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EP1917402A1 - Civil engineering loading machine - Google Patents

Civil engineering loading machine

Info

Publication number
EP1917402A1
EP1917402A1 EP05797728A EP05797728A EP1917402A1 EP 1917402 A1 EP1917402 A1 EP 1917402A1 EP 05797728 A EP05797728 A EP 05797728A EP 05797728 A EP05797728 A EP 05797728A EP 1917402 A1 EP1917402 A1 EP 1917402A1
Authority
EP
European Patent Office
Prior art keywords
arm
tool
frame
control
deformable
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Withdrawn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
EP05797728A
Other languages
German (de)
French (fr)
Inventor
Gilles Florean
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 Compact Equipment SAS
Original Assignee
Volvo Compact Equipment SAS
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 Compact Equipment SAS filed Critical Volvo Compact Equipment SAS
Publication of EP1917402A1 publication Critical patent/EP1917402A1/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Withdrawn legal-status Critical Current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
    • E02F3/431—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 machinery, and more particularly to loader type machines. It is more specifically a device for measuring the inclination of a mobile work tool of the machine. A particular application of the present invention makes it possible to ensure an automatic correction of the inclination of the bucket during the various loading operations.
  • a "loader” is a public works machine that makes it possible to take back goods, such as materials, placed on the ground to dump them in a bucket or a truck, or vice versa.
  • a loader thus comprises in a known manner a frame and a particular work equipment.
  • This work equipment generally includes an arm that is hinged to the frame. This arm can be lifted under the action of a cylinder generally called “arm cylinder”.
  • the work equipment also comprises a set of connecting rods which together with a portion of the work tool and a portion of the arm, form a deformable quadrilateral.
  • one of these rods is articulated relative to the working tool, while the other is articulated relative to the arm, these two rods being hinged together by their ends.
  • the work equipment also comprises a tool cylinder which is controlled to cause deformation of the deformable quadrilateral, which ensures the inclination of the working tool relative to the arm.
  • the driver can control, by means of a manipulator most often hydraulic, the arm cylinder and the tool cylinder separately.
  • a manipulator most often hydraulic
  • the arm cylinder and the tool cylinder separately.
  • the tool cylinder By acting on the tool cylinder, it modifies the inclination of the bucket relative to the arm, and therefore relative to the frame.
  • the work tool such as a bucket
  • it is pivoted backwards so that its opening is oriented upwards.
  • the bucket is rotated forward, so as to be emptied inside the destination bucket.
  • Preventing the work tool from losing its goods is one of the reasons justifying the need to be able to measure the angle of inclination of the working tool relative to the ground. This measurement makes it possible to modify the inclination of the working tool relative to the arm by acting on the deformation of the deformable quadrilateral.
  • the tool cylinder can be actuated to maintain the opening of the work tool in a constant inclination, to prevent the latter from spilling backwards so unexpected.
  • US-A-2004/0060711 discloses a device capable of transmitting the measurement of the inclination of the working tool to an actuator adapted to act appropriately on the jack of the work tool via a hydraulic system so as to compensate for the inclination of the working tool under the effect of the variation of inclination of the arm.
  • This device comprises a cam mechanism moved by a connecting bar also connected to the deformable quadrilateral. In this arrangement, the position of the cam is a direct function of the inclination of the working tool.
  • this device is not very adaptable to different work tools that can be mounted on the arm as needed.
  • the cam by its particular profile, often according to a involute of circle, is specific to a geometry of the work tool determined. If the user wishes to change the working tool, he must also install the cam adapted to the geometry of the new tool or, more simply, adjust the length of the linkage provided adjustable. Otherwise the tilt compensation is wrong and the previously mentioned problems may occur.
  • angle sensors especially that located near the tool, insofar as they are remote from the chassis. Indeed, they are thus exposed to vibrations, shocks and elements of degradation or disturbance of measurement such as rain, dust or mud, which can eventually damage these angle sensors despite their sealed construction . As a result, these sensors may no longer function at all or operate erratically and thereby transmit erroneous information.
  • a first problem to be solved by the invention is that of allowing a measurement of the inclination of the working tool reliably.
  • Another problem that the invention seeks to solve is that of allowing automatic correction of the inclination of the working tool from the measurement of inclination achieved.
  • the invention therefore relates to a public works vehicle of the "loader" type.
  • a machine comprises a frame and a work equipment.
  • the work equipment includes:
  • a main kinematic chain forming, with a portion of the working tool and a portion of the arm, a deformable main mechanism
  • a tool cylinder adapted to be controlled to cause the deformation of the main deformable mechanism to ensure the inclination of the working tool relative to the arm
  • the work equipment also comprises:
  • a secondary kinematic chain forming, with a portion of the arm located in the articulation zone of the arm on the chassis, a deformable control mechanism, the deformation of which is directly a function of the inclination of the working tool with respect to the frame,
  • an angle sensor capable of measuring an angle representative of the deformation of the control mechanism
  • a control device connected to said angle sensor and adapted to control the supply of the tool cylinder and / or the arm cylinder.
  • the machine object of the invention comprises a control mechanism which corresponds to a "copy” of the main working mechanism and which "mimics” slavishly and mechanically the movements, so that a Angle sensor measures a tilt-image.
  • This inclination-image is representative of the inclination of the working tool.
  • the control of the inclination of the bucket is therefore closed loop, which provides advantages in terms of accuracy.
  • the main kinematic chain (20, 21) is formed by a set of connecting rods defining a deformable main quadrilateral
  • the secondary kinematic chain is formed by a set of links (40, 41, 42, 43) defining a deformable control quadrilateral (35), the deformation of which is directly a function of the inclination (100) of the working tool (15) with respect to the frame (5).
  • the dimensions of the control mechanism may correspond to a homothetic reduction of the dimensions of the deformable main mechanism.
  • the control mechanism realizes a faithful image of the main deformable mechanism.
  • control mechanism can be deformable under the mechanical action of a motion transmission member.
  • this member ensures the mechanical reference of the information of the angle of inclination of the working tool relative to the frame.
  • This connecting bar causes the displacement according to a rotation of the control mechanism.
  • the movement transmission member may comprise a rigid bar articulated at one end to one of the connecting rods forming the main mechanism and at the other end in the zone of attachment of the arm on the frame.
  • the machine may further comprise:
  • a hydraulic compensation device for generating an additional control pressure so as to move the tool cylinder according to the signal emitted by the angle sensor
  • 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 inclination of the working tool is kept generally constant; whatever the commands exerted by the driver on the manipulator.
  • the hydraulic device is thus able to automatically maintain the working tool in a substantially horizontal inclination, so as to retain the goods in the working tool.
  • Figure 1 is a general side view of a machine type loader / shovel.
  • Figure 2 is a side view of the work equipment of the loader of Figure 1 shown in two different positions of the arm.
  • Figure 3 is a kinematic diagram of the work equipment of a machine according to the invention.
  • Figure 4 shows a diagram similar to that of Figure 3, which is added the hydraulic circuit of a machine according to the invention.
  • the invention relates to a public works vehicle having a "loader” function, and for example a “backhoe loader” as illustrated in FIGS. 1.
  • this machine 1 comprises work 2 allowing him to perform the function of loader.
  • This work equipment 2 mainly comprises two arms 3 located on either side of the machine. By its rear end 4, these arms 3 are articulated on the frame 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 arm cylinders 7 also located on both sides of the frame 5.
  • These cylinders 7 are articulated by one end 8 on the frame, and their opposite ends 9 to the main arms 3, substantially at the median level 10 thereof.
  • the moving actuators of the movable members here are hydraulic linear cylinders, but it could equally well be rotary cylinders, pneumatic, or electric motors, all also able to move in rotation the arms of the machine.
  • the linear cylinders employed may be related to the parts to be moved at their ends or at any point in their structure.
  • the machine may also have only one arm instead of two.
  • the main arms 3 receive a working tool, advantageously interchangeable if it is mounted on a tool holder.
  • the working tool shown in the figures is a bucket 15. Nevertheless, it could be another working tool, such as a fork to transport pallets.
  • the working tool 15 and its toolholder will be assimilated, insofar as the interchangeability of the tool is not a defining characteristic of the present invention.
  • This bucket 15 is hinged relative to the arms 3, so that it can be inclined at different angles. In this way, the opening 16 of the bucket can be inclined either forward when it is to penetrate materials 17, or backwards when the bucket 15 is filled and is moved .
  • two rods 20, 21 form, with the end portion (working tool side) of one or the other arm 3 and a portion of the bucket 15 , a deformable main quadrilateral which defines four vertices 60, 61, 62, 63.
  • the work equipment 2 comprises a first rear link 20 which is articulated on the arm 3 at the top 64 of the quadrilateral located at one end. of the connecting rod 20.
  • the equipment also comprises a front link 21 which is articulated at each end on the one hand on the bucket 15, and on the other hand on the tool cylinder 27 and the rod 20, at the top 60 and the top 61 of the deformable quadrilateral of work.
  • the two front 21 and rear 20 connecting rods are thus articulated with each other at their upper ends 25.
  • the joints are made here by means of pivot connections known from the skilled person.
  • This deformation of the deformable quadrilateral is caused by the action of a tool cylinder 27.
  • This tool cylinder 27 has a rod 28 which is articulated on the bucket 15, substantially between the point of articulation located at the top 62 of the connecting rod 21 before and the point of articulation 13 of the bucket with respect to the arm 3.
  • the end located on the side of the chamber 29 of the tool cylinder 27 is connected, in turn, to the common point of articulation 25 of the two connecting rods 21 and rear 20.
  • the main mechanism here is thus a deformable main quadrilateral, just as the control mechanism 35 is a control quadrilateral.
