• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    01/06 2012 THUR 16:56 FAX ~ - use Stockholm A 011/011 SUMMARY The invention relates to a control device for a remote-controlled, electrically driven work machine (1) which can be driven as a vehicle and supply power via a cable (2. 2 ') intended to be connected to an electric distribution net, and which working machine comprises an arm (10) maneuverable in a vertical plane which is rotatable for pivoting in a horizontal plane around a vertical axis (C) of the machine and in its free spirit eveedd that only one working tool (14), an operating drawer (4) intended for remote control of the work machine, wherein an operator (3) walking next to the work machine stands via cable or wirelessly, in connection with a control computer (25) which forms part of a CAN bus based in the work machine. programmable hydraulic control system (22) comprising an electrically driven pump means (19) and an electrically controlled menu control valve (21a, 21b) which delivers drive to the working means (30, 31, 32, 33) of the working machine, It comprises a pair of control levers (4a, 4b) as well as associated buttons (4d, 4e) and knobs which, by actuation, allow the working machine to be rearranged in different functions or working positions of the control levers. According to the invention, the working machine (1) can be switched from a normal operating position to an operating mode with limited power, the volume flow to the implementing means (30, 31, 32, 33) of the working machine being limited by parameter looping of the control curves (26a, 26b) which the programmable CAN the bus-based hydraulic system (22) uses for the control of the maneuver / entilence (21 a, 21 b) open ratio for the passage of hydraulic flow to the executive body. (fi- 3)
    公开号:SE1151042A1
    申请号:SE1151042
    申请日:2011-11-07
    公开日:2013-05-08
    发明作者:Gunnar Bystedt；Arne Danielsson
    申请人:Brokk Ab；
    IPC主号:
    专利说明:

    15 20 25 30 35 2 driving the various executive means of the work vehicle for adjustment and maneuvering of machine parts becomes dimensioning for the hydraulic system. In addition, there is also the energy requirement for driving a work tool supported by the control arm, which means that the pump means, with respect to the work vehicle's total energy requirement, is normally selected with an appropriate degree of overcapacity to also be able to operate the work tool.
    When the work machine is to be used in the intended place, the problem often arises that the place in question lacks a low-voltage electricity distribution network that can deliver the required power to the work machine, ie. the mains provides the required mains voltage, for example 380-400V, but cannot supply the mains current required by the work machine. For example, the problem often occurs that the available electricity distribution network on site is limited in that it only offers 16 A in main fuse while the work machine requires a significantly higher fuse to be able to run, for example 32 A. This significantly delays or complicates the use of the work machine or in the worst case makes it impossible. , in cases where the electricity distribution network on site is simply not judged to be able to deliver the required power outlet with the following set of safety requirements. It should be understood that it is extremely disruptive if the work machine cannot be used immediately on site, even in cases where it is possible to modify or adapt the electricity distribution network so that it can supply the required current to the work machine. It should be understood that the need for greater mains power and thus higher fuse numbers than what exists at the current location of the electricity distribution network not only means cost increases as such, but also places significantly greater demands on the external electricity network with requirements for required conductor area, protective conductors etc. provide driving power to the on-site electricity distribution network.
    An object of the present invention is therefore to provide a control device for a remote-controlled work machine of the above-mentioned type which eliminates the above-mentioned problems and makes it possible to use the work machine immediately at a workplace, even in cases where the current electricity distribution network is not adapted to or can to supply the required current. The object of the invention is achieved in that the device has obtained the features and characteristics stated in claim 1.
    The essential idea behind the invention consists in arranging for the working machine's hydraulic drive system the possibility of two alternative operating conditions with selection of an operating mode with limited power, whereby volume flow to the working machine's executive member is limited by parameter adjustment of the control curves used by the hydraulic system. to executive bodies. As a result of selecting the operating mode with limited power, the work machine will operate just as usual with the required working pressures in the hydraulic system, but the executives will perform their adjusting and operating work at a slightly lower speed through the reduced flow volume to consumers.
