Mobile Working Machine with a Control Device, Comprising a Working Arm and Methods for Controlling the Operating Point of a Working Arm of a Mobile Working Machine
First Claim
1. A mobile working machine comprising:
- a control device including a working arm which is arranged in an articulated fashion with a first end on a superstructure of the working machine;
a tool which is arranged at a second end of the working arm so as to be capable of moving about an operating point;
at least one first inclination sensor which is arranged on the superstructure;
at least one second inclination sensor which is arranged on the working arm;
at least one hydraulic cylinder which is arranged in an articulated fashion between the superstructure and the working arm in order to change the operating point; and
a control unit for processing the signals of the at least two inclination sensors for determining a first operating point as a reference operating point and for determining a change in position of the operating point by calculating a cylinder travel on the basis of a volume flow into or out of the hydraulic cylinder at a second operating point for a limited time interval.
1 Assignment
0 Petitions
Accused Products
Abstract
The disclosure relates to a mobile working machine with a control device, comprising a working arm, and methods for controlling the operating point of a working arm of a mobile working machine. According to the disclosure, the mobile working machine with the control device, comprising a working arm, has a working arm, a first end of which is hinged to a superstructure of the working machine. A tool is movably arranged on a second end of the working arm at an operating point. At least one first inclination sensor lies on the superstructure and at least one second inclination sensor lies on the working arm. In addition, at least one hydraulic cylinder is provided for changing the position of the operating point, said cylinder being hinged between the superstructure and the working arm. Furthermore, a control unit for processing signals from the at least two inclination sensors is provided to determine an operating point as a reference operating point and to ascertain a position change of the operating point by calculating a cylinder stroke on the basis of a volume flow into or out of the hydraulic cylinder.
18 Citations
13 Claims
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1. A mobile working machine comprising:
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a control device including a working arm which is arranged in an articulated fashion with a first end on a superstructure of the working machine; a tool which is arranged at a second end of the working arm so as to be capable of moving about an operating point; at least one first inclination sensor which is arranged on the superstructure; at least one second inclination sensor which is arranged on the working arm; at least one hydraulic cylinder which is arranged in an articulated fashion between the superstructure and the working arm in order to change the operating point; and a control unit for processing the signals of the at least two inclination sensors for determining a first operating point as a reference operating point and for determining a change in position of the operating point by calculating a cylinder travel on the basis of a volume flow into or out of the hydraulic cylinder at a second operating point for a limited time interval. - View Dependent Claims (2, 3, 4, 5)
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6. A method for controlling the operating point of a working arm of a mobile working machine comprising:
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measuring angles of inclination of the superstructure and of a working arm which is arranged in an articulated fashion with a first end on the superstructure, by means of inclination sensors; calculating a first reference position of the operating point at a second end, bearing a tool, of the working arm taking into account the measurement results of the measured angles of inclination; changing a position of the operating point into a predefined setpoint position by means of a hydraulic volume flow during a limited time interval into or out of a hydraulic cylinder which is arranged in an articulated fashion between the superstructure and the working arm; checking the changed working position while determining an actual position by the inclination sensors; and reducing a difference between the setpoint position and the actual position. - View Dependent Claims (7, 8, 9, 10, 11, 12, 13)
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Specification