  • the main kinematic chain is constituted by a set of rods, as the secondary kinematic chain.
  • the machine 1 comprises a connecting bar 30 which extends substantially along the arm 3 and parallel to it, substantially from the zone where is articulated the rear link 20 to the articulation point 4 of said arm 3 relative to the frame 5.
  • the front end 31 of this connecting bar 30 is hinged to the rear link 20 at a point of articulation 32.
  • the other end 33 of the connecting bar 30 is itself hinged substantially at the hinge point 4 of the arm 3 relative to the frame 5. More specifically, this end of the connecting bar 33 is articulated together with a quadrilateral-control 35 as schematically illustrated in Figure 3.
  • the connecting bar 30 thus defines a closed contour articulated at four points by means of pivot links whose axes are perpendicular to the plane containing the arm 3 and the bar As the arm can be curved (FIGS. 1 and 2), this outline is not necessarily a quadrilateral such as those appearing in FIGS. 3 and 4.
  • This control quadrilateral 35 is formed by a set of rods 40, 41, 42, 43, a portion of the working tool 15 and a portion of the arm 3 located in the articulation zone of the arm 4 on the chassis 5.
  • pivot links articulate these links together so as to make the control quadrilateral 35 deformable.
  • the joints are here also realized by means of pivot links known to those skilled in the art.
  • the quadrilateral-control 35 may comprise one or more rods 40, 41, 42, 43 curved, as is apparent from Figures 4 and 5.
  • the dimensions of the links 40, 41, 42, 43 are chosen so that the control quadrilateral 35 constitutes a homothetic reduction, and therefore a faithful image, of the working quadrilateral.
  • the original vertices of the deformable working quadrilateral each have an image vertex in the quadrilateral-control 35.
  • the lengths of the rods 40 and 41 respectively correspond to the lengths of the rods 20 and 21, each multiplied by a reduction factor K, that is to say between 0 and 1.
  • the lengths of the rods 42 and 43 respectively correspond to the multiples, by this same factor K, of the lengths 22 and 23 of the portions respectively separating the vertices 61 and 62 on the one hand, and 62 and 63 on the other hand.
  • the figures are not to scale.
  • the control quadrilateral 35 is respectively larger than in the majority of real cases.
  • the vertex-image angles of the control quadrilateral 35 are equal to the original vertex angles of the deformable working quadrilateral. In practice, this is true if we disregard the functional games necessary for the mobility of the parts composing the machine.
  • the quadrilateral-control 35 is likely to deform under the mechanical action of a motion transmission member.
  • This body consists of a bar rigid articulated at one end on one of the rods 20 forming the working quadrilateral and at the other end in the zone 4 for fixing the arm 3 on the chassis 5.
  • this bar 30 can ensure the mechanical return of the information of the inclination angle 100 of the working tool relative to the frame 5.
  • This bar 30 causes the deformation of the quadrilateral-control 35 via a rod 40 of the control quadrilateral which is articulated on the link 401.
  • the bar 30 thus reliably transmits the movement of the working quadrilateral to the quadrilateral-control 35.
  • the deformation of the control quadrilateral 35 and, consequently, the angle of inclination 101 to be measured between one of the links, for example the link 42, and the frame 5 are thus directly a function of the inclination 100 of the working tool 15 relative to the frame 5.
  • rigid bar 30 acting as a motion transmission member may be replaced by any other equivalent system, such as for example by one or more cable (s) flexible and inextensible suitably arranged, without departing of the subject of the invention.
  • the quadrilateral-control 35 is therefore able to deform when the working quadrilateral is deformed. That is why this second quadrilateral 35 is called "control" quadrilateral.
  • an angle sensor 44 is installed at the quadrilateral-control 35 so as to measure the inclination 101 of the rod 42, when it moves, together with the deformable working quadrilateral, under the action
  • the angle sensor 44 may be a goniometer or any other measuring instrument for determining, directly or indirectly, the angle of inclination 101 of one of the links 40, 41 , 42, 43 of the quadrilateral-control 35. Taking into account the construction mentioned above, the angle sensor 44 thus makes it possible to determine the inclination 100 of the working tool with respect to the frame 5.
  • such a device has the advantage of being adaptable to different work tools 15 may be mounted on the arm 3, whether it is a bucket of different geometry or a fork or other tool.
  • such a device can operate reliably or durably because the angle sensor 44 is not located away from the chassis, but is instead in the vicinity thereof. It is therefore little exposed to elements of degradation or disturbance measurement such as vibration, shock, rain, dust or mud; just as the possible electric wires of transmission of the measurements that it carries out.
  • This device thus provides a reliable and easily exploitable measurement of the inclination of the bucket 15 relative to the frame.
  • the device is robust and can therefore provide measurements reliably without risk of failure.
  • the change of work tool does not pose any problem of adaptation to different work tools because the control quadrilateral will always undergo a deformation directly representative of the inclination of the working tool.
  • the angle sensor 44 is integrated in the hydraulic control circuit of the cylinders 7, 27 so as to make a closed loop with the actuators that constitute the cylinders 7, 27.
  • the machine 1 further comprises a hydraulic manipulator 58 on which the driver of the machine 1.
  • the hydraulic manipulator 58 delivers a control pressure to a hydraulic distributor 46 connected to each of the chambers 29, 281 of the cylinder. tool 27 so as to control the arm cylinder 7 and / or the tool cylinder 27 and thereby change the respective inclinations of the arms 3 and / or the tool 15 to perform the work to be performed.
  • the machine 1 further comprises an electrohydraulic compensation device 45 making it possible to generate an additional control pressure capable of causing the movement of the tool cylinder. 27.
  • This electrohydraulic compensation device 45 here comprises two solenoid valves 452, connected upstream to the main pressure source pump 53, and an electronic computer 451.
  • Each solenoid valve 452 controls one of the two supply circuits of the chambers 29, 281 of the tool cylinder 27, that is to say the dumping circuit or the digging circuit for tilting the bucket 15 respectively forward or backward.
  • the electronic computer 451 controls these two solenoid valves 452 by electrical signals that are a function of the signals transmitted by the angle sensor 44 to the electronic computer 451, signals that are representative of the inclination 101 of a link 40, 41, 42 or 43 quadrilateral-control, as explained above.
  • the control quadrilateral 35 deforms inducing a change in the measurement of the inclination angle 101 of the bucket 15, so a change of set point 452 solenoid valves, then a change of feed of the hydraulic distributor 46 and finally of the tool cylinder 27. Therefore, the tool cylinder 27 is inclined so as to compensate for the inclination of the arms 3 thus maintaining the inclination 100 of the bucket 15.
  • pressure sensors 601, 571 are installed on the discharge and lifting lines to measure the pressures from the manual controls. .
  • the electronic system cancels the automatic correction function, to give priority to the user, who can thus change the position of the bucket 15 as he wishes.
  • control members of the discharge and lifting circuits namely the manipulator 58 and the solenoid valves 452 are connected to a circuit selector 54 whose downstream output is connected to the power distributor 46 to transmit pressure to it.
  • the priority is given to the "most important" setpoint, so that the user is able to control the bucket 15 while being assured of compensation in case of excessive inclination 100. Therefore, the inclination 100 of the bucket 15 is kept generally constant when no control is exerted by the driver on the manipulator 58, while the inclination of the arm 3 varies.
  • control manipulator 58 has a pressure supply 59 from the main pump 53, and two output channels 57, 60 each corresponding to a direction of inclination of the working tool, here of the bucket 15.
  • the first outlet 60 corresponds to the tipper control of the bucket 15, while the second outlet 57 corresponds to the tipping control of the bucket 15.
  • the circuit selector 54 transmits to the distributor 46 the pressure that is the greater between the control pressure of the manipulator 58 and the pressure delivered by the electrohydraulic device 45. It is this pressure which then acts on the distributor 46 which causes the movement of the tool cylinder 27.
  • the system automatically compensates for the inclination 100 of the bucket 15 to prevent the latter from flowing backwards, if it remained in the initial inclination, corresponding to that of the lower part, that is to say close to the ground.
  • the dimensions of the links of the quadrilateral-control may not achieve a homothetic reduction of the working quadrilateral.
  • a correction by the computer can be considered if we know the curve of variation of the angle of the rod according to the inclination of the working tool. It follows from the above that the machine according to the invention has the essential advantage of allowing a reliable measurement of the inclination of the work tool. This measurement allows the closed loop control of this inclination. This control can take place automatically to allow automatic correction of the inclination of the working tool when lifting. Therefore the present invention increases the safety of the driver, because the risk of falling materials 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)

Abstract

The invention relates to a civil engineering loading machine (1) provided with a frame (5) and working equipment (2) which comprises at least one arm (3), an arm actuator (7) for rotatably displacing said arm (3) with respect to the frame (5), a working tool (15) hingeable with respect to the arm (3), a main cinematic chain (20, 21) forming together with the working tool (15) part and the arm (3) part a main deformable mechanism and a controllable tool actuator (27) for generating the deformation of the main deformable mechanism in such a way that the inclination angle (100) of the working tool (15) with respect to the arm (3) is provided. The inventive machine is characterised in that it also comprises a secondary cinematic chain (40, 41, 42, 43) forming together with the part of the arm (3), which is located in the area (4) of articulation thereof on the frame (5), a deformable reference mechanism (35) whose deformation directly corresponds to the inclination angle (100) of the working tool (15) with respect to the frame (5), an angle sensor (44) for measuring an angle (101) displaying the deformation of the reference mechanism (35) with respect to the frame (5) and a control device (45) which is connected to said sensor (44) and controls the feeding of the working tool actuator (27) and/or the arm actuator (7).

