U.S. patent application number 16/706893 was filed with the patent office on 2021-06-10 for hybrid control for a backhoe loader.
This patent application is currently assigned to Caterpillar Inc.. The applicant listed for this patent is Caterpillar Inc.. Invention is credited to Andrew P. Bachle, Christopher E. Bright, Robert Conrad, Robert N Harper.
Application Number | 20210172154 16/706893 |
Document ID | / |
Family ID | 1000004651419 |
Filed Date | 2021-06-10 |
United States Patent
Application |
20210172154 |
Kind Code |
A1 |
Bachle; Andrew P. ; et
al. |
June 10, 2021 |
HYBRID CONTROL FOR A BACKHOE LOADER
Abstract
A backhoe loader has a backhoe assembly and a loader assembly.
The backhoe loader has first and second control sticks configured
to output a first set of electronic signals and a second set of
electronic signals, respectively. In some arrangements, the first
and second set of electronic signals are used to control operation
of the backhoe assembly. In other arrangements, the first set of
electronic signals is used to control operation of the loader
assembly. In still other arrangements, the first set of electronic
signals is used to control operation of the loader assembly and the
second set of electronic signals is used to control operation of
the backhoe assembly.
Inventors: |
Bachle; Andrew P.; (Cary,
NC) ; Bright; Christopher E.; (Raleigh, NC) ;
Harper; Robert N; (Melbourne, GB) ; Conrad;
Robert; (Clayton, NC) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Caterpillar Inc. |
Peoria |
IL |
US |
|
|
Assignee: |
Caterpillar Inc.
Peoria
IL
|
Family ID: |
1000004651419 |
Appl. No.: |
16/706893 |
Filed: |
December 9, 2019 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
E02F 3/435 20130101;
E02F 3/32 20130101; E02F 9/2012 20130101; E02F 3/431 20130101 |
International
Class: |
E02F 9/20 20060101
E02F009/20; E02F 3/43 20060101 E02F003/43 |
Claims
1. A backhoe loader comprising: a cab having a seat assembly
including a seat for an operator; a loader assembly to a front side
of the cab; and a backhoe assembly to a rear side of the cab;
wherein the seat assembly comprises: a first control stick on a
first side of the seat, the first control stick configured to
output a first set of electronic signals; and a second control
stick on a second side of the seat opposite the first side, the
second control stick configured to output a second set of
electronic signals; wherein the seat assembly is rotatable between
a first position in which the seat assembly faces the rear side of
the cab and a second position in which the seat assembly faces the
front side of the cab; and the backhoe loader further comprising: a
seat assembly orientation sensor; and an electronic controller
having a default setting in which: in an event that the seat
orientation sensor determines that the seat assembly is in the
first position, electronic signals from both the first and second
control sticks are directed to control operation of the backhoe
assembly; and in an event that the seat orientation sensor
determines that the seat assembly is in the second position,
electronic signals from the first control stick are directed to
control operation of the loader assembly.
2. The backhoe loader of claim 1, the electronic controller having
an alternate setting in which: electronic signals from the first
control stick are directed to control operation of the loader
assembly and electronic signals from the second control stick are
directed to control operation of the backhoe assembly.
3. The backhoe loader of claim 2 wherein the alternate setting is
available in an event that an alternate setting actuator is
activated.
4. The backhoe loader of claim 2 wherein the alternate setting is
available in an event that the seat orientation sensor determines
either: that the seat assembly is in the first position; or that
the seat assembly is in neither the first nor the second
position.
5. The backhoe loader of claim 4 further comprising a safety
trigger, wherein in an event that the seat orientation sensor
determines that the seat is in neither the first nor the second
position, signals from both the first and second control sticks are
disabled unless the safety trigger is activated.
6. The backhoe loader of claim 2 wherein in the alternate setting:
in an event that the seat orientation sensor determines that the
seat assembly is in the first position, electronic signals from the
first control stick are directed to control operation of the loader
assembly.
