Method of operating a working machine

Patent metadata

Field	Value
Publication number	US-8965637-B2
Application number	US-81785810-A
Country	US
Kind code	B2
Filing date	Jun 17, 2010
Priority date	Jun 19, 2009
Publication date	Feb 24, 2015
Grant date	Feb 24, 2015

Abstract

A method of operating a working machine which includes a main structure and a working arm pivotally mounted at one end on the main structure. The working arm is raisable and lowerable relative to the main structure by a first actuator device, and is extendible relative to the main structure by a second actuator device. In use, the arm carries at another end a working implement which can carry a load. The machine further including a ground engaging drive structure by which the machine is drivable on the ground. The machine has a longitudinal load moment control system which automatically disables operation of the first and/or second actuator devices from increasing longitudinal instability in the event that a predetermined instability is sensed. When the machine senses a ground travelling speed above a threshold speed, the longitudinal load moment control system is disabled.

First claim

The invention claimed is:

1. A method of operating a working machine which includes a main structure and a working arm, the working arm being pivotally mounted on the main structure at one end of the arm, the working arm being raisable and lowerable relative to the main structure by a first actuator device, and being extendible relative to the main structure by a second actuator device, and the arm carrying in use at its other end a working implement which in use carries a load, the machine further including a ground engaging drive structure by which the machine is driveable on the ground, and the machine having a longitudinal load moment control system which is functional automatically to prevent the operation of the first and/or second actuator device which would increase longitudinal instability in the event that a predetermined machine longitudinal instability is sensed, the method including sensing a parameter relating to the travelling speed of the machine on the ground, and where the machine is determined to be travelling at a speed above a threshold speed, disabling the longitudinal load moment control system so that operation of the first and/or second actuator device is permitted at least to counter a longitudinal instability caused by the machine traveling over an uneven ground surface.

2. A method according to claim 1 wherein the working arm is a loading arm which is pivoted relative to the main structure for up and down movement about a generally horizontal axis, at the one end of the working arm, at a rear position on the main structure, the working arm extending forwardly beyond the main structure at the other end, where the working implement is provided, the first actuator device extending between the main structure and the loading arm, the first actuator device being extendable to raise the arm and retractable to lower the arm, the method including extending or retracting the first actuator device and sensing the longitudinal load moment.

3. A method according to claim 1 wherein the loading arm is telescopic, having a plurality of arm sections, the second actuator device extending between adjacent sections of the arm, which second actuator device is extendable or retractable to extend or retract the loading arm, the method including extending or retracting the second actuator device, and sensing the longitudinal load moment.

4. A method according to claim 1 wherein the first and second actuator devices are provided in a hydraulic circuit which includes a longitudinal load moment control system device the method including operating the longitudinal load movement control system device under the control of a controller, to prevent the flow of hydraulic fluid to or from at least one of the actuator devices when the longitudinal load moment control system is operational and longitudinal instability is sensed which is greater than the predetermined machine longitudinal instability.

5. A method according to claim 1 wherein the method includes sensing movement of the machine relative to the ground to sense machine travelling speed.

6. A method according to claim 5 wherein the method includes providing a signal to a controller indicative of the machine travelling speed, the controller disabling the longitudinal load moment control system when the travelling speed is determined to be above the threshold speed.

7. A method according to claim 1 wherein the method includes sensing the speed of the machine on the ground by sensing movement of a rotational part of the ground engaging drive structure which moves as the machine moves on the ground.

8. A method according to claim 1 wherein the method includes sensing the movement of a transmission component to determine the travelling speed of the machine on the ground.

9. A method according to claim 8 which includes sensing movement of one of a clutch element, and a gear, and a shaft, to determine the travelling speed of the machine over the ground.

10. A method according to claim 1 wherein the threshold speed is less than 5 kph.

11. A method according to claim 10 wherein the threshold speed is not more than 0.5 kph.

12. A method according to claim 11 wherein the threshold speed is zero kph.

13. A working machine which includes a main structure and a working arm, the working arm being pivotally mounted on the main structure at one end of the arm, the working arm being raisable and lowerable relative to the main structure by a first actuator device, and being extendible relative to the main structure by a second actuator device, and the arm carrying in use at its other end a working implement which in use carries a load, the machine further including a ground engaging drive structure by which the machine is driveable on the ground, and the machine having a longitudinal load moment control system which is functional automatically to prevent the operation of the first and/or second actuator device which would increase longitudinal instability in the event that a predetermined machine longitudinal instability is sensed, the machine further including a sensor to sense a parameter relating to the travelling speed of the machine on the ground, and to provide a signal to a controller, indicative of whether the travelling speed of the machine is above or below a threshold speed, and where the machine is determined to be travelling at a speed above a threshold speed, the controller disabling the longitudinal load moment control system so that operation of the first and/or second actuator device is permitted at least to counter a longitudinal instability caused by the machine traveling over an uneven ground surface.

14. A method of operating a working machine, the method comprising:
providing a working machine comprising a main structure, a working arm, and a ground engaging drive structure, the working arm having a first end pivotally mounted on the main structure and a second end attachable to a working implement used to carry a load, the working arm being raisable and lowerable relative to the main structure by a first actuator device, the working arm being extendible and retractable relative to the main structure by a second actuator device, the ground engaging drive structure being configured to move the working machine over a ground surface;
providing a longitudinal load moment control system including a control system controller, a load sensor arranged to sense a longitudinal instability, and a speed sensor arranged to indicate a travelling speed of the working machine over the ground surface;
providing a signal indicative of the longitudinal instability to the control system controller;
inputting the traveling speed to the control system controller;
determining whether the travelling speed is above or below a speed threshold;
when the travelling speed is below the speed threshold, enabling the longitudinal load moment control system so that operation of the first actuator device and/or the second actuator device is automatically prevented; and
when the travelling speed is above the speed threshold, disabling the longitudinal load moment control system so that operation of the first and/or second actuator device is permitted in order to counter the longitudinal instability caused by the working machine traveling over an uneven ground surface.

15. The method of claim 14 , comprising enabling operation of a visual indicator and/or audio indicator indicating an impending longitudinal instability when the longitudinal load moment control system is disabled.

Assignees

• Brooks Richard Anthony
• Brooks Graham Mark
• Ford Kevin William
• Bamford Excavators Ltd

Inventors

• Brooks Richard Anthony
• Brooks Graham Mark
• Ford Kevin William

Classifications

• B66F9/0655 Primary

  with a telescopic boom · CPC title

• B66F17/003 Primary

  for fork-lift trucks · CPC title

• B66C23/90

  Devices for indicating or limiting lifting moment · CPC title

• E02F9/2029

  Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed (control for hydraulic or pneumatic drives E02F9/2203, E02F9/2221 and E02F9/2253 take precedence) · CPC title

• E02F3/437

  providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant · CPC title