Description

ENGIN DE TRAVAUX PUBLICS DU TYPE CHARGEUSE COMMERCIAL WORKS EQUIPMENT OF THE LOADER TYPE
DOMAINE TECHNIQUETECHNICAL AREA
L'invention se rattache au domaine des engins de travaux publics, et plus particulièrement aux engins du type chargeuse. Elle vise plus précisément un dispositif permettant de mesurer l'inclinaison d'un outil de travail mobile de l'engin. Une application particulière de la présente invention permet d'assurer une correction automatique de l'inclinaison du godet au cours des différentes opérations de chargement.The invention relates to the field of public works machinery, and more particularly to loader type machines. It is more specifically a device for measuring the inclination of a mobile work tool of the machine. A particular application of the present invention makes it possible to ensure an automatic correction of the inclination of the bucket during the various loading operations.
TECHNIQUES ANTÉRIEURESPRIOR TECHNIQUES
De façon générale, on appelle « chargeuse » un engin de travaux publics qui permet de reprendre des marchandises, comme par exemple des matériaux, disposés sur le sol pour les déverser dans une benne ou dans un camion, ou inversement. Une chargeuse comprend donc de façon connue un châssis et un équipement de travail particulier. Cet équipement de travail inclut généralement un bras qui est articulé par rapport au châssis. Ce bras peut être soulevé sous l'action d'un vérin généralement appelé « vérin de bras ».Generally speaking, a "loader" is a public works machine that makes it possible to take back goods, such as materials, placed on the ground to dump them in a bucket or a truck, or vice versa. A loader thus comprises in a known manner a frame and a particular work equipment. This work equipment generally includes an arm that is hinged to the frame. This arm can be lifted under the action of a cylinder generally called "arm cylinder".
L'une des extrémités du bras reçoit un outil de travail, tel qu'un godet, qui est lui-même articulé par rapport au bras. Pour assurer le mouvement de l'outil de travail par rapport au bras, l'équipement de travail comprend également un ensemble de bielles qui forment, ensemble avec une portion de l'outil de travail et une portion du bras, un quadrilatère déformable. De façon générale, une de ces bielles est articulée par rapport à l'outil de travail, tandis que l'autre est articulée par rapport au bras, ces deux bielles étant articulées entre elles par leurs extrémités. L'équipement de travail comprend également un vérin d'outil qui est commandé pour provoquer la déformation du quadrilatère déformable, ce qui permet d'assurer l'inclinaison de l'outil de travail par rapport au bras.One end of the arm receives a work tool, such as a bucket, which is itself articulated relative to the arm. To ensure the movement of the working tool relative to the arm, the work equipment also comprises a set of connecting rods which together with a portion of the work tool and a portion of the arm, form a deformable quadrilateral. In general, one of these rods is articulated relative to the working tool, while the other is articulated relative to the arm, these two rods being hinged together by their ends. The work equipment also comprises a tool cylinder which is controlled to cause deformation of the deformable quadrilateral, which ensures the inclination of the working tool relative to the arm.
Le conducteur peut commander, par l'intermédiaire d'un manipulateur le plus souvent hydraulique, le vérin de bras et le vérin d'outil de façon distincte. Ainsi, en agissant sur le vérin de bras, il soulève le bras en élevant le niveau de l'outil de travail.The driver can control, by means of a manipulator most often hydraulic, the arm cylinder and the tool cylinder separately. Thus, by acting on the arm jack, he raises the arm by raising the level of the work tool.
En agissant sur le vérin d'outil, il modifie l'inclinaison du godet par rapport au bras, et donc par rapport au châssis. Ainsi, après que l'outil de travail, tel un godet, a été chargé de marchandises ou rempli de matériaux, il est pivoté vers l'arrière de manière à ce que son ouverture soit orientée vers le haut. A l'inverse, lorsque le godet est arrivé à la hauteur souhaitée, il est pivoté vers l'avant, de manière à être vidé à l'intérieur de la benne de destination.By acting on the tool cylinder, it modifies the inclination of the bucket relative to the arm, and therefore relative to the frame. Thus, after the work tool, such as a bucket, has been loaded with goods or filled with materials, it is pivoted backwards so that its opening is oriented upwards. Conversely, when the bucket has reached the desired height, it is rotated forward, so as to be emptied inside the destination bucket.
Lorsque l'un des vérins de bras ou d'outil est piloté, comme l'outil de travail est disposé à l'extrémité du bras, lorsque la longueur de ce dernier varie, l'inclinaison du bras et/ou de l'outil de travail varie par rapport au sol. Or, il est souvent souhaitable, voire indispensable, de connaître la valeur de l'angle d'inclinaison de l'outil de travail. C'est le cas, par exemple, lorsque l'outil est un godet chargé de matériaux qui peut risquer de trop s'incliner et de déverser conséquemment son chargement de façon impromptue, ce qui peut entraîner des problèmes de sécurité, de casse matérielle et/ou de perte de temps.When one of the arm or tool cylinders is driven, as the working tool is disposed at the end of the arm, when the length of the latter varies, the inclination of the arm and / or the tool varies with the ground. Now, it is often desirable, even indispensable, to know the value of the angle of inclination of the working tool. This is the case, for example, when the tool is a bucket loaded with materials that may risk too much bowing and consequently unloading its load impromptu, which can lead to problems of safety, material damage and / or loss of time.
Eviter que l'outil de travail ne perde sa marchandise constitue l'une des raisons qui justifient la nécessité de pouvoir mesurer l'angle d'inclinaison de l'outil de travail par rapport au sol. Cette mesure permet en effet de modifier l'inclinaison de l'outil de travail par rapport au bras en jouant sur la déformation du quadrilatère déformable. Au cours du mouvement de montée du bras, le vérin d'outil peut ainsi être actionné pour maintenir l'ouverture de l'outil de travail dans une inclinaison constante, afin d'éviter que ce dernier ne se déverse vers l'arrière de façon inopinée.Preventing the work tool from losing its goods is one of the reasons justifying the need to be able to measure the angle of inclination of the working tool relative to the ground. This measurement makes it possible to modify the inclination of the working tool relative to the arm by acting on the deformation of the deformable quadrilateral. During the upward movement of the arm, the tool cylinder can be actuated to maintain the opening of the work tool in a constant inclination, to prevent the latter from spilling backwards so unexpected.
Le document US- A- 2004/0060711 décrit un dispositif capable de transmettre la mesure de l'inclinaison de l'outil de travail à un actionneur apte à agir de façon appropriée sur le vérin de l'outil de travail par l'intermédiaire d'un système hydraulique de manière à compenser l'inclinaison de l'outil de travail sous l'effet de la variation d'inclinaison du bras. Ce dispositif comprend un mécanisme de came déplacé par une barre de liaison reliée également au quadrilatère déformable. Dans cet agencement, la position de la came est fonction directe de l'inclinaison de l'outil de travail.US-A-2004/0060711 discloses a device capable of transmitting the measurement of the inclination of the working tool to an actuator adapted to act appropriately on the jack of the work tool via a hydraulic system so as to compensate for the inclination of the working tool under the effect of the variation of inclination of the arm. This device comprises a cam mechanism moved by a connecting bar also connected to the deformable quadrilateral. In this arrangement, the position of the cam is a direct function of the inclination of the working tool.
Cependant, ce dispositif est peu adaptable aux différents outils de travail susceptibles d'être montés sur le bras en tant que de besoin. En effet, la came, par son profil particulier, souvent selon une développante de cercle, est spécifique à une géométrie de l'outil de travail déterminée. Si l'utilisateur souhaite changer l'outil de travail, il doit aussi installer la came adaptée à la géométrie du nouvel outil ou, plus simplement, ajuster la longueur de la barre de liaison prévue réglable. Sinon la compensation d'inclinaison est erronée et les problèmes précédemment mentionnés peuvent survenir.However, this device is not very adaptable to different work tools that can be mounted on the arm as needed. Indeed, the cam, by its particular profile, often according to a involute of circle, is specific to a geometry of the work tool determined. If the user wishes to change the working tool, he must also install the cam adapted to the geometry of the new tool or, more simply, adjust the length of the linkage provided adjustable. Otherwise the tilt compensation is wrong and the previously mentioned problems may occur.
Du document EP-A-O 597 657, on connaît d'autre part un engin dont l'outil de travail et le bras sont équipés chacun d'un capteur d'angle pour déterminer leur inclinaison respective, puis piloter les vérins en fonction des signaux émis par des capteurs d'angle, de manière à éviter le renversement de la marchandise portée par l'outil de travail.From document EP-A-0 597 657, on the other hand, a machine is known whose work tool and arm are each equipped with an angle sensor to determine their respective inclination, then drive the cylinders according to the signals emitted. by angle sensors, so as to avoid the overturning of the goods carried by the working tool.
Toutefois, dans un tel dispositif peuvent survenir des pannes des capteurs d'angle, en particulier de celui situé près de l'outil, dans la mesure où ils sont déportés loin du châssis. En effet, ils sont donc exposés à des vibrations, à des chocs et à des éléments facteurs de dégradation ou perturbateurs de mesure tels que la pluie, la poussière ou la boue, qui peuvent détériorer à terme ces capteurs d'angle malgré leur fabrication étanche. Par conséquent, ces capteurs peuvent ne plus fonctionner du tout ou fonctionner de façon erratique et, partant, transmettre des informations erronées.However, in such a device may occur failures angle sensors, especially that located near the tool, insofar as they are remote from the chassis. Indeed, they are thus exposed to vibrations, shocks and elements of degradation or disturbance of measurement such as rain, dust or mud, which can eventually damage these angle sensors despite their sealed construction . As a result, these sensors may no longer function at all or operate erratically and thereby transmit erroneous information.
