U.S. patent number 3,698,580 [Application Number 04/887,013] was granted by the patent office on 1972-10-17 for control system for material handling equipment.
This patent grant is currently assigned to International Harvester Company. Invention is credited to Ernest C. Carlson, Donald R. Eastman, Arthur J. Howells, Jr., Marvin D. Jennings, Edward G. Sheets.
United States Patent |
3,698,580 |
Carlson , et al. |
October 17, 1972 |
CONTROL SYSTEM FOR MATERIAL HANDLING EQUIPMENT
Abstract
A control system for a hydraulic motor actuated material
handling mechanism including a source of fluid power, a directional
flow control valve interposed between the source of fluid power and
the hydraulic motor, a bridge circuit including a source of
electrical energy and having a first variable impedance branch
varied by a command control lever and a second variable impedance
branch associated with the flow control valve, comparator means
connected to the output of the bridge circuit for detecting and
amplifying an unbalance in the bridge circuit and means
interconnected between the comparator and the directional flow
control valve for controlling said valve in a manner corresponding
to command movement of the variable impedance branch.
Inventors: |
Carlson; Ernest C.
(Schwetzingen, DT), Howells, Jr.; Arthur J. (Western
Springs, IL), Jennings; Marvin D. (Naperville, IL),
Eastman; Donald R. (Lockport, IL), Sheets; Edward G.
(Plainfield, IL) |
Assignee: |
International Harvester Company
(Chicago, IL)
|
Family
ID: |
25390269 |
Appl.
No.: |
04/887,013 |
Filed: |
December 22, 1969 |
Current U.S.
Class: |
414/695.8; 414/4;
414/687; 74/471XY; 414/5 |
Current CPC
Class: |
E02F
9/22 (20130101); Y10T 74/20201 (20150115) |
Current International
Class: |
E02F
9/22 (20060101); E02f 003/28 () |
Field of
Search: |
;214/1CM,138
;137/625.46 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
Primary Examiner: Forlenza; Gerald M.
Assistant Examiner: Forsberg; Jerold M.
Claims
We claim:
1. In a vehicle having a hydraulic motor actuated material-handling
mechanism, a control system for effecting movement of said motor
comprising:
1. a source of fluid energy on said vehicle,
2. a directional flow control valve including a reciprocating spool
and interconnected between said source and the hydraulic motor for
controlling flow to and from the hydraulic motor upon displacement
of said spool from a normally closed position,
3. command means on said vehicle capable of a directional movement
analogous to a movement of said mechanism,
4. electric circuit means having two variable impedances, one of
said impedances associated with and responsive to actuation of said
spool, the other impedance being associated with and responsive to
movement of said command means,
5. detector means interconnectible across said impedances for
detecting a voltage difference in the respective electrical signals
developed across said impedances,
6. electro-hydraulic means interconnected between said detector
means and said flow control valve for actuating said flow control
means to displace said spool in a direction and for a distance
corresponding to the direction and distance movement of said
command means so as to nullify any voltage difference in said
impedances and to effect a corresponding directional movement of
said material handling mechanism at a rate determined by the
distance of movement of said command means.
2. An apparatus as recited in claim 1 in which:
1. each of said impedances is a potentiometer, one of said
potentiometers having its resistance varied by the spool of said
valve and said other potentiometer having its resistance controlled
by said command means.
3. An apparatus as recited in claim 2 in which said
electro-hydraulic means comprises:
1. expansible chamber means on said spool of said flow control
valve for effecting reciprocation thereof, and
2. electrically operated hydraulic means supported by said vehicle
for directing fluid to said expansible chamber means to actuate
said spool.
4. An apparatus as recited in claim 1 in which said
electro-hydraulic means comprises:
1. an expansible chamber means operatively associated with said
directional flow control valve for controlling actuation
thereof,
2. an electrically operated hydraulic means for directing fluid
flow to and from said expansible chamber device for actuating said
directional flow control valve, said valve directional flow control
and said expansible chamber device being of such a capacity as to
permit incremental movement of said directional flow control valve
so as to meter hydraulic fluid to and from the hydraulic motor.