    In the following, an embodiment of the invention is described in more detail with reference to the accompanying drawings, in which; fl gi shows a side view of a remote-controlled electrically driven work machine according to the invention which at the end of its maneuverable arm carries a work tool in the form of a hydraulic hammer and which is remotely controlled by an operator walking next to the work machine, fl gi schematically shows a circuit diagram of a hydraulic system remote-controlled electrically driven work machine according to the present invention, Ligi shows in more detail the operating principle of a hydraulic system included in the present work machine and associated control structure for parameter adjustment of the work machine hydraulic control circuit by selecting suitable valve control curve for limiting volume flow to the work machine executive body. control box, as seen by an operator when driving the work machine, Fig. 4B shows in the form of a summary the functions of the control box in working position and symbols for switching the work machine from normal operation to operating condition with “limited ef fencing mode ”. Fig. 1 shows a remote-controlled electrically driven work machine 1 designed as a demolition robot which is supplied with power via a cable 2. The work machine is energy-intensive and in order to be able to supply it with the required electric power, the electricity distribution network supplies a mains current of 32 A. The network is also equipped with fuses to meet such power requirements. 2 'denotes a cable from an electricity distribution network that can only supply a limited mains current, in this case 16 A. It should thus be understood that this alternative electricity network is unable to supply the amount of energy required by the work machine and that neither try to connect and run the work machine to said other mains with the power cable 2 ”is pointless because the 16 A fuses would trip.
    A remote-controlled work machine of the present type is manufactured and sold under the trademark "BROKK" and in which machine type an operator 3 walking next to the machine controls and maneuvers the machine by means of a portable control box 4 or remote control supported on the body via a belt or harness. The control box 4 comprises two control levers, one of which is located on the left 4a and the other on the right 4b and the control box has a series of buttons and knobs which by actuation and adjustment can cause the work machine to perform desired movements or by entering data the work machine is provided with necessary instructions . The working machine 1 generally comprises a chassis 5 with an upper part 6 and a lower part 7. The upper part 6 is rotatably mounted on the lower part 7 for pivoting in a horizontal plane about a vertical axis C. The lower part 7 of the working machine 1 is provided with a propulsion device 8a comprising caterpillar tracks 8b. The work machine has a number of support legs 7b for lifting the work machine from a surface.
    O: leg besk 111107 111107 besk.docx 10 15 20 25 30 35 4 The described work machine 1 is somewhat simplified and is shown with fewer components than is normal for the principle sketch to be clear. The working machine 1 has an operable arm 10 which is supported on the rotatable upper part 6 and which for operating the arm comprises four hydraulic functions which, viewed from the chassis of the working machine, include pivoting of a number of mutually articulated arm parts 11, 12, 13. At the end of the arm a work tool 14 attached via a so-called quick-release bracket 15. Said arm parts 11, 12, 13 pivot relative to each other about substantially horizontal axes A.
