Information
-
Patent Grant
-
6725105
-
Patent Number
6,725,105
-
Date Filed
Thursday, November 30, 200023 years ago
-
Date Issued
Tuesday, April 20, 200420 years ago
-
Inventors
-
Original Assignees
-
Examiners
- Khatri; Anil
- Barnes; Crystal J.
Agents
- Estabrook; Hancock
- Charlton; Diana L
- Greene; Jeff A
-
CPC
-
US Classifications
Field of Search
US
- 700 85
- 700 282
- 700 250
- 700 257
- 700 61
- 700 63
- 700 172
- 700 186
- 700 187
- 700 188
- 700 40
- 701 50
- 172 2
- 414 699
- 060 445
-
International Classifications
-
Abstract
The present invention is a control system for conditioning movement of a work implement during a work cycle. In one embodiment, the control system comprises an electronic-hydraulic valve connected to the work implement and a computer system having a central processing unit and a memory device. The control system further comprises a mode control module stored on the memory device. The mode control module is generally adapted to detect whether the control handle of the work implement is signaling for operating in a smooth mode or an abrupt mode, and to output a control signal to the electronic-hydraulic valve to control operation of the work implement during the smooth mode or the abrupt mode. The mode control module comprises a smooth mode module and an abrupt mode module. The smooth mode module and the abrupt mode module are adapted to optimize movement of the work cycle during the smooth mode, and abrupt mode, respectively.
Description
TECHNICAL FIELD
The invention relates generally to excavating machines and, more particularly, to a control system for an excavating machine.
BACKGROUND ART
When using electro-hydraulics on machines with buckets, the software is programmed to provide for smooth operation. When activating the valve through which such operation is controlled, the acceleration and deceleration of the bucket is reduced to give smooth starts and stops, improved stability, and less fatigue on structures and hydraulics. However, this causes a problem when trying to clean out the bucket.
With conventional machines, the operator ordinarily cycles the bucket back and forth in rapid succession to shake the dirt out. The present invention is directed to overcoming one or more of the problems or disadvantages associated with the prior art.
DISCLOSURE OF THE INVENTION
The present invention is a control system for conditioning movement of a work implement during a work cycle. In one embodiment, the control system comprises an electric hydraulic valve connected to the work implement and a computer system having a central processing unit and a memory device. The control system further comprises a mode control module stored on the memory device. The mode control module is generally adapted to detect whether the work implement is operating in a smooth mode or an abrupt mode, and to output a control signal to the electronic-hydraulic valve to control operation of the work implement during the smooth mode or the abrupt mode. The mode control module comprises a smooth mode module and an abrupt mode module, and a decisional mode. The decisional mode is generally adapted to detect whether the work implement is operating in the smooth mode or the abrupt mode. The smooth mode module and the abrupt mode module are adapted to optimize movement of the work cycle during the smooth mode and abrupt mode, respectively.
BRIEF DESCRIPTION OF THE DRAWINGS
The following description of the invention will better understood with reference to the accompanying drawings in which:
FIG. 1
is a high level block diagram showing the architecture of the control system of the present invention;
FIG. 2
is a high level flow chart showing the operation of a first embodiment of the mode control module of the present invention;
FIG. 3
is a high level flow chart showing the operation of a second embodiment of the mode control module of the present invention; and
FIG. 4
is a high level flow chart showing the operation of a third embodiment of the mode control module of the present invention.
BEST MODE FOR CARRYING OUT THE INVENTION
Referring to
FIG. 1
, there is illustrated a control system
100
for conditioning movement of a work implement (not shown) during a work cycle. The work implement may take the form of a variety of electrical and/or mechanical devices such a backhoe excavating machine or an end loader.
The control system
100
generally comprises a computer system
102
operable in response to movement of a joy stick
158
to control an electronic hydraulic valve
104
. The computer system
102
and an electronic hydraulic valve
104
operate to control movement of the individual joints of a work implement using, for example, a swing hydraulic cylinder
106
, a boom hydraulic cylinder
108
, a stick hydraulic cylinder
110
, and a bucket hydraulic cylinder
112
or loader lift/loader tilt cylinder, depending upon the particular configuration of the work implement with which the control system
100
is being used. For purposes of illustration, the control system
100
will be described with reference to its use with a loading bucket, but it is not to be limited thereto.
