Patent Description:
Excavators and backhoes are examples of excavator machines which use an excavator arm and a tool, such as a bucket, attached to a distal end of the excavator arm to perform various tasks such as digging, levelling, performing forestry work, demolition, and the like. An excavator is usually a heavy construction equipment comprising a cab for an operator on a rotating platform known as an upper structure. The upper structure can be arranged on an undercarriage with tracks or wheels. A backhoe, also called rear actor or back actor, is a type of excavating equipment typically mounted on the back of a tractor or front loader.

The excavator arm of an excavator machine is normally powered by a number of hydraulic cylinders such that the distal end of the excavator arm can be moved to perform a task with a tool attached to the distal end of the excavator arm. The excavator arm normally comprises a tool attachment section for a tool at a distal portion of the excavator arm to which a tool, such as a bucket can be arranged. An excavator arm typically comprises a so-called boom which is an arm section closest to the vehicle, and a so-called stick which is attached to the boom. The tool attachment section is usually attached to the stick.

Excavator machines, such as excavators and backhoes, come in various sizes and prize ranges. Most excavator machines can be provided with an excavator arm capable of rotating the tool attachment section through <NUM> degrees relative to the stick using a hydraulic motor. In this manner, a more versatile excavator arm is provided because the angle of the operation direction of the tool can be varied which can increase the flexibility and the precision of the operation of the tool. However, such a function can add costs, complexity, and weight to the excavator arm and thereby also to the excavator machine comprising the excavator arm.

Moreover, some different types of modules are available on the market which comprise a hydraulic motor allowing rotation of a tool section of an excavator arm and which can be mounted to existing excavator arms which lacks the above-mentioned rotator function. Such modules are commonly referred to as a tiltrotator and are also known under a number of trade names. These types of modules can provide a more versatile excavator arm because they allow variation of the angle of the operation direction of the tool which can increase the flexibility and the precision of the operation of the tool. However, these modules may be costly and complex to manufacture and for many users, these modules may be considered to be too expensive, especially in cases where it is intended to be used on a smaller type of excavator machine.

Furthermore, the weight and size of the above-mentioned type of module may not be suited for use on a smaller type of excavator machine. Another attachment module is shown in <CIT>.

In addition, generally, on today's consumer market, it is an advantage if products comprise different features and functions while the products have conditions and/or characteristics suitable for being manufactured and assembled in a cost-efficient manner.

It is an object of the present invention to overcome, or at least alleviate, at least some of the above-mentioned problems and drawbacks, such as by providing a simpler and/or more cost-efficient solution for allowing a variation of the angle of the tool of an excavator arm. According to a first aspect of the invention, the object is achieved by an attachment module according to claim <NUM>. The attachment module comprises an arm section comprising a first attachment arrangement for attaching the arm section to the distal end of the excavator arm, and a tool section comprising a second attachment arrangement for attaching the tool to the tool section. The tool section is rotatably arranged relative to the arm section around a rotation axis. The attachment module comprises a locking assembly controllable between a locked state in which the locking assembly locks the tool section from rotating relative to the arm section around the rotation axis, and an unlocked state in which the locking assembly unlocks the tool section from the arm section such that the tool section is free to rotate relative to the arm section around the rotation axis.

Since the tool section is rotatably arranged relative to the arm section around the rotation axis and since the attachment module comprises the locking assembly controllable between the locked and unlocked states, an attachment module is provided allowing a change in the operation direction of a tool attached to the tool section relative to a distal end of an excavator arm in a manner circumventing the need for a hydraulic motor for rotating the tool section.

That is, a user may rotate the tool section relative to the arm section, and thus also a tool relative to a distal end of an excavator arm, by controlling the locking assembly to the unlocked state and applying an external force or torque onto the tool section, or to a tool attached to the tool section. Since the tool section is free to rotate relative to the arm section around the rotation axis when the locking assembly is in the unlocked state, such an external force or torque can rotate the tool section relative to the distal end of the excavator arm.

The external force or torque may be applied to the tool section, or to a tool attached to the tool section, by controlling the excavator arm such that the tool or tool section abuts against an external surface and controlling the excavator arm such that the arm section of the attachment module is moved relative to the external surface.

When a wanted angle of the tool section relative to the arm section is obtained, the user may control the locking assembly to the locked state to lock the tool section from further rotating relative to the arm section.

Since the attachment module allows a change in the operation direction of a tool attached to the tool section relative to a distal end of an excavator arm in a manner circumventing the need for a hydraulic motor for rotating the tool section, a simple and efficient attachment module is provided having conditions for improving flexibility and precision of the operation of an excavator machine while having conditions and characteristics suitable for being manufactured and assembled in a cost-efficient manner.

Furthermore, due to the features of the attachment module, an attachment module is provided capable of allowing a change in the operation direction of a tool attached to the tool section, while having conditions for being compact and having conditions for having a low weight. Therefore, the attachment module according to the embodiments herein can be made suitable for use on smaller types of excavator machines as well as for use on larger or mid-sized excavator machines.

Accordingly, an attachment module is provided overcoming, or at least alleviating, at least some of the above-mentioned problems and drawbacks. As a result, the above-mentioned object is achieved.

Optionally, the attachment module comprises an input unit connectable to the locking assembly for controlling the locking assembly between the locked and unlocked states based on input from the input unit. Thus, due to these features, the input unit can be arranged in an operator area of an excavator machine, such as a cab or other type of operator area of the excavator machine, and can be connected to the locking assembly of the attachment module. In this manner, a user is allowed to change the operation direction of a tool attached to the tool section relative to a distal end of an excavator arm without having to leave the operator area of the excavator machine.

Optionally, the second attachment arrangement is configured to attach the tool to the tool section to allow the tool to operate in a main operation direction by a movement of the excavator arm in the main operation direction, and wherein the rotation axis is substantially perpendicular to the main operation direction of the tool. Thereby, an attachment module is provided having conditions for even further improving the flexibility and the precision of the operation of an excavator machine while having conditions and characteristics suitable for being manufactured and assembled in a cost-efficient manner.

