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WO2007144629A3 - Control system for earth moving and working apparatus - Google Patents

Control system for earth moving and working apparatus Download PDF

Info

Publication number
WO2007144629A3
WO2007144629A3 PCT/GB2007/002217 GB2007002217W WO2007144629A3 WO 2007144629 A3 WO2007144629 A3 WO 2007144629A3 GB 2007002217 W GB2007002217 W GB 2007002217W WO 2007144629 A3 WO2007144629 A3 WO 2007144629A3
Authority
WO
WIPO (PCT)
Prior art keywords
control
excavator
arms
control system
earth moving
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/GB2007/002217
Other languages
French (fr)
Other versions
WO2007144629A2 (en
Inventor
Brian Clough
Shen Jiang
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Coventry University
Original Assignee
Coventry University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Coventry University filed Critical Coventry University
Publication of WO2007144629A2 publication Critical patent/WO2007144629A2/en
Publication of WO2007144629A3 publication Critical patent/WO2007144629A3/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E02F9/2008—Control mechanisms in the form of the machine in the reduced scale model
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Mechanical Control Devices (AREA)

Abstract

A control system (1) for earth moving or working apparatus (14) such as an excavator comprises a first control arm (4), a second control arm (10) and an end member (12), pivotally connected to as to emulate the working arms (16, 17) and bucket (18) of the excavator. The first and second control arms (4, 10) are provided with handles (8, 11) projecting laterally outwards in opposite directions so that the positions of the first and second control arms can be altered by a user. The handle (11) on the second control arm (10) can also be twisted to control movement of the end member (12). These movements are translated into control of hydraulic actuators (18, 19, 20) for controlling the working arms (16, 17) and bucket (18) of the excavator. The control arms (4,10) can be moved to a position in which the handles (8, 11) are axially aligned, for steering of the excavator (14) during transit. The control system (1) maybe detachable from the excavator (14). Haptic feedback may be provided.
PCT/GB2007/002217 2006-06-14 2007-06-14 Control system for earth moving and working apparatus Ceased WO2007144629A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB0611776A GB0611776D0 (en) 2006-06-14 2006-06-14 Control system for earth moving and working apparatus
GB0611776.6 2006-06-14

Publications (2)

Publication Number Publication Date
WO2007144629A2 WO2007144629A2 (en) 2007-12-21
WO2007144629A3 true WO2007144629A3 (en) 2008-03-27

Family

ID=36775631

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB2007/002217 Ceased WO2007144629A2 (en) 2006-06-14 2007-06-14 Control system for earth moving and working apparatus

Country Status (2)

Country Link
GB (1) GB0611776D0 (en)
WO (1) WO2007144629A2 (en)

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US9314921B2 (en) 2011-03-17 2016-04-19 Sarcos Lc Robotic lift device with human interface operation
US8977388B2 (en) 2011-04-29 2015-03-10 Sarcos Lc Platform perturbation compensation
US9789603B2 (en) 2011-04-29 2017-10-17 Sarcos Lc Teleoperated robotic system
US8892258B2 (en) 2011-04-29 2014-11-18 Raytheon Company Variable strength magnetic end effector for lift systems
US8942846B2 (en) 2011-04-29 2015-01-27 Raytheon Company System and method for controlling a teleoperated robotic agile lift system
US9616580B2 (en) 2012-05-14 2017-04-11 Sarcos Lc End effector for a robotic arm
US10766133B2 (en) 2014-05-06 2020-09-08 Sarcos Lc Legged robotic device utilizing modifiable linkage mechanism
US9809955B2 (en) 2016-02-16 2017-11-07 Caterpillar Inc. Control device for an implement system
US10828767B2 (en) 2016-11-11 2020-11-10 Sarcos Corp. Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements
US10765537B2 (en) 2016-11-11 2020-09-08 Sarcos Corp. Tunable actuator joint modules having energy recovering quasi-passive elastic actuators for use within a robotic system
US10919161B2 (en) 2016-11-11 2021-02-16 Sarcos Corp. Clutched joint modules for a robotic system
US10821614B2 (en) 2016-11-11 2020-11-03 Sarcos Corp. Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly
US10843330B2 (en) 2017-12-07 2020-11-24 Sarcos Corp. Resistance-based joint constraint for a master robotic system
US11331809B2 (en) 2017-12-18 2022-05-17 Sarcos Corp. Dynamically controlled robotic stiffening element
US10906191B2 (en) 2018-12-31 2021-02-02 Sarcos Corp. Hybrid robotic end effector
US11241801B2 (en) 2018-12-31 2022-02-08 Sarcos Corp. Robotic end effector with dorsally supported actuation mechanism
US11351675B2 (en) 2018-12-31 2022-06-07 Sarcos Corp. Robotic end-effector having dynamic stiffening elements for conforming object interaction
US11833676B2 (en) 2020-12-07 2023-12-05 Sarcos Corp. Combining sensor output data to prevent unsafe operation of an exoskeleton
US11794345B2 (en) 2020-12-31 2023-10-24 Sarcos Corp. Unified robotic vehicle systems and methods of control
US11886218B2 (en) 2021-08-17 2024-01-30 Zoomlion Heavy Industry Na, Inc. One-handed joystick for cranes
US11573592B1 (en) 2021-08-17 2023-02-07 Zoomlion Heavy Industry Na, Inc. One-handed joystick with adaptive control
US11826907B1 (en) 2022-08-17 2023-11-28 Sarcos Corp. Robotic joint system with length adapter
US11717956B1 (en) 2022-08-29 2023-08-08 Sarcos Corp. Robotic joint system with integrated safety
WO2024098070A1 (en) 2022-11-04 2024-05-10 Sarcos Corp. Robotic end-effector having dynamic stiffening elements with resilient spacers for conforming object interaction
US11924023B1 (en) 2022-11-17 2024-03-05 Sarcos Corp. Systems and methods for redundant network communication in a robot
US11897132B1 (en) 2022-11-17 2024-02-13 Sarcos Corp. Systems and methods for redundant network communication in a robot

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3880304A (en) * 1972-02-11 1975-04-29 Jr William A Strickland Mimic positioning controller for a hydraulically actuated back hoe
JPH01171784A (en) * 1987-12-24 1989-07-06 Tamagawa Seiki Co Ltd remote control device
US5995893A (en) * 1995-12-30 1999-11-30 Samsung Heavy Industries Co., Ltd. Device for controlling the operation of power excavators
EP1335074A1 (en) * 2002-02-08 2003-08-13 J.C. Bamford Excavators Limited Control apparatus for the arm of a working machine in form of a kinematically similar reduced scale lever assembly

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3880304A (en) * 1972-02-11 1975-04-29 Jr William A Strickland Mimic positioning controller for a hydraulically actuated back hoe
JPH01171784A (en) * 1987-12-24 1989-07-06 Tamagawa Seiki Co Ltd remote control device
US5995893A (en) * 1995-12-30 1999-11-30 Samsung Heavy Industries Co., Ltd. Device for controlling the operation of power excavators
EP1335074A1 (en) * 2002-02-08 2003-08-13 J.C. Bamford Excavators Limited Control apparatus for the arm of a working machine in form of a kinematically similar reduced scale lever assembly

Also Published As

Publication number Publication date
GB0611776D0 (en) 2006-07-26
WO2007144629A2 (en) 2007-12-21

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