Controller for an excavator for actuating a work device
Patent Information
- Application Number
- EP2023808899
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2022-12-09
- Filing Date
- 2023-11-13
- Publication Date
- 2025-08-13
- Estimated Expiration
- 2043-11-13
AI Technical Summary
In excavators, operators must adjust the direction of the one-handed operating device's handle to control the working device based on its orientation, which complicates the operation and alignment of the implement, especially when transitioning between different working positions.
A control system that includes an angle detection device communicating with a control circuit to automatically adjust the pivoting direction of the attachment device, allowing the operator to maintain the same actuation direction regardless of the working device's orientation, by dividing the 360° rotation range into two areas and detecting changes between them.
Simplifies and quickens the operation of the excavator's working device, enabling the operator to control the implement's movement without needing to change the actuation direction based on its orientation, enhancing operational efficiency and ease of use.
Smart Images
Figure 1.1
Abstract
Description
[0001] Control system for an excavator to control a working device
[0002] The invention relates to a control system for an excavator for controlling a working device.
[0003] In excavators, a common way to control a working tool, such as a bucket, for digging in the ground is to use a one-handed control device. This allows the working tool to be moved relative to the excavator's arm. The control also allows the working tool to be moved by the arm to a desired position.
[0004] In previous excavators, the swivel movement of the working device was controlled by an actuation direction assigned to this swivel movement on a handle of the one-hand control device. When connected to an attachment, the working device can be rotated by 360° at any angle using the attachment. This can result in the orientation of the working device being offset by, for example, 180° in two consecutive working positions. Such a change in the working position of the working device requires the operator of the one-hand control device to change and adjust the actuation direction of the handle according to the orientation of the working device.
[0005] The invention is based on the object of creating a control system for an excavator for controlling an attachment, which enables the operator to carry out the same actuation direction on a handle of the one-hand operating device for controlling a working movement of the attachment, regardless of the orientation of the attachment.
[0006] This object is achieved by a control system for an excavator for controlling a working device, in which at least one angle detection device is provided for detecting an angular position of the working device relative to an attachment device, which is controlled by a rotational movement of the working device about the rotation axis by the rotary drive, which angle detection device communicates with a control circuit and in that when there is a change in the orientation of the working device by a rotational movement about the rotation axis from a first working area to a second working area or vice versa, which can be detected by the angle detection device, a change in the control of a pivoting direction of the attachment device can be controlled by the control circuit with the same actuating device of the handle of the one-hand operating device.
[0007] This simplifies operation of the implement for the excavator operator. Adjusting the operating direction of the one-hand control device's handle to control a functional or working movement of the implement depending on its orientation is no longer necessary. This also enables simplified and quick handling and thus the execution of the required work.
[0008] Advantageously, the first and second working areas together extend over a circumference of 360°. This allows the entire possible rotation range for aligning the implement around a rotation axis of the attachment to be covered.
[0009] Preferably, the first and second working areas are of equal circumference and preferably have an angle of 180°. This allows for a simple division of the entire rotation range by 360°.
[0010] In particular, it is provided that a dividing line between the first and the second working area is formed in the attachment axis or parallel to the attachment axis of the attachment, about which the attachment is pivotally mounted on the arm of the excavator. The first working area can, for example, be aligned opposite to the extension of the arm. The second working area can, for example, extend in the direction of the arm. If a bucket with a tool is provided as the working device and the tool of the bucket points into the second working area with an attachment facing the underside of the arm, the bucket can be used as a so-called backhoe bucket. If the working device is pivoted through 180°, for example, and the tool of the bucket is provided with an attachment pivoted towards the underside of the arm, the tool of the working device points into the first working area.This allows the implement to be used as a front shovel. These two differing angular positions are detected by the angle detection device, and a signal is sent to the control circuit for each one. The control circuit processes the change between the two working ranges and switches the control of the swivel movement of the attachment around the stick while the handle is operated in the same direction to control a working movement of the implement. With a known direction of operation of the handle of the one-hand operating device for digging, the operator can control the digging regardless of the orientation of the implement. There is no need to rethink how to operate the one-hand operating device depending on the orientation of the implement.
