Patent Publication Number: US-11041285-B2

Title: Machine with a boom assembly

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This patent application is a continuation of, and claims the benefit of priority to, U.S. patent application Ser. No. 15/956,324, filed on Apr. 18, 2018, the entirety of which is incorporated herein by reference. 
    
    
     TECHNICAL FIELD 
     The present disclosure relates generally to a machine with a boom assembly, and more particularly, to a cab and boom configuration for an excavator or digging machine. 
     BACKGROUND 
     Digging machines, in particular, hydraulic excavators, are used in a wide variety of construction sites. For example, a user may control the digging machine to operate a bucket at an end of a boom attached to the machine to excavate dirt, rocks, clay, sand, asphalt, cement, etc. In most digging machines, the operator is positioned within an operator cab positioned on a platform above the undercarriage of the digging machine. The operator cab is typically adjacent to the connection of the boom to the platform. As such, the boom may obscure the operator&#39;s visibility around the machine and into the excavation site. The operator is also off-center from the boom and the bucket, which may impair the operator&#39;s ability to operate the boom and bucket. Other elements of the machine positioned on the platform may interfere with or limit the rotation of the excavator boom and/or the operator cab. Additionally, if the digging machine includes cameras, sensors, or other electronic units that may be used in automated procedures, the electronic units must adjust the calculations or otherwise account for the boom and bucket being off-center from a longitudinal centerline of the machine. 
     U.S. Pat. No. 9,510,522, issued to Yrjänä et al. on Dec. 6, 2016 (“the &#39;522 patent”), describes a forestry machine with a boom structure that includes a branched or fork-like structure. The boom structure of the &#39;522 patent includes branches on left and right sides of the cab. The cab of the &#39;522 patent is positioned in the longitudinal middle of the work machine, which may improve the visibility of the worksite from the cab. The cab of the &#39;522 patent rotates or pivots with the boom to perform various operations at the worksite. However, the cab of the &#39;522 is positioned in a central position along the longitudinal length of the frame of the machine, which does not rotate with the boom or cab structure. The cab and boom of the &#39;522 may not provide for sufficient operator visibility and maneuverability for some applications. The cab and boom configurations of the present disclosure may solve one or more of the problems set forth above and/or other problems in the art. The scope of the current disclosure, however, is defined by the attached claims, and not by the ability to solve any specific problem. 
     SUMMARY 
     In one aspect, an excavator machine may include an undercarriage assembly including a drive assembly, and a carriage assembly rotatably coupled to the undercarriage assembly and including an operator cab positioned at a front of the carriage assembly. The excavator machine may also include a boom assembly. The boom assembly may be coupled to the carriage assembly via two branches, and the branches may be coupled to the carriage assembly on opposing sides of the operator cab. 
     The branches of the boom assembly may be connected by a connection member, and the connection member may extend perpendicular to the branches. A boom may extend from the connection member. The connection member may be a torque tube. The branches of the boom assembly may be coupled to the carriage assembly at respective boom pivots, and the boom pivots may be mounted on the carriage assembly on the sides of a rear portion of the operator cab. The operator cab may include a seat, and the seat may be positioned at a position forward of the boom pivots. 
     The carriage assembly may include a platform rotatably coupled to the undercarriage assembly via a plate, and rotating the platform may rotate the boom assembly relative to the undercarriage assembly. The operator cab may include a seat, and at least a portion of the seat may be positioned forward of the plate. The seat may be rotatable, and the seat may be selectively positionable in a plurality of positions within the cab via a detent mechanism. The detent mechanism may include a plurality of indentations in a floor of the cab, and the indentations may be positioned in a track. The track may be at least partially circular. The excavator machine may further include a rod coupled to the seat. The rod may include a handle, and the handle may be controllable to selectively position the rod in one of the plurality of indentations in order to temporarily fix a position of the seat. The plurality of indentations may include a forward indentation in a forward position of the track and a rear indentation in a rear position of the track. The plurality of indentations may include an angled indentation approximately 15 to 30 degrees from the forward indentation along the track. The excavator machine may include a driving mode, and the driving mode may include (a) positioning the carriage assembly at an angle relative to a direction of travel of tracks and (b) positioning the rod in the angled indentation in the detent track. The cab may include a door located at a rear portion of the operator cab. The cab may include a plurality of windows forming a seven-sided cab, and the cab may further include a rear support positioned behind the seat. 