5. In a vehicle having a hydraulic motor actuated tool and
hydraulic circuit therefor, a control system for controlling
movement of said motor comprising:
1. flow control valve in said hydraulic circuit having a movable
member therein for controlling the direction and flow rate of
hydraulic fluid,
2. lever means on said vehicle capable of a movement related to a
movement of said tool,
3. circuit means including an electrical source and having a first
variable impedance associated with the movable member of the flow
control valve, and a second variable impedance associated with said
lever means,
4. comparator means interconnected with said circuit means for
detecting and amplifying an unbalance in the respective electrical
signals developed across said variable impedances,
5. electrical means interconnected between said comparator and said
movable member for controlling said movable member in a manner so
as to eliminate said unbalance in said respective electrical
signals.
6. An apparatus as defined in claim 5 in which:
1. said flow control valve includes a reciprocating spool therein
for controlling fluid flow,
2. each of said impedances is a potentiometer, the potentiometer
associated with the flow control valve having its resistance varied
by movement of the spool of said valve and the potentiometer of the
manually variable impedance having its resistance varied by
movement of the lever means.
7. An apparatus as recited in claim 5 in which said electrical
means includes:
1. an expansible chamber device operatively associated with said
flow control valve for actuating its movable member, and
2. an electrically operated hydraulic means for directing fluid
flow to and from said expansible chamber device for actuating said
directional flow control valve, said valve means and said
expansible chamber device being of such a capacity as to permit
incremental movement of said directional flow control valve so as
to meter hydraulic fluid to and from the hydraulic motor.
8. An apparatus as recited in claim 7 in which said electrically
operated hydraulic means comprises:
1. hydraulic valve means interconnected between said hydraulic
circuit and said expansible chamber device, said hydraulic valve
means being responsive to any unbalance in said circuit and
directing fluid to said expansible chamber device so as to
eliminate any unbalance.
9. An apparatus as recited in claim 5 in which said lever means
includes means for permitting movement thereof analogous to
potential movement of the motor actuated tool.
10. In a material handling vehicle having an operator control
station and having a moveable linkage coupled at one end portion to
said vehicle and supporting a work implement at an opposite end
portion, and having a source of hydraulic fluid energy and a
control system comprising:
1. actuating means comprising a manually operable actuating member
located at said operator control station and capable of positional
movement functionally analogous to that of said linkage;
2. directional flow control valve means including a valve member
moveable in opposite directions from a central closed position
which precludes flow of hydraulic fluid energy to said motor for
permitting flow of said hydraulic fluid energy to said motor to
move said linkage in corresponding opposite directions;
3. first sensing means coupled to said manually operable actuating
member for developing a first sensing signal representative of the
position of said actuating member;
4. second sensing means coupled to said moveable linkage for
developing a second sensing signal representative of the position
of said linkage;
5. third sensing means coupled to said valve member for developing
a third sensing signal representative of the position of said valve
member;
6. control means responsive to a differential in amplitude between
said first and third sensing signals attendant movement of said
actuating member from a neutral position for displacing said valve
member in a corresponding direction to permit flow of hydraulic
fluid energy to said motor to initiate movement of said linkage in
a corresponding direction and responsive to said second sensing
signal for gradually restoring said valve member to said closed
position as said linkage moves to a position corresponding to that
of said actuating member.
11. In a material handling vehicle according to claim 10, and
further comprising:
stop means associated with said linkage for establishing adjustable
limit positions of movement for said linkage and at least one
direction of movement thereof.
Description
BACKGROUND OF THE INVENTION
This invention relates to a unique electro-hydraulic or electrical
control system for controlling one or more hydraulic motors. More
specifically the invention concerns a control system for a material
handling mechanism mounted upon a vehicle in which the several
linkages and hydraulic motors of the material handling device may
be easily controlled in a manner to improve cycle times with a
measurable amount of reduced operator fatigue.