[0011] Preferably, the control circuit comprises a control block from which a rotary drive of the attachment device for controlling the rotary movement of the implement can be hydraulically or electrically controlled via a control circuit. The rotary drive can comprise either a hydraulically or electrically driven motor. The control signals are output accordingly from the control block.
[0012] Furthermore, it is preferably provided that the control block of the control circuit hydraulically or electrically controls at least one working cylinder for controlling the pivoting movement of the attachment device about the attachment axis on the boom with a control circuit. Furthermore, it is preferably provided that the control block of the control circuit can be hydraulically or electrically controlled by the one-hand operating device with a further control circuit.
[0013] Advantageously, the control circuit provided between the one-hand operating device and the control block can be hydraulically designed and operates with a pilot pressure. This pilot pressure is, for example, significantly lower than the working pressure if the pivoting movement of the attachment and / or the rotary movement of the rotary drive is hydraulically controlled by the control block. This hydraulic control circuit between the one-hand operating device and the control block has the advantage that, during the control of a working movement of the implement, feedback can be provided to the handle of the one-hand operating device, so that the operator can feel whether, for example, the implement is running at a standstill or encountering increased resistance when controlling a working movement.
[0014] The at least one angle detection device is advantageously designed as an angle encoder, displacement sensor or as an incremental encoder or the like.
[0015] The invention, as well as further advantageous embodiments and developments thereof, are described and explained in more detail below with reference to the examples shown in the drawings. The features shown in the description and the drawings can be used individually or in any combination according to the invention. They show:
[0016] Figure 1 is a schematic side view of an excavator with a working device,
[0017] Figure 2 is a perspective view of an attachment device for connecting to a boom of the excavator for receiving the working device according to Figure 1, Figure 3 is a schematic side view of the attachment device according to Figure 2,
[0018] Figure 4 is a schematic view of a control system for the excavator according to Figure 1,
[0019] Figure 5 is a perspective view of a one-handed operating device for the control according to Figure 4,
[0020] Figure 6 is a schematic side view of the arm with the attachment as a backhoe bucket in a first working position,
[0021] Figure 7 is a schematic view of the bucket according to Figure 6 in a second working position,
[0022] Figure 8 is a schematic view of the arm with the working tool as a bucket in a first working position, and
[0023] Figure 9 is a schematic side view of the face bucket according to Figure 8 in another working position.
[0024] Figure 1 shows a schematic side view of an excavator 11. The excavator 11 comprises a base machine 13 with a boom 12, which is articulated at the end to a stick 14. The boom 12 is moved up and down by a lifting cylinder 19. The boom 12 comprises at least one stick cylinder 18 for controlling a pivoting movement of the stick 14. At least one pressure cylinder 16 is provided on the stick 14, by means of which an attachment device 21 provided on the stick 14 can be controlled. At the end of the stick 14, the attachment device 21 is pivotally mounted in an attachment axis 17. This attachment device 21 can comprise a rotating device 22 with a rotary drive 24 and a coupling, in particular a quick-change device 23. The rotating device 22 comprises a drive housing 66. The rotary drive 24 enables the quick-change device 23 to rotate relative to the drive housing 66 in a rotation axis 26.A work tool 25 is provided for interchangeable use on the quick-change device 23. The quick-change device 23 has a first changer half 41, which is provided on the work tool side, and a second changer half 42, which is provided on the rotary drive 24. The second changer half 42 comprises at least one controllable latch 56. After positioning a latch receptacle 59 on the first latch bolt 55 of the first changer half 41, the latch 56 can engage behind the second latch bolt 55 of the first changer half 41 and connect and lock the first and second changer halves 41, 42. Such a quick-change device is known, for example, from DE 20 2021 101 016 U1.
