Abstract:
An auto-powered mobile machine with controls for a riding operator and a system for carrying and making efficient use of a variety of attachable tools. Wireless radio communication from the controls to a lower tool may allow the swivel to spin any number of times without limitation. Hydraulic tool position controls are wirelessly coupled to a remote sensor that responds to a string datum line, a curb, direction of gravity, or GPS data.

Description:
[0001]    This application is a continuation of U.S. patent application Ser. No. 12/802,717 filed Jun. 14, 2010, which was a continuation in part of PCT/US 2009/038711 filed Mar. 29, 2009. 
     
    
     BACKGROUND 
       [0002]    Machines originally designed as front end loaders with tracks or wheels, whether having skid-steering wheels or turnable wheels, such as Bobcat brand machines, have been adapted to become general purpose tool carriers that can receive a variety of controllable tool attachments to be attached to the front or back of the machine and controlled by an operator sitting in the operator&#39;s seat. This tool attachment carrying system can be improved upon. So that the swivel can rotate without limitation, electrical control signals may pass via wireless radio signal to the tool. The tool may be hydraulically adjusted in response to a sensor that senses the earth, such as location of a string datum line or a curb or gutter or GPS coordinates. The adjustment may move the tool vertically without pivoting to stay plumb or it may pivot the tool about a pivot point. 
         [0003]    In the commonly available prior art, a central controller communicates with remote controllable actuators by switchable wired electronic communications or by multiple hydraulic lines coming from a controlled multiport hydraulic valve. These solutions require either expensive additional hydraulic lines which are subject to failure, or an electric wire running from the controller to the controllable electronics near the remote actuators, which wire is likely to be damaged during rough use of the heavy equipment on which it is mounted. The wire is susceptible to weather. The wire can get caught on branches and other obstacles. The wire can melt when touching the exhaust stack. 
         [0004]    Where the controller receives position information from a terrestrial position sensor, there are two sets of wires subject to damage: those from the sensor to the controller and those from the controller to the actuators. This problem is particularly severe where the cab swivels and the actuators are mounted below the swivel, as the wires then need to pass through contact rings on the swivel to allow the cab to swivel without limitation. 
       SUMMARY OF THE INVENTION 
       [0005]    The invented solution is to replace both of these sets of wires with two (or three) wireless radio transceivers that carry both the terrestrial sensor information to the controller and the control information to the actuators. The remote transceiver(s) get their power from a battery, which may be charged by a generator powered from hydraulic fluid flowing to an actuator. 
         [0006]    The machine may be an excavator, particularly a mini-excavator. So that the swivel can fully swivel any number of rotations without limitation, the system may include an electrical circuit coupling the controls with the moving parts of the mounting support for the tool. The control signals may be communicated with a wireless link that carries radio communications from the controls to the mounting support or the tool. In this case, electrical power to operate a wireless communication component coupled to the mounting support or tool may be provided by a hydraulic generator which receives power from flow of hydraulic fluid passing through the swivel from a hydraulic pump on the engine mounted above the swivel. 
         [0007]    The swiveling tool may be an earth moving bucket or a claw or a rake or vibratory compactor or any similar implement. The first and second linear acting tools may be any of: a curb and gutter grading blade; a curb and gutter extruder; a sidewalk and shoulder grading blade; an asphalt paver; a concrete paver; a fence installer; a trencher; a concrete/asphalt saw; a side roller/compactor; a vibratory roller; a snow plow; and other similar tools. 
         [0008]    The tool carrying and controlling machine may further include a hydraulic actuator coupled to the mounting support and configured for adjusting the support or an attached linear acting tool in response to a control, which may be an operator control or an automated control that responds to location relative to a string datum line or that responds to a slope sensor or that responds to position with respect to global positioning system satellites. 
         [0009]    A curb and gutter extruder may further comprise a hydraulic actuator coupled to a hydraulic valve that is automatically controlled by a controller that adjusts height of the extruder relative to one of: location with respect to a datum line string, tilt with respect to gravity, or location with respect to global positioning system satellites. 