DESCRIPTION OF THE PRIOR ART
Material handling apparatuses of the prior art as illustrated by a
front end loader or a backhoe having one or more mechanical
linkages interconnecting the material handling bucket or shovel
with a vehicle, each linkage being controlled by a separate
hydraulic motor, a separate directional flow control valve which in
turn is controlled by a separate lever. For example, backhoes in
production today utilize a separate lever controlling each flow
control valve which separately actuates the boom, rotary actuator,
dipper stick and bucket. Thus four separate levers are utilized to
perform digging operations for the current backhoes, and excellent
dexterity is required on the part of the operator to economically
utilize such devices. Similarly, the prior art utilizes purely
mechanical linkages for controlling directional flow control valves
which actuate the rotary actuator, boom, dipper stick and
bucket.
SUMMARY OF THE INVENTION
Accordingly, the instant invention relates to a novel and unique
electrical control circuit for controlling actuation of these
various linkages of the article-handling equipment. Preferred
embodiments, hereinafter disclosed, incorporate a circuit between a
command lever and the flow control valve in such a manner to easily
control actuation of the flow control valve and is of such simple
construction as to permit utilization of a single lever to operate
several such valves. It is an object of the instant invention to
provide a single lever control system for material-handling
mechanisms in which a plurality of directional flow control valves
and hydraulic motors must be controlled. Similarly, it is an object
of the instant invention to further correlate the direction of
movement of the single control lever with directional movement of
the linkage to be controlled. Not only is such directional movement
correlated to provide a follow-up system, but a unique and novel
position control system is proffered herein. It is a further object
of the instant invention to provide a relatively simple control
system which eliminates the dexterious requirements of operators of
material-handling equipment.
With respect to the control system per se, it is a general object
to provide an economical and easily assembled electrical control
circuit for any hydraulic motor which results in unique operating
characteristics of precise and accurate control of a linkage or
hydraulic motor as well as the ability to accurately meter fluid
through a directional flow control valve. Such a control system may
be easily adapted in fields unrelated to article handling and would
include machine tools and other diverse areas. Finally, it is an
object of the instant invention to provide an electrical control
system for a hydraulic motor in which either a followup system or a
position control system can be readily realized.
DESCRIPTION OF THE DRAWINGS
The manner in which the objects of the instant invention is
attained will be made clear by consideration of the following
specification and claims when taken in conjunction with the
accompanying drawings in which:
FIG. 1 is a perspective view of the rear portion of a vehicle
having mounted thereon a conventional backhoe;
FIG. 2 is a rear elevational view of the directional flow control
valves which are utilized to direct flow to and from the hydraulic
motors actuating the various linkages of the backhoe;
FIG. 3 is an exploded perspective view of the single handle control
utilized to actuate the directional flow control valves which in
turn direct fluid to and from the hydraulic motors;
FIG. 4 is a side elevational view of the rotary actuator of the
backhoe having the boom attached thereto with a schematic
disclosure of the electro-hydraulic control system utilized in
controlling the boom of the backhoe;
FIG. 5 is a schematic view of an electro-hydraulic circuit for
controlling the hydraulic motor which in turn operates the boom of
the backhoe;
FIG. 6 is a side elevational view of the rotary actuator and the
boom of the backhoe attached thereto with a schematic view of an
electro-hydraulic control system which actuates the rotary actuator
in turn controlling rotational movement of the backhoe boom;
FIG. 7 is a schematic view of the electro-hydraulic control system
of FIG. 6;
FIG. 8 is a top view disclosing rotary actuation of the backhoe
unit and its correlated movement of the control handle;
FIG. 9 is a perspective view of a mounting element for the control
lever of FIG. 3; and
FIG. 10 is a schematic view of an additional control circuit.
DETAIL DESCRIPTION
As exemplified in the attached drawings, the preferred embodiments
of our unique invention are incorporated into a tractor 10 to which
a material-handling apparatus is attached. The tractor 10 is
provided with an operator's station 13 having thereon a seat 11
adjacent to which is a single handle control lever 35 operative to
control all of the movements of the associated material-handling
apparatus. In the instant disclosure, this material-handling
apparatus comprises a backhoe having a support stand 12 suitably
attached to the tractor by conventional means and being further
supported upon the ground surface by stabilizer arms 14 (only one
of which is here shown), the stabilizer itself being controlled by
hydraulic motor 15. Appropriate brackets 16, 16 extending
rearwardly from support stand 12 carry a rotary hydraulic motor 30
constrained from rotation by suitable means and having a shaft 31
extending therethrough for rotatably driving the swing mount 17 as
fluid energy is directed to the actuator 30. The swing mount 17 in
turn rotatably mounts a boom 18, dipper stick 19 and bucket 20,
these linkages and the bucket being controlled in their movement by
hydraulic rams 21, 22, and 23 respectively.
