Patent Publication Number: US-10760243-B2

Title: Work tool attachment for a work machine

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     N/A 
     FIELD OF THE DISCLOSURE 
     The present disclosure relates to an improved work tool attachment configured for use with a work machine. 
     BACKGROUND 
     Work machines, including crawler dozers, loaders, excavators, utility vehicles, tractors, and road pavers, to name a few, are generally vehicles comprising a boom that can be manipulated to perform a variety of functions. One of the challenges in the use of work machines are the large number of different work machines with their respective functions, control systems, user input parameters, standardized attachments, and their respective dependencies. Another challenge is that typically a plurality of different attachments catered towards different functionalities may be coupled with several work machines. 
     Various issues exist for this problem. Operators of skid steers, crawler dozers, loaders and track loaders, for example, perform a myriad of functions using different attachments, using hand and/or foot controls on the user input interface. Both compact track loaders and crawler dozers have the ability to couple to a variety of attachments wherein some attachments may be of standardized use on one work machine, and another attachment may be of standardized use on another work machine. Furthermore, both work machines differ in size and maneuverability thereby impacting the work environments each respective machine is capable of accessing, and functioning in. When an attachment, such as a blade commonly found on a crawler dozer, is coupled to a compact track loader, the blade is not raised or lowered in a perfectly vertical line with respect to the work machine, or the frame of the work machine, due to the geometry of linkage. Instead, a point on blade would trace a curve as blade is lifted or lowered, thereby creating a inefficiencies in control of the blade attachment, especially with gauging depth control. Therein lies a need to facilitate quick adaptation of an attachment for a work machine based on the attachment type, wherein operator use becomes simplified. The following disclosure addresses this issue. 
     SUMMARY 
     This summary is provided to introduce a selection of concepts that are further described below in the detailed description and accompanying drawings. This summary is not intended to identify key or essential features of the appended claims, nor is it intended to be used as an aid in determining the scope of the appended claims. 
     The present disclosure includes an apparatus for a work tool attachment for a work machine, and a work machine. 
     The work machine may comprise of a frame and a ground-engaging mechanism, the ground-engaging mechanism configured to support the frame on a surface; a boom assembly coupled to the frame, the boom assembly having a pair of boom arms pivotally coupled to the frame; and an attachment coupled to a fore-section of the boom arms. The attachment may comprise of a guide rigidly coupled to a fore-section of the frame, a movable member coupled to the guide, and a work tool. The moveable member may move relative to the frame by a pair of hydraulic cylinders. The guide may restrict movement of the movable member in a non-vertical direction. The work tool may be coupled to the movable member, wherein actuating the pair of hydraulic cylinders engages the moveable member, vertically lifting or lowering the work tool relative to the frame. 
     The guide may comprise of a vertical support surface, the vertical support surface perpendicular to a fore-aft direction. The movable member may abut the vertical support surface when the pair of hydraulic cylinders actuate in vertically lifting or lowering the work tool. 
     In one embodiment, the pair of hydraulic cylinders may comprise of a pair of tilt hydraulic cylinders. The first section of the pair of tilt hydraulic cylinders pivotally coupled to the frame and the second section of the pair of tilt hydraulic cylinders pivotally coupled to the movable member. 
     In a second embodiment, the guide may comprise of a casing. The casing may comprise of a pair of vertical beams and the pair of hydraulic cylinders, wherein the pair of hydraulic cylinders comprises of a pair of vertically-oriented auxiliary hydraulic cylinders. The movable member may be coupled to the pair of vertical beams to restrict movement of the movable member in the non-vertical direction. 
     The attachment may further comprise auxiliary hydraulic cylinders, wherein the auxiliary hydraulic cylinders performs one or more of tilting the work tool relative to the frame in a direction of roll about a forward portion of the boom assembly and angling the work tool relative to the frame in a direction of yaw about the forward portion of the boom assembly. 
     The boom arms may remain locked in a lowered position. 
     The work tool may be one of a blade or a fork. 
