Control system for dual boom machine

• US 9,376,784 B2
• Filed: 03/29/2013
• Issued: 06/28/2016
• Est. Priority Date: 03/29/2013
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: O'Donnell, Timothy Michael
• Primary Examiner(s): Cheung, Calvin
• Assistant Examiner(s): WEEKS, MARTIN A
• Application Number:
  US13/853,474
• Publication Number:
  US 20140290102A1
• Time in Patent Office: 1,187 Days
• Field of Search: 701/50, 414/687
• US Class Current: 1/1
• 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 3/965 of metal-cutting or concrete-crushing implements shearing devices B23D17/00; wrecking of buildings, e.g. tools therefor, E04G23/08
• CPC Class Codes: E02F 3/966 of hammer-type tools arrangements for breaking-up hard ground E02F5/305; percussion -type rippers E02F5/323
• 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: Y10T 74/20012 Multiple controlled elements

Abstract

A control system is disclosed for use with a machine. The control system may have a first linkage arrangement, a first actuator, a first interface device, and a first control element. The control system may also have a second linkage arrangement, a second actuator, a second interface device, and a second control element. The control system may further have an input device selectively activated to generate a mode signal, and a controller. The controller may be configured to selectively generate commands directed to the first control element based on only the first actuator signals, and to selectively generate commands directed to the second control element based on only the second actuator signals. The controller may also be configured to selectively generate commands directed to both of the first and second control elements based on only the first actuator signals an in response to the mode signal.

Claims

1. A control system, comprising:

a first linkage arrangement;

a first actuator configured to move the first linkage arrangement;

a first interface device configured to generate first actuator signals indicative of operator desired movements of the first actuator;

a second linkage arrangement;

a second actuator configured to move the second linkage arrangement;

a second interface device configured to generate second actuator signals indicative of operator desired movements of the second actuator;

an input device selectively activated by the operator to generate a mode signal indicative of a desire for the first actuator and the second actuator to be controlled cooperatively; and

a controller in communication with the first interface device, the second interface device, and the input device, the controller configured to;

selectively generate commands to move the first actuator in response to only the first actuator signals;

selectively generate commands to move the second actuator in response to only the second actuator signals; and

in response to the mode signal, selectively generate commands to move both the first actuator and the second actuator in response to only the first actuator signals.

2. The control system of claim 1, wherein the first and second linkage arrangements are substantially identical.

3. The control system of claim 2, further including:

a third actuator configured to move the first linkage arrangement; and

a fourth actuator configured to move the second linkage arrangement;

wherein the controller is configured to;

selectively generate commands to move the first actuator and the third actuator in response to only the first actuator signals;

selectively generate commands to move the second actuator and the fourth actuator in response to only the second actuator signals; and

in response to the mode signal, selectively generate commands to move the first actuator, the second actuator, the third actuator, and the fourth actuator in response to only the first actuator signals.

4. The control system of claim 3, wherein each of the first and second linkage arrangements includes:

a boom;

a stick pivotally connected to at a first end to the boom; and

a tool connected to a second end of the stick.

5. The control system of claim 4, wherein:

the first actuator is one of a pair of first boom actuators configured to raise and lower the boom of the first linkage arrangement;

the second actuator is one of a pair of second boom actuators configured to raise and lower the boom of the second linkage arrangement;

the third actuator is a single first stick actuator configured to pivot the stick relative to the boom of the first linkage arrangement; and

the fourth actuator is a single second stick actuator configured to pivot the stick relative to the boom of the second linkage arrangement.

6. The control system of claim 1 further comprising a first and a second control element, wherein:

each of the first actuator and the second actuator is a hydraulic cylinder; and

the first and second control elements are valves configured to regulate fluid flow into and out of the hydraulic cylinders.

7. The control system of claim 1, wherein the controller is configured to selectively generate commands to cause the second actuator to counterbalance movements of the first actuator in response to only the first actuator signals and the mode signal.

8. The control system of claim 1, wherein the controller is configured to selectively generate commands to cause the second actuator to share loading of the first actuator in response to only the first actuator signals and the mode signal.

9. The control system of claim 8, wherein the movements of the second actuator are substantially identical to the movements of the first actuator.

10. The control system of claim 1, further including a common work tool, wherein the first and second linkage arrangements are simultaneously connected to the common work tool.

11. The control system of claim 1, further including a machine body, wherein the first and second linkage arrangements are connected to pivot in two directions relative to the machine body by the first and second actuators.

12. The control system of claim 11, further including:

an undercarriage;

a swing motor configured to swing the machine body relative to the undercarriage; and

a third interface device movable to indicate a desire to activate the swing motor.

13. A method of controlling a machine having first and second linkage arrangements, the method comprising:

receiving first actuator signals from a first interface device indicative of desired movements of the first linkage arrangement;

selectively generating commands causing movements of only the first linkage arrangement in response to only the first actuator signals;

receiving second actuator signals from a second interface device indicative of desired movements of the second linkage arrangement;

selectively generating commands causing movements of only the second linkage arrangement in response to only the second actuator signals;

receiving input indicative of a desire to operate in a cooperative mode; and

in response to the input, selectively generating commands causing movements of both the first and second linkage arrangements in response to only the first actuator signals.

14. The method of claim 13, wherein the first and second linkage arrangements are substantially identical.

15. The method of claim 14, wherein selectively generating commands causing movements of both the first and second linkage arrangements includes generating commands causing the second linkage arrangement to counterbalance movements of the first linkage arrangement.

16. The method of claim 14, wherein selectively generating commands causing movements of both the first and second linkage arrangements includes generating commands causing the second linkage arrangement to mimic movements and share loading of the first linkage arrangement.

17. The method of claim 14, wherein:

selectively generating commands causing movements of only the first linkage arrangement includes generating commands that affect fluid flow through one or more hydraulic actuators associated with the first linkage arrangement; and

selectively generating commands causing movements of only the second linkage arrangement includes generating commands that affect fluid flow through one or more hydraulic actuators associated with the second linkage arrangement.

18. An excavator, comprising:

an undercarriage;

a machine body pivotally connected to the undercarriage;

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

a first boom connected to pivot in two directions relative to the machine body;

a first stick pivotally connected at one end to the first boom;

a first plurality of hydraulic cylinders connected to move the first boom and the first stick;

a first interface device configured to generate first actuator signals indicative of operator desired movements of the first boom and first stick;

a second boom connected to pivot in two directions relative to the machine body;

a second stick pivotally connected at one end to the second boom;

a second plurality of hydraulic cylinders connected to move the second boom and the second stick;

a second interface device configured to generate second actuator signals indicative of operator desired movements of the second boom and second stick;

an input device selectively activated by the operator to generate a mode signal indicative of a desire for the first plurality of hydraulic cylinders and the second plurality of hydraulic cylinders to be controlled cooperatively; and

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

selectively generate commands to move the first boom and the first stick in response to only the first actuator signals;

selectively generate commands to move the second boom and the second stick in response to only the second actuator signals; and

in response to the mode signal, selectively generate commands to simultaneously move the first boom, the first stick, the second boom, and the second stick in response to only the first actuator signals.

19. The excavator of claim 18, wherein the controller is configured to selectively generate commands cause the second plurality of hydraulic cylinders to counterbalance movements of the first plurality of hydraulic in response to only the first actuator signals and the mode signal.

20. The excavator of claim 18, wherein the controller is configured to selectively generate commands cause the second plurality of hydraulic cylinders to make movements that mimic and share loading of the first plurality of hydraulic cylinders in response to only the first actuator signals and the mode signal.