Device and method for controlling the position for working devices of mobile machines
The invention relates to a device for controlling the position for work devices ( 41 ) of mobile machines ( 40 ). The inventive device comprises a measuring device ( 1,2 ) for measuring an angle (α) which is formed between a level ( 42 ) that is determined by the position of the work device ( 41 ) and the direction of the gravitational force (g). The inventive device also comprises an angle transmitter ( 5 ) for predetermining an angle (α′) which is formed between a level ( 42 ) that is determined by the position of the work device ( 41 ) and the direction of the gravitational force (g). The inventive device further comprises a controller ( 3, 4, 6–16 ) for controlling the angle (α) between the level ( 42 ) of the work device ( 41 ) and the direction of the gravitational force (g) in such a way that the measured angle (α) matches the predetermined angle (α′).
1. Device for regulating the position of working mechanisms ( 41 ) of mobile machines ( 40 ) with a measuring system ( 1 , 2 ) for measuring an angle (α) subtended between a plane ( 42 ) defined by the position of the working mechanism ( 41 ) and the direction of gravitational force (g), an angle detector ( 5 ) for pre-setting an angle (α′) subtended between a plane ( 42 ) defined by the position of the working mechanism ( 41 ) and the direction of gravitational force (g), and a regulating system for regulating the angle (α) between the plane ( 42 ) of the working mechanism ( 41 ) and the direction of gravitational force (g) so that the measured angle(α) is brought into alignment with the pre-set angle (α′),
characterised in that
another measuring system ( 29 ) is provided for measuring the acceleration and/or delay of the mobile machine ( 40 ) and in that the pre-set angle (α′) is adjusted so that the plane ( 42 ) defined by the position of the working mechanism ( 41 ) extends perpendicular to the resultants (r) of the gravitational force (g) and the measured inverse acceleration force (b′), wherein the device for regulating the position of the working mechanisms ( 41 ) compensates for inclinations longitudinally and transversely to the direction of displacement of the machine ( 40 ), a first actuator ( 12 ) being actuated to apply a position correction in a first spatial direction (x) and a second actuator ( 16 ) being actuated to apply a position correction in a second spatial direction (y).
2. Device as claimed in claim 1 ,
characterised in that
the regulating system has a comparator unit ( 6 ) for comparing the measured angle (α) with a preset angle (α′) and at least one electromagnetic control valve actuated by the comparator unit ( 6 ), which acts on a hydraulic actuator.
3. Device as claimed in claim 2 ,
characterised in that
the comparator unit ( 6 ) is provided in the form of comparators ( 3 , 4 ).
4. Device as claimed in claim 2 ,
characterised in that
the comparator unit ( 6 ) is a digital control unit.
5. Device as claimed in one of claims 1 to 4 ,
characterised in that
the regulating system has a filter unit which eliminates a natural vibration (f R ) induced by the control running time (τ).
6. Device as claimed in claim 5 ,
characterised in that
the filter unit is provided as a band-stop filter for the natural vibration (f R ) and/or multiples thereof.
7. Device as claimed in claim 6 ,
characterised in that
the filter unit is a digital filter with a band-stop characteristic.
8. Device as claimed in claim 1 ,
characterised in that
a measuring system ( 1 ) is provided for measuring the angle (α x ) in the first spatial direction (x) and a second measuring system ( 2 ) for measuring the angle (α x ) in the second spatial direction (y).
9. Device for regulating the position of working mechanisms ( 41 ) of mobile machines ( 40 ) with a measuring system for measuring an angle (α) subtended between a plane ( 42 ) defined by the position of the working mechanism ( 41 ) and the direction of gravitational force (g), an angle detector ( 5 ) for pre-setting an angle (α′) subtended between a plane ( 42 ) defined by the position of the working mechanism ( 41 ) and the direction of gravitational force (g), and a regulating system for regulating the angle (α) between the plane ( 42 ) of the working mechanism ( 41 ) and the direction of gravitational force (g) so that the measured angle (α) is brought into alignment with the pre-set angle (α′),
characterised in that
another measuring system ( 29 ) is provided for measuring the acceleration and/or delay of the mobile machine ( 40 ),
wherein the pre-set angle (α′) is adjusted so that the plane ( 42 ) defined by the position of the working mechanism ( 41 ) extends perpendicular to the resultants (r) of the gravitational force (g) and the measured inverse acceleration force (b′);
wherein regulating the position of working mechanisms ( 41 ) of mobile machines ( 40 ) compensates for inclinations longitudinally and transversely to the direction of displacement of the machine ( 40 ), and a first actuator ( 12 ) being actuated to apply a position correction in a first spatial direction (x) and a second actuator ( 16 ) being actuated to apply a position correction in a second spatial direction (y).