[0025] To control a pivoting movement of the attachment device 21, a pivot kinematics system 27 is provided. This system comprises a deflector 28, which is pivotally connected to the stem 14 at one end via a deflector axis 29. The pivot kinematics system 27 further comprises a coupling 31, which is connected at one end to the deflector 28 via a common pivot axis 35. At the opposite end, the coupling 31 engages a coupling device 33. This coupling device 33 is a component of the attachment device 21 or is mounted on the attachment device 21. The drive housing 66 preferably has a cover surface extending at least in sections, on which the coupling device 33 is provided. The pressure cylinder 16, in particular a piston rod of the pressure cylinder 16, engages the pivot axis 35 of the pivot kinematics system 27.
[0026] Figure 2 shows a perspective view of the attachment device 21. Figure 3 shows a schematic side view of this attachment device 21 according to Figure 2.
[0027] The coupling device 33 consists of two cheeks 36 arranged at a distance from one another. The cheeks 36 can be connected to at least one connecting plate 34 which extends between the cheeks 36. The at least one connecting plate 34 can rest against an upper side of the rotating device 22 and can preferably be releasably fastened thereto. Each cheek 36 comprises a coupling bearing point 37 and an attachment bearing point 38. The coupling bearing point 37 and the attachment bearing point 38 are arranged offset in height from one another. The attachment bearing point 38 is recessed relative to the coupling bearing point 37. The attachment bearing point 38 can also be offset towards a rotation plane 39 of the rotating device 22 or lie in this rotation plane 39. The attachment bearing point 38 is offset laterally outwards relative to the attachment device 21, in particular the rotating device 22, or is assigned to an end face of the rotating device 22.
[0028] The rotating device 22 further comprises a rotary union 71, through which hydraulic lines can be passed through the rotating device 22 in order to be coupled to a working device 25. This can be used to control, for example, a shear, a gripper, or another drive such as a vibrating drive or the like.
[0029] The quick-change device 23, on which the attachment 25 is interchangeably mounted, enables a rotational movement about the rotation axis 26 by controlling the rotation device 22. This rotational movement can comprise 360°. The rotation axis 26 is preferably oriented perpendicular to the attachment axis 17. The detection of a positioning and / or an orientation of the working device 25 arranged on the quick-change device 23 relative to the attachment 21, in particular the drive housing 66 of the attachment 21, is advantageously carried out by at least one angle detection device 40, which is provided on or in the attachment 21. The at least one angle detection device 40 can also be provided on the rotary drive 24 or connected or coupled to it. This angle detection device 40 communicates with the control circuit 44 of a controller 43, which is explained in more detail below in Figure 4.
[0030] To detect the orientation of the working device 25 relative to the attachment 21 by the at least one angle detection device 40, the maximum rotation range of 360° about the rotation axis 26 is divided into a first working range 46 and a second working range 47. The first and second working ranges 46, 47 are preferably identical in terms of their respective angular extent. In particular, they each comprise a rotation range of 180°. A dividing line 48, in particular a fictitious dividing line, is thus formed between the first and second working ranges 46, 47. This fictitious dividing line 48 lies in the attachment axis 17 or is offset parallel thereto and preferably oriented perpendicular to the rotation axis 26.Advantageously, the first working area 46 extends from a point 51, which corresponds, for example, to a three o'clock position, via a point 52, which corresponds, for example, to a six o'clock position, to a point 53, which corresponds to a nine o'clock position. The second working area 47 starts, for example, from point 53, i.e., the nine o'clock position, and extends via a point 54, for example, a twelve o'clock position, to point 51, which represents the three o'clock position.
[0031] The orientation of the working device 25 is assigned to the first or second working area 46, 47 by the angle detection device 30 depending on the detected rotational position relative to the dividing line 48.