         [0010]    A sidewalk grading machine may further comprise a sonar position detector that detects position of a datum line relative to the detector which detected information is used to adjust the vertical adjusting component. The datum line may be a string or a concrete curb or gutter or a laser line or plane, a road surface, or an established grade. 
     
    
     
       BRIEF DESCRIPTION OF THE FIGURES 
         [0011]      FIG. 1  shows a prior art sidewalk grader. 
           [0012]      FIG. 2  shows a mounting base and tool&#39;s mating attachment surface. 
           [0013]      FIG. 3  shows a quick coupling component for coupling hydraulic lines to a detachable tool. 
           [0014]      FIGS. 4A and 4B  show wireless components for controlling a detachable tool from the cab. 
           [0015]      FIG. 5  shows a curb and gutter extruder. 
           [0016]      FIG. 6  shows an extruder for a second curb. 
           [0017]      FIG. 7  shows a laterally extendable edge blade. 
           [0018]      FIGS. 8A ,  8 B,  8 C,  9 A,  9 B, and  9 C show a multi-coupling plate and retainers of the tool mount. 
       
    
    
       [0019]    Originally filed informal  FIG. 4A  in the parent application included the following text which is omitted from formal  FIG. 4A : 
         [0020]    Beside the handgrip control: 
         [0021]    SureGrip Inputs 
         [0022]    1. Extension Out 
         [0023]    2. Extension In 
         [0024]    3. Wheel Up 
         [0025]    4. Wheel Down 
         [0026]    5. Komatsu Blade Up 
         [0027]    6. Komatsu Blade Down 
         [0028]    Beside the Topcon user interface display box: 
         [0029]    2 way communication
       The Topcon receives a signal from the slope sensor (The communication is a proprietary protocol on an RS-485 port). It in turn drives the Danfoss proportional valve on the SGS tool.
           20% of system voltage shifts the spool to maximum one way   50% of system voltage is neutral   80% of system voltage shifts the spool to maximum the other way   
               
 
         [0034]    Originally filed informal  FIG. 4B  included the following text which is omitted from formal  FIG. 4B : 
         [0035]    Beside the Danfoss multiport proportional valve: 
         [0036]    Outputs 
         [0037]    1. Extension Out 
         [0038]    2. Extension In 
         [0039]    3. Wheel Up 
         [0040]    4. Wheel Down 
         [0041]    5. Komatsu Blade Up 
         [0042]    6. Komatsu Blade Down 
         [0043]    7. Slope Proportional 
         [0044]    On the valve port blocks, left to right: 
         [0045]    Extension, Wheels, Slope Proportional, Komatsu Blade, Inlet 
         [0046]    Beside the slope sensor with a control knob: 
         [0047]    Slope Sensor (4 Wires) 
         [0048]    12 Volt Power 
         [0049]    Ground 
         [0050]    2 communication 
         [0051]    The communication is a proprietary protocol on an RS-485 port 
         [0052]    On the wires to the slope sensor: 
         [0053]    2 way communication 
       DETAILED DESCRIPTION 
     The Prior Art 
       [0054]    Referring to  FIG. 1  of the drawings which shows the prior art sidewalk grading machine, numeral  20  generally designates the sidewalk grading blade and support structure, called the sidewalk grader  20 . The sidewalk grader  20  is used to grade sidewalk base material  22 , which sometimes includes crushed rock  24 , to a predetermined specified grade and elevation to form the base  26  of a designed sidewalk (not illustrated). Typically, the sidewalk grader  20  accommodates grading activity for sidewalks that extend adjacent to and along an existing road structure  30  of the type that incorporates a curb  32  as a border. 
