figure 13;
  • Figure 15 illustrates a schematic of an alternate embodiment of the components of the invention.
  • FIG. 1 illustrates an exemplary work vehicle, i.e., a backhoe loader 10 in which the invention may be utilized.
  • the backhoe loader 10 has a frame 12, to which are attached ground engaging wheels 11 for supporting and propelling the vehicle 10.
  • Attached to the front of the vehicle is a loader assembly 30, and attached to the rear of the vehicle 10 is a backhoe assembly 40. Both the loader assembly 30 and backhoe assembly 40 perform a variety of material handling functions.
  • An operator controls the functions of the vehicle 10 from an operator's station 20.
  • This particular loader assembly 30 comprises a loader boom 31 , a linkage 40 and a tool such as, for example, a loader bucket 36.
  • the loader boom 31 has a first end 31a pivotally attached to the frame 12 at a horizontal loader boom pivot 12a, and a second end 31c to which the loader bucket 36 pivotally attaches at loader bucket pivot 36a.
  • the linkage 40 illustrated in Figure 2, includes a boom link 41 and a bucket link 42.
  • the boom link 41 is pivotally attached to the boom 31 at a first boom link pivot 41 a and pivotally attached to a loader bucket hydraulic cylinder 32 at a second boom link pivot 41b.
  • the bucket link 42 is pivotally attached to the loader bucket hydraulic cylinder 32 at a first bucket link pivot 42a and pivotally attached to the bucket 36 at a second bucket link pivot 42b.
  • the second boom link pivot 41b and the first bucket link pivot 42a are the same, i.e., they are both pivot 41a.
  • an angle ⁇ between the boom link 41 and the bucket link 42 increases and decreases respectively.
  • FIG. 3 illustrates a schematic representing an exemplary embodiment of the invention.
  • a loader boom actuator 50 having a loader boom hydraulic cylinder 33 extending between the vehicle frame 12 and the loader boom 31, controllably moves the loader boom 31 about the loader boom pivot 12a.
  • the loader boom hydraulic cylinder 33 is pivotally attached to the frame 12 at a first loader boom hydraulic cylinder pivot 33a and pivotally attached to the loader boom 31 at a second loader boom hydraulic cylinder pivot 33b.
  • the loader boom actuator 50 comprises a boom electro-hydraulic circuit 51 hydraulically coupled to the loader boom hydraulic cylinder 33.
  • a controller 100 supplies and controls the flow of hydraulic fluid to and from the loader boom hydraulic cylinder 33 via the loader boom electro-hydraulic circuit 51.
  • the controller 100 may take many forms from a hard wired or mechanical device to a programmable computer. In this embodiment of the invention, the controller 100 comprises a programmable on-board electronic computer.
  • a loader bucket actuator 60 having a loader bucket hydraulic cylinder 32 extending between the loader boom 31 and the loader bucket 36, controllably moves the loader bucket 36 about the loader bucket pivot 36a.
  • the loader bucket actuator 60 comprises a bucket electro-hydraulic circuit 61 hydraulically coupled to the loader bucket hydraulic cylinder 32.
  • the controller 100 controls the bucket electro-hydraulic circuit 61 which supplies and controls the flow of hydraulic fluid to the loader bucket hydraulic cylinder 32.
  • the boom electro-hydraulic circuit 51 and the bucket hydraulic circuit 61 are conventionally configured and may have significant commonality; they may, in fact, be the same circuit.
  • the operator commands movement of the loader assembly 30 by manipulating a loader bucket command input device such as, for example a joystick 21 and a loader boom command input device such as, for example the joystick 21.
  • the joystick 21 is adapted to generate a loader bucket command signal 28 in proportion to a degree of manipulation by the operator and proportional to a flow rate of fluid to the bucket hydraulic cylinder 32 which is indirectly proportional to an angular speed of a desired loader bucket movement.
  • the controller 100 in communication with the loader bucket command input device 21 and loader bucket actuator 60, receives the loader bucket command signal 28 and responds by generating a controller bucket command signal 102 proportional to the bucket command signal 28, which is received by the loader bucket electro-hydraulic circuit 61.
  • the loader bucket electro-hydraulic circuit 61 responds to the controller bucket command signal 102 by directing hydraulic fluid to and from the loader bucket hydraulic cylinder 32, causing the hydraulic cylinder 32 to extend and retract and curl and dump the loader bucket 36 accordingly.
  • the joystick 21 is adapted to generate a loader boom command signal 29 in proportion to a degree of manipulation in a first direction of the joystick 21 by the operator, the boom command signal 29 being proportional to a flow rate of fluid to the hydraulic boom cylinder 33 and indirectly proportional to a speed of a desired loader boom movement.
  • the controller 100 in communication with the joystick 21 and loader boom cylinder 33, receives the loader boom command signal 29 and responds by generating a controller boom command signal 103 proportional to the loader boom command signal 29, which is received by the boom electro-hydraulic circuit 51.
  • the boom electro-hydraulic circuit 51 responds to the controller boom command signal 103 by directing hydraulic fluid to and from the loader boom hydraulic cylinder 33 at a rate proportional to the controller boom command signal 103, causing the hydraulic cylinder 33 to move the loader boom 31 about the pivot 12a accordingly.
