U.S. patent number 3,880,304 [Application Number 05/225,385] was granted by the patent office on 1975-04-29 for mimic positioning controller for a hydraulically actuated back hoe.
Invention is credited to William A. Strickland, Jr..
United States Patent |
3,880,304 |
Strickland, Jr. |
April 29, 1975 |
Mimic positioning controller for a hydraulically actuated back
hoe
Abstract
A mimic positioning control system for a hydraulically powered
back hoe which utilizes present day devices such as; the main
engine driven hydraulic pumps; hydraulic work cylinders for
powering the dipper, dipper arm, and crowd arm main digging
members, and fluid motor for swinging that entire digging assembly;
pilot actuated directional valves for controlling the direction and
flow of fluid between the main pump(s) and the work cylinder or
motor; and separate pilot signal devices, requiring small movement,
for controlling each separate directional valve; the signal devices
then being mounted on a unique arrangement of small scale members
which are driven by mechanical linkage, to continuously mimic the
position of the main digging members and swing assembly; the signal
devices then being actuated by the operator through unique small
scale pattern members with the pattern control knob representing
the pivot joint position of the main dipper to the main dipper arm
so that differences in equivalent position of the control knob from
the main dipper cause pattern members and signal devices to actuate
respective main, and mimic members through positive mechanical
feedback, to move to eliminate the position difference.
Inventors: |
Strickland, Jr.; William A.
(Livingston, NJ) |
Family
ID: |
22844659 |
Appl.
No.: |
05/225,385 |
Filed: |
February 11, 1972 |
Current U.S.
Class: |
414/694; 414/5;
37/348; 414/2; 414/687 |
Current CPC
Class: |
E02F
9/2008 (20130101) |
Current International
Class: |
E02F
9/20 (20060101); B66f 019/00 () |
Field of
Search: |
;214/138R,1CM
;74/388R,491,469 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
Primary Examiner: Spar; Robert J.
Assistant Examiner: Noland; Kenneth
Claims
I claim as my Invention:
1. A controller for a hydraulically driven back hoe; the back hoe
utilizing the following present day commercially, available,
items:
1. An engine prime mover,
2. Main hydraulic pump or pumps,
3. Hydraulic linear or rotary actuators used to drive the digging
members,
4. Main digging members including; (a) a dipper, (b) a dipper arm
(c) a crowd arm, (d) rotational (swing) base for members a, b, and
c,
5. Hydraulic, pneumatic or electric reversible, stepless signal
devices, of standard commercial types, that are used to provide the
pilot signals to hydraulic pneumatic or electric actuated main
hydraulic valves that control the flow of hydraulic fluid to the
main actuators that in turn control the movement of the dipper,
dipper arm, crowd arm, and swing support members;
and the following novel assemblies:
A. means for continously transmitting the dippr angle, dipper arm
angle, the crowd arm angle, and the swing base position angle-with
significient force-greater than the operator's strength to resist
that transmitting effort,
B. a means for representing and mimicing the exact angular position
of the main digging members (dipper, dipper arm, crowd arm, and
rotary or swing base) by small scale equivalent members,
C. means for mounting the signal devices, on the mimic or main
members and which signal devices actuate the means for continuously
driving the main and mimic members to follow pattern elements,
and
D. pattern control elements that represent the dipper, dipper arm,
crowd arm, and swing base, in the same small scale as the mimic
members, and located with respect to the mimic members so that the
pattern members break down the operator's hand movement into the
proper vector signals of direction and speed for each of the four
sets of main and mimic members required to make the four main
digging and mimic elements actuate the signal devices and follow
the exact relative sequence of positions as set up by the positions
of the pattern elements wherein said positions of the pattern
members comprise direction and speed vectors.
2. Controller as described in claim 1 whose sensing devices are
mounted on the small scale mimic members, and have spring
positioned stems so that the operator controlled pattern members
have to move against the spring centering effort exerted by the
four sets of signal devices; the resistive effort of the signal
devices against the dipper, dipper arm crowd arm, and swing base
pattern members increases as the pattern members are moved from
slightly off neutral in one direction before hitting mechanical
stops; the amount of signal device displacement is proportionate to
the force exerted by the dipper in breaking through earth and rock
and thus the operator has an indication of the digging effort of
the back hoe.