     In another aspect, an excavator machine may include an undercarriage assembly including a drive assembly, a rotatable carriage assembly including a platform and a cab, and a boom assembly including two branches. The two branches may be coupled to the carriage assembly. The cab may be positioned at a front of the platform. The platform may be rotatable relative to the undercarriage assembly via a plate, and rotation of the platform may rotate the cab and the boom assembly. 
     The excavator machine may further include a seat in the cab, and the seat may be positioned at least partially forward of the plate. The seat may be rotatable and may be selectively positionable in a plurality of positions within the cab via a detent mechanism that includes a plurality of indentations in a floor of the cab to receive a rod. The rod may be coupled to the seat and may be biased toward the floor of the cab. 
     In a further aspect, an excavator machine may include a rotatable carriage assembly including a platform, a sensor unit, and a boom assembly. The boom assembly may be coupled to the carriage assembly via two branches coupled to the platform on sides of the sensor unit. The boom assembly may be rotatable with the carriage assembly. The sensor unit may be positioned at a front of the carriage assembly and may be coupled to a controller to assist in autonomously operating at least a portion of the excavator machine based on information received from the sensor unit. 
     The sensor unit may form a forward-most and central portion of the carriage assembly. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is an illustration of an exemplary machine of the present disclosure; 
         FIG. 2  is an illustration of a top view of a portion of the machine of  FIG. 1 ; 
         FIG. 3  is an additional top view of a portion of the machine of  FIG. 1  in an operational configuration; and 
         FIG. 4  is an illustration of an alternative exemplary machine of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     Both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the features, as claimed. As used herein, the terms “comprises,” “comprising,” “having,” including,” or other variations thereof, are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements, but may include other elements not expressly listed or inherent to such a process, method, article, or apparatus. 
     For the purpose of this disclosure, the term “ground surface” is broadly used to refer to all types of material that is excavated (e.g., dirt, rocks, clay, sand, asphalt, cement, etc.). In this disclosure, relative terms, such as, for example, “about,” substantially,” and “approximately” are used to indicate a possible variation of ±10% in the stated value. Although the current disclosure is described with reference to an excavator, this is only exemplary. In general, the current disclosure can be applied as to any machine, such as, for example, a material handler, forest machine, or another boom-operating machine. Further, the present disclosure can be used with work tools other than buckets. 
       FIG. 1  illustrates a perspective view of an exemplary excavator or machine  10 , according to the present disclosure. Machine  10  includes an undercarriage assembly  12  and an carriage assembly  14 . Undercarriage assembly  12  may include a drive assembly, for example, tracks  16 , along with one or more drive wheels (not shown) and idlers  18  to drive tracks  16 . Carriage assembly  14  includes a control station, for example, operator cab  20 , to control a boom assembly  22  and operate machine  10 . Boom assembly  22  may include a boom  24 , a stick  26 , and a bucket  28 . Boom  24  may be coupled to carriage assembly  14  on opposing sides of cab  20 . As shown in  FIG. 2 , cab  20  is substantially aligned with a centerline or longitudinal axis  29  of machine  10  and with boom assembly  22 . 
     In one aspect, undercarriage assembly  12  includes a carriage mount  30  between tracks  16 . Carriage mount  30  may rotatably or pivotably support carriage assembly  14 . Although not shown, undercarriage assembly  12  includes a motor or engine to power the drive wheels to drive tracks  16 . 
