The present disclosure relates to boom lifting devices. More particularly, the present disclosure relates to multifunctional boom lifting devices and control methods for the same.
This summary is illustrative only and is not intended to be in any way limiting. Other aspects, inventive features, and advantages of the devices or processes described herein will become apparent in the detailed description set forth herein, taken in conjunction with the accompanying figures, wherein like reference numerals refer to like elements.
One exemplary embodiment relates to a boom system including a base assembly and a boom assembly. The boom assembly includes a boom including a plurality of boom sections. The plurality of boom sections includes a lower boom section coupled to and extending away from the base assembly and defining a proximal end of the boom and an upper boom section defining a distal end of the boom. The boom assembly further includes an attachment coupler assembly coupled to a boom section other than the upper boom section and configured to receive a first implement. The boom assembly further includes an implement connector positioned at the distal end of the boom, the implement connector configured to receive a second implement.
Another exemplary embodiment relates to an extendable boom comprising a plurality of boom sections and a cradle configured to be coupled to a boom section other than an uppermost boom section. The cradle is configured to restrict rotation of an elongated load suspended from the uppermost boom section.
Still another exemplary embodiment relates to a boom system including a boom with a plurality of boom sections. The plurality of boom sections includes a lower boom section defining a proximal end of the boom and an upper boom section defining a distal end of the boom. Each boom section other than the lower boom section is configured to extend and retract independently from the other boom sections. The boom system includes a controller communicably coupled with a plurality of linear actuators coupled to the boom. Each linear actuator is configured to cause a boom section to extend or retract or to cause an angle of the boom relative to a work surface to increase or decrease. The controller includes one or more memory devices coupled to one or more processors. The one or more memory devices are configured to store instructions thereon that, when executed by the one or more processors, cause the one or more processors to communicate with the linear actuators to control the extension of the boom sections and the angle of the boom relative to the work surface.
The disclosure will become more fully understood from the following detailed description, taken in conjunction with the accompanying figures, wherein like reference numerals refer to like elements, in which:
This summary is illustrative only and is not intended to be in any way limiting. Other aspects, inventive features, and advantages of the devices or processes described herein will become apparent in the detailed description set forth herein, taken in conjunction with the accompanying figures, wherein like reference numerals refer to like elements.
Before turning to the figures, which illustrate the exemplary embodiments in detail, it should be understood that the present application is not limited to the details or methodology set forth in the description, illustrated in the figures. It should also be understood that the terminology is for the purpose of description only and should not be regarded as limiting.
Boom lifting devices, including telehandlers, cranes, and man lifts, are used to lift and move loads on a work site. Typically, the lifts are specialized tools. For example, a telehandler is typically used for lifting palletized loads from below with forklift forks, while a crane is typically used for lifting loads from above with a hook and straps or rope. On a job site, there may be some loads that must be lifted from below and some that are lifted from above. Differences in the weight of the load to be lifted or the distance or height the load is to be lifted may also typically necessitate different machines. Accordingly, it would be desirable to provide a single machine capable of performing the functions of multiple typical machines.
Further, elongated loads lifted by a crane may rotate or swing, particularly if a tagline is not used. In some cases, the elongated load may swing and contact the boom itself. This may result in damage to the crane or the load. Accordingly it may be advantageous to provide a device positioned on the boom to restrict the rotation and swinging of elongated loads.
Referring generally to the FIGURES, a boom system is shown according to various exemplary embodiments. The boom system includes a base assembly, a multifunctional boom assembly, and one or more implement connection points for attaching implements (e.g., forklift forks, crane hooks, etc.). The base assembly supports the multifunctional boom assembly. The multifunctional boom assembly may include a boom that comprises multiple sections. The sections may be coaxial and may be configured to be driven to extend by linear actuators, such as hydraulic cylinders, electromechanical actuators, etc. As the sections extend and retract, the multifunctional boom assembly may increase or decrease in length, thereby raising and lowering the implement or moving the implement closer or farther from the base assembly. Advantageously, the boom system may include multiple implement attachment points at different positions in the boom. For example, forklift forks may be attached at an intermediate position on the boom and a crane hook may be attached at the end of the boom. This may allow the same boom system to perform the functions of both a boom crane and a telehandler. This can reduce cost because only one machine is needed instead of two, can save time because one machine does not have to be swapped out and replaced with another, and takes up less space on a worksite, which can be important on smaller, cramped sites.