  • the exemplary control system of the invention is adapted to automatically maintain an initial or a set loader bucket orientation or tilt angle with respect to a datum, such as, for example, the vehicle frame 12, as an angle of the boom 31 changes.
  • This embodiment of the invention makes use of at least a loader boom angle sensor 54 proximal to the first boom pivot 12a and a boom link angle sensor 55 proximal to the first boom link pivot 41a, both angle sensors 54, 55 being in communication with the controller 100.
  • the loader boom angle sensor 54 is adapted to sense an angle of the boom relative to the frame 12, i.e., a boom to frame angle BmA and to generate a corresponding loader boom angle signal 54a.
  • the bucket link angle sensor 55 is adapted to sense an angle of the bucket link 42 relative to the loader boom 31 and to generate a corresponding bucket link angle signal 55a.
  • the controller 100 is adapted to receive the loader boom command signal 29, the loader boom angle signal 54a, the bucket command signal 28, and the bucket link angle signal 55a and to generate a controller bucket command signal 102 in response, causing the loader bucket actuator 60 to move the loader bucket 36 to maintain a desired loader bucket angle with respect to the frame 12 and, consequently, with respect to the boom 31.
  • the controller 100 is adapted to allow a manual override of engaged parallel lift when the operator commands movement of the loader bucket 36, via a manipulation of the joystick 21 in a second direction, i.e., upon the controller 100 receiving the loader bucket command signal 28 while the parallel lift function is engaged, and establishing a new initial loader bucket orientation at the sensed orientation of the loader bucket 36 after the loader bucket command signal 28 terminates.
  • the present invention also utilizes a parallel lift command switch 110 in communication with the controller 100.
  • the parallel lift command switch 110 is adapted to generate a parallel lift enable signal 111 corresponding to a first manipulation of the parallel lift command switch 110 by the operator to enable operation of the parallel lift function for the loader bucket 36 and to generate a parallel lift disable signal 112 corresponding to a second manipulation of the parallel lift command switch 110.
  • the controller 100 is adapted to ignore the loader bucket angle signal 56 until the controller 100 receives the parallel lift enable signal 111 from the parallel lift command switch 110.
  • the parallel lift enable signal 111 places the controller 100 in a first mode where parallel lift is enabled or activated.
  • the parallel lift disable signal 112 places the controller 100 in a second mode where parallel lift is disabled or deactivated.
  • the controller 100 is also adapted to generate controller bucket command signals 102 and controller boom command signals 103 to manipulate the bucket 36 and the boom 31 in response to return to carry commands, returned to dig commands, and anti-spill commands which will be explained in some of the remaining portions of this document.
  • the controller 100 upon receiving a parallel lift enable signal 111 , the controller 100 enters the second mode and uses a loader boom angle signal 54a and a bucket link angle signal 55a to determine an initial angle of the bucket 36 with respect to the frame 12, i.e., the bucket to frame angle.
  • the controller calculates the BtA by using the bucket link angle signal 55a to determine the angle of a back of the bucket 36 and subtracting OA, an offset angle, from the result, the offset angle being a corrective angle introduced to take the shape of the bucket 36 into account when determining an angle of an open face of . the bucket 36.
  • the shape of the bucket 36 affords a difference between an angle of a face of the bucket 36 as represented by plane 36a and a back portion of the bucket pivotally connected to the boom 31 and the bucket link 42b as represented by plane 36b.
  • ⁇ is the angle of the face of the bucket, i.e., the angle of plane 36a, with respect to the datum plane 12d, ⁇ going to 0° as the angular orientation of plane 36a approaches that of the datum plane 12d.
  • the controller 100 uses the bucket link angle signal 55a to determine the angle of plane 36b with respect to the boom 31 , i.e., boom plane 31 d and the offset value is subtracted from that result to determine the angle of the BtA.
  • the controller 100 uses the boom angle signal 54a to determine the BmA. Once the controller 100 determines the BmA and BtA the controller 100 can determine ⁇ by adding BmA and Bta.
  • controller bucket command signals 102 i.e., bucket commands
  • the predictive control procedures allow for quicker response times for the loader bucket 36.
  • the corrective control procedures increase the accuracy of the response in approximating parallel lift.
  • the controller 100 calculates the BtA adjustments using only the loader boom command signal 29, the loader boom angle signal 54a and the geometries of the linkage 30, the bucket 36 and the boom 31. This allows for quick bucket adjustments, via bucket command signals 28, when the boom rises or lowers as the calculations merely depend upon geometry and the predicted rate of change in the BmA using the controller boom command signals 103 to predict the rate of change of the BmA, the flow rate to the loader boom hydraulic cylinder being proportional to the controller boom command signals 103.
  • the controller 100 could, in other embodiments, also predict the rate of change in the BmA by determining the measured rate of change using the loader boom angle signals 54a overtime.