[0032] Figure 4 schematically shows the control system 43 for the excavator 11. This control system 43 comprises a control circuit 44 and a one-hand operating device 61. This allows the work device 25 to be controlled. The control circuit 44 comprises a first control circuit 73 on the operator side between a control block 45 and the one-hand operating device 61. On the drive side, a second control circuit 74 is provided between the control block 45 and the attachment 21. Furthermore, a third control circuit 76 is provided between the control block 45 and the pressure cylinder 16. The first control circuit 73 is preferably designed as a hydraulic circuit that operates with a pilot pressure or pilot control pressure. For example, when a handle 62 is deflected from an initial position 67 into an actuating position, the one-hand operating device 61 actuates at least one control valve, whereby a pilot pressure acts on the control block 45.
[0033] Alternatively, the first control circuit 73 can also be designed as an electrical control circuit. For example, a deflection of the handle 62 from an initial position 67 in an actuation direction 68 is detected by electrical sensors, and corresponding signals are transmitted to the control block 45. The controller 43 can also be designed wirelessly to communicate with the integrated components.
[0034] The signals supplied to the control block 45 by the operator are converted and forwarded depending on the configuration of the second and third control circuits 74, 76. Provision can be made for the control block 45 to control the pressure cylinder 16 via a hydraulic circuit to trigger a pivoting movement of the attachment device 21 about the attachment axis 17. Provision can also be made for the control block 45 to control the rotary drive 24 of the attachment device 21 via the second control circuit 74, which is designed as a hydraulic circuit. In this case, the rotary drive 24 comprises a hydraulic motor. Alternatively, an electrical control of the rotary drive 24 can be provided instead of the hydraulic circuit, provided an electric motor is used.
[0035] If the first and second control circuits 73, 74 or the first and third control circuits 73, 76 or all control circuits 73, 74, 76 are designed as hydraulic circuits, the working pressures of the second and / or third control circuits 74, 76 are higher than a pilot pressure in the first control circuit 73.
[0036] Figure 5 shows the one-hand operating device 61 in perspective and enlarged. The handle 62 is provided on a console 63, movable by at least one degree of freedom, preferably pivotable and / or tiltable. This console 63 is connected to the first control circuit 73. One or more operating elements 64 can be provided on the handle 62. These can be buttons, rockers, lockable pushbuttons, and / or switches. Additionally, a display 65 can also be provided on the handle 62 to show the operator individual symbols representing the operating mode or operating state.
[0037] The handle 62 can preferably be deflected from its starting position 67 or a neutral position into an actuating direction 68, for example in the Y direction. When controlling such an actuating direction 68, for example, a pivoting movement of the attachment 21 from a first working position shown in Figure 6 into a further working position of the working device 25 shown in Figure 7 can be controlled. In this embodiment, the working device 25 is aligned with the second working area 47. In this case, the actuating direction 68 controls a digging movement of the working device 25, which is preferably used as a backhoe bucket.
[0038] Figure 8 shows a schematic side view of the handle according to Figure 6 with a working tool 25 arranged thereon. In the embodiment according to Figure 8, the working tool 25 is rotated 180° relative to the arrangement in Figures 6 and 7. The working tool is aligned with the first working area 46. The working tool 25 is used as a backhoe for digging.
[0039] If, when the working device 25 is oriented according to Figure 8, the handle 62 is actuated in the actuation direction 68, this would result in the working device 25 being actuated and pivoted for a digging movement, as in the embodiment according to Figures 6 and 7, but without enabling digging in. This changed orientation of the working device 25 in the first working area 46 according to Figure 8 compared to that in Figure 6 is now detected by the angle detection device 30 and at least a corresponding signal is forwarded to the control circuit 44. In this case, a change in the actuation direction of the third control circuit 76 advantageously takes place in the control block 45, so that with a constant actuation direction 68 of the handle 62, a pivoting movement of the attachment device 21 and thus a working movement of the working device 25 is actuated starting from Figure 9 to Figure 8.In this case, the control of the pivoting movement of the attachment 21 is rotated by 180°. This again allows the working device 25 to dig when aligned with the second first working area 46.
