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WO2009008784A1 - Procédé et dispositif pour benner un matériau à partir d'un corps de benne basculante inclinable d'un véhicule - Google Patents

Procédé et dispositif pour benner un matériau à partir d'un corps de benne basculante inclinable d'un véhicule Download PDF

Info

Publication number
WO2009008784A1
WO2009008784A1 PCT/SE2007/001163 SE2007001163W WO2009008784A1 WO 2009008784 A1 WO2009008784 A1 WO 2009008784A1 SE 2007001163 W SE2007001163 W SE 2007001163W WO 2009008784 A1 WO2009008784 A1 WO 2009008784A1
Authority
WO
WIPO (PCT)
Prior art keywords
dump body
vibrations
dumping
monitoring
hydraulic cylinder
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/SE2007/001163
Other languages
English (en)
Inventor
Roland Kvist
Jörgen AHLBERG
Håkan JOHANSSON
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.)
Volvo Construction Equipment AB
Original Assignee
Volvo Construction Equipment AB
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
Application filed by Volvo Construction Equipment AB filed Critical Volvo Construction Equipment AB
Publication of WO2009008784A1 publication Critical patent/WO2009008784A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
    • B60P1/58—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using vibratory effect

Definitions

  • the present invention relates to a method for dumping material from a tiltable dump body of a vehicle having at least one expansible hydraulic cylinder for raising the dump body toward a dumping angle.
  • the invention also relates to a device for dumping said material .
  • the invention relates to different types of vehicles having a tiltable dump body, such as a dump truck or an articulated hauler.
  • An articulated hauler is defined by a pivot joint arranged to allow a front frame and a rear frame to pivot in relation to each other around an imaginary longitudinal axis, that is an axis that runs in the longitudinal direction of the vehicle. Travelling on uneven ground is substantially improved by virtue of such a joint.
  • the term dump truck refers to a rigid hauler, ie a vehicle without such a longitudinal joint. The invention will below be described with regard to an articulated hauler. This should however only be regarded as a non-limiting example.
  • a work machine of the type of an articulated hauler In connection with transportation of heavy loads, e.g. in contracting work, a work machine of the type of an articulated hauler is frequently used. Such vehicles may be operated with large and heavy loads in areas where there are no roads, for example for transports in connection with road or tunnel building, sand pits, mines and similar environments .
  • An articulated hauler comprises a hydraulic system for moving the tiltable dump body between a lowered position and a raised position.
  • the dump body is connected to the vehicle frame via a hinge at the rear of the vehicle and two hydraulic cylinders are arranged between the frame and the dump body for tilting the dump body.
  • an operator of the vehicle controls the tilting procedure by operating a control element, such as a tilt lever.
  • a control element such as a tilt lever.
  • the dump body is raised to its extreme limit (fully raised position) and then returned to its home position (fully lowered position) .
  • a first purpose of the invention is to achieve a method which creates conditions for increasing productivity by removing stuck material from a dump body in an efficient way.
  • the method comprises the step of vibrating the dump body at a frequency in the interval 20-40 Hz.
  • the method comprises the step of vibrating the dump body with at least two different frequencies.
  • the frequency is varied during a single vibration procedure.
  • the frequency at which a specific load is released from the dump body may differ depending on the shape, texture and moisture of the material, the weight distribution and the condition of the floor of the dump body etc. By varying the frequency during a single vibration procedure, the material is more likely to be released independently of its shape, texture and moisture etc.
  • the method comprises the step of monitoring a load receiving part of the dump body during at least one vibration procedure and determining a desirable frequency for future vibration procedures on the basis of the result of the at least one previous vibration procedure.
  • the term "result" refers to the quantity of remaining material in the dump body.
  • the dump body is vibrated with at least two different frequencies during a single vibration procedure.