  • the predictive procedure is an open loop procedure that could possibly introduce cumulative error as the calculations do not take actual BtA, i.e., feedback, into consideration.
  • the corrective procedure is a closed loop procedure in which possible error is reduced when the controller 100 uses the bucket link signal 55a to calculate an actual angle of the bucket 36 and act upon a difference between a predicted BtA and the actual BtA when the difference is equal to or greater than a threshold value such as, for example, 0° or 30°.
  • the correction is made by adjusting the controller bucket command signal 102, taking the controller boom command signal 103, the boom angle signal 54a and the bucket link angle signal 55a into account, in an effort to reduce the difference to zero.
  • the controller 100 reduces the controller boom command signals 103 to zero until BtA changes such that ⁇ is correctly adjusted.
  • the controller reduces the controller bucket command 102 to zero until, taking BmA command into account, the BmA changes such that the BtA is correctly adjusted.
  • Other embodiments could allow the controller 100 to correct the BtA in the opposite
  • the parallel lift function continues to adjust the angle of the loader bucket 36 in a manner approximating parallel lift.
  • the BtA is further adjusted in the direction of and in proportion to the manual command using the BtA due to parallel lift as a new zero point for BtA change rate.
  • the maximum rate of change for BtA is the same as the maximum rate of change for BtA with parallel lift disabled.
  • the absolute value of 2000 represents a maximum command rate for the bucket and the absolute value of 1000 represents the parallel lift command rate.
  • the controller 100 sets the values of 1000 and -1000 for parallel lift curl and parallel lift dump, respectively.
  • the controller 100 will, for this function, generate controller bucket command signals 102 proportional to the degree of manipulation of the joystick 21 between the absolute values of 1000 and the absolute values of 2000, using the absolute value of 1000 as the zero point, i.e., the target for controller bucket command signal 102 with no manipulation of the bucket command input device 21 and the absolute value of 2000 as the maximum, i.e., the target for the controller bucket command signal 102 with the maximum degree of manipulation of the joystick 21.
  • the absolute value of 1000 is referenced here merely for illustrative purposes. In reality the value used as a point of reference is dynamic, and changes as the boom command signal 29 changes or as the actual rate of change in the BmA changes.
  • This arrangement allows for greater control of the bucket 36 as the change in rate of the BtA with respect to the parallel lift function is proportional to the degree of manipulation of the bucket command input device 21.
  • RETURN TO CARRY RETURN TO DIG AND BOOM HEIGHT KICKOUT
  • RTC return to carry
  • RTD return to dig
  • BHK boom height kickout
  • RTC is a function that enables an operator to command the vehicle 10 to automatically locate the boom 31 at a first predetermined BmA such as, for example, ⁇ 1 in Figure 7.
  • the first predetermined BmA is set when the operator commands the boom 31 to move to ⁇ 1 and, by means of a button 58, records ⁇ 1 in the system, i.e., the controller 100, as a predetermined BmA for RTC.
  • the operator pushes the electronic joystick 21 to a first detent position 21a, illustrated in Figure 8, in which a detent is felt which is, generally, at the end of travel for the joystick 21.
  • the joystick 21 then generates a first detent command signal 28a.
  • the controller 100 receives the first detent command signal 28a then, if the BmA is greater than ⁇ 1 , the controller 100 generates controller boom command signals 102 to move the boom 31 in the direction of ⁇ 1. If the joystick 21 is released to return to the neutral position 21a, to which it is biased, prior to the boom achieving and angle of ⁇ 1 the controller 100 will continue to generate controller boom command signals 102 to move the boom 31 toward ⁇ 1 until the boom 31 achieves the angle ⁇ 1. When the boom angle signal 54a indicates that the boom has achieved ⁇ 1, the controller 100 stops generating the controller boom command signals 102 resulting from the first detent signal 28.
  • FIG. 9 illustrates the initiation and operation of RTC in a more detailed and visual manner.
  • the RTC function can begin only when the operator pushes the electronic joystick 21 to the first detent position 21a at step 200, at which point it generates the first detent command signal 29a.
  • the controller 100 compares BmA to ⁇ 1 at step 210 and initiates RTC at step 220 if BmA is greater than ⁇ 1.
  • the controller 100 then initiates a return to carry command mode and generates controller boom command signals 103 at step 220 to move the boom 31 in the direction of ⁇ 1.
  • the controller 100 checks to see whether the joystick 21 has returned to and moved out of the neutral position 21c in the direction of 21a or 21b at step 230.
  • the controller 100 resumes manualcontrol. If the answer is yes, the controller 100 then checks to see if the relationship ⁇ 1 ⁇ BmA ⁇ ⁇ 1 + 10° is true at step 240. In this embodiment the 10° in the relationship is a cushion start angle. The cushion start angle could be set at any value. If the equation is not true then the controller boom command signals 103 are sent to the boom electrohydraulic circuit 51 at step 245. If the equation is true, then, at step 250, the controller boom command signals 103 are lowered as a function of X, where X is the distance of the boom 31 from the target at ⁇ 1.
