Hand grip with microprocessor for controlling a power machine

ES 2 344 191 T3

DESCRIPTION

Microprocessor handle to control a power machine.

Background of the invention

The present invention relates to power machines. More specifically, the present invention relates to electronic controls of hydraulic cylinders in a multipurpose loader / excavator.

Power machines, such as multipurpose wheel loaders / excavators, typically have a frame that supports a cab or compartment for the operator and a movable lift arm which, in turn, supports a work tool such as a ladle. The movable lift arm is pivotally coupled to the frame of the multipurpose loader / excavator and is actuated by power actuators, which are commonly hydraulic cylinders. Furthermore, the tool is coupled to the lift arm and is actuated by one or more additional power actuators, which are also commonly hydraulic cylinders. An operator handling a multipurpose loader / excavator raises and lowers the lifting arm and manipulates the tool, activating the hydraulic cylinders coupled to the lifting arm, and the hydraulic cylinder coupled to the tool. Lifting arm and fixture manipulation is typically accomplished through manual operation, pedals, or manual controls that are linked by mechanical linkage to valves (or valve spools) which control the operation of the hydraulic cylinders. .

Multipurpose excavators / loaders also commonly have a motor that drives a hydraulic pump. The hydraulic pump drives the hydraulic traction motors, which provide movement produced by the application of power from the multipurpose loader / excavator. Traction motors are commonly coupled to the wheels through a drive mechanism, such as a chain drive. Typically, a pair of steering levers are arranged in the operator's compartment, which are movable back and forth to control the traction motors that drive the wheel assemblies on either side of the multipurpose loader / excavator. . By manipulating the steering levers, the operator can steer the multipurpose loader / excavator and control it in the forward and reverse directions of travel.

It is also common for steering levers in the multipurpose loader / excavator operator compartment to have handles that support a plurality of actuation buttons or switches. The switches are operated by the operator and configured to perform certain functions. However, the handles simply contain, for example, actuation switches that are each connected by wires to a main electronic controller or to another circuit located remotely from the handle. This requires a fairly extensive wiring harness or wiring assembly, to be incorporated into the handles during fabrication. In addition, different handles or wiring assemblies have to be frequently used with different machine models, because the operation or functionality of the machine is slightly different or contains different options.

Document JP-A-9060044 relates to a remote controller of the march of a remotely controlled vehicle, having a first operating lever, which is used to control the movement of the march of a remotely controlled vehicle, which It is provided with right and left gear sections, and operates the left gear section, and a second operating lever, which operates the right gear section, including a transmission device, which transmits the operation signals generated by each operating lever to a signal receiver in the remotely controlled vehicle, and which is provided with a third operating lever, which operates the right and left gear sections simultaneously in the same direction , and provided with control sections, into which the operation signals sent from the first to third operating levers enter and control the right and left gear sections.

Document CA-A-2 247 855 refers to an input device suitable for using control machines or providing inputs to a computer, which has a handle movable in two or more degrees of freedom. A touch pad is mounted on the controller in a position accessible to a user of the controller. The touch pad is said to provide independent control over two or three additional degrees of freedom.

Document EP-A-0 976 879 refers to a remote radio operating system provided with a mobile radio working machine, a remote operating apparatus and a mobile repeater station, and in addition to first communication means in two directions, with a pronounced directivity of the radio wave, and first means of automatic tracking between the work machine and the mobile repeater station, and second two-way communication means with pronounced radio wave directivity, second automatic tracking means, and emergency spread-spectrum two-way communication means allow two-way communication between the remote operating apparatus and the mobile repeater station, in the event that communication by the second two-way communication means is impossible between the remote operating apparatus and the mobile repeater station.

The present invention is defined by the features of the independent claims. The dependent claims relate to preferred embodiments of the present invention.

ES 2 344 191 T3

A control system controls the actuation of a hydraulic cylinder on a multipurpose loader / excavator. The control system includes movable elements, such as handles.

