System and methods for with a first and a second hand operated control, controlling motion on a work tool for a construction machine

Abstract

The invention relates to a system and a method for, with a first and a second hand operated control means (11a, 11b), controlling movement on a work tool (5) for a construction machine (1). The construction machine (1) comprises a lower carriage (2), a top (3), a digging arm (4) and a work tool (5). The digging arm (4) comprises an inner link arm (4a) with a first and a second inner link arm end (4a1, 4a2) and an outer link arm (4b) with a first and a second outer link arm end (4b1, 4b2). The work tool (5) is secured in the second outer link arm end (4b2) via an attachment device (6) which enables controlled rotation and controlled tilting of the work tool (5) in relation to the outer link arm (4b). The system is characterized in that the first hand operated control means (11a) is intended to control the position of the second outer link arm end (4b2) and the second hand operated control means (11b) is intended to control the function of the tool (5), comprising controlled rotation and controlled tilting of the work tool (5) in relation to the outer link arm (4b).

Claims

1. A system for, with a first and a second hand operated controller, controlling movement on a work tool for a construction machine, the second controller being separate from the first controller, wherein the first hand of a driver is used to control the first hand operated controller and the second hand of a driver is used to control the second hand operated controller, the construction machine comprising a lower carriage, a top, a digging arm and the work tool, wherein the digging arm comprises an inner link arm with a first and a second inner link arm end and an outer link arm with a first and a second outer link arm end, wherein one joint connects the top with the first inner link arm end, one joint connects the second inner link arm end with the first outer link arm end and one joint connects the second outer link arm end with the work tool, and wherein the work tool is secured in the second outer link arm end via an attachment device which enables controlled rotation and controlled tilting of the work tool in relation to the outer link arm; wherein the first hand operated controller is configured to control the spatial position of the second outer link arm end, at least through control of the movements of the inner link arm and the outer link arm relative to each other as well as the rotation of the entire digging arm in relation to the top, and through rotation of the entire top including the arm in relation to the lower carriage, and the second hand operated controller is configured to control the function of the work tool, comprising controlled rotation and controlled tilting of the work tool in relation to the outer link arm, wherein the first hand operated controller is configured to control the spatial position of the second outer link arm end by moving the second outer link arm end away from and towards the driver, to the left and to the right, and upwards and downwards.

2. The system according to claim 1, wherein actuators are adapted to, via control devices, control the relative movement between the attachment device and the outer link arm, the outer link arm and the inner link arm and between the inner link arm and the top.

3. The system according to claim 2, comprising a control system which converts the movements of the first and the second controller to signals which activate, deactivate and control the control devices which control the movements of the first and second link arms and which activate, deactivate and control the control devices arranged in the attachment device which control the movement of the work tool.

4. The system according to claim 3, wherein the control system is adapted to control a velocity of the relative movement between the different moveable link arm parts via the control devices controlling at least one of power supply, pressure or flow in the different actuators and to the attachment device.

5. The system according to claim 1, wherein the attachment device is a tiltrotator and comprises a rotor member configured to control the rotation of the work tool about a first attachment device axis and tilting device configured to control the tilting of the work tool about a second attachment device axis substantially perpendicular to the first attachment device axis.

6. The system according to claim 1, wherein at least one sensor is provided in the attachment device which measures at least one of the relative position between the separate parts of the attachment device or the force that acts upon the control devices which are provided interconnected with the attachment device.

7. The system according to claim 1, wherein the first and the second controller are operative to tilt in a movement parallel to at least a first and a second controller axis which are substantially perpendicular to each other and rotate about a third controller axis which is substantially perpendicular to the first and the second controller axis.

8. The system according to claim 7, wherein the first and the second controller is possible to adjust vertically along the third controller axis which is a substantially vertical axis.

9. The system according to claim 1, wherein the first and the second controller is a touch screen.

10. The system according to claim 1, wherein the first hand operated controller is configured to control the spatial position of the second outer link arm end along three different axes of movement.

