CONTROL SYSTEM FOR TOOL COUPLING
First Claim
1. A control system for a tool coupling of the type used to attach a tool to an excavator having a boom pivotally attached to a dipper stick, the tool coupling being attached to the end of the dipper stick and the tool coupling providing for rotation of the tool with respect to the dipper stick about an a rotation axis that is generally in the plane of said boom and dipper stick, and for tilting of the tool about an axis that is generally perpendicular to the rotation axis, comprising:
- a rotation sensor on said coupling for determining the amount of rotation of the tool about said rotation axis with respect to the dipper stick,a tilt sensor on said coupling for determining the amount of tilt of the tool with respect to gravity, anda control, responsive to said rotation sensor and to said tilt sensor, for determining the orientation of the tool.
1 Assignment
0 Petitions
Accused Products
Abstract
A control system for a tool coupling of the type that attaches a tool to an excavator dipper stick and provides for rotation of the tool with respect to the dipper stick about an axis, and further provides for tilting of the tool, includes a rotation sensor and a tilt sensor. The rotation sensor is mounted on the coupling for determining the amount of rotation of the tool with respect to the dipper stick about an axis. The tilt sensor is mounted on the coupling for determining the amount of tilt of the tool with respect to gravity. A control is responsive to the rotation sensor and to the tilt sensor for determining the orientation of the tool.
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Citations
18 Claims
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1. A control system for a tool coupling of the type used to attach a tool to an excavator having a boom pivotally attached to a dipper stick, the tool coupling being attached to the end of the dipper stick and the tool coupling providing for rotation of the tool with respect to the dipper stick about an a rotation axis that is generally in the plane of said boom and dipper stick, and for tilting of the tool about an axis that is generally perpendicular to the rotation axis, comprising:
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a rotation sensor on said coupling for determining the amount of rotation of the tool about said rotation axis with respect to the dipper stick, a tilt sensor on said coupling for determining the amount of tilt of the tool with respect to gravity, and a control, responsive to said rotation sensor and to said tilt sensor, for determining the orientation of the tool. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A control system for an excavator of the type having a boom extending from the excavator frame, a dipper stick pivotally attached to the boom and extending therefrom, a bucket having bucket teeth, and a coupling attaching the bucket to the excavator dipper stick and providing for rotation of the tool about a rotation axis that is generally in the plane of said boom and dipper stick and generally parallel to said dipper stick, and tilting of the tool about an axis that is generally perpendicular to the rotation axis, comprising:
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a rotation sensor on said coupling for determining the amount of rotation of the bucket about said rotation axis with respect to the dipper stick, and a tilt sensor on said coupling for determining the amount of tilt of the bucket with respect to gravity, a control, responsive to said rotation sensor and to said tilt sensor, and further responsive to a positioning system on said excavator, for determining the position and orientation of the teeth of the bucket and for controlling movement of the teeth of the bucket to excavate in a desired manner. - View Dependent Claims (8, 9, 10)
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11. An excavator, comprising:
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an excavator frame, a boom extending from the excavator frame, a dipper stick pivotally attached to the boom and extending therefrom, a bucket having bucket teeth, a coupling attaching the bucket to the excavator dipper stick and providing for rotation of the tool with respect to the dipper stick about a rotation axis that is generally in the plane of said boom and dipper stick and generally parallel to said dipper stick, and for tilting of the bucket about a tilt axis that is generally perpendicular to said rotation axis, a positioning system on said excavator for determining the location of said coupling, a rotation sensor on said coupling for determining the amount of rotation of the bucket about said rotation axis, a tilt sensor on said coupling for determining the amount of tilt of the bucket with respect to gravity, and a control, responsive to said rotation sensor and to said tilt sensor, and further responsive to a positioning system on said excavator, for determining the position and orientation of the teeth of the bucket and for controlling movement of the teeth of the bucket to excavate at the work site in a desired manner.
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- 12. The excavator of claim 12 in which said tilt sensor determines the tilt of the bucket with respect to a gravity reference in two orthogonal axes.
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15. A control system for an earth working machine of the type having a boom, and a dipper stick pivotally attached to said boom and extending therefrom, a tool having a working portion, and a coupling attaching the tool to the dipper stick and providing for rotation of the tool with respect to the dipper stick about a rotation axis that is generally in the plane of said boom and dipper stick and for tilting of the tool about an axis that is generally perpendicular to the rotation axis, comprising:
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a rotation sensor on the coupling for determining the amount of rotation of the tool about said rotation, a tilt sensor on the coupling for determining the amount of tilt of the tool with respect to gravity, and a control, responsive to the rotation sensor and to the tilt sensor, and further responsive to a positioning system on the excavator, for determining the position and orientation of the working portion of the tool and for controlling movement of the working portion of the tool. - View Dependent Claims (16, 17, 18)
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Specification