  • the boom command equals X0.75 + Offset, where Offset represents a minimum command at the end of any automatic function of the loader portion 30.
  • the controller 100 then checks to see if the equation, BmA « ⁇ 1 , is true at step 260. If the equation is not true, then the controller 100 sends the lowered command signal to the boom electrohydraulic circuit 51 at step 255. If the equation is true, the controller 100 resumes the manual command mode at step 270.
  • Boom height kickout is a function that enables an operator to command the vehicle 10 to automatically locate the boom 31 at a second predetermined BmA such as, for example, ⁇ 2 in Figure 6.
  • the second predetermined BmA is set when the operator commands the boom 31 to move to ⁇ 2 and, by means of a button 58, records ⁇ 2 in the system, i.e., the controller, as a predetermined BmA for boom height kickout.
  • the operator pulls the electronic joystick 21 , illustrated in Figure 8, to a second detent position 21b in which a detent is felt which is, generally, at the end of travel for the joystick 21.
  • the joystick 21 then generates a second detent command signal 28b.
  • the controller 100 receives the second detent command signal 28b then, if the BmA is less than ⁇ 2, the controller 100 generates controller boom command signals 10 to move the boom 31 in the direction of ⁇ 2. If the joystick 21 is released to return to the neutral position 21c, to which it is biased, prior to the boom achieving and angle of ⁇ 2 the controller 100 will continue to generate controller boom command signals 102 to move the boom 31 toward ⁇ 2 until the boom 31 achieves the angle ⁇ 1. When the boom angle signal 54a indicates that the boom has achieved ⁇ 1 , the controller 100 stops generating the controller boom command signals 102 resulting from the second detent command signal 28b.
  • Figure 10 illustrates the initiation and operation of the boom height kickout function in a more detailed and visual manner.
  • the boom height kickout function can begin only when the operator pulls the electronic joystick 21 to the second detent position 21b at step 300, at which point it generates the second detent command signal 28b.
  • the controller 100 compares BmA to ⁇ 2 at step 310 and initiates boom height kickout at step 320 if BmA is less than ⁇ 1.
  • the controller 100 then initiates a boom height kickout command mode and in which it generates controller boom command signals 102 at step 320 to move the boom 31 in the direction of ⁇ 2.
  • the controller 100 then checks too see if the joystick 21 has returned to neutral 21c and moved out of neutral in the direction of 21a or 21b at step 330. If the answer is yes, the controller 100 resumes the manual command mode at step 335. If the answer is no, the controller 100 then checks to see if the relationship ⁇ 2 > BmA ⁇ ⁇ 2 - 10° is true at step 340. If the relationship is not true then the controller boom command signals 103 are sent to the boom electrohydraulic circuit 51 at step 335 and the process starts again at step 330. If the equation is true, then, at step 350, the controller boom command signals 103 are lowered as a function of X, where X is the distance of the boom 31 from the target at ⁇ 1 at step 350.
  • the boom command equals X 0 ' 75 - Offset, where Offset represents a minimum command at the end of any automatic function of the loader portion 30.
  • the 10° in the above relationship is a cushion start angle.
  • the cushion start angle could be set at any value.
  • the controller 100 executes a float function where the cylinders 32, 33 are free to extend and retract under the influence of gravity allowing the boom to fall to the lowest point allowed by the ground and for the boom and bucket to follow the contours of the ground as the vehicle moves over the ground.
  • the controller 100 may execute the float function by conventional means.
  • Return to dig is a function that enables an operator to command the vehicle 10 to automatically locate the bucket 36 at a return to dig Bta, ⁇ 1, and a return to dig angle an d suitable for digging.
  • ⁇ 1 and ⁇ rtc ⁇ are set when the operator commands the bucket 36 to move to ⁇ 1 and, by means of a button 58, records ⁇ 1 in the system, i.e., the controller 100, as a predetermined return to dig BtA and a predetermined bucket to frame angle ⁇ rtd for return to dig.
  • Return to dig is, generally, used to place the bucket 36 in and angular position favored for digging or scooping up material.
  • the controller 100 executes return to dig it suspends parallel lift if it is active.
  • parallel lift is resumed if the controller 100 detects that it is still active and maintains cirtd- In this manner , the controller 100 will maintain the bucket orientation at and until the parallel lift function is completed.
  • the operator moves the electronic joystick 21 , illustrated in Figure 8, to a third detent position 21 d in which a detent is felt which is, generally, at the end of travel for the joystick 21.
  • the joystick 21 then generates a third detent command signal 28c.
  • the controller 100 receives the third detent command signal 28c then, if the BtA is greater than ⁇ 1 , the controller 100 generates controller bucket command signals 103 to move the bucket 36 in the direction of ⁇ 1 via dumping. If BtA is less than ⁇ 1, the controller generates controller bucket command signals to move the bucket 36 in the direction of ⁇ 1 via curling.
