62 Mobile 2003 Skid Steer Loaders Bosch Rexroth AG

Application Center Skid Steer Loaders

Head: Jochen Beck

Bosch Rexroth AG
Mobile Hydraulics
Glockeraustraße 2
89275 Elchingen, Germany
Telephone: +49 (0) 73 08 82 - 24 07
Facsimile: +49 (0) 73 08 - 53 38
E-Mail: jochen.beck@boschrexroth.de
Bosch Rexroth AG Skid Steer Loaders Mobile 2003 63

Drive and Control Systems for

Skid Steer Loaders

Introduction
Skid steer loaders have become
an indispensable element in the
vehicle fleet of every building or hire
contractor. These machines have also
become established in the agricultural
sector as tracked Skid Steer Loaders.
A separate market with tangibly rising
production figures has consequently
developed for these machines in
recent years. Worldwide production
of these versatile all-purpose wheeled
or tracked Skid Steer Loaders totalled
around 90,000 machines in 2002. The
largest market is in North America,
which is also the home of the leading
manufacturers covering more than
90% of the world‘s demand.
Figure 1: Skid Steer Loader

Standard
With around 56,000 units produced
worldwide, the smaller Skid Steer
Loaders till a lift capacity of roughly
1 t and an input power of 35 kW
account for the largest share of
the market. These machines are
equipped with control levers for
direct mechanical control of the
hydraulic pumps for the travel drive.
The actuating force to be applied
depends on the high pressure and
displacement of the hydraulic pumps
in the travel drive. This means that
the burden for the operator also
increases as the period of operation
and performance class increase.
Market trend
Today, however, wheeled and tracked
Skid Steer Loaders are to be found in
ever higher service classes. Machines
with an installed drive power of more
than 70 kW are not uncommon.
Servo-hydraulic and electronic control
make these machines comfortable to
drive and easy to operate.
Wheeleed and tracked Skid Steer
Loaders in the higher power class now
compete with telescoping loaders,
universal excavators and dozers. The
versatile lifting arm which can also
be used as telescoping fork arm,
for instance, makes these loaders
an interesting alternative for the
construction sector too.
Use
Skid Steer Loaders (Fig. 1) can do
far more than simply work with
a bucket. They can be combined
with a whole variety of attachments
(hydraulic hammers, earth augers,
milling cutters, mowing units, etc.)
and turned into an all-purpose tool.
The various attachments are securely
held in place by a mechanically or
hydraulically actuated quick coupler
system.

Author:
Karsten Penert BRM-AK/VME3
Figure 2: Tracked Skid Steer Loader
64 Mobile 2003 Skid Steer Loaders Bosch Rexroth AG

Tracked Skid Steer

Loader
Multi Terrain (Fig. 2) or Track
Driven are far more than simply skid
steer loaders mounted on crawlers.
Compared with their wheeled
counterparts, the tracked loaders can
transmit high drive forces with very
low ground pressure. This makes
them particularly suitable for use in
agriculture. The cost-efficiency of
these tracked machines depends very
strongly on the soil conditions on site.
The higher propulsive force allows
the bucket to be filled more quickly,
thus reducing the time required for
a work cycle. Not only the dynamic
requirements imposed on the travel
drive have risen with the introduction Figure 3: Variable displacement double pump A22VG
of crawlers. Easy operation and
precise driving characteristics must
be retained together with the higher
power. For this reason, Rexroth Control systems
has developed new concepts giving
the driver more individuality and
– Pilot-operated mechanical control HW
permitting easy operation of both
wheeled and tracked Skid Steer
Loaders. Focal aspects in this – Direct hydraulic control DG
development were operational
reliability, enhanced availability and – Electro-hydraulic control DE
simpler servicing, as well as optimized
functionality. – Electrical proportional EP
Figure 4: Control systems A22VG
Travel drive
The variable displacement double
pump A22VG (Fig. 3) is a new particularly interesting for Tracked Very different control systems (Fig.
development with which the Skid Steer Loaders. Compact back-to- 4) can be implemented with this
higher dynamic requirements can back arrangement of the two rotary modular design. An integrated feed
be implemented. Increasing the groups permits a reduction of up to pump is optionally available for the
permissible working pressure makes 15% in installed length as compared closed hydraulic circuits.
variable displacement double pumps with the tandem pump A10VG45 +
A10VG45.
Bosch Rexroth AG Skid Steer Loaders Mobile 2003 65