De la même façon, les fils électriques qui relient ces capteurs d'angle à une unité de calcul ou à un actionneur pour transmettre les signaux de mesures sont exposés aux mêmes éléments perturbateurs et risquent donc les mêmes conséquences.In the same way, the electric wires which connect these angle sensors to a computing unit or to an actuator for transmitting the measurement signals are exposed to the same disturbing elements and therefore risk the same consequences.
De plus, le changement d'outil de travail pose là encore un problème d'adaptation. Il convient en effet d'effectuer une opération d'étalonnage au niveau de l'unité de calcul pour tenir compte des signaux envoyés par le capteur en fonction de la forme et des dimensions du nouvel outil. En effet, le comportement de la chaîne cinématique change à cette occasion.In addition, the change of work tool again poses a problem of adaptation. It is indeed necessary to carry out a calibration operation at the level of the calculation unit to take into account the signals sent by the sensor according to the shape and dimensions of the new tool. Indeed, the behavior of the kinematic chain changes on this occasion.
Un premier problème que se propose de résoudre l'invention est celui de permettre une mesure de l'inclinaison de l'outil de travail de manière fiable. Un autre problème que cherche à résoudre l'invention est celui de permettre une correction automatique de l'inclinaison de l'outil de travail à partir de la mesure d'inclinaison réalisée. -A-A first problem to be solved by the invention is that of allowing a measurement of the inclination of the working tool reliably. Another problem that the invention seeks to solve is that of allowing automatic correction of the inclination of the working tool from the measurement of inclination achieved. -AT-
EXPOSE DE L'INVENTIONSUMMARY OF THE INVENTION
L'invention concerne donc un engin de travaux publics du type « chargeuse ». Un tel engin comporte un châssis et un équipement de travail. L'équipement de travail comprend :The invention therefore relates to a public works vehicle of the "loader" type. Such a machine comprises a frame and a work equipment. The work equipment includes:
- au moins un bras mobile par rapport au châssis,at least one movable arm relative to the chassis,
- un vérin de bras dont une extrémité est reliée au bras et l'autre au châssis et apte à déplacer le bras en rotation par rapport au châssis,- an arm cylinder whose one end is connected to the arm and the other to the frame and adapted to move the arm in rotation relative to the frame,
- un outil de travail articulé par rapport au bras,a working tool articulated with respect to the arm,
- une chaîne cinématique principale formant, avec une portion de l'outil de travail et une portion du bras, un mécanisme principal déformable,a main kinematic chain forming, with a portion of the working tool and a portion of the arm, a deformable main mechanism,
- un vérin d'outil apte à être commandé pour provoquer la déformation du mécanisme principal déformable afin d'assurer l'inclinaison de l'outil de travail par rapport au bras,- A tool cylinder adapted to be controlled to cause the deformation of the main deformable mechanism to ensure the inclination of the working tool relative to the arm,
- un circuit de commande hydraulique permettant l'alimentation du vérin d'outil par l'intermédiaire d'un distributeur.- A hydraulic control circuit for supplying the tool cylinder via a distributor.
Selon l'invention, l'équipement de travail comporte également :According to the invention, the work equipment also comprises:
- une chaîne cinématique secondaire formant, avec une portion du bras située dans la zone d'articulation du bras sur le châssis, un mécanisme-témoin déformable, dont la déformation est directement fonction de l'inclinaison de l'outil de travail par rapport au châssis,a secondary kinematic chain forming, with a portion of the arm located in the articulation zone of the arm on the chassis, a deformable control mechanism, the deformation of which is directly a function of the inclination of the working tool with respect to the frame,
- un capteur d'angle apte à mesurer un angle représentatif de la déformation du mécanisme-témoin,an angle sensor capable of measuring an angle representative of the deformation of the control mechanism,
- un dispositif de contrôle commande relié audit capteur d'angle et apte à commander l'alimentation du vérin d'outil et/ou du vérin de bras.- A control device connected to said angle sensor and adapted to control the supply of the tool cylinder and / or the arm cylinder.
En d'autres termes, l'engin objet de l'invention comprend un mécanisme-témoin qui correspond à une « copie » du mécanisme principal de travail et qui en « imite » servilement et mécaniquement les mouvements, de façon à ce qu'un capteur d'angle mesure une inclinaison-image. Cette inclinaison-image est représentative de l'inclinaison de l'outil de travail. Comme le mécanisme-témoin est déporté plus près du châssis, il est moins exposé aux éléments facteurs de dégradation ou perturbateurs de la mesure d'inclinaison. La commande de l'inclinaison du godet se fait donc en boucle fermée, ce qui procure des avantages en termes de précision. Selon une forme avantageuse de réalisation de l'invention, la chaîne cinématique principale (20, 21) est formée par un ensemble de bielles définissant un quadrilatère principal déformable, et la chaîne cinématique secondaire est formée par un ensemble de biellettes (40, 41, 42, 43) définissant un quadrilatère-témoin (35) déformable, dont la déformation est directement fonction de l'inclinaison (100) de l'outil de travail (15) par rapport au châssis (5).In other words, the machine object of the invention comprises a control mechanism which corresponds to a "copy" of the main working mechanism and which "mimics" slavishly and mechanically the movements, so that a Angle sensor measures a tilt-image. This inclination-image is representative of the inclination of the working tool. As the control mechanism is moved closer to the frame, it is less exposed to the factors of degradation or disruptive tilt measurement. The control of the inclination of the bucket is therefore closed loop, which provides advantages in terms of accuracy. According to an advantageous embodiment of the invention, the main kinematic chain (20, 21) is formed by a set of connecting rods defining a deformable main quadrilateral, and the secondary kinematic chain is formed by a set of links (40, 41, 42, 43) defining a deformable control quadrilateral (35), the deformation of which is directly a function of the inclination (100) of the working tool (15) with respect to the frame (5).
Avantageusement, les dimensions du mécanisme-témoin peuvent correspondre à une réduction homothétique des dimensions du mécanisme principal déformable. Ainsi, le mécanisme-témoin réalise une image fidèle du mécanisme principal déformable.Advantageously, the dimensions of the control mechanism may correspond to a homothetic reduction of the dimensions of the deformable main mechanism. Thus, the control mechanism realizes a faithful image of the main deformable mechanism.
De manière avantageuse, le mécanisme-témoin peut être déformable sous l'action mécanique d'un organe de transmission de mouvement. Autrement dit, cet organe assure le renvoi mécanique de l'information de l'angle d'inclinaison de l'outil de travail par rapport au châssis. Cette barre de liaison provoque le déplacement selon une rotation du mécanisme-témoin. Un tel organe permet donc de transmettre de manière fiable le mouvement du quadrilatère déformable au mécanisme-témoin et, partant, de transmettre l'angle d'inclinaison à mesurer.Advantageously, the control mechanism can be deformable under the mechanical action of a motion transmission member. In other words, this member ensures the mechanical reference of the information of the angle of inclination of the working tool relative to the frame. This connecting bar causes the displacement according to a rotation of the control mechanism. Such an organ thus makes it possible to reliably transmit the movement of the deformable quadrilateral to the control mechanism and, consequently, to transmit the angle of inclination to be measured.
Selon une forme de réalisation pratique de l'invention, l'organe de transmission de mouvement peut comprendre une barre rigide articulée à une extrémité sur une des bielles formant le mécanisme principal et à l'autre extrémité dans la zone de fixation du bras sur le châssis.According to a practical embodiment of the invention, the movement transmission member may comprise a rigid bar articulated at one end to one of the connecting rods forming the main mechanism and at the other end in the zone of attachment of the arm on the frame.
De manière particulièrement avantageuse, l'engin peut en outre comprendre :In a particularly advantageous manner, the machine may further comprise:
- un dispositif hydraulique de compensation permettant de générer une pression de commande supplémentaire de manière à déplacer le vérin d'outil en fonction du signal émis par le capteur d'angle,a hydraulic compensation device for generating an additional control pressure so as to move the tool cylinder according to the signal emitted by the angle sensor,
- un sélecteur de circuit apte à transmettre au distributeur la pression la plus élevée entre la pression de commande délivrée par le manipulateur, et la pression de commande supplémentaire, de sorte que l'inclinaison de l'outil de travail est maintenue globalement constante, quelles que soient les commandes exercées par le conducteur sur le manipulateur. Ainsi, on évite le renversement inopiné de la marchandise, que ce soit du côté de la cabine pour des matériaux contenus dans un godet ou du côté externe à l'engin pour des marchandises installées sur une palette, laquelle est susceptible de glisser vers l'avant le long de fourches trop inclinées.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 inclination of the working tool is kept generally constant; whatever the commands exerted by the driver on the manipulator. Thus, it avoids the unexpected overturn of the goods, whether on the side of the cabin for materials contained in a bucket or the side external to the machine for goods installed on a pallet, which is likely to slide forward along forks too inclined.
Le dispositif hydraulique est ainsi apte à maintenir de façon automatique l'outil de travail dans une inclinaison sensiblement horizontale, de façon à conserver la marchandise dans l'outil de travail.The hydraulic device is thus able to automatically maintain the working tool in a substantially horizontal inclination, so as to retain the goods in the working tool.
DESCRIPTION SOMMAIRE DES DESSINSSUMMARY DESCRIPTION OF THE DRAWINGS
La manière de réaliser l'invention ainsi que les avantages qui en découlent ressortiront bien de la description du mode de réalisation qui suit à l'appui des figures annexées dans lesquelles :The manner of carrying out the invention as well as the advantages which result therefrom will emerge clearly from the description of the embodiment which follows with reference to the appended figures in which:
La figure 1 est une vue générale de côté d'un engin du type chargeuse/pelleteuse.Figure 1 is a general side view of a machine type loader / shovel.
