Control device for an implement system

A control device for an implement system of a machine is provided. The control device is mounted on a support. The control device includes a first gimbal rotatably coupled to the support. The control device also includes a second gimbal rotatably coupled to the first gimbal. The control device further includes a linear actuator having a first end and a second end. The linear actuator is fixed to the second gimbal from the first end. The control device further includes a handle attached to the linear actuator at the second end. The handle is configured to move in conjunction with rotational movements of the first gimbal and the second gimbal, and a linear movement of the linear actuator to control a movement of the implement system.

TECHNICAL FIELD

The present disclosure relates generally to a control device for an implement system of a machine, and in particular, to a control device for the implement system of an excavator.

BACKGROUND

An implement system of a typical excavator machine includes a linkage structure operated by hydraulic actuators to move a work implement. The implement system includes a boom that is pivotal relative to a machine chassis, a stick that is pivotal relative to the boom, and a work implement that is pivotal relative to the stick. Further, the machine chassis is rotatably mounted on an undercarriage or drive system of the excavator and adapted to swing about a vertical axis. The coordinated movements of the boom, the stick, the work implement and the chassis provide the overall movement of the implement system for achieving various digging operations or the like.

Most excavators utilize a right-hand control lever and a left-hand control lever to control movement of the machine chassis, the boom, the stick and the work implement. The control levers are provided in an operator cab and disposed on left and right sides of the operator's seat, respectively. The right-hand control lever controls the movement of the boom and the work implement. The left-hand control lever controls the movement of the stick and the machine chassis. Collectively or individually, the left and right control levers control the movement of the implement system while performing a digging or loading operation. However, this control system requires an operator to learn how to move the work implement by manipulating a rate of change and angular position of the boom, the stick, and the work implement.

U.S. Pat. No. 5,675,359 (referred to as '359 patent) discloses a joystick controller for utilizing omnidirectional pivoting manual displacement by an operator, to operate transducers for producing control signals. The joystick controller includes a mounting plate defining an opening and gimbal mounting means secured to the mounting plate for pivotally mounting a joystick shaft extending through the opening. The joystick shaft has an operator knob on one end, and a gauge plate on the other end. The gauge plate has a first straight edge and a second straight edge perpendicular thereto. First and second lever arms are pivotally mounted and biased against the first and second straight edges of the gauge plate. The '359 patent provides that displacement of the joystick knob causes displacement of the gauge plate and pivots the lever arms biased against the joystick knob.

SUMMARY

In one aspect of the present disclosure, a control device for an implement system of a machine is described. The control device is mounted on a support. The control device includes a first gimbal rotatably coupled to the support. The control device also includes a second gimbal rotatably coupled to the first gimbal. The control device further includes a linear actuator having a first end and a second end. The linear actuator is fixed to the second gimbal from the first end. The control device further includes a handle attached to the linear actuator at the second end. The handle is configured to move in conjunction with rotational movements of the first gimbal and the second gimbal, and a linear movement of the linear actuator to control a movement of the implement system.

In another aspect of the present disclosure, a machine is described. The machine includes an implement system, and a hydraulic control system configured to operate the implement system. The machine also includes a control device for the implement system. The control device is mounted on a support. The control device includes a first gimbal rotatably coupled to the support. The control device also includes a second gimbal rotatably coupled to the first gimbal. The control device further includes a linear actuator having a first end and a second end. The linear actuator is fixed to the second gimbal from the first end. The control device further includes a handle attached to the linear actuator at the second end. The handle is configured to move in conjunction with rotational movements of the first gimbal and the second gimbal, and a linear movement of the linear actuator to control a movement of the implement system. The control device further includes a rotatable sleeve disposed on the handle. The rotatable sleeve is also configured to control the movement of the implement system. The control device further includes a first rotational actuator connected to the first gimbal and configured to constrain the rotational movement of the first gimbal about the support, and a second rotational actuator connected to the second gimbal and configured to constrain the rotational movement of the second gimbal about the first gimbal. The machine further includes a controller configured to control the hydraulic control system and thereby operate the implement system in response to at least one of a movement of the handle and a turning of the rotatable sleeve.