     These and other features will become apparent from the following detailed description and accompanying drawings, wherein various features are shown and described by way of illustration. The present disclosure is capable of other and different configurations and its several details are capable of modification in various other respects, all without departing from the scope of the present disclosure. Accordingly, the detailed description and accompanying drawings are to be regarded as illustrative in nature and not as restrictive or limiting. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The detailed description of the drawings refers to the accompanying figures in which: 
         FIG. 1  is a perspective view of a compact track loader work machine according to a first embodiment of the present disclosure; 
         FIG. 2  is a schematic of the hydraulic system and other parts of the compact track loader of  FIG. 1 , according to the embodiments disclosed herein; 
         FIG. 3  is a side view of the embodiment disclosed in  FIG. 1  with the tilt cylinders retracted, wherein a portion of the attachment side-view is cross-sectioned; 
         FIG. 4  is a portion of the work machine with the perspective back view of the attachment according to the first embodiment shown in  FIG. 1 ; 
         FIG. 5  is a side view of a second embodiment disclosed, wherein a portion of the attachment side-view is cross-sectioned; 
         FIG. 6  is a portion of the attachment according to the second embodiment with a perspective front view. 
         FIG. 7  is a schematic of a type of work tool, the fork. 
     
    
    
     DETAILED DESCRIPTION 
     The embodiments disclosed in the above drawings and the following detailed description are not intended to be exhaustive or to limit the disclosure to these embodiments. Rather, there are several variations and modifications which may be made without departing from the scope of the present disclosure. 
     As used herein, unless otherwise limited or modified, lists with elements that are separated by conjunctive terms (e.g., “and”) and that are also preceded by the phrase “one or more of or” at least one of indicate configurations or arrangements that potentially include individual elements of the list, or any combination thereof. For example, “at least one of A, B, and C” or “one or more of A, B, and C” indicates the possibilities of only A, only B, only C, or any combination of two or more of A, B, and C (e.g., A and B; B and C; A and C; or A, B, and C). 
     As used herein, “based on” means “based at least in part on” and does not mean “based solely on,” such that it neither excludes nor requires additional factors. 
       FIG. 1  illustrates a work machine  100 , extending in a fore-aft direction  115 , depicted as a compact track loader with an attachment  105  operatively coupled to the work machine  100  according to a first embodiment  375 . It should be understood, however, that the work machine could be one of many types of work machines, including, and without limitation, a skid steer, a backhoe loader, a front loader, a bulldozer, and other construction vehicles. The work machine  100 , as shown, has a frame  110 , having a fore-section  120 , or portion, and a rear-end portion  125 . The work machine includes a ground-engaging mechanism  155  that supports the frame  110  and an operator cab  160  supported on the frame  110 , the ground-engaging mechanism  155  configured to support the frame  110  on the ground surface  135 . 
     The engine  165  (shown in  FIG. 2 ) is coupled to the frame  110  and is operable to move the work machine  100 . The illustrated work machine  100  includes tracks, but other embodiments may include one or more wheels that engage the ground surface  135 . Work machine  100  may be operated to engage the ground surface  135  and cut and move material to achieve simple or complex features on the surface. As used herein, directions with regard to work machine  100  may be referred to from the perspective of an operator seated within the operator cab  160 ; the left of work machine  100  is to the left of such an operator, the right of work machine is to the right of such an operator, the front or fore of work machine is the direction such an operator faces, the rear or aft of work machine is behind such an operator, the top of work machine is above such an operator, and the bottom of work machine below such an operator. In order to turn, the ground-engaging mechanism  155  on the left side of the work machine may be operated at a different speed, or in a different direction, from the ground-engaging mechanism  155  on the right side of the work machine  100 . In a conventional compact track loader, the operator can manipulate controls from inside an operator cab  160  to drive the tracks on the right or left side of the work machine  100 . The movement for work machine  100  may be referred to as roll  130  or the roll direction, pitch  145  or the pitch direction, and yaw  140  or the yaw direction. 
     The work machine  100  comprises a boom assembly  170  coupled to the frame  110 . An attachment  105 , or work tool  320 , may be pivotally coupled at a forward portion  175  of the boom assembly  170 , while a rear portion  180  of the boom assembly  170  is pivotally coupled to the frame  110 . The frame  110  comprises a mainframe  112  and a track frame  114  (alternative embodiments comprising other work machines may have other ground-engaging frames). The attachment  105  may be coupled to the boom assembly  170  through an attachment coupler  185 , which may a Deere and Company&#39;s Quik-Tatch, which is an industry standard configuration and a coupler universally applicable to many Deere attachments and several after-market attachments. The attachment coupler  185  may be coupled to a distal section of the boom arms  190 , or more specifically the forward portion  175  of the boom assembly  170 . 
