Patent Application
20250002306
This disclosure relates to work machines, and more specifically to an assembly for sensing relative angles or angular displacement of movable portions of a work machine.
There is an ever-increasing demand for precise measurement of construction machine parameters during construction operations. For example, a pipelayer boom rotation angle should be accurately measured and controlled when performing pipe laying operations either by a local operator at the machine, or remotely by a remote operator or computer. It can be difficult to accurately position angle sensors for angle measurement because of the precise alignment that is required between the angle sensor and the sensor's corresponding target. Furthermore, angle sensors can be subjected to debris and other environmental factors that detract from accuracy potential.
U.S. Pat. No. 10,563,380 discusses a front linkage for a construction machine that can uniquely calculate the rotation angle of the work tool relative to the arm.
In an example according to the present disclosure, a pin cartridge assembly can include a pin having an outer surface. The assembly can include a first sleeve coupled at the outer surface of the pin. The first sleeve can have a first end and a second end opposite the first end. The assembly can include a second sleeve connected at the second end of the first sleeve. The assembly can include an angle sensing element and an angle sensor target coupled to the first sleeve and the second sleeve to detect angle of rotation of a joint associated with the pin cartridge assembly.
In another example, a pin joint for a work machine can include a frame having first and second wall portions, each of the first and second wall portions having a frame bore positioned therein. The pin joint can include a movable portion having a second bore positioned therein to align with the frame bore. The pin joint can include a pin cartridge assembly positioned in the frame bore and the second bore. The pin cartridge assembly can include a pin having an outer surface. The pin cartridge assembly can include a first sleeve coupled at the outer surface of the pin. The first sleeve can have a first end and a second end opposite the first end. The first sleeve can be statically coupled at the first end. The pin cartridge assembly can include a second sleeve movably connected at the second end of the first sleeve. The pin cartridge assembly can include an angle sensing element and an angle sensor target coupled to the first sleeve and the second sleeve to detect angle of rotation of a joint associated with the pin cartridge assembly.
In the drawings, which are not necessarily drawn to scale, like numerals may describe similar components in different views. Like numerals having different letter suffixes may represent different instances of similar components. The drawings illustrate generally, by way of example, but not by way of limitation, various embodiments discussed in the present document.
The work machine 10 can be structured as a pipelayer machine for transporting, suspending, and placing pipe sections of a pipeline. Machine 10 can include a frame 12 having a front frame end 16 and a back frame end 18. An engine system 14 can be mounted adjacent to front frame end 16. An operator station 22 can be coupled to and mounted upon frame 12 between front frame end 16 and back frame end 18. Operator station 22 can include an operator cab which can include a display or other circuitry or controller. Ground-engaging elements 20, including tracks in the illustrated embodiment, can be coupled to, and positioned upon opposite sides of frame 12. Machine 10 can further include a counterweight 24 positioned upon one side of frame 12 and adjustable by way of one or more counterweight actuators 26 in a generally conventional manner.
Machine 10 can include a hoisting system 28 having a sideboom 30 movable by pivoting relative to frame 12 about a sideboom pivot axis 32. Sideboom 30 may be pivotable between a raised or stowed position, at which sideboom 30 may be generally aligned with a vertical line 33, and a second sideboom position at which sideboom 30 extends outboard of frame 12. The second sideboom position could be approximately as illustrated in
Hoisting system 28 can further include an upper hook pulley block 42 supported by sideboom 30, and a hoisting cable 66. A lower hook pulley block 44 can be suspended by way of hoisting cable 66 from upper hook pulley block 42 and can include a hook 46 for suspending a load, such as a pipe section within a roller sling or other load. One or more boom cables 48 can extend between sideboom 30 and a winch assembly or system 50.
Hoisting system 28 further includes a control system 70 that can include numerous sensors to monitor the load, cable feed, etc. and to monitor orientation of the load or counterweight 24 relative to the frame 12. A frame sensor is shown at 98 and may produce a frame monitoring signal indicative of an orientation of frame 12 relative to an underlying substrate (e.g., ground surface). Control circuitry 79 (
As described earlier herein, positions (e.g., angles and/or orientations) of one or more pivotable components, of the machine 10, relative to each other can be important for control and operation of the machine 10. Various sensors that are configured to determine the relative positions of the one or more pivotable components (e.g., angle sensors) may be installed on the axis of rotation between two bodies. For example, rotary potentiometers, linear potentiometers, Hall effect sensors, inductive sensors, capacitive sensors, mechanical switches, etc. can be used to identify (e.g., measure) the relative positions (e.g., angles and/or orientations) of components of machine 10.
Angle sensor installations, today, are typically bolted on over a pin joint and are precisely aligned with the pin joint.
