WO2007144629A2 - Control system for earth moving and working apparatus - Google Patents

Control system for earth moving and working apparatus Download PDF

Info

Publication number
WO2007144629A2
WO2007144629A2 PCT/GB2007/002217 GB2007002217W WO2007144629A2 WO 2007144629 A2 WO2007144629 A2 WO 2007144629A2 GB 2007002217 W GB2007002217 W GB 2007002217W WO 2007144629 A2 WO2007144629 A2 WO 2007144629A2
Authority
WO
WIPO (PCT)
Prior art keywords
control
working
arm
powered actuator
movement
Prior art date
Application number
PCT/GB2007/002217
Other languages
French (fr)
Other versions
WO2007144629A3 (en
Inventor
Brian Clough
Shen Jiang
Original Assignee
Coventry University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Coventry University filed Critical Coventry University
Publication of WO2007144629A2 publication Critical patent/WO2007144629A2/en
Publication of WO2007144629A3 publication Critical patent/WO2007144629A3/en

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E02F9/2008—Control mechanisms in the form of the machine in the reduced scale model
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like

Definitions

  • This invention relates to a control system for earth moving and working apparatus such as an excavator.
  • such apparatus comprises a base, a first arm pivotally connected at one end to the body, a second arm pivotally connected at one end to the other end of the first arm, and an implement pivotally connected to the other end of the second arm.
  • the implement will be in the form of a bucket but other implements are possible.
  • the base will be a tracked or wheeled powered vehicle.
  • Means are provided for effecting pivotal movement between the first arm and the base, the second arm and the first arm, and the implement and the second arm.
  • hydraulic actuators may be provided between the respective components.
  • the base is in the form of a turret mounted on the vehicle and the operator must control the speed and direction of rotation of the turret.
  • One lever controls the pivoting of the second arm relative to the first, in accordance with forwards and backwards movement of the lever.
  • the other lever controls pivoting of the first arm relative to the base in accordance with forwards and backwards movement, and pivoting of the bucket relative to the second arm in accordance with left and right movement of the lever.
  • a control lever system for the arms and implement is not intuitive and can be difficult to master, particularly for somebody who has for example hired an excavator for a short period of work in a garden or a home building project.
  • US A 5 995 893 there is proposed an interface which is intended to be easier to use.
  • a control comprising a first member which has telescopic portions and is mounted to a base by a horizontal pivot at one end. The other end of the first member is connected to a perpendicular, upwardly extending second member. The second member can be rotated about its upwardly extending axis. At the free end of the second member is a horizontally extending third member, which is rotatable about its horizontal axis.
  • Such an arrangement enables the movements of the arms and implement, as well as rotation of the whole unit about a vertical axis, to be controlled by one hand.
  • the present invention provides earth moving or working apparatus comprising a base, a first working arm pivotally connected at one end to the base about a horizontal axis, a second working arm pivotally connected at one end to the other end of the first working arm about a horizontal axis, an implement pivotally connected to the other end of the second working arm about a horizontal axis; a first powered actuator for effecting relative pivotal movement between the first working arm and the base, a second powered actuator for effecting relative pivotal movement between the second working arm and the first working arm, and a third powered actuator for effecting relative pivotal movement between the implement and the second working arm; and control apparatus for manipulation by a user to control the operation of the first powered actuator, second powered actuator and third powered actuator; wherein the control apparatus comprises a control base, a first control arm pivotally connected at one end to the control base for relative rotation about a horizontal axis, a second control arm pivotally connected at one end to the other end of the first control arm about for relative movement about a horizontal axis
  • first manipulation member In use, therefore, a user holds the first manipulation member in one hand and the second manipulation member in the other hand.
  • Translational movements of the first and second manipulation members will alter the positions of the first and second control arms relative to the control base and to each other. These movements are used to control the first and second powered actuators so as to control the corresponding movements of the first and second working arms. Twisting of the second translational member, or at least part of it, controls the third power actuator so as to control the position of the implement relative to the second working arm.
  • the control assembly thus emulates the actual movements of the working arms and implement, so that its operation is completely intuitive, and more versatile than for example the prior art arrangement which is controlled by only one hand.
  • the feedback given to an operator is more accurate as regards the movement of the working components.
  • the first control arm can be mounted to the control base for rotation about a vertical axis. This can be effected by using the first and second manipulation member to move the assembly of arms as a whole about that vertical axis.
  • a member representing a bucket or other implement can be mounted to move relative to the second control arm when the second manipulation member is twisted, making it easier for a user to correlate movements of the control apparatus to movements of the powered, working apparatus.
  • the control apparatus can be put into a vehicle steering mode.
  • the second control arm is pivoted back towards the first control arm to a position in which the second manipulation member is aligned generally axially with the first manipulation member.
  • the apparatus will then be locked in this state and the system will be set so that the manipulation members can be used like the handlebars of a bicycle so as to steer the vehicle.
  • the rotation of the second manipulation member could be used to control a vehicle function such as speed, for example.
  • At least part of the first manipulation member could also be rotatable about a horizontal axis, and could control a vehicles function such as gear selection, for example.
  • the control apparatus is detachable from the vehicle, and my be portable, so as to enable remote control. For example, an operator may prefer to be closer the point of excavation than the cab. Removal of the control apparatus, could be used as an anti-theft measure, leaving no means for a thiefto operate the vehicle. Furthermore, the control apparatus could be provided as supplementary or replacement equipment for existing earth moving or working apparatus.
  • the present invention provides control apparatus for earth moving or working apparatus, the earth moving or working apparatus comprising: a base, a first working arm pivotally connected at one end to the base about a horizontal axis, a second working arm pivotally connected at one end to the other end of the first working arm about a horizontal axis, an implement pivotally connected to the other end of the second working arm about a horizontal axis; a first powered actuator for effecting relative pivotal movement between the first working arm and the base, a second powered actuator for effecting relative pivotal movement between the second working arm and the first working arm, and a third powered actuator for effecting relative pivotal movement between the implement and the second working arm; and control apparatus for manipulation by a user to control the operation of the first powered actuator, second powered actuator and third powered actuator;
  • control apparatus comprises a control base, a first control arm pivotally connected at one end to the control base for relative rotation about a horizontal axis, a second control arm pivotally connected at one end to the other end of the first control arm about for relative movement about a horizontal axis, a first manipulation member extending laterally outwardly from the first control arm on one side of the apparatus; means for converting movement of the first control arm into operation of the first powered actuator whereby movement of the first manipulation member to move the first control arm controls movement of the first working arm; a second manipulation member extending laterally outwardly from adjacent the other end of the second control arm on the other side of the apparatus, and means for converting movement of the second control arm into operation of the second powered actuator whereby movement of the second manipulation member to move the second control arm controls movement of the second working arm; and wherein at least part of the second manipulation member is arranged for rotation about a horizontal axis, means being provided for converting such rotation into operation of the third powered actuator so as to control movement of the implement.