Disposed underneath the operator's station 13 for conveniently
controlling the movement of the rams 15, the rotary actuator 30,
and the hydraulic rams 21, 22 and 23, is a valve bank 62 comprising
six directional flow control valves 61. Upon one end of this valve
bank is mounted a conventional end cap 63 to which is connected an
intake conduit 67 for delivering fluid from a pump to the valves.
Adjacent the opposite end of the valve bank 62 is another identical
end cap 63 to which is connected a conduit 79 for returning
hydraulic fluid to the reservoir. These valves 61 are substantially
similar to that disclosed in U.S. Pat. No. 2,873,762 issued to F.
H. Tennis and dated Feb. 17, 1959. Further reference may be had to
a cross sectional view of these same valves in FIGS. 4 and 6 for a
clearer understanding thereof.
ELECTRO-HYDRAULIC CONTROL CIRCUIT
Reference may now be had to FIGS. 4 and 5 in which one of the
control valves 61 is integrated into the control circuit of the
instant invention for the hydraulic motor 21 which effectuates
movement of the boom 18 of the backhoe. (As later explained, such a
circuit is associated with each element of the backhoe). A pump P
delivers fluid from reservoir S to directional control valve 61
through a conduit 67. As disclosed in FIG. 2 such fluid would
normally be delivered to an end cap 63 of valve bank 62, such being
omitted from FIG. 4 for purposes of simplicity. This fluid is then
directed into an open center passage 68 and normally flows directly
out of this valve and into the opposite end cap and back to sump.
As more fully disclosed in U.S. Pat. No. 2,873,762, a spool 70 is
reciprocable within the valve 61 whereby the reduced diameters of
said spool in conjunction with various lands and porting will
control the direction of fluid flow to and from the hydraulic motor
21. Briefly setting out such structural and functional
characteristics of this well known valve, it will be observed that
if spool 70 is shifted either to the right or to the left and fluid
can no longer flow through the open or low pressure passage 68
since the normal diameter of the spool precludes such, and fluid is
then directed into a high pressure passage 69 for delivery to the
hydraulic motor 21 via one of the motor ports 72 or 73. Thus,
assuming the spool is shifted to the right, the low pressure, open
center feature of the valve is closed by a normal diameter of the
spool, and hydraulic fluid is then urged into the high pressure
passage 69, across the reduced diameter of the spool at 81 and out
port 72 to contract the hydraulic ram 21. Fluid is then returned
from the opposite end of the ram 21 via conduit 77, motor port 73,
across reduced diameter 83 of the spool and out of exhaust port 78
to the sump S through a conduit 79. Reciprocation of the spool in
the opposite direction merely reverses the direction of flow above
explained. These passages and portings of the open center valve
being quite conventional, no further explanation is deemed
necessary other than reference to the above identified patent.
Movement of the spool 70 of the valve 61 is controlled by
expansionable chamber device or servo motor 85 and includes a
housing 86 connected to the valve 61 and having a piston element 87
attached to the spool 70 whereby any unbalance of fluid energy
delivered through a port 88 or a port 89 is effective to cause
reciprocation of the piston 87 and the spool 70 to control the
direction of fluid flow to hydraulic motor 21. Fluid is supplied to
the servo motor 85 from a pump P1 delivering fluid through a
conduit 113 to solenoid operated valves 110 and 111. These solenoid
valves may appropriately be a conventional "normally open"
three-way valve in which the fluid is normally directed through the
valve to the ports 88 and 89 of servo motor 85 but upon selective
actuation they will dump both supply fluid and fluid on the
appropriate side of piston 87 to sump S whereby the normal pressure
on the opposing side of the piston will cause the spool to
reciprocate. Another preferable solenoid valve would include the
"four-way normally open -- normally open solenoid valve, Type V955"
made and sold by Skinner Precision Industries, Inc. of New Britain,
Connecticut. This valve is basically a combination of two three-way
valves disclosed above, but incorporated into one housing.