         [0055]    More specifically, the sidewalk grader  20  comprises a tracking assembly  34  adapted for fixable engagement with a vertically movable accessory  36  extending from below the swivel in a piece of construction excavation equipment  38 . Commonly, a vertically adjustable backfill blade extending from a common compact excavator  42  is effective  36  for this purpose. When a compact excavator  42  is used, the bucket  43  thereof, can be very useful to either remove or add additional sidewalk base material  22  depending on the condition of the site reserved for the sidewalk. In addition, as the sidewalk grader  20  advances along the road structure  30 , the bucket  43  can be used to break-up native hard-pan type soil, and to remove large rocks and the like. 
         [0056]    The construction equipment  38  is generally positioned to move forward over an existing road structure  30  to advance the sidewalk grader  20  in a direction along the existing road structure  30 , substantially parallel thereto. This forward movement is indicated by arrow  46 . Importantly, the excavation equipment  38  so provided is disposed and operated over an existing road structure  30  thereby minimizing the impact it has on the base  26 . Accordingly, the tracking assembly  34  is configured to extend from the vertically movable accessory  36  in a transverse direction to the course of advancement (indicated by an arrow  46 ), transversely across the road structure  30  and the curb  32  thereof. 
         [0057]    In addition, the tracking assembly  34  further comprises a vertically adjustable tracking means  48  disposed for engagement with the top surface of the curb  32  portion of the road structure  30 . With this configuration, the top surface  50  of the curb  32  provides a point of reference for operation of the sidewalk grader  20 . 
         [0058]    A grading assembly  54  is mounted and fixed to the tracking assembly  34  so that the grading assembly  54  extends outward, beyond the curb  32 , positioned over the location of the area reserved for the designed sidewalk and base  26  thereof. More specifically, the grading assembly  54  comprises a frame  56 , and a grading blade  58  rotatingly mounted to the frame  56  to permit adjustment of slope of the grading blade  58  according to the specified sidewalk design grade. In order to lock or fix the rotation of the grading blade  58  in relation to the frame  56 , according to a predetermined grade, a fixing means  60  for fixing the blade rotation is provided. 
         [0059]    As noted above, the tracking means  48  is vertically adjustable. This feature is provided to enable the tracking means  48  to engage with the top surface  50  of a curb  32  to provide a relative reference, or point of reference, for precise vertical and horizontal adjustment of the sidewalk grader  20 , to position the grading assembly  54 , and for maintaining the grading assembly in the desired position in relation to the curb as the sidewalk grader  20  advances along the existing road structure  30  as indicated by arrow  46 . 
         [0060]    Because the top surface  50  of the curb  32  is usually rough concrete, the preferred tracking means  48  is constructed for rolling engagement along the top surface  50  of the curb  32 , such as a wheel  94 . 
         [0061]    In a simplified embodiment of the sidewalk grader  20 , the tracking assembly  34  comprises a pivot joint  64 , disposed adjacent the backfill blade to enable the sidewalk grader  20  to fold from a first unfolded position to a folded position. An additional pivot joint  65  is provided to form an additional folding point to fold the sidewalk grader  20  for storage and transportation. As will be discussed more fully below, a second pivot joint  65  can provide an additional pivot axis for up and down movement of the grading assembly  54  to provide greater flexibility thereof. 
         [0062]    A cylinder support  82  is fabricated from solid steel for strength and is welded directly to the support tube  76 . At the top of the cylinder support  82  is an upper eye to provide a connection point for the upper portion of a vertical hydraulic cylinder. Similarly, at the opposing end, its ram is connected to a vertically movable wheel carriage having a wheel  94 . With this arrangement, the ram  88  can be operated to vertically adjust the wheel  94  to the proper elevation to rest on the top surface  50  of curb  32  to track the curb  32  as the sidewalk grader  20  advances along the road structure  30 . Adjusting the vertical hydraulic cylinder causes pivoting of the blade  58  rather than vertical movement of the blade. 
         [0063]    As the sidewalk grader  20  advances along the road structure  30 , the wheel  94  should be adjustable between a first lower limit and a second upper limit, thereby lowering the sidewalk grader  20  to enable the sidewalk grader  20  to follow the curb  32  as it drops to an area reserved for a driveway (not illustrated), i.e., where the curb transitions downward and fades into the driveway. This movement causes pivoting of the blade  58  in an arc, such that its distant end moves more than its nearer end, rather than vertical movement of the blade. 