  • the invention also extends to the use of such control apparatus to control the earth working or moving apparatus.
  • "fly-by- wire”, “drive-by- wire” or “mechatronic” technology is used to communicate movements of the components of the control apparatus 'into movements of the working components. Movements of the controls create a consonant movement of the working components in a proportional relationship.
  • the control apparatus is provided with haptic feedback so that the operator can feel the resistance to the ground into which the working implement is digging, and can for example experience the density or hardness of materials in which the implement is operating.
  • Haptic warnings may be provided if the operator attempts to carry out a function outside of the safe operating parameters for the working apparatus, such as overloading or digging under the apparatus, in a way similar to the way in which shaking of the control column in an aircraft fly-by- wire system warns of an imminent stall.
  • a hard trench base could be programmed, below which the controller will not permit further excavation. This could be achieved, for example, by a laser level and sensors attached to the working arms. Thus, the operator would feel the bottom limit and the implement would not go deeper.
  • Variable sensitivity could be provided, to allow finer control or to provide more sensitive force feedback where required.
  • control components resemble a miniaturised copy of the working apparatus which is being used.
  • the working apparatus being controlled may have a more complex construction, and the first and / or second arm may be multi-part and have telescoping sections.
  • the control apparatus could be constructed to mimic the working apparatus, preferably the operator only has to use the two manipulation levers. Since the relationship between the control apparatus movements and the working component movements can be made proportional, control software can be developed to control all powered actuators simultaneously without the need for separate, independent controls for each actuator.
  • the control apparatus could include additional features such as switches, controls, displays and so forth, as desired.
  • the invention has many applications, in preferred embodiments it is incorporated into a small wheeled excavator intended for use in relatively small projects by inexperienced operators.
  • the control apparatus can then be used to control movement of the vehicle.
  • the working arms and implement of the vehicle could be moved to a transit position and the control apparatus could be used as handlebars in the manner discussed above.
  • Figure 1 is a first perspective view from the top and one side of control apparatus in accordance with the invention
  • Figure 2 is a second perspective view from the top and the other side of control apparatus in accordance with the invention.
  • Figure 3 a is a side view of the control apparatus in a first position and Figure 3b is a view of the corresponding position of a working excavator;
  • Figure 4a is a side view of the control apparatus in a second position and Figure 4b is a view of the corresponding position of a working excavator;
  • Figure 5a is a side view of the control apparatus in a third position and Figure 5b is a view of the corresponding position of a working excavator;
  • Figure 6a is a side view of the control apparatus in a fourth position and Figure 6b is a view of the corresponding position of a working excavator;
  • Figure 7 is a side view of the control apparatus in a transit position
  • Figure 8 is a top view of the control apparatus in the transit position
  • Figure 9 is a schematic top view of an excavator in accordance with the invention.
  • FIGS. 1 and 2 show control apparatus 1.
  • the control apparatus comprises a base 2, mounted for rotation about a vertical axis on the body of a mobile excavator. Pivotally connected to the base 2 for rotation about a horizontal axis 3 is a first control arm 4.
  • This comprises parallel, elongate arm parts 5 and 6 and a top panel 7.
  • the end of the first control arm 4 remote from the base is pivotally connected about a horizontal axis 9 to a second control arm 10.
  • a second elongate, generally cylindrical manipulation member 11 in the form of a handle provided with e.g. a rubber grip to assist manipulation, projecting laterally outwards perpendicular to the second control arm 10.
  • the second manipulation member 11 is mounted for rotation about its axis, and is connected to an end member 12 mounted on second control arm 10 for rotation about the horizontal axis of member 11, to simulate the behaviour of an excavator or other implement.
  • the arm part 6 of first control arm 4 is provided with a recess 13 which can receive second manipulation member 11 when the second control arm 10 is folded back relative to first control arm 4 into a transit position, described in more detail later.
  • FIGs 3a, 4a, 5a, and 6a show different positions of the first and second control arms 4, 10 and the end member 12, brought about by manipulation of the members 8,11.
  • Figures 3b, 4b, 5b, and 6b show the corresponding configurations of a working excavator 14.
  • This excavator 14 has a base 15, a first working arm 16 pivotally connected to the base, a second working arm 17 pivotally connected to the first working arm, and an excavating bucket 18 pivotally connected to the end of the second working arm.
  • a first hydraulic actuator 19 acts between the base 15 and the first working arm 16; a second hydraulic actuator 20 between the first working arm 16 and the second working arm 17; and a third hydraulic actuator 21 between the second working arm 17 and a link 22 connected to the bucket 18.
  • the base 15 is itself rotatable about a vertical axis by means of a fourth actuator mechanism (not shown), both for adjusting the point of excavation and for movement into a transit position described below.
  • Figures 7 and 8 show the control apparatus in the transit position.
  • the second control arm 10 carrying end member 12 has been pivoted so that the second manipulation member 11 is received in the recess 13 of part 6 of first control arm 4.
  • the first and second manipulation members 8, 11 are aligned axially and can be used to rotate the control apparatus about a vertical axis to steer a vehicle on which the apparatus is installed.
  • Rotation of the first and second manipulation members can be used to control functions of the vehicle, such as the accelerator, brake, gear change and so forth.
  • movements of the various components of the control apparatus 1 are detected by sensors, and processed by a suitable on board data processing system which generates control signals to be transmitted to control the operation of the hydraulic actuators 19,20 and 21 or, in the transit mode, the steering of the vehicle on which the excavator is situated.
  • FIG 9 is a schematic view of an excavator vehicle incorporating the control apparatus.
  • Excavator arms 16 and 17, and bucket 18 are shown, connected to rotatable base 15 which is carried by a vehicle body 23.
  • the body 23 has four wheels 24 and means (not shown) for driving at least one pair of the wheels.
  • a seat 25 is provided for the operator, and the control apparatus 1 is shown in the transit position of figure 8. As shown, the excavator arms and bucket are in the transit position and the vehicle can be driven to a suitable site for use.
  • control apparatus 1 When the vehicle is at the chosen site, the control apparatus 1 is converted to its excavator control mode, and the anus and bucket are swung around as indicated by the arrows, to a position 180 degrees away from the transit position, projecting forwards from the vehicle and ready for use.
  • control apparatus Whilst the description of the preferred embodiment of control apparatus in accordance with the invention has been in the context of a relatively small scale excavator, for example of a type that might be hired for use on domestic earth moving or working projects, the control apparatus as such is also applicable to larger excavators and other earth working or moving vehicles, including those that may have to travel on public highways. In such cases, the ability to control the movement of the vehicle itself may be unnecessary, and conventional controls such as a steering wheel, pedals, gear lever and so forth may be used. The transit configuration of the control apparatus as described above would then be unnecessary, but the manner of controlling the movement of the arms and implement of the earth moving or working apparatus would remain the same.
  • earth moving or “earth moving” apparatus refer to the general type of apparatus and that various different types of implement may me used in teh apparatus. Typically, the implements may be removed and replaced so that different jobs can be carried out. Similarly, the word “earth” does not imply that teh apparatus is limited to that which can move earth as such. For example, apparatus used to move rubble, snow and so forth is also encompassed within teh scope of teh invention.