The base assembly may include one or more tractive elements (e.g., tires, tracks, etc.). The tractive elements may each include a motor configured to drive the corresponding tractive element. In some embodiments, the tractive elements can be independently driven by the corresponding motor. In some embodiments, the base assembly may include a turn table that is rotatably coupled to the rest of the base assembly. The multifunctional boom assembly may be coupled to the turn table to allow for rotation of the multifunctional boom assembly relative to the rest of the base assembly. The base assembly may include a control system configured to move and steer the boom system based on user input or preprogrammed commands, e.g. by turning the tractive elements or operating the motors of the tractive elements at different speeds. The control system may include one or more human machine interfaces (e.g. a steering wheel, pedals, levers, etc.) configured to receive user inputs. The control system may also be configured to receive user inputs to operate any of the other motors, linear actuators, etc., of the boom system, for example, to control the extension and position of the multifunctional boom assembly. The controller may generate control signals for any of the electric motors, electric linear actuators, etc. The controller can also monitor feedback (e.g., voltage feedback, current feedback, etc.) from any of the electric linear actuators, electric motors, etc.
The boom system can include energy storage devices (e.g., batteries). Any of the motors, controller, linear actuators, etc., of the boom system can receive power from the energy storage devices. In some embodiments, the boom system may be powered by an internal combustion engine using chemical fuel. The boom system may include an alternator configured to convert rotational energy from the internal combustion engine to electrical energy to power electrical components of the boom system.
Referring to
The sections of the boom 110 may be aligned coaxially along a longitudinal centerline of each boom section. The boom sections other than the lower boom section may be configured to extend and retract to increase and decrease a length of the boom 110. The boom sections other than the lower boom section may configured to extend and retract independently of the other boom sections Each section may form a hollow tube (e.g., a rectangular tube) of increasing size, such that each section may telescopically retract into and nest inside an inner cavity of the next (e.g., adjacent, more proximal, etc.) section. For example, section 115 may nest inside of section 114, section 114 may nest inside of section 113, section 113 may nest inside of section 112, and section 112 may nest inside of section 111. When the boom is fully retracted, each section may be considered retracted into the inner cavity of all of the more proximal sections. For example, section 115 may be considered retracted into the inner cavities of sections 111-114. The inner dimensions of each tube section may be larger than the outside dimensions of the respective smaller tube section, such that the smaller tube section fits inside the respective larger tube section. A linear actuator (e.g., a hydraulic cylinder, an electromechanical actuator, etc.) is mounted to each of sections 111-114 and is configured to extend a respective smaller, more distal section. As discussed above, in various embodiments, the boom 110 may include more or fewer than five sections. For example, the boom 110 may include as few as two sections, with one section extending from the other. In other embodiments, the boom 110 may include six or more sections.
Each of the linear actuators comprises a base portion (e.g., a barrel of a hydraulic cylinder, a body of an electromechanical actuator, etc.) and an extendable portion (e.g., a piston of a hydraulic cylinder, a rod of an electromechanical actuator, etc.) configured to extend from the base portion. The base portion of one of the linear actuators may be coupled to each of the boom sections other than the upper boom section, and the respective extendable portion may be coupled to an adjacent boom section. The extension of the extendable portion from the base portion may cause the adjacent boom section to extend in the direction of the distal end 109 of the boom 110. For example, the base portion 131 of actuator 121 is mounted to section 111, and the extendable 141 of actuator 121 is coupled to section 112. When the extendable portion 141 is extended, section 112 is pushed out from section 111 in the direction of the distal end 109 of the boom 110 into an extended position. Similarly, the base portion 132 of actuator 122 is mounted to section 112, and the extendable portion is coupled to section 113; the base portion 133 of a actuator 123 is mounted to section 113, and the extendable portion 143 of the actuator 123 is coupled to section 114; and the base portion 134 of actuator 124 is mounted to section 114, and the extendable portion 144 is coupled to section 115. In various embodiments, the actuators may be mounted to the top, bottom, or either side of the boom 110. As discussed below, each actuator may be independently controlled, such that each section 112-115 may be extended to a different length and at different times.