In yet another aspect of the present disclosure, an excavator is described. The excavator includes a drive system, a chassis rotatably supported on the drive system, an operator station supported on the chassis and an implement system. The implement system includes a boom pivotally connected to the chassis, a stick pivotally connected to the boom, and a bucket pivotally connected to the stick. The excavator also includes a hydraulic control system configured to operate the implement system. The hydraulic control system includes a first hydraulic actuator associated with the boom and configured to rotate the boom with respect to the chassis, a second hydraulic actuator associated with the stick and configured to rotate the stick with respect to the boom, a third hydraulic actuator associated with the bucket and configured to rotate the bucket with respect to the stick, and a fourth hydraulic actuator associated with the chassis and configured to rotate the chassis with respect to the drive system. The excavator further includes a control device for the implement system. The control device is mounted on a support provided in the operator station. The control device includes a first gimbal rotatably coupled to the support. The control device also includes a second gimbal rotatably coupled to the first gimbal. The control device further includes a linear actuator having a first end and a second end. The linear actuator is fixed to the second gimbal from the first end. The control device further includes a handle attached to the linear actuator at the second end. The handle is configured to move in conjunction with rotational movements of the first gimbal and the second gimbal, and a linear movement of the linear actuator to control a movement of the implement system. The control device further includes a rotatable sleeve disposed on the handle. The rotatable sleeve is also configured to control the movement of the implement system. The control device further includes a first rotational actuator connected to the first gimbal and configured to constrain the rotational movement of the first gimbal about the support, and a second rotational actuator connected to the second gimbal and configured to constrain the rotational movement of the second gimbal about the first gimbal. The excavator further includes a controller configured to control the hydraulic control system and thereby operate the implement system in response to at least one of a movement of the handle and a turning of the rotatable sleeve.

DETAILED DESCRIPTION

FIG. 1illustrates a diagrammatic view of a machine100, in accordance with an embodiment of the present disclosure. In the illustrated embodiment, the machine100is shown as an excavator, which may be earthmoving type or logging type. Hereinafter, any feature explained in reference to the machine100is also applicable to the excavator, for achieving the purposes of the present disclosure. The machine100includes an implement system102, and a control device200for the implement system102. The implement system102includes linkages such as a boom104, a stick106, and a bucket108. The boom104is pivotally connected to a chassis112of the machine100, the stick106is pivotally connected to the boom104, and the bucket108is pivotally connected to the stick106. In various other embodiments, the implement system102may be an implement system of any other excavator-type machines, such as backhoe loaders, front shovels, wheel loaders, track loaders, and skidders. Further, the work implement may be any other implement other than the bucket108, such as, grapple, forks, hammer, rippers, shears, etc.

The machine100may include a drive system116, such as, tracks, for propelling the machine100. A power source, schematically represented and referenced by numeral118, is provided to power the implement system102and the drive system116. The power source118may embody an engine, for example, a diesel engine, a gasoline engine, a gaseous fuel-powered engine or any other type of combustion engine known in the art. It is contemplated that the power source118may alternatively embody a non-combustion source of power, such as a fuel cell, a power storage device, or another source known in the art. The power source118may produce a mechanical or electrical power output that may then be converted to hydraulic power for moving the implement system102. The machine100may also include an operator cab120which provides the various controls for the machine100. The operator cab120may house the control device200and other user interface devices for controlling the implement system102and the drive system116.

In an embodiment, the implement system102may be, generally, set in motion, to move the bucket108, in a first vertical plane110defined by a X-axis and a Y-axis. The first vertical plane110is a plane lying parallel to the sagittal plane, i.e., plane dividing the right zone and the left zone of an operator of the machine100. Further, while in use, the bucket108may be curled and uncurled relative to the stick106to dig, scoop up or empty the material during the operation. The implement system102may be rotatable by rotating the chassis112at a pivot base of the boom104about a vertical axis, for example along the Y-axis, as schematically illustrated inFIG. 1.

An overall movement of the bucket108in the first vertical plane110may be achieved in three parts, first by raising and lowering the boom104with respect to the chassis112, second by moving the stick106toward and outward with respect to the operator cab120, and third by rotating the bucket108relative to the stick106. The boom104may be raised and lowered by a pair of first hydraulic actuators122,124. The stick106may be moved towards and outward with respect to the operator cab120by a second hydraulic actuator126. A third hydraulic actuator128may be used to curl and uncurl the bucket108relative to the stick106. Moreover, the chassis112, along with the implement system102, may be rotated about the Y-axis by a fourth hydraulic actuator130, such as a hydraulic motor, with respect to the drive system116.