Pilot-operated mechanical
control
Pilot pressure is applied to the
control cylinders of the variable
displacement double pump via
the pilot valve, depending on the
direction in which the control lever
is actuated. The displacement is
controlled mechanically proportional
to the control pressure. Compared
with direct mechanical control,
the actuating force applied by the
operator is distinctly lower and
independent of both the high pressure
and the swivel angle.

Direct hydraulic control

Cost-effective direct hydraulic control
(Fig. 5) has already proved its value
many times. The control pressure for
adjusting the displacement is applied
to the control cylinders via control
Figure 5: Power train direct hydraulic control (DG)
elements 4TH6 (joysticks) with
optimized characteristic.
Hydraulic load limiting control
ensures that the rate of advance is
controlled in accordance with the load
and power, thus protecting the engine
against undue straining and stalling.

Electronic control
Electronic control concepts can
be implemented with integrated
proportional-action pressure reducing
valves (DE). The control pressure is
proportional to the solenoid current
in such systems.
The desired simple and precise
driving characteristic of a Skid Steer
Loader is best implemented with
a proportional electronic control
(EP) (Fig. 6). The pressure in the
control cylinder of the variable Figure 6: Variable displacement double pump A22VG
displacement double pump is set via
66 Mobile 2003 Skid Steer Loaders Bosch Rexroth AG

the control unit as a function of the driving / boom /

current intensity at the proportional steering bucket options
solenoids. The variable displacement
emergency
double pump A22VG45EP has off
a mechanical feedback to the Battery
proportional directional valve. As 12 V seat switch
with a mechanical control lever
acting on the pump, this opens
up a completely new dimension
a b a b
in operating convenience for the
machine operator. The variable R T2 MB B G B MB T1 R

displacement double pump can be Implement

controlled directly in this way and hydraulics
the large skid steer loaders can be
driven with even greater precision and
accuracy. An integrated safety valve
(fail-safe) allows the control to be cut
out when de-energized. X1 X2 MA A A MA X1 X2

A number of travel characteristics Fail-Save Valve

are saved in the control unit and can
be selected by the operator without Figure 7: Variable displacement double pump A22VG45 EP with control unit RC6-9
difficulty (Fig. 7). Variable lever
resolution depending on speed is
Together with the RC control units The variable displacement double
another feature of the electronic
(Fig. 7), Rexroth also offers a variety pump consequently delivers a certain
control. The momentary driving
of sensors, such as Hall speed sensors volumetric flow as a function of
speed can be defined as the new
(HDD), angle sensors (WSA), the high pressure. The maximum
maximum speed via a switch in the
contamination and temperature power output by the engine is not
joystick and the lever resolution is
switches for the electronic control exceeded. Load limiting control
now spread to the new maximum
system. prevents the engine straining or
speed. This permits very much better
stalling and reduces the extent to
precision control, as is necessary in
Load limiting control which the wheels become embedded
particular when cutting trenches or
The engine is frequently overloaded in soft ground. Even at low engine
levelling. Use of the electronic control
by inexperienced drivers when speeds, load limiting control ensures
also allows functions to be switched
digging into the heap, as power is that the maximum drive power
over individually to the two joysticks.
consumed by both the travel drive is not exceeded. In this way, fuel
Travel and implement hydraulics
and the implement hydraulics at consumption and emissions can be
can be operated via both joysticks
that moment. The integrated load reduced while maintaining the same
together or separately. Drivers who
limiting control in the hydrostatic handling performance.
are accustomed to driving with a
transmission allows maximum
joystick simply switch over and use
utilization of the available power
one joystick for driving and the other
without overloading the engine.
to operate the equipment.
Bosch Rexroth AG Skid Steer Loaders Mobile 2003 67