The multifunctional boom assembly 104 may include an attachment coupler assembly 150 configured to receive an implement (e.g., different types of forklift forks, a cradle attachment, etc.). The attachment coupler assembly 150 is be coupled to one of the sections. In some embodiments, the attachment coupler assembly 150 is coupled to one of the sections other than the upper boom section (e.g., sections 111-114 and not section 115). In the embodiment shown in
An implement connector for a second implement (e.g., a crane hook, a lifting shackle, etc.) may be positioned at an end 148 of an uppermost section of the boom 110 (e.g., section 115). The end 148 of the uppermost section of the boom 110 defines a distal tip of the boom 110. The implement connector may be, for example, a lifting ring, hook, or search hook coupled to the uppermost section of the boom 110 or coupled to a rope running though the interior, or along the exterior of the boom 110 and out of the end 148 of the uppermost section. The other end of the rope may be coupled to and wrapped around a drum of a winch, for example, in the base assembly 102. The winch may be coupled to a motor controlled by a controller and may be configured to rotate to unwrap the winch and lower the crane hook in response to a user input or programmed command. The winch may rotate in the opposite direction to wrap the rope and raise the crane hook. In some embodiments, the uppermost section of the boom 110 (e.g., section 115) may include a search hook or another implement to which loads can be attached. Because the attachment coupler assembly 150 may be coupled to an intermediate boom section rather than the upper boom section, the moment caused by the attachment coupler assembly 150 when the boom 110 is fully extended is lower, which increases the lifting capacity of the boom when the second implement is used.
Advantageously, the boom system 100 may perform the functions of both a telehandler and a crane. Forklift forks may be attached to the coupler plate 154 of the attachment coupler assembly 150 and may be used to lift heavy loads and/or palletized loads. The crane hook may allow for lifting of lighter loads higher and farther from the base assembly 102. As an example method of operating the boom system 100, forklift forks may be coupled to a lower section of the boom 110, for example, via the attachment coupler assembly 150. Next, the forklift forks may be used to lift and move a pallet or package of items. Once the pallet or package has been set down, the forklift forks may be removed. A lifting device, such as a crane hook, may then be coupled to an upper section of the boom system 100. In some embodiments, the lifting device may remain coupled while the forks are in use. The package or pallet can then be opened or de-palletized. The lifting device can then be used to lift one of the items for installation or to move it to another location. For example, the boom system 100 may be used as a telehandler to lift and transport a pallet containing commercial lighting fixtures to an installation location using forklift forks. Once the lighting fixtures are de-palletized and unpacked, the boom system may be used as a crane using a crane hook to install each individual lighting fixture.
Referring to
Referring still to the embodiment shown in
In embodiments in which the cradle attachment 204 provides stability but does not support the load 210, the forces imparted on the cradle attachment 204 by the load may be very low, allowing the cradle attachment 204 to be very lightweight. For example, the cradle attachment 204 may be formed in a lattice structure. For example, the cradle attachment 204 may be light enough to be lifted by hand. The lightweight cradle attachment 204 may be more easily handled during installation to the attachment coupler assembly 150 and may improve the lifting capacity of the boom 110 compared to heavier attachments. The cradle attachment 204 may be foldable for storage. For example, the cradle attachment 204 may include a hinge at the center allowing the cradle attachment 204 to fold, reducing the width of the cradle attachment 204. In some embodiments, the cradle attachment 204 may include linkages allowing the cradle attachment 204 to fold into a significantly smaller overall size.
Referring now to
Controller 38 can include a communications interface 507. Communications interface 507 may facilitate communications between controller 38 and external systems, devices, actuators, motors, sensors, etc. to allow user control, monitoring, and adjustment to any of the communicably connected external systems, devices, actuators, motors, sensors, etc. Communications interface 507 may also facilitate communications between controller 38 and the human machine interfaces (e.g., steering wheel, drive and brake pedals, boom control levers, switches, computers etc.).
Communications interface 507 can be or include wired or wireless communications interfaces (e.g., jacks, antennas, transmitters, receivers, transceivers, wire terminals, etc.) for conducting data communications with sensors, devices, systems, etc., of electric boom 10 or other external systems or devices (e.g., an administrative device). In various embodiments, communications via communications interface 507 can be direct (e.g., local wired or wireless communications) or via a communications network (e.g., a WAN, the Internet, a cellular network, etc.). For example, communications interface 507 can include an Ethernet card and port for sending and receiving data via an Ethernet-based communications link or network. In another example, the communications interface can include a Wi-Fi transceiver for communicating via a wireless communications network. In some embodiments, communications interface 507 is or includes a power line communications interface. In other embodiments, communications interface 507 is or includes an Ethernet interface, a USB interface, a serial communications interface, a parallel communications interface, etc.
Controller 38 includes a processing circuit 502 including a processor 504, and memory 506. Processing circuit 502 can be communicably connected to communications interface 507 such that processing circuit 502 and the various components thereof can send and receive data via communications interface 507. Processor 504 can be implemented as a general purpose processor, an application specific integrated circuit (ASIC), one or more field programmable gate arrays (FPGAs), a group of processing components, or other suitable electronic processing components.
