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EP1650358A3 - Control system for coordinated control of a boom of a working vehicle - Google Patents

Control system for coordinated control of a boom of a working vehicle Download PDF

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Publication number
EP1650358A3
EP1650358A3 EP05109479A EP05109479A EP1650358A3 EP 1650358 A3 EP1650358 A3 EP 1650358A3 EP 05109479 A EP05109479 A EP 05109479A EP 05109479 A EP05109479 A EP 05109479A EP 1650358 A3 EP1650358 A3 EP 1650358A3
Authority
EP
European Patent Office
Prior art keywords
tool
hold function
actuator
automatic hold
boom
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.)
Withdrawn
Application number
EP05109479A
Other languages
German (de)
French (fr)
Other versions
EP1650358A2 (en
Inventor
Scott Svend Hendron
Judson Paul Clark
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
Application filed by Deere and Co filed Critical Deere and Co
Publication of EP1650358A2 publication Critical patent/EP1650358A2/en
Publication of EP1650358A3 publication Critical patent/EP1650358A3/en
Withdrawn legal-status Critical Current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
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/436—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like for keeping the dipper in the horizontal position, 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
    • E02F3/432—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
    • E02F3/96—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements
    • E02F3/963—Arrangements on backhoes for alternate use of different tools
    • E02F3/964—Arrangements on backhoes for alternate use of different tools of several tools mounted on one machine

Landscapes

  • 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)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

Es wird ein Arbeitsfahrzeug (10) mit einem Werkzeug (24,68) beschrieben, welches an einem Ausleger (22,64,66) angeschlossen ist. Durch einen Stellantrieb (38,96) lässt sich das Werkzeug (24,68) um seine Schwenkachse (32,88) verschwenken. Am Werkzeug (24,68) ist ein Schwenkwinkelsensor (54,112) angebracht, der den absoluten Winkel des Werkzeugs (24, 68) relativ zur Erde erfasst. Eine Steuereinheit (50) führt eine automatische Haltefunktion für das Werkzeug (24,68) aus und erhält automatisch eine Anfangswerkzeugausrichtung aufrecht, indem sie eine Bewegung des Werkzeugstellantrieb (38,96) derart befiehlt, dass der anfängliche oder Sollwinkel des Werkzeugs (24,68) aufrechterhalten wird. Die Steuereinrichtung (50) kann die automatische Haltefunktion aussetzen, wenn die Bedienungsperson ein Werkzeugbefehlseingabeeinrichtung (44,102) betätigt, um eine Bewegung des Werkzeugstellantriebs (38,96) zu veranlassen. Die automatische Haltefunktion wird bei der neuen, durch die Bedienungsperson herbeigeführten Orientierung wieder aktiv. Die Betätigung einer Autohaltebefehlseingabevorrichtung (58,116) erlaubt es der Bedienungsperson, die automatische Haltefunktion wahlweise zu aktivieren oder zu deaktivieren.

Figure imgaf001
A work vehicle (10) with a tool (24, 68) connected to a boom (22, 64, 66) is described. By an actuator (38,96), the tool (24,68) can pivot about its pivot axis (32,88). Mounted on the tool (24, 68) is a swivel angle sensor (54, 112) which senses the absolute angle of the tool (24, 68) relative to the earth. A control unit (50) performs an automatic hold function on the tool (24, 68) and automatically maintains initial tool alignment by commanding movement of the tool actuator (38, 96) such that the initial or desired angle of the tool (24, 68 ) is maintained. The controller (50) may suspend the automatic hold function when the operator operates tool command input means (44, 102) to cause movement of the tool actuator (38, 96). The automatic hold function becomes active again with the new operator-induced orientation. The actuation of an auto-hold command input device (58.116) allows the operator to selectively enable or disable the automatic hold function.
Figure imgaf001
EP05109479A 2004-10-21 2005-10-12 Control system for coordinated control of a boom of a working vehicle Withdrawn EP1650358A3 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US10/970,622 US7222444B2 (en) 2004-10-21 2004-10-21 Coordinated linkage system for a work vehicle

Publications (2)

Publication Number Publication Date
EP1650358A2 EP1650358A2 (en) 2006-04-26
EP1650358A3 true EP1650358A3 (en) 2012-10-10

Family

ID=35519670

Family Applications (1)

Application Number Title Priority Date Filing Date
EP05109479A Withdrawn EP1650358A3 (en) 2004-10-21 2005-10-12 Control system for coordinated control of a boom of a working vehicle

Country Status (3)

Country Link
US (1) US7222444B2 (en)
EP (1) EP1650358A3 (en)
JP (1) JP4989874B2 (en)

Families Citing this family (24)