Optionally, the tool section is free to rotate more than <NUM> degrees relative to the arm section around the rotation axis when the locking assembly is in the unlocked state. Thereby, an attachment module is provided allowing a full rotation of a tool relative to a distal end of an excavator arm thereby further improving flexibility and precision of the operation of an excavator machine while having conditions and characteristics suitable for being manufactured and assembled in a cost-efficient manner.

According to the invention the locking assembly comprises a locking member and an actuator assembly operably connected to the locking member to move the locking member between a locking position, in which the locking assembly assumes the locked state, and an unlocking position, in which the locking assembly assumes the unlocked state. Thereby, a simple, efficient, and reliable locking assembly is provided.

According to the invention the locking assembly further comprises a first toothed section arranged on the arm section, a second toothed section arranged on the tool section, and a third toothed section arranged on the locking member, and wherein the third toothed section engages with both of the first and second toothed sections when the locking member is in the locking position and engages with only one of the first and second toothed sections when the locking member is in the unlocking position. Thereby, a locking assembly is provided having conditions for being simple, robust, and durable. Moreover, an attachment module is provided having conditions for having a low weight and being compact.

According to the invention the third toothed section engages with the second toothed section when the locking member is in the unlocking position. Thereby, a locking assembly is provided having conditions for being simple, compact, robust, and durable.

Optionally, each of the first, second and third toothed sections circumscribes the rotation axis. Thereby, a locking assembly is provided having conditions for being simple, compact, robust, and durable.

Optionally, each of the first and second toothed sections comprises internal teeth and wherein the third toothed section comprises external teeth. Thereby, conditions are provided for a simple, small sized, and low-cost actuator assembly. This is because the third toothed section is arranged on the locking member.

Optionally, the rotation axis extends through the actuator assembly. Thereby, conditions are provided for a simple, small sized, and low-cost actuator assembly.

Optionally, the locking member is movable in directions parallel to the rotation axis between the locking and unlocking positions. Thereby, conditions are provided for a compact, simple, and low-cost actuator assembly.

Optionally, the actuator assembly comprises an actuator configured to move the locking member to one of the locking and unlocking positions when activated, and wherein the actuator assembly comprises at least one spring element configured to bias the locking member towards the other of the locking position and the unlocking position. Thereby, conditions are provided for an even simpler actuator assembly. This is because the actuator is only required to apply a force onto the locking member in one direction.

Optionally, the actuator assembly comprises an actuator of hydraulic type configured to move the locking member to one of the locking and unlocking positions when being fed with a hydraulic pressure. Thereby, a simple and robust actuator assembly is provided having conditions and characteristics suitable for being manufactured and assembled in a cost-efficient manner.

Optionally, the actuator comprises a centre body attached to a portion of the arm section by a fastening element extending into a hole of the centre body. Thereby, a simple and robust actuator assembly is provided having conditions and characteristics suitable for being manufactured and assembled in a cost-efficient manner.

Optionally, the actuator comprises a hydraulic connection and a hydraulic chamber configured to increase in volume when being fed with a hydraulic pressure via the hydraulic connection to move the locking member, and wherein the hydraulic chamber is fluidly connected to the hydraulic connection via a space between the fastening element and the hole of the centre body. Thereby, an actuator assembly is provided having conditions for being simple, robust, and compact. This is because the space between the fastening element and the hole of the centre body is utilized for conduction hydraulic fluid.

Optionally, the rotation axis extends through the fastening element. Thereby, a simple, robust, and compact actuator assembly is provided having conditions and characteristics suitable for being manufactured and assembled in a cost-efficient manner.

According to a second aspect of the invention, the object is achieved by an excavator arm comprising an attachment module according to some embodiments, wherein the attachment module is attached to a distal end of the excavator arm, and wherein the tool section of the attachment module is free to rotate relative to the excavator arm around the rotation axis when the locking assembly is in the unlocked state.

Since the tool section of the attachment module is rotatably arranged relative to the arm section around the rotation axis and since the attachment module comprises the locking assembly controllable between the locked and unlocked states, an excavator arm is provided allowing a change in the operation direction of a tool attached to the tool section relative to a distal end of an excavator arm in a manner circumventing the need for a hydraulic motor for rotating the tool section.

That is, a user may rotate the tool section relative to the arm section, and thus also a tool relative to a distal end of the excavator arm, by controlling the locking assembly to the unlocked state and applying an external force or torque onto the tool section, or to a tool attached to the tool section. Since the tool section is free to rotate relative to the arm section around the rotation axis when the locking assembly is in the unlocked state, such an external force or torque can rotate the tool section relative to the distal end of the excavator arm.

Since the attachment module of the excavator arm allows a change in the operation direction of a tool attached to the tool section relative to a distal end of an excavator arm in a manner circumventing the need for a hydraulic motor for rotating the tool section, a simple and efficient excavator arm is provided having conditions for improving flexibility and precision of the operation of an excavator machine comprising the excavator arm while having conditions and characteristics suitable for being manufactured and assembled in a cost-efficient manner.

Accordingly, excavator arm is provided overcoming, or at least alleviating, at least some of the above-mentioned problems and drawbacks. As a result, the above-mentioned object is achieved.

According to a third aspect of the invention, the object is achieved by an excavator machine comprising an excavator arm according to some embodiments.

Since the excavator machine comprises an excavator arm with an attachment module allowing a change in the operation direction of a tool attached to the tool section relative to a distal end of an excavator arm in a manner circumventing the need for a hydraulic motor for rotating the tool section, a simple and efficient excavator machine is provided having conditions for improved flexibility and precision of the operation while having conditions for being manufactured and assembled in a cost-efficient manner.

Accordingly, excavator machine is provided overcoming, or at least alleviating, at least some of the above-mentioned problems and drawbacks. As a result, the above-mentioned object is achieved.

Optionally, the locking assembly of the attachment module comprises a locking member and an actuator assembly operably connected to the locking member to move the locking member between a locking position, in which the locking assembly assumes the locked state, and an unlocking position, in which the locking assembly assumes the unlocked state, wherein the excavator machine comprises an operator environment with an input unit for an operator of the excavator machine, and wherein the input unit is operably connected to the actuator assembly. Thereby, a user of the excavator machine is allowed to change the operation direction of a tool attached to the tool section relative to a distal end of the excavator arm without having to leave the operator area of the excavator machine. In this manner, a user-friendly excavator machine is provided having conditions and characteristics suitable for being manufactured and assembled in a cost-efficient manner.