Memory 506 (e.g., memory, memory unit, storage device, etc.) can include one or more devices (e.g., RAM, ROM, Flash memory, hard disk storage, etc.) for storing data and/or computer code for completing or facilitating the various processes, layers and modules described in the present application. Memory 506 can be or include volatile memory or non-volatile memory. Memory 506 can include database components, object code components, script components, or any other type of information structure for supporting the various activities and information structures described in the present application. According to some embodiments, memory 506 is communicably connected to processor 504 via processing circuit 502 and includes computer code for executing (e.g., by processing circuit 502 and/or processor 504) one or more processes described herein.
The controller 38 may be communicably coupled with and configured to control a plurality of linear actuators coupled to the boom. Referring to the embodiment of the boom system 100 shown in
In some embodiments, an extension sequence of the hydraulic cylinders may be controlled by controller 38 such that a lateral distance between an implement connector (e.g., implement connector 170) at the end of the uppermost section of the boom (e.g., end 148 of section 115) and an attachment coupler assembly (e.g., attachment coupler assembly 150) is maximized. This may reduce the risk of a load hooked to the end 148 of section 115 from contacting the attachment coupler assembly 150 when the load is lifted or moved. For example, the actuators 121, 122, 123, 124 may be controlled such that actuators 122, 123, 124 extend sections 113, 114, and 115 before section 112 is extended. This moves the end 148 of section 115 farther from the attachment coupler assembly 150.
In other embodiments, the extension of the boom sections may be controlled such that a minimum lateral distance between the end of the uppermost section of the boom and the attachment coupler assembly (e.g., the distance between a vertical line passing through the implement connector and the attachment coupler assembly) is maintained. Referring now to
For example, referring to
The controller 38 may calculate the minimum lateral distance and determine the extension sequence of the sections of the boom based on various sensor data 522 and user input data 520. For example, the controller 38 may receive weight sensor data indicating the weight of the load and may receive user input data indicating the radius of the load and the distance between the top of the load and the implement coupled to the implement connector 170 (e.g., to account for the length of any lifting straps or ropes in determining the height of the load). The controller 38 may determine the extension sequence depending on the weight and radius, as well as the angle of the boom 110 and the extension of the boom 110. For example, for a heavier load with a smaller radius, section 113 may be extended first to create a safe distance between the load and the attachment coupler assembly 150. Then section 112 can be extended such that the lifting capacity is maximized. For a lighter load with a larger radius, section 113-115 may be extended before section 112 is extended to maximize the distance between the load and the attachment coupler assembly. It should be understood that the “radius” of the load refers to the maximum horizontal distance from the furthest edge of the load to the vertical axis of the lifting hook. In some cases, rotation of the load may be prevented (e.g., using a tagline) and the horizontal distance between the edge of the load and the vertical axis of the lifting hook in the direction of the attachment coupler assembly may be used instead of the overall load radius.
Linear actuators 1422 and 1423 are configured to control the angle of the extendable boom 1408 relative to the first boom section 1411 of the tower boom 1406. There may also be an additional linear actuator on the opposite side of the boom 1410 that is identical to linear actuator 1422. When the tower boom 1406 is angled back over the base assembly 1402, the forklift forks 1451 can be used to lift a load off of the ground. Rotating the tower boom 1406 away from the base assembly 1402 elevates the telescoping assembly, facilitating a higher reach with the forklift forks 1451 without additional telescoping sections being added to the extendable boom 1408. When the extendable boom is used, a load may be coupled to the implement connector 1470 and the extendable boom 1408 can extend to reach higher, farther areas from the base assembly 1402. When the tower boom 1408 is raised, the elevated position of the extendable boom 1408 allows the boom system 1400 to be positioned closer to an obstacle, such as a wall or a shipping container, and to lift loads up and over the obstacle. The tower boom 1406 can move the implement connector 1470 primarily upward and the extendable boom 1408 can move the implement connector 1470 primarily horizontally out over the obstacle. Other articulated boom arrangements known in the art of telehandlers, boom lifts, and cranes may be adapted to include an extendable boom portion at a distal end of the boom. An attachment coupler assembly may be positioned at an intermediate section of the boom, and an implement connector may be positioned at the distal end of the extendable boom portion.
