CA1328066C - Earth-moving equipment - Google Patents
Earth-moving equipmentInfo
- Publication number
- CA1328066C CA1328066C CA000582811A CA582811A CA1328066C CA 1328066 C CA1328066 C CA 1328066C CA 000582811 A CA000582811 A CA 000582811A CA 582811 A CA582811 A CA 582811A CA 1328066 C CA1328066 C CA 1328066C
- Authority
- CA
- Canada
- Prior art keywords
- earth moving
- control member
- control
- moving tool
- earth
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
- G05G2009/04703—Mounting of controlling member
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
- G05G2009/04703—Mounting of controlling member
- G05G2009/04722—Mounting of controlling member elastic, e.g. flexible shaft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
- G05G2009/04781—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with additional rotation of the controlling member
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20012—Multiple controlled elements
- Y10T74/20201—Control moves in two planes
Abstract
ABSTRACT OF THE DISCLOSURE
The control system of the earth-moving equipment has a single control member for driving the earth-moving tool, this being freely adjustable in all directions, and in addition, tiltable about at least one pivot axis, and rigidly connected with a single hand control or two such controls. The control member acts on sensors that are coupled with the various power elements for the earth-moving tool to produce a movement of the earth-moving tool that is directionally synchronized with the adjusting movement made by the control member through the hand controls.
The control system of the earth-moving equipment has a single control member for driving the earth-moving tool, this being freely adjustable in all directions, and in addition, tiltable about at least one pivot axis, and rigidly connected with a single hand control or two such controls. The control member acts on sensors that are coupled with the various power elements for the earth-moving tool to produce a movement of the earth-moving tool that is directionally synchronized with the adjusting movement made by the control member through the hand controls.
Description
1328~6 ~he present invention relates to earth-moving apparatus and, more particularly, to such apparatus equipment of the type having an earth-moving tool that can be mo~ed in various directions by means of a plurality of power elements controlled by means of a control system manipulated by hand controls.
The control ~ystem of known earth-moving equipment, for example, excavators, incorporates two hand control~ for the operator who 8it8 on or in the equipment, the operator initiating various control movements with the two hand controls.
.:
Such a control system demands trained operators who know which movements of the earth-moving tool can be controlled with the left hand control, and which movements of the earth moving tool can be controlled with the right hand control and how the handle controls have to be positioned in order to carry out the desired control movement. Trained operators for earth-moving equipment are much sought after and well paid specialist6, and are very hard to find for many work areas, particularly in developing countries.
According to a first aspect of the present invention there is provided earth moving apparatus comprising an earth moving tool, drive means for driving the tool in different direGtions, and control means operatively associated with the drive means for controlling movement of the drive means, the control means comprising a control member movable in all directions and turnable about at least one turning axis, whereby movement of the control member in said direction and about said turning axis actuates the drive means to drive the earth moving tool in synchronization with the movement and turning of the control member, and the control means comprising a plurality of resilient urging members arranged about the control member, said resilient urging members being located relative to the -~. '.
1328~66 q,ll control member at positions corresponding to ~ directions of movement of the control member such that the control member is supported between the resilient urging members.
According to a second aspect of the present invention there is provided an earth moving machine, comprising an earth moving tool; a plurality of drive elements arranged to move said earth moving tool in different directions; and control means operative for actuating said drive elements, said control means including a single control member which is freely movable three-dimensionally from an initial position toward all sides and additionally turntable about at least one turning axle, said control means being further provided with control member, said control means also having electrical sensors which respond to the movements of said control member in three mutually perpendicular directions and to the turning of the control member, said sensors being associated with said drive elements so that each of said drive elements causes a movement of said earth moving tool in a direction synchronous manner with the movements and turning of said control member, said control member having a cubic shape, said control means including a housing mountable on a chassis of the earth moving machine and a plurality of spring bellows arranged at all six sides of said control member so that said control member is floatir.gly supported between said spring bellows in said housing, and urged toward a center of said housing.
