Bucket shakeout mechanism for electro-hydraulic machines

Information

  • Patent Grant
  • 6725105
  • Patent Number
    6,725,105
  • Date Filed
    Thursday, November 30, 2000
    23 years ago
  • Date Issued
    Tuesday, April 20, 2004
    20 years ago
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.
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Number Date Country
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