3. A controller for a back hoe as recited in claim 1 where the
required relative positions of the dipper to the dipper arm; dipper
arm to the crowd arm; and crowd arm to the swing base are
continously coordinated by the signals from the pattern members to
the signal devices on the mimic members so that the dipper can
follow exactly, step-by-step, the locus of points set up by the
operator's hand in small scale.
4. A controller as recited in claim 1 for a back hoe whose main and
mimic members follow within an approximate equivalent range of
angular positions signaled by the pattern members; the control knob
having a direction and speed vector which is substantially
equivalent to the sum of the speed and direction vectors of the
pattern members so that the dipper can follow a relative sequence
of positions associated with the control knob.
5. A controller whose assembly of control elements as described in
claim 1 above causes any motion in progress to be self cancelling
when the control knob is brought to a stationary position.
Description
This disclosure is similar to U.S. Pat. No. 3,144,146 but differs
from that patent in that I here describe the means of applying a
mimic positioning controller to a hydraulically actuated back hoe
instead of an electrically powered shovel or drag line.
DESCRIPTION OF DRAWINGS
FIG. 1 is a rear elevational view of the backhoe as mounted on the
rear of a tractor. Main digging members dipper, dipper arm, crowd
arm and swing assembly are shown together with the mechanical
linkage means of transmitting the the dipper angle and crowd arm
angle to the small scale mimic members which are mounted on a
structure above the swing motor.
FIG. 2 shows the opposite side of the backhoe together with
mechanical linkage means to transmitting the dipper arm angle to
the mimic dipper arm.
FIG. 3 is a rear side elevational view of the mimic members, signal
devices, pattern members and control knob together with some of the
mechanical linkage used to drive the mimic members to the
equivalent position of respective main members.
Please refer to FIG. 1, which is an illustration of a typical,
present day back hoe as might be mounted at the rear end of a
tractor. The tractor engine is normally used to power hydraulic
pumps. Normally four hydraulic valve reversible controllers are
located immediately adjacent, to the right, and to the left, of the
operators seat 1, (sometimes foot pedal controlled valves are
located in front of the operators seat for the "swing motion". Thus
the four separate lever controller hydraulic valves would; (a)
regulate the flow of oil to hydraulic cylinder 2 causing dipper 3
to rotate about axis 4; (b) regulate the flow of oil to hydraulic
cylinder 5 causing the rotation of dipper arm 6 about axis 7; (c)
regulate the flow of oil to hydraulic cylinder 8 causing rotation
of crowd arm 9 about axis 10 and; (d) regulate the flow of oil to
hydraulic rotary motor 11 causing the entire digging assembly on
swing base to rotate "swing" about axis 12.
It takes a good deal of aptitude to coordinate the movements of the
dipper, dipper arm, crowd arm, and swing base 13 to remove earth
from the bottom of a ditch and place it in a pile, parallel to the
ditch in an efficient manner. Other jobs assigned to a back hoe
such as picking up a section of drainage tile with a sling and
placing the drainage tile accurately so that it butts against an
adjoining tile; requires concentrated effort, mature aptitude, and
extended practice.
The reason that the control of the hydraulic valve lever requires a
great deal of skill is that the horizontal movement of the levers
is arbitrary and in no way bio mechanically associated or similar
to the separate angular movement of each of the back hoe (dipper,
dipper arm, crowd arm and base assembly) members.