7. The backhoe loader of claim 2 wherein in the alternate setting:
in an event that the seat orientation sensor determines that the
seat assembly is in the second position, electronic signals from
both the first and second control sticks are directed to control
operation of the backhoe assembly.
8. The backhoe loader of claim 2 wherein the backhoe assembly
comprises a boom and an arm and wherein, in the alternate setting,
the second control stick provides control signals for movement of
the backhoe boom down and up and for movement of the backhoe arm
out and in.
9. The backhoe loader of claim 1 wherein the backhoe assembly
comprises a boom and an arm, wherein in the default setting and in
an event that the seat orientation sensor determines that the seat
assembly is in the first position: the first control stick provides
control signals directed to control operation of the arm out and in
and of a backhoe implement to curl and to dump; and the second
control stick provides control signals directed to control
operation of the boom down, up, left and right.
10. The backhoe loader of claim 1 wherein the backhoe assembly
comprises a boom and an arm, wherein in the default setting and in
an event that the seat orientation sensor determines that the seat
assembly is in the first position: the first control stick provides
control signals directed to control operation of the boom down and
up and of a backhoe implement to curl and to dump; and the second
control stick provides control signals directed to control
operation of the arm out and in and the boom left and right.
11. The backhoe loader of claim 1 wherein the first control stick
is on a right side of the seat assembly and the second control
stick is on a left side of the seat assembly.
12. A backhoe loader comprising: a cab having a seat assembly
including a seat for an operator; a loader assembly to a front side
of the cab; and a backhoe assembly to a rear side of the cab;
wherein the seat assembly comprises: a first control stick on a
first side of the seat, the first control stick configured to
output a first set of signals; and a second control stick on a
second side of the seat opposite the first side, the second control
stick configured to output a second set of signals; wherein the
seat assembly is rotatable between a first position in which the
seat assembly faces the rear side of the cab and a second position
in which the seat assembly faces the front side of the cab; the
backhoe loader further comprising an electronic controller having a
hybrid setting in which: electronic signals from the first control
stick are directed to control operation of the loader assembly and
electronic signals from the second control stick are directed to
control operation of the backhoe assembly.
13. The backhoe loader of claim 12 further comprising a seat
assembly orientation sensor, wherein the hybrid setting is
available in an event that the seat orientation sensor determines
that the seat assembly is in the first position.
14. The backhoe loader of claim 12, wherein the hybrid setting is
available in an event that the seat orientation sensor determines
that the seat assembly is in neither the first nor the second
position.
15. The backhoe loader of claim 14 wherein in an event that the
seat orientation sensor determines that the seat assembly is in
neither the first nor the second position, signals from both the
first and second control sticks are disabled unless a safety
trigger is activated.
16. The backhoe loader of claim 12 wherein the hybrid setting is
available in an event that an alternate setting actuator.
17. The backhoe loader of claim 12 wherein the backhoe assembly
comprises a boom and an arm and wherein, in the hybrid setting, the
second control stick provides control signals for movement of the
backhoe boom down and up and for movement of the backhoe arm out
and in.
18. A backhoe loader comprising: a cab having a seat assembly
including a seat for an operator; a loader assembly to a front side
of the cab; and a backhoe assembly to a rear side of the cab;
wherein the seat assembly comprises: a first control stick on a
first side of the seat, the first control stick configured to
output a first set of electronic signals; and a second control
stick on a second side of the seat opposite the first side, the
second control stick configured to output a second set of
electronic signals; an electronic controller having first, second
and third selectable modes, wherein: in the first mode, electronic
signals from both the first and second control sticks are directed
to control operation of the backhoe assembly; in the second mode,
electronic signals from the first control stick are directed to
control operation of the loader assembly; and in the third mode,
electronic signals from the first control stick are directed to
control operation of the loader assembly and electronic signals
from the second control stick are directed to control operation of
the backhoe assembly.
19. The backhoe loader of claim 18 wherein the backhoe assembly
comprises a boom and an arm and wherein, in the third mode, the
second control stick provides control signals for movement of the
backhoe boom down and up and for movement of the backhoe arm out
and in.