In this control system there is no division of control between two hand controls that have to be operated differently. Even if, for reasons of ergonomics, two hand controls can be provided, these are arranged on two opposing sides of the control body, and both are connected rigidly with said body, so that the operator can only make appropriately directed control movements with them. ~he second simplification for the operator is provided by making ~.. A ~
13~8~6~ : ~
the adjusting movements of tne control body directionally synchronized with a desired movement of the earth-moving tool. If the operator wishes to raise the earth-moving tool, he draws the control body upwards by at least one hand control. If the earth-moving tool is to be moved forwards, away from him, the operator moves the control body forwards away from himself by the hand controls. If the earth-moving tool is to be pivoted to the left or to the right, the operator moves the control body to the left or the right by the hand controls.
If the earth-moving tool, for example, an excavator, is to pivot towards the operator, the operator pivots the control body towards himself. If this pivot movement is to be made in the other direction, the operator pivots the control body away from himself in the other direction.
It is desirable for the sensors to be so arranged on the control body that if the control body is moved upwards or downwards, at least one sensor is affected, this then controlling the power unit that produces the adjusting movement of the earth-moving tool upwards or downwards; and that in the event that the control body is moved forwards or backwards at least one sensor will be affected, and this will control a power element that eff2cts an adjusting movement of r~ - 2a - ~ -1328~6~
.
the earth-moving tool away from the operator or towards him;
and that in the event of a movement of the control body to the left or to the right, at least one sensor is affected, this then controlling a power element that causes the adjusting movement of the earth-moving tool to the left or to the right, seen from the viewpoint of the operator.
Advantageously, the control body can be supported so as to tilt about an axis that is horizontal and transverse to the. .
longitudinal direction of the earth-moving equipment, such that in the event of a tilting movement fo~ward or backward, at least one sensor is affected, this controlling a power element that effects movement of the earth-moving tool or a part thereof away from the operator or towards him.
:
The present invention makes it possible to employ unskilled workers, even if earth-moving equipment with a large number of power elements for the earth-moving tool is involved, since the control movements that have to be made are directionally synchronized with the desired movements of the .
earth-moving tool. Practical testing of the invention has shown that because of thic easily remembered directionally synchronized control of the earth-moving tool that is . .
effected by only a single control body, unskilled operating personnel can be trusted to execute additional functions that cannot be performed with a directionally synchronized adjustment of the control body, by using the knobs that are incorporated in the hand controls and operated with the ;:
thumbs.
The invention will now be described in more detail, by way of example only, with reference to the accompanying drawings, in which:-Figure 1 is a schematic side view of a piece of earth-moving equipment; ~
Figure 2 is a schematic drawing of an operator sitting in -front of the control system of a piece of earth-moving ~.
equipment; - .
Figure 3 is a schematic drawing of the arrangement of the ~ .
The control ~ystem of known earth-moving equipment, for example, excavators, incorporates two hand control~ for the operator who 8it8 on or in the equipment, the operator initiating various control movements with the two hand controls.
.:
Such a control system demands trained operators who know which movements of the earth-moving tool can be controlled with the left hand control, and which movements of the earth moving tool can be controlled with the right hand control and how the handle controls have to be positioned in order to carry out the desired control movement. Trained operators for earth-moving equipment are much sought after and well paid specialist6, and are very hard to find for many work areas, particularly in developing countries.
According to a first aspect of the present invention there is provided earth moving apparatus comprising an earth moving tool, drive means for driving the tool in different direGtions, and control means operatively associated with the drive means for controlling movement of the drive means, the control means comprising a control member movable in all directions and turnable about at least one turning axis, whereby movement of the control member in said direction and about said turning axis actuates the drive means to drive the earth moving tool in synchronization with the movement and turning of the control member, and the control means comprising a plurality of resilient urging members arranged about the control member, said resilient urging members being located relative to the -~. '.
1328~66 q,ll control member at positions corresponding to ~ directions of movement of the control member such that the control member is supported between the resilient urging members.