       Slope Sensor and Automatic Control 
       [0064]    To compensate for the pivoting of the blade, a slope control system including a slope sensor  220 , a pivot  180 , and a hydraulic cylinder  226  (all not shown in  FIG. 1 ) were added to the prior art system. The preferred slope sensor is the Topcon model number  9620 . This slope control system compensates for any deviation in slope of the grading blade  58  caused by bumps in the road structure  30 , change in slope of the road structure, and excavator load changes and the like. Accordingly, the slope sensor  220  senses any change in slope and communicates the change via a wireless transmitter/receiver  461  to a control box  222  which then wirelessly signals an electronically controlled valve stack  492  to activate the hydraulic slope control link  226  to compensate for the change. A preferred control box is the Topcon model #9164. The preferred wireless components at both ends of the wireless link are Cervis SmaRT wireless transceiving base units (model BU-216F-INT). These units carry both the signals from the slope sensor and the commands to the valve stack. In this way, the grading blade  58  is automatically controlled to provide a smoothly graded base  26  for the sidewalk. 
       Converting the Excavator to a Multi-Attachment Side Tool Carrier 
       [0065]    As described below, as an improvement over the above described prior art, the present invention encompasses a tool carrying and controlling system wherein an operator can control a swiveling tool and either a first attachable linear acting controllable tool or a second attachable linear acting controllable tool to operate in coordination with the first tool. For use in this system, the excavator is modified to include a side tool mounting base or support affixed below the swivel for attaching any linear acting tool, and a set of hydraulic line quick couplers  494  are mounted proximate to the side mounting base as shown in  FIG. 2 . The couplers maybe ganged as shown in  FIG. 3 . The quick coupler hydraulic connections may be color-coded to correspond to the function control buttons on a Suregrip handle  465  in the cab with corresponding colors as shown in  FIG. 4A . Attachment hydraulic hoses may also have corresponding colors. 
         [0066]    On the excavator, the two hydraulic hoses  496 ,  498  that operate the stock backfill blade are rerouted to an electronically controlled valve stack  492  with proportional and/or on/off sections for supplying hydraulic pressure to any number of attachment hydraulic circuits  494 . Accordingly, the tool support mount on one end of the backfill blade is now connected to, and controlled by the valve stack. In this way, the operator can electronically control the valve stack  492  from within the cab of the excavator, above the swivel, to control all hydraulic circuits below the swivel that effect any attachment function. The valve stack  492  is located in a protective housing  460  between the lower side of the swivel and the quick couplers, and any number of hoses  494  are routed from the valve stack to the set of hydraulic couplers for the side attachment. 
         [0067]    Electric control wires from the cab to the valve stack  492  may couple the two together as in the prior art. However, this limits rotation of the swivel and risks damaging the wires. An improvement is to pass the control wires through the swivel with slip rings, an electromechanical device that allows the transmission of power and electrical signals from a stationary to a rotating structure, also called a rotary electrical joint, collector or electric swivel. 
         [0068]    Alternatively, A transmitter/receiver mounted in the cab can wirelessly transmit all commands from an installed control handle  465  mounted on the right or left joystick as well as any other switches or any controls in the machine&#39;s cab. A receiver/transmitter  463  capable of driving the hydraulic valve stack decodes the signal and controls the valve stack  492 . A hydraulic generator that is installed in the return hydraulic line generates power to keep a large capacitor charged. This capacitor supplies power to operate the electric control valves and supplies power to the wireless receiver/transmitter module  461 . A battery may be used instead of a capacitor. The battery can be charged as mentioned above or removed each night and charged the conventional way. A pair of rechargeable batteries similar to those used on a cordless drill can be used to power the wireless system below the swivel. A 12 volt charger can be used in the cab to recharge the spare and the batteries can be swapped when the battery in use runs low. 