Abstract

A control system (1) for earth moving or working apparatus (14) such as an excavator comprises a first control arm (4), a second control arm (10) and an end member (12), pivotally connected to as to emulate the working arms (16, 17) and bucket (18) of the excavator. The first and second control arms (4, 10) are provided with handles (8, 11) projecting laterally outwards in opposite directions so that the positions of the first and second control arms can be altered by a user. The handle (11) on the second control arm (10) can also be twisted to control movement of the end member (12). These movements are translated into control of hydraulic actuators (18, 19, 20) for controlling the working arms (16, 17) and bucket (18) of the excavator. The control arms (4,10) can be moved to a position in which the handles (8, 11) are axially aligned, for steering of the excavator (14) during transit. The control system (1) maybe detachable from the excavator (14). Haptic feedback may be provided.

Description

Control System for Earth Moving and Working Apparatus
This invention relates to a control system for earth moving and working apparatus such as an excavator.
Typically, such apparatus comprises a base, a first arm pivotally connected at one end to the body, a second arm pivotally connected at one end to the other end of the first arm, and an implement pivotally connected to the other end of the second arm. In the case of an excavator, the implement will be in the form of a bucket but other implements are possible. Typically, the base will be a tracked or wheeled powered vehicle. Means are provided for effecting pivotal movement between the first arm and the base, the second arm and the first arm, and the implement and the second arm. Thus, hydraulic actuators may be provided between the respective components.
An operator of such apparatus has many functions to control, hi the case of a vehicle, it will be necessary to control steering, speed and forwards or backwards motion. In some cases, the base is in the form of a turret mounted on the vehicle and the operator must control the speed and direction of rotation of the turret. In addition to these functions, there must be control of the arms and implement and typically this is effected by two levers. One lever controls the pivoting of the second arm relative to the first, in accordance with forwards and backwards movement of the lever. The other lever controls pivoting of the first arm relative to the base in accordance with forwards and backwards movement, and pivoting of the bucket relative to the second arm in accordance with left and right movement of the lever.
Such a control lever system for the arms and implement is not intuitive and can be difficult to master, particularly for somebody who has for example hired an excavator for a short period of work in a garden or a home building project.. In US A 5 995 893, there is proposed an interface which is intended to be easier to use. In this document there is shown a control comprising a first member which has telescopic portions and is mounted to a base by a horizontal pivot at one end. The other end of the first member is connected to a perpendicular, upwardly extending second member. The second member can be rotated about its upwardly extending axis. At the free end of the second member is a horizontally extending third member, which is rotatable about its horizontal axis. Thus as user can pivot the entire assembly of three members about a horizontal axis relative to the base; can alter the length of the first member by sliding the free telescopic portion; can rotate the second member about its upwards axis; and can twist the third member about its axis. All of these functions can be performed by means of one hand, gripping the third member.
Such an arrangement enables the movements of the arms and implement, as well as rotation of the whole unit about a vertical axis, to be controlled by one hand.
However there are limitation as to the types of movement that can be effected using just one hand, and the operation of this control arrangement is not as intuitive as might be thought.
Accordingly, viewed from one aspect the present invention provides earth moving or working apparatus comprising a base, a first working arm pivotally connected at one end to the base about a horizontal axis, a second working arm pivotally connected at one end to the other end of the first working arm about a horizontal axis, an implement pivotally connected to the other end of the second working arm about a horizontal axis; a first powered actuator for effecting relative pivotal movement between the first working arm and the base, a second powered actuator for effecting relative pivotal movement between the second working arm and the first working arm, and a third powered actuator for effecting relative pivotal movement between the implement and the second working arm; and control apparatus for manipulation by a user to control the operation of the first powered actuator, second powered actuator and third powered actuator; wherein the control apparatus comprises a control base, a first control arm pivotally connected at one end to the control base for relative rotation about a horizontal axis, a second control arm pivotally connected at one end to the other end of the first control arm about for relative movement about a horizontal axis, a first manipulation member extending laterally outwardly from the first control arm on one side of the apparatus, whereby movement of the first manipulation member to move the first control arm controls the first powered actuator and movement of the first working arm; and a second manipulation member connected to the other end of the second working arm and extending laterally outwardly on the other side of the apparatus, whereby movement of the second manipulation member to move the second control arm controls the second powered actuator and movement of the second working arm; at least part of the second manipulation member being arranged for rotation about a horizontal axis so as to control the third powered actuator and movement of the implement.
In use, therefore, a user holds the first manipulation member in one hand and the second manipulation member in the other hand. Translational movements of the first and second manipulation members will alter the positions of the first and second control arms relative to the control base and to each other. These movements are used to control the first and second powered actuators so as to control the corresponding movements of the first and second working arms. Twisting of the second translational member, or at least part of it, controls the third power actuator so as to control the position of the implement relative to the second working arm.
The control assembly thus emulates the actual movements of the working arms and implement, so that its operation is completely intuitive, and more versatile than for example the prior art arrangement which is controlled by only one hand. The feedback given to an operator is more accurate as regards the movement of the working components.