According to a fourth aspect of the invention, the object is achieved by a method of rotating a tool relative to an excavator arm of an excavator machine, the excavator machine comprising the excavator arm, an attachment module, and the tool, wherein the attachment module comprises an arm section attached to a distal end of the excavator arm and a tool section attached to the tool, wherein the tool section is rotatably arranged relative to the arm section around a rotation axis, and wherein the attachment module comprises a locking assembly controllable between a locked state, in which the locking assembly locks the tool section from rotating relative to the arm section around the rotation axis, and an unlocked state, in which the locking assembly unlocks the tool section from the arm section such that the tool section is free to rotate relative to the arm section around the rotation axis. The method comprises the steps of:.

Thereby, a method is provided allowing a change in the operation direction of a tool attached to the tool section relative to a distal end of an excavator arm in a manner circumventing the need for a hydraulic motor for rotating the tool section. As a result, a method is provided having conditions for improving flexibility and precision of the operation of an excavator machine in a cost-efficient manner.

Accordingly, method is provided overcoming, or at least alleviating, at least some of the above-mentioned problems and drawbacks. As a result, the above-mentioned object is achieved.

Optionally, the step of rotating the tool relative to an excavator arm by applying an external torque onto the tool around the rotation axis comprises the steps of:.

Thereby, a method is provided capable of obtaining a wanted angle of the tool section, and a tool attached thereto, without requiring a motor or other type of arrangement for rotating the tool section relative to the arm section.

It will be appreciated that the various embodiments described for the method are all combinable with the control arrangement as described herein. That is, the control arrangement as described herein may be configured to perform any one of the method steps of the method according to the fourth aspect of the invention.

According to a fifth aspect of the invention, the object is achieved by a computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method according to some embodiments of the present disclosure. Since the computer program comprises instructions which, when the program is executed by a computer, cause the computer to carry out the method according to some embodiments described herein, a computer program is provided which provides conditions for overcoming, or at least alleviating, at least some of the above-mentioned drawbacks. As a result, the above-mentioned object is achieved.

According to a sixth aspect of the invention, the object is achieved by a computer-readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the method according to some embodiments of the present disclosure. Since the computer-readable medium comprises instructions which, when the program is executed by a computer, cause the computer to carry out the method according to some embodiments described herein, a computer-readable medium is provided which provides conditions for overcoming, or at least alleviating, at least some of the above-mentioned drawbacks. As a result, the above-mentioned object is achieved.

<FIG> schematically illustrates an excavator machine <NUM> according to some embodiments comprising an excavator arm <NUM>. According to the illustrated embodiments, the excavator machine <NUM> is a small sized excavator. According to further embodiments, the excavator machine <NUM>, as referred to herein, may be another type of excavator machine <NUM> comprising an excavator arm <NUM>, such as a mid- or large-sized excavator, a backhoe, or the like.

According to the illustrated embodiments, the excavator machine <NUM> comprises an undercarriage <NUM> with continuous tracks <NUM> for moving the excavator machine <NUM>. According to further embodiments, the excavator machine <NUM> may comprise another type of propulsion units for moving the excavator machine <NUM> such as wheels. Moreover, according to the illustrated embodiments, the excavator machine <NUM> comprises an upper structure <NUM> with a cab <NUM> for an operator of the excavator machine <NUM>. The upper structure <NUM> is sometimes referred to as a house. The cab <NUM> comprises an operator environment <NUM>.

According to the illustrated embodiments, the upper structure <NUM> can be rotated relative to the undercarriage <NUM> around an axis of rotation Ax by a hydraulic motor of the excavator machine <NUM>. The hydraulic motor of the excavator machine <NUM> is not illustrated in <FIG> for reasons of brevity and clarity.

The excavator arm <NUM> comprises a first arm unit <NUM> and a second arm unit <NUM> pivotally attached to the first arm unit <NUM>. The first arm unit <NUM> may also be referred to as a boom and the second arm unit <NUM> may also be referred to as a stick. The first arm unit <NUM> of the excavator arm <NUM> is attached to the upper structure <NUM> of the excavator machine <NUM> through a first pivot <NUM> also known as a king-post. The first pivot <NUM> allows the excavator arm <NUM> to pivot left and right as seen from the operator environment <NUM> of the excavator machine <NUM>. The first arm unit <NUM> of the excavator arm <NUM> is also attached to the upper structure <NUM> of the excavator machine <NUM> through a second pivot <NUM> allowing the excavator arm <NUM> to pivot up and down as seen from the operator environment <NUM> of the excavator machine <NUM>. The excavator arm <NUM> further comprises a linkage unit <NUM> attached to the second arm unit <NUM>.

Moreover, the excavator arm <NUM> comprises a number of hydraulic units <NUM>, <NUM>, <NUM>, <NUM> for moving at least parts of the excavator arm <NUM>. In more detail, the excavator arm <NUM> comprises a first hydraulic unit <NUM> configured to move, i.e., pivot, the first arm unit <NUM>, and thus the excavator arm <NUM>, around the first pivot <NUM>. Moreover, the excavator arm <NUM> comprises a second hydraulic unit <NUM> configured to move, i.e., pivot, the first arm unit <NUM>, and thus the excavator arm <NUM>, around the second pivot <NUM>. Furthermore, the excavator arm <NUM> comprises a third hydraulic unit <NUM> configured to move, i.e., pivot, the second arm unit <NUM> relative to the first arm unit <NUM>. Moreover, the excavator arm <NUM> comprises a fourth hydraulic unit <NUM> configured to move, i.e., pivot, the linkage unit <NUM> relative to the second arm unit <NUM>.

Each hydraulic unit <NUM>, <NUM>, <NUM>, <NUM> may comprise a hydraulic cylinder and a piston arranged in the cylinder. The excavator machine <NUM> further comprises a control arrangement <NUM> configured to control the hydraulic unit <NUM>, <NUM>, <NUM>, <NUM> based on input from a control unit <NUM> arranged in the operator environment <NUM> of the excavator machine <NUM>. According to the illustrated embodiments, the control arrangement <NUM> is a hydraulic control arrangement <NUM> but may alternatively or additionally comprise one or more electrical components, units, or systems, as is further explained herein.