In order to make the back hoe control job easy, and natural, this
disclosure outlines a method by which the operator can control the
movements of a small, model size, back hoe whose members at all
times represent the positions of the main digging members of the
machine. Thus the controlled three dimensional "flight" path
required of the dipper would be as easy to accomplish by the
following disclosed scheme as the 3 dimensional path traced by an
eating utensil, such as a spoon, held in a mans hand. A typical
hardware arrangement might be as follows:
With reference to FIG. 1, tubular support 14 is mounted on swing
base 13 and establishes a support point in line with swing axis 12
and immediately in front of the operators seat. Member 16 is a
small scale representation of crowd arm 9 which pivots around axis
17 adjacent to support point 12 and always stays parallel to the
crowd arm 9 because the distance between axes 10 and 19 is the same
as the distance between axes 17 and 18 and the connecting rod 82
between axes 18 and 19 is made to be the same as the distance
between axes 17 and 10.
With reference to FIG. 2 the small scale representation 20 of
dipper arm 6, is arranged to assume the constant, step by step
rotary position of dipper arm 6 about axis 7. Sprocket 21 is
affixed to bracket 22 so that it too rotates with dipper handle 6
about axis 7. Sprocket 21 causes equal sized sprocket 23 to rotate
through the same arc around axis 19 by means of chain 24. Sprocket
23 drives a shaft, with same axis 19. Axes 19, 10, 18, 17, 27, 7,
and 4 are all parallel. Axis 19 shaft, drives a sprocket 25, on the
opposite side of crowd arm 9. Sprocket 25 in turn drives the same
diameter sprocket 28 through the same arc by means of chain 29.
Sprocket 28 fixed to arm 20 then in turn, causes mimic dipper arm
20 to rotate step by step in coordination with the rotation of the
dipper arm 6. The ratio of lengths of dipper arm 6 to mimic dipper
arm 20 is the same as the ratio of crowd arm 9 to mimic crowd arm
16. The length of dipper arm 6 is between axes 4 and 7. The length
of mimic dipper arm 20 is between axes 27 and 18. The length of
crowd arm 9 is between axes 10 and 7. The length of mimic crowd arm
16 is between axes 17 and 18.
In a similar manner, we will see how mechanical linkage drives
sprocket 30 as shown in FIG. 3 through step by step representation
of the angular movement of dipper 3 about axis 4. A lever 32 is
affixed to dipper 3 and causes lever 33 on sprocket 37 to move
simultaneously through the same angular position as lever 32 by
means of connecting rod 34. Connecting rod 34 is the same length,
between axes 35 and 36 as the distance between axes 7 and 4.
Sprocket 37 causes an equal diameter sprocket 26 to rotate the same
number of degrees as sprocket 37 by means of chain 38. Sprocket 37
is affixed to lever 33. Sprocket 26 rotates about axis 19. Sprocket
26 is a double (locked side by side) sprocket which turns free with
respect to axis 19 shaft and causes an equal diameter sprocket 39
to rotate about axis 18 by means of chain 31. Sprocket 39 is
affixed to sprocket 40. Sprocket 40 (same diameter) causes sprocket
30 to rotate the same number of degrees around axis 27 by means of
chain 41. Valves 61 and 62 are affixed to sprocket 30.
We can now see that small mimic member 16 is always at the same
angular position, and thus represents crowd arm 9. Small mimic
member 20 is always in the same angular position and thus
represents dipper arm 6. Also, small mimic member 30 is always in
the same angular positions and thus represents dipper 3.
With reference to FIG. 3, the driven, small scale mimic members 16,
20, and 30 will be used to mount the crowd arm, dipper arm, and
dipper hydraulic pilot valve assemblies respectively. The crowd arm
valves 57 and 58 are mounted on mimic crowd arm member 16. Dipper
arm valves 59 and 60 are mounted on mimic dipper arm member 20.
Dipper valves 61 and 62 are mounted on mimic dipper member 30. The
main, pilot operated, reversing, spool spring centered, hydraulic
valves which supply fluid to main members 2, 5, 8, and 11, are of
present commercial design such as Vicker's DG18S4-06 if air pilot
actuated; or DG3S4-044D-20 oil pilot actuated; or DG5S4-06 if
electric solenoid, pilot actuated.