     Carriage assembly  14  includes a platform  32  pivotably coupled to carriage mount  30 . In one aspect, a plate  34  may be fixedly coupled to a bottom portion of platform  32 . Plate  34  may include a ring of teeth or ridges  36  extending downward and positioned around a radial exterior. Ridges  36  may be engageable with a toothed gear, cogwheel, or other rotatable element in order to rotate plate  34  and, thus, platform  32 . The rotatable element may be powered by a motor (not shown) and controllable by a control element within cab  20  in order to rotate carriage assembly  14  360 degrees relative to undercarriage assembly  12 . Moreover, as shown in  FIG. 1 , cab  20  may be positioned in a central, front position of platform  32 . For example, cab  20  may be positioned at a front of platform  32  and be substantially in line with the longitudinal axis  29  of carriage assembly  14 , which is parallel to tracks  16  when cab  20  is facing forward. As used herein, positioned at a front of platform  32  or carriage assembly  14  means positioned on or extending to a forward-most position on platform  32  or carriage assembly  14 . 
     Boom assembly  22  is a split boom assembly. In particular, boom  24  may be coupled to two boom branches  38 A and  38 B, and boom branches  38 A,  38 B may be coupled to platform  32  via boom pivots  40  on either side of cab  20 . Boom branches  38 A,  38 B are each movable via at least one boom actuator  42 , for example, hydraulic cylinders. Boom actuators  42  may each be coupled to platform  32  via a boom actuator pivot  44 , which may be mounted on either side of platform  32  beneath and forward of boom pivots  40 . Boom branches  38 A,  38 B extend parallel to each other in planes parallel to boom assembly  22 , and are connected by a transversely extending connection member  46 . Connection member  46  may be a torque tube, which may help to increase the lifting or excavating capabilities of boom assembly  22 . Boom branches  38 A,  38 B and connection member  46  may be controllable to position boom assembly  22  and bucket  28 . Boom  24  is fixedly connected to and extends from a central portion of connection member  46  in a plane parallel to boom branches  38 A,  38 B. Boom branches  38 A,  38 B, connection member  46 , and boom  24  may be integrally formed or fixedly connected. 
     Although boom branches  38 A,  38 B, connection member  46 , and boom  24  are shown as unitary members, this disclose is not so limited. Boom branches  38 A,  38 B, connection member  46 , and boom  24  may include different shapes and connections. For example, each of boom branches  38 A,  38 B may be formed as two separated members, merging together at a common location proximate boom pivots  40  and connection member  46 . Alternatively or additionally, boom branches  38 A,  38 B may be angled toward the longitudinal centerline of carriage assembly in respective portions of boom branches  38 A,  38 B that would not interfere with cab  20 . 
     Boom assembly  22  is connected to stick  26 , and stick  26  is coupled to bucket  28 . Stick  26  may be movable via one or more stick actuators  48 , for example, hydraulic cylinders. Stick actuator  48  may extend between a proximal portion of stick  26  and boom  24  to control a movement of stick  26 . Bucket  28  may be pivotably coupled to stick  26 , and movement of bucket  28  may be controlled by one or more bucket actuators  50 , for example, hydraulic cylinders extending from a rear portion of stick  26  to linkages of bucket  28 . 
     It is noted that, although not shown, machine  10  may also include a plurality of tubes or wires to fluidly or electrically connect various components of machine  10 . For example, machine  10  may include a plurality of hydraulic fluid lines to fluidly couple a hydraulic fluid source to boom actuators  42 , stick actuator  48 , bucket actuator  50 , etc. Furthermore, cab  20  may include a plurality of controls to operate boom actuators  42 , stick actuators  48 , and bucket actuators  50 , as well as a steering wheel, throttle element, etc. to control undercarriage assembly  12 . As such, an operator  52  positioned in a seat  54  within cab  20  may drive and operate machine  10  from a position in line with a centerline  55  of boom assembly  22  ( FIG. 3 ). Although not shown, cab  20  may include one or more exterior lights that may illuminate the area around machine  10 , the ground surface, and/or the excavation site, which may help to improve the visibility of operator  52 . 