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FI123932B (en) * 2006-08-16 2013-12-31 John Deere Forestry Oy Control of a boom structure and one to the same with a hinge attached tool
US7530185B2 (en) * 2007-06-22 2009-05-12 Deere & Company Electronic parallel lift and return to carry on a backhoe loader
US8135518B2 (en) 2007-09-28 2012-03-13 Caterpillar Inc. Linkage control system with position estimator backup
US7949449B2 (en) * 2007-12-19 2011-05-24 Caterpillar Inc. Constant work tool angle control
US7810260B2 (en) * 2007-12-21 2010-10-12 Caterpillar Trimble Control Technologies Llc Control system for tool coupling
US8244438B2 (en) * 2008-01-31 2012-08-14 Caterpillar Inc. Tool control system
US8515627B2 (en) * 2008-12-23 2013-08-20 Caterpillar Inc. Method and apparatus for calculating payload weight
ITBO20090189A1 (en) * 2009-03-26 2010-09-27 Cast Group S R L EARTH MOVING MACHINE
JP5037561B2 (en) * 2009-05-13 2012-09-26 株式会社小松製作所 Work vehicle
US8606470B2 (en) * 2009-12-18 2013-12-10 Caterpillar Sarl Lift arm and implement control system
GB2489663B (en) * 2011-03-21 2015-07-08 Bamford Excavators Ltd A working machine hitch arrangement
US20120315120A1 (en) * 2011-06-08 2012-12-13 Hyder Jarrod Work machine
ITPD20110310A1 (en) * 2011-09-30 2013-03-31 Meccanica Breganzese S P A BUCKET FOR SCREENING AND CRUSHING OF INERT MATERIAL WITH BALANCING VALVE
DE112012004057T5 (en) * 2011-10-17 2014-07-17 Hitachi Construction Machinery Co., Ltd. System for indicating the parking position and parking direction of a tipper and conveyor system
US8965639B2 (en) * 2012-07-10 2015-02-24 Caterpillar Inc. System and method for machine control
US8862340B2 (en) 2012-12-20 2014-10-14 Caterpillar Forest Products, Inc. Linkage end effecter tracking mechanism for slopes
US20150275469A1 (en) * 2014-03-28 2015-10-01 Caterpillar Inc. Lift Arm and Coupler Control System
PL3059202T3 (en) * 2015-02-18 2019-10-31 Merlo Project Srl A lifting vehicle with a transverse stability control system
US10584463B2 (en) * 2016-11-29 2020-03-10 Komatsu Ltd. Control device for construction machine and method of controlling construction machine
US10030354B1 (en) * 2017-02-28 2018-07-24 CNH Industrial America, LLC Anti-spill for loaders
EP3378823A1 (en) * 2017-03-23 2018-09-26 EPSILON Kran GmbH. Crane
US10865542B2 (en) 2018-01-25 2020-12-15 Caterpillar Inc. Grading control system using machine linkages
JP7469127B2 (en) * 2020-04-17 2024-04-16 株式会社小松製作所 Control system and control method
CN112281940B (en) * 2020-10-19 2022-09-09 三一重机有限公司 Excavator and control method thereof

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JPS52139607U (en) * 1976-04-19 1977-10-22
DE3134064A1 (en) * 1981-08-28 1983-03-10 Mannesmann Rexroth GmbH, 8770 Lohr Control arrangement for a hydraulically actuated excavator
JPS61221424A (en) * 1985-03-25 1986-10-01 Kubota Ltd Horizontal controller for working tool of front loader
US4773302A (en) * 1986-02-12 1988-09-27 Kubota, Ltd. Control apparatus and proportional solenoid valve control circuit for boom-equipped working implement
JPS63236827A (en) * 1987-03-23 1988-10-03 Kobe Steel Ltd Controller for excavator
DE3907134A1 (en) * 1989-03-06 1990-09-13 Marco Systemanalyse Entw Device for determining the position of a tool arranged at the free end of the articulated boom
DE10000771A1 (en) * 2000-01-11 2001-07-26 Brueninghaus Hydromatik Gmbh Device and method for position control for work equipment of mobile work machines
JP2003119818A (en) * 2001-10-09 2003-04-23 Fukuzawa Corporation:Kk Excavator, method of driving the same, and inclination angle measuring apparatus
US20040136821A1 (en) * 2003-01-14 2004-07-15 New Holland North America, Inc. Skid steer loader boom and bucket controls

Also Published As

Publication number Publication date
JP2006125187A (en) 2006-05-18
JP4989874B2 (en) 2012-08-01
US20060096137A1 (en) 2006-05-11
US7222444B2 (en) 2007-05-29
EP1650358A2 (en) 2006-04-26

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