The grips are intelligent, in that they contain a microprocessor or other digital controller that monitors the elements actuated by the user (such as switches, buttons, paddles, etc.). The controller sends a communication signal to a main control computer. The communication signal is indicative of the status of the actuation elements by the user and is, in one embodiment, a serial communication signal.

Brief description of the drawings

FIG. 1 is a side view of a multipurpose loader / excavator in accordance with the present invention.

Fig. 2 is a block diagram of an embodiment of a control system in accordance with the present invention.

Figs. 3A-3E illustrate a button grip and configuration assembly in accordance with one embodiment of the present invention.

Detailed description of the preferred embodiments

FIG. 1 is a side elevational view of the embodiment of a multipurpose loader / excavator 10 in accordance with the present invention. The multipurpose loader / excavator 10 includes a frame 12 supported by wheels 14. Frame 12 also supports a cab 16, which defines an operator compartment and in which a seat 19 is substantially enclosed, upon which an operator sits to control the multipurpose loader / excavator 10. A pull rod Seat 21 is pivotally coupled to a front or rear of cabin 16. When the operator occupies the seat 19, the operator then pivots the seat bar 21 from the raised position (shown in dotted line in Fig. 1) to the lowered position, shown in Fig. 1.

Inside the cabin 16 are mounted a pair of steering levers 23 (of which only one is shown in Fig. 1). The levers 23 are manipulated by the operator to control the forward and backward movement of the multipurpose loader / excavator 10, and in order to steer the multipurpose loader / excavator 10. It is to be noted that the levers 23 can be replaced, for example, by a ball joint control lever assembly, one embodiment of which has been illustrated in greater detail with respect to Figs. 3A-3E.

A lift arm 17 is coupled to the frame 12 at pivot points 20 (of which only one is shown in Fig. 1, the other being identically disposed on the opposite side of the loader 10). A pair of hydraulic cylinders 22 (of which only one is shown in Fig. 1) are pivotally coupled to frame 12 at pivot points 24 and lift arm 17 at pivot points 26. The lift arm 17 is coupled to a work tool which, in this embodiment, is a bucket 28. The lift arm 17 is pivotally coupled to the bucket 28 at the pivot points 30. In addition, another hydraulic cylinder 32 is pivotally coupled to lift arm 17 at pivot point 34 and bucket 28 at pivot point 36. Although only one cylinder 32 has been shown, it is to be understood that any desired number of cylinders may be used to operate the bucket 28 or any other suitable tool.

The operator sitting in the cab 16 manipulates the lift arm 17 and the bucket 28, selectively actuating the hydraulic cylinders 22 and 32. In the previous multipurpose loaders / excavators, such action is achieved by manipulation of pedals in cabin 16, or by the operation of handles in cabin 16, one and the other linked by mechanical articulated transmissions to valves (or to the reels valves) that control the operation of cylinders 22 and 32. However, according to the present invention, this actuation is achieved by moving a movable element, such as a pedal or a handle or a user-operable switch or button on a handle on the steering lever 23 or in a set. ball joint control lever, and electronically controlling the movement of cylinders 22 and 32 based on the movement of the movable element. In one embodiment, the movement of the movable elements is sensed by a controller in the handle and is communicated to a main control computer used to control the cylinders and other hydraulic or electronic functions in a loader 10.

By operating the hydraulic cylinders 22 and causing the hydraulic cylinders 22 to increase in length, the operator moves the lift arm 17, and consequently the bucket 28, generally vertically upward, in the direction indicated by arrow 38. A conversely, when the operator actuates cylinder 22 causing it to decrease in length, bucket 28 moves generally vertically downward, going to the position depicted in Fig. 1.