For controlling actuation of the solenoid valve 110 or 111 and
consequent actuation of spool 70, a bridge circuit is interposed
between a control member or lever 35 and spool 70 of the control
valve 61. As more clearly depicted in FIG. 5, a bridge circuit is
established in which two potentiometers 44 and 92 are connected in
parallel and a voltage impressed across them. The wiper of
potentiometer 44 is rotatably attached to the control lever 35 as
hereinafter explained, and the wiper of potentiometer 92 is
rotatably attached by assembly 91 (see FIG. 2) to the spool 70 of
control valve 61.
The wiper leads are then connected to a null detector means or
comparator means 109 which will detect any unbalance or voltage
differential in the bridge circuit and amplify a signal created by
said unbalance to actuate the appropriate solenoid valve 110 and
111. Thus, upon varying the resistance in potentiometer 44, the
comparator means 109 will actuate solenoid valve 110 or 111 so as
to dump fluid from the appropriate chamber on one side of piston 87
and normal pressure on the opposite side will effectuate
reciprocation of spool 70, the spool movement rotating the wiper of
potentiometer 92 such that the bridge circuit will again be
balanced and fluid will continue to be pumped until the
potentiometer 44 is returned to neutral. Thus, it should be
appreciated that movement of a control lever 35 about a horizontal
axis will produce a corresponding proportional movement of spool
70. With reference to the components of the electro-hydraulic
control system, it is to be noted that the null detector or
comparator means 109 is a conventional item and readily obtainable
in the market in various forms. An example of other forms of the
electrical circuits which may provide excellent alternatives would
include a series connection of two variable resistances in parallel
with a series connection of two fixed resistances, the comparator
109 being interconnected between the resistances of each parallel
branch. The pump delivering fluid to the solenoid valves is
preferably a low volume and low pressure pump, but may be the same
pump utilized to deliver fluid to the backhoe itself if acceptable
flow rates are provided. The solenoid valves selected for the
system should preferably have a small flow rate for the intended
pump and pressure since more accurate movement of the spool 70 may
be obtained. It should be appreciated that solenoid members acting
directly upon the spool could be utilized as well as other systems
including conventional electro-hydraulic servo valves should the
potentiometer reading be taken from the valve in such a manner as
to be proportional to the flow rate through such valve.
Referring back to FIG. 4, the potentiometer 92 is attached to the
spool 70 in a simple mechanical manner. For example, a bracket 93
is fixedly attached to the console 13 of the backhoe apparatus with
the potentiometer secured therein and constrained against rotation.
A link 94 is then constrained for rotation with the wiper of the
potentiometer 92, reciprocation of the spool causing rotation of
this link through a pivotal element 95 so as to vary the impedance
of this branch of the bridge circuit.
Each of the directional flow control valves 61 associated with the
rotary actuator, and the hydraulic motors 21, 22 and 23 may be
conveniently provided with such an electrical control circuit.
SINGLE LEVER CONTROL
For manipulating the command potentiometer 44 as well as a command
potentiometer for each control circuit associated with motors 30,
21, 22 and 23, applicants have provided a unique control means
whereby movement of said control means produces a similar
directional movement of an appropriate element of a material
handling mechanism. As disclosed in FIG. 3 this control means 35
comprises a vertical support 36 which may be appropriately
journaled in a housing 57 in a manner permitting rotational
movement thereof. Attached to the lower end of this vertical
support 36 is a gear 38 which upon rotation will drive a pinion 39
constrained for rotation with the stem of a potentiometer 40, the
latter being fixedly supported in housing 57. Thus, as the lever 35
is rotated about a vertical axis, a varying resistance in a
potentiometer 40 is incurred and since this variable command
impedance forms one branch of a bridge circuit which is part of an
electro-hydraulic circuit associated with a valve 61 controlling
flow to actuator 30 and otherwise identical to that disclosed in
FIGS. 4 and 5, the rotational movement of lever 35 about a vertical
axis will controll rotational movement of the shaft 31 of rotary
actuator 30.