     The boom assembly  170  comprises a first pair of boom arms  190  (one each on a left side and a right side) pivotally coupled to the frame  110  and moveable relative to the frame  110  by a pair of boom hydraulic cylinders  200 , wherein the pair of boom hydraulic cylinders  200  may also conventionally be referred to as a pair of lift cylinders (one coupled to each boom arm) for a compact track loader. The attachment coupler  185  may be coupled to a forward section  175 , or portion, of the pair of boom arms  190 , being moveable relative to the frame  110  by a pair of tilt hydraulic cylinders  205 . The frame  110  of the work machine  100  further comprises a hydraulic coupler  210  on the fore-section  120  of the work machine  100  to couple one or more auxiliary hydraulic cylinders  215  (shown in  FIG. 2 ) to drive movement of or actuate auxiliary functions of an attachment  105 . The attachment coupler  185  enables the mechanical coupling of the attachment to the frame  110 . The hydraulic coupler  210 , contrary to the attachment coupler  185 , enables the hydraulic coupling of an auxiliary hydraulic cylinder(s)  215  on the attachment  105  to the hydraulic system  220  (shown in  FIG. 2 ) of the work machine  100 . Please note that not all attachments have one or more auxiliary hydraulic cylinders and therefore will not use the hydraulic coupler  210 . Alternatively uses for the hydraulic coupler  210  include opening or closing a grapple type attachment, or spinning a roller brush type attachment. In the embodiment described in detail below, the hydraulic coupler  210  is used in conjunction with an attachment  105 , the attachment in the present embodiment comprising a work tool  320 , a blade  322 , to mimic the function of a dozer crawler. 
     Each of the pair of boom hydraulic cylinders  200 , the pair of tilt hydraulic cylinders  205 , and the auxiliary cylinders  215  (found on the attachments of embodiments shown herein) are double acting hydraulic cylinders. One end of each cylinder may be referred to as a head end, and the end of each cylinder opposite the head end may be referred to as a rod end. Each of the head end and the rod end may be fixedly coupled to another component, such as a pin-bushing or pin-bearing coupling, to name but two examples of pivotal connections. As a double acting hydraulic cylinder, each may exert a force in the extending or retracting direction. Directing pressurized hydraulic fluid  235  into a head chamber of the cylinders will tend to exert a force in the extending direction, while directing pressurized hydraulic fluid  235  into a rod chamber of the cylinders will tend to exert a force in the retracting direction. The head chamber and the rod chamber may both be located within a barrel of the hydraulic cylinder, and may both be part of a larger cavity which is separated by a moveable piston connected to a rod of the hydraulic cylinder. The volumes of each of the head chamber and the rod chamber change with movement of the piston, while movement of the piston results in extension or retraction of the hydraulic cylinder. The control of these cylinders will be described in further detail with regards to  FIG. 2 . 
       FIG. 2  is a schematic of a portion of an attachment-configurable system  201  for controlling the hydraulic cylinders ( 200 ,  205 ,  215 ) as it relates to the components of the work machine  100  of  FIG. 1 , the system including hydraulic and electrical components. Each of the pair of boom hydraulic cylinders  200 , pair of tilt hydraulic cylinders  205 , and the auxiliary hydraulic cylinder(s)  215  are coupled to hydraulic control valve  225 , which may be positioned in a portion of the work machine  100 . Hydraulic control valve  225  may also be referred to as a valve assembly or manifold. Hydraulic control valve  225  receives pressurized hydraulic fluid  235  from hydraulic pump  230 , which generally may be coupled to the engine  165  or alternative power source, and directs such hydraulic fluid  235  to the pair of boom hydraulic cylinders  200 , the pair of tilt hydraulic cylinders  205 , the auxiliary hydraulic cylinder(s)  215 , and other hydraulic circuits or functions of the work machine (e.g. the hydrostatic drive motors for the left and right-side tracks). Hydraulic control valve  225  may meter such fluid out, or control the flow rate of hydraulic fluid  235  to each hydraulic circuit to which it is connected. Alternatively, hydraulic control valve  225  may not meter such fluid out but may instead only selectively provide flow to these functions while metering is performed by another component (e.g. a variable displacement hydraulic pump). Hydraulic control valve  225  may meter such fluid out through a plurality of flow paths or spools, whose positions control the flow of hydraulic fluid  235 , and other hydraulic logic. The spools may be actuated by solenoids, pilots (e.g. pressurized hydraulic fluid acting on the spool), the pressure upstream or downstream of the spool, or some combination of these or other uses. The controller  240  of the work machine  100  actuates these solenoids by sending a specific current to each (e.g. 600 mA). In this way, the controller  240  may actuate an attachment  105  by issuing electrical command signals to direct hydraulic fluid  235  flow from the hydraulic pump  230  to one or more of the pair of boom hydraulic cylinders  200 , the pair of tilt hydraulic cylinders  205 , and the auxiliary cylinder(s)  215 . 
