Rotation control system for material handling machines

• US 10,273,124 B2
• Filed: 12/15/2016
• Issued: 04/30/2019
• Est. Priority Date: 12/15/2016
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Rutherford, Stephen Platt
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): Greene, Daniel L
• Application Number:
  US15/380,697
• Publication Number:
  US 20180170722A1
• Time in Patent Office: 866 Days
• CPC Class Codes: B66C 1/585 Log grapples
• CPC Class Codes: B66C 13/08 for depositing loads in desired attitudes or positions
• CPC Class Codes: B66C 23/86 hydraulically actuated
• CPC Class Codes: B66C 3/005 Grab supports, e.g. articulations; Oscillation dampers; Orientation B66C3/16 takes precedence
• CPC Class Codes: E02F 3/4135 with grabs mounted directly on a boom
• CPC Class Codes: E02F 9/2004 Control mechanisms, e.g. control levers control levers per se G05G
• CPC Class Codes: E02F 9/2037 Coordinating the movements of the implement and of the frame

Abstract

A rotation control system may be provided for a material handling machine. The rotation control system may include a boom and a work tool attached to the boom. A swing motor may be capable of swinging the boom and the work tool. A work tool motor may be capable of rotating the work tool relative to the boom. An input device may generate a first signal indicative of a desired swinging of the boom and a second signal indicative of a desired rotation of the work tool. A controller may be in communication with the input device, the swing motor, and the work tool motor. The controller may be capable of actuating the work tool motor based only on the second signal during a first mode of operation and may be capable of actuating the work tool motor based on swinging of the boom during a second mode of operation.

Claims

1. A rotation control system for a material handling machine, comprising:

a boom;

a work tool coupled to the boom;

a swing motor configured to swing the boom and the work tool;

a work tool motor configured to rotate the work tool relative to the boom;

at least one input device configured to generate a first signal indicative of desired swinging of the boom and a second signal indicative of a desired rotation of the work tool; and

a controller in communication with the at least one input device, the swing motor, and the work tool motor, the controller being configured to;

actuate the work tool motor based only on the second signal during a first mode of operation; and

actuate the work tool motor based on swinging of the boom during a second mode of operation to semi-autonomously synchronize rotation of the work tool with the swinging of the boom, wherein the actuation of the work tool motor to synchronize rotation of the work tool with the swinging of the boom occurs during the swinging of the boom.

2. The rotation control system of claim 1, further including:

a hydraulic valve configured to regulate fluid flow to the swing motor; and

a sensor configured to detect a position of the hydraulic valve,

wherein the controller is configured to determine swinging of the boom based on a signal generated by the sensor.

3. The rotation control system of claim 1, further including an encoder configured to detect the swinging of the boom, wherein the controller is configured to determine swinging of the boom based on a signal from the encoder.

4. The rotation control system of claim 1, further including a sensor configured to detect operation of the swing motor, wherein the controller is configured to determine swinging of the boom based on a signal generated by the sensor.

5. The rotation control system of claim 1, wherein the controller is configured to cause the work tool to rotate in a direction opposite the swinging of the boom and at a rate of rotation equal to a rate of swinging of the boom during operation in the second mode.

6. The rotation control system of claim 1, wherein the controller is configured to actuate the work tool motor based on a rotation ratio during a third mode of operation.

7. The rotation control system of claim 6, further including an operator interface device in communication with the controller, and selectable to selectively cause operation in the first mode and second mode and third mode.

8. The rotation control system of claim 6, wherein the controller is configured to determine swinging of the boom based on a signal generated by the at least one input device.

9. The rotation control system of claim 8, wherein the controller is configured to determine the rotation ratio according to a prior manually controlled swinging of the boom and a prior manually controlled rotation of the work tool.

10. A method of controlling rotation of a material handling machine, comprising:

receiving, at a controller, a first signal indicative of swinging of a boom;

receiving, at the controller, a second signal indicative of a desire to move a work tool connected to the boom;

controlling rotation of the work tool based on only the second signal during a first mode of operation; and

controlling, using the controller, rotation of the work tool based on the first signal during a second mode of operation to semi-autonomously synchronize rotation of the work tool with the swinging of the boom, wherein the rotation of the work tool to synchronize rotation of the work tool with the swinging of the boom occurs during the swinging of the boom.

11. The rotation control method of claim 10, wherein the first signal is associated with a manual input requesting swinging of the boom.

12. The rotation control method of claim 10 wherein the first signal is associated with a detected position of a hydraulic boom valve.

13. The rotation control method of claim 10, wherein the first signal is associated with a detected motion of a swing motor.

14. The rotation control method of claim 10, wherein the first signal is associated with a detected output of a rotary encoder associated with the boom.

15. The rotation control method of claim 10, wherein the rotation of the work tool during operation in the second mode is opposite the swinging of the boom and at a rate of rotation substantially equal to a rate of swinging of the boom.

16. The rotation control method of claim 10, wherein the rotation of the work tool during operation in a third mode is opposite the swinging of the boom and at a programmable rate of rotation relative to a rate of swinging of the boom.

17. A rotation control system for a material handling machine, comprising:

an undercarriage;

a frame rotatably connected to the undercarriage;

an operator station mounted to the frame;

a boom operably attached to the frame and configured to pivot vertically;

a swing motor configured to swing the frame and boom relative to the undercarriage;

a work tool rotatably coupled to the boom;

a work tool motor configured to rotate the work tool;

at least one input device configured to generate a first signal indicative of desired swinging of the frame and boom and a second signal indicative of a desired rotation of the work tool; and

a controller in communication with the at least one input device, the swing motor, and the work tool motor, the controller being configured to;

actuate the work tool motor based only on the second signal during a first mode of operation;

actuate the work tool motor based on swinging of the boom during a second mode of operation to semi-autonomously synchronize rotation of the work tool with the swinging of the boom, wherein the actuation of the work tool motor to synchronize rotation of the work tool with the swinging of the boom occurs during the swinging of the boom; and

actuate the work tool motor based on a rotation ratio during a third mode of operation.

18. The rotation control system of claim 17, wherein the work tool is a grapple or a bucket.

19. The rotation control system of claim 17, wherein the controller is further configured to:

cause the work tool to rotate relative to swinging of the boom according to an operator selectable rotation ratio.

20. The rotation control system of claim 19, further including an operator interface device in communication with the controller, and selectable to selectively cause operation in the first mode, the second mode, and the third mode.