The excavator machine <NUM> illustrated in <FIG> comprises an attachment module <NUM>, according to embodiments herein, and a tool <NUM> attached to a distal end <NUM>' of the excavator arm <NUM> via the attachment module <NUM>. According to the illustrated embodiments, the distal end <NUM>' of the excavator arm <NUM> is a distal end of the second arm unit <NUM>. Moreover, the tool <NUM> according to the illustrated embodiments is a bucket, i.e., a tool <NUM> which can be used for digging. The tool <NUM> is associated with a main operation direction d1. In cases where the tool <NUM> is a bucket, the main operation direction d1 coincides with a facing direction of an open portion of the bucket.

<FIG> illustrates a perspective view of the attachment module <NUM> according to the embodiments illustrated in <FIG>. Below, simultaneous reference is made to <FIG>, if not indicated otherwise. As mentioned, the attachment module <NUM> is configured to attach a tool <NUM> to a distal end <NUM>' of an excavator arm <NUM>.

The attachment module <NUM> comprises an arm section <NUM> comprising a first attachment arrangement <NUM>', <NUM>" for attaching the arm section <NUM> to the distal end <NUM>' of the excavator arm <NUM>. According to the illustrated embodiments, the first attachment arrangement <NUM>', <NUM>" comprises a first pair of holes <NUM>' each configured to accommodate a journal for connecting the arm section <NUM> to a connecting element <NUM> connected to the linkage unit <NUM> of the excavator arm <NUM>. Moreover, according to the illustrated embodiments, the first attachment arrangement <NUM> comprises a second pair of holes <NUM>" each configured to accommodate a journal for connecting the arm section <NUM> to the second arm unit <NUM> of the excavator arm <NUM>.

The attachment module <NUM> further comprises a tool section <NUM>. The tool section <NUM> comprises a second attachment arrangement <NUM>', <NUM>" for attaching the tool <NUM> to the tool section <NUM> to allow the tool <NUM> to operate in a main operation direction d1 by a movement of the excavator arm <NUM> in the main operation direction d1. According to the illustrated embodiments, the second attachment arrangement <NUM>', <NUM>" of the tool section <NUM> comprises a first pair of controllable locking rods <NUM>' and a pair of recesses <NUM>". The first pair of controllable locking rods <NUM>' and the pair of recesses <NUM>" are configured to engage with structures of a tool <NUM> so as to attach the tool <NUM> to the tool section <NUM> of the attachment module <NUM>.

The controllable locking rods <NUM>' may be controllable between a locked state, in which the tool <NUM> is locked to the tool section <NUM> and an unlocked state, in which the tool <NUM> is unlocked from the tool section <NUM> of the attachment module <NUM>.

As is further explained herein, the tool section <NUM> is rotatably arranged relative to the arm section <NUM> around a rotation axis Ra. According to the illustrated embodiments, the rotation axis Ra is substantially perpendicular to the main operation direction d1 of the tool <NUM>.

Moreover, as is further explained herein, the attachment module <NUM> comprises a locking assembly <NUM> controllable between a locked state in which the locking assembly <NUM> locks the tool section <NUM> from rotating relative to the arm section <NUM> around the rotation axis Ra and an unlocked state in which the locking assembly <NUM> unlocks the tool section <NUM> from the arm section <NUM> such that the tool section <NUM> is free to rotate relative to the arm section <NUM> around the rotation axis Ra.

In this manner, a more versatile excavator machine <NUM> is provided in a simple and cost-efficient manner, as is further explained herein.

<FIG> illustrates the attachment module <NUM> illustrated in <FIG> in which the tool section <NUM> has been rotated relative to the arm section <NUM> around the rotation axis Ra. That is, as can be seen when comparing <FIG>, the tool section <NUM> has been rotated relative to the arm section <NUM> around the rotation axis Ra such that the angle of the tool section <NUM> is different as measured relative to the rotation axis Ra. In <FIG>, the tool section <NUM> has been rotated approximately <NUM> degrees relative to the arm section <NUM> around the rotation axis Ra from the position illustrated in <FIG>. However, according to embodiments herein, the tool section <NUM> is free to rotate more than <NUM> degrees relative to the arm section <NUM> around the rotation axis Ra when the locking assembly <NUM> is in the unlocked state. The feature that the tool section <NUM> is free to rotate relative to the arm section <NUM> means that no arrangement, structure, component, or system of the attachment module <NUM> prevents or restricts rotation of tool section <NUM> relative to the arm section <NUM> around the rotation axis Ra. Moreover, according to the illustrated embodiments, the attachment module <NUM> has no restrictions on where to start or stop rotation of the tool section <NUM> relative to the arm section <NUM> around the rotation axis Ra, other than some fixed locking positions of the tool section <NUM> relative to the arm section <NUM> explained below. Below, simultaneous reference is made to <FIG>, if not indicated otherwise.

As is further explained herein, according to the illustrated embodiments, the locking assembly <NUM> is controllable between the locked and unlocked state via an input unit <NUM> for an operator of the excavator machine <NUM>. According to the illustrated embodiments, the input unit <NUM> is arranged in the operator environment <NUM> inside the cab <NUM>.

The tool <NUM> may be rotated relative to an excavator arm <NUM> by applying an external torque onto the tool <NUM> around the rotation axis Ra. The external torque may be applied onto the tool <NUM> around the rotation axis Ra by controlling the excavator arm <NUM> such that the tool <NUM> abuts against an external surface <NUM> and by controlling the excavator arm <NUM> such that the arm section <NUM> of the attachment module <NUM> is moved relative to the external surface <NUM>.