According to a second aspect of the present invention there is provided an earth moving machine, comprising an earth moving tool; a plurality of drive elements arranged to move said earth moving tool in different directions; and control means operative for actuating said drive elements, said control means including a single control member which is freely movable three-dimensionally from an initial position toward all sides and additionally turntable about at least one turning axle, said control means being further provided with control member, said control means also having electrical sensors which respond to the movements of said control member in three mutually perpendicular directions and to the turning of the control member, said sensors being associated with said drive elements so that each of said drive elements causes a movement of said earth moving tool in a direction synchronous manner with the movements and turning of said control member, said control member having a cubic shape, said control means including a housing mountable on a chassis of the earth moving machine and a plurality of spring bellows arranged at all six sides of said control member so that said control member is floatir.gly supported between said spring bellows in said housing, and urged toward a center of said housing.
In this control system there is no division of control between two hand controls that have to be operated differently. Even if, for reasons of ergonomics, two hand controls can be provided, these are arranged on two opposing sides of the control body, and both are connected rigidly with said body, so that the operator can only make appropriately directed control movements with them. ~he second simplification for the operator is provided by making ~.. A ~
13~8~6~ : ~
the adjusting movements of tne control body directionally synchronized with a desired movement of the earth-moving tool. If the operator wishes to raise the earth-moving tool, he draws the control body upwards by at least one hand control. If the earth-moving tool is to be moved forwards, away from him, the operator moves the control body forwards away from himself by the hand controls. If the earth-moving tool is to be pivoted to the left or to the right, the operator moves the control body to the left or the right by the hand controls.
If the earth-moving tool, for example, an excavator, is to pivot towards the operator, the operator pivots the control body towards himself. If this pivot movement is to be made in the other direction, the operator pivots the control body away from himself in the other direction.
It is desirable for the sensors to be so arranged on the control body that if the control body is moved upwards or downwards, at least one sensor is affected, this then controlling the power unit that produces the adjusting movement of the earth-moving tool upwards or downwards; and that in the event that the control body is moved forwards or backwards at least one sensor will be affected, and this will control a power element that eff2cts an adjusting movement of r~ - 2a - ~ -1328~6~
.
the earth-moving tool away from the operator or towards him;
and that in the event of a movement of the control body to the left or to the right, at least one sensor is affected, this then controlling a power element that causes the adjusting movement of the earth-moving tool to the left or to the right, seen from the viewpoint of the operator.
Advantageously, the control body can be supported so as to tilt about an axis that is horizontal and transverse to the. .
longitudinal direction of the earth-moving equipment, such that in the event of a tilting movement fo~ward or backward, at least one sensor is affected, this controlling a power element that effects movement of the earth-moving tool or a part thereof away from the operator or towards him.
:
The present invention makes it possible to employ unskilled workers, even if earth-moving equipment with a large number of power elements for the earth-moving tool is involved, since the control movements that have to be made are directionally synchronized with the desired movements of the .
earth-moving tool. Practical testing of the invention has shown that because of thic easily remembered directionally synchronized control of the earth-moving tool that is . .
effected by only a single control body, unskilled operating personnel can be trusted to execute additional functions that cannot be performed with a directionally synchronized adjustment of the control body, by using the knobs that are incorporated in the hand controls and operated with the ;:
thumbs.
The invention will now be described in more detail, by way of example only, with reference to the accompanying drawings, in which:-Figure 1 is a schematic side view of a piece of earth-moving equipment; ~
Figure 2 is a schematic drawing of an operator sitting in -front of the control system of a piece of earth-moving ~.
equipment; - .
Figure 3 is a schematic drawing of the arrangement of the ~ .
1328~6~ ~
single control body and the associated sensors, in a casing of the control system; and Figure 4 is a schematic drawing of the control apparatus, ~-rotated 90 degrees relative to figure 3, in the direction indicated by the arrow in figure 3.
As an example of a piece of earth-moving equipment, figure 1 -shows an excavator lo with a bucket 11 articulated in a known manner to the terminal arm 14 of a compound arm consisting of three individual arms 12, 13, 14 articulated to each other.