La figure 2 est une vue de côté de l'équipement de travail de la chargeuse de la figure 1 montrée dans deux positions différentes du bras.Figure 2 is a side view of the work equipment of the loader of Figure 1 shown in two different positions of the arm.
La figure 3 est un schéma cinématique de l'équipement de travail d'un engin conforme à l'invention.Figure 3 is a kinematic diagram of the work equipment of a machine according to the invention.
La figure 4 représente un schéma analogue à celui de la figure 3, auquel est ajouté le circuit hydraulique d'un engin conforme à l'invention.Figure 4 shows a diagram similar to that of Figure 3, which is added the hydraulic circuit of a machine according to the invention.
MANIERE DE REALISER L'INVENTIONMANNER OF REALIZING THE INVENTION
Comme déjà évoqué, l'invention concerne un engin de travaux publics possédant une fonction « chargeuse », et par exemple une « chargeuse-pelleteuse » tel qu'illustrée sur les figures 1. Dans sa partie avant, cet engin 1 comprend un équipement de travail 2 lui permettant d'assurer la fonction de chargeuse. Cet équipement de travail 2 comprend de façon principale deux bras 3 situés de part et d'autre de l'engin. Par son extrémité arrière 4, ces bras 3 sont articulés sur le châssis 5.As already mentioned, the invention relates to a public works vehicle having a "loader" function, and for example a "backhoe loader" as illustrated in FIGS. 1. In its front part, this machine 1 comprises work 2 allowing him to perform the function of loader. This work equipment 2 mainly comprises two arms 3 located on either side of the machine. By its rear end 4, these arms 3 are articulated on the frame 5.
Ces bras 3 présentent une forme légèrement incurvée de sorte que leurs extrémités avant 6 se trouvent sensiblement au niveau du sol dans la position la plus basse des bras 3. Ces bras 3 peuvent être déplacés sous l'action de vérins de bras 7 situés également de part et d'autre du châssis 5. Ces vérins 7 sont articulés par une extrémité 8 sur le châssis, et par leurs extrémités opposées 9 aux bras principaux 3, sensiblement au niveau médian 10 de ces derniers. Les actionneurs de déplacement des organes mobiles sont ici des vérins linéaires hydrauliques, mais il pourrait indifféremment s'agir de vérins rotatifs, pneumatiques, ou encore de moteurs électriques, tous également aptes à déplacer en rotation les bras de l'engin. De plus, les vérins linéaires employés peuvent être liés aux pièces à mouvoir au niveau de leurs extrémités ou au niveau d'un point quelconque de leur structure. De même, sans pour autant sortir du cadre de l'invention, l'engin peut également ne comporter qu'un seul bras au lieu de deux.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 arm cylinders 7 also located on both sides of the frame 5. These cylinders 7 are articulated by one end 8 on the frame, and their opposite ends 9 to the main arms 3, substantially at the median level 10 thereof. The moving actuators of the movable members here are hydraulic linear cylinders, but it could equally well be rotary cylinders, pneumatic, or electric motors, all also able to move in rotation the arms of the machine. In addition, the linear cylinders employed may be related to the parts to be moved at their ends or at any point in their structure. Similarly, without departing from the scope of the invention, the machine may also have only one arm instead of two.
Au niveau de leurs extrémités avant 6, les bras principaux 3 reçoivent un outil de travail, avantageusement interchangeable s'il est monté sur un porte-outil. En l'occurrence, l'outil de travail représenté sur les figures est un godet 15. Néanmoins, il pourrait s'agir d'un autre outil de travail, tel qu'une fourche pour transporter des palettes. Dans la suite de l'exposé, on assimilera l'outil de travail 15 et son porte-outil, dans la mesure où l'interchangeabilité de l'outil ne constitue pas une caractéristique déterminante de la présente invention.At their front ends 6, the main arms 3 receive a working tool, advantageously interchangeable if it is mounted on a tool holder. In this case, the working tool shown in the figures is a bucket 15. Nevertheless, it could be another working tool, such as a fork to transport pallets. In the remainder of the description, the working tool 15 and its toolholder will be assimilated, insofar as the interchangeability of the tool is not a defining characteristic of the present invention.
Ce godet 15 est articulé par rapport aux bras 3, de sorte qu'il peut être incliné selon différents angles. De cette manière, l'ouverture 16 du godet peut être inclinée soit vers l'avant lorsqu'il s'agit d'y faire pénétrer des matériaux 17, soit vers l'arrière lorsque le godet 15 est rempli et qu'il est déplacé.This bucket 15 is hinged relative to the arms 3, so that it can be inclined at different angles. In this way, the opening 16 of the bucket can be inclined either forward when it is to penetrate materials 17, or backwards when the bucket 15 is filled and is moved .
Dans la forme illustrée correspondant donc à un côté de l'équipement de travail 2, deux bielles 20, 21 forment, avec la partie terminale (côté outil de travail) de l'un ou l'autre bras 3 et une partie du godet 15, un quadrilatère principal déformable qui définit quatre sommets 60, 61, 62, 63. Plus précisément, l'équipement de travail 2 comprend une première bielle arrière 20 qui est articulée sur le bras 3 au niveau du sommet 64 du quadrilatère situé à une extrémité de la bielle 20.In the illustrated form corresponding to one side of the work equipment 2, two rods 20, 21 form, with the end portion (working tool side) of one or the other arm 3 and a portion of the bucket 15 , a deformable main quadrilateral which defines four vertices 60, 61, 62, 63. More specifically, the work equipment 2 comprises a first rear link 20 which is articulated on the arm 3 at the top 64 of the quadrilateral located at one end. of the connecting rod 20.
L'équipement comprend également une bielle avant 21 qui est articulée à chaque bout d'une part sur le godet 15, et d'autre part sur le vérin d'outil 27 et la bielle 20, au niveau du sommet 60 et du sommet 61 du quadrilatère déformable de travail. Les deux bielles avant 21 et arrière 20 sont donc articulées l'une avec l'autre au niveau de leurs extrémités supérieures 25. Les articulations sont ici réalisées au moyen de liaisons pivots connues de l'homme du métier. Ainsi, lorsque l'inclinaison du godet 15 varie par rapport au bras 3, le quadrilatère déformable incluant les bielles 20, 21 se déforme.The equipment also comprises a front link 21 which is articulated at each end on the one hand on the bucket 15, and on the other hand on the tool cylinder 27 and the rod 20, at the top 60 and the top 61 of the deformable quadrilateral of work. The two front 21 and rear 20 connecting rods are thus articulated with each other at their upper ends 25. The joints are made here by means of pivot connections known from the skilled person. Thus, when the inclination of the bucket 15 varies relative to the arm 3, the deformable quadrilateral including the rods 20, 21 is deformed.
Cette déformation du quadrilatère déformable est provoquée par l'action d'un vérin d'outil 27. Ce vérin d'outil 27 présente une tige 28 qui est articulée sur le godet 15, sensiblement entre le point d'articulation situé au sommet 62 de la bielle 21 avant et le point d'articulation 13 du godet par rapport au bras 3. L'extrémité située du côté de la chambre 29 du vérin d'outil 27 est reliée quant à elle, au point d'articulation commun 25 des deux bielles avant 21 et arrière 20. Ainsi, lorsqu'un effort est exercé par le vérin d'outil 27, ce dernier provoque le rapprochement ou l'éloignement du point d'articulation commun 25 des bielles par rapport au godet 15, et donc la déformation du quadrilatère déformable, et par conséquent, la variation de l'inclinaison du godet 15 par rapport au bras 3.This deformation of the deformable quadrilateral is caused by the action of a tool cylinder 27. This tool cylinder 27 has a rod 28 which is articulated on the bucket 15, substantially between the point of articulation located at the top 62 of the connecting rod 21 before and the point of articulation 13 of the bucket with respect to the arm 3. The end located on the side of the chamber 29 of the tool cylinder 27 is connected, in turn, to the common point of articulation 25 of the two connecting rods 21 and rear 20. Thus, when a force is exerted by the tool cylinder 27, it causes the approximation or removal of the common point of articulation 25 of the rods relative to the bucket 15, and therefore the deformation of the deformable quadrilateral, and therefore the variation of the inclination of the bucket 15 with respect to the arm 3.
Le mécanisme principal est donc ici un quadrilatère principal déformable, tout comme le mécanisme-témoin 35 est un quadrilatère témoin. De même, la chaîne cinématique principale est constituée par un ensemble de bielles, tout comme la chaîne cinématique secondaire.The main mechanism here is thus a deformable main quadrilateral, just as the control mechanism 35 is a control quadrilateral. Similarly, the main kinematic chain is constituted by a set of rods, as the secondary kinematic chain.
En outre, pour permettre une mesure de l'inclinaison 100 de l'outil de travail, l'engin 1 comprend une barre de liaison 30 qui s'étend essentiellement le long du bras 3 et parallèlement à lui, sensiblement depuis la zone où est articulée la bielle arrière 20 jusqu'au point d'articulation 4 dudit bras 3 par rapport au châssis 5. L'extrémité avant 31 de cette barre de liaison 30 est articulée sur la bielle arrière 20, au niveau d'un point d'articulation 32.In addition, to allow a measurement of the inclination 100 of the working tool, the machine 1 comprises a connecting bar 30 which extends substantially along the arm 3 and parallel to it, substantially from the zone where is articulated the rear link 20 to the articulation point 4 of said arm 3 relative to the frame 5. The front end 31 of this connecting bar 30 is hinged to the rear link 20 at a point of articulation 32.