The operator can also manipulate the bucket 28 by actuating the cylinder 32. This is also done, by way of illustration, by pivoting or actuation of a movable element (such as a pedal or a handle or a button or switch on a handle ) and electronically controlling cylinder 32 based on the movement of the element. When the operator causes cylinder 32 to increase in length, bucket 28 leans forward around pivot points 30. Conversely, when the operator causes cylinder 32 to decrease

In length, bucket 28 slopes rearward around pivot points 30. Tilt generally occurs along an arcuate path indicated by arrow 40.

Although this description sets forth many primary functions of the loader 10, a good number of others should also be mentioned. For example, loader 10 may include, by way of illustration, flashing lights or turn signals mounted on the outside of frame 12. The loader 10 may also include a horn and additional hydraulic couplers, such as front and rear auxiliaries, which can be controlled in an on / off manner or in a proportional manner. The loader 10 can also be attached to other tools that function differently than the bucket 28 does. Therefore, in addition to the hydraulic actuators described above, the loader 10 may also include, for example, many other hydraulic or electronic actuators.

System Block Diagram

1. Control System 42

FIG. 2 is a block diagram that better illustrates the operation of a control system 42 in accordance with one embodiment of the present invention. The control system 42 includes an operator-movable element, such as a handle assembly 44, buttons, switches, or triggers 45, operated by the user, on the handle assembly 44, a pedal assembly, or other movable element. suitable. The control system 42 also includes the position sensor 46, the controller 47 mounted on the handle assembly 44, the controller 48, the actuator 50, the valve spool 52 and the hydraulic cylinder 54, and other actuators or controllers to those collectively referred to by the number 56. In the preferred embodiment, the control system 42 is also coupled to an interface control system 58 which includes a plurality of sensors 60, an operator interface 62, and an interface controller 64.

Handle assembly 44 is shown for illustration pivotally mounted on one of the steering levers 23 on loader 10 or on a ball joint control lever assembly, as illustrated in Figs. 3A-3E. The position sensor 46, in an illustrative embodiment, is a resistance strip type potentiometer position sensor, or a Hall Effect sensor. As the handle assembly 44 is pivoted, the position sensor 46 senses the movement of the handle assembly 44 and provides a position signal indicating the position of the handle assembly 44. This signal is provided, for illustration, to controller 47 (but may alternatively be provided directly to controller 48). Controller 47 also receives, for illustration purposes, signals from buttons, switches, triggers, paddles, etc. on the grip (collectively referred to as buttons 45). Controller 47 is illustratively a microprocessor, microcomputer, programmable controller, or other type of digital controller, mounted on handle 44, and provides a signal, illustratively over a serial or parallel communications link, to controller 48. The signal is representative of the state of buttons 45 and sensor 46. In an illustrative embodiment, controller 47 periodically polls buttons 45 and sensor 46, but may also be actuated to interrupt.

Controller 48 is, for illustration, a programmable digital microcontroller, microprocessor, or microcomputer, and receives the communication signal from controller 47. Controller 48 is mounted on loader 10 remote from controller 47, such such as above or below the instrument panel or control panel on the loader 10, or to the side of the operator's compartment. In response to the position signal, controller 48 provides a control signal to actuator 50 or to other actuators or controllers 56.

Actuator 50 is, for illustration, a linear actuator that is coupled to valve spool 52 by a suitable linkage transmission. In response to the control signal provided by controller 48, actuator 50 moves valve spool 52 in the desired direction. It is to be noted that the actuator 50 can also be any suitable actuator such as, for example, one that is integrally formed with the valve it actuates or with the spool 52. The precise way in which spool 52 is moved is not critical to the main features of the invention. Valve spool 52 is coupled to hydraulic cylinder 54 and controls the flow of hydraulic fluid to hydraulic cylinder 54 in response to the output of actuator 50. In the preferred embodiment, hydraulic cylinder 54 is one of hydraulic cylinders 22 and 32 . Therefore, the control system 42 manipulates the lift and tilt cylinders 22 and 32 based on the pivoting movement of the handle assembly 44.