The electronic hydraulic control valve
104
generally comprises an implement control valve
114
having a swing spool
116
and a swing spool actuator,
118
to control movement of a swing casting or joint (not shown) of the work implement. The electronic hydraulic control valve
104
further comprises a boom spool
120
and a boom spool actuator
122
to control movement of a boom (not shown) of the work implement. The electronic hydraulic control valve
104
further comprises a stick spool
124
and a stick spool actuator
126
to control movement of a stick (not shown) of the work implement. The electronic hydraulic control valve
104
further comprises a bucket spool
128
and a bucket spool actuator
130
to control movement of a bucket (not shown) of the work implement.
The swing hydraulic cylinder
106
comprises a two-way fluid line
132
and a two-way fluid line
134
connected through the swing spool
116
of the implement control valve
114
.
The boom hydraulic cylinder
108
comprises a two-way fluid line
136
and a two-way fluid line
138
connected through the boom spool
120
of the implement control valve
114
.
The stick hydraulic cylinder
110
comprises a two-way fluid line
140
and a two-way fluid line
142
connected through the stick spool
124
of the implement control valve
114
.
The bucket or loader lift/loader tilt hydraulic cylinder
112
comprises a two-way fluid line
144
and a two-way fluid line
146
connected through the bucket spool
128
of the implement control valve
114
.
The computer system
102
comprises a central processing unit
148
and a memory device
150
. The computer system
102
further comprises a mode control module
152
stored on the memory device
150
. The mode control module
152
comprises a smooth mode module
154
and an abrupt mode module
156
. While the use of a central processing unit
148
is preferred, it is to be understood that certain valves used in hydraulic systems may have a programmable module mounted on the valve, thereby eliminating the need for a central processing unit by using a memory device and/or mode control module mounted on such individual valves.
Referring to
FIG. 2
, a high level block diagram shows the operation of a first embodiment of the mode control module
152
. As indicated by a start block
202
, the mode control module
152
is enabled. Control is passed along a path
204
to execution block
206
. As indicated by execution block
206
, the mode control module
152
is adapted to sense the input level of the joy stick pod or lever as a function of the number of zeros crossed (X), the criteria threshold (I), and the time (Z) for each element of the work implement, namely, the swing casting, boom, stick, bucket or loader lift/loader tilt. Control is passed along a path
208
to a decisional block
210
.
As indicated by decisional block
210
, if the input level for the swing casting, boom, stick, and/or bucket is equivalent to a level indicative of an abrupt mode, then control is passed along a path
212
to the execution block
214
. As indicated by execution block
214
, the abrupt mode module
156
is adapted to condition movement of the work implement according to the abrupt mode as shown where spool displacement(s) is plotted against lever angle (A).
As indicated by decisional block
210
, if the input level for the swing casting, boom, stick, and/or bucket is not equivalent to a level indicative of an abrupt mode, then control is passed along a path
216
to the execution block
218
. As indicated by execution block
218
, the smooth mode module
154
is adapted to condition movement of the work implement according to the smooth mode as shown wherein spool displacement(s) is plotted against lever angle (A). Control is then passed along a path
220
to a finish block
222
. The mode control module
152
senses the movement of the control handle or lever
158
and sends a signal to the solenoid valve of the electronic hydraulic valve
104
of how much and how fast to shift the swing spool
116
, boom spool
120
, stick spool
124
and/or the bucket spool
128
. Use of the electronic hydraulic valve
104
allows reduction in shock in the control system
100
reducing the speed at which the various spools shift. In other words, the curve of handle displacement versus fluid flow will not be a straight line, but a gradual curve so the acceleration of the implement is not so rapid. In the first embodiment, the operator continues to cycle the joy stick lever
158
in the abrupt mode as long as needed.
Referring to
FIG. 3
, a high level block diagram shows the operation of a second embodiment of the mode control module
152
. As indicated by a start block
302
, the mode control module
152
is enabled. Control is passed along a path
304
to execution block
306
. As indicated by execution block
306
, the mode control module
152
is adapted to sense the input level of the joy stick pod or lever as a function of the number of zeros crossed (X), the criteria threshold (I) and the time (Z) for each element of the work implement, namely, the swing casting, boom, stick and bucket. Control is passed along a path
308
to a decisional block
310
.
As indicated by decisional block
310
, if the input level for the swing casting, boom, stick, and/or bucket is equivalent to a level indicative of an abrupt mode, then control is passed along a path
312
to the execution block
314
. As indicated by execution block
314
, the abrupt mode module
156
is adapted to condition movement of the work implement according to the abrupt mode as shown where spool displacement(s) is plotted against lever angle (A). Control is then passed along a path
324
to an execution block
326
where the mode control module
152
keeps track of the time that the abrupt mode module
156
is enabled. The amount of time the abrupt mode module
156
is enabled can be varied.