L'autre extrémité 33 de la barre de liaison 30 est elle-même articulée sensiblement au niveau du point d'articulation 4 du bras 3 par rapport au châssis 5. Plus précisément, cette extrémité de la barre de liaison 33 est articulée conjointement avec un quadrilatère- témoin 35 tel que schématiquement illustré à la figure 3.The other end 33 of the connecting bar 30 is itself hinged substantially at the hinge point 4 of the arm 3 relative to the frame 5. More specifically, this end of the connecting bar 33 is articulated together with a quadrilateral-control 35 as schematically illustrated in Figure 3.
La barre de liaison 30 définit ainsi un contour fermé articulé en quatre points au moyen de liaisons pivots dont les axes sont perpendiculaires au plan contenant le bras 3 et la barre de liaison 30. Comme le bras peut être incurvé (figures 1 et 2), ce contour n'est pas forcément un quadrilatère tel que ceux apparaissant sur les figures 3 et 4.The connecting bar 30 thus defines a closed contour articulated at four points by means of pivot links whose axes are perpendicular to the plane containing the arm 3 and the bar As the arm can be curved (FIGS. 1 and 2), this outline is not necessarily a quadrilateral such as those appearing in FIGS. 3 and 4.
Ce quadrilatère-témoin 35 est formé par un ensemble de biellettes 40, 41, 42, 43, une portion de l'outil de travail 15 et une portion du bras 3 située dans la zone d'articulation du bras 4 sur le châssis 5. A l'instar du quadrilatère de travail, des liaisons pivots articulent ces biellettes entre elles de manière à rendre le quadrilatère-témoin 35 déformable. Les articulations sont ici aussi réalisées au moyen de liaisons pivots connues de l'homme du métier. A l'instar du quadrilatère de travail, le quadrilatère-témoin 35 peut comporter une ou plusieurs biellettes 40, 41, 42, 43 incurvées, comme cela ressort des figures 4 et 5.This control quadrilateral 35 is formed by a set of rods 40, 41, 42, 43, a portion of the working tool 15 and a portion of the arm 3 located in the articulation zone of the arm 4 on the chassis 5. Like the working quadrilateral, pivot links articulate these links together so as to make the control quadrilateral 35 deformable. The joints are here also realized by means of pivot links known to those skilled in the art. Like the working quadrilateral, the quadrilateral-control 35 may comprise one or more rods 40, 41, 42, 43 curved, as is apparent from Figures 4 and 5.
De plus, les dimensions des biellettes 40, 41, 42, 43 sont choisies de manière à ce que le quadrilatère-témoin 35 constitue une réduction homothétique, donc une image fidèle, du quadrilatère de travail. Les sommets d'origine du quadrilatère déformable de travail ont chacun un sommet- image dans le quadrilatère-témoin 35.In addition, the dimensions of the links 40, 41, 42, 43 are chosen so that the control quadrilateral 35 constitutes a homothetic reduction, and therefore a faithful image, of the working quadrilateral. The original vertices of the deformable working quadrilateral each have an image vertex in the quadrilateral-control 35.
En outre, compte tenu de la construction homothétique, les longueurs des biellettes 40 et 41 correspondent respectivement aux longueurs des bielles 20 et 21, chacune multipliée par un facteur K de réduction, c'est-à-dire compris entre 0 et 1. Les longueurs des biellettes 42 et 43 correspondent respectivement aux multiples, par ce même facteur K, des longueurs 22 et 23 des portions séparant respectivement les sommets 61 et 62 d'une part, et 62 et 63 d'autre part. Pour des commodités de représentation, les figures ne sont pas à l'échelle. Ainsi, le quadrilatère-témoin 35 est représenté respectivement plus grand que dans la majorité des cas réels.In addition, given the homothetic construction, the lengths of the rods 40 and 41 respectively correspond to the lengths of the rods 20 and 21, each multiplied by a reduction factor K, that is to say between 0 and 1. The The lengths of the rods 42 and 43 respectively correspond to the multiples, by this same factor K, of the lengths 22 and 23 of the portions respectively separating the vertices 61 and 62 on the one hand, and 62 and 63 on the other hand. For convenience of representation, the figures are not to scale. Thus, the control quadrilateral 35 is respectively larger than in the majority of real cases.
En revanche, une homothétie conserve les angles. Donc, les angles aux sommets-images du quadrilatère-témoin 35 sont égaux aux angles aux sommets d'origine du quadrilatère déformable de travail. En pratique, cela est vrai si l'on fait abstraction des jeux fonctionnels nécessaires à la mobilité des pièces composant l'engin.On the other hand, a homothety preserves the angles. Therefore, the vertex-image angles of the control quadrilateral 35 are equal to the original vertex angles of the deformable working quadrilateral. In practice, this is true if we disregard the functional games necessary for the mobility of the parts composing the machine.
Par ailleurs, le quadrilatère-témoin 35 est susceptible de se déformer sous l'action mécanique d'un organe de transmission de mouvement. Cet organe consiste en une barre rigide 30 articulée à une extrémité sur une des bielles 20 formant le quadrilatère de travail et à l'autre extrémité dans la zone 4 de fixation du bras 3 sur le châssis 5.Moreover, the quadrilateral-control 35 is likely to deform under the mechanical action of a motion transmission member. This body consists of a bar rigid articulated at one end on one of the rods 20 forming the working quadrilateral and at the other end in the zone 4 for fixing the arm 3 on the chassis 5.
Ainsi, lorsque le quadrilatère se déforme, cette barre 30 peut assurer le renvoi mécanique de l'information de l'angle d'inclinaison 100 de l'outil de travail par rapport au châssis 5. Cette barre 30 provoque la déformation du quadrilatère-témoin 35 par l'intermédiaire d'une biellette 40 du quadrilatère-témoin qui est articulée sur la liaison 401. La barre 30 permet donc de transmettre de manière fiable le mouvement du quadrilatère de travail au quadrilatère-témoin 35. Comme les dimensions du quadrilatère-témoin 35 sont choisies de manière à correspondre à une réduction homothétique des dimensions du quadrilatère déformable de travail, la déformation du quadrilatère-témoin 35 et, partant, l'angle d'inclinaison 101 à mesurer entre l'une des biellettes, par exemple la biellette 42, et le châssis 5 sont ainsi directement fonction de l'inclinaison 100 de l'outil de travail 15 par rapport au châssis 5.Thus, when the quadrilateral is deformed, this bar 30 can ensure the mechanical return of the information of the inclination angle 100 of the working tool relative to the frame 5. This bar 30 causes the deformation of the quadrilateral-control 35 via a rod 40 of the control quadrilateral which is articulated on the link 401. The bar 30 thus reliably transmits the movement of the working quadrilateral to the quadrilateral-control 35. As the dimensions of the quadrilateral- control 35 are chosen so as to correspond to a homothetic reduction of the dimensions of the deformable working quadrilateral, the deformation of the control quadrilateral 35 and, consequently, the angle of inclination 101 to be measured between one of the links, for example the link 42, and the frame 5 are thus directly a function of the inclination 100 of the working tool 15 relative to the frame 5.
Bien évidemment, la barre rigide 30 jouant le rôle d'un organe de transmission de mouvement peut être remplacée par tout autre système équivalent, comme par exemple par un ou plusieurs câble(s) flexibles et inextensibles convenablement disposés, sans pour autant s'éloigner de l'objet de l'invention.Of course, the rigid bar 30 acting as a motion transmission member may be replaced by any other equivalent system, such as for example by one or more cable (s) flexible and inextensible suitably arranged, without departing of the subject of the invention.
Sous l'action de la barre rigide 30, le quadrilatère-témoin 35 est donc apte à se déformer lorsque le quadrilatère de travail se déforme. C'est pourquoi ce deuxième quadrilatère 35 est appelé quadrilatère « témoin ».Under the action of the rigid bar 30, the quadrilateral-control 35 is therefore able to deform when the working quadrilateral is deformed. That is why this second quadrilateral 35 is called "control" quadrilateral.
De plus, un capteur d'angle 44 est installé au niveau du quadrilatère-témoin 35 de façon à en mesurer l'inclinaison 101 de la biellette 42, lorsque celui-ci se déplace, conjointement au quadrilatère déformable de travail, sous l'action de la barre rigide 30. En pratique, le capteur d'angle 44 peut être un goniomètre ou tout autre instrument de mesure permettant de déterminer, de façon directe ou indirecte, l'angle d'inclinaison 101 d'une des biellettes 40, 41, 42, 43 du quadrilatère-témoin 35. Compte tenu de la construction évoquée ci-dessus, le capteur d'angle 44 permet donc de déterminer l'inclinaison 100 de l'outil de travail par rapport au châssis 5.In addition, an angle sensor 44 is installed at the quadrilateral-control 35 so as to measure the inclination 101 of the rod 42, when it moves, together with the deformable working quadrilateral, under the action In practice, the angle sensor 44 may be a goniometer or any other measuring instrument for determining, directly or indirectly, the angle of inclination 101 of one of the links 40, 41 , 42, 43 of the quadrilateral-control 35. Taking into account the construction mentioned above, the angle sensor 44 thus makes it possible to determine the inclination 100 of the working tool with respect to the frame 5.
On comprend qu'un tel dispositif présente l'avantage d'être adaptable aux différents outils de travail 15 susceptibles d'être montés sur le bras 3, qu'il s'agisse d'un godet de géométrie différente ou d'une fourche ou de tout autre outil.It is understood that such a device has the advantage of being adaptable to different work tools 15 may be mounted on the arm 3, whether it is a bucket of different geometry or a fork or other tool.