10. Device as claimed in claim 9 ,
characterised in that
a measuring system ( 1 ) is provided for measuring the angle (α x ) in the first spatial direction (x) and a second measuring system ( 2 ) for measuring the angle (α x ) in the second spatial direction (y).
11. Device as claimed in claim 9 ,
characterised in that
the regulating system has a comparator unit ( 6 ) for comparing the measured angle (α) with a pre-set angle (α′) and at least one electromagnetic control valve actuated by the comparator unit ( 6 ), which acts on a hydraulic actuator.
12. Device as claimed in claim 11 ,
characterised in that
the comparator unit ( 6 ) is provided in the form of comparators.
13. Device as claimed in claim 11 ,
characterised in that
the comparator unit ( 6 ) is a digital control unit.
14. Device as claimed in claim 9 ,
characterised in that
the regulating system has a filter unit which eliminates a natural vibration (f R ) induced by the control running time (τ).
15. Device as claimed in claim 14 ,
characterised in that
the filter unit is provided as a band-stop filter for the natural vibration (f R ) and/or multiples thereof.
16. Device as claimed in claim 15 ,
characterised in that
the filter unit is a digital filter with a band-stop characteristic.
17. Device as claimed in claim 9 ,
characterised in that
the device for regulating the position of working mechanisms ( 41 ) of mobile machines ( 40 ) compensates for inclinations longitudinally and transversely to the direction of displacement of the machine ( 40 ), a first actuator ( 12 ) being actuated to apply a position correction in a first spatial direction (x) and a second actuator ( 16 ) being actuated to apply a position correction in a second spatial direction (y).
18. Device as claimed in claim 17 ,
characterised in that
a measuring system ( 1 ) is provided for measuring the angle (α x ) in the first spatial direction (x) and a second measuring system ( 2 ) for measuring the angle (α x ) in the second spatial direction (y).
19. Method of regulating the position of working mechanisms ( 41 ) of mobile machines ( 40 ) having the following method steps:
measuring an angle (α) subtended between a plane ( 42 ) defined by the position of the working mechanism ( 41 ) and the direction of gravitational force (g),
setting an angle (α′) subtended between a plane ( 42 ) defined by the position of the working mechanism ( 41 ) and the direction of gravitational force (g) and
regulating the angle (α) between the plane ( 42 ) of the working mechanism ( 41 ) and the direction of gravitational force (g) so that the measured angle (α) is brought into alignment with the pre-set angle (α′),
characterised in that
the pre-set angle (α′) is adjusted so that the plane ( 42 ) defined by the position of the working mechanism ( 41 ) extends perpendicular to the resultants (r) of the gravitational force (g) and inverse acceleration force (b′);
wherein regulating the position of the working mechanisms ( 41 ) of mobile machines ( 40 ) compensates for inclinations longitudinally and transversely to the direction of displacement of the machines ( 40 ), actuating a first actuator ( 12 ) to apply a positional correction in a first spatial direction (x), and actuating a second actuator ( 16 ) to apply a positional correction in a second spatial direction (y).
20. Method as claimed in claim 19 ,
characterised in that
there is provided a regulating system including a comparator unit ( 6 ) for comparing the measured angle (α) with a pre-set angle (α′) and at least one electromagnetic control valve actuated by the comparator unit ( 6 ), which acts on a hydraulic actuator.
21. Method as claimed in claim 20 ,
characterised in that
the comparator unit ( 6 ) is provided in the form of comparators ( 3 , 4 ).
22. Method as claimed in claim 21 ,
characterised in that
the regulating system has a filter unit which eliminates a natural vibration (f R ) induced by the control running time (τ).
23. Method as claimed in claim 22 ,
characterised in that
the filter unit is provided as a band-stop filter for the natural vibration (f R ) and/or multiples thereof.
24. Method as claimed in claim 23 ,
characterised in that
the filter unit is a digital filter with a band-stop characteristic.
25. Method as claimed in claim 20 ,
characterised in that
the comparator unit ( 6 ) is a digital control unit.
26. Method as claimed in claim 19 ,
characterised in that
regulating the position of working mechanisms ( 41 ) of mobile machines ( 40 ) compensates for inclinations longitudinally and transversely to the direction of displacement of the machine ( 40 ), a first actuator ( 12 ) being actuated to apply a position correction in a first spatial direction (x) and a second actuator ( 16 ) being actuated to apply a position correction in a second spatial direction (y).
27. Method as claimed in claim 26 ,
characterised in that
a measuring system ( 1 ) is provided for measuring the angle (α x ) in the first spatial direction (x) and a second measuring system ( 2 ) for measuring the angle (α x ) in the second spatial direction (y).