公开(公告)号：US06211471B1

公开(公告)日：2001-04-03

申请号：US09238272

申请日：1999-01-27

Applicant: David J. Rocke ,  Marvin K. Palmer

Inventor： David J. Rocke ,  Marvin K. Palmer

IPC: G01G1908

CPC classification number: G01G19/083

Abstract: A control system including a weight sensing mechanism for sensing weight of the material in a bucket of an earth moving machine and a logic mechanism for receiving the weight signals for the material in the bucket from the weight sensing mechanism and then determining a total summed weight of the material for a total number of capture, lift, and dump cycles needed to capture, lift and dump a predetermined weight of the material with the bucket and then generating various command signals based on the weight signal from each capture, lift and dump cycle and the total summed weight for the total number of capture, lift and dump cycles. In addition, there is a hydraulic implement controller for controlling hydraulic fluid flow to the hydraulic tilt cylinder and the hydraulic lift cylinder in response to the command signals thereby controllably actuating the bucket of the earthmoving machine in order to capture, lift and dump material.

Abstract translation: 一种控制系统，包括用于感测土方机械的桶中的材料的重量的重量检测机构和用于从重量检测机构接收用于桶中的材料的重量信号的逻辑机构，然后确定总重量 用于捕获，提升和转​​储周期的总数的材料用于捕获，提升和转​​储具有桶的预定重量的材料，然后基于来自每个捕获，提升和转​​储循环的重量信号生成各种命令信号，以及 捕获，提升和转​​储周期总数的总和重量。 此外，还有一个液压工具控制器，用于响应于命令信号控制液压流体流向液压倾斜缸和液压提升缸，从而可控地致动挖土机的铲斗以便捕获，提升和卸载材料。

公开(公告)号：US06321153B1

公开(公告)日：2001-11-20

申请号：US09590874

申请日：2000-06-09

Applicant: David J. Rocke ,  Andrew G. Shull

Inventor： David J. Rocke ,  Andrew G. Shull

IPC: G06F770

CPC classification number: E02F3/434

Abstract: A method for adjusting a process for automated bucket loading of a work machine having an engine and a work implement. The work implement includes a bucket. The method includes the steps of determining when the bucket engages a pile of material, initiating the automated bucket loading process in response to the bucket engaging the pile of material, determining an actual engine speed relative to a full engine speed, and adjusting a lift velocity command to the work implement, the lift velocity command adjustment being made as a function of a comparison of the actual engine speed to full engine speed.

Abstract translation: 一种用于调整具有发动机和工作装置的作业机器的自动铲斗装载过程的方法。 工作工具包括一个桶。 该方法包括以下步骤：确定铲斗何时与一堆材料接合，响应于铲斗接合一堆材料而启动自动铲斗装载过程，确定相对于整个发动机转速的实际发动机转速，以及调节提升速度 作为实际发动机转速与全速发动机转速的比较的函数进行升程速度指令调整。

公开(公告)号：US5528843A

公开(公告)日：1996-06-25

申请号：US292536

申请日：1994-08-18

Applicant: David J. Rocke

Inventor： David J. Rocke

IPC: E02F3/43 ,  E02F9/20 ,  G05D1/02

CPC classification number: E02F3/434

Abstract: In one aspect of the present invention, an automatic control system for loading a bucket of a wheel loader is disclosed. The system includes a pressure sensor that produces pressure signals in response to the hydraulic pressures associated with one of the lift and tilt cylinders. A microprocessor receives the pressure signals, compares at least one of the pressure signals to a predetermined one of a plurality of pressure setpoints, and produces lift and tilt command signals in response to the pressure comparisons. Finally, an electrohydraulic system receives the lift command signals and controllably extends the lift cylinder to raise the bucket through the material, and receives the tilt command signals and controllably extends the tilt cylinder to tilt the bucket to capture the material.