11. A method for, with a first and a second hand operated controller, the second controller being separate from the first controller, wherein the first hand of a driver is used to control the first hand operated controller and the second hand of a driver is used to control the second hand operated controller, controlling a movement on a work tool for a construction machine, the construction machine comprising a lower carriage, a top, a digging arm and the work tool, wherein the digging arm comprises an inner link arm with a first and a second inner link arm end and an outer link arm with a first and a second outer link arm end, wherein one joint connects the top with the first inner link arm end, one joint connects the second inner link arm end with the first outer link arm end and one joint connects the second outer link arm end with the work tool, and wherein the work tool is secured in the second outer link arm end via an attachment device which enables controlled rotation and controlled tilting of the work tool in relation to the outer link arm; wherein the method comprises the steps of: with the first hand operated controller controlling the spatial position of the second outer link arm end, at least through control of the movements of the inner link arm and the outer link arm relative to each other as well as the rotation of the entire digging arm in relation to the top, and through rotation of the entire top including the arm in relation to the lower carriage, and with the second hand operated controller controlling the function of the work tool, comprising controlled rotation and controlled tilting of the work tool in relation to the outer link arm, wherein controlling the spatial position of the second outer link arm end comprises controlling the spatial position of the second outer link arm end by moving the second outer link arm end away from and towards the driver, to the left and to the right, and upwards and downwards.

12. The method according to claim 11 comprising the step of: with a control system converting the movements of the first and the second controller into control signals which activate, deactivate and control control devices which control the movements of the first and the second link arm and the work tool.

13. The method according to claim 11, wherein controlling the spatial position of the second outer link arm end comprises controlling the spatial position of the second outer link arm end over three different axes of movement.

14. A computer program product stored on a non-transitory computer readable medium for controlling a movement on a work tool for a construction machine having a first and a second hand operated controller, the second controller being separate from the first controller, wherein the first hand of a driver is used to control the first hand operated controller and the second hand of a driver is used to control the second hand operated controller, the construction machine comprising a lower carriage, a top, a digging arm and the work tool, wherein the digging arm comprises an inner link arm with a first and a second inner link arm end and an outer link arm with a first and a second outer link arm end, wherein one joint connects the top with the first inner link arm end, one joint connects the second inner link arm end with the first outer link arm end and one joint connects the second outer link arm end with the work tool, and wherein the work tool is secured in the second outer link arm end via an attachment device which enables controlled rotation and controlled tilting of the work tool in relation to the outer link arm, wherein when executed on a computer causes the computer to control rotation and control tilting of the work tool in relation to the outer link arm with the first hand operated controller controlling the spatial position of the second outer link arm end, at least through control of the movements of the inner link arm and the outer link arm relative to each other as well as the rotation of the entire digging arm in relation to the top, and through rotation of the entire top including the arm in relation to the lower carriage, and with the second hand operated controller controlling the function of the tool, wherein controlling the spatial position of the second outer link arm end comprises controlling the spatial position of the second outer link arm end by moving the second outer link arm end away from and towards the driver, to the left and to the right, and upwards and downwards.

Description

SHORT DESCRIPTION OF THE DRAWINGS

(1) The invention will now be described, by way of example, with reference to the accompanying drawings, in which:

(2) FIG. 1 shows a previously known system for controlling the movements of a work tool

(3) FIG. 2a shows a construction machine for which the inventive system is suitable

(4) FIG. 2b shows a detailed view of the construction machine

(5) FIG. 3a shows the inventive system which controls movement of the work tool.

(6) FIG. 3b shows a schematic flow of signals from control means via control systems to valves.

DETAILED DESCRIPTION

(7) In the following there is a detailed description of embodiments of the invention. All examples shall be seen as parts of the general description and is therefore generally possible to combine.