De plus, un tel dispositif peut fonctionner de manière fiable ou durable car le capteur d'angle 44 n'est pas situé loin du châssis, mais se trouve au contraire à proximité de celui- ci. Il est de ce fait peu exposé à des éléments facteurs de dégradation ou perturbateurs de mesure tels que les vibrations, les chocs, la pluie, la poussière ou la boue ; tout comme les éventuels fils électriques de transmission des mesures qu'il effectue. Ce dispositif fournit donc une mesure fiable et facilement exploitable de l'inclinaison du godet 15 par rapport au châssis. En outre, de par sa construction et son agencement, le dispositif est robuste et peut donc fournir des mesures de façon fiable sans risque de panne.In addition, such a device can operate reliably or durably because the angle sensor 44 is not located away from the chassis, but is instead in the vicinity thereof. It is therefore little exposed to elements of degradation or disturbance measurement such as vibration, shock, rain, dust or mud; just as the possible electric wires of transmission of the measurements that it carries out. This device thus provides a reliable and easily exploitable measurement of the inclination of the bucket 15 relative to the frame. In addition, by its construction and arrangement, the device is robust and can therefore provide measurements reliably without risk of failure.
Par ailleurs, le changement d'outil de travail ne pose pas de problème d'adaptation à différents outils de travail car le quadrilatère- témoin subira toujours une déformation directement représentative de l'inclinaison de l'outil de travail.Moreover, the change of work tool does not pose any problem of adaptation to different work tools because the control quadrilateral will always undergo a deformation directly representative of the inclination of the working tool.
Le capteur d'angle 44 est intégré dans le circuit de commande hydraulique des vérins 7, 27 de manière à réaliser une boucle fermée avec les actionneurs que constituent les vérins 7, 27.The angle sensor 44 is integrated in the hydraulic control circuit of the cylinders 7, 27 so as to make a closed loop with the actuators that constitute the cylinders 7, 27.
Ainsi, l'engin 1 comprend en outre un manipulateur hydraulique 58 sur lequel agit le conducteur de l'engin 1. Le manipulateur hydraulique 58 délivre une pression de commande à un distributeur hydraulique 46 relié à chacune des chambres 29, 281 du vérin d'outil 27 de manière à commander le vérin de bras 7 et/ou le vérin d'outil 27 et, partant, à modifier les inclinaisons respectives des bras 3 et/ou de l'outil 15 pour effectuer le travail à accomplir.Thus, the machine 1 further comprises a hydraulic manipulator 58 on which the driver of the machine 1. The hydraulic manipulator 58 delivers a control pressure to a hydraulic distributor 46 connected to each of the chambers 29, 281 of the cylinder. tool 27 so as to control the arm cylinder 7 and / or the tool cylinder 27 and thereby change the respective inclinations of the arms 3 and / or the tool 15 to perform the work to be performed.
Conformément à une forme de réalisation pratique de l'invention, comme illustré sur la figure 4, l'engin 1 comprend en outre un dispositif électrohydraulique 45 de compensation permettant de générer une pression de commande supplémentaire apte à provoquer le déplacement du vérin d'outil 27.According to a practical embodiment of the invention, as illustrated in FIG. 4, the machine 1 further comprises an electrohydraulic compensation device 45 making it possible to generate an additional control pressure capable of causing the movement of the tool cylinder. 27.
Ce dispositif électrohydraulique 45 de compensation comprend ici deux électrovannes 452, reliées en amont à la source de pression principale qu'est la pompe 53, et un calculateur électronique 451. Chaque électrovanne 452 commande l'un des deux circuits d'alimentation des chambres 29, 281 du vérin d'outil 27, c'est-à-dire le circuit de déversement ou celui de cavage pour incliner le godet 15 respectivement vers l'avant ou vers l'arrière. Le calculateur électronique 451 pilote ces deux électrovannes 452 par des signaux électriques fonction des signaux émis par le capteur d'angle 44 vers le calculateur électronique 451, signaux qui sont représentatifs de l'inclinaison 101 d'une biellette 40, 41, 42 ou 43 du quadrilatère-témoin, comme exposé ci-dessus.This electrohydraulic compensation device 45 here comprises two solenoid valves 452, connected upstream to the main pressure source pump 53, and an electronic computer 451. Each solenoid valve 452 controls one of the two supply circuits of the chambers 29, 281 of the tool cylinder 27, that is to say the dumping circuit or the digging circuit for tilting the bucket 15 respectively forward or backward. The electronic computer 451 controls these two solenoid valves 452 by electrical signals that are a function of the signals transmitted by the angle sensor 44 to the electronic computer 451, signals that are representative of the inclination 101 of a link 40, 41, 42 or 43 quadrilateral-control, as explained above.
Ainsi, lorsque les bras 3 s'inclinent sous l'action de leurs vérins 7, le quadrilatère- témoin 35 se déforme induisant un changement de la mesure de l'angle d'inclinaison 101 du godet 15, donc un changement de consigne au niveau des électrovannes 452, puis un changement d'alimentation du distributeur hydraulique 46 et enfin du vérin d'outil 27. Par conséquent, le vérin d'outil 27 est incliné de manière à compenser l'inclinaison des bras 3 maintenant ainsi constante l'inclinaison 100 du godet 15.Thus, when the arms 3 incline under the action of their cylinders 7, the control quadrilateral 35 deforms inducing a change in the measurement of the inclination angle 101 of the bucket 15, so a change of set point 452 solenoid valves, then a change of feed of the hydraulic distributor 46 and finally of the tool cylinder 27. Therefore, the tool cylinder 27 is inclined so as to compensate for the inclination of the arms 3 thus maintaining the inclination 100 of the bucket 15.
Pour gérer le conflit de priorités naissant de la juxtaposition d'une commande manuelle et d'une commande de compensation automatique, des capteurs de pression 601, 571 sont installés sur les conduites de déversement et de relevage pour en mesurer les pressions issues des commandes manuelles. En fonction de ces mesures, le système électronique annule la fonction de correction automatique, pour donner la priorité à l'utilisateur, qui peut ainsi modifier la position du godet 15 comme il le souhaite.To manage the conflict of priorities arising from the juxtaposition of a manual control and an automatic compensation control, pressure sensors 601, 571 are installed on the discharge and lifting lines to measure the pressures from the manual controls. . Depending on these measurements, the electronic system cancels the automatic correction function, to give priority to the user, who can thus change the position of the bucket 15 as he wishes.
Lorsque l'utilisateur n'agit pas sur le manipulateur 58, les pressions de commande chutent en-dessous d'un seuil, de sorte que les capteurs de pression 601, 571 délivrent un signal nul. A ce moment précis, une consigne de position d'angle est stockée dans une mémoire électronique, éventuellement intégrée au calculateur électronique 451 de manière à conserver l'inclinaison du godet 15 lors des mouvements ultérieurs de montée et descente du bras 3. La correction ne se fait que pendant la montée ou la descente des bras 3.When the user does not act on the manipulator 58, the control pressures drop below a threshold, so that the pressure sensors 601, 571 deliver a zero signal. At this precise moment, an angle position setpoint is stored in an electronic memory, possibly integrated with the electronic computer 451 so as to maintain the inclination of the bucket 15 during the subsequent movements of up and down of the arm 3. The correction does not occur. only during the ascent or descent of the arms 3.
De plus, les organes de pilotage des circuits de déversement et de relevage, à savoir le manipulateur 58 et les électrovannes 452, sont reliés à un sélecteur de circuit 54 dont la sortie en aval est reliée au distributeur de puissance 46 pour lui transmettre la pression la plus élevée entre la pression de commande délivrée par le manipulateur 58 et la pression de commande supplémentaire délivrée par l'une des électrovannes 452. Ainsi, la priorité est donnée à la consigne la plus « importante », de sorte que l'utilisateur est en mesure de contrôler le godet 15 tout en étant assuré d'obtenir une compensation en cas d'inclinaison 100 excessive. Par conséquent, l'inclinaison 100 du godet 15 est maintenue globalement constante lorsqu'aucune commande n'est exercée par le conducteur sur le manipulateur 58, tandis que l'inclinaison du bras 3 varie.In addition, the control members of the discharge and lifting circuits, namely the manipulator 58 and the solenoid valves 452, are connected to a circuit selector 54 whose downstream output is connected to the power distributor 46 to transmit pressure to it. the highest between the control pressure delivered by the manipulator 58 and the additional control pressure delivered by one of the solenoid valves 452. Thus, the priority is given to the "most important" setpoint, so that the user is able to control the bucket 15 while being assured of compensation in case of excessive inclination 100. Therefore, the inclination 100 of the bucket 15 is kept generally constant when no control is exerted by the driver on the manipulator 58, while the inclination of the arm 3 varies.
Plus précisément, le manipulateur de commande 58 possède une alimentation 59 en pression à partir de la pompe principale 53, et deux voies de sortie 57, 60 correspondant chacune à un sens d'inclinaison de l'outil de travail, ici du godet 15. La première sortie 60 correspond à la commande de relevage du godet 15, tandis que la seconde sortie 57 correspond à la commande de déversement du godet 15.More specifically, the control manipulator 58 has a pressure supply 59 from the main pump 53, and two output channels 57, 60 each corresponding to a direction of inclination of the working tool, here of the bucket 15. The first outlet 60 corresponds to the tipper control of the bucket 15, while the second outlet 57 corresponds to the tipping control of the bucket 15.