If the assembly of working arms and implement can be rotated as a whole about a vertical axis relative to the base, the first control arm can be mounted to the control base for rotation about a vertical axis. This can be effected by using the first and second manipulation member to move the assembly of arms as a whole about that vertical axis.
If desired, a member representing a bucket or other implement can be mounted to move relative to the second control arm when the second manipulation member is twisted, making it easier for a user to correlate movements of the control apparatus to movements of the powered, working apparatus.
In the case of the earth moving or excavating apparatus being mobile, having powered tracks or wheels, in one possible embodiment the control apparatus can be put into a vehicle steering mode. In that case the second control arm is pivoted back towards the first control arm to a position in which the second manipulation member is aligned generally axially with the first manipulation member. The apparatus will then be locked in this state and the system will be set so that the manipulation members can be used like the handlebars of a bicycle so as to steer the vehicle. The rotation of the second manipulation member could be used to control a vehicle function such as speed, for example. At least part of the first manipulation member could also be rotatable about a horizontal axis, and could control a vehicles function such as gear selection, for example.
In one possible embodiment of the invention, the control apparatus is detachable from the vehicle, and my be portable, so as to enable remote control. For example, an operator may prefer to be closer the point of excavation than the cab. Removal of the control apparatus, could be used as an anti-theft measure, leaving no means for a thiefto operate the vehicle. Furthermore, the control apparatus could be provided as supplementary or replacement equipment for existing earth moving or working apparatus.
Accordingly, viewed from another aspect the present invention provides control apparatus for earth moving or working apparatus, the earth moving or working apparatus comprising: a base, a first working arm pivotally connected at one end to the base about a horizontal axis, a second working arm pivotally connected at one end to the other end of the first working arm about a horizontal axis, an implement pivotally connected to the other end of the second working arm about a horizontal axis; a first powered actuator for effecting relative pivotal movement between the first working arm and the base, a second powered actuator for effecting relative pivotal movement between the second working arm and the first working arm, and a third powered actuator for effecting relative pivotal movement between the implement and the second working arm; and control apparatus for manipulation by a user to control the operation of the first powered actuator, second powered actuator and third powered actuator;
wherein the control apparatus comprises a control base, a first control arm pivotally connected at one end to the control base for relative rotation about a horizontal axis, a second control arm pivotally connected at one end to the other end of the first control arm about for relative movement about a horizontal axis, a first manipulation member extending laterally outwardly from the first control arm on one side of the apparatus; means for converting movement of the first control arm into operation of the first powered actuator whereby movement of the first manipulation member to move the first control arm controls movement of the first working arm; a second manipulation member extending laterally outwardly from adjacent the other end of the second control arm on the other side of the apparatus, and means for converting movement of the second control arm into operation of the second powered actuator whereby movement of the second manipulation member to move the second control arm controls movement of the second working arm; and wherein at least part of the second manipulation member is arranged for rotation about a horizontal axis, means being provided for converting such rotation into operation of the third powered actuator so as to control movement of the implement.
The invention also extends to the use of such control apparatus to control the earth working or moving apparatus. In preferred implementations of the present invention, "fly-by- wire", "drive-by- wire" or "mechatronic" technology is used to communicate movements of the components of the control apparatus 'into movements of the working components. Movements of the controls create a consonant movement of the working components in a proportional relationship. In some preferred embodiments, the control apparatus is provided with haptic feedback so that the operator can feel the resistance to the ground into which the working implement is digging, and can for example experience the density or hardness of materials in which the implement is operating. Haptic warnings may be provided if the operator attempts to carry out a function outside of the safe operating parameters for the working apparatus, such as overloading or digging under the apparatus, in a way similar to the way in which shaking of the control column in an aircraft fly-by- wire system warns of an imminent stall. For example, a hard trench base could be programmed, below which the controller will not permit further excavation. This could be achieved, for example, by a laser level and sensors attached to the working arms. Thus, the operator would feel the bottom limit and the implement would not go deeper. Variable sensitivity could be provided, to allow finer control or to provide more sensitive force feedback where required.
In preferred embodiments, the control components resemble a miniaturised copy of the working apparatus which is being used.
In some embodiments, the working apparatus being controlled may have a more complex construction, and the first and / or second arm may be multi-part and have telescoping sections. However, whilst the control apparatus could be constructed to mimic the working apparatus, preferably the operator only has to use the two manipulation levers. Since the relationship between the control apparatus movements and the working component movements can be made proportional, control software can be developed to control all powered actuators simultaneously without the need for separate, independent controls for each actuator. The control apparatus could include additional features such as switches, controls, displays and so forth, as desired.
Whilst the invention has many applications, in preferred embodiments it is incorporated into a small wheeled excavator intended for use in relatively small projects by inexperienced operators. As noted above, the control apparatus can then be used to control movement of the vehicle. In a vehicular mode, the working arms and implement of the vehicle could be moved to a transit position and the control apparatus could be used as handlebars in the manner discussed above.