(8) In FIG. 2a there is shown a construction machine 1 for which the system is suitable. The construction machine 1 comprises preferably a bottom carriage 2 with a driving belt 2a, a top 3 as well as a digging arm 4 and a work tool 5. The driving belts 2a are of course replaceable with wheels if desired. The digging arm 4 is made up of a at least one inner 4a and one outer link arm 4b, boom and shaft respectively, where the digging arm is made up of an inner link arm 4a with a first and a second inner link arm end 4a1, 4a2 and an outer link arm 4b with a first and a second outer link arm end 4b1, 4b2. One joint J1 connects the top 3 with the first inner link arm end 4a1 and one joint J2 connects the second inner link arm end 4a2 with the first outer link arm end 4b1. In the outer link arm 4b of the digging arm, an attachment device 6 for the work tool 5 is attached via an additional joint J4 that enables a rotation about a third substantially horizontal machine axis MA3 that extends through the joint J3. The attachment device 6 enables controlled rotation and controlled tilting of the tool 5.

(9) All joints J1, J2 are operated by hydraulics and enable a rotation about first, second and third substantially horizontal machine axes MA1, MA2, MA3 which extend through the joints J1, J2, J3. At the respective joint J1, J2, J3 there is arranged at least one actuator HC1, HC2, HC3 which is controlled by control devices V1, V2, V3. In machines of today, one of which is shown in FIG. 1, the actuators are hydraulic cylinders and the control devices are hydraulic valves. The control devices V1, V2, V3 may then be provided in the main block in the machine, and be connected to the hydraulic cylinders via hoses. It is also possible to mount the control devices V1, V2, V3 directly at each joint. If instead electrical signals are used to activate, deactivate and control the control devices which control the actuators, electrical wires may be routed between main block and the respective actuator. It is also possible that the actuators are controlled wirelessly. Each control device V1, V2, V3 controls a certain actuator HC1, HC2, HC3 which in turn controls the movement in a certain direction J1, J2, J3 of the excavator 1.

(10) It is also possible to rotate the whole top 3 of the construction machine in relation to its bottom carriage 2, about a substantially vertical machine axis MA4. Through this rotation the basic position of the work tool 5 in relation to the ground may be set. It is also possible to control the whole basic position of the construction machine in relation to the ground, by controlling direction and velocity of the movement of the belts 2a or, if wheels are used, the rotation of the wheels.

(11) The above mentioned attachment device 6 may be a tiltrotator, which is shown further in FIG. 2b. The tiltrotator comprises a rotor part 6a which makes it possible to, by force, rotate the tool 360 degrees in relation to the outer link arm 4b around a first attachment device axis IAA1. The rotation occurs with the help of an actuator that is further controlled by a control device V4 which is arranged in the rotor member 6a. The tiltrotator also comprises a tilting device 6b which makes it possible to angle the tool in relation to a second control means axis IAA2 substantially perpendicular to the first control means axis IAA1. The second tilting device 6b may be another rotor member arranged substantially perpendicular to the first rotor member or one or multiple hydraulic cylinders or other actuators, these also being controlled by control devices V5.

(12) In the attachment device 6 there is also arranged one or multiple sensors S1, S2, . . . Sn which are arranged to sense for example the relative position between the separate parts of the attachment device and the force acting on or the hydraulic pressure in the control devices V4, V5. The sensors may thus sense if and how much the tool is angled. The force that acts on the tool may be read by measuring increased hydraulic pressure or resistance to movement. When the tool encounters rock or similarly for the tool impenetrable material, there is a rapid increase in power in the control devices. When hydraulic cylinders are used as actuators, it is for example possible to strangle the supply of hydraulic fluid to the actuators when a rapid increase in pressure is detected which may prevent a system overload.

(13) The tilt rotator may also be equipped with fast attachments which enable fast and safe changes of work tools 5. The work tool 5 may for example be a bucket, grapple, pallet form, hook, cutter or other suitable tools. It is also possible to integrate a work tool, such as a grapple, in the tiltrotator. Thus the tiltrotator itself may function as a work tool.