    As best seen in Figs. 1 and 4 A, the operator 3 is connected via the control unit 4 to the work machine via cable or wirelessly, for example via Bluetooth or radio control. Via the control box 4, the work machine 1 can be switched to different working modes (working modes) ”as illustrated in Fig. 4B. When changing working position, the control box 4 is adjusted in a so-called setup mode. Changing of operating mode can only take place when the control box 4 is in said setting position, the selected operating mode being displayed by means of symbols lit on a screen 4c or display on the control box 4. According to the present invention, in said setting mode an operating condition with power limitation can also be activated. by setting the on or off position; (On, Off). In this force-limiting position, the volume flow of hydraulic medium to the working member of the work machine is reduced. That the force-limiting position is activated, in position on (On), is indicated on the display 4c of the control box 4. Fig. 2 shows a circuit diagram 22 for a hydraulic system intended for controlling the working machine. As can be seen from the circuit diagram, the working machine 1 is equipped with a three-phase electric motor 19 which drives a hydraulic pump 20 with fixed displacement and with which pump all the implement members are supplied with hydraulic medium. In this simplified embodiment, the control arm 10 and the first hydraulic cylinder 30 (boom cylinder), second and third hydraulic cylinder (arm cylinder) 31, respectively, are only described in more detail. 32, and a fourth hydraulic cylinder 33 (breaking or turning cylinder for the work tool). Between each executive member 30, 31, 32, 33 and the pump 20 there is a control valve 21a, 21b which controls the hydraulic fluid from the hydraulic pump 20 to the executive member so that the working machine can be operated in the desired manner by actuating the two control levers 4a, 4b of the control box 4 as well. The movements of the control arm 10 apply to the operation of the work machine 1 on the caterpillar tracks 8. 23 generally denotes a control structure included in the hydraulic system for controlling the implementing members 30, 31, 32, 33 of the work machine. The solid lines denote hydraulic lines and the dashed lines lines for electrical signals. As described above, the hydraulic pump 20 is arranged to supply the operating means 10 of the control arm 10 with hydraulic medium. The function of the first flow control valve 21a of the hydraulic system 23 is to regulate hydraulic flow to a hydraulically driven work tool, in this case a breaker 14, and is hydraulically connected to the pump 20 via a prioritization valve 24 and O: | eg besk 111107 1 11 107 besk.docx 10 15 20 25 30 35 5 electrically to a computer unit 25 included in the CAN system 25. The prioritization valve 24 is in the present exemplary embodiment arranged to always prioritize hydraulic flow to the work tool (the hydraulic breaker) before other consumers. That is, if the breaking hammer 14 and the executive members 30, 31, 32, 33 of the operating arm 10 are used simultaneously, it is the breaking hammer that dominates or has priority. The executive members are activated slowly and the control arm moves a little slower. This in itself well-known prioritization is performed completely hydraulically.
    The hydraulic system 23 further comprises a second flow regulating valve 20b in the form of a control arm valve which is arranged to regulate the hydraulic flow to the implementing means of the working machine, i.e. the first cylinder 31 (boom cylinder), the second and the third arm cylinder 32, 33, and the fourth cylinder 34 constitute the breaking or turning cylinder for the supported working tool 14. By the action of a slide included in the respective control valve 21a, 21b (not shown) you can get a certain flow out to an executive body via the lines. The slide is electrically operated and moves a certain distance in the valve 21a, 21b when a lever 4a, 4b on the control box 4 is actuated. It should be understood that the movement of the slide in the valve 21a, 21b is proportional to the lever stroke 4a, 4b. The computer unit 25 is connected to said first and second control valves 21a, 21b for controlling them. The levers 4a, 4b, as well as the control box 4 as a whole are connected to the computer unit 25. The hydraulic system 23 is of the load sensing type, which means that the pump 20 only delivers fluid when needed and where it is needed. As mentioned above, the volume flow of hydraulic medium for each control valve 21a, 21b in proportion to the lever stroke and the possibility of controlling and regulating this proportionality in the CAN-type hydraulic system 23 are described in more detail below. The normal case, however, is that said levers give a hydraulic flow from the control valve 21a, 21b which is proportional to the stroke. As mentioned, an advantage of this known type of CAN-type hydraulic system that uses an electrical control and monitoring system with built-in software is that the hydraulic system can be programmed to behave in different ways. Programming takes place via the control computer 25, in which case the valve control curves stored in it determine the slide equipment (open degree) when the lever is actuated. As usual, the lever stroke 4a, 4b controls the speed of an outgoing cylinder or the rotation of an engine when actuated. The software makes it possible that through so-called parameter adjustment change and adjust the control curves used by the hydraulic system 23. The control curves can be adjusted so that the proportionality between lever stroke and the movement of the slide in the control valve 21a, 21b changes and thus also the volume flow of hydraulic medium delivered to the respective executive means 30, 31, 32, 33.