A embodiment of the invention will now be described by way of example and with reference to the accompanying drawings, in which:
Figure 1 is a first perspective view from the top and one side of control apparatus in accordance with the invention;
Figure 2 is a second perspective view from the top and the other side of control apparatus in accordance with the invention; ,
Figure 3 a is a side view of the control apparatus in a first position and Figure 3b is a view of the corresponding position of a working excavator;
Figure 4a is a side view of the control apparatus in a second position and Figure 4b is a view of the corresponding position of a working excavator;
Figure 5a is a side view of the control apparatus in a third position and Figure 5b is a view of the corresponding position of a working excavator;
Figure 6a is a side view of the control apparatus in a fourth position and Figure 6b is a view of the corresponding position of a working excavator;
Figure 7 is a side view of the control apparatus in a transit position; Figure 8 is a top view of the control apparatus in the transit position; and
Figure 9 is a schematic top view of an excavator in accordance with the invention.
Referring now to the drawings in more detail, Figures 1 and 2 show control apparatus 1. The control apparatus comprises a base 2, mounted for rotation about a vertical axis on the body of a mobile excavator. Pivotally connected to the base 2 for rotation about a horizontal axis 3 is a first control arm 4. This comprises parallel, elongate arm parts 5 and 6 and a top panel 7. Projecting laterally outwards perpendicular to the arm part 5, in a horizontal direction, is a first elongate, generally cylindrical, manipulation member 8 in the form of a handle provided with e.g. a rubber grip to assist manipulation. The end of the first control arm 4 remote from the base is pivotally connected about a horizontal axis 9 to a second control arm 10. At the other end of the second control arm 10 is mounted a second elongate, generally cylindrical manipulation member 11 in the form of a handle provided with e.g. a rubber grip to assist manipulation, projecting laterally outwards perpendicular to the second control arm 10. The second manipulation member 11 is mounted for rotation about its axis, and is connected to an end member 12 mounted on second control arm 10 for rotation about the horizontal axis of member 11, to simulate the behaviour of an excavator or other implement.
The arm part 6 of first control arm 4 is provided with a recess 13 which can receive second manipulation member 11 when the second control arm 10 is folded back relative to first control arm 4 into a transit position, described in more detail later.
Figures 3a, 4a, 5a, and 6a show different positions of the first and second control arms 4, 10 and the end member 12, brought about by manipulation of the members 8,11. Figures 3b, 4b, 5b, and 6b show the corresponding configurations of a working excavator 14. This excavator 14 has a base 15, a first working arm 16 pivotally connected to the base, a second working arm 17 pivotally connected to the first working arm, and an excavating bucket 18 pivotally connected to the end of the second working arm. A first hydraulic actuator 19 acts between the base 15 and the first working arm 16; a second hydraulic actuator 20 between the first working arm 16 and the second working arm 17; and a third hydraulic actuator 21 between the second working arm 17 and a link 22 connected to the bucket 18.
The base 15 is itself rotatable about a vertical axis by means of a fourth actuator mechanism (not shown), both for adjusting the point of excavation and for movement into a transit position described below.
Figures 7 and 8 show the control apparatus in the transit position. The second control arm 10 carrying end member 12 has been pivoted so that the second manipulation member 11 is received in the recess 13 of part 6 of first control arm 4. In this position the first and second manipulation members 8, 11 are aligned axially and can be used to rotate the control apparatus about a vertical axis to steer a vehicle on which the apparatus is installed. Rotation of the first and second manipulation members can be used to control functions of the vehicle, such as the accelerator, brake, gear change and so forth.
In practice, movements of the various components of the control apparatus 1 are detected by sensors, and processed by a suitable on board data processing system which generates control signals to be transmitted to control the operation of the hydraulic actuators 19,20 and 21 or, in the transit mode, the steering of the vehicle on which the excavator is situated.
Figure 9 is a schematic view of an excavator vehicle incorporating the control apparatus. Excavator arms 16 and 17, and bucket 18 are shown, connected to rotatable base 15 which is carried by a vehicle body 23. The body 23 has four wheels 24 and means (not shown) for driving at least one pair of the wheels. A seat 25 is provided for the operator, and the control apparatus 1 is shown in the transit position of figure 8. As shown, the excavator arms and bucket are in the transit position and the vehicle can be driven to a suitable site for use. When the vehicle is at the chosen site, the control apparatus 1 is converted to its excavator control mode, and the anus and bucket are swung around as indicated by the arrows, to a position 180 degrees away from the transit position, projecting forwards from the vehicle and ready for use.
In place of wheels, tracks could be used. In such cases, manipulation to steer the vehicle, would be converted into control signals to vary the speed of the individual tracks in order to turn the vehicle.
Whilst the description of the preferred embodiment of control apparatus in accordance with the invention has been in the context of a relatively small scale excavator, for example of a type that might be hired for use on domestic earth moving or working projects, the control apparatus as such is also applicable to larger excavators and other earth working or moving vehicles, including those that may have to travel on public highways. In such cases, the ability to control the movement of the vehicle itself may be unnecessary, and conventional controls such as a steering wheel, pedals, gear lever and so forth may be used. The transit configuration of the control apparatus as described above would then be unnecessary, but the manner of controlling the movement of the arms and implement of the earth moving or working apparatus would remain the same.
It will be appreciated that the expressions "earth moving" or "earth moving" apparatus refer to the general type of apparatus and that various different types of implement may me used in teh apparatus. Typically, the implements may be removed and replaced so that different jobs can be carried out. Similarly, the word "earth" does not imply that teh apparatus is limited to that which can move earth as such. For example, apparatus used to move rubble, snow and so forth is also encompassed within teh scope of teh invention.