That is, an operator of the excavator machine <NUM> may first control the locking assembly <NUM> to the unlocked state and control the excavator arm <NUM> such that the tool <NUM> abuts against an external surface <NUM> and control the excavator arm <NUM> such that the arm section <NUM> of the attachment module <NUM> is moved relative to the external surface <NUM>. The arm section <NUM> of the attachment module <NUM> may be moved relative to the external surface <NUM> by controlling the first hydraulic unit <NUM> to pivot the first arm section <NUM>, and thus the excavator arm <NUM>, around the first pivot <NUM>. As an alternative, or in addition, the arm section <NUM> of the attachment module <NUM> may be moved relative to the external surface <NUM> by controlling the hydraulic motor of the excavator machine <NUM> to rotate the upper structure <NUM> relative to the undercarriage <NUM> around the axis of rotation Ax. In such a procedure, the section <NUM> of the attachment module <NUM> is moved relative to the external surface <NUM> because the excavator arm <NUM> is attached to the upper structure <NUM>. As a further alternative, or in addition, the arm section <NUM> of the attachment module <NUM> may be moved relative to the external surface <NUM> by controlling the entire excavator machine <NUM> to move relative the external surface <NUM>, such as by a control of at least one of the continuous tracks <NUM> of the excavator machine <NUM>. In this manner, the abutting contact between a portion of the tool <NUM> and the external surface <NUM> can apply a force onto the tool <NUM> in a direction transversal and off centre relative to the rotation axis Ra and a torque is thereby applied onto the tool <NUM> around the rotation axis Ra which rotates the tool section <NUM> relative to the arm section <NUM> around the rotation axis Ra.

When a wanted angle of the tool section <NUM>, and thus of the tool <NUM> attached to the tool section <NUM>, is reached, the operator may control the locking assembly <NUM> to the locked position to prevent further rotation of the tool section <NUM> relative to the arm section <NUM>. In this manner, more versatile excavator machine <NUM> is provided in a simple and cost-efficient manner allowing a user to utilize the tool <NUM> in a more versatile manner with higher flexibility and precision of the operation.

The attachment module <NUM> according to the embodiments herein may be sold as a separate unit configured to be attached to a distal end <NUM>' of an excavator arm <NUM> of an already existing excavator machine <NUM>. A more versatile excavator machine <NUM> can thus be provided in a simple and cost-efficient manner by mounting the attachment module <NUM> according to the embodiments herein to the distal end <NUM>' of the excavator arm <NUM>. Possibly, the attachment module <NUM> according to the embodiments herein may be sold as a kit comprising the attachment module <NUM> and one or both of an input unit <NUM> for controlling the locking assembly <NUM> between the locked and unlocked state and a control arrangement <NUM> for controlling the locking assembly <NUM> between the locked and unlocked state.

As understood from the herein described, the attachment module <NUM> lacks a motor or another type of arrangement configured to rotate the tool section <NUM> relative to the arm section <NUM> around the rotation axis Ra. Instead, the tool section <NUM> can be rotated relative to the arm section <NUM> around the rotation axis Ra when the locking assembly <NUM> is in the unlocked state by applying an external torque onto the tool section <NUM> or a tool <NUM> attached thereto. This is because, the tool section <NUM> of the attachment module <NUM> is free to rotate relative to the excavator arm <NUM> around the rotation axis Ra when the locking assembly <NUM> is in the unlocked state.

Due to the features of the attachment module <NUM>, the attachment module <NUM> can be made compact and light weighted. Therefore, the attachment module <NUM> according to the embodiments herein can be made suitable for use on smaller types of excavator machines as well as for use on larger or mid-sized excavator machines.

Obviously, the tool section <NUM> may be rotated relative to the arm section <NUM> around the rotation axis Ra in another manner than in the above described manner, for example using hands or gravity acting onto the tool section <NUM>, gravity acting onto a tool <NUM> attached to the tool section <NUM>, and/or gravity acting onto matter accommodated in a tool <NUM> attached to the tool section <NUM>.

As is indicated in <FIG>, the attachment module <NUM> according to the illustrated embodiments comprises a tilt axis Pa between the arm section <NUM> and the tool section <NUM> allowing the tool section <NUM> to be tilted around the tilt axis Pa to some degree relative to the arm section <NUM>. Moreover, according to the illustrated embodiments, the attachment module <NUM> comprises a fifth hydraulic unit <NUM> controllable to tilt the tool section <NUM> relative to the arm section <NUM> around the tilt axis Pa. According to the illustrated embodiments, the fifth hydraulic unit <NUM> comprises a hydraulic cylinder and a hydraulic piston arranged in the hydraulic cylinder. Moreover, in <FIG>, the fifth hydraulic unit <NUM> is operably connected to the control unit <NUM> via the control arrangement <NUM> of the excavator machine <NUM>. The tilt axis Pa and the fifth hydraulic unit <NUM> controllable to tilt the tool section <NUM> relative to the arm section <NUM> around the tilt axis Pa may be of conventional type.

As seen in <FIG>, according to the illustrated embodiments, the rotation axis Ra is substantially perpendicular to the tilt axis Pa. Moreover, according to the illustrated embodiments, the rotation axis Ra extends through the tilt axis Pa. Furthermore, according to the illustrated embodiments, the tool section <NUM> is rotatably arranged relative to the arm section <NUM> in a rotation plane. The rotation plane of the tool section <NUM> is perpendicular to rotation axis Ra and is parallel to the tilt axis Pa regardless of a current tilt angle of the tool section <NUM> relative to the arm section <NUM> around the tilt axis Pa.

<FIG> illustrates a first cross section of the attachment module <NUM> illustrated in <FIG>. In <FIG>, the cross section is made in a plane comprising the rotation axis Ra. Below, simultaneous reference is made to <FIG>, if not indicated otherwise.

In <FIG>, the first attachment arrangement <NUM>', <NUM>" and the second attachment arrangement <NUM>', <NUM>" of the attachment module <NUM> can be seen in more detail. Moreover, as can be seen in <FIG>, the locking assembly <NUM> comprises a locking member <NUM> and an actuator assembly <NUM> operably connected to the locking member <NUM>. The actuator assembly <NUM> is controllable to move the locking member <NUM> between a locking position, in which the locking assembly <NUM> assumes the locked state, and an unlocking position, in which the locking assembly <NUM> assumes the unlocked state. According to the illustrated embodiments, the actuator assembly <NUM> is operably connected to the input unit <NUM> of the excavator machine <NUM> via a hydraulic circuit <NUM> of the excavator machine <NUM>, as is further explained herein.

In <FIG>, the locking member <NUM> is illustrated in the locking position and the locking assembly <NUM> is thus illustrated in the locked state.

<FIG> illustrates the first cross section of the attachment module <NUM> illustrated in <FIG> in which the locking member <NUM> has been moved to the unlocking position. In other words, as compared to <FIG>, the locking assembly <NUM> has been controlled from the locked state to the unlocked state in <FIG>.