  • the controller 100 will continue to generate controller bucket command signals 103 to move the bucket 36 toward ⁇ 1 until the bucket 36 achieves the angle ⁇ 1.
  • the controller 100 stops generating the controller bucket command signals 103 resulting from the third detent command signal 28c.
  • Figure 11 illustrates the initiation and operation of the return to carry function in a more detailed and visual manner.
  • the return to dig function can begin only when the operator moves the electronic joystick 21 to the third detent position 21 d at step 400, at which point it generates the third detent command signal 28c.
  • the controller 100 compares BtA to ⁇ 1 at step 410 and initiates returned to carry at step 420 if BtA is not equal to ⁇ 1.
  • the controller 100 then enters a return to dig mode and generates controller bucket command signals 103 at step 420 to drive the bucket 36 to ⁇ 1.
  • the controller 100 checks too see if the joystick 21 has returned to neutral 21c and moved out of neutral in the direction of 21 d or 21 e at step 430.
  • the controller 100 resumes the manual command mode at step 435. If the answer is no, the controller 100 then checks to see if the bucket 36 is dumping at step 440. If the bucket 36 is dumping at step 440, i.e., the BtA is increasing, the controller 100 determines if a first equation BtA ⁇ ⁇ 1 + 10° is true at step 440. If the first equation is not true then the controller bucket command signals 103 are sent to the bucket electrohydraulic circuit 61 at step 455 and the process starts over at step 430.
  • the controller boom command signals 103 are lowered as a function of X, where X is the distance of the boom 31 from the target at ⁇ 1 at step 350.
  • the boom command equals X 075 + Offset, where Offset represents a minimum command at the end of any automatic function of the loader portion 30.
  • the controller 100 then checks to see a second equation, BtA ⁇ ⁇ 1, is true at step 470. If the second equation is not true, then the controller 100 sends the lowered command signal to the bucket electrohydraulic circuit 61 at step 455 and starts the process over at step 430. If the second equation is true, the controller 100 resumes the manual command mode at step 480.
  • step 440 the controller 100 determines whether the bucket 36 is curling, i.e., BtA is decreasing, the controller determines whether a third equation BtA ⁇ ⁇ 1 - 10° is true at step 445. If the third equation is not true then the controller bucket command signals 103 are sent to the bucket electrohydraulic circuit 61 at step 455 and the process is restarted at step 430. If the third equation is true, then, the process is moved to step 460 and proceeds as described above.
  • the 10° values in the above relationships are cushion start angles.
  • the cushion start angles could be set at any values.
  • the controller 100 may reduce the controller boom command signals 103 to allow a completion of return to dig prior to a completion of return to carry to prevent the bucket 36 from contacting the ground at a wrong angle.
  • Anti-spill is an automatic bucket control feature that restricts the bucket 36 from being curled past a predetermined bucket to frame position ⁇ a ta once a predetermined boom to frame position BmA ata is realized or exceeded.
  • the purpose of this feature is to prevent the spilling of material in the bucket 36 onto the hood 21 or the cab 20 of the vehicle 10.
  • the controller 100 When anti-spill is activated the controller 100 will override any function, including, inter alia, parallel lift and return to dig when that function demands a bucket to frame position ⁇ curled past the predetermined bucket to frame position ⁇ a t a and adjusts the bucket 36 in the dumping direction when the boom is raised beyond BmA ata , i.e., within the anti-spill zone.
  • the controller 100 generates controller bucket command signals 103 to drive the bucket 36 to the anti-spill target angle ⁇ a ta-, i.e., to adjust the bucket 36 to a position such that ⁇ « ⁇ ata -
  • the controller 100 suspends this process only when: (1) the boom 31 is no longer moving; (2) the boom 31 is adjusted downwardly while still in the anti-spill zone; (3) the boom 31 is outside of the anti-spill zone; or (4) the operator manipulates the joystick 21 to generate a bucket command signal 29 to dump.
  • anti-spill target setting may be accomplished by any appropriate and well- known conventional means such as, for example, separate button switches or multifunction button switches. Regardless of how the predetermined angles BmA a t a and data are set, anti-spill is a feature that is activated when the vehicle 10 is powered up.
  • Figure 12 illustrates the operation of the anti-spill function in a more detailed and visual manner.
  • the anti-spill function begins when the vehicle 10 is powered up at step 500, at which point the controller 100, at step 510, sets BmAat ⁇ and ⁇ a t a as minimum target angles whether these predetermined angles are factory settings or custom settings by the operator.
  • the controller 100 determines if a first anti-spill relationship BmA ⁇ BmA ata is true at step 520. If the first anti-spill equation is not true, no overriding anti-spill bucket commands are generated and the controller 100 makes another determination on the first anti-spill equation, at step 520, at the next sample time which is determined by a predetermined sample rate.