     Controller  240 , which may be referred to as a vehicle control unit (VCU), is in communication with a number of components on the work machine  100 , including the hydraulic system  220 , electrical components such as operator inputs from within the operator cab  160 , and other components. Controller  240  is electrically coupled to these other components by a wiring harness such that messages, commands, and electrical power may be transmitted between controller  240  and the remainder of the work machine  100 . Controller  240  may be coupled to other controllers, such as the engine control unit (ECU), through a controller area network (CAN). Controller may then send and receive messages over the CAN to communicate with other components of the CAN. The controller  240  may send command signals to actuate the attachment  105  by sending a command signal to actuate an input from the user input interface, shown as joystick  250 , from the operator cab  160  (shown in  FIG. 1 ). For example, an operator may use a joystick  250  to issue command to actuate an attachment  105 , and the joystick  250  may generate hydraulic pressure command signals communicated to hydraulic control valve  225  to cause actuation of the attachment  105 . In such a configuration, controller  240  may be in communication with electrical devices (solenoids, motors) which may be actuated by a joystick  250  in operator cab  160 . Other alternative inputs on a user input interface with electric, or hydraulic pressure command signals include switches, buttons, roller tabs, sliding tabs, infinity switches, touchscreens, foot pedals, virtual operative signaling, to name a few. 
     The hydraulic system  220 , communicatively coupled to the controller  240 , is configured to operate the work machine  100  and operate the attachment  105  coupled to the work machine  100 , including, without limitation, the attachment&#39;s lift mechanism, tilt mechanism, pitch mechanism, roll mechanism, and auxiliary mechanisms, for example. This may also include moving the work machine  100  in forward and reverse directions, moving the work machine left and right, and controlling the speed of the work machine&#39;s travel. Summarily, the hydraulic pump  230  may be coupled to one or more of the pair of boom hydraulic cylinders  200 , the pair of tilt hydraulic cylinders  205 , and auxiliary hydraulic cylinder(s)  215 . The auxiliary hydraulic cylinder(s)  215  may actuate an attachment  105 . The hydraulic pump  230  may deliver hydraulic fluid  235  through the plurality of flow paths, the plurality of flow paths coupled to one or more of the pair of boom hydraulic cylinders  200 , the pair of tilt hydraulic cylinder  205 , and the auxiliary hydraulic cylinder(s)  215 . 
     Now turning to  FIGS. 3 through 6 , with continued reference to  FIGS. 1 and 2 , the work machine  100  comprises an attachment  105  coupled to a forward section  193  of the boom arms  190  and moveable relative to the frame  110  by a pair of hydraulic cylinders (this will vary depending on the embodiment). The attachment  105  may comprise a guide  400  rigidly coupled to a fore-section  120  (shown in  FIG. 1 ) of the frame  110  and a movable member  485  coupled to the guide  400  wherein the guide  400  restricts movement of the movable member  485  in a non-vertical direction. The vertical direction  305  can be defined as the direction perpendicular to the ground surface  135  wherein the surface is flat. A non-vertical direction can be any direction other than the vertical direction  305  (e.g. along the width-wise direction of the work machine, or the length-wise direction of the work machine, that is the fore-aft direction  115 ). The vertical direction is also shown as the dotted arrow  305 , defined as a true vertical or a substantially true vertical. Actuating the pair of hydraulic cylinders (tilt hydraulic cylinders  205  for the first embodiment  375  shown in  FIG. 3  and auxiliary hydraulic cylinders  215  for the second embodiment  390  shown in  FIG. 5 ) engages the movable member  485 , vertically lifting or lowering the work tool  105  relative to the frame  110 , wherein the work tool  105  is coupled to the movable member  485 . 