       FIG. 2  is a top view of a portion of machine  10 , with boom assembly  22  omitted for clarity. As shown, cab  20  may be positioned at a front of carriage assembly  14 , for example, at a position at least partially forward of plate  34  and/or having a forward portion aligned with the front of tracks  16 . Cab  20  may be positioned on a front portion of platform  32 , with an operator position or seat  54  positioned in front of or forward of a forward portion of plate  34 . Additionally, as shown in  FIG. 2 , a portion of cab  20  may extend forward of platform  32 . For example, platform  32  may extend to boom pivots  40 , with a portion of cab  20  extending forward of boom pivots  40 . Seat  54  may also be positioned at least partially forward of platform  32 , and cab  20  may also extend forward of platform  32 . As shown in  FIG. 2 , seat  54  may extend forward of boom pivots  40  and boom actuator pivots  44 . Cab  20  may be fixedly mounted on platform  32  such that cab  20  rotates with platform  32 , for example, to position boom assembly  22  ( FIG. 3 ). Platform  32 , and thus cab  20 , may be fully rotatable 360 degrees relative to tracks  16  and the other components of undercarriage assembly  12 . Platform  32  may include one or more component panels  56 A,  56 B, including, for example, electrical or mechanical components that may be accessed during the operation and/or maintenance of machine  10 . Component panels  56 A,  56 B may be positioned on platform  32  to the rear of cab  20 , and may be accessible to an operator with platform  32  and cab  20  in any angle or position relative to tracks  16 . 
     A front portion of cab  20  may be approximately even with or in line with the front of tracks  16 . Alternatively, at least a portion of cab  20  may be positioned forward of the front of tracks  16 , such that a portion of cab  20  is the forward-most element of machine  10  except for portions of boom assembly  22 . Boom pivots  40  may be coupled to platform  32  on a left and right side of cab  20 , such that cab  20  is positioned between boom branches  38  ( FIG. 1 ). Additionally, as shown in  FIG. 2 , cab  20  may be seven-sided, as shown by the thicker lines of  FIG. 2 . Alternatively, cab  20  may be rectangular, hexagonal, octagonal, or another appropriate shape. Cab  20  may include a plurality of windows  58  such that the operator  52  may view the excavation site. Windows  58  may extend a majority of the height of cab  20  ( FIG. 1 ), or may extend over only a portion of the height of cab  20 . Windows  58  may be formed of tempered glass, fiberglass, or another appropriate material. Windows  58  may be supported by a plurality of supports  60 . In one aspect, cab  20  may be supported by five supports  60 , with a main support  60 A positioned to the rear of seat  54 . Main support  60 A may be larger and/or bear more weight of cab  20  than the other supports  60 . 
     One of windows  58  may form a door  62  with door handles  64  to allow operator  52  to enter and exit cab  20 . As shown in  FIG. 2 , a window  58  to the rear of seat  54  may include door  62 . Additionally, seat  54  may be rotatable in order to form an operator path indicated by shaded area  66 . For example, operator path  66  may include a portion of platform  32  from a side of platform  32  to cab  20 . Operator path  66  may include the opening or door  62  to the rear of seat  54 , as well as the range of motion of seat  54 . As such, operator  52  may enter and exit cab  20  in a safe manner without climbing onto machine  10  from a position in front of tracks  16 , and without traveling underneath boom assembly  22 . 
     Seat  54  may be pivotable and may be lockably positioned within various positions. For example, seat  54  may include a detent mechanism to temporarily lock the position of seat  54 . In one aspect, seat  54  includes a rod  68  that extends towards the floor of cab  20 . In this aspect, the floor of cab  20  includes a plurality of holes or indentations  70 A,  70 B, and  70 C arranged at least partially circularly to form a detent track  72 . Rod  68  may be selectively positionable within the indentations  70 A,  70 B, and  70 C to allow operator  52  to selectively lock seat  54  in various positions. Rod  68  may include a spring or other biasing element to bias rod  68  toward the floor of cab  20 , and may also include a handle  74  such that operator  52  may grasp handle  74  and lift rod  68  to remove rod  68  from one of indentations  70 A,  70 B, and  70 C and reposition seat  54 . 
       FIG. 2  illustrates seat  54  positioned in a forward facing position, with rod  68  positioned in indentation  70 A. Indentation  70 B may be located, for example, approximately 15 to 30 degrees counterclockwise from forward indentation  70 A, which may allow an operator to face forward when cab  20  is angled ( FIG. 3 ). Detent track  72  may further include one or more rear indentations  70 C, which may be used to lockably position seat  54  facing or near the rear of cab  20 , for example, when operator  52  is entering or exiting cab  20  through door  62 . While  FIG. 2  shows three indentations  70 A,  70 B, and  70 C, this disclosure is not so limited, as the detent mechanism may include any number of indentations in detent track  72  to allow operator  52  to position seat  54  in any number of positions within cab  20 . 