Claims

1. Earth moving or working apparatus comprising a base, a first working arm pivotally connected at one end to the base about a horizontal axis, a second working arm pivotally connected at one end to the other end of the first working arm about a horizontal axis, an implement pivotally connected to the other end of the second working arm about a horizontal axis;
a first powered actuator for effecting relative pivotal movement between the first working arm and the base, a second powered actuator for effecting relative pivotal movement between the second working arm and the first working arm, and a third powered actuator for effecting relative pivotal movement between the implement and the second working arm; and
control apparatus for manipulation by a user to control the operation of the first powered actuator, second powered actuator and third powered actuator; wherein the control apparatus comprises a control base, a first control arm pivotally connected at one end to the control base for relative rotation about a horizontal axis, a second control arm pivotally connected at one end to the other end of the first control arm about for relative movement about a horizontal axis, a first manipulation member extending laterally outwardly from the first control arm on one side of the apparatus, whereby movement of the first manipulation member to move the first control arm controls the first powered actuator and movement of the first working arm; and a second manipulation member connected to the other end of the second working arm and extending laterally outwardly on the other side of the apparatus, whereby movement of the second manipulation member to move the second control arm controls the second powered actuator and movement of the second working arm; at least part of the second manipulation member being arranged for rotation about a horizontal axis so as to control the third powered actuator and movement of the implement.
2. Earth moving or working apparatus as claimed in claim I5 wherein the assembly of working arms and implement can be rotated as a whole about a vertical axis relative to the base, and the first control arm is mounted to the control base for rotation about a vertical axis.
3. Earth moving or working apparatus as claimed in claim 1 or 2, wherein a member representing the implement is mounted to move relative to the second control arm about the horizontal axis of the second manipulation member.
4. Earth moving or working apparatus as claimed in claim 1 , 2 or 3 , in the form of a vehicle, wherein the second control arm is pivotable back towards the first control arm to a position in which the second manipulation member is aligned generally axially with the first manipulation member so that the manipulation members can be used to steer the vehicle.
5. Earth moving or working apparatus as claimed in any preceding claim, wherein at least part of the first manipulation member is rotatable about a horizontal axis to control a function of the apparatus.
6. Earth moving or working apparatus as claimed in any preceding claim, wherein the control apparatus is detachable.
7. Earth moving or working apparatus as claimed in any preceding claim, wherein means are provided for providing feedback to the control apparatus.
8. Earth moving or working apparatus as claimed in claim 7, wherein sensitivity of the feedback is adjustable.
9. Earth moving apparatus as claimed in any preceding claim, wherein at least part of the second manipulation member is rotatable about a horizontal axis to control a function of the apparatus in addition to controlling the third powered actuator and movement of the implement.
10. Control apparatus for earth moving or working apparatus, the earth moving or working apparatus comprising:
a base, a first working arm pivotally connected at one end to the base about a horizontal axis, a second working arm pivotally connected at one end to the other end of the first working arm about a horizontal axis, an implement pivotally connected to the other end of the second working arm about a horizontal axis; a first powered actuator for effecting relative pivotal movement between the first working arm and the' base, a second powered actuator for effecting relative pivotal movement between the second working arm and the first working arm, and a third powered actuator for effecting relative pivotal movement between the implement and the second working arm; and control apparatus for manipulation by a user to control the operation of the first powered actuator, second powered actuator and third powered actuator;
wherein the control apparatus comprises a control base, a first control arm pivotally connected at one end to the control base for relative rotation about a horizontal axis, a second control arm pivotally connected at one end to the other end of the first control arm about for relative movement about a horizontal axis, a first manipulation member extending laterally outwardly from the first control arm on one side of the apparatus; means for converting movement of the first control arm into operation of the first powered actuator whereby movement of the first manipulation member to move the first control arm controls movement of the first working arm; a second manipulation member extending laterally outwardly from adjacent the other end of the second control arm on the other side of the apparatus, and means for converting movement of the second control arm into operation of the second powered actuator whereby movement of the second manipulation member to move the second control arm controls movement of the second working arm; and wherein at lest part of the second manipulation member is arranged for rotation about a horizontal axis, means being provided for converting such rotation into operation of the third powered actuator so as to control movement of the implement.
11. A method of controlling earth moving or working apparatus, the earth moving or working apparatus comprising:
a base, a first working arm pivotally connected at one end to the base about a horizontal axis, a second working arm pivotally connected at one end to the other end of the first working arm about a horizontal axis, an implement pivotally connected to the other end of the second working arm about a horizontal axis; a first powered actuator for effecting relative pivotal movement between the first working arm and the base, a second powered actuator for effecting relative pivotal movement between the second working arm and the first working arm, and a third powered actuator for effecting relative pivotal movement between the implement and the second working arm;
wherein the method comprises using the control apparatus of claim 9 and manipulating the first and second manipulation members to control the first, powered actuator, second powered actuator and third powered actuator.
12. Earth moving, or working apparatus, substantially as hereinbefore described with reference to the accompanying drawings.
13. Control apparatus for earth moving or working apparatus, substantially as hereinbefore described with reference to the accompanying drawings.
14. A method of controlling earth moving, or working apparatus, substantially as hereinbefore described with reference to the accompanying drawings.
PCT/GB2007/002217 2006-06-14 2007-06-14 Control system for earth moving and working apparatus WO2007144629A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB0611776A GB0611776D0 (en) 2006-06-14 2006-06-14 Control system for earth moving and working apparatus
GB0611776.6 2006-06-14

Publications (2)

Publication Number Publication Date
WO2007144629A2 true WO2007144629A2 (en) 2007-12-21
WO2007144629A3 WO2007144629A3 (en) 2008-03-27

Family

ID=36775631

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB2007/002217 WO2007144629A2 (en) 2006-06-14 2007-06-14 Control system for earth moving and working apparatus

Country Status (2)

Country Link
GB (1) GB0611776D0 (en)
WO (1) WO2007144629A2 (en)

Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012149446A3 (en) * 2011-04-29 2013-09-12 Raytheon Company Teleoperated robotic system
US8892258B2 (en) 2011-04-29 2014-11-18 Raytheon Company Variable strength magnetic end effector for lift systems
US8942846B2 (en) 2011-04-29 2015-01-27 Raytheon Company System and method for controlling a teleoperated robotic agile lift system
US8977388B2 (en) 2011-04-29 2015-03-10 Sarcos Lc Platform perturbation compensation
US9314921B2 (en) 2011-03-17 2016-04-19 Sarcos Lc Robotic lift device with human interface operation
US9616580B2 (en) 2012-05-14 2017-04-11 Sarcos Lc End effector for a robotic arm
US9809955B2 (en) 2016-02-16 2017-11-07 Caterpillar Inc. Control device for an implement system
US10765537B2 (en) 2016-11-11 2020-09-08 Sarcos Corp. Tunable actuator joint modules having energy recovering quasi-passive elastic actuators for use within a robotic system
US10766133B2 (en) 2014-05-06 2020-09-08 Sarcos Lc Legged robotic device utilizing modifiable linkage mechanism
US10821614B2 (en) 2016-11-11 2020-11-03 Sarcos Corp. Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly
US10828767B2 (en) 2016-11-11 2020-11-10 Sarcos Corp. Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements
US10843330B2 (en) 2017-12-07 2020-11-24 Sarcos Corp. Resistance-based joint constraint for a master robotic system
US10906191B2 (en) 2018-12-31 2021-02-02 Sarcos Corp. Hybrid robotic end effector
US10919161B2 (en) 2016-11-11 2021-02-16 Sarcos Corp. Clutched joint modules for a robotic system
US11241801B2 (en) 2018-12-31 2022-02-08 Sarcos Corp. Robotic end effector with dorsally supported actuation mechanism
US11331809B2 (en) 2017-12-18 2022-05-17 Sarcos Corp. Dynamically controlled robotic stiffening element
US11351675B2 (en) 2018-12-31 2022-06-07 Sarcos Corp. Robotic end-effector having dynamic stiffening elements for conforming object interaction
US11573592B1 (en) 2021-08-17 2023-02-07 Zoomlion Heavy Industry Na, Inc. One-handed joystick with adaptive control
US11717956B1 (en) 2022-08-29 2023-08-08 Sarcos Corp. Robotic joint system with integrated safety
US11794345B2 (en) 2020-12-31 2023-10-24 Sarcos Corp. Unified robotic vehicle systems and methods of control
US11826907B1 (en) 2022-08-17 2023-11-28 Sarcos Corp. Robotic joint system with length adapter
US11833676B2 (en) 2020-12-07 2023-12-05 Sarcos Corp. Combining sensor output data to prevent unsafe operation of an exoskeleton
US11886218B2 (en) 2021-08-17 2024-01-30 Zoomlion Heavy Industry Na, Inc. One-handed joystick for cranes
US11897132B1 (en) 2022-11-17 2024-02-13 Sarcos Corp. Systems and methods for redundant network communication in a robot
US11924023B1 (en) 2022-11-17 2024-03-05 Sarcos Corp. Systems and methods for redundant network communication in a robot
US11981027B2 (en) 2020-11-09 2024-05-14 Sarcos Corp. Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3880304A (en) * 1972-02-11 1975-04-29 Jr William A Strickland Mimic positioning controller for a hydraulically actuated back hoe
JPH01171784A (en) * 1987-12-24 1989-07-06 Tamagawa Seiki Co Ltd Remote-control device
US5995893A (en) * 1995-12-30 1999-11-30 Samsung Heavy Industries Co., Ltd. Device for controlling the operation of power excavators
EP1335074A1 (en) * 2002-02-08 2003-08-13 J.C. Bamford Excavators Limited Control apparatus for the arm of a working machine in form of a kinematically similar reduced scale lever assembly

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3880304A (en) * 1972-02-11 1975-04-29 Jr William A Strickland Mimic positioning controller for a hydraulically actuated back hoe
JPH01171784A (en) * 1987-12-24 1989-07-06 Tamagawa Seiki Co Ltd Remote-control device
US5995893A (en) * 1995-12-30 1999-11-30 Samsung Heavy Industries Co., Ltd. Device for controlling the operation of power excavators
EP1335074A1 (en) * 2002-02-08 2003-08-13 J.C. Bamford Excavators Limited Control apparatus for the arm of a working machine in form of a kinematically similar reduced scale lever assembly