    It has proved possible to solve the problems of inadequate electricity distribution networks and networks which are unable to supply the required amount of energy to work machines of this type by means of the control system software creating an operating mode selectable for the operator such as O: leg besk 111107 111107 besk.docx 10 15 20 25 30 35 6 offers lower power. With the work machine switched to the lower power position, the lever action, which the operator perceives as normal, will result in the control valve 21a, 21b only delivering a reduced volume flow to the executive means. That is, in the event that the electricity distribution network on site cannot deliver the required power (current), the work machine can in a simple way be converted by the operator to an operating condition where the work machine can be operated with reduced power. This selectable power mode with reduced hydraulic medium volume is obtained by parameter adjustment of the valve control curves stored in the hydraulic system 23 control computer 25 so that the proportionality between lever stroke and slide movement in the control valve 21a, 21b is experienced as normal for the operator, but means the volume flow of hydraulic medium to the executive limited. To make it easier for the operator 3, the work machine 1 is set to a reduced power position by means of selectable menus in the control box 4.
    Fig. 3 shows the hydraulic system 23 in more detail, and as can be seen here, 22 denotes the circuit diagram of electro-hydraulic valve blocks which, together with the control computer 25, controls and regulates the movement of the first and second executive members of the work machine, i.e. the first cylinder 30 (boom cylinder), the second arm cylinder 31. The electrical operation of the valves 21a, 21b is controlled via the computer unit 25. Any other hydraulic cylinders included in the operating arm 10 are similarly controlled by additional valve sections in the block, a further block is indicated by dotted contour line in Fig. 3. One of the two control levers 4a included in the control box 4 forms a first signal sensor for the operator's ordering to the computer unit 25. With the electronic control lever 4a control signals are generated which are fed to the computer unit 25 and from this via the control valve 22b valve control curve 26a, 26b determined amount of hydraulic flow to the respective executive members 30, 31. The control lever 4a communicates with the control unit 22 and other components, respectively, via an integrated CAN interface. Likewise, parameterization of program functions can be performed via the CAN interface, for example with a portable service computer connected to the control computer 25. Switching the work machine 1 from normal operation to operating mode for power limitation, "power-limiting" in position on is activated by the operator using the menus on the control unit 4 and which commands are received via digital inputs in the control computer 25. CAN signals and commands on the digital inputs is processed in task and main task and starts and operates control routines in the control computer 25. The program routines control via PWM outputs proportional magnets in the electrohydraulic valves in blocks 21a, 21b. In the computer unit 25, valve control curves 26a, 26b in the form of software for each of the respective executive members 30, 31 and possibly other executive members are stored.
    The control process for normal operation and operation with power limitation is divided into two groups, namely a group with pre-programmed determined valve control curves 26a, 26b for each executive cylinder 31, 32 Based on selected O: | eg beSk 111107 111107 beSk.d0cX 10 15 20 7 operating mode with the pre-programmed determined valve control cones 26a, 26b for each executive cylinder, the movements are controlled. Furthermore, there are correction factor curves 27a resp. 27b which has the task of parameter-adjusting (adjusting) the valve control curves 26a, 26b by displacing them in a suitable manner so that the outflow of hydraulic medium from the control valve 22a, 22b is reduced in a predetermined manner. The correction factor curves 27a, 27b are set based on the calculated volume of flow that the hydraulic system can deliver at a certain maximum available amount of energy. The correction factor curves 27a, 27b compensate and correct the valve control curves 26a, 26b so that the executive means 30, 31 of the control arm 10 and any other means can perform their adjusting and maneuvering movements at a limited volume flow.
    Fig. 4 shows with symbols in which working modes the machine is switched. With the work machine 1 switched to the position for position selection of driving the work machine 1 with reduced power (power-limiting), the symbol for selecting "Operating mode" is displayed, whereby the screen 4c lights up and when activating the function in position "On" or (On) this is indicated on control box 4 display 4c.
    The present invention is not limited to what is described above and that shown in the drawings, but can be changed and modified in a number of different ways within the scope of the inventive concept stated in the appended claims.