Returning to decisional block
310
, if the input level for the swing casting, boom, stick, and/or bucket is not equivalent to a level indicative of an abrupt mode, then control is passed along a path
316
to an execution block
318
. As indicated by execution block
318
, the smooth mode module
154
is adapted to condition movement of the work implement according to the smooth mode as shown wherein spool displacement(s) is plotted against lever angle (A). Control is then passed along a path
320
to a finish block
322
. Unlike the first embodiment, in the second embodiment the operation of the abrupt mode is controlled by a time limit.
Referring to
FIG. 4
, a high level block diagram shows the operation of a first embodiment of the mode control module
152
. As indicated by a start block
402
, the mode control module
152
is enabled. Control is passed along a path
404
to execution block
406
. As indicated by execution block
406
, the mode control module
152
is adapted to sense the input level of the joy stick pod or lever as a function of the number of zeros crossed (X), the criteria threshold (I), and the time (Z) for each element of the work implement, namely, the swing casting, boom, stick and bucket. Control is passed along a path
408
to a decisional block
410
. As indicated by decisional block
410
, if the input level for the swing casting, boom, stick, and/or bucket is equivalent to a level indicative of an abrupt mode, then control is passed along a path
412
to an execution block
414
. As indicated by execution block
414
, the abrupt mode module
156
is adapted to condition movement of the work implement according to the abrupt mode as shown where spool displacement(s) is plotted against lever angle (A).
As indicated by decisional block
410
, if the input level for the swing casting, boom, stick, and/or bucket is not equivalent to a level indicative of an abrupt mode, then control is passed along a path
416
to an execution block
418
. As indicated by execution block
418
, the smooth mode module
154
is adapted to condition movement of the work implement according to the smooth mode as shown wherein spool displacement(s) is plotted against lever angle (A). Control is then passed along a path
420
to a finish block
422
. In the third embodiment of the mode control module
152
, the operator can control the time duration of the abrupt mode.
INDUSTRIAL APPLICABILITY
The control system
100
of the present invention may be used in a wide variety of industrial applications where it is desirable to condition movement of a work implement between a smooth mode and an abrupt mode. Other aspects and features of the present invention can be obtained from a study of the drawings, the disclosure, and the appended claims.
Claims
- 1. A control system for conditioning movement of a bucket during a work cycle, the control system comprising:(a) an electronic controlled hydraulic valve connected to the bucket and operable in response to an activating signal from an implement controller to effect movement of the bucket; (b) said control system including a memory device operably connected to said electronic controlled hydraulic valve for controlling the operation thereof; and (c) a mode control module stored on said memory device, said mode control module automatically operating said bucket, in response to an input from said implement controller, in a one of a smooth mode and an abrupt mode and to output a control signal to said electronic controlled hydraulic valve to control operation of said bucket during in a one of said smooth mode and said abrupt mode.
- 2. The control system of claim 1 wherein said control system includes a central processing unit for controlling the operation of said electronic controlled hydraulic valves.
- 3. The control system of claim 1 wherein said electronic controlled hydraulic valve includes a memory device.
- 4. The control system of claim 1 further including an activation device that determines said mode of operation by coupling the speed of movement and number of activations thereof to said control module.
- 5. The control system of claim 1, wherein said mode control module includes a smooth mode module and an abrupt mode module.
- 6. The control system of claim 5, wherein said smooth mode module and said abrupt mode module condition movement of the bucket according to a control curve having spool displacement versus said activation device displacement.
- 7. The control system of claim 5, wherein said abrupt mode module is enabled for a pre-determined period of time.
- 8. A method for conditioning movement of a bucket having an electronic controlled hydraulic valve coupled thereto for controlling the movement of said work implement in response to an operator generated activating signal from an implement controller during a work cycle, the method comprising the steps of:(a) automatically operating said bucket in a one of a smooth mode and an abrupt mode; and (b) outputting a control signal to said electronic hydraulic valve to control operation of said bucket during one of said smooth mode and said abrupt mode.
- 9. The method of claim 8, further including the step of disenabling said abrupt work mode after a pre-determined period of time.
- 10. The method of claim 8 wherein said operator generated activating signal is generated by an operator's movement of a joy stick controller.
- 11. The control system of claim 1, wherein operation of the bucket in said abrupt mode controls movement of the bucket to perform a shakeout operation.
US Referenced Citations (16)
Foreign Referenced Citations (1)
Number |
Date |
Country |
3231544 |
Mar 1984 |
DE |