The angle sensors are subject to harsh environments during use in construction work. A system of brackets, guards, alignment pins, etc. are often used for protection of sensor components. Such precision equipment can therefore be costly and difficult to maintain and to protect, adding to expense and maintenance of the work machine 10. Furthermore, imprecise alignment can reduce the effectiveness of angle measurement and the effectiveness of the overall work machine 10.
Apparatuses and devices, according to embodiments of the present disclosure, address these and other concerns by providing the angle sensor within a cartridge-style pin assembly where pivotable components are connected. For example, referring still to
Three different positions (e.g., raised, lowered, and partially raised) of the sideboom 30, of which forward beam 38 is visible, are shown in
Based on information from pin joint 35, outputs may be provided through the wiring harness 96 to indicate sideboom 30 orientation. This angular orientation can be provided using a pin cartridge assembly 300 (
The pin cartridge assembly 300 can include a pin 302 having an outer surface 304. A first sleeve (or bushing) 306 can be coupled at the outer surface 304 of the pin 302. The first sleeve 306 can have a first end 308 and a second end 310 opposite the first end 308. The first sleeve 306 can be statically coupled to a static structure 312 (e.g., cap or other containment structure for the pin 302) at the first end 308. In examples, a fastener 324 (e.g., a weld, bolt, or similar apparatus) can be used to statically couple the first sleeve 306 to the static structure 312. The pin cartridge assembly 300 can include a second sleeve (or bushing) 314. The second sleeve 314 can be movably connected at the second end 310 of the first sleeve 306.
A sealing assembly 320 can be provided between the first sleeve 306 and the second sleeve 314. The sealing assembly 320 can prevent lateral movement of the second sleeve 314. The pin cartridge assembly 300 can include a pair of bearings 322 between the sealing assembly 320 and the outer surface 302 of the pin 300. The sealing assembly 320 can include metal-to-metal face seals each having seal rings and gaskets. The seal rings in each of the seals can abut one another. Further, the gaskets can each engage the sleeves 306, 314 with respective seal rings.
The pin cartridge assembly 300 includes an angle sensing element 316 and an angle sensor target 318 coupled each to different ones of the first sleeve 306 and the second sleeve 314 (e.g., the angle sensing element 316 and the angle sensor target 318 will not be coupled to the same sleeve) to detect angle of rotation of a joint associated with the pin cartridge assembly 300. In examples, the angle sensing element 316 and the angle sensor target 318 may be coupled at the sealing assembly 320. The angle sensor target 318 can be coupled to the second sleeve 314 proximate one of the pair of bearings 322 (or other friction joint) or at a bearing surface thereof. In examples, the angle sensing element 316 may be coupled to the first sleeve 306 and the angle sensor target 318 may be coupled to the second sleeve 314. Various well known noncontact sensors such as magnetic angle sensors can be used. As the angle sensor target 318 rotates, therefore, angle can be detected at the angle sensing element 316. Precise alignment is provided as the angle sensing element 316 and the angle sensor target 318 are proximate each other in one assembly, thereby removing the need for installers or manufacturing to perform precise alignment operations.
A lubrication channel 326 can be provided (e.g., through a center channel of the pin 302) for lubrication of the pin cartridge assembly 300 or of the corresponding joint or nearby structures. The pin cartridge assembly 300 can include an electrical connector 328 for connecting the angle sensing element 316 to control circuitry (e.g., through wiring harness 96). In examples, the electrical connector 328 can be bolted to a cover of the pin cartridge assembly 300. A third sleeve 330 can be provided, which can be static or dynamic and which will typically not include any angle sensing components or electrical connectors.
By being provided within a pin cartridge assembly 300, the angle monitoring assembly (e.g., angle sensing element 316 and angle sensor target 318) will not rely on precise alignment mechanisms. Further, sensor elements are shielded from harsh environments in construction work spaces.
In general, a work machine 10 can be operated to control angles of different parts of the work machine 10 relative to each other and relative to a work surface. Sensors can sense these different angles. The sensors are included in a cartridge-style configuration within rotatable joints, for example in a pin joint. One portion of the sensor can be included in a dynamic or movable portion of the joint while the other portion (e.g., receiver) of the sensor is located in a stationary portion where electronic circuitry is more easily mounted to the sensor for providing electrical signals of the sensor to control circuitry or other portions of the work machine 10.
While the work machine 10 is executing a work plan, the operator can change or monitor the angle of different tools and apparatuses both in the interest of safety and in the interest of performing the work plan efficiently or effectively. Angle sensors allow operator control.
The above detailed description is intended to be illustrative, and not restrictive. The scope of the disclosure should, therefore, be determined with references to the appended claims, along with the full scope of equivalents to which such claims are entitled.