  • the controller 100 determines whether a second anti-spill relationship, ⁇ ⁇ ⁇ ata is true at step 530. If the second anti-spill relationship is not true, no overriding anti-spill bucket commands are generated and the controller 100 begins the process again by determining whether the first anti-spill equation is true at step 520. Once the controller 100 determines that the first and second anti-spill equations are true at steps 520 and 530, the controller determines whether the controller 100 boom command signal 102 is commanding a decrease in BmA, i.e., determines whether BmA is decreasing.
  • step 520 determines whether the first anti-spill relationship is true at the next sample time.
  • the controller 100 determines that the first and second anti-spill relationships are true at steps 520 and 530 and that BmA is decreasing at step 540, i.e., the boom 31 is rising, the controller 100, at step 550, generates controller bucket command signals 102 to drive the bucket 36 to ⁇ a ta and repeats the entire process again starting at step 520 at the next sample time.
  • the illustration in Figure 12 demonstrates that the controller 100 will override any bucket commands once the conditions for the anti-spill function are met.
  • the controller 100 will generate controller bucket command signals 102 to drive the bucket 36 to ⁇ a t a -
  • the controller 100 will override parallel lift and generate controller bucket command signals 102 to drive the bucket 36 to ⁇ a ta-
  • the controller 100 will override parallel lift and generate controller bucket command signals 102 to drive the bucket 36 to ⁇ a ta-
  • the controller 100 will override parallel lift and generate controller bucket command signals 102 to drive the bucket 36 to ⁇ a ta .
  • BmA ata may be set only when the BmA is between -6° and +20° and ⁇ a ta maybe set only when the bucket angle ⁇ miss between +6° and +17°.
  • Successful or unsuccessful target setting is indicated by an audible signal and/or a message via the monitor 120 illustrated in Figures 13 and 14.
  • Unsuccessful target setting may be indicated on a display in words such as, for example, "Out of Range" on the monitor screen 118. If no custom targets are set by the operator, the anti-spill function uses a the factory set targets.
  • FIG. 15 illustrates a schematic representing an alternate exemplary embodiment of the invention.
  • a loader boom actuator 50 having a loader boom hydraulic cylinder 633 extending between the vehicle frame 12 and the loader boom 31 , controllably moves the loader boom 31 about the loader boom pivot 12a.
  • the loader boom hydraulic cylinder 33 is pivotally attached to the frame 12 at a first loader boom hydraulic cylinder pivot 33a and pivotally attached to the loader boom 31 at a second loader boom hydraulic cylinder pivot.
  • a loader bucket actuator 660 having a loader bucket hydraulic cylinder 32 extending between the loader boom 631 and the loader bucket 36, controllably moves the loader bucket 36 about the loader bucket pivot 36a.
  • the loader bucket actuator 660 comprises a bucket electro-hydraulic circuit 661 hydraulically coupled to the loader bucket hydraulic cylinder 632.
  • the controller 670 controls the bucket electro-hydraulic circuit 661 which supplies and controls the flow of hydraulic fluid to the loader bucket hydraulic cylinder 632.
  • the bucket hydraulic circuit 61 are conventionally configured.
  • the operator commands movement of the loader assembly 30 by manipulating a loader bucket command input device such as, for example a joystick 621 and a loader boom command input device such as, for example the joystick 21.
  • the joystick 21 is adapted to generate a loader bucket command signal 628 in proportion to a degree of manipulation by the operator and proportional to a flow rate of fluid to the bucket hydraulic cylinder 632 which is indirectly proportional to an angular speed of a desired loader bucket movement.
  • the controller 670 in communication with the loader bucket command input device 621 and loader bucket actuator 660, receives the loader bucket command signal 628 and responds by generating a controller bucket command signal 672 proportional to the bucket command signal 628, which is received by the loader bucket electro-hydraulic circuit 661.
  • the loader bucket electro-hydraulic circuit 661 responds to the controller bucket command signal 672 by directing hydraulic fluid to and from the loader bucket hydraulic cylinder 632, causing the hydraulic cylinder 632 to extend and retract and curl and dump the loader bucket 636 accordingly.
  • the joystick 621 is adapted to generate a loader boom command signal 629 in proportion to a degree of manipulation in a first direction of the joystick 621 by the operator, the boom command signal 629 being proportional to a flow rate of fluid to the hydraulic boom cylinder 633 and indirectly proportional to a speed of a desired loader boom movement.
  • the controller 670 in communication with the joystick 621 and loader boom cylinder 633, receives the loader boom command signal 629 and responds by generating a controller boom command signal 673 proportional to the loader boom command signal 629, which is then used conventionally by a hydraulic circuit to adjust the length of the hydraulic boom cylinder 631.
  • the controller 670 uses angular signals from a tilt sensor C to determine the angle of the bucket with respect to the ground ag r o un d- to execute the parallel lift function.
  • a tilt sensor C uses angular signals from a tilt sensor C to determine the angle of the bucket with respect to the ground ag r o un d- to execute the parallel lift function.
  • One such modification would be the addition of a tilt sensor to the frame 12 of the vehicle 10. This would allow all angular signals to reference the earth as well as the frame 12.