  • the dump body is vibrated with different frequencies during two different, for example consecutive, vibration procedures.
  • a single desirable vibration frequency, or frequency interval is selected from the previous vibration procedure (s) or calculated on the basis of the previous vibration procedure (s) for use in the future vibration procedures .
  • the load monitoring may be performed in different ways, for example via radar or optical detection.
  • an acceleration of the dump body is detected.
  • a change in the acceleration of the dump body may indicate a certain load state, preferably a substantially empty state.
  • the acceleration may .be detected via a dump body angle detecting sensor, a hydraulic cylinder extension detecting sensor or an accelerometer .
  • an amplitude of the movements of the dump body during the vibration is detected.
  • a change in the amplitude may indicate a certain load state, preferably a substantially empty state.
  • a sound of the dump body during the vibration is detected.
  • a change in the sound may indicate a certain load state, preferably a substantially empty state.
  • the method comprises the step of monitoring a load receiving part of the dump body, determining whether the dump body is empty on the basis of the monitoring and initiating said operation of said hydraulic cylinder in such a way that vibrations are produced in said dump body only if there is still material in the dump body.
  • the method comprises the step of monitoring a load receiving part of the dump body during said vibrating operation of said dump body, determining whether the dump body is empty on the basis of the monitoring and stopping said vibrating operation when the dump body is empty.
  • a second purpose of the invention is to achieve a device which creates conditions for increasing productivity by removing stuck material from a dump body in an efficient way.
  • the operation means comprises a first hydraulic valve means adapted to be moved back and forth between two separate positions.
  • the operation means comprises a controller adapted to control the first hydraulic valve means .
  • the device comprises monitoring means adapted to monitor a load receiving part of the dump body, that the monitoring means is adapted to generate a signal with information regarding the status of the dump body.
  • status refers to the dump body load status, ie the quantity of material in the dump body.
  • FIG 1 shows an articulated hauler 1 with a raised dump body 2 in a perspective view
  • FIG 2 shows the dump body in its two extreme positions in a side view
  • FIG 3 shows a hydraulic system according to a first embodiment
  • FIG 4 shows a , control system for operating the dump body
  • FIG 5 shows a hydraulic system according to a second embodiment .
  • FIG. 1 shows a dump vehicle in the form of an articulated hauler 1 with a raised dump body 2 in a perspective view.
  • the articulated hauler 1 comprises a front vehicle section 3 comprising a front frame, a front axle and a cab for a driver.
  • the articulated hauler 1 also comprises a rear vehicle section 4 comprising a rear frame, two axles and the tiltable dump body, or container, 2.
  • the front frame is connected to the rear frame via a first pivot joint 5 that allows them to be pivoted relative to each other around a vertical axis for steering (turning) the vehicle.
  • a pair of hydraulic cylinders (not shown) is arranged one on each side of the pivot joint for steering the vehicle. The hydraulic cylinders are controlled by the vehicle' s driver via a steering wheel and/or a joystick (not shown) .
  • a second pivot joint 6 is arranged to allow the front frame and the rear frame to pivot in relation to each other around an imaginary longitudinal axis, that is an axis that runs in the longitudinal direction of the vehicle.
  • the tiltable dump body 2 is connected to the rear frame via a pivot joint 7, at a rear part of the rear frame.
  • a pair of hydraulically operated tilting cylinders 8,9 is connected at a first end to the rear frame and at a second end to the dump body 2.
  • the tilting cylinders 8,9 are positioned one on each side of the central axis of the vehicle in its longitudinal direction. The dump body 2 is thus tilted up in relation to the rear frame upon activation of the tilting cylinders 8,9.
  • the dump body 2 typically is in the form of a box with a closed bottom, side walls, a front wall and an open top. During dumping the contents slide out of the box onto the ground or into a waiting receptacle.
  • the dump body 5 is shown in two extreme positions in figure 2 : a fully lowered position and a fully raised position (see dotted lines) .
  • the fully raised position corresponds to a maximum tilting angle ⁇ .