FIG. 2illustrates a partial sectional planar view of the control device200supported on a base132, of the operator cab120, in accordance with an embodiment of the present disclosure. In the illustration, the control device200is embodied as a joystick. The control device200may be provided either towards a left-hand side or a right-hand side of the operator seat. The control device200is horizontally mounted on the base132such that an operator in the operator cab120can easily reach and grasp the control device200with his/her hand. In an embodiment of the present disclosure, the control device200may be disposed in a plane parallel to the frontal plane of the operator. While the control device200is described as substantially horizontal, in other embodiments, the control device200may be tilted with respect to the horizontal plane, as will be described later. Typically, a bellow134is provided to a cover for at least a partial portion of the control device200. In the illustrated sectional view ofFIG. 2, the bellow134is partially shown, to illustrate the internal components of the control device200.

FIG. 3illustrates a perspective view of the control device200, in accordance with an embodiment of the present disclosure. As illustrated, the control device200of the present disclosure, generally, includes a gimbal arrangement210and a handle arrangement220connected to each other, and working in conjunction to achieve the purpose of controlling the implement system102. With reference toFIGS. 2-3, the control device200may be mounted to the base132, via a support202. In one example, the support202may include two vertical members, schematically represented and referenced by numerals204and206, standing on the base132. In one example, the gimbal arrangement210may be rotatably supported between the two vertical members204,206. In one example, the vertical members204,206are connected to the base132, from bottom ends208a,and further to two diagonally opposite ends of the gimbal arrangement210, from upper ends208b.In one example, the vertical members204,206may be provided in the form of two collapsible cylinders, such that the two collapsible cylinders are arranged in a manner so that these can be tilted with respect to the base132, and therefore may allow the tilting of the gimbal arrangement210and thereby of the control device200, with respect to the base132of the operator cab120. In one example, the vertical members204,206may be connected to the base132by revolute joints or the like, for achieving tilting with respect thereto.

In an embodiment of the present disclosure, the gimbal arrangement210includes a first gimbal212and a second gimbal214. The first gimbal212may be rotatably coupled to the support202. In particular, the first gimbal212may be coupled to the support202by two rotational joints216a,216b.Specifically, the two rotational joints216a,216bmay connect the first gimbal212to the upper ends208bof the two vertical members204,206. Similarly, the second gimbal214may be rotatably coupled to the first gimbal212. In particular, the second gimbal214may be coupled to the first gimbal212by two rotational joints218a,218b.Specifically, the two rotational joints218a,218bconnect the second gimbal214to diagonal opposite ends of the first gimbal212. It may be contemplated by a person skilled in the art that the rotational joints216a,216b,218a,218bmay include a bearing, such as a ball bearing, to facilitate rotational movement of the first gimbal212about the support202and that of the second gimbal214about the first gimbal212.

In an embodiment of the present disclosure, the handle arrangement220, of the control device200, includes a linear actuator222. As illustrated inFIG. 3, the linear actuator222has a first end224and a second end226. In one example, the linear actuator222may be fixed to the second gimbal214from the first end224. Further, the handle arrangement220includes a handle230attached to the linear actuator222at the second end226. According to an embodiment of the present disclosure, the handle230is configured to move in conjunction with rotational movements of the first gimbal212and the second gimbal214, and the linear movement of the linear actuator222, to control the overall movement of the implement system102. It may be contemplated by a person skilled in the art that the first and second gimbals212,214and the linear actuator222may form a kinematic chain, in the control device200. This kinematic chain may constrain the movement of the handle230by virtue of its connection with the linear actuator222, and thus constrain the movement of the control device200with respect to the base132.

As may be understood, the linear actuator222may expand and contract by varying a distance between the first end224and the second end226. A linear movement of the linear actuator222is controlled by varying the distance between the first end224and the second end226. In one example, the linear actuator222may be a telescopic piston cylinder device including hydraulic or pneumatic cylinder and piston rod configured to retract or expand under the action of any external force. In other examples, the linear actuator222may be another type of linear actuator device, such as a linear slider, a rack and pinion mechanism, or any other kind of straight-line mechanism.

In accordance with an embodiment of the present embodiment, the operator may reach for the control device200and, due to the linear actuator222which may contract or expand, move the handle230along y-axis (as shown by arrow heads inFIG. 3) to activate a scaled up movement of the implement system102along the Y-axis in the first vertical plane110, as shown inFIG. 1. Also, the operator may reach for the control device200and, due to a rotational movement of the first gimbal212about the two rotational joints216a,216b,causes a movement of the handle230along x-axis (as shown by arrow heads inFIG. 3) to activate a scaled up movement of the implement system102along the X-axis in the first vertical plane110, as shown inFIG. 1. Further, the operator may reach for the control device200and, due to a rotational movement of the second gimbal214about the two rotational joints218a,218b,causes a movement of the handle230along z-axis (as shown by arrow heads inFIG. 3), which in turn causes the rotation of the chassis112of the machine100to activate a scaled up movement of the implement system102along an axis (not shown) perpendicular to the first vertical plane110, as shown inFIG. 1.