         [0069]    As another alternative, instead of manifolding one hydraulic circuit into many with a control valve stack placed below the swivel and then routing electric or wireless controls through or around the swivel, the excavator swivel can be modified to add more hydraulic circuits through the swivel, allowing the valve stack to be placed above the swivel. 
         [0070]    For use with this multi-tool carrier, several linear acting attachable side tools are described below. 
       Curb or Curb and Gutter Extruder 
       [0071]    On a road and sidewalk construction job, the first linear acting tool that is useful when mounted on the side tool carrier described above is a curb and gutter extruder as shown in  FIG. 5 . 
         [0072]    After a first curb is extruded and hardened, the extruder head may be changed to extrude a second curb on the far side of the sidewalk grade as shown in  FIG. 6 . A trimmerhead  430  and auger  435  can be used in conjunction with or ahead of the curb and gutter extruder. 
         [0073]    As shown in  FIG. 5 , a sonar sensor  525  may be set up on an arm  520  to wirelessly actuate controllers that adjust height and lateral location relative to a string  522  set up as a datum line. 
       Sidewalk Grader Improvements 
       [0074]    The next tool to be used on the job is a sidewalk grader. As an improvement to the prior art grader, the blade width may be made adjustable with a sliding blade extension  304  guided by guide bars  315  and  316  and actuated by a hydraulic cylinder  318  as shown in  FIG. 7 . 
         [0075]    As another improvement, a detachable fin  302  shown in  FIG. 7  may be added to the distant end of the blade. 
         [0076]    Then a second curb may be extruded as shown in  FIG. 6 . 
         [0077]    Also, a sonar sensing and guiding system may be added to sense the curb top or the gutter or a guide string. The preferred model is Topcon #9142. A laser sensor may be added to sense a laser beam for guidance. 
       Multi-Coupling Plate 
       [0078]      FIG. 3  shows a fixed hydraulic multi-coupling plate  871  and a mating mobile hydraulic multi-coupling plate  870 . 
         [0079]      FIGS. 8   c ,  9   b , and  9   c  show a multi-coupling plate  871  mounted on the tool mounting base (which is preferably also an earth moving blade). This prevents hydraulic hoses from being incorrectly coupled. As shown in these figures, it also is engaged by the action of engaging a tool mount  872  with a tool multi-coupling plate  870  onto the mounting base. Thus, one action both attaches the tool and couples hydraulic lines for actuating the tool. 
         [0080]      FIGS. 8   c  and  9   c  show how retainers  873  of the tool mount may be powered with a hydraulic cylinder  874 . The retainers  873  engage and retain steel pins  875  with are part of the tool mount  872 . A third pin  876  may be added beside the multi-coupler to ensure alignment. 
       Red Zone Auto Controls 
       [0081]    A system with a programmable controller in the cab with a custom graphic display can be used to create a “Red Zone” that the excavator components cannot enter, thereby protecting the tool and people near it or using it. Inclinometers, potentiometers, rotation sensors, and cylinder stroke sensors are some of the means to indicate to the controller the position of the cab, arm, boom, and bucket, to enable the machine to stay out of the “Red Zone”. When the machine enters the “Red Zone” the pilot valve cuts the oil supply between the excavator control handles and the excavator control valve. 
         [0082]    In particular, the controller can be programmed to give specific directions for each attachment using a look-up table for each attachment to specify:
       location of “Red Zone”,   restriction on flow rate and psi of hydraulic oil to each hydraulic actuator, down to zero when appropriate,   allowed characteristics of each function of each hydraulic actuator of the excavator or the tool,   limitations on or specification of track speed and direction (the Leica Sonar system can read a string line and direct the controller to drive the machine&#39;s direction and speed automatically) as with the side grader and the curb and gutter extruder; and   alignment of control handle buttons to correspond with attachment functions.       
 
         [0088]    IFM Electronics makes a suitable inclinometer, model EC 2045, and cylinder stroke sensors. They also offer a suitable programmable controller, model CR 1050.