Ram assemblies 15, 16, 17, and 18 act on the bucket 11 and on each of the three individual arms 12, 13, and 14 as power elements; these ram assemblies are controlled by way of a control system that incorporates a control unit 20 that is manipulated by an operator 19 using two hand controls 21, 22 known as controller handles.
. ' ':' ' '.
As is shown in figures 3 and 4, the control unit 20 has a cuboid control body 25 in a casing 24 that is anchored through a pivoting arm 23 to the chassi6 of the earth-mover;
bellows springs are arranged on the six sides of this cuboid control body 25, and these springs normally hold the control body 25 in position in the centre of the casing 24. The control body 25 thus floats between the bellows springs 26 within the casing 24.
Rods 27, 28 that extend outwards through the casing 24 are secured to two spposing sides tof the control body 25], and the hand controls 21, 22, which can be gripped by the operator 19 as shown in figure 2, are arranged at the unattached ends of these rods.
' Figure 3 shows, by the double-headed arrows 29, 30 and by the dashed outlines of the hand controls 21 and 22, how the hand controls 21 and 22 and thus the control body 25 that floats within the casing 24 can be moved by the operator to the left, to the right, back and forth, and at an angle to these directions in the plane of the drawing.
.
single control body and the associated sensors, in a casing of the control system; and Figure 4 is a schematic drawing of the control apparatus, ~-rotated 90 degrees relative to figure 3, in the direction indicated by the arrow in figure 3.
As an example of a piece of earth-moving equipment, figure 1 -shows an excavator lo with a bucket 11 articulated in a known manner to the terminal arm 14 of a compound arm consisting of three individual arms 12, 13, 14 articulated to each other.
Ram assemblies 15, 16, 17, and 18 act on the bucket 11 and on each of the three individual arms 12, 13, and 14 as power elements; these ram assemblies are controlled by way of a control system that incorporates a control unit 20 that is manipulated by an operator 19 using two hand controls 21, 22 known as controller handles.
. ' ':' ' '.
As is shown in figures 3 and 4, the control unit 20 has a cuboid control body 25 in a casing 24 that is anchored through a pivoting arm 23 to the chassi6 of the earth-mover;
bellows springs are arranged on the six sides of this cuboid control body 25, and these springs normally hold the control body 25 in position in the centre of the casing 24. The control body 25 thus floats between the bellows springs 26 within the casing 24.
Rods 27, 28 that extend outwards through the casing 24 are secured to two spposing sides tof the control body 25], and the hand controls 21, 22, which can be gripped by the operator 19 as shown in figure 2, are arranged at the unattached ends of these rods.
' Figure 3 shows, by the double-headed arrows 29, 30 and by the dashed outlines of the hand controls 21 and 22, how the hand controls 21 and 22 and thus the control body 25 that floats within the casing 24 can be moved by the operator to the left, to the right, back and forth, and at an angle to these directions in the plane of the drawing.
.
- 1328~66 In figure 4, the double-headed arrows 31 and 32 also show the possibility of moving the control body 25 perpendicularly to the plane of the drawing in figure 3 and the possibility of moving the control housing about a horizontal axis 33 (figure 3). The pivoting movement about the axis 33 is also indicated by the dashed outline of the hand control 21.
The movement of the control body 25 effected by means of the hand controls 21 and 22 acts, through contact arms 34, 35, and 36 that are arranged on the control body 25, on electrical sensors 37, 38, and 39 that are oriented relative to the three spatial coordinates. A fourth electrical sensor 40, which can be seen in figure 4, picks up a pivoting movement of the control body 25 about the axis of pivot 33 by means of a contact pin 41.
The electrical signals from the sensors 37 to 40 act on electrically operated proportional valves (not shown herein) of the earth mover's hydraulic power system, through which the rams 15 to 18 aan be operated or controlled.
It is also possible to use hydraulic, pneumatic, or even mechanical sensors in place of the electrical sensors.