Signal devices 49, 50, 57, 58, 59, 60, 61, and 62 are also of
present commercial design. If the pilot operated, spring centered,
main valves are air pilot actuated, the signal devices could be
pilot valves such as Airmatic three way, spring return, plunger
operated model 38251 or Vicker's C-572-E (with plugs inserted to
eliminate "P open to T" while extended, and "P open to 2" while
depressed options, thus making it a three way valve. Reference
Vicker's industrial catalog page f17, and Airmatic catalog 2000 pg.
6.
Those valve type signal devices have preloaded springs which hold
the plungers in the extended positions. Thus, when two pilot valves
are mounted on each mimic member 66, 16, 20, and 30, so that each
set of valves, with plungers fully extended, touch the forward and
reverse sides of respective pattern members 73, 42, 45, and 48, the
pattern members are said to be forced to a "spring centered,
neutral position" -- as long as the operater is exerting no
directional force on control knob 71.
As an alternate to the standard commercial equipment line-up
indicated on pages 2, 3, 4, and 5, stepless speed control movement
of the main digging members may be obtained by utilizing alternate
Glarban Corp. signal devices and intermediate valves. In this case,
where intermediate valves are to be utilized, the standard
commercial reversing hydraulic, pilot operated, spool spring
offset, main valves which supply hydraulic fluid to the main work
cylinder 2,5,8 or hydraulic motor 11 may be similar to Vickers
DG3S4062-50.
Intermediate standard commercial control valves for use between
signal devices 49, 50, 57, 58, 59, 60, 61, 62 and the main valves
may be similar to Glarban Corp. model 5001 electro-hydraulic or
Glarban Corp. model 3002, proportional control valves.
The signal devices can be oil or air valves similar to Glarban's
series 250. In this case, the valve body would be mounted on the
mimic member so that the valve handle stem would be parallel to the
pattern member. The pattern member might have two projections that
would project at right angles from the pattern member and be, on
each side of the valve handle stem so that when the pattern member
moves, the movement would be transferred immediately to the valve
handle, and the pattern member would be spring centered by the same
springs that keep the valve handle spring centered. As an alternate
to the stepless Glarban series 250 oil or air signal devices,
electro signal devices can be standard, commercial linear
potentiometers, with spring extended push rods.
The three leads or tubes to each pair of signal devices as shown in
FIG. 3 would be, if using an intermediate valve between the signal
device and the main valve, (a) supply source of air, hydraulic
fluid, or electrical current (b) return line to the source of
power, and (c) adjustable pressure or voltage line to the
intermediate Glarban valve. Electric signal devices can use ground
return from the intermediate valve by means of the controller metal
parts. Each pair of standard commercial potentiometer (valves) are
connected with 2.5 volt output in neutral; with 2.5 to 0 volts when
one device is actuated or 2.5 to 5 volts if the other potentiometer
signal device is actuated.
If step-less speed is required and no intermediate valve is to be
utilzed between the signal device and main valve, then a connection
between signal device and the main valve can be made as shown in
the Glarban series 700 arrangement.
The above described commercial hardware would allow the positive
feedback, and signal device mounting arrangement with signal
control knob -- to cause the main members to be moved either by
less expensive single step speed control or more expensive and
elaborate step-less speed control. In either case, the signal
device or devices used with one "motion" have two spring extended
plungers which are used to keep the pattern member in the spring
centered, zero output, control position with respect to each
associated mimic member -- as long as the operated is exerting no
directional force on the control knob.
If the main pilot operated, spring centered, hydraulic valves are
electric solenoid operated, like Vicker's DG5S4-06, then the signal
devices could be electrical, commercially available short stroke
linear potentiometers or Microswitches with spring force extended
plungers like the valves mentioned above. Those stepless or step
type switches would be positioned on the mimic members in a manner
similar to the description above and as shown in FIG. three. The
Microswitch brand switches would each have a standard, form C
internal contact that would, when forward switch (alone) was
actuated, make the circuit to the forward main valve solenoid and
break the circuit to the reverse solenoid.