Hydraulic motors for the mini-crawlers. The radial his vehicle without undue effort. The
piston motors can also be equipped joysticks are optimized for controlling
The variable displacement double
with speed-sensing sensors for speed the hydraulic pumps and the
pump in a hydrostatic transmission
control. control block, regardless of whether
supplies two radial piston motors
the control system is hydraulic or
which normally take the form of fixed
electronic.
displacement motors. The MCR
Control devices
radial piston motors are characterized
Hydraulic or electronic control
by their compact, robust design and
makes operation considerably more Implement hydraulics
drive the front and rear wheels via a
comfortable and convenient for The tried-and-tested Rexroth gear
chain. The necessary sprocket can
the driver of a skid steer loader. pumps (AZPF) (Fig. 10) and variable
be supplied together with the radial
Hydraulic (4TH6) and electronic displacement axial piston pumps
piston motors (Fig. 8). Additional
control device (4THE5) are available are available for the implement
gears are not required, since uniform
for this purpose. The control devices hydraulics. Together with the variable
concentric running is assured at
can be ergonomically integrated displacement double pump for the
the lowest speeds. Two speed radial
into the armrest. With the handle hydrostatic transmission, they can
piston motors are increasingly used in
EC2000 (Fig. 9), the joysticks from be completely assembled before
the skid steer loaders as the required
Rexroth provide not only multi- delivery. Maximum speeds of up to
maximum speeds increase. The
function switches, but also optimum 4000 rpm are possible, depending on
permissible maximum speeds have
convenience for the various operating the nominal size of the gear pumps.
consequently also risen in accordance
modes and functions of the machine. „Silence“ gear pumps are available to
with requirements. „Two-speed soft
Use of a hydraulic or electronic reduce noise levels.
shift“ radial piston motors have been
control system allows the driver
developed to permit gear shifts while
of a Skip Steer Loader to operate
driving. In this way, the driver can
all functions with maximum
be protected against unpleasant jolts.
convenience. From accurately driving
The gear ratio of Vg max to Vg min
straight ahead to turning about the
is normally 2:1, but other gear ratios
vertical axis with the driven wheels
are also optionally available. The
controlled in opposite directions, the
permissible radial forces of the drive
driver always retains full control of
shafts have been increased specially

Figure 8: Radial piston motors MCR Figure 9: Control device THE5 and Figure 10: Gear pumps AZPF
handle EC2000
68 Mobile 2003 Skid Steer Loaders Bosch Rexroth AG

The medium-pressure axial piston

pump A10VO (Fig. 11) not only
provides additional nominal sizes for
the skid steer loaders. A large variety
of controllers also permit optimum
utilization of the installed drive
power.

Figure 12: 3SX12 Control block

Prospects
The drive and control systems
outlined here for wheeled and
tracked Skid Steer loaders permit
efficient use of the machines and
meet the growing demands imposed
with regard to functionality, easy
Figure 11: Variable displacement pump
A10VO
operation and availability. Rexroth
supplies a comprehensive range of
carefully matched components for
The implement hydraulics is realized this purpose.
with an SX10 to SX12 control block
of sandwich design with three
layers (Fig. 12). Control is effected
mechanically, hydraulically, electro-
hydraulically or electronically. The
control segment for the boom
optionally includes a float position
allowing the Skid Steer Loader to be
used for levelling if necessary.
Use of an flow sharing control
block permits simple realization of
parallel guidance („self levelling“)
with a joystick. This makes the use
of additional hydraulic components
unnecessary and permits precise
control independently of the load.
Proportional electronic service
functions are also available for
actuation of the attachments.
Bosch Rexroth AG Skid Steer Loaders Mobile 2003 69