Description
FIELD OF THE DISCLOSURE
[0001] The disclosure relates to the field of backhoe loaders.
BACKGROUND
[0002] A backhoe loader is a machine that comprises a loader
generally towards the front of the machine and a backhoe generally
towards the back of a machine. A typical backhoe loader is shown in
FIG. 1. A cab is located between the loader and the backhoe. A seat
in the cab is generally rotatable such that an operator can face
forwards to drive the machine and operate the loader or can face
backwards to operate the backhoe.
[0003] Conventionally, a pair of backhoe control sticks is provided
to operate the backhoe and these are usually mounted between the
seat and the rear of the cab. The exact positions of the pair of
backhoe control sticks may be adjustable to provide easier access
to the seat and for operator comfort. Conventionally, one loader
control stick is provided to operate the loader and this is usually
mounted between the seat and the front of the cab. The exact
position of the one loader control stick may be adjustable to
provide easier access to the seat and for operator comfort.
[0004] Accordingly, three control sticks may be provided in
total.
[0005] When facing forwards, the pair of backhoe control sticks
will be behind the seat and, when facing backwards, the loader
control stick will be behind the seat. Accordingly, access to at
least one of the control sticks is always restricted. A skilled
operator may be able to operate a control stick located behind the
seat but this may be uncomfortable and, in any case, freedom of
movement of the operator may be limited such that precision control
may be difficult.
SUMMARY OF THE DISCLOSURE
[0006] Against this background, in a first aspect there is provided
a backhoe loader comprising: [0007] a cab having a seat assembly
including a seat for an operator; [0008] a loader assembly to a
front side of the cab; and [0009] a backhoe assembly to a rear side
of the cab; [0010] wherein the seat assembly comprises: [0011] a
first control stick on a first side of the seat, the first control
stick configured to output a first set of electronic signals; and
[0012] a second control stick on a second side of the seat opposite
the first side, the second control stick configured to output a
second set of electronic signals; [0013] wherein the seat assembly
is rotatable between a first position in which the seat assembly
faces the rear side of the cab and a second position in which the
seat assembly faces the front side of the cab; and [0014] the
backhoe loader further comprising: [0015] a seat assembly
orientation sensor; and [0016] an electronic controller having a
default setting in which: [0017] in an event that the seat
orientation sensor determines that the seat assembly is in the
first position, electronic signals from both the first and second
control sticks are directed to control operation of the backhoe
assembly; and [0018] in an event that the seat orientation sensor
determines that the seat assembly is in the second position,
electronic signals from the first control stick are directed to
control operation of the loader assembly.
[0019] In this way, functionality of the first and second control
sticks may be dependent upon seat orientation.
[0020] In a second aspect, there is provided a backhoe loader
comprising: [0021] a cab having a seat assembly including a seat
for an operator; [0022] a loader assembly to a front side of the
cab; and [0023] a backhoe assembly to a rear side of the cab;
[0024] wherein the seat assembly comprises: [0025] a first control
stick on a first side of the seat, the first control stick
configured to output a first set of signals; and [0026] a second
control stick on a second side of the seat opposite the first side,
[0027] the second control stick configured to output a second set
of signals; [0028] wherein the seat assembly is rotatable between a
first position in which the seat assembly faces the rear side of
the cab and a second position in which the seat assembly faces the
front side of the cab; [0029] the backhoe loader further comprising
an electronic controller having a hybrid setting in which: [0030]
electronic signals from the first control stick are directed to
control operation of the loader assembly and electronic signals
from the second control stick are directed to control operation of
the backhoe assembly.
[0031] In this way, simultaneous control of both the loader
assembly and the backhoe assembly may be facilitated using the
first and second control sticks.