As utilized herein, the terms “approximately,” “about,” “substantially”, and similar terms are intended to have a broad meaning in harmony with the common and accepted usage by those of ordinary skill in the art to which the subject matter of this disclosure pertains. It should be understood by those of skill in the art who review this disclosure that these terms are intended to allow a description of certain features described and claimed without restricting the scope of these features to the precise numerical ranges provided. Accordingly, these terms should be interpreted as indicating that insubstantial or inconsequential modifications or alterations of the subject matter described and claimed are considered to be within the scope of the disclosure as recited in the appended claims.
It should be noted that the term “exemplary” and variations thereof, as used herein to describe various embodiments, are intended to indicate that such embodiments are possible examples, representations, or illustrations of possible embodiments (and such terms are not intended to connote that such embodiments are necessarily extraordinary or superlative examples).
The term “coupled” and variations thereof, as used herein, means the joining of two members directly or indirectly to one another. Such joining may be stationary (e.g., permanent or fixed) or moveable (e.g., removable or releasable). Such joining may be achieved with the two members coupled directly to each other, with the two members coupled to each other using a separate intervening member and any additional intermediate members coupled with one another, or with the two members coupled to each other using an intervening member that is integrally formed as a single unitary body with one of the two members. If “coupled” or variations thereof are modified by an additional term (e.g., directly coupled), the generic definition of “coupled” provided above is modified by the plain language meaning of the additional term (e.g., “directly coupled” means the joining of two members without any separate intervening member), resulting in a narrower definition than the generic definition of “coupled” provided above. Such coupling may be mechanical, electrical, or fluidic.
References herein to the positions of elements (e.g., “top,” “bottom,” “above,” “below”) are merely used to describe the orientation of various elements in the FIGURES. It should be noted that the orientation of various elements may differ according to other exemplary embodiments, and that such variations are intended to be encompassed by the present disclosure.
The hardware and data processing components used to implement the various processes, operations, illustrative logics, logical blocks, modules and circuits described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose single- or multi-chip processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, or, any conventional processor, controller, microcontroller, or state machine. A processor also may be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. In some embodiments, particular processes and methods may be performed by circuitry that is specific to a given function. The memory (e.g., memory, memory unit, storage device) may include one or more devices (e.g., RAM, ROM, Flash memory, hard disk storage) for storing data and/or computer code for completing or facilitating the various processes, layers and modules described in the present disclosure. The memory may be or include volatile memory or non-volatile memory, and may include database components, object code components, script components, or any other type of information structure for supporting the various activities and information structures described in the present disclosure. According to an exemplary embodiment, the memory is communicably connected to the processor via a processing circuit and includes computer code for executing (e.g., by the processing circuit or the processor) the one or more processes described herein.
The present disclosure contemplates methods, systems and program products on any machine-readable media for accomplishing various operations. The embodiments of the present disclosure may be implemented using existing computer processors, or by a special purpose computer processor for an appropriate system, incorporated for this or another purpose, or by a hardwired system. Embodiments within the scope of the present disclosure include program products comprising machine-readable media for carrying or having machine-executable instructions or data structures stored thereon. Such machine-readable media can be any available media that can be accessed by a general purpose or special purpose computer or other machine with a processor. By way of example, such machine-readable media can comprise RAM, ROM, EPROM, EEPROM, or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to carry or store desired program code in the form of machine-executable instructions or data structures and which can be accessed by a general purpose or special purpose computer or other machine with a processor. Combinations of the above are also included within the scope of machine-readable media. Machine-executable instructions include, for example, instructions and data which cause a general purpose computer, special purpose computer, or special purpose processing machines to perform a certain function or group of functions.
Although the figures and description may illustrate a specific order of method steps, the order of such steps may differ from what is depicted and described, unless specified differently above. Also, two or more steps may be performed concurrently or with partial concurrence, unless specified differently above. Such variation may depend, for example, on the software and hardware systems chosen and on designer choice. All such variations are within the scope of the disclosure. Likewise, software implementations of the described methods could be accomplished with standard programming techniques with rule-based logic and other logic to accomplish the various connection steps, processing steps, comparison steps, and decision steps.
It is important to note that the construction and arrangement of the applications as shown in the various exemplary embodiments is illustrative only. Additionally, any element disclosed in one embodiment may be incorporated or utilized with any other embodiment disclosed herein. Although only one example of an element from one embodiment that can be incorporated or utilized in another embodiment has been described above, it should be appreciated that other elements of the various embodiments may be incorporated or utilized with any of the other embodiments disclosed herein.
This application claims the benefit of and priority to U.S. Provisional Patent Application No. 63/312,267, filed Feb. 21, 2022, the disclosure of which is incorporated herein by reference in its entirety.
Number | Date | Country | |
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63312267 | Feb 2022 | US |