Patent Application
20160251823
The present novel technology relates generally to the field of mechanical engineering, and, more particularly, to a method and apparatus for enhancing control of a digging machine using a clamshell bucket, such as to facilitate more precise and efficient excavation, to prevent digging beyond a predetermined depth, grade, or contour, and/or to maintain a predetermined desired orientation of the clamshell bucket while digging.
Digging and maintaining grade while digging with a clamshell bucket continues to be a challenge even for the most experienced operators. Clamshell buckets, once in vogue, are rarely used for precision excavation anymore due to the extended learning curve required for operators to become sufficiently proficient. Although offering unique and distinct advantages, the difficulties in becoming proficient with a clamshell bucket have discouraged their use across the digging industry.
Thus, there is a need for a system for automatically preventing overdigging and for automatically keeping the excavation on a predetermined grade, assisting an operator using a clamshell bucket. The present novel technology addresses this need.
For the purposes of promoting an understanding of the principles of the novel technology and presenting its currently understood best mode of operation, reference will now be made to the embodiments illustrated in the drawings and specific language will be used to describe the same. It will nevertheless be understood that no limitation of the scope of the novel technology is thereby intended, with such alterations and further modifications in the illustrated device and such further applications of the principles of the novel technology as illustrated therein being contemplated as would normally occur to one skilled in the art to which the novel technology relates.
A first embodiment of the present novel technology is illustrated in
By means of general illustration, a bucket 50 controlled by any of the above systems may continue to cut grade even if the machine or chassis 60 to which it is connected is moving, pivoting, or otherwise teetering. Movement of the bucket 50 is controlled independently of any movement of the tractor, loader or the like 60 to which the bucket 50 is connected.
The microprocessor 25 is also connected to an actuator assembly 37. The actuator assembly typically 37 includes a pressure source or pump 40, such as a hydraulic or pneumatic pump 40 connected in fluidic communication with at least one hydraulic or pneumatic cylinder 45. The fluidic cylinder 45 is fixedly, and typically pivotably, connected to the inner portion 50A of a clamshell bucket 50 and operationally connected to the outer portion 50B of bucket 50. While actuator assembly 37 is described herein as being of the pressurized piston/cylinder type, actuator assembly 37 may likewise include other types of actuators, such as mechanical, electromechanical, and/or the like.
Bucket 50 is likewise connected to a skid loader or the like. Respective gyroscopic sensors 15 are likewise operationally connected to the respective bucket portions 50A, 50B such that the depth of the cutting edge 53 of the inner portion 50A, and relative positions of each portion 50A, 50B may be directly measured and the depth of cut of bucket portion 50A calculated from the relative angle between bucket portions 50A, 50B.
In operation 100, as schematically illustrated in
Valve 75 is operationally connected to provide power to the hydraulic actuators 43, 45 and control over the bucket portions 50A, 50B. Sensors 15, 20 are operationally connected to an electronic controller 25 and are positioned on bucket portions 50A, 50B to yield information regarding the position and motion of predetermined points on portions 50A, 50B from which the position, orientation, and/or motion of the bucket 50 may be determined. The electronic controller 25 is connected in electric communication with a display portion and, typically, a joystick or like control interface. While the display portion may typically be a screen (e.g., LCD, OLED, etc.) or the like, the system 10 may also use a push button or other input means to indicate and/or input settings or choices. For example, a button may illuminate or pulse green when in operation, red when waiting for confirmation or input, and/or orange when approaching an obstacle. Further, pressing a button in a specific manner may trigger a variety of routines. For example, pressing the button once in a predetermined time period may initiate a first digging/grading sequence, pressing twice may trigger a different sequence, holding down the button may halt operation, etc.
The sensors 15 are typically gyroscopic, but may be angle sensors, line sensors, accelerometers, inclinometers, gyroscopes, combinations thereof, and/or the like. Sensors 15 are typically placed on the respective bucket portions 50A, 50B, and/or the chassis 63, but may also be attached to any other fixable point of the digging machine and system 10. The chassis sensor 15, 20 may provide may provide the system 10 with a variety of relative motive and orientative data (e.g., relative X and Y coordinates, longitude, latitude, pitch, tilt, yaw, acceleration, humidity, wind speed, etc.). In some implementations, the sensors 15 (e.g., located on the chassis) may also operate in conjunction or in addition to an external, relative positioning component (e.g., a robotic control station and a robotic control station sensor) to provide location and/or motive data. Typically, the sensors 15 have a lag time of less than 0.4 seconds, more typically less than 0.1 seconds, and still more typically less than 0.05 seconds.