Ainsi, le sélecteur de circuit 54 transmet au distributeur 46 la pression qui est la plus importante entre la pression de commande du manipulateur 58 et la pression délivrée par le dispositif électrohydraulique 45. C'est cette pression qui agit ensuite sur le distributeur 46 qui provoque le déplacement du vérin d'outil 27.Thus, the circuit selector 54 transmits to the distributor 46 the pressure that is the greater between the control pressure of the manipulator 58 and the pressure delivered by the electrohydraulic device 45. It is this pressure which then acts on the distributor 46 which causes the movement of the tool cylinder 27.
Concrètement, lorsque la pression délivrée par le manipulateur 58 est supérieure à celle issue du dispositif électrohydraulique 45, c'est la valeur de pression issue du manipulateur 58 qui agit sur distributeur 46. A l'inverse lorsque l'inclinaison 100 de l'outil de travail induit un déplacement de la barre rigide 35 tel que la pression délivrée par le dispositif électrohydraulique 45 est supérieure à celle issue du manipulateur 58, cette pression de correction issue du dispositif électrohydraulique 45 agit sur le distributeur 46.Specifically, when the pressure delivered by the manipulator 58 is greater than that from the electrohydraulic device 45, it is the pressure value from the manipulator 58 which acts on the distributor 46. Conversely when the inclination 100 of the tool of working induces a displacement of the rigid bar 35 such that the pressure delivered by the electrohydraulic device 45 is greater than that coming from the manipulator 58, this correction pressure coming from the electrohydraulic device 45 acts on the distributor 46.
Autrement dit et conformément à une variante de l'invention, le système compense automatiquement l'inclinaison 100 du godet 15 pour éviter que ce dernier ne se déverse vers l'arrière, s'il restait dans l'inclinaison initiale, correspondant à celle de la partie basse, c'est-à-dire proche du sol.In other words and according to a variant of the invention, the system automatically compensates for the inclination 100 of the bucket 15 to prevent the latter from flowing backwards, if it remained in the initial inclination, corresponding to that of the lower part, that is to say close to the ground.
En variante, les dimensions des biellettes du quadrilatère-témoin peuvent ne pas réaliser une réduction homothétique du quadrilatère de travail. Dans ce cas, une correction par le calculateur peut être envisagée si l'on connaît la courbe de variation de l'angle de la biellette en fonction de l'inclinaison de l'outil de travail. Il ressort de ce qui précède que l'engin conforme à l'invention présente l'avantage essentiel de permettre une mesure fiable de l'inclinaison de l'outil de travail. Cette mesure permet la commande en boucle fermée de cette inclinaison. Cette commande peut avoir lieu de façon automatique pour permettre une correction automatique de l'inclinaison de l'outil de travail lors de son levage. Par conséquent la présente invention permet d'augmenter la sécurité du conducteur, car le risque de chute de matériaux vers l'arrière est éliminé. As a variant, the dimensions of the links of the quadrilateral-control may not achieve a homothetic reduction of the working quadrilateral. In this case, a correction by the computer can be considered if we know the curve of variation of the angle of the rod according to the inclination of the working tool. It follows from the above that the machine according to the invention has the essential advantage of allowing a reliable measurement of the inclination of the work tool. This measurement allows the closed loop control of this inclination. This control can take place automatically to allow automatic correction of the inclination of the working tool when lifting. Therefore the present invention increases the safety of the driver, because the risk of falling materials backwards is eliminated.

Claims

REVENDICATIONS
1. Engin de travaux publics (1) du type chargeuse, comportant un châssis (5) et un équipement de travail (2) comprenant :Loader-type public works machine (1), comprising a frame (5) and work equipment (2) comprising:
- au moins un bras (3) mobile par rapport au châssis (5),- at least one arm (3) movable relative to the frame (5),
- un vérin de bras (7), dont une extrémité est reliée au bras (3) et l'autre au châssis (5), et apte à déplacer le bras (3) en rotation par rapport au châssis (5),- an arm jack (7), one end of which is connected to the arm (3) and the other to the frame (5), and able to move the arm (3) in rotation with respect to the frame (5),
- un outil de travail (15) articulé par rapport au bras (3),a working tool (15) articulated with respect to the arm (3),
- un chaîne cinématique principale (20, 21) formant, avec une portion de l'outil de travail (15) et une portion du bras (3), un mécanisme principal déformable,a main kinematic chain (20, 21) forming, with a portion of the working tool (15) and a portion of the arm (3), a deformable main mechanism,
- un vérin d'outil (27) apte à être commandé pour provoquer la déformation du mécanisme principal déformable afin d'assurer l'inclinaison (100) de l'outil de travail (15) par rapport au bras (3),- a tool cylinder (27) adapted to be controlled to cause the deformation of the deformable main mechanism to ensure the inclination (100) of the working tool (15) relative to the arm (3),
- un circuit de commande hydraulique permettant l'alimentation du vérin d'outil (27) par l'intermédiaire d'un distributeur (46), caractérisé en ce qu'il comporte également :- A hydraulic control circuit for supplying the tool cylinder (27) via a distributor (46), characterized in that it also comprises:
- une chaîne cinématique (40-43) secondaire formant, avec une portion du bras (3) située dans la zone d'articulation (4) du bras (3) sur le châssis (5), un mécanisme- témoin (35) déformable, dont la déformation est directement fonction de l'inclinaison (100) de l'outil de travail (15) par rapport au châssis (5),a secondary kinematic chain (40-43) forming, with a portion of the arm (3) located in the hinge zone (4) of the arm (3) on the chassis (5), a deformable control mechanism (35) , whose deformation is directly a function of the inclination (100) of the working tool (15) with respect to the frame (5),
- un capteur d'angle (44) apte à mesurer un angle (101) représentatif de la déformation du mécanisme-témoin (35) par rapport au châssis (5),an angle sensor (44) able to measure an angle (101) representative of the deformation of the control mechanism (35) with respect to the frame (5),
- un dispositif de contrôle commande (45) relié audit capteur d'angle (44) et apte à commander l'alimentation du vérin d'outil (27) et/ou du vérin de bras (7).- A control device (45) connected to said angle sensor (44) and adapted to control the supply of the tool cylinder (27) and / or the arm cylinder (7).
2. Engin selon la revendication 1, caractérisé en ce que la chaîne cinématique principale (20, 21) est formée par un ensemble de bielles définissant un quadrilatère principal déformable, et en ce que la chaîne cinématique secondaire est formée par un ensemble de biellettes (40, 41, 42, 43) définissant un quadrilatère-témoin (35) déformable, dont la déformation est directement fonction de l'inclinaison (100) de l'outil de travail (15) par rapport au châssis (5). 2. Machine according to claim 1, characterized in that the main kinematic chain (20, 21) is formed by a set of rods defining a deformable main quadrilateral, and in that the secondary kinematic chain is formed by a set of rods ( 40, 41, 42, 43) defining a deformable control quadrilateral (35), the deformation of which is directly a function of the inclination (100) of the working tool (15) with respect to the frame (5).
3. Engin selon la revendication 1 ou 2, caractérisé en ce que les dimensions du mécanisme-témoin (35) correspondent à une réduction homothétique des dimensions du mécanisme principal déformable.3. Machine according to claim 1 or 2, characterized in that the dimensions of the control mechanism (35) correspond to a homothetic reduction of the dimensions of the main deformable mechanism.
4. Engin selon l'une des revendications 1 à 3, caractérisé en ce que le mécanisme- témoin (35) est déformable sous l'action mécanique d'un organe de transmission de mouvement (30) relié au mécanisme principal déformable.4. Machine according to one of claims 1 to 3, characterized in that the control mechanism (35) is deformable under the mechanical action of a motion transmission member (30) connected to the main deformable mechanism.
5. Engin selon la revendication 4, caractérisé en ce que l'organe de transmission de mouvement comprend une barre rigide (30) articulée à une extrémité (32) sur la chaîne cinématique principale et à l'autre extrémité (33) dans la zone de fixation (4) du bras (3) sur le châssis (5).5. Machine according to claim 4, characterized in that the motion transmission member comprises a rigid bar (30) articulated at one end (32) on the main kinematic chain and at the other end (33) in the zone attachment (4) of the arm (3) on the frame (5).
6. Engin selon l'une des revendications précédentes, caractérisé en ce qu'il comprend un manipulateur hydraulique (58) délivrant une pression de commande et apte à commander le vérin de bras (7) et/ou le vérin d'outil (27).6. Machine according to one of the preceding claims, characterized in that it comprises a hydraulic manipulator (58) delivering a control pressure and adapted to control the arm cylinder (7) and / or the tool cylinder (27). ).
7. Engin selon l'une des revendications précédentes, caractérisé en ce qu'il comprend en outre :7. Machine according to one of the preceding claims, characterized in that it further comprises:
- un dispositif hydraulique (52) de compensation permettant de générer une pression de commande supplémentaire de manière à déplacer le vérin d'outil (27) en fonction du signal émis par le capteur d'angle (44),a compensating hydraulic device (52) for generating an additional control pressure so as to move the tool cylinder (27) according to the signal emitted by the angle sensor (44),
- un sélecteur de circuit (53, 54) apte à transmettre au distributeur (55) la pression la plus élevée entre la pression de commande délivrée par le manipulateur (58), et la pression de commande supplémentaire, de sorte que l'inclinaison (100) de l'outil de travail (15) est maintenue globalement constante quelles que soient les commandes exercées par le conducteur sur le manipulateur (58). a circuit selector (53, 54) able to transmit to the distributor (55) the highest pressure between the control pressure delivered by the manipulator (58) and the additional control pressure, so that the inclination ( 100) of the work tool (15) is kept generally constant regardless of the commands exerted by the driver on the manipulator (58).
EP05797728A 2005-08-02 2005-08-02 Civil engineering loading machine Withdrawn EP1917402A1 (en)

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