Controller 48 may also receive, for illustration, a feedback signal which indicates the position of the valve spool 52. In one embodiment, the controller 48 receives the feedback signal from the actuator 50 that indicates the position of the valve spool. actuator 50. This, in turn, indicates the position of valve spool 52. In another embodiment, the controller 48 receives the feedback signal from the valve spool 52, which directly indicates the position of the valve spool 52. Upon receiving the feedback signal from either the actuator 50 or the valve spool valve 52, controller 48 compares the actual position of valve spool 52 with the target or input position from handle assembly 44, and makes any necessary adjustments. Accordingly, controller 48 operates, for illustration, in a closed loop fashion.

As mentioned above, controller 48 may also control other actuators and controllers 56 based on operator inputs (and therefore represented by the communication signal

ES 2 344 191 T3 received from controller 47). For example, other actuators and controllers 56 may include flashing lights, a horn, valve spool actuators, which control the flow of hydraulic fluid to the front or rear auxiliary couplers, a coupled fixture control device (ACD). , used to control attached fixtures, a proportional controller used to control hydraulic flow in a proportional or on / off way, or other hydraulic or electronic actuators or controllers.

2. Interface Control System 58

The interface control system 58 has been described in greater detail in US Patent Number 5,425,431, issued June 20, 1995, to Brandt et al. Entitled INTERLOCK CONTROL SYSTEM FOR POWER MACHINE (" Interlock control system for power machines ”), assigned to the same assignee as the present application, and which is hereby incorporated by reference. Briefly discussed, the interface control system 58 receives input signals from a plurality of sensors 60, which indicate operating parameters such as the presence of the operator, from a seat sensor, and such as the position of the seat bar. from a seat bar sensor. Interface controller 64 also receives inputs from operator interface 62 which, in a preferred embodiment, is simply a power switch and display screen. Based on the inputs received, the interface controller 64 controls certain hydraulic and electrical components on the multipurpose loader / excavator 10. The interface controller 64 inhibits, for illustration purposes, certain operations of the loader 10 until a certain combination of inputs is received from the sensors 60. For example, upon receiving the appropriate signals, the interface controller 64 it may enable the operation of the wheels 14, or it may enable certain hydraulic functions executable by the multipurpose loader / excavator 10.

Interface controller 64 is also, for illustration, a digital computer, microcontroller, or other suitable controller. Interface controller 64 is connected to controller 48 via serial bus, parallel bus, or other suitable interconnection.

3. Interaction Between Systems 42 and 58

Interface controller 64 is also configured to disable operations executable by controller 48, under certain circumstances- For example, when turning on power, interface controller 64 inhibits operations executable by controller 48 until sensors 60 indicate that the seat bar 21 is in the lowered position and that the operator has requested the operation. At that point, interface controller 64 provides controller 48 with a signal that enables controller 48 to perform functions. However, if the sensors 60 indicate that the operator is not in the seat 19, or that the seat bar 21 is not in the lowered position, the interface controller 64 will continue to provide the controller 48 with a signal that inhibits the actuation of the cylinders 22 or 32 until sensors 60 provide the appropriate signals. Once the sensors 60 provide signals that allow the controller 64 to "unlock" the controller 48, the controller 48 may also perform certain diagnostic or calibration functions.

Although the description made above has proceeded by describing the controllers 48 and 64 as separate controllers, it should be understood that the functions performed by each of them can be combined in a single controller, or they can be divided between a single controller. greater number of controllers. Such a combination or division of functions may be desirable depending on a given application.

Four. Floatation

Controller 48 also controls, for illustration purposes, cylinder 54 to perform another function. It may be desirable, on certain occasions, for the operator of the multipurpose loader / excavator 10 to float the lift arm 17 (or tool, such as bucket 28). By floating, it is understood that there is no positive hydraulic control of the particular cylinder that is floating.