In order to control command impedance 44 and boom 18 and motor 21,
as previously explained in FIGS. 4 and 5, a yoke 37 is provided on
the upper end of vertical support 36, and common apertures 45
connect same to another yoke member 41 as well as to an extensible
arm 46, the latter connection being made rigid by pin connections
extending the adjacent diagonal apertures (unnumbered). The yoke 41
then extends downwardly from the pivotal connection 53 with the
extending arm carrying the potentiometer 44 constrained for
movement therewith. The stem of the potentiometer 44 carries a
pinion 43 which is driven by a rack 42 mounted on yoke 37, and thus
as the extensible arm 46 is rotated about a horizontal axis passing
through a pivotal connection 53, the stem of the potentiometer 44
is rotated so as to obtain a variable impedance or resistance. This
potentiometer 44 appropriately controls movement of the boom 18 as
previously discussed in relation to FIGS. 4 and 5 by connecting
same with another bridge circuit element attached to the spool of
the directional flow control valve 61 associated with hydraulic
motor 21.
The extensible arm 46 may additionally consist of an outer
extensible member 47 and an inner member 48 over which the outer
member is telescoped. A potentiometer 49 is then fixed by a bracket
50 upon said outer member, and upon extension and retraction of
outer member 47, a rack 52 and a gear 51 constrained for rotation
with the stem of potentiometer 49 creates a variable impedance in
said potentiometer. Appropriately, this potentiometer may be
integrated in a bridge circuit with a potentiometer associated with
the flow control valve 61 which is connected to hydraulic motor 22
effectuating movement of the dipper stick 19.
Finally a handle 54 is rotatably secured upon the end of extensible
member 47, and a bolt member 55 constrained for rotation by any
conventional means with handle 54 extends through the handle and is
joined to the stem of potentiometer 56 secured to member 47. Again,
rotation of the control handle 54 will vary the impedance of
potentiometer 56, and if this potentiometer is integrated into the
electro-hydraulic circuit of FIGS. 4 and 5 which is further
associated with motor 23, rolling movement of control handle 54
will cause rolling of the bucket 20.
Thus it should be appreciated that, as constructed, the control
means 35 permits motions analogous to that of the backhoe itself.
For example if the operator desires to rotate the backhoe, he
merely rotates control lever 35 about its vertical axis causing an
unbalance in the bridge circuit of the associated potentiometers
and fluid may be directed to the hydraulic actuator 30 to rotate
the backhoe. Similarly rotational motion of the extensible arm 46
about a horizontal axis passing through the pivotal connection 53
causes actuation of the hydraulic valve controlling the boom and
such movement is somewhat analogous to movement of the control
means. Similarly extension and retraction of hydraulic ram of
extensible member 47 will operate the directional flow control
valve associated with hydraulic motor 22 to extend and retract the
dipper stick 19 in an analogous fashion, and finally rotational
movement of member 54 will cause similar rotational movement of
bucket 20. This analogous and corresponding movement directional of
the control member and the backhoe is a most significant advantage
since such is effective to reduce cycle time of the handling
operation as well as enabling an operator with little experience to
rapidly master the techniques of such a machine. Thus it should be
appreciated that by utilization of a control system as disclosed in
FIGS. 4 and 5 with a single control lever 35 and applying same to
each of the control valves 61 located within the valve bank 62,
significant advantages may be obtained.