The control leads or tubes entering or leaving each pair of control
signal devices, as shown in FIG. 3, best represents an air or
electrical pilot installation in that only three leads or tubes are
shown -- one for the power source and the other two for connecting
that power source to the separate forward and reverse sides of the
pilot, spool control, end of the main directional valves. Exhaust
air can be vented to atmosphere, so no fourth "tank return" tube is
required. With electrical pilot circuitry, the entire machine and
control members are metal, so that metal can be the ground return
between the power source and the forward and reverse solenoids. No
fourth lead would be required to a pair of signal devices.
If the pilot system uses oil, a fourth tube should be used to each
pair of signal devices to vent the low pressure side of the main
reversing spring centered valve, pilot section to sump.
Immediately adjacent to the small scale, mimic crowd arm 16, (to
the right as viewed from above) crowd arm pattern member 42 is
mounted so as to pivot around the same axis 17 used by member 16.
Crowd arm pattern member 42 has dipper arm pattern member 45
pivoted on it at top point 46 and has no connection to sprocket 40
or axis 18. The distance between axes 18 and 17 is the same as the
distance between axes 46 and 17. Member 42 is allowed to be
displaced slightly from its spring centered angular position in
line with member 16 until it hits pin stops 67 or 68. Angular
movement of member 42 with respect to member 16 causes pattern
member 42 to actuate either the "crowd-in" valve 57 or "crowd-out"
valve 58. If the "crowd-in" valve 57 is actuated, air under
pressure in supply line 51 is allowed to flow out of crowd-in
hydraulic line 53 to a pilot end of a crowd reversing valve (like
Vicker's DG18S4-06), and from that pilot end exhausted through line
54 and valve 58 to atmosphere. Thus, shaft 72 (as shown in FIG. 1)
of hydraulic crowd cylinder 8 would be retracted by oil from main
crowd reversing valve causing crowd arm 9 to crowd-in toward the
operator. As crowd arm 9 rotated counter clock wise about axis 10
(as viewed in FIG. 1) in a crowd-in direction, the small scale
mimic crowd handle member 16 would follow step by step, and thus
valve 57 would tend to move away from pattern member 16, stopping
the crowd-in motion, if pattern member 42 were no longer rotated in
a counter clock wise direction.
The operators right hand grabs pattern knob 71 as shown in FIG. 3.
The axis 47 of pattern knob 71 is the same distance from pattern
axis 46 as axis 27 (as shown in FIG. 1) is from axis 18 of the
mimic members. If the operators hand signaled a crowd-in motion on
knob 71, that signal force would be transmitted through pattern
member 45 to pivot point 46, attached to pattern member 42. Thus
pattern member 42 would rotate counter clock wise until it hits pin
stop 67, and in so doing, pattern member 43 would actuate the crowd
in valves 57 as previously described. As soon as the operators hand
stops the counter clock wise motion, member 45 and 42 would become
stationary, but members 9 and 16 would continue their counter clock
wise motion by a small amount until crowd-in valve 57 pulls away
from the stationary pattern member 42.
The mimic members 16, 20, and 30, on which the respective control
valves are mounted, provide positive feed back of position desired
--0 as patterned by the signal linkage pattern member 42 crowd, 45
dipper arm, and 48 dipper respectively.
The operator by grasping pattern knob 71 and rotating pattern
member 45 has no connection with sprocket 30 and is tied to knob 71
through a shaft with axis 47 moves member 45 about pivot 46 in a
counter clock-wise motion away from spring centered alignment with
member 20 until the pin stop 69 on member 20 restricts further
signal motion. When signal member 45 moves counter clock-wise with
respect to member 20, member 45 actuates the dipper arm control
valve 60 causing air in line 56 to actuate air pilot, dipper arm
reversing hydraulic valves (like Vicker's DG18S406), thus causing
shaft 74 of hydraulic cylinder 5 to retract moving dipper arm 6 in
a counter clock-wise motion about axis 7; and also moving mimic
dipper arm 20 in a counter clock-wise motion about axis 18. As soon
as the operators counter clock-wise movement of pattern knob 71 and
pattern member 45 about axis 46 stops, pressure of 45 against
control valve 60 stops and dipper arm 6 and mimic dipper arm 20
continue to rotate slightly further in a counter clock-wise
direction until the dipper arm valves 59 and 60 are equally distant
from member 45.