In order to initiate additional control movements, the two hand controls 21, 22 can each be provided with a knobs 42, 43 that are operated by the thumbs The connection between the electrical sensors 37 to 41 and the knobs 42, 43 with the hydraulic proportional valves of the earth mover's power system is such that an adjusting movement of the control body 25 causes a directionally synchronous movement of the earth-moving tool, in this instance, the excavator 11. If, for example, the control body 25 is moved upwards out o~ the plane of the drawing in figure 3 by the hand controls 21, 22, this movement is analyzed by the electrical sensor 39 and converted to a drive movement of the rams 15 and 16, which are so coordinated that '~'','", ' .'i,. "' ',''`.,",''',; "'; ' '.`' ''~ ' " ','`,'.','' l32sa6~ ' .
the bucket 11 is also moved vertically upwards. The control :
body 25 can move freely within limits that are defined by stops (not shown herein) and can be pivoted about its axis 33 in each of the possible spatial positions, so that in the event of a movement of the control body this is a simultaneous response by all of the electrical sensors 37 to 40.
The movement of the control body 25 effected by means of the hand controls 21 and 22 acts, through contact arms 34, 35, and 36 that are arranged on the control body 25, on electrical sensors 37, 38, and 39 that are oriented relative to the three spatial coordinates. A fourth electrical sensor 40, which can be seen in figure 4, picks up a pivoting movement of the control body 25 about the axis of pivot 33 by means of a contact pin 41.
The electrical signals from the sensors 37 to 40 act on electrically operated proportional valves (not shown herein) of the earth mover's hydraulic power system, through which the rams 15 to 18 aan be operated or controlled.
It is also possible to use hydraulic, pneumatic, or even mechanical sensors in place of the electrical sensors.
In order to initiate additional control movements, the two hand controls 21, 22 can each be provided with a knobs 42, 43 that are operated by the thumbs The connection between the electrical sensors 37 to 41 and the knobs 42, 43 with the hydraulic proportional valves of the earth mover's power system is such that an adjusting movement of the control body 25 causes a directionally synchronous movement of the earth-moving tool, in this instance, the excavator 11. If, for example, the control body 25 is moved upwards out o~ the plane of the drawing in figure 3 by the hand controls 21, 22, this movement is analyzed by the electrical sensor 39 and converted to a drive movement of the rams 15 and 16, which are so coordinated that '~'','", ' .'i,. "' ',''`.,",''',; "'; ' '.`' ''~ ' " ','`,'.','' l32sa6~ ' .
the bucket 11 is also moved vertically upwards. The control :
body 25 can move freely within limits that are defined by stops (not shown herein) and can be pivoted about its axis 33 in each of the possible spatial positions, so that in the event of a movement of the control body this is a simultaneous response by all of the electrical sensors 37 to 40.
Claims (10)
1. Earth moving apparatus comprising an earth moving tool, drive means for driving the tool in different directions, and control means operatively associated with the drive means for controlling movement of the drive means, the control means comprising a control member movable in all directions and turnable about at least one turning axis, whereby movement of the control member in said directions and about said turning axis actuates the drive means to drive the earth moving tool in synchronization with the movement and turning of the control member, and the control means comprising a plurality of resilient urging members arranged about the control member, said resilient urging members being located relative to the control member at positions corresponding to all directions of movement of the control member such that the control member is supported between the resilient urging members.
2. Earth moving apparatus according to Claim 1, wherein the control means comprises a handle fixedly connected to the control member, and electrical sensors which respond to movements of the control in said directions and about said turning axis, said sensors being associated with the drive means.
3. Earth moving apparatus according to Claim 1, wherein the resilient urging means are mounted in a housing and each resilient urging means comprises a spring bellows.
4. Earth moving apparatus according to Claim 2, wherein said control means include two such handles which are arranged at two opposite sides of said control member and fixedly connected with the latter, said handles being formed as control horns graspable by the hands of an operator.