(14) FIG. 3a shows the inventive system 10 which controls the movement of the work tool. The system 10 comprises a first and a second hand operated control means 11a, 11b. The control means 11a, 11b may for example be a joystick or a three-dimensional computer mouse which are possible to rotate about at least a first control means axis KOA1 and to tilt at least in directions parallel with a second and a third control means axis KOA2, KOA3 which are substantially perpendicular to each other and to the first control means axis KOA1. It may also be possible to adjust the first and the second control means vertically along the vertical first control means axis KOA1. Of course it may also be possible to angle the control means 11b, 11b in every direction that starts from the first control means axis KOA1 and in such a way continuously control the movement on the second end 4b2 of the outer link arm.

(15) It is also possible (but not shown) that the control means 11a, 11b are one or multiple touch screens where the movements of the work tool 5 are controlled by the sweeping movement of one or multiple fingers across the screen.

(16) The first hand operated control means 11a is intended to control the position of the second outer link arm end and the second hand operated control means 11b is intended to control the function of the tool. With the function of the tool, it is meant for example its rotation and angle in relation to the outer link arm 4b and an opening or closing movement on tool 5 or grapple. Preferably the first hand of a driver is used to control the first control means 11a and the second hand of a driver to control the second control means 11b.

(17) The movements of the first and the second control means 11a, 11b are converted by a control system 12 into control signals SS1, SS2, SS3, SS4, SS5 which activate, deactivate and control control devices V1-V5 which control the movements of the first and the second link arm 4a, 4b and the work tool.

(18) The control system 12 controls the control devices V1-V3 so that they convert the movements on the first control means 11a to a desired movement on the second outer link arm end 4b2 through control of the movements of the first and the second link arm 4a, 4b relative to each other as well as controls the rotation of the entire digging arm 4 in relation to the top 3.

(19) For example, a tilting of the first control means 11a in both directions parallel to the first control means axis KOA1 may bring the tip of the digging arm 4, i.e. the second outer link arm end 4b2, away from and towards the driver respectively, function FT1, FT2. A tilting of the first control means 11a in both directions parallel to the second control means axis KOA2 may bring the tip of the digging arm 4 to the left and right respectively, function FT3, FT4. This occurs through the entire top 3 including the arm 4 rotating in relation to the bottom carriage 2. A rotation of the first control means 11a about the third control means axis KOA3 may rotate the whole construction machine relative to the ground by controlling the digging belts 2a or wheels, function FT5, FT6. A dragging and pressing movement, respectively, on the first control means 11a direction parallel to the third control means axis KOA3 may bring the tip of the digging arm 4 upwards and downwards respectively, function FT7, FT8.

(20) The control system 12 controls with signals SS4, SS5 also the control devices V4, V5 which are associated with the attachment device 6 so that they convert the movements on the second control means 11b to a desired movement and desired function on the attachment device.

(21) For example, a tilting of the second control means 11b in both directions parallel to the first control means axis KOA, may close and open the tool 5 respectively, function FR1, FR2. A tilting of the second control means 11b in both directions parallel to the second control means axis KOA2 may bring the left and right side, respectively, of the tool down, i.e. rotate about the second attachment device axis IAA2, function FR3, FR4. A rotation of the second control means 11b about the third control means axis KOA3 may rotate the tool about the first attachment device axis IAA1, function FR5, FR6. A dragging and pressing movement, respectively, on the second control means 11b with direction parallel to the third control means axis KOA3 may for example entail an opening and closing, respectively, of a grapple (if such is mounted at the tiltrotator), function FR7, FR8.

(22) In FIG. 3b there is shown a schematic flow of control signals SS1, SS2, SS3, SS4, SS5 created by movements FT1-FT8, FR1-FR8 on the control means 11a, 11b via the control system 12 to the control devices V1, V2, V3, V4, V5. The control devices V1-V3 control the movements of the link arm 4a, 4b relative to each other and controls the rotation of the entire digging arm 4 in relation to the top 3 and the control devices V4, V5 control the relative movements of the attachment device 6. Of course it is possible to arrange more or fewer control devices than mentioned above to control the movements of the digging arm and the tool.