Cited By (42)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9314921B2 (en) 2011-03-17 2016-04-19 Sarcos Lc Robotic lift device with human interface operation
US11738446B2 (en) 2011-04-29 2023-08-29 Sarcos, Lc Teleoperated robotic system with impact responsive force feedback
US9533411B2 (en) 2011-04-29 2017-01-03 Sarcos Lc System and method for controlling a teleoperated robotic agile lift system
US8892258B2 (en) 2011-04-29 2014-11-18 Raytheon Company Variable strength magnetic end effector for lift systems
US11745331B2 (en) 2011-04-29 2023-09-05 Sarcos, Lc Teleoperated robotic system with payload stabilization
US8977398B2 (en) 2011-04-29 2015-03-10 Sarcos Lc Multi-degree of freedom torso support for a robotic agile lift system
WO2012149446A3 (en) * 2011-04-29 2013-09-12 Raytheon Company Teleoperated robotic system
CN103648730A (en) * 2011-04-29 2014-03-19 雷斯昂公司 Teleoperated robotic system
JP2021049642A (en) * 2011-04-29 2021-04-01 レイセオン カンパニーＲａｙｔｈｅｏｎ Ｃｏｍｐａｎｙ Teleoperated robotic system
JP7071548B2 (en) 2011-04-29 2022-05-19 サルコス・エルシー Remote control robot system
US9789603B2 (en) 2011-04-29 2017-10-17 Sarcos Lc Teleoperated robotic system
US8977388B2 (en) 2011-04-29 2015-03-10 Sarcos Lc Platform perturbation compensation
JP2018043343A (en) * 2011-04-29 2018-03-22 レイセオン カンパニーＲａｙｔｈｅｏｎ Ｃｏｍｐａｎｙ Teleoperated robotic system
JP2019217633A (en) * 2011-04-29 2019-12-26 レイセオン カンパニーＲａｙｔｈｅｏｎ Ｃｏｍｐａｎｙ Teleoperated robotic system
JP2014512976A (en) * 2011-04-29 2014-05-29 レイセオン カンパニー Remote control robot system
US8942846B2 (en) 2011-04-29 2015-01-27 Raytheon Company System and method for controlling a teleoperated robotic agile lift system
US10780588B2 (en) 2012-05-14 2020-09-22 Sarcos Lc End effector for a robotic arm
US9616580B2 (en) 2012-05-14 2017-04-11 Sarcos Lc End effector for a robotic arm
US10766133B2 (en) 2014-05-06 2020-09-08 Sarcos Lc Legged robotic device utilizing modifiable linkage mechanism
US9809955B2 (en) 2016-02-16 2017-11-07 Caterpillar Inc. Control device for an implement system
US11759944B2 (en) 2016-11-11 2023-09-19 Sarcos Corp. Tunable actuator joint modules having energy recovering quasi- passive elastic actuators with internal valve arrangements
US10828767B2 (en) 2016-11-11 2020-11-10 Sarcos Corp. Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements
US10919161B2 (en) 2016-11-11 2021-02-16 Sarcos Corp. Clutched joint modules for a robotic system
US10765537B2 (en) 2016-11-11 2020-09-08 Sarcos Corp. Tunable actuator joint modules having energy recovering quasi-passive elastic actuators for use within a robotic system
US11772283B2 (en) 2016-11-11 2023-10-03 Sarcos Corp. Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly
US11926044B2 (en) 2016-11-11 2024-03-12 Sarcos Corp. Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly
US10821614B2 (en) 2016-11-11 2020-11-03 Sarcos Corp. Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly
US10843330B2 (en) 2017-12-07 2020-11-24 Sarcos Corp. Resistance-based joint constraint for a master robotic system
US11331809B2 (en) 2017-12-18 2022-05-17 Sarcos Corp. Dynamically controlled robotic stiffening element
US11351675B2 (en) 2018-12-31 2022-06-07 Sarcos Corp. Robotic end-effector having dynamic stiffening elements for conforming object interaction
US11241801B2 (en) 2018-12-31 2022-02-08 Sarcos Corp. Robotic end effector with dorsally supported actuation mechanism
US10906191B2 (en) 2018-12-31 2021-02-02 Sarcos Corp. Hybrid robotic end effector
US11679511B2 (en) 2018-12-31 2023-06-20 Sarcos Corp. Robotic end effector with dorsally supported actuation mechanism
US11981027B2 (en) 2020-11-09 2024-05-14 Sarcos Corp. Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements
US11833676B2 (en) 2020-12-07 2023-12-05 Sarcos Corp. Combining sensor output data to prevent unsafe operation of an exoskeleton
US11794345B2 (en) 2020-12-31 2023-10-24 Sarcos Corp. Unified robotic vehicle systems and methods of control
US11886218B2 (en) 2021-08-17 2024-01-30 Zoomlion Heavy Industry Na, Inc. One-handed joystick for cranes
US11573592B1 (en) 2021-08-17 2023-02-07 Zoomlion Heavy Industry Na, Inc. One-handed joystick with adaptive control
US11826907B1 (en) 2022-08-17 2023-11-28 Sarcos Corp. Robotic joint system with length adapter
US11717956B1 (en) 2022-08-29 2023-08-08 Sarcos Corp. Robotic joint system with integrated safety
US11897132B1 (en) 2022-11-17 2024-02-13 Sarcos Corp. Systems and methods for redundant network communication in a robot
US11924023B1 (en) 2022-11-17 2024-03-05 Sarcos Corp. Systems and methods for redundant network communication in a robot

Also Published As

Publication number Publication date
WO2007144629A3 (en) 2008-03-27
GB0611776D0 (en) 2006-07-26

Similar Documents

Publication Publication Date Title
WO2007144629A2 (en) Control system for earth moving and working apparatus
CN106609529B (en) Operator control for a work vehicle
CN103210152B (en) For control system and the method for jumbo
US20180058039A1 (en) Motion Coupling of Multiple Electronic Control Inputs
KR100240085B1 (en) A handling device of excavator
CN106609530B (en) Distributed operator control device for work vehicle
JP4469239B2 (en) Operation equipment for work machines
EP2980317A1 (en) Multiple control patterns for hydraulically operated machines with hand and foot controls
US20200299930A1 (en) Selectable velocity-based or position-based work vehicle operator control system
JPH09268602A (en) Controller for excavator
JP4898149B2 (en) Movable interface structure with multiple degrees of freedom
US20140343697A1 (en) Selectable Operating Modes for Machine Operator Input Devices
US20100050803A1 (en) Manual control device
KR101726350B1 (en) A method for controlling a hydraulic system
JPH0474491B2 (en)
US20230175233A1 (en) Remote control console for a machine
AU2019275524A1 (en) Improved work tool attachment for a work machine
US11686066B2 (en) Working machine joystick assembly
KR101154777B1 (en) Intuitive control device for excavator
JP7324561B2 (en) CONSTRUCTION MACHINE, CONSTRUCTION MACHINE CONTROL DEVICE, AND CONSTRUCTION MACHINE CONTROL METHOD
JP3657894B2 (en) Manual operation of hydraulic excavator
JP2568422Y2 (en) Working machine operating device for articulated construction machinery
CN112105543A (en) Steering device, steering system, and work vehicle
JP7116600B2 (en) CONSTRUCTION MACHINE, CONSTRUCTION MACHINE CONTROL DEVICE, AND CONSTRUCTION MACHINE CONTROL METHOD
JP7205965B1 (en) A machine that moves a lever and a computer connected to the machine

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 07733223

Country of ref document: EP

Kind code of ref document: A2

NENP Non-entry into the national phase in:

Ref country code: DE

NENP Non-entry into the national phase in:

Ref country code: RU

122 Ep: pct application non-entry in european phase

Ref document number: 07733223

Country of ref document: EP

Kind code of ref document: A2