As can be seen in <FIG>, the locking assembly <NUM> comprises a first toothed section <NUM> arranged on the arm section <NUM>, a second toothed section <NUM> arranged on the tool section <NUM>, and a third toothed section <NUM> arranged on the locking member <NUM>. According to the illustrated embodiments, the first toothed section <NUM> is a section of a first plate-like member attached to the arm section <NUM>. The first plate-like member may be attached to the arm section <NUM> via a number of bolts. Likewise, the second toothed section <NUM> is a section of a second plate-like member attached to the tool section <NUM>. The second plate-like member may be attached to the tool section <NUM> via a number of bolts. The second toothed section <NUM> is arranged adjacent to the first toothed section <NUM>.

As can be seen in <FIG>, the third toothed section <NUM> engages with both of the first and second toothed sections <NUM>, <NUM> when the locking member <NUM> is in the locking position. In this manner, the tool section <NUM> is locked from rotating relative to the arm section <NUM> around the rotation axis Ra. This is because the second toothed section <NUM> is locked from rotating relative to the first toothed section <NUM> by the third toothed section <NUM> engaging both of the first and second toothed sections <NUM>, <NUM>.

As can be seen in <FIG>, the third toothed section <NUM> engages only with the second toothed section <NUM> when the locking member <NUM> is in the unlocking position. In this manner, the tool section <NUM> is free to rotate relative to the arm section <NUM> around the rotation axis Ra. This is because the second toothed section <NUM> is free to rotate relative to the first toothed section <NUM> because the third toothed section <NUM> engages with only one of the first and second toothed sections <NUM>, <NUM>. As mentioned, according to the illustrated embodiments, the third toothed section <NUM> engages only with the second toothed section <NUM> when the locking member <NUM> is in the unlocking position. However, according to further embodiments, the third toothed section <NUM> may be configured to only engage with the first toothed section <NUM> when the locking member <NUM> is in the unlocking position.

<FIG> illustrates a second cross section of the attachment module <NUM> illustrated in <FIG>. Like in <FIG>, the cross section is made in a plane comprising the rotation axis Ra in <FIG>. Below, simultaneous reference is made to <FIG>, if not indicated otherwise.

As is best seen in <FIG>, each of the first, second and third toothed sections <NUM>, <NUM>, <NUM> circumscribes the rotation axis Ra. Moreover, according to the illustrated embodiments, each of the first and second toothed sections <NUM>, <NUM> comprises internal teeth <NUM>', <NUM>' whereas the third toothed section <NUM> comprises external teeth <NUM>'. The feature that each of the first and second toothed sections <NUM>, <NUM> comprises internal teeth <NUM>', <NUM>' means that the internal teeth <NUM>', <NUM>' face towards a geometrical centre of the respective first and second toothed sections <NUM>, <NUM>. According to the illustrated embodiments, the geometrical centre of the respective first and second toothed sections <NUM>, <NUM> coincides with the rotation axis Ra. Moreover, the feature that the third toothed section <NUM> comprises external teeth <NUM>' means that the external teeth <NUM>' face outward of a geometrical centre of the third toothed section <NUM>. According to the illustrated embodiments, the geometrical centre of the third toothed section <NUM> coincides with the rotation axis Ra.

Furthermore, as is best seen in <FIG>, the third toothed section <NUM> is a section of an element arranged inside of the first and second toothed sections <NUM>, <NUM>, wherein the element is attached to the locking member <NUM> to form one moving part. Thus, the third toothed section <NUM> can be said to be a toothed section of the locking member <NUM>, wherein the locking member <NUM> is arranged inside the first and second toothed sections <NUM>, <NUM>.

In <FIG>, the locking member <NUM> is illustrated in the locking position and the locking assembly <NUM> is consequently illustrated in the locked state.

<FIG> illustrates the second cross section of the attachment module <NUM> illustrated in <FIG> in which the locking member <NUM> has been moved to the unlocking position. In other words, as compared to <FIG>, the locking assembly <NUM> has been controlled from the locked state to the unlocked state in <FIG>.

As can be seen in <FIG>, as well as in <FIG>, according to the illustrated embodiments, the locking member <NUM> is movable in directions parallel to the rotation axis Ra between the locking and unlocking positions.

<FIG> illustrates an enlarged cross section of the actuator assembly <NUM> of the attachment module <NUM> illustrated in <FIG>. Like in <FIG>, the cross section is made in a plane comprising the rotation axis Ra in <FIG>. Moreover, in <FIG>, the locking member <NUM> is illustrated in the locking position and the locking assembly <NUM> is consequently illustrated in the locked state.

As is indicated in <FIG>, the actuator assembly <NUM> comprises an actuator <NUM>. According to the illustrated embodiments, the actuator <NUM> is configured to move the locking member <NUM> to the unlocking position when activated. As can be seen in <FIG>, according to the illustrated embodiments, the actuator assembly <NUM> comprises a spring element <NUM>. The spring element <NUM> configured to bias the locking member <NUM> towards the locking position. In <FIG>, only one spring element <NUM> is illustrated. However, the actuator assembly <NUM> may comprise a greater number of spring elements <NUM>, such as a number between two and twelve, wherein each of the number of spring elements <NUM> is configured to bias the locking member <NUM> towards the locking position.

<FIG> illustrates the enlarged cross section of the actuator assembly <NUM> illustrated in <FIG> in which the actuator <NUM> has displaced the locking member <NUM> to the unlocking position. In other words, in <FIG>, the locking assembly <NUM> is illustrated in the unlocked state.

As can be seen in <FIG>, the third toothed section <NUM> only engages the second toothed section <NUM> when the locking member <NUM> is in the unlocking position. Moreover, as can be seen in <FIG>, the spring element <NUM> has been compressed upon the movement of the locking member <NUM> from the locked position to the unlocking position.

As understood from the herein described, the actuator <NUM> according to the illustrated embodiments is of hydraulic type and is configured to move the locking member <NUM> to the unlocking position when being fed with a hydraulic pressure. The biasing force of the spring element <NUM>, or by the number of spring elements <NUM>, forces the locking member <NUM> to the locked state when the hydraulic pressure is released.