[0040] If the operator of the excavator 11 controls a rotary movement of the working device 25 with the rotary drive 24, the current position and orientation of the working device 25 is detected by the angle detection device 30 and passed on to the control circuit 44. Upon a change in the orientation of the working device 25 from the first working area 46 to the second working area 47 or vice versa, a change in the control of the third control circuit 76 occurs automatically in the control circuit 44, such that, with the actuation direction 68 of the handle 62 remaining the same, a reversed working movement of the working device 25 is controlled.
Claims
Claims Control for an excavator (11) for controlling a working device (25), with a one-hand operating device (61) which comprises a handle (62) which is movable by at least one degree of freedom and / or has at least one operating element (64), with a control circuit (44) which can be controlled by the one-hand operating device (61), - wherein the working device (25) is connectable to an attachment device (21) and the attachment device (21) comprises a rotary drive (24) which controls the rotary movement of the working device (25) about a rotation axis (26) of the attachment device (21), - wherein the control circuit (44) controls at least one rotary movement of the working device (25) depending on its control by the handle (62), and - wherein the control circuit (44) controls a pivoting movement of the attachment device (21) about an attachment axis (17) about which the attachment device (21) is pivotally mounted on the handle (14), characterized in that - that for detecting an angular position of the working device (25) relative to the attachment device (21), which is controlled by a rotary movement of the working device (25) about the rotation axis (26) by the rotary drive (24), at least one Angle detection device (40) is provided which communicates with the control circuit (44), and - that when the orientation of the working device (25) changes by a rotational movement about the rotation axis (26) from a first working range (46) to a second working range (47) or vice versa, which can be detected by the angle detection device (40), a change in the control of the pivoting direction of the attachment device (21) can be controlled by the control circuit (44) with the same actuation direction (68) of the handle (62). Control according to claim 1, characterized in that the first and second working ranges (46, 47) together extend over a circumference of 360°. Control according to claim 1 or 2, characterized in that the first and second working ranges (46, 47) extend over the same angular range, preferably each comprising an angular range of 180°.Control system according to one of the preceding claims, characterized in that a dividing line (48), in particular a fictitious dividing line (48), is formed between the first and second working areas (46, 47), which lies in the attachment axis (17) or offset parallel to the attachment axis (17) of the attachment device (21). Control system according to one of the preceding claims, characterized in that the control circuit (44) comprises a control block (45), from which the rotary drive (24) for the rotary movement of the working device (25) can be controlled hydraulically or electrically. Control system according to claim 5, characterized in that the control block (45) of the control circuit (44) hydraulically or electrically controls at least one working cylinder (16) for controlling the pivoting movement of the attachment device (21) about the attachment axis (17). Control system according to claim 5 or 6, characterized in that the control block (45) of the control circuit (44) can be hydraulically or electrically controlled by the one-hand operating device (61). Control system according to claim 7, characterized in that the one-hand operating device (61) and the control block (45) are connected to a first hydraulic control circuit (73) which operates with a pilot pressure. Control system according to one of the preceding claims, characterized in that a working device (25) designed as a bucket can be used as a front bucket when oriented in the first working area (46) and as a backhoe bucket when oriented in the second working area (47).Control according to one of claims 6 to 9, characterized in that during the rotary movement of the working device (25) about the rotation axis (26), a change from the first working area (46) to the second working area (47) or from the second working area to the first working area (47, 46) can be detected by the angle detection device (30) and an automatic switchover in the control of the control circuit (76) for actuating the pressure cylinder (16) can be controlled by the control block (45). Control according to one of the preceding claims, characterized in that the at least one angle detection device (40) is designed as an angle encoder or an incremental encoder.