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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)

Abstract

Cette invention concerne une chargeuse-pelleteuse (10) équipée d'un dispositif de commande (100) utilisant des signaux angulaires provenant d'au moins un capteur pour calculer un angle d'un outil chargeur par rapport au châssis (12) du véhicule ou par rapport à la terre et pour conserver l'angle de l'outil chargeur par l'intermédiaire de commandes générées par le dispositif de commande destinées à un vérin (61) d'outil en fonction des signaux angulaires et des commandes destinées à un vérin (50) de flèche. Le dispositif de commande (100) permet une commande proportionnelle de l'angle de l'outil par l'intermédiaire d'un dispositif d'entrée de commande, tel qu'une manette électronique (21). Si la manette électronique (21) est déplacée en position d'arrêt appropriée, le dispositif de commande exécute une fonction retour en position transport. Si la flèche (31) est déplacé en position d'arrêt, le dispositif de commande (100) exécute une fonction de déport permettant au godet (36) et à la flèche (31) de reposer sur le sol et de suivre les contours de la terre au fur et à mesure que le véhicule se déplace sur la terre.
PCT/US2007/014604 2007-06-15 2007-06-22 Levage et retour parallèles électroniques pour transport ou déport latéral sur une chargeuse-pelleuteuse Ceased WO2008153532A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CA002689325A CA2689325A1 (fr) 2007-06-15 2007-06-22 Levage et retour paralleles electroniques pour transport ou deport lateral sur une chargeuse-pelleuteuse
US12/664,673 US8500387B2 (en) 2007-06-15 2007-06-22 Electronic parallel lift and return to carry or float on a backhoe loader