According to the illustrated embodiments, the actuator <NUM> comprises a centre body <NUM> attached to a portion <NUM> of the arm section <NUM> by a fastening element <NUM> extending into a hole <NUM> of the centre body <NUM>. According to the illustrated embodiments, the fastening element <NUM> is a bolt, i.e., an elongated object with a threaded portion. Moreover, the actuator <NUM> comprises a hydraulic connection <NUM> and a hydraulic chamber <NUM>, <NUM>' configured to increase in volume when being fed with a hydraulic pressure via the hydraulic connection <NUM> to move the locking member <NUM> towards the unlocking position. The hydraulic connection <NUM> indicated in <FIG> is connected to the control arrangement <NUM> of the excavator machine <NUM> illustrated in <FIG> via a hydraulic circuit <NUM> of the excavator machine <NUM>.

Moreover, as can be seen in <FIG>, according to the illustrated embodiments, the hydraulic chamber <NUM>, <NUM>' is fluidly connected to the hydraulic connection <NUM> via a space <NUM> between the fastening element <NUM> and the hole <NUM> of the centre body <NUM>. According to the illustrated embodiments, also a threaded portion of the interface between the fastening element <NUM> and the hole <NUM> is utilized for fluidly connecting the hydraulic chamber <NUM>, <NUM>' to the hydraulic connection <NUM>. In this manner, a space efficient solution is provided for connecting hydraulic chamber <NUM>, <NUM>' to the hydraulic connection <NUM>.

Moreover, as seen in <FIG>, according to the illustrated embodiments, the rotation axis Ra extends through the actuator assembly <NUM> and extends through the fastening element <NUM>.

According to further embodiments, the actuator <NUM> of the actuator assembly <NUM> may be configured to move the locking member <NUM> to the locking position when activated. According to such embodiments, the actuator assembly <NUM> may comprise a number of spring elements configured to bias the locking member <NUM> towards the unlocking position. Moreover, according to some embodiments, the actuator <NUM> of the actuator assembly <NUM> may be controllable to move the locking member <NUM> between the locked and unlocked positions, i.e., in both directions. According to such embodiments, the actuator assembly <NUM> may lack spring elements <NUM> configured to bias the locking member <NUM> to one of the locking and unlocking positions.

Below, simultaneous reference is made to <FIG>, if not indicated otherwise. As indicated above, tool section <NUM> is free to rotate relative to the arm section <NUM> around the rotation axis Ra when the locking assembly <NUM> is in the unlocked state. According to the illustrated embodiments, the attachment module <NUM> is provided with some fixed locking positions of the tool section <NUM> relative to the arm section <NUM>. The number of fixed locking positions of the tool section <NUM> relative to the arm section <NUM> is determined by the number of teeth <NUM>', <NUM>', <NUM>' of the first, second, and third toothed sections <NUM>, <NUM>, <NUM>. According to the illustrated embodiments, each of the first, second, and third toothed sections <NUM>, <NUM>, <NUM> comprises twenty-four teeth <NUM>', <NUM>', <NUM>'. In other words, according to the illustrated embodiments, the attachment module <NUM> is provided with twenty-four fixed locking positions of the tool section <NUM> relative to the arm section <NUM>. According to further embodiments, the attachment module <NUM> may be provided with another number of fixed locking positions and number of teeth <NUM>', <NUM>', <NUM>' of the respective first, second, and third toothed sections <NUM>, <NUM>, <NUM>, such as for example a number between eight and one hundred, or a number between twelve and forty-eight.

<FIG>illustrates a method of rotating a tool relative to an excavator arm of an excavator machine, the excavator machine comprising the excavator arm, an attachment module, and the tool. The excavator machine may be an excavator machine <NUM> explained with reference to <FIG> and the attachment module may be an attachment module <NUM> explained with reference to <FIG>. Therefore, below, simultaneous reference is made to <FIG>, if not indicated otherwise. The method <NUM> is a method <NUM> of rotating a tool <NUM> relative to an excavator arm <NUM> of an excavator machine <NUM>, the excavator machine <NUM> comprising the excavator arm <NUM>, an attachment module <NUM>, and the tool <NUM>. The attachment module <NUM> comprises an arm section <NUM> attached to a distal end <NUM>' of the excavator arm <NUM> and a tool section <NUM> attached to the tool <NUM> allow the tool <NUM> to operate in a main operation direction d1 by a movement of the excavator arm <NUM> in the main operation direction d1. The tool section <NUM> is rotatably arranged relative to the arm section <NUM> around a rotation axis Ra. The attachment module <NUM> comprises a locking assembly <NUM> controllable between a locked state, in which the locking assembly <NUM> locks the tool section <NUM> from rotating relative to the arm section <NUM> around the rotation axis Ra, and an unlocked state, in which the locking assembly <NUM> unlocks the tool section <NUM> from the arm section <NUM> such that the tool section <NUM> is free to rotate relative to the arm section <NUM> around the rotation axis Ra.

As indicated in <FIG>, the step of rotating <NUM> the tool <NUM> relative to an excavator arm <NUM> by applying an external torque onto the tool <NUM> around the rotation axis Ra may comprise comprises the steps of:.

It will be appreciated that the various embodiments described for the method <NUM> are all combinable with the control arrangement <NUM> as described herein. That is, the control arrangement <NUM> may be configured to perform any one of the method steps <NUM>, <NUM>, <NUM>, and <NUM> of the method <NUM>.

<FIG> illustrates a computer-readable medium <NUM> comprising instructions which, when executed by a computer, cause the computer to carry out the method <NUM> according to some embodiments of the present disclosure. According to some embodiments, the computer-readable medium <NUM> comprises a computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method <NUM> according to some embodiments.

One skilled in the art will appreciate that the method <NUM> of rotating a tool <NUM> relative to an excavator arm <NUM> of an excavator machine <NUM> may be implemented by programmed instructions. These programmed instructions are typically constituted by a computer program, which, when it is executed in the control arrangement <NUM>, ensures that the control arrangement <NUM> carries out the desired control, such as the method steps <NUM>, <NUM>, <NUM>, and <NUM> of the method <NUM> described herein. The computer program is usually part of a computer program product <NUM> which comprises a suitable digital storage medium on which the computer program is stored.