     In the first embodiment  375 , shown in  FIGS. 3 and 4 , the guide  400  comprises of a vertical support surface  410 . The vertical support surface  410  may be parallel to the vertical direction  305 . Although the vertical support surface  410  shown is a fore surface of the guide  400 , in an alternative embodiment the vertical support surface may be an aft surface of the guide  400 . The movable member  485 , or a surface  415  of the movable member  485 , may abut the vertical support surface  410  when the pair of hydraulic cylinders (i.e. the tilt hydraulic cylinders  205  in the first embodiment  375 ) actuate in vertically lifting or lowering the work tool  320 . The tilt hydraulic cylinders  205  are integrated with the work machine  100 , wherein the tilt hydraulic cylinders  205  are part of the original work machine as manufactured, and not an auxiliary component. The guide  400  comprising the vertical support surface  410  is not restricted to any particular shape, provided it comprises a vertical support surface  410  and is coupled to the frame  110  of the work machine  100 . As shown in  FIG. 3  of the first embodiment  375 , the guide  400 , which is detachably coupled to the frame of the work machine is generally L-shaped as viewed from the side and comprises a vertical portion  420  such as a rigid beam of steel or other strong material and a horizontal portion  425  such as another rigid beam which extends forward from the fore-section  120  of the frame  110 . In this first embodiment  375 , the horizontal portion  425  is coupled to the track frame  114  portion, or undercarriage, of the frame  110 . Track frame  114  in the context of this disclosure may refer to the frame portion of the ground-engaging mechanism  155  such as the frame  110  supporting the track of the compact track loader, or alternatively ground-engaging wheels of a skid steer (not shown). Coupling directly to the frame  110  advantageously allows the reactive forces encountered by the attachment  105 , or blade  322  as it grades the surface, to substantially or in a greater amount transmit through the frame  110  (may also be referred to as the undercarriage) of the work machine  100  as opposed through the boom arms  190 . The frame  110  of the work machine  100  spans a larger cross-sectional area in addition to having a shock absorbing system (e.g. springs, dampeners throughout) to absorb the reactive forces. Furthermore, the frame  110  provides the improved stiffness for effective dozing performance. During a grading operation, the compact track loader is forwarded so that the work tool  320  coupled to the movable member  485 , shown as a blade  322  is driven into earth, stones, gravel or similar material. In one exemplary embodiment, the blade  322  is operated optimally at a pitch angle of approximately 56 degrees relative to the ground surface  135  for efficient grading. This optimal pitch angle will vary based on the conditions of the ground surface  135  (e.g. moisture, hardness, stickiness). Please note this angle may be modified prior to using the work machine by a pitch link, or of a similar mechanism. This angling of the blade  322  subjects the work machine  100  to a counterforce from the load presented by engaging ground material. Coupling directly to the frame  110  provides an alternative load path for the reactive forces to be dispersed. Coupling the attachment  105  to the frame  110  of the work machine  100  reduces the reactive forces and stress on the ball joint  465  or any other means of coupling the attachment  105  to the work machine  100 , thereby increasing the working life of the coupling mechanism (e.g. the attachment coupler  185 , or the ball joint  465  of the coupling mechanism) and increases the stability of the blade  322  or the useful life of the blade  322 . 
     In both the first embodiment  375  and the second embodiment  390 , the stiffness is improved for effective dozing performance by coupling the guide  400  directly to the frame  110  as shown in  FIGS. 3 and 5 . 
     An opening  430  to provide visibility for the operator of the work machine may be formed in the guide  400 , or more particularly the vertical portion  420  of the guide comprising the vertical support surface  410 . The vertical support surface  410  is shown coupled on the work machine  100  with the widthwise center of the vertical support surface  410  coinciding with the widthwise center of the work machine  100  to ensure sufficient alignment with the pair of tilt hydraulic cylinders  205 , but the horizontal portion  425  need not be centered with respect to the work machine  100 . It is possible for the guide  400  to be integrated with the frame  110  so as to form a single member. However, it is convenient for the guide  400  to be detachably coupled to the frame  110  for a streamline surface. Furthermore, removing the guide  400  enables the work tool  320  to be removed from the work machine  100  when not needed to enable the work machine to engage with various types of other load engaging work tools  320  (e.g. blade  322 , box blade, or fork  700 ) and other attachments  105 . 
     In the first embodiment  275 , the pair of hydraulic cylinders comprises of the pair of tilt hydraulic cylinders  205  integrated with the work machine (i.e. part of the boom assembly  170 ). The first section  445  of the pair of tilt hydraulic cylinders  205  is pivotally coupled to the frame  110  and the second section  450  of the pair of tilt hydraulic cylinders  205  is pivotally coupled to the movable member  485 . In the embodiment shown in  FIG. 4 , the pivotal coupling of the second section  450  of each respective tilt hydraulic cylinders  205  restricts movement in the width-wise direction of the work machine  100  by comprising two raised walls  455  adjacent to each respective coupling shown in this embodiment as a hinge  460  (note only one of the two hinges is visible in  FIG. 4 ) on the movable member  485 . The movable member  485  may then be coupled to the work tool  320  (shown as a blade  322 ) through a ball joint  465  and possibly other auxiliary hydraulic cylinders  215 , wherein the other set of auxiliary hydraulic cylinders  215  provide a means for moving the work tool  320  in other directions (discussed in more detail below). 