[0032] In a third aspect, there is provided a backhoe loader
comprising: [0033] a cab having a seat assembly including a seat
for an operator; [0034] a loader assembly to a front side of the
cab; and [0035] a backhoe assembly to a rear side of the cab;
[0036] wherein the seat assembly comprises: [0037] a first control
stick on a first side of the seat, the first control stick
configured to output a first set of electronic signals; and [0038]
a second control stick on a second side of the seat opposite the
first side, the second control stick configured to output a second
set of electronic signals; [0039] an electronic controller having
first, second and third selectable modes, wherein: [0040] in the
first mode, electronic signals from both the first and second
control sticks are directed to control operation of the backhoe
assembly; [0041] in the second mode, electronic signals from the
first control stick are directed to control operation of the loader
assembly; and [0042] in the third mode, electronic signals from the
first control stick are directed to control operation of the loader
assembly and electronic signals from the second control stick are
directed to control operation of the backhoe assembly.
[0043] In this way, first and second control sticks may be used for
any of the following: to control the backhoe assembly; to control
the loader assembly; and in a hybrid configuration to control both
the backhoe assembly and the loader assembly.
BRIEF DESCRIPTION OF THE DRAWINGS
[0044] A specific embodiment of the disclosure will now be
described, by way of example only, with reference to the
accompanying drawings in which:
[0045] FIG. 1 shows a side view of a backhoe loader in accordance
with the prior art;
[0046] FIG. 2 shows control stick functionality in accordance with
the prior art adopting a conventional backhoe style (Option 1);
[0047] FIG. 3 shows control stick functionality in accordance with
the prior art adopting a conventional excavator style (Option
2);
[0048] FIG. 4 shows a side view of a backhoe loader in accordance
with the disclosure;
[0049] FIG. 5 shows a seat assembly within a cab of a backhoe
loader in accordance with the disclosure;
[0050] FIG. 6 shows the seat assembly of FIG. 3;
[0051] FIG. 7 shows control stick functionality in three different
control modes in accordance with the disclosure;
[0052] FIG. 8 shows default availability and alternative
availability of the three different control modes depending upon
seat assembly orientation in accordance with an embodiment of the
disclosure;
[0053] FIG. 9 shows in more detail control stick functionality for
loader control in Mode 2 in accordance with an embodiment of the
disclosure;
[0054] FIG. 10 shows in more detail control stick functionality for
backhoe control (Modes 1 and 3) inspired by a conventional backhoe
style (Option 1) in accordance with an embodiment of the
disclosure; and
[0055] FIG. 11 shows in more detail control stick functionality for
backhoe control (Modes 1 and 3) inspired by a conventional
excavator style (Option 2) in accordance with an embodiment of the
disclosure.
DETAILED DESCRIPTION
[0056] FIG. 1 shows a conventional backhoe loader 100 in accordance
with the prior art.
[0057] The backhoe loader comprises a cab 110 from which an
operator may operate the backhoe loader. The backhoe loader further
comprises a loader assembly 120 forward of the cab 110 and a
backhoe assembly 130 rearward of the cab 110. The backhoe assembly
130 may comprise a boom 132 hingedly attached, at a first end of
the boom 131, to the machine 100 via an attachment 111. The backhoe
assembly 130 may further comprise an arm 135 hingedly attached at a
first end of the arm 134 to a second end of the boom 133 opposite
the first end of the boom 131. The arm 135 may comprise a coupling
137 by which an implement such as a bucket 138 may be attached to
the arm 135.
[0058] The loader assembly 120 may comprise a coupling 122 enabling
attachment of a loader bucket 121 or other implement, for example
forks.
[0059] The cab 110 comprises a seat assembly 200 rotatable between
a forward facing orientation (as shown in FIG. 1) in which the seat
assembly faces the loader assembly 120 and a rearward facing
orientation (not shown) in which the seat assembly faces the
backhoe assembly 130.
[0060] In the forward facing orientation, the operator faces
regular driving controls such as accelerator, brake and steering
wheel 201. In addition, in the forward facing orientation the
operator has access to a loader control stick 210 by which the
loader assembly 120 may be controlled. It is common for the loader
control stick 210 to be towards a right side of a main cab
console.