Abstract translation: 在本发明的一个方面，公开了一种用于装载轮式装载机的铲斗的自动控制系统。 该系统包括压力传感器，其响应于与提升和倾斜缸中的一个相关联的液压而产生压力信号。 微处理器接收压力信号，将至少一个压力信号与多个压力设定点中的预定压力信号进行比较，并响应于压力比较而产生升降指令信号。 最后，电动液压系统接收提升命令信号并且可控制地延伸提升缸，以通过材料升高铲斗，并且接收倾斜命令信号并且可控制地延伸倾斜缸以倾斜铲斗以捕获材料。

公开(公告)号：US5493798A

公开(公告)日：1996-02-27

申请号：US260427

申请日：1994-06-15

Applicant: David J. Rocke ,  Lonnie J. Devier ,  Dale B. Herget

Inventor： David J. Rocke ,  Lonnie J. Devier ,  Dale B. Herget

IPC: E02F9/20 ,  E02F3/43 ,  F15B21/02 ,  E02F3/34

CPC classification number: E02F3/437

Abstract: According to one aspect of the present invention, a control system for automatically controlling a work implement of an excavating machine through an excavation work cycle is provided. The work implement includes a boom, stick and bucket, each being controllably actuated by at least one respective hydraulic cylinder, the hydraulic cylinders containing pressurized hydraulic fluid. The control system includes an operator control element adapted to produce an operator control signal indicative of a desired velocity of one of the hydraulic cylinders. An electrohydraulic valve actuates predetermined ones of the hydraulic cylinders to perform an excavation work cycle in response to the control signal. A sensor produces signals indicative of the forces associated with at least one of the hydraulic cylinders. A logic device receives the operator control signals, compares the control signal magnitudes to predetermined control signal magnitudes, and determines operating parameters associated with predetermined portions of the work cycle. Finally, the logic device receives the operator control signals and force signals, and responsively produces command signals to the electrohydraulic valve to automatically perform subsequent work cycles in accordance with the determined operating parameters.

Abstract translation: 根据本发明的一个方面，提供一种用于通过挖掘工作循环自动控制挖掘机的作业工具的控制系统。 工作装置包括悬臂，棒和铲斗，每个都由至少一个相应的液压缸可控制地驱动，液压缸包含加压的液压流体。 控制系统包括适于产生指示液压缸中的一个的期望速度的操作者控制信号的操作者控制元件。 电动液压阀致动预定的液压缸，以响应于控制信号执行挖掘工作循环。 传感器产生指示与至少一个液压缸相关联的力的信号。 逻辑设备接收操作员控制信号，将控制信号幅度与预定的控制信号幅度进行比较，并且确定与工作周期的预定部分相关联的操作参数。 最后，逻辑装置接收操作员控制信号和力信号，并且响应地产生指示信号给电动液压阀，以根据确定的操作参数自动执行后续工作循环。

公开(公告)号：US06385519B2

公开(公告)日：2002-05-07

申请号：US09738465

申请日：2000-12-15

Applicant: David J. Rocke

Inventor： David J. Rocke

IPC: E02F343

CPC classification number: E02F3/434

Abstract: A method and system for automatically controlling a work implement of an earthmoving machine, the work implement including a bucket, to capture, lift and dump material, the bucket being controllably actuated by a hydraulic tilt cylinder and at least one hydraulic lift cylinder, based on discrete values of torque is disclosed. The control system includes a torque indicating mechanism that provides a representative value for an amount of torque applied to the wheels of the earthmoving machine, an electronic controller for receiving the representative torque value from the torque indicating mechanism and determining if the representative value of torque received from the torque indicating mechanism exceeds a first predetermined value and then responsively generating a first command signal, and a hydraulic implement controller for controlling hydraulic fluid flow to the hydraulic tilt cylinder in a predetermined sequence activated in response to the first command signal with the hydraulic tilt cylinder controllably actuating the bucket of the earthmoving machine in order to remove material from a pile.