The control arrangement <NUM> may comprise a calculation unit which may take the form of substantially any suitable type of processor circuit or microcomputer, e.g., a circuit for digital signal processing (digital signal processor, DSP), a Central Processing Unit (CPU), a processing unit, a processing circuit, a processor, an Application Specific Integrated Circuit (ASIC), a microprocessor, or other processing logic that may interpret and execute instructions. The herein utilised expression "calculation unit" may represent a processing circuitry comprising a plurality of processing circuits, such as, e.g., any, some or all of the ones mentioned above.

The control arrangement <NUM> may further comprise a memory unit, wherein the calculation unit may be connected to the memory unit, which may provide the calculation unit with, for example, stored program code and/or stored data which the calculation unit may need to enable it to do calculations. The calculation unit may also be adapted to store partial or final results of calculations in the memory unit. The memory unit may comprise a physical device utilised to store data or programs, i.e., sequences of instructions, on a temporary or permanent basis. According to some embodiments, the memory unit may comprise integrated circuits comprising silicon-based transistors. The memory unit may comprise e.g. a memory card, a flash memory, a USB memory, a hard disc, or another similar volatile or non-volatile storage unit for storing data such as e.g. ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable PROM), EEPROM (Electrically Erasable PROM), etc. in different embodiments.

The control arrangement <NUM> may be connected to components of the excavator machine <NUM>, the excavator arm <NUM>, and/or the attachment module <NUM>, for receiving and/or sending input and output signals. These input and output signals may comprise waveforms, pulses, or other attributes which the input signal receiving devices can detect as information and which can be converted to signals processable by the control arrangement <NUM>. These signals may then be supplied to the calculation unit. One or more output signal sending devices may be arranged to convert calculation results from the calculation unit to output signals for conveying to other parts of the vehicle's control system and/or the component or components for which the signals are intended. Each of the connections to the respective components of the excavator machine <NUM>, the excavator arm <NUM>, and/or the attachment module <NUM>, for receiving and sending input and output signals may take the form of one or more from among a hydraulic circuit, a cable, a data bus, e.g., a CAN (controller area network) bus, a MOST (media orientated systems transport) bus or some other bus configuration, or a wireless connection.

In the embodiments illustrated, the excavator machine <NUM> comprises a control arrangement <NUM> but might alternatively be implemented wholly or partly in two or more control arrangements or two or more control units.

Control systems in modern excavator machines <NUM> can comprise a communication bus system consisting of one or more communication buses for connecting a number of electronic control units (ECUs), or controllers, to various components on board the excavator machine <NUM>. Such a control system may comprise a large number of control units and taking care of a specific function may be shared between two or more of them. Excavator machines <NUM> of the type here concerned are therefore often provided with significantly more control arrangements <NUM> than depicted in <FIG>, as one skilled in the art will surely appreciate.

The computer program product <NUM> may be provided for instance in the form of a data carrier carrying computer program code for performing at least some of the method steps <NUM>, <NUM>, <NUM>, and <NUM> of the method <NUM> according to some embodiments when being loaded into one or more calculation units of the control arrangement <NUM>. The data carrier may be, e.g. a CD ROM disc, as is illustrated in <FIG>, or a ROM (read-only memory), a PROM (programable read-only memory), an EPROM (erasable PROM), a flash memory, an EEPROM (electrically erasable PROM), a hard disc, a memory stick, an optical storage device, a magnetic storage device or any other appropriate medium such as a disk or tape that may hold machine readable data in a non-transitory manner. The computer program product may furthermore be provided as computer program code on a server and may be downloaded to the control arrangement <NUM> remotely, e.g., over an Internet or an intranet connection, or via other wired or wireless communication systems.

The wording "substantially perpendicular to", as used herein, may encompass that the angle between the objects referred to is within the range of <NUM> - <NUM> degrees or is within the range of <NUM> - <NUM> degrees.

It is to be understood that the foregoing is illustrative of various example embodiments and that the invention is defined only by the appended independent claims. A person skilled in the art will realize that the example embodiments may be modified, and that different features of the example embodiments may be combined to create embodiments other than those described herein, without departing from the scope of the present invention, as defined by the appended independent claims.

Claim 1:
An attachment module (<NUM>) configured to attach a tool (<NUM>) to a distal end (<NUM>') of an excavator arm (<NUM>), the attachment module (<NUM>) comprising:
- an arm section (<NUM>) comprising a first attachment arrangement (<NUM>', <NUM>") for attaching the arm section (<NUM>) to the distal end (<NUM>') of the excavator arm (<NUM>), and
- a tool section (<NUM>) comprising a second attachment arrangement (<NUM>', <NUM>") for attaching the tool (<NUM>) to the tool section (<NUM>),
wherein the tool section (<NUM>) is rotatably arranged relative to the arm section (<NUM>) around a rotation axis (Ra), and
wherein the attachment module (<NUM>) comprises a locking assembly (<NUM>) controllable between
- a locked state in which the locking assembly (<NUM>) locks the tool section (<NUM>) from rotating relative to the arm section (<NUM>) around the rotation axis (Ra), and
- an unlocked state in which the locking assembly (<NUM>) unlocks the tool section (<NUM>) from the arm section (<NUM>) such that the tool section (<NUM>) is free to rotate relative to the arm section (<NUM>) around the rotation axis (Ra), wherein
the locking assembly (<NUM>) comprises a locking member (<NUM>) and an actuator assembly (<NUM>) operably connected to the locking member (<NUM>) to move the locking member (<NUM>) between a locking position, in which the locking assembly (<NUM>) assumes the locked state, and an unlocking position, in which the locking assembly (<NUM>) assumes the unlocked state,
characterised by the locking assembly (<NUM>) further comprising:
- a first toothed section (<NUM>) arranged on the arm section (<NUM>),
- a second toothed section (<NUM>) arranged on the tool section (<NUM>), and
- a third toothed section (<NUM>) arranged on the locking member (<NUM>), and
wherein the third toothed section (<NUM>) engages with both of the first and second toothed sections (<NUM>, <NUM>) when the locking member (<NUM>) is in the locking position and engages with only one of the first and second toothed sections (<NUM>, <NUM>) when the locking member (<NUM>) is in the unlocking position.