[0061] In a known arrangement, the loader control stick 210 may be
moved forwards and backwards to lower and raise the loader assembly
120, respectively. In the known arrangement, the loader control
stick 210 may be moved left and right to tilt the loader implement
(e.g. loader bucket 121 or forks) upwards and downwards,
respectively. In this way, an operator can control the loader
assembly 120 using loader control stick 210.
[0062] In the rear facing orientation, the operator faces first and
second backhoe control sticks 220, 230 by which the backhoe
assembly 130 may be controlled. The first backhoe control stick 220
may be located on a right side of a rear console within the cab 110
and the second backhoe control stick 230 may be located on a left
side of the rear console within the cab 110.
[0063] In a first known arrangement, the first backhoe control
stick 220 may be moved left and right to curl the bucket 138 and
dump the bucket 138, respectively, and may be moved forwards and
backwards to move the arm 135 out and in, respectively. In the
first known arrangement, the second backhoe control stick 230 may
be moved left and right to swing the boom 132 left and right,
respectively, and may be moved forward and backwards to move the
boom 132 down and up, respectively. This first known arrangement is
commonly adopted in backhoe loaders.
[0064] A summary of the control functionality in the first known
arrangement is illustrated in FIG. 2.
[0065] In a second known arrangement, the first backhoe control
stick 220 may (as in the first known arrangement) be moved left and
right to curl the bucket and dump the bucket 138, respectively, and
may (by contrast with the first known arrangement) be moved forward
and backwards to move the boom 132 down and up, respectively. In
the second known arrangement, a second backhoe control stick 230
may (as in the first known arrangement) be moved forwards and
backwards to move the arm 135 out and in, respectively, and may (by
contrast with the first known arrangement) be moved left and right
to swing the boom 132 left and right, respectively. This second
known arrangement is commonly adopted in excavators.
[0066] A summary of the control functionality in the first known
arrangement is illustrated in FIG. 3.
[0067] In both first and second known arrangements, eight functions
are available for controlling the backhoe assembly 130 using first
and second backhoe control sticks 220, 230 (four functions on each
of the two backhoe control sticks 220, 230). As such, an operator
may control eight functions of the backhoe assembly 130 the two
control sticks 220, 230.
[0068] In the arrangements so far described, if an operator is
facing backwards then both backhoe control sticks 220, 230 are in
front of the operator while the loader control stick 210 is behind
the operator. Conversely, if an operator is facing forwards then
the loader control stick 210 is in front of the operator but the
first and second backhoe control sticks 220, 230 are behind the
operator. Given that when an operator is facing either backwards or
forwards at least one control stick is behind the operator this may
limit access to the controls and/or may restrict the precision of
operation achievable by the operator.
[0069] In the arrangements so far described, the control sticks
220, 230 are frequently hydraulic control sticks wherein the
control sticks 220, 230 provide mechanical control of hydraulic
valves and actuators that drive the backhoe actuators and drive the
loader actuators.
[0070] FIG. 4 shows a backhoe loader 400 in accordance with the
present disclosure. FIG. 5 shows a plan view of a seat assembly 300
of the backhoe loader of FIG. 4 in the context of the cab 110. FIG.
6 shows a perspective view of just the seat assembly 300 of the
backhoe loader 400 of FIG. 4.
[0071] In accordance with the present disclosure, instead of three
control sticks (210, 220, 230), one of which is located towards the
front of the cab 110 and two of which are located towards the rear
of the cab 110, there are two control sticks (first and second
control sticks 310, 320) which are located on opposite sides (right
and left) of the seat assembly 300 and which rotate with the seat
assembly 300.
[0072] Rather than each control stick having a fixed functionality,
the functionality of the first and second control sticks 310, 320
is dependent upon additional factors.
[0073] This may be made possible by using electronic control sticks
that drive an electronic controller which then drives hydraulics,
rather than by having control sticks that mechanically actuate
hydraulic valves. In this way, variable functionality is enabled by
the electronic controller rather than by altering hydraulic
connections.