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
USPCT/US07/14071 2007-06-15
USPCT/US07/14196 2007-06-15
PCT/US2007/014196 WO2008153529A1 (fr) 2007-06-15 2007-06-15 Commande de fonction hydraulique à remplacement du mode commande automatique
PCT/US2007/014071 WO2008156442A1 (fr) 2007-06-15 2007-06-15 Désactivation du mode de commande automatique d'une fonction hydraulique

Publications (1)

Publication Number Publication Date
WO2008153532A1 true WO2008153532A1 (fr) 2008-12-18

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Family Applications (3)

Application Number Title Priority Date Filing Date
PCT/US2007/014604 Ceased WO2008153532A1 (fr) 2007-06-15 2007-06-22 Levage et retour parallèles électroniques pour transport ou déport latéral sur une chargeuse-pelleuteuse
PCT/US2007/014606 Ceased WO2008153534A1 (fr) 2007-06-15 2007-06-22 Levage et retour parallèles électroniques pour excavation équipant une chargeuse-pelleteuse
PCT/US2007/014605 Ceased WO2008153533A1 (fr) 2007-06-15 2007-06-22 Anti-renversement et levage parallèles électronique sur une chargeuse-pelleteuse

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Application Number Title Priority Date Filing Date
PCT/US2007/014606 Ceased WO2008153534A1 (fr) 2007-06-15 2007-06-22 Levage et retour parallèles électroniques pour excavation équipant une chargeuse-pelleteuse
PCT/US2007/014605 Ceased WO2008153533A1 (fr) 2007-06-15 2007-06-22 Anti-renversement et levage parallèles électronique sur une chargeuse-pelleteuse

Country Status (2)

Country Link
CA (1) CA2689325A1 (fr)
WO (3) WO2008153532A1 (fr)

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GB2527598A (en) * 2014-06-27 2015-12-30 Bamford Excavators Ltd A material handling machine
EP3144429A4 (fr) * 2014-05-14 2018-01-24 KCM Corporation Engin de chantier
US10982410B2 (en) 2016-09-08 2021-04-20 Joy Global Surface Mining Inc System and method for semi-autonomous control of an industrial machine

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JP7504815B2 (ja) * 2021-01-27 2024-06-24 株式会社クボタ 旋回作業機

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Cited By (12)

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Publication number Priority date Publication date Assignee Title
KR20110062193A (ko) * 2009-12-03 2011-06-10 두산인프라코어 주식회사 휠로더 버켓의 풀 크라우드 디텐트 장치
WO2011068377A3 (fr) * 2009-12-03 2011-11-17 두산인프라코어 주식회사 Dispositif de cavage complet pour un godet chargeur sur roues
CN102639790A (zh) * 2009-12-03 2012-08-15 斗山英维高株式会社 轮式装载机铲斗的完全收回锁定装置
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CN102639790B (zh) * 2009-12-03 2015-03-25 斗山英维高株式会社 轮式装载机铲斗的完全收回锁定装置
KR101601978B1 (ko) * 2009-12-03 2016-03-09 두산인프라코어 주식회사 휠로더 버켓의 풀 크라우드 디텐트 장치
EP2508681A4 (fr) * 2009-12-03 2017-02-15 Doosan Infracore Co., Ltd. Dispositif de cavage complet pour un godet chargeur sur roues
EP3144429A4 (fr) * 2014-05-14 2018-01-24 KCM Corporation Engin de chantier
US10358794B2 (en) 2014-05-14 2019-07-23 Kcm Corporation Work vehicle
GB2527598A (en) * 2014-06-27 2015-12-30 Bamford Excavators Ltd A material handling machine
GB2527598B (en) * 2014-06-27 2018-07-04 Bamford Excavators Ltd An implement inclination control system for a material handling machine
US10982410B2 (en) 2016-09-08 2021-04-20 Joy Global Surface Mining Inc System and method for semi-autonomous control of an industrial machine

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CA2689325A1 (fr) 2008-12-18
WO2008153534A1 (fr) 2008-12-18
WO2008153533A1 (fr) 2008-12-18

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