       FIG. 3  illustrates machine  10  in a driving mode. As shown, boom assembly  22  and bucket  28  may be positioned at an angle relative to the centerline of machine  10  by rotating platform  32  at an angle relative to undercarriage assembly  12  and tracks  16 . In one aspect, platform  32  may be positioned at an angle of approximately 15 to 30 degrees clockwise relative to tracks  16 . It is noted that while  FIG. 3  illustrates a portion of boom assembly  22  and bucket  28 ,  FIG. 3  omits stick  26 , boom branches  38 , and connection member  46  for clarity. 
       FIG. 3  also illustrates operator  52  with seat  54  positioned in an angled position. As mentioned, seat  54  may be lockably positioned in the angled position by positioning rod  68  in indentation  70 B of detent track  72 . When seat  54  is secured in this position, operator  52  may have a less obstructed line of sight  76  substantially parallel to tracks  16  and the direction of travel of machine  10 . Such a line of sight  76  is helpful when machine  10  is in the driving mode. Once operator  52  has driven machine  10  to the desired site, operator  52  may lift handle  74  and reposition rod  68  in a different indentation (i.e., indentation  70 A or  70 C) in order to operate boom assembly  22  and bucket  28  or to exit cab  20 . Furthermore, detent track  72  may include additional indentations, which may correspond to particular operations of machine  10 . For example, although not shown, detect track  72  may include an additional indentation approximately 15 to 30 degrees from  70 A in an opposite (clockwise) direction to indentation  70 B such that operator  52  may drive machine  10  with boom assembly  22  and bucket  28  positioned at an angle to the operator&#39;s left. 
       FIG. 4  illustrates an alternative example of machine  10  according to the present disclosure, with similar elements of machine  10  shown by 100 added to the reference numbers. Machine  110  includes an undercarriage assembly  112  and a carriage assembly  114 . In one aspect, machine  110  may be a cab-less design with automated drive, excavation, and other capabilities. Carriage assembly  114  may include a sensor unit  180  mounted on platform  132  in place of a cab. Machine  110  includes a split boom assembly  122  with boom branches  138 A,  138 B coupled to boom pivots  140  to the sides of sensor unit  180 . 
     Sensor unit  180  may include a plurality of cameras, laser elements, or other types of optical elements or sensors. In one aspect, sensor unit  180  may include a central sensor  182  positioned in a center portion of sensor unit  180  on a front of machine  110 . Central sensor  182  may be positioned beneath boom  124 , and may be aligned with a central longitudinal axis of carriage assembly  114 . Sensor unit  180  may also include a plurality of peripheral sensors  184 . For example, sensor unit  180  may include four peripheral sensors  184  positioned on sides of sensors unit  180 . Although not shown, machine  110  may also include one or more sensors or sets of sensors on the sides or rear of carriage assembly  114 . Each of central sensor  182  and peripheral sensors  184  may be electrically connected to one or more controllers (not shown) within sensor unit  180 , within carriage assembly  114 , or otherwise a part of machine  110 . Based on the information received from at least one of central sensor  182  and peripheral sensors  184 , the one or more controllers may adjust and operate boom assembly  122  and bucket  128  to conduct an excavation procedure or otherwise move machine  110 . Alternatively or additionally, machine  110  may be wired or wirelessly connected to one or more user interfaces (not shown), which may allow a user to view information obtained by at least one of central sensor  182  and peripheral sensors  184  and/or remotely operate machine  110 . 
     INDUSTRIAL APPLICABILITY 
     The disclosed aspects of machine  10  may be used in any machine where operator vision or maneuverability is important. The disclosed machine may include a cab  20  and a split boom assembly  22 . Cab  20  may be centered on the front of platform  32  and thus at the front and center of carriage assembly  14 , positioning cab  20  closer to the ground surface. Since boom assembly  22  is aligned with a central longitudinal axis of carriage assembly  14 , machine  10  may be capable of excavating loads, with the load being distributed in a balanced manner throughout machine  10 . Additionally, connection member  46 , which may be a torque tube, may further help to distribute forces on machine  10  when excavating. 