  • a means 31 for monitoring an interior of the dump body 2 is arranged on the dump body. Said monitoring means 31 may be formed by a radar detection means. The dotted lines indicate electromagnetic waves radiated from the radar detection means 31. Some material 32 is stuck in the dump body 2.
  • FIG. 3 shows a hydraulic system 101 according to a first embodiment for operating the hydraulic cylinders 8,9.
  • the hydraulic system 101 comprises a pump 10 adapted to provide the hydraulic cylinders 8,9 via hydraulic lines 15,16,17 with pressurized hydraulic fluid from a container 11.
  • the tilting cylinders 8,9 are adapted to move in unison during a tilting motion.
  • a first valve means 12 in the form of a directional valve is arranged on the line 15 between the pump 10 and the hydraulic cylinders 8,9.
  • the directional valve 12 is adapted, in a first position, to direct fluid to the piston sides 18,19 of the cylinders via the line 16 and, in a second position, to direct fluid to the piston rod sides 20,21 via the line 17.
  • a corresponding flow will run from the piston rod sides 20,21 via the line 17 through the directional valve to the container 11, and vice versa.
  • hydraulic flow will be supplied to the piston sides 18,19 and the piston rod sides 20,21 in an alternating manner, wherein the dump body will vibrate.
  • the hydraulic system 101 further comprises a means 13 for storing energy.
  • the energy storage means is here an accumulator 13.
  • the accumulator 13 is arranged in the line 15 between the pump 10 and the directional valve
  • the accumulator 13 is adapted to store a volume of hydraulic fluid that can quickly be released and forwarded to the hydraulic cylinders 8,9. In this way, a stronger vibration function is achieved.
  • FIG. 4 shows a control system for operating the dump body 2 according to an example.
  • the control system comprises a controller 25 or ECU (Electronic Control Unit) .
  • the monitoring means 31 is adapted to generate a signal to the controller 25 with information regarding the status (presence of material) of the dump body 2.
  • the controller 25 is adapted to determine whether the dump body 2 should be vibrated or not on the basis of the status signal.
  • the controller 25 is further adapted to control the hydraulic system 101 in response to said determination. More specifically, the controller 25 controls operation of the valve means 12.
  • Figure 5 shows a hydraulic system 201, which is a further development of the hydraulic system in figure 3.
  • the hydraulic cylinders 8,9 are operated individually via one valve means 12,14 each.
  • the first directional valve 12 is arranged to operate a first hydraulic cylinder 8 via lines 16,17 and a second directional valve 14 is arranged to operate a second hydraulic cylinder 9 via lines 18,19.
  • the two cylinders 8,9 may be operated separately, wherein a small torsion of the dump body is achieved which can further enhance the release of stuck material.
  • each of the valve means 12,14 has three positions, wherein an intermediate position blocks any through-flow.
  • the valve means may comprise a four- position directional valve.
  • a directional valve comprises a fourth position, which connects both the piston side and the piston rod side to an atmospheric pressure, such as to the container, wherein a floating state is achieved.
  • a floating state is advantageous during transport in that the hydraulic system is relieved.
  • the hydraulic system comprises a first valve means for achieving the regular raising and lowering operations of the dump body 2 and a second valve means for achieving the vibrations in the dump body 2 for removing stuck material.
  • the first valve means may comprise the above described four-position directional valve.
  • the second valve means may be a two- position valve comprising only the two outermost positions of the three position directional valve described above. By virtue of such a two-position valve, the movements between the active positions may take place more rapidly, wherein the vibrating effect is enhanced.
  • the method comprises the steps of automatically operating said hydraulic cylinders 8,9 in such a way that vibrations are produced in said dump body 2 to facilitate the dumping of the material.
  • the vibrations automatically induce frequency pulsations of the dump body.
  • the hydraulic cylinders 8,9 are preferably operated in such a way as to achieve said vibrations upon receipt of a start signal.
  • a start signal is automatically generated when it is determined that the contents have not been entirely removed from the interior of the dump body at a certain dump angle, see further below.