POSITION CONTROL SYSTEM
FIGS. 6 and 7 disclose an additional embodiment of the instant
invention in which the directional control valve movement not only
corresponds to movement of the control means 35, but the hydraulic
motor and associated linkage itself will accurately correspond to
movement of control means 35 whereby a position control system may
be obtained, i.e. a 2.degree. movement of the manual control means
will result in a 2.degree. movement of the linkage itself. In this
embodiment, a bracket 132 is disposed upon flange 16 and extends
above the rotational shaft 31 of rotary actuator 30, and has
mounted thereon a potentiometer 131 whose stem is constrained for
rotation with the shaft 31 of the motor 30. As schematically
disclosed in FIG. 7, this potentiometer 131 is placed in parallel
with the potentiometer 40 but stem rotation is such that a positive
increasing voltage of potentiometer 40 will result in a decreasing
voltage in potentiometer 131 upon rotation of actuator 30. Thus,
the comparator 109 compares the voltage difference between
potentiometer 92 and potentiometers 40 and 130. Accordingly, if the
control lever 35 is rotated to the right, the wiper of
potentiometer 40 will be moved downwardly as shown in FIG. 7, and
the comparator will detect an unbalance and actuate solenoid valve
111 to permit spool 70 to be moved downwardly. This downward
movement will deflect the stem of potentiometer 92 as shown by
dotted lines and simultaneously fluid will be directed to the
rotary actuator so as to rotate same in a clockwise direction. This
clockwise movement of the rotary actuator in turn controls the
wiper of potentiometer 130 to reduce its impedance as the actuator
approaches the corresponding position of control lever 35. Thus,
the total resistance seen by the comparator on one side of the
bridge circuit diminishes upon rotation of the actuator and the
null detector will then gradually actuate solenoid valve 110 to
return the spool to neutral such that potentiometer 92 is again in
balance with potentiometers 40 and 130 in parallel. That is, as the
difference between 131 and 35 gets smaller, the amount of high
pressure fluid delivered to the hydraulic motor decreases
proportionally because potentiometer 92 is closing off spool 70. As
disclosed in FIG. 8, an annular movement alpha of control arm 35
will thus result in a corresponding annular movement alpha of the
boom 18 and a position control system is effectuated.
As more fully pointed out in FIG. 9, a tubular member 57 may be
mounted upon the console 13 to rotatably support control lever 35,
apertures 58 being provided in the upper end surface of member 57.
Appropriately, dowel pins 59 may be inserted into these apertures
to limit the rotational movement of control means 35 about a
vertical axis. Consequently, if the position control system of
FIGS. 6 and 7 is utilized to control swing movement of the backhoe,
a position controlled system may additionally yield a return to dig
system. For example, if dowel pins are placed in the end surface of
tubular member 57 corresponding to a position of the proposed
trench, and corresponding to a position for bucket dump, the outer
limits of rotational movement of the backhoe will be fixed and by
merely rotating the lever 35 between these limits, the rotary motor
30 will always return the boom to these limits. Under such
circumstances the dowel pin may reflect a return to dig position
and the operator need not concern himself with accurate positioning
of the bucket in a trench.
Although not a part of the instant invention, FIG. 10 discloses a
circuit for controlling hydraulic motors 15 which position the
stabilizer arms 14, and support the boom structure during the
digging operation. Since continuous movement is not desired, the
two end valves of bank 62 are not provided with potentiometers, and
the solenoid valves are operated by on-off switches, 120 and 121.
As opposed to the bridge arrangement previously discussed the
remainder of the system, e.g., valve 61, solenoids, and chamber
device 85 remain the same.
SUMMARY
In summary, applicants have disclosed a novel, unique, and most
advantageous electrical hydraulic system for controlling movement
of associated hydraulic motors by electrically controlling
actuation of a flow control valve. A single lever capable of
several distinct movements may effectively be designed so as to
control several directional flow control valves and their
associated hydraulic motors. Further, such movements may be
correlated with the anticipated movement of the elements to be
controlled and a follow-up system is effected in which a command
signal is followed by a correlated movement of the associated motor
controlled element. In addition to this follow-up system, provision
has been made for an accurate position control. Finally, in
addition to the aforesaid advantages and results, applicants, by
incorporating into their system a solenoid actuated valve which is
effective to control movement of the flow control valve, accurate
metering of fluid through the flow control valve may be effected
and infinite and incremental movements of the associated hydraulic
motors and linkages may result therefrom. It should be readily
appreciated that the system herein disclosed may be employed with
numerous vehicles so as to control many material-handling
operations by a single lever. Even in the utilization of
continuously rotating hydraulic motors, the herein disclosed
control system may be effective to accurately control said motor so
as to afford braking and incremental movement, such not being
heretofore attainable. Naturally, various utilizations as well as
variations of the system herein disclosed will find application in
many fields.
* * * * *