In a similar manner, by rotation of pattern control knob 71 about
its own axis the operator can cause rotation of extension arm 48
affixed to knob 71, and counter clock wise motion of 71 and 48 will
actuate pilot valve 62 allowing the air in supply line 63 to flow
out of line 64 to the pilot end of hydraulic reversing, main
(dipper) valve (like Vicker's DG18S406) and exhaust through line 65
and valve 61 to atmosphere. Oil from dipper valve thus causing
shaft 75 (as shown in FIG. 1) of hydraulic cylinder 2 to retract --
moving the dipper 3 in a counter clock-wise direction about axis 4
and simultaneously by means of linkage described moving mimic
member 30 in a counter clock-wise direction. When the operator
stops rotation of pattern knob 71 and extension arm 48, valve 62 is
no longer actuated more than valve 61 and so retraction of shaft 75
of hydraulic cylinder 2 stops dipper rotation.
Again, in a similar manner, the operator when sitting on seat 1 can
grasp pattern control knob 71 and apply pressure in a horizontal,
counter clock-wise direction about axis 12 (FIG. 1) so that swing
pattern plate 44 and plate finger 73 applies more pressure to swing
pilot valve 49 than to valve 50 and therefore in a manner similar
to the other motions described above, the main swing, air operated,
reversing valve sends oil to the hydraulic rotary actuator so that
the hydraulic rotary actuator 79 will swing the entire digging
assembly counter clock-wise about axis 12 with respect to
stationary seat 1 and plate 66. Valves 49 and 50 are mounted on
plate 66. When the operator's pattern knob 71 plate 44 and finger
73 stop horizontal motion and pressure, pilot valves 49 and 50 will
regain equal (spring) force neutral position and so both digging
members and mimic members swing motion also stops.
Tubes 51, 53, and 54 are rigid as shown connected to crowd signal
devices 57 and 58 up to joints 108, 109 and 107 respectively. Tubes
52, 55, and 56 are rigid from dipper arm signal devices 55 and 56
to joints 104, 106 and 105 respectively. Tubes 63, 64, and 65 are
rigid from dipper rotational signal devices 61 and 62 to joints
102, 103 and 101 respectively. Tubes 76, 77 and 78 are rigid from
swing signal devices 49 and 50 to joints 112, 111, and 110
respectively. From the above tube joints to their respective crowd,
dipper arm, dipper and swing main pilot actuated control valves,
the tubes are flexible. Rigid tube sections 51, 52 and 63 could
help confine motion of pattern members 42, 45 and 48 respectively
to movements parallel to their respective mimic member movements.
In any given swing position, pattern members 42, 45 and 48 would be
in essentially the same vertical plane.
Swing pattern finger 73 actuates swing pilot valve 49 by means of
its spring extended plunger 85, or actuates valve 50 by means of
its plunger 84. In a similar manner crowd pilot valves 58 or 57 are
actuated by crowd pattern member 42 by means of plunger 94, which
is visible in FIG. 3 or plunger 95 respectively of valve 57, which
is not visible. Dipper arm pattern member 45 actuates dipper arm
pilot valve 600 by means of its plunger 114, or valve 59 by means
of its plunger 115 not visible. Also dipper rotational pattern
member 48 actuates valve 62 by means of its plunger 124, or valve
61 by means of its plunger 125 not visible.
All pairs of valves as mentioned for the swing, crowd, dipper arm,
and dipper movement signal output have spring extended plungers, as
related, which force their entrapped related pattern member to a
spring centered neutral position when the operator is exerting no
overriding pattern force on control knob 71.
FIG. No. 1 shows the small sized mimic members only -- on which the
pilot valves are mounted. Pattern members 44, 42, 45 and 48 are
omitted from FIG. No. 1 for clarity.
Vertical support tubes 14 in FIG. 1 become horizontal support tubes
79 and 80 as shown in FIG. 3.
Mimic crowd member 16 is strengthened and made more rigid by
parallel crowd mimic member 83.
* * * * *