  • such a start signal is generated upon receipt of a command signal from an operator controlled element .
  • the method comprises the step of elevating the dump body 2 to a raised position prior to vibrating the dump body.
  • the dump body 2 is raised to a position in the vicinity of an extreme raised position (see figure 2) prior to vibrating the dump body.
  • the method comprises the step of vibrating the dump body -2 during an elevating motion.
  • the dump body 2 is vibrated during a last part of an elevating motion.
  • the method comprises the step of achieving the vibrations by repeatedly changing supply of hydraulic fluid to the piston side 18,19 and the piston rod side 20,21 of the hydraulic cylinders 8,9.
  • the valve means 12,14 is operated back and forth between two separate positions in order to quickly change the supply of hydraulic fluid.
  • the dump body 2 is vibrated at a frequency in the interval 10-60 Hz and especially in the interval of 20-40 Hz.
  • the optimum vibration frequency differs for different machine types, models and sizes. Different designs have different natural frequencies. Some vibration frequencies may lead to an undesired vibration of the cab. Therefore, the frequency used for a particular machine is preferably tuned in.
  • the method comprises the step of determining whether there is any material left in the dump body during a tilting procedure in order to determine if the vibration should be initiated. Thus, it is first determined whether there is still material in the dump body 2.
  • the method comprises the step of monitoring the material during the elevating motion of the dump body 2.
  • the method comprises the step of detecting a load state of the dump body 2 during the elevating motion by means of radar and determining whether the dump body is empty on the basis of the radar detection.
  • the method comprises the step of optically detecting a load part of the dump body 2 during the elevating motion and determining whether the dump body is empty on the basis of the detection.
  • optical detection may be performed via a camera.
  • a weight of a material in the dump body 2 is determined during the elevating motion and it is determined whether the dump body 2 is empty on the basis of the determination.
  • a plurality of ways may be used to determine the weight such as using a load cell in a dump body hinge and detecting a pressure in the hydraulic system 101,201.
  • the vibrating motion of the dump body 2 may be maintained as long as an operator controlled tilting lever is in an extreme end position corresponding to a full tilt.
  • the vibrating motion is maintained during a predetermined time period when the dump body reaches a pre-determined tilting angle.
  • the method may comprise the step of monitoring the material during the vibrating motion of the dump body 2. This may be accomplished via optical or radar detection. The vibrating motion is stopped when it is determined that the dump body 2 has reached an empty state.
  • an operator controlled element may be arranged to set the vibration function in an active state and an inactive state.
  • the automatic detection of the load status ie presence of material in the dump body
  • the operator selects the active state if he believes that there is a risk of material sticking to the dump body.
  • an operator controlled element may be arranged to initiate the vibrations directly during a current tilting cycle.
  • the vibrations may be initiated directly after receipt of a start signal from an operator controlled element.
  • the vibrations may be set to continue for a predetermined period of time or as long as the operator controlled element is in the active position.
  • the controller comprises a microprocessor.
  • the controller comprises a memory, which in turn comprises a computer program with computer program segments, or a program code, for implementing the control method when the program is run.
  • This computer program can be transmitted to the controller in various ways via a transmission signal, for example by downloading from another computer, via wire and/or wirelessly, or by installation in a memory circuit.
  • the transmission signal can be transmitted via the Internet.
  • the invention is of course not limited to using two hydraulic cylinders for achieving the dump body vibrations.
  • the method may be used in a vehicle having only one tilting hydraulic cylinder.
  • the method may be used in a vehicle having a plurality of tilting hydraulic cylinders, but only one or only some of them are used for achieving the vibrations.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