The electronic controller 25 is programmed to receive input from the sensors 15, 20 and maintain the bucket portions 50A, 50B in a predetermined orientation relative to one another, such as defining a predetermined angle, as the bucket 50 is moved to dig toward a desired grade, either by moving the bucket 50 toward or away from the tractor portion 60 or by moving the bucket 50 and tractor portion 60 together. For a horizontal trench, bucket portion 50B is typically maintained in contact with the surface of the ground, as is the tractor portion 60, and the angle between bucket portions 50A, 50B is varied to urge the cutting edge 53 of bucket portion 50A into the ground a predetermined distance to cut the desired grade level as the bucket 50 is pulled toward the tractor chassis 63.
The system 10 offers the advantages of reducing new operator learning curve, being able to dig out of the operator's line of sight (e.g., underwater or blocked by earth), utilizing the full stroke of the excavator to significantly reducing the need to reposition machine, thus saving significant time and fuel, and allowing the excavator to run by remote control. In addition, the flat bucket technique provides the ability to hold and follow grade with the tractor in motion, similar to dozer operation. The present novel system 10 added to the dipper stick allows for complex auto-routines and the operator has the ability to follow sculpted, complex three-dimensional surfaces.
In another example, a tractor 60, typically a skid loader, is pivotably connected to bucket 50 via a hydraulic twist coupler 70. The bucket 50 may then be tilted or pivoted, such as by energizing a bucket pivot cylinder 43 operationally connected to the bucket and to the tractor 60. This addition may allow the system 10 to more precisely or more efficiently create, or perform operations on, sloped surfaces. For example, an operator may use such a system 10 with a diagonal tilt to precisely grade a roadside embankment while also maintaining a 40° angle tilt (rolled) orientation. Alternatively, the system 10 may be used to grade a continuous slope for the crown of a roadbed, even when the road is not in a straight line.
Another implementation of the system 10 may allow for precise grading while the tractor 60 is in motion. Because the system 10 allows for ‘steering’ and grading relative to the inner bucket portion 50A, instead of relative to the tractor 60 (as is currently done), the motion of the tractor 60 is no longer the reference point for a grading system or a grading system operator. For example, if a one-inch-deep, fifty-foot-long, flat grade (relative to sea level) was desired, a traditional skid loader would typically remain stationary, lower and retract the bucket 50 to excavate, curl the sediment up into the bucket 50, raise the bucket 50 from the excavation site, and dump the sediment outside of the excavation site. This process would be repeated many times until the entire fifty-foot grade was complete and would oftentimes result in digging either too shallow (requiring redigging) or below grade (requiring refilling). This process is inefficient and uneconomical. Further, the traditional method typically requires an additional indication system or spotter to tell the operator where to dig. The present novel technology allows for the bucket 50A to be lowered, aligned to the desired angle relative bucket portion 50B, and then, while remaining in that position, moved through the substrate as the tractor 60 itself moves. The result is an excavation that substantially meets the desired specifications (i.e., one-inch-deep, fifty-feet-long, flat grade), typically eliminates the need for an additional indicator or spotter, and is vastly more efficient and economical than the traditional method. In another example, the bucket 50 may hover just above a substrate (i.e., the operator desires the grade to be at that elevation) and, as the tractor 60 moves forward the bucket 50 grades the substrate at an equal and/or predefined grade. Such a configuration may, for instance, be desirable in creating roadbeds, snow beds, and/or obstacles. In effect, this combination with the system 10 allows a motive loader very quickly and efficiently grade.
While the novel technology has been illustrated and described in detail in the drawings and foregoing description, the same is to be considered as illustrative and not restrictive in character. It is understood that the embodiments have been shown and described in the foregoing specification in satisfaction of the best mode and enablement requirements. It is understood that one of ordinary skill in the art could readily make a nigh-infinite number of insubstantial changes and modifications to the above-described embodiments and that it would be impractical to attempt to describe all such embodiment variations in the present specification. Accordingly, it is understood that all changes and modifications that come within the spirit of the novel technology are desired to be protected.
This patent application claims priority to co-pending U.S. Provisional Patent Application Ser. No. 62/121,050, filed on Feb. 26, 2015, all of which is incorporated herein by reference.
| Number | Date | Country | |
|---|---|---|---|
| 62121050 | Feb 2015 | US |