In an embodiment, the handle230may include a rotatable sleeve232, which is rotatable with respect to a central axis thereof. In one example the central axis, disposed along x-axis, of the handle230may be substantially horizontal with respect to the base132. In another example the central axis of the handle230may be disposed at an angle with respect to the base132. The rotatable sleeve232may be configured to control the movement of the implement system102. Specifically, the rotatable movement of the sleeve232may activate a scaled up curl and uncurl movement of the bucket108relative to the stick106. Further, in an embodiment, the handle230may include an input device234disposed at a distal end of the handle230. The input device234may be embodied as a thumb-slider or a thumbwheel, and may be turned to further adjust the scaled up curl and uncurl movement of the bucket108relative to the stick106, while rotating the sleeve232on the handle230. In other words, the input device234may be configured to change a sensitivity of the rotatable sleeve232, for controlling the movement of the implement system102. The control device200may include other types of input devices such as push buttons and switches without limiting scope of the present disclosure, these input devices may include electrical, magnetic, piezoelectric, optical, or electromechanical switches configured to output an electrical signal (either current or voltage signals).

In an embodiment, the control device200may include a feedback arrangement240for constraining the motion of the control device200based on the movement of the implement system102. The feedback arrangement240may include a first rotational actuator242connected to the first gimbal212and configured to constrain the rotational movement of the first gimbal212about the support202. For this purpose, in one example, the first rotational actuator242may be connected to the first gimbal212at one of the two rotational joints216a,216b.In some examples, the first rotational actuator242may include two first rotational actuators242connected at each of the two rotational joints216a,216b.In various examples, the first rotational actuator242may be capable to rotate in both directions about the corresponding rotational joints216a,216b.Further, the feedback arrangement240may include a second rotational actuator244connected to the first gimbal212and configured to constrain the rotational movement of the first gimbal212about the support202. For this purpose, in one example, the second rotational actuator244may be connected to the first gimbal212at one of the two rotational joints218a,218b.In some examples, the second rotational actuator244may include two second rotational actuators244connected at each of the two rotational joints218a,218b.In various examples, the second rotational actuator244may be capable to rotate in both directions about the corresponding rotational joints218a,218b.It may be understood that the first and the second rotational actuators242,244may be any actuators, such as, but not limited to, motors, that produce a rotary motion or torque. Further, in an embodiment of the present disclosure, the linear actuator222may form part of the feedback arrangement240, and be configured to provide a force feedback at the handle230. This is achieved by constraining the linear movement of the linear actuator222based on the movement of the implement system102.

According to an embodiment of the present disclosure, the control device200may be used to control the movement of the linkages of the implement system102independently as well as in a simultaneously coordinated manner. The movement of the handle230with respect to the base132in the X-Y plane, via the linear movement of the linear actuator222and the rotational movement of the first gimbal212, corresponds to the scaled up movement of the bucket108in the first vertical plane110. Further, in order to keep the bucket108in a configuration for digging or loading operation, the sleeve232on the handle230and, optionally, also the input device234may be turned, in order to curl or uncurl the bucket108. Furthermore, the movement of the handle230about the z-axis, via the rotational movement of the second gimbal214, causes swinging of the implement system102about Y-axis inFIG. 1, in the direction perpendicular to the vertical plane110.

FIG. 4is block diagram of a control system400for the machine100. The control system400is operatively connected with the control device200and a hydraulic control system424of the machine100. The control system400may include a plurality of pilot valves402to410, a hydraulic manifold412, a controller414, and a plurality of sensors416to422. According to an embodiment, the hydraulic control system424may include a plurality of hydraulic control valves, such as a first hydraulic control valve426, a second hydraulic control valve428, a third hydraulic control valve430, and a fourth hydraulic control valve432for controlling the first hydraulic actuators122,124, the second hydraulic actuator126, the third hydraulic actuator128, and the fourth hydraulic actuator130of the machine100, respectively. The hydraulic control valves426-432may be direction control valves and which may be actuated by the pilot valves402,404,406-408,410, respectively, as would be contemplated by a person skilled in the art. The pilot valves402,404,406-408,410may, in turn, be controlled by the linear movement of the linear actuator222, the rotational movement of the first gimbal212, turning of the sleeve232and the input device234, and the rotational movement of the second gimbal214, respectively. In one example, the pilot valves402-410may be one of electromechanical, electric, magnetic control valves. The pilot valves402-410are configured to supply a pressurized hydraulic fluid via the hydraulic manifold412to the hydraulic control valves426-432based on the movement of the handle230. Consequently, the hydraulic actuators122-130may be driven to extend or retract depending upon the directional movement of the hydraulic control valves426-432. Further, the amount of hydraulic pressure applied to the hydraulic actuators122-130, and therefore the speed of movement of the hydraulic actuators122-130, may be related to the degree to which the hydraulic control valves426-432are actuated.