Abstract translation: 一种用于自动控制土方机械的工作装置的方法和系统，所述工作装置包括铲斗，以捕获，提升和卸载材料，所述铲斗由液压倾斜缸和至少一个液压提升缸可控地驱动，基于 公开了转矩的离散值。 所述控制系统包括转矩指示机构，该转矩指示机构为施加到所述移土机的车轮的扭矩量提供代表值;电子控制器，其从所述转矩指示机构接收所述代表性的转矩值，并且确定是否接收到的转矩的代表值 从所述扭矩指示机构超过第一预定值，然后响应地产生第一命令信号;以及液压工具控制器，用于以按照所述第一命令信号启动的预定顺序控制液压流体流向所述液压倾斜缸，所述预定顺序具有液压倾斜 气缸可控地致动挖土机的铲斗，以便从桩中去除材料。

公开(公告)号：US06205687B1

公开(公告)日：2001-03-27

申请号：US09339457

申请日：1999-06-24

Applicant: David J. Rocke

Inventor： David J. Rocke

IPC: E02F502

CPC classification number: E02F3/844 ,  E02F3/431 ,  E02F3/432 ,  E02F3/434 ,  E02F9/2029

Abstract: An apparatus for determining a condition indicative of a level of difficulty of excavation of a material engaged by a work machine having a work implement. A controller receives a first signal during a dig pass of the work machine, and determines a material condition indicative of a level of difficulty of excavation during the dig pass as a function of the first signal, and transmits an output signal during the dig pass as a function of the material condition.

Abstract translation: 一种用于确定表示由具有作业工具的作业机械接合的材料的挖掘难度的条件的装置。 控制器在作业机器的挖掘过程中接收第一信号，并且根据第一信号确定表示挖掘过程中的挖掘难度的材料状况，并且在挖掘过程中将输出信号作为 材料状态的功能。

公开(公告)号：US06064933A

公开(公告)日：2000-05-16

申请号：US79928

申请日：1998-05-15

Applicant: David J. Rocke

Inventor： David J. Rocke

IPC: E02F3/43

CPC classification number: E02F3/434

Abstract: An electrohydraulic control system for loading a bucket of an earthmoving machine includes sensors for sensing when the machine is crowding a pile of material to be loaded. A command signal generator monitors the sensed "crowd" parameters to trigger one of a learning or playback mode for hydraulic cylinder command signals when the parameter indicates pile contact.

Abstract translation: 用于装载挖土机的铲斗的电动液压控制系统包括用于感测何时机器正在挤压一堆待加载材料的传感器。 当参数表示桩接触时，命令信号发生器监视感测到的“人群”参数以触发液压缸命令信号的学习或重放模式之一。

公开(公告)号：US5461803A

公开(公告)日：1995-10-31

申请号：US217034

申请日：1994-03-23

Applicant: David J. Rocke

Inventor： David J. Rocke

IPC: E02F3/43 ,  E02F9/20 ,  E02F9/26 ,  E02F3/32

CPC classification number: E02F3/437

Abstract: A control system for automatically controlling a work implement of an excavating machine through a machine work cycle is disclosed. The work implement includes a boom, stick and bucket, each being controllably actuated by at least one respective hydraulic cylinder. A position sensor produces respective position signals in response to the respective position of the boom, stick and bucket. A pressure sensor produces respective pressure signals in response to the associated hydraulic pressures associated with the boom, stick, and bucket hydraulic cylinders. A microprocessor receives the position and pressure signals, and produces a command signal. An electrohydraulic system receives the command signal and controllably actuates predetermined ones of the hydraulic cylinders to perform the work cycle. The microprocessor determines the external force applied to the bucket and the angle of the bucket force, compares the angle of the bucket force to a predetermined value, and responsively determines when a digging portion of the work cycle is complete.