5. Earth moving apparatus according to Claim 2 wherein said drive means includes a drive element which is arranged to move said earth moving tool upwardly and downwardly, a drive element which is arranged to move said earth moving tool forwardly and rearwardly, and a drive element which is arranged to move said earth moving tool to the left and to the right, said sensors being formed so that when said control member is moved in one direction one of said sensors acts upon said drive element which moves said earth moving tool upwardly and downwardly, when said control member is moved in another direction another of said sensors acts on said drive element which moves said earth moving tool forwardly and rearwardly, and when said control member is moved in a further direction, a further of said sensors acts upon said drive element which moves said earth moving tool to the left and to the right.
6. Earth moving apparatus according to Claim 2, and further comprising a chassis extending in a longitudinal direction, said control member being turnable about horizontal axis which extends transversely to the longitudinal direction, said drive means including at least one drive element which turns at least a portion of said earth moving tool away from and toward an operator, so that when said control member is turned about said horizontal axis forwardly or rearwardly, one of said sensors acts on said one driving element so that the latter turns at least a part of said earth moving tool way from and toward the operator.
7. Earth moving apparatus according to Claim 6, wherein said earth moving tool is formed as an excavator scoop, said one driving element being arranged to turn said excavator scoop away from and toward the operator.
8. Earth moving apparatus according to Claim 2, wherein said handle has a pushbutton actuable by a thumb of an operator for releasing an additional movement of said earth moving tool.
9. Earth moving apparatus according to Claim 2, and further comprising an additional such handle which is coupled with said first mentioned handle, each of said handles having a pushbutton which is actuable by thumbs of an operator for releasing an additional movement of said earth moving tool.
10. An earth moving machine, comprising an earth moving tool; a plurality of drive elements arranged to move said earth moving tool in different directions; and control means operative for actuating said drive elements, said control means including a single control member which is freely movable three-dimensionally from an initial position toward all sides and additionally turntable about at least one turning axle, said control means being further provided with control member, said control means also having electrical sensors which respond to the movements of said control member in three mutually perpendicular directions and to the turning of the control member, said sensors being associated with said drive elements so that each of said drive elements causes a movement of said earth moving tool in a direction synchronous manner with the movements and turning of said control member, said control member having a cubic shape, said control means including a housing mountable on a chassis of the earth moving machine and a plurality of spring bellows arranged at all six sides of said control member so that said control member is floatingly supported between said spring bellows in said housing, and urged toward a center of said housing.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DEP3738281.0 | 1987-11-11 | ||
| DE19873738281 DE3738281A1 (en) | 1987-11-11 | 1987-11-11 | EARTH MOVEMENT DEVICE |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1328066C true CA1328066C (en) | 1994-03-29 |
Family
ID=6340271
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000582811A Expired - Fee Related CA1328066C (en) | 1987-11-11 | 1988-11-10 | Earth-moving equipment |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US4943205A (en) |
| JP (1) | JPH01151625A (en) |
| CA (1) | CA1328066C (en) |
| DE (1) | DE3738281A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2402727A (en) * | 2003-06-14 | 2004-12-15 | Cnh Uk Ltd | Lockable joystick control with wrist support |
Family Cites Families (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA709646A (en) * | 1965-05-18 | L. Clingerman John | Valve control mechanism for hydraulic system | |
| US2536724A (en) * | 1946-03-07 | 1951-01-02 | Murray G Clay | Unified excavator control system |
| US2760739A (en) * | 1951-07-09 | 1956-08-28 | James B Reichert | Apparatus for controlling aircraft |
| US3144146A (en) * | 1960-11-17 | 1964-08-11 | Westinghouse Electric Corp | Mimic positioning controller |
| US3492889A (en) * | 1968-03-18 | 1970-02-03 | Massey Ferguson Inc | Adjustable control stand |
| US3586184A (en) * | 1969-02-18 | 1971-06-22 | Westinghouse Electric Corp | Control apparatus and method for an excavating shovel |
| US3698580A (en) * | 1969-12-22 | 1972-10-17 | Int Harvester Co | Control system for material handling equipment |
| US3721357A (en) * | 1970-07-15 | 1973-03-