     In a second embodiment  390 , shown in  FIGS. 5 and 6 , the guide  400  comprises of a casing  470 . The casing  470  comprises of a pair of vertical beams  475  (only one of which is visible in  FIG. 6 ) and a pair of hydraulic cylinders, wherein the pair of hydraulic cylinders comprise of a pair of vertically-oriented auxiliary hydraulic cylinders  480 . A movable member  485  may be coupled to the pair of vertical beams  475 , the vertical beams  475  restricting movement of the movable member  485  in a non-vertical direction. In the second embodiment  390 , the pair of vertical beams  475  of the casing  470  are linear members, and the guide  400  supports the work tool  320  for substantially linear movement with respect to the frame  110 , ignoring any deviation from a linear path caused by play between the vertical beams  475  of the casing  470  and the movable member  485  coupled to the work tool  320 . The movable member  485  is further coupled to the vertically-oriented hydraulic cylinders  480  wherein actuating the vertically-oriented hydraulic cylinders engages the movable member  485 , vertically lifting and lowering the work tool  320 . 
     Similar to the first embodiment  273 , the guide  400  of the second embodiment comprises a horizontal portion  425  coupled to a fore-section  120  (shown in  FIG. 1 ) of the frame  110 . The second embodiment  290  herein demonstrates the coupling to be to a track frame  114  of the frame  110 , providing the same advantages as described above. 
     The attachment of either the first embodiment  375  and the second embodiment  390  may further comprise of auxiliary hydraulic cylinders  215 , wherein actuating the auxiliary hydraulic cylinders  215  performs one or more of tilting the work tool relative to the work machine in a direction of roll about the forward portion of the boom assembly, and angling the work tool relative to the work machine in a direction of yaw about the forward portion of the boom assembly. 
     The boom arms  190  remain locked in a lowered position when the attachment  105  of the embodiments disclosed herein are coupled to the work machine  100 . Locked in the lowered position may include one or more of a hydraulic lock and a mechanical lock. Keeping the boom arms  190  in a lowered position advantageously provides improved visibility for the operator of the blade  322 , wherein visibility is expanded to side views (i.e. on a left and a right side of the work machine  100 ) when the boom arms  190  remain in the lowered position. 
     Because of the attachment&#39;s ability to raise and lower the work tool along a true vertical direction  305 , appropriate work tools may include a blade  322 , a fork  700 . Movement of the work tool  320  to move in a true vertical direction  305  advantageously provides improved precision control for grading operations, improved control of a blade  322  angle during the raising and lowering of the blade  322 , and the attachment configuration may increase its versality in use to extend to other work tools  320 , such as a fork  700 . 
     The work tool  320  of the present embodiments are a blade  322 . The work tool  320  is an attachment which may engage the ground or material to move or shape it. Work tool  320  may be used to move material from one location to another and to create features on the ground, including flat area, grades, hills, roads, or more complexly shaped features. In the embodiment shown, the work tool  320  may be referred to as a six-way blade  322 , six-way adjustable blade, or pitch-angle-tilt (PAT) blade. Work tool  320  may be hydraulically actuated to pitch upwards or downwards in the direction of pitch  145 , roll left or roll right in the direction of roll  130  (which may be referred to tilt left and tilt right), and angle left or angle right in the direction of yaw  140  (which may be referred to as blade angle, or yaw left or yaw right). Alternative embodiments may utilize a work tool  320  with fewer hydraulically controlled degrees of freedom, such as a 4-way blade that may not be angled, or actuated in the direction of yaw  140 . 
     The terminology used herein is for the purpose of describing particular embodiments or implementations and is not intended to be limiting of the disclosure. As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the any use of the terms “has,” “have,” “having,” “include,” “includes,” “including,” “comprise,” “comprises,” “comprising,” or the like, in this specification, identifies the presence of stated features, integers, steps, operations, elements, and/or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. 
     The references “A” and “B” used with reference numerals herein are merely for clarification when describing multiple implementations of an apparatus. 
     One or more of the steps or operations in any of the methods, processes, or systems discussed herein may be omitted, repeated, or re-ordered and are within the scope of the present disclosure. 
     While the above describes example embodiments of the present disclosure, these descriptions should not be viewed in a restrictive or limiting sense. Rather, there are several variations and modifications which may be made without departing from the scope of the appended claims.