For example, the operator of the multipurpose loader / excavator 10 may wish to operate the multipurpose loader / excavator 10 so that the bucket 28, and the lift arm 17, follow the terrain on which it is traveling. loader 10. In that case, the operator simply operates one of the buttons 45 on the grip 44, the status of that button is communicated (such as by a serial transmission) from the controller 47 to the controller 48, and the controller 48 indicates that the operator wants to float the particular hydraulic cylinder under control. In response, controller 48 provides a control signal to actuator 50, which causes actuator 50 to move valve spool 52 to a position in which it effectively connects both hydraulic inputs together to hydraulic cylinder 54. Thus, the Oil operating hydraulic cylinder 54 is not put under pressure and is free to move from one end of cylinder 54 to the other in response to forces exerted on the cylinder by changes in terrain.

Handle Assembly 44

In Figs. 3A and 3B illustrate one embodiment of a handle 44 coupled to a ball joint joystick assembly 100. In FIG. 3A, the handle 44 is viewed from the rear (or operator's) side, thereby illustrating buttons 45. Fig. 3B is illustrated from the operator's right hand side.

ES 2 344 191 T3

Both Figs. 3A and 3B illustrate figures in dashed lines depicting the handle 44 pivoted from its neutral position. In Fig. 3A, handle 44 is pivoted to the left side of the operator (as shown in dotted line) in the direction indicated by arrow 102. Of course, it will be appreciated that handle 44 can be pivoted as well. to the right side of the user. In Fig. 3B the handle is shown pivoted in the rearward direction (towards the user, as illustrated by arrow 104), also depicted in dotted line. Of course, the handle 44 can also be pivoted in the forward direction.

In an illustrative embodiment, the range of motion (from the solid line image to the dotted line image depicted in both Figs. 3A and 3B) is approximately 107.95 millimeters and is offset by an angle of approximately 20 degrees. . It is also to be noted that, in one embodiment, the ball joint control lever assembly 100 is a commercially available ball joint control lever assembly produced by, and available from, the Sauer Company.

Figs. 3A and 3B also schematically illustrate the controller 47, which is embedded within the handle 44. In an illustrative embodiment, the controller 47 is contained in a module with an associated memory, which is embedded within the handle 44, while that a flex circuit couples the buttons to the controller 47. In one embodiment, the exterior of the grip 44 is made of hard or soft plastic or rubber, or a hard material with a friction-enhancing surface (such as a softer-grip or embossed material) disposed where the user's hand The user is applied to the grip 44, such as under the palm region, the finger region and / or the fingertip region. Controller 47 (and possibly an associated circuit board) are securely attached, for purposes of illustration, within an interior cavity of handle 44, by adhesive, screws, clips, or other mechanical attachment mechanism. In an illustrative embodiment, a three-wire serial communications link is provided between controller 47 and controller 48. The three conductors include a power, a ground, and a serial communications conductor. In another embodiment, controller 47 includes a wireless transmitter, while controller 48 includes a wireless receiver. Wireless communication is then effected between the two using radiation, such as from radio signals, infrared signals, or other electromagnetic radiation.

Figs. 3C and 3D better illustrate the arrangement of buttons 45 on grip 44. Buttons 45 include a pair of rocker switches 106 and 108, a pair of toggle pushbutton switches 110 and 112, a paddle 114, a toggle button switch thrust 116, and a trigger 118. Both left and right handles 44 are, in an illustrative embodiment, identical. Therefore, only the right hand grip 44 has been illustrated in Figs. 3A-3E.

In an illustrative embodiment, buttons 45 on the left grip 44 control a number of functions, including the left flashing light, a stability override function, a left ski up and left ski down function, the rear auxiliary control, an extension function of the swing arm, the horn and, for an all-wheel drive machine, a drive mode change function. For example, in one embodiment, switch 110 is the left blinker switch. Therefore, when the operator presses the button 110, the left flashing light turns on, and when the operator presses the button 110 again, the left flashing light turns off. Rocker switch 105 controls the raising and lowering of skis attached to an attachment. Rocker switch 106 controls a side shift function associated with the rear assistants, paddle 114 controls a swing arm extension function, push button 116 controls the horn, and trigger 118 controls the steering mode change.