Abstract translation: 公开了一种用于通过机器工作循环自动控制挖掘机的工作装置的控制系统。 工作装置包括一个悬臂，棒和铲斗，每个都由至少一个相应的液压缸可控制地驱动。 位置传感器响应于悬臂，棒和铲斗的相应位置产生相应的位置信号。 压力传感器响应于与悬臂，棒和铲斗液压缸相关联的相关液压而产生相应的压力信号。 微处理器接收位置和压力​​信号，并产生一个命令信号。 电液系统接收命令信号并且可控制地致动预定的液压缸以执行工作循环。 微处理器确定施加到铲斗的外力和铲斗力的角度，将铲斗力的角度与预定值进行比较，并且响应地确定工作循环的挖掘部分何时完成。

公开(公告)号：US5446980A

公开(公告)日：1995-09-05

申请号：US216386

申请日：1994-03-23

Applicant: David J. Rocke

Inventor： David J. Rocke

IPC: E02F3/43 ,  E02F9/20 ,  E02F3/00 ,  G06F15/20

CPC classification number: E02F3/439

Abstract: A control system automatically controls a work implement of an excavating machine through a machine work cycle. The work implement includes a boom, stick and bucket, each being controllably actuated by at least one respective hydraulic cylinder. A position sensor produces respective position signals in response to the respective position of the boom, stick and bucket. A microprocessor receives the position signals, compares at least one of the boom, stick and bucket position signals to a predetermined one of a plurality of position setpoints. A pressure sensor produces respective pressure signals in response to the associated hydraulic pressures associated with the boom, stick, and bucket hydraulic cylinders. The microprocessor receives the pressure signals, and compares at least one of the boom, stick and bucket pressures to a predetermined one of a plurality of pressure setpoints. An operator interface produces a material condition setting, the material condition setting being representative of a predetermined condition of the excavating soil. The logic device produces a command signal in response to the pressure and position comparisons, the command signal having a magnitude responsive to the material condition setting. An electrohydraulic system receives the command signal and controllably actuates predetermined ones of the hydraulic cylinders to perform the work cycle.

Abstract translation: 控制系统通过机器工作循环自动控制挖掘机的作业工具。 工作装置包括一个悬臂，棒和铲斗，每个都由至少一个相应的液压缸可控制地驱动。 位置传感器响应于悬臂，棒和铲斗的相应位置产生相应的位置信号。 微处理器接收位置信号，将至少一个起重臂，斗杆和铲斗位置信号与多个位置设定点中的预定的一个进行比较。 压力传感器响应于与悬臂，棒和铲斗液压缸相关联的相关液压而产生相应的压力信号。 微处理器接收压力信号，并将起重臂，杆和铲斗压力中的至少一个比较为多个压力设定点中的预定的一个。 操作员接口产生材料状况设置，材料条件设置代表挖掘土壤的预定条件。 逻辑装置响应于压力和位置比较而产生命令信号，命令信号具有响应材料状态设置的幅度。 电液系统接收命令信号并且可控制地致动预定的液压缸以执行工作循环。

公开(公告)号：US5968103A

公开(公告)日：1999-10-19

申请号：US779262

申请日：1997-01-06

Applicant: David J. Rocke

Inventor： David J. Rocke

IPC: E02F9/20 ,  E02F3/43 ,  F15B11/20 ,  G06F7/70 ,  G06F19/00

CPC classification number: E02F3/432

Abstract: An electrohydraulic control system for loading a bucket of an earthmoving machine includes sensors for producing machine parameter signals representative of how strongly the machine is crowding the pile of material to be loaded. A command signal generator monitors crowd factors corresponding to the sensed parameters to determine when the bucket contacts the pile, then generates bucket lift hydraulic cylinder command signals to maintain a traction force. The command signal generator next determines from the crowd factors when the pile is engaged near the machine capacity, then generates bucket tilt hydraulic cylinder command signals in proportion to the monitored crowd factors to rack the bucket at rates calculated to efficiently capture the material.

Abstract translation: 用于装载挖土机的铲斗的电动液压控制系统包括用于产生机器参数信号的传感器，其代表机器挤压待堆载材料的强度。 命令信号发生器监测与感测参数对应的人群因素，以确定铲斗何时接触桩，然后产生铲斗提升液压缸命令信号以维持牵引力。 接下来，命令信号发生器根据人群因素在接近机器容量的情况下确定，然后根据受监控的人群因素产生铲斗倾斜液压缸指令信号，以便以高效率捕获材料的速率对铲斗进行铲斗。