     Based on the position of cab  20 , operator  52  may have visibility around machine  10 , the ground surface, and/or of the excavation site. For example, seat  54 , and thus operator  52 , may be aligned with boom assembly  22  and bucket  28 , which may help operator  52  to view the excavation site and the action of boom assembly  22  and bucket  28  during the excavation procedure. Operator  52  may view around machine  10  and the side walls of the excavation trench without boom assembly  22  substantially impairing the operator&#39;s sight lines, as seat  52  is at least partially positioned forward of boom pivots  40  and boom actuator pivots  44 . With cab  20  being centrally positioned and with boom assembly  22 , including a split boom with boom branches  38 A,  38 B coupled to carriage assembly  14  on sides of cab  20 , the space inside cab  20  may allow for ease of operator movement within cab  20 . Carriage assembly  14  and boom assembly  22  may also be full rotatable, for example, 360 degrees, relative to tracks  16  and undercarriage assembly  12 . 
     Additionally, as noted above, seat  54  may be selectively positionable in a plurality of different positions. As shown in  FIGS. 2 and 3 , cab  20  includes detent track  72  with a plurality of indentations  70 A,  70 B, and  70 C into which rod  68  may be releasably positioned to secure seat  54  in a desired position. As such, operator  52  may selectively position the direction of seat  54 , which may aid in the operator&#39;s entry into and exit from cab  20  via operator path  66 . Such an access path to cab  20  being in the rear of cab  20  may help minimize risks to operator  52  while entering and exiting cab  20 , as operator  52  does not need to climb aboard machine  10  from the front or back of machine  10  or from beneath boom assembly  22 . Furthermore, as shown in  FIGS. 2 and 3 , indentation  70 B may allow operator  52  to position seat  54  in an angled position, which may allow operator  52  a line of sight  76  in a direction of travel of machine  10  when platform  32 , along with boom assembly  22  and bucket  28 , is angled relative to undercarriage  12 . Accordingly, operator  52  may operate machine  10  while driving without interference from boom assembly  22  or bucket  28 , and without turning his or her head or body to look in the direction of travel. 
     As shown in  FIG. 4 , boom assembly  122  may also assist various capabilities of machine  110 . For example, boom assembly  122  may assist with a machine  110  configured to include sensor unit  180  on a front of a cab-less carriage assembly  114  and between boom branches  138 A,  138 B of boom assembly  122 . Sensor unit  180  may provide the necessary sensor capabilities to perform autonomous operations, which may in turn decrease the likelihood of accidents and injuries since an operator need not be positioned on machine  110 , and sensor unit  180  may decrease the likelihood of operator errors. The position of sensor unit  180 , which may include central sensor  182  and a plurality of peripheral sensors  184 , may increase the detection and sensing range of sensor unit  180 , for example, obtaining information about the area around machine  110 , the ground surface, and/or the excavation site. Moreover, the position of sensor unit  180 , that is, aligned with a central axis or centerline  29  ( FIG. 2 ) of carriage assembly  114  and aligned with boom assembly  122  and bucket  128  may reduce the complexity of calculations for the automated system or one or more controllers operating machine  110 . For example, the automated system or the one or more controllers need not account for the one or more sensors being mounted on a side of machine  110 , and boom assembly  122  being mounted on an opposing side of machine  110 . Therefore, sensor unit  180  and the positioning of the one or more sensors  182 ,  184  relative to boom assembly  122  may allow for quicker and more efficient calculations and/or control of machine  110 , including, for example, tracks  116 , boom assembly  122 , and bucket  128 . In this example, machine  110  may be partially or fully autonomous and/or may be controlled via a remote user interface, with the aforementioned increases in safety, visibility, maneuverability, etc. 
     It will be apparent to those skilled in the art that various modifications and variations can be made to the disclosed system without departing from the scope of the disclosure. Other embodiments of the system will be apparent to those skilled in the art from consideration of the specification and practice of the machine with a boom assembly disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope of the disclosure being indicated by the following claims and their equivalents.