The controller414is configured to control the operation of the hydraulic control system424to achieve the scaled up movement of the implement system102in response to at least one of the movement of the handle230with respect to the base132, and the turning of the sleeve232and the input device234. More specifically, the controller414is configured to control a supply of hydraulic fluid to the first, second, third and fourth hydraulic actuators122-130in response to at least one of the movement of the handle230with respect to the base132, and the turning of the sleeve232and the input device234. According to an embodiment of the present disclosure, the controller414is operatively connected with the plurality of sensors416to422. These sensors416to422are configured to generate electrical signals indicative of the position and speed of the bucket108, the boom104, the stick106, and the chassis112. The sensors416to422may be GPS based sensors, magnetic sensors, angle encoders, inclinometers, or accelerometers associated with the linkages of the implement system102and/or the corresponding hydraulic actuators122-130. The controller414may control the operation of the hydraulic manifold412, to maintain and supply a target hydraulic fluid pressure to the hydraulic actuators122-130to achieve the scaled up movement of the implement system102in response to the movement of the handle230. In one example, the controller414may execute instructions for determining the fluid pressure for opening and closing of the hydraulic control valves426to432based on scaled up movement of the implement system102.

According to an embodiment of the present disclosure, the controller414may further include lookup tables based on transfer functions and/or position maps to calculate the position of the bucket108in the first vertical plane110corresponding to a position of the handle230in the x-y plane. These lookup tables or position maps may be accessed to determine a scaled up target position of the bucket108, which may be compared with the output of the sensors416to422indicative of an actual position of the bucket108. Furthermore, the controller414is configured to process and calculate a differential between the target position and the actual position of the bucket108and accordingly provide feedback to the operator via the feedback arrangement240of the control device200. It may be contemplated by a person skilled in the art that the differential may increase as the movement of the handle230exceeds the corresponding target position of the bucket108. The feedback may include tactile force feedback in order to slowdown or even retard the movement of the handle230, if the differential exceeds a predefined threshold. In particular, the linear actuator222, and the first and the second rotational actuators242,244may apply the force feedback to resist the movement of the handle230. Otherwise, the control device200may allow free movement of the handle230in the X-Y plane, when the differential between the target position and the actual position of the bucket108is negligibly small, or below the threshold limit.

FIGS. 5-6illustrate range of motion diagrams for the control device200. In the exemplary illustrations, the control device200is shown to be arranged at different angles with respect to the base132.FIG. 5illustrates the control device200arranged in a manner such that the central axis of the handle230is parallel with respect to the base132. A first area, substantially in the form of semi-circle, and schematically indicated by numeral500, represents possible range of motion for the handle230of the control device200. Further, a second area, a subset of the first area500and schematically indicated by numeral502, represents an allowable range of motion for the handle230of the control device200. It may be understood that when the handle230is outside the second area502, the control device200may be no longer able to accurately control the movement of the implement system102. In an embodiment, if the operator tries to move the handle230out of the second area502, the feedback arrangement240provides force feedback to constrain the handle230and to move the handle230back into the second area502.FIG. 6, similarly, illustrates the control device200arranged in a manner such that the central axis of the handle230is at an angle (around)45° with respect to the base132, providing a tilted control device200. It may be contemplated that the tilting of the control device200is achieved by disposing the vertical members204,206at the desired angle with respect to the base132. The vertical members204,206, in the form of collapsible cylinders, may further allow the control device200to be biased at the desired angle while providing flexibility to change the angle, as required. As illustrated inFIG. 6, a first area600represents the possible range of motion and a second area602represents the allowable range of motion for the handle230. It may be seen that the tilted control device200may provide a larger allowable range of motion for the handle230, and therefore for the control device200, and thus may be preferred for the purposes of the present disclosure.