[0074] One factor that may determine the functionality of the first
and second control sticks may be the direction in which the seat
assembly 300 is facing. A seat orientation sensor may be provided
for providing a seat orientation signal by which control stick
functionality may be influenced.
[0075] There may be first, second and third modes of operation,
shown schematically in FIG. 7. In a first mode, only backhoe
control may be available. In a second mode, only loader control may
be available. In a third mode, a hybrid of backhoe and loader
control may be available.
[0076] In the first mode, signals from both the first control stick
310 and second control stick 320 are used to control operation of
the backhoe assembly 130. This would replicate what may be
ordinarily expected by an operator using a machine in accordance
with the prior art shown in FIG. 1 (using the details set out in
respect of either first or second known arrangements explained
above).
[0077] In the second mode, signals from the first control stick 310
may be directed to control operation of the loader assembly 120
while signals from the first control stick 320 may remain unused.
This would replicate what may be ordinarily expected by an operator
using a machine in accordance with the prior art shown in FIG. 1
(or a dedicated loader machine).
[0078] In the third mode, hybrid functionality may be provided
whereby (a) signals from the second control stick 320 may be used
to control operation of the loader assembly 120 and (b) signals
from the first control stick 310 may be used to control operation
of the backhoe assembly 130.
[0079] One consequence of this hybrid functionality is that, since
only one of the two control sticks 310, 320 is available for
backhoe operation, only four functions are possible rather that the
eight that would be achievable with two control sticks for backhoe
operation.
[0080] The four functions available with the single backhoe control
stick may be boom down, boom up, arm out and arm in. Accordingly,
swing left, swing right, bucket curl and bucket dump may not be
available. The reason for the choice of available functions may be
related to the usefulness of those functions for the purpose of
movement of the machine (e.g. in a line parallel to a trench being
dug). In other words the available functions may be those which
facilitate use of the backhoe to lift the rear wheels of the
machine off the ground and then use the backhoe to propel the
machine on its front wheels.
[0081] Which mode is active at any particular time may be dependent
upon factors including (a) seat assembly orientation (b) safety
trigger and (c) manual override of default function to select
alternative functionality. An example implementation of mode
availability is shown in FIG. 8.
[0082] For example, the first mode may be available by default if
the seat orientation sensor determines that the seat assembly 300
is in a rearward orientation (such that backhoe control is fully
available when facing the backhoe assembly 130). The second mode
may be available by default if the seat orientation sensor
determines that the seat assembly 300 is in a forward facing
orientation (such that loader control is available when facing the
loader assembly 120).
[0083] It may be that the first mode is also available by default
if the seat orientation sensor determines that the seat assembly is
in neither a forward facing nor a rearward facing orientation. An
operator is likely to move into or out of the seat when it is at a
midway position between forwards and backwards since that may be
the orientation in which the seat is most accessible via a door of
the cab 110. Since it may be desirable to avoid accidental or
unintended movement of implements during operator ingress/egress
from the cab 110, availability of the controls when the seat is
neither facing forwards nor backwards may also require activation
of a safety trigger.
[0084] While it may be convenient for use of the first and second
control sticks to be dictated by default by the position of the
seat assembly, it may also be desirable to allow an operator to
alter the default functionality. An example of alternative
functionalities is also shown in FIG. 8.
[0085] In accordance with the example alternative modes shown in
FIG. 8, the third (hybrid) mode may be available as an alternative
functionality (selected by an operator) when the seat is facing
either backwards or neither forward nor backwards. The first mode
may be available, for example, as an alternative functionality
(selected by an operator) when the seat is facing forwards.
[0086] Selection of alternative functionality may be made by an
operator using, for example, an alternate setting actuator, which
may be a switch on a console within the cab 110.
[0087] FIGS. 10 and 11 show two options for the first mode,
dependent upon whether conventional backhoe style controls or
conventional excavator style controls are adopted. Which of these
two options is available may be fixed for a particular machine or
may be selectable by an operator using some further selection
mechanism.
* * * * *