L'invention concerne un procédé de bennage de matériau à partir d'un corps de benne basculante inclinable d'un véhicule ayant au moins un vérin hydraulique déployable (8, 9) pour soulever le corps de benne basculante vers un angle de bennage ; comprenant les étapes consistant à actionner automatiquement le vérin hydraulique de telle manière que des vibrations sont produites dans le corps de benne basculante afin de faciliter le bennage du matériau.
PCT/SE2007/001163 2007-07-11 2007-12-21 Procédé et dispositif pour benner un matériau à partir d'un corps de benne basculante inclinable d'un véhicule Ceased WO2009008784A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0701725-4 2007-07-11
SE0701725 2007-07-11

Publications (1)

Publication Number Publication Date
WO2009008784A1 true WO2009008784A1 (fr) 2009-01-15

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PCT/SE2007/001163 Ceased WO2009008784A1 (fr) 2007-07-11 2007-12-21 Procédé et dispositif pour benner un matériau à partir d'un corps de benne basculante inclinable d'un véhicule

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120084047A1 (en) * 2010-10-04 2012-04-05 Vesterdal Steven H Vehicle loading and unloading detection
US8700274B1 (en) 2013-04-26 2014-04-15 Caterpillar Inc. Method of determining when a bed of a hauling machine is empty
WO2014176117A1 (fr) * 2013-04-26 2014-10-30 Caterpillar Inc. Procédé de détermination de la survenue d'un événement de chargement d'une charge utile dans une machine de transport
CN105936232A (zh) * 2015-03-06 2016-09-14 海沃机械（中国）有限公司 用于产生保养指示的方法和系统
EP3067234A1 (fr) * 2015-03-12 2016-09-14 Hitachi Construction Machinery Co., Ltd. Système de détermination de travail de déversement pour véhicule de transport
CN106976423A (zh) * 2017-03-08 2017-07-25 合肥工业大学 自卸车粘结物料抖震卸货系统
RU2652759C2 (ru) * 2016-05-20 2018-04-28 Юрий Николаевич Барышников Самосвальное транспортное средство
US10094704B2 (en) 2015-10-30 2018-10-09 Caterpillar Inc. System for estimating a mass of a payload in a hauling machine
DE102018218396A1 (de) * 2018-10-26 2020-04-30 Zf Friedrichshafen Ag Verfahren und Steuergerät zum Betreiben eines Antriebsstrangs eines Fahrzeugs
WO2020159743A1 (fr) * 2019-01-30 2020-08-06 Caterpillar Inc. Système et procédé de nettoyage automatisé de support dans le transport de surface
WO2020159742A1 (fr) * 2019-01-30 2020-08-06 Caterpillar Inc. Système et méthode pour déterminer les résidus dans un roulage de surface
RU2801144C2 (ru) * 2019-01-30 2023-08-02 Кейтерпиллар Инк. Система и способ автоматизированной очистки от возвратного материала на поверхности при доставке

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1942402A (en) * 1931-11-21 1934-01-09 Anthony Co Hydraulic dumping body
GB827913A (en) * 1957-05-03 1960-02-10 Tatra Np Improvements in and relating to hydraulic lifting devices for tipping vehicles
US4175906A (en) * 1977-11-10 1979-11-27 Barker N Glen Vibrator for dumping vehicle
GB1573020A (en) * 1976-02-27 1980-08-13 Sjoeberg P A H Vibration generating device
GB2417719A (en) * 2004-09-04 2006-03-08 John Edward Morten Vehicle or trailer reciprocally vibrated to unload

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1942402A (en) * 1931-11-21 1934-01-09 Anthony Co Hydraulic dumping body
GB827913A (en) * 1957-05-03 1960-02-10 Tatra Np Improvements in and relating to hydraulic lifting devices for tipping vehicles
GB1573020A (en) * 1976-02-27 1980-08-13 Sjoeberg P A H Vibration generating device
US4175906A (en) * 1977-11-10 1979-11-27 Barker N Glen Vibrator for dumping vehicle
GB2417719A (en) * 2004-09-04 2006-03-08 John Edward Morten Vehicle or trailer reciprocally vibrated to unload

Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9302859B2 (en) * 2010-10-04 2016-04-05 Leica Geosystems Mining, Inc. Vehicle loading and unloading detection
US20120084047A1 (en) * 2010-10-04 2012-04-05 Vesterdal Steven H Vehicle loading and unloading detection
EP2625125A4 (fr) * 2010-10-04 2017-11-29 Leica Geosystems Mining, Inc. Détection de chargement et de déchargement de véhicule
CN105163980B (zh) * 2013-04-26 2018-01-16 卡特彼勒公司 确定牵引机器的床板何时倒空的方法
CN105164343A (zh) * 2013-04-26 2015-12-16 卡特彼勒公司 确定有效载荷装载事件在牵引机器中何时发生的方法
WO2014176117A1 (fr) * 2013-04-26 2014-10-30 Caterpillar Inc. Procédé de détermination de la survenue d'un événement de chargement d'une charge utile dans une machine de transport
WO2014176107A1 (fr) * 2013-04-26 2014-10-30 Caterpillar Inc. Procédé permettant de déterminer qu'un lit d'un débardeur est vide
US8700274B1 (en) 2013-04-26 2014-04-15 Caterpillar Inc. Method of determining when a bed of a hauling machine is empty
CN105164343B (zh) * 2013-04-26 2018-03-27 卡特彼勒公司 确定有效载荷装载事件在牵引机器中何时发生的方法
US8903612B2 (en) 2013-04-26 2014-12-02 Caterpillar Inc. Method of determining when a payload loading event is occurring in a hauling machine
CN105936232A (zh) * 2015-03-06 2016-09-14 海沃机械（中国）有限公司 用于产生保养指示的方法和系统
CN105936232B (zh) * 2015-03-06 2024-04-23 海沃机械（中国）有限公司 用于产生保养指示的方法和系统
EP3067234A1 (fr) * 2015-03-12 2016-09-14 Hitachi Construction Machinery Co., Ltd. Système de détermination de travail de déversement pour véhicule de transport
CN105966294A (zh) * 2015-03-12 2016-09-28 日立建机株式会社 运输车辆的卸载作业判定装置
US10094704B2 (en) 2015-10-30 2018-10-09 Caterpillar Inc. System for estimating a mass of a payload in a hauling machine
RU2652759C2 (ru) * 2016-05-20 2018-04-28 Юрий Николаевич Барышников Самосвальное транспортное средство
CN106976423A (zh) * 2017-03-08 2017-07-25 合肥工业大学 自卸车粘结物料抖震卸货系统
DE102018218396A1 (de) * 2018-10-26 2020-04-30 Zf Friedrichshafen Ag Verfahren und Steuergerät zum Betreiben eines Antriebsstrangs eines Fahrzeugs
WO2020159743A1 (fr) * 2019-01-30 2020-08-06 Caterpillar Inc. Système et procédé de nettoyage automatisé de support dans le transport de surface
WO2020159742A1 (fr) * 2019-01-30 2020-08-06 Caterpillar Inc. Système et méthode pour déterminer les résidus dans un roulage de surface
US11458878B2 (en) 2019-01-30 2022-10-04 Caterpillar Inc. System and method for determining carryback in surface haulage
US11498785B2 (en) 2019-01-30 2022-11-15 Caterpillar Inc. System and method of automated clean out of carryback in surface haulage
RU2801144C2 (ru) * 2019-01-30 2023-08-02 Кейтерпиллар Инк. Система и способ автоматизированной очистки от возвратного материала на поверхности при доставке
RU2819339C2 (ru) * 2019-01-30 2024-05-17 Кейтерпиллар Инк. Система и способ определения возвратного материала на поверхности при доставке
AU2020215499B2 (en) * 2019-01-30 2025-02-06 Caterpillar Inc. System and method for determining carryback in surface haulage
AU2020216089B2 (en) * 2019-01-30 2025-02-27 Caterpillar Inc. System and method of automated clean out of carryback in surface haulage

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