Moreover, according to an embodiment of the present disclosure, the scaled up target position of the bucket108may be dependent on a pre-defined ratio, which can multiply the co-ordinates of the handle230with respect to the base132to determine the position of the bucket108. The pre-defined ratio may be dependent on size and geometry of the implement system102and may be pre-programmed in the controller414.

It may be contemplated that the controller414may be a logic unit, and may include a secondary storage device, a timer, and one or more processors that cooperate to accomplish a task consistent with the present disclosure. Numerous commercially available microprocessors may be configured to perform the functions of the controller414. It should be appreciated that the controller414could readily embody a general machine controller capable of controlling numerous other functions of the machine100. Various known circuits may be associated with the controller414, including signal-conditioning circuitry, communication circuitry, and other appropriate circuitry. It should also be appreciated that the controller414may include one or more of an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a computer system, and a logic circuit configured to allow the controller414to function in accordance with the present disclosure.

INDUSTRIAL APPLICABILITY

The control device200of the present disclosure may be applicable to any excavation machine which involves planar and swinging movements of the implement system102. The present control device200may help to improve machine performance and efficiency by assisting the operator to use one control device for overall movement of the implement system102.

FIG. 5is a diagrammatic view of the implement system102of the machine100and the control device200illustrating a movement interrelationship between each other. As illustrated, the handle230is moveable relative to the base132in the x-y plane by virtue of the linear movement of the linear actuator222and the rotational movement of the first gimbal212. A first position (A) of the handle230may correspond to a first position (A′) of the bucket108in the first vertical plane110. The first position (A′) of the bucket108may be a parking station position for the bucket108when not in use or during transportation of the machine100. The controller414is configured to control and supply the hydraulic fluid pressure in the hydraulic actuators122-128to maintain the first position (A′) of the bucket108. As described above, the controller414may utilize lookup tables and position maps to map the first position (A) of the handle230with the first position (A′) of the bucket108, until an external force is applied on the handle230to change its position in the x-y plane.

While in use, in order to dig and scoop the material, the handle230is moved to a second position (B) in the x-y plane with respect to the base132. In this configuration, the handle230is moved by coordinated linear movement of the linear actuator222and the rotational movement of the first gimbal212. Thus, the bucket108is moved to the corresponding second position (B′). The controller414may initiate a coordinated and simultaneous expansion or retraction of the first and second hydraulic actuators122-126by supplying the hydraulic fluid. Further, the sleeve232and the input device234, on the handle230, may be turned to uncurl the bucket108to facilitate dig and scoop function, which may actuate the third hydraulic actuator128. Moreover, the left and right swing of the handle230, by virtue of the rotational movement of the second gimbal214, may locate the bucket108at the desired location at a site by controlling the rotation of the fourth hydraulic actuator130.

Further, the bucket108is moved to a third position (C′) to empty the material into a haul truck (not shown) or at a dumping site. To achieve this, the handle230is raised to a corresponding third position (C) of the handle230by lifting up the handle230with respect to the base132. Further, the bucket108can be uncurled to empty the material. As illustrated inFIG. 5, a first triangle ABC formed by the handle230, using the kinematic chain, and a second triangle A′B′C′ formed by the bucket108position in the first vertical plane110are similar, or in other words, the second triangle A′B′C′ is scaled up version of the first triangle ABC.

Using the control device200of the present disclosure, the operator of the machine100may achieve the overall movement of the implement system102in the first vertical plane110, the curl and uncurl movement of the bucket108relative to the stick106, and also the swing movement of the chassis112and the implement system102about the drive system116, all by operating and/or accessing the control operations at the handle230alone. Therefore, the control device200of the present disclosure allows for a one hand operation for controlling the movement of the implement system102. Further, the control device200provides a more intuitive and simplified control over the movement of the implement system102, which lessens the need for long training periods and on-site experience, for the operator. Moreover, based on the differential between the actual position and velocity of the bucket108and the position of the handle230, the tactile force feedback is provided to the operator via the control device200. This force feedback may guide the operator to either slowdown or even stop the movement of the handle230, if required.

It will be apparent to those skilled in the art that various modifications and variations can be made to the disclosed control device and hydraulic control system. Other embodiments will be apparent to those skilled in the art from consideration of the specification and practice of the disclosed control device and hydraulic control system. It is intended that the specification and examples be considered as exemplary only, with a true scope being indicated by the following claims and their equivalents.