    O: | eg besk 111107 111107 besk.docx
    权利要求:
    Claims (1)
    [1]
    1. 0 15 20 25 30 35 1. 8 PATENT REQUIREMENTS Control device for a remotely controlled, electrically driven work machine (1) which is drivable as a vehicle and is supplied with power via an electrical cable (2, 2 ') intended to be connected to an electricity distribution network, and which working machine comprises a lever (10) operable in a vertical plane which is rotatable for pivoting in a horizontal plane about a vertical axis (C) of the machine and at its free end intended to carry a working tool (14), a control box (4) intended for remote control of the work machine, wherein an operator (3) walking next to the work machine is via cable or wireless, in connection with a control computer (25) which forms part of a CAN bus based programmable hydraulic control system (22) comprising an electrically driven pump means (19) and an electrically controlled control valve (21a, 21b) which delivers drive flow to the implementing means (30, 31, 32, 33) of the work machine, the control box comprising a pair of control levers (4a, 4b) and knobs pps (4d, 4e) and knobs which, by actuation, allow the working machine to be adjusted in different functions or working positions of the control levers, characterized in that the working machine (1) is adjustable from a normal operating position to a limited operating mode. means (30, 31, 32, 33) are limited by parameter adjustment of the control curves (26a, 26b) used by the programmable CAN bus based hydraulic system (22) to control the open ratio of the control valve (21a, 21b) for passage of hydraulic flow to the executive means. Control device according to claim 1, wherein parameter adjustment of the valve control curves (26a, 26b) takes place by the action of correction factor curves (27a, 27b) which are stored as software in the control computer (25). Control device according to one of Claims 1 to 2, in which case a change from a normal operating mode of the work machine to an operating mode with limited power takes place directly via selectable menus and buttons (4d, 4e) in the control box (4). Control device according to one of Claims 1 to 3, in which the valve control curves (26a, 26b) are adapted so that the proportionality between the lever stroke and the movement of a slide correction factor curves (27a, 27b) included in (21a, 21b) so that the volume flow of hydraulic medium which the control valve changes by the influence of delivered to a respective executive body (30, 31, 32, 33) is reduced. Control device according to one of Claims 1 to 4, in which the correction factor curves (27a, 27b) stored as software in the control computer (25) are adapted so that when selecting the operating mode with limited power allow a work machine to be connected and powered by an electrical network that is only secured for the output of a maximum of sixteen (S16 A) amperes of mains current. O: leg besk 111107 1 11107 besk.docx
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    同族专利:
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    EP2589709A2|2013-05-08|
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    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    EP1883871B1|2005-05-27|2009-05-13|The Charles Machine Works Inc|Determination of remote control operator position|
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    US9162558B2|2009-06-15|2015-10-20|Polaris Industries Inc.|Electric vehicle|
    US8833066B2|2010-01-18|2014-09-16|Illinois Tool Works Inc.|Low speed hydraulic control for fine control of hydraulic cranes|SE539241C2|2015-10-19|2017-05-23|Husqvarna Ab|Adaptive control of hydraulic tool on remote demolition robot|
    SE542526C2|2015-10-19|2020-06-02|Husqvarna Ab|Energy buffer arrangement and method for remote controlled demolition robot|
    SE542525C2|2015-10-19|2020-06-02|Husqvarna Ab|Automatic tuning of valve for remote controlled demolition robot|
    CN105544642A|2015-12-29|2016-05-04|徐州赫思曼电子有限公司|Remote control system and method for small excavator|
    SE542230C2|2016-06-09|2020-03-17|Husqvarna Ab|Improved arrangement and method for operating a hydraulically operated boom carrying a tool in a carrier|
    US11029681B2|2019-03-04|2021-06-08|Deere & Company|Semi-autonomous payload retrieval system|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1151042A|SE536147C2|2011-11-07|2011-11-07|Control device for a remotely controlled, electrically operated work machine|SE1151042A| SE536147C2|2011-11-07|2011-11-07|Control device for a remotely controlled, electrically operated work machine|
    EP12191290.1A| EP2589709A3|2011-11-07|2012-11-05|Control device for a remote-controlled, electrically-driven work machine|
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