In an illustrative embodiment, the right hand grip 44 also includes a number of different functions. In one embodiment, push button 110 is a reserve user input, while push button 112 controls the right flashing light. The rocker switch 105 controls the flow of hydraulic fluid to the front auxiliaries in the first direction and in a second direction (depending on the position of the rocker switch), the rocker switch 106 controls the loader to operate in a fast or slow mode In two-speed operation (depending on the rocker switch position), button 116 controls float operation, and trigger 118 provides an auxiliary hydraulic outlet stop function. These functions, associated with these buttons, have been found to be particularly useful for users. However, it should be noted that other functions may also be assigned to the buttons.

In Figs. 3D and 3E illustrate the spacing and spacing of the various buttons 45, in accordance with an illustrative embodiment. It should be noted that paddle 114 is generally located centered on buttons 45 and is easily accessible by the user's thumb. The rest of the buttons are also within an ergonomic reach that provides ease of access through a normal twist of the thumb from paddle 114.

Paddle 114 has a button spacing 116, illustrated by A in FIG. 3E. That is, in an illustrative embodiment, in a range between 19.05 - 31.75 millimeters, and is approximately, for illustration purposes, 25.4 millimeters. Button 116 has a center-to-center spacing from the bottom paddle of rocker switches 104 and 105 illustrated by B which, for illustration purposes, is in the range of 12.7 - 22.86 millimeters and may be, for for illustration, approximately 17.8 millimeters. Similarly, the button 116 has a center-to-center spacing from the upper paddle of the rocker switches 105 and 106 that is, for illustration, in a range of 17.8-27.9 millimeters and can

ES 2 344 191 T3 be approximately 22.9 millimeters. The lower and upper paddles of the rocker switches 105 and 106 have a center-to-center spacing D which, for illustration purposes, is in the range of 11.4 - 16.5 millimeters, and which may be approximately 14.5 millimeters. The center-to-center spacing E between the button 116 and the lower paddle of the rocker switches 105 and 106 (in the vertical direction) is in the range of about 15.2 - 14.1 millimeters, and can be about 17, 3 millimeters. Switches 110 and 112 have a center-to-center spacing in the vertical direction designated by F which, for illustration purposes, is in the range of about 38.1 - 50.8 millimeters, and can be about 44.5 millimeters. . Switches 110 and 112 have center-to-center spacing, in the horizontal position, which is, for illustration purposes, in a range of 15.2-25.4 millimeters, and which may be 20.3 millimeters. Similarly, paddle 114 and switches 110 and 112 have a center-to-center spacing, in the horizontal direction, designated by H, which, for illustration purposes, is in the range 5.1-15.2 millimeters, and which can be approximately 10.2 millimeters. The center of the trigger 118 is also located at an I dimension from the base of the grip 44. In an illustrative embodiment, dimension I is in the range 101.6-127.0 millimeters, and can be approximately 115.3 millimeters. Although other suitable dimensions could equally be used, these dimensions have been found to provide an ergonomic benefit in the form of comfort and accessibility for the user.

It can also be seen that the present invention provides an intelligent manipulation assembly, in which a microprocessor is embedded in the handle. The microprocessor receives or senses inputs from various buttons, switches, position sensors, etc. The status of the buttons, switches, and sensors is provided to a remotely located main control computer along a communication link which may be, for illustration purposes, an antenna communication link. Thus, communication can be provided along a very simplified wiring harness, and can be provided as, for example, serial communication, regardless of the model of the machine or the specific type of handle used.

Although the present invention has been described with reference to preferred embodiments, those skilled in the art will recognize that changes can be made to its shape and details, without exceeding the scope of the invention.