SINGLE BOOM SYSTEM HAVING DUAL ARM LINKAGE

• US 20140305012A1
• Filed: 04/10/2013
• Published: 10/16/2014
• Est. Priority Date: 04/10/2013
• Status: Abandoned Application

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: O'DONNELL, Timothy Michael
• Application Number:
  US13/860,260
• Publication Number:
  US 20140305012A1
• Time in Patent Office: Days
• US Class Current: 37/403
• CPC Class Codes: E02F 3/307 the boom and the dipper-arm being connected so as to permit relative movement in more than one plane
• CPC Class Codes: E02F 3/308 working outwardly
• CPC Class Codes: E02F 3/32 working downwardly and towards the machine, e.g. with backhoes
• CPC Class Codes: E02F 3/435 for dipper-arms, backhoes or the like
• CPC Class Codes: E02F 3/964 of several tools mounted on one machine E02F3/962 takes precedence
• CPC Class Codes: E02F 9/2012 Setting the functions of the control levers, e.g. changing assigned functions among operations levers, setting functions dependent on the operator or seat orientation
• CPC Class Codes: E02F 9/2033 Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin sub-groups of E02F3/431 of E02F3/435 take precedence; for turntables E02F9/123
• CPC Class Codes: E02F 9/2228 including an electronic controller

Abstract

A control system is disclosed for use with a machine. The control system may have a first work tool connected at an end of a linkage arrangement, and a first interface device configured to receive input indicative of a desired movement of the first work tool and to generate a corresponding signal. The control system may also have a plurality of actuators operatively connected to the first work tool via the linkage arrangement, a plurality of valves associated with the plurality of actuators, and a controller in communication. The controller may be configured to determine a combination of the plurality of actuators that should be activated together to generate linkage movements that compound to produce the desired movement of the first work tool based on the signal, and to selectively command movement of a combination of the plurality of valves corresponding to the combination of the plurality of actuators.

Claims

1. A control system, comprising:

a first work tool connected at an end of a linkage arrangement;

a first interface device configured to receive input from an operator indicative of a desired movement of the first work tool and to generate a corresponding first work tool signal;

a plurality of actuators operatively connected to the first work tool via the linkage arrangement;

a plurality of valves associated with the plurality of actuators; and

a controller in communication with the first interface device and the plurality of valves, the controller being configured to;

determine a combination of the plurality of actuators that should be activated together to generate individual linkage movements that compound to produce the desired movement of the first work tool based on the first work tool signal; and

selectively command simultaneous movement of a combination of the plurality of valves corresponding to the combination of the plurality of actuators.

2. The control system of claim 1, wherein:

the desired movement of the first work tool may be achieved by more than one combination of the plurality of actuators; and

the controller is further configured to select one of the more than one combination for activation that best achieves the desired movement of the first work tool according to one or more predefined goals.

3. The control system of claim 2, wherein the one or more predefined goals is associated with at least one of efficiency, actuator priority, and time.

4. The control system of claim 1, wherein the plurality of actuators includes:

a pair of hydraulic cylinders associated with a boom;

a third hydraulic cylinder associated with a first boom link connected to the boom;

a fourth hydraulic cylinder associated with a first pivot link connected to the first boom link;

a fifth hydraulic cylinder associated with a first tool link connected to the first pivot link;

a sixth hydraulic cylinder associated with the first work tool and the first tool link; and

a swing motor connected between a machine frame and an undercarriage.

5. The control system of claim 4, wherein the third, fourth, fifth, and sixth hydraulic cylinders, together with the first boom link, the first pivot link, the first tool link, and the first work tool are grouped into a first arm arrangement controllable by the first interface device.

6. The control system of claim 5, wherein:

the control system further includes a second work tool;

the plurality of actuators further includes;

a seventh hydraulic cylinder associated with a second boom link connected to the boom;

an eighth hydraulic cylinder associated with a second pivot link connected to the second boom link;

a ninth hydraulic cylinder associated with a second tool link connected to the second pivot link; and

a tenth hydraulic cylinder associated with the second work tool and the second tool link; and

the seventh, eighth, ninth, and tenth hydraulic cylinders, together with the second boom link, the second pivot link, the second tool link, and the second work tool are grouped into a second arm arrangement.

7. The control system of claim 6, further including a second interface device associated with the second arm arrangement.

8. The control system of claim 6, wherein:

the third and seventh hydraulic cylinders are located at the same general locations relative to the first and second boom links; and

the fourth and eighth hydraulic cylinders are located at the same general locations relative to the first and second pivot links.

9. The control system of claim 8, wherein:

the fifth and ninth hydraulic cylinders are located at generally opposite locations relative to the first and second tool links; and

the sixth and tenth hydraulic cylinders are located at generally opposite locations relative to the first and second work tools.

10. The control system of claim 6, wherein:

the third, fifth, sixth, seventh, ninth, and tenth hydraulic cylinders are configured to pivot the first and second work tools about horizontal axis, respectively; and

the fourth and eighth hydraulic cylinders are configured to pivot the first and second work tools about vertical axis, respectively.

11. The control system of claim 6, wherein the controller is further configured to inhibit collision of first and second arm arrangements.

12. A method of controlling a machine having at least one arm arrangement, the method comprising:

receiving a signal from an interface device indicative of a desired movement of a work tool connected to the at least one arm arrangement;

determining a combination of actuators that should be activated to achieve the desired movement of the work tool; and

selectively commanding movement of a combination of control valve elements corresponding to the combination of actuators.

13. The method of claim 12, wherein determining a combination of actuators includes:

determining more than one combination of actuators that could be activated to achieve the desired movement of the work tool; and

selecting one of the more than one combination for activation that best achieves the desired movement of the work tool according to one or more predefined goals.

14. The method of claim 13, wherein the one or more predefined goals is associated with at least one of efficiency, actuator priority, and time.

15. The method of claim 12, wherein:

receiving the signal includes receiving a first signal from a first interface device indicative of a desired movement of a first work tool connected to a first arm arrangement, and receiving a second signal from a second interface device interface device indicative of a desired movement of a second work tool connected to a second arm arrangement;

determining a combination of actuators includes determining a first combination of actuators that should be activated to achieve the desired movement of the first work tool and determining a second combination of actuators that should be activated to achieve the desired movement of the second work tool; and

selectively commanding movement of first and second combinations of control valve elements corresponding to the first and second combinations of actuators.

16. A machine, comprising:

an undercarriage;

a frame pivotally connected to the undercarriage;

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

a boom connected to pivot about a horizontal axis relative to the frame;

a first arm arrangement connected to an end of the boom; and

a second arm arrangement connected to a second end of the boom.

17. The machine of claim 16, wherein each of the first and second arm arrangements includes:

a boom link;

a first hydraulic cylinder connecting the boom link to the boom;

a pivot link;

a second hydraulic cylinder connecting the pivot link to the boom link;

a tool link;

a third hydraulic cylinder connecting the tool link to the pivot link;

a work tool; and

a fourth hydraulic cylinder connecting the work tool to the tool link.

18. The machine of claim 17, wherein:

the first, third, and fourth hydraulic cylinders are configured to pivot the work tool about horizontal axis; and

the second hydraulic cylinder is configured to pivot the work tool about a vertical axis.

19. The machine of claim 17, wherein third and fourth hydraulic cylinders of the first arm arrangement are located opposite the third and fourth hydraulic cylinders of the second arm arrangement.

20. The machine of claim 19, wherein the work tool of the first arm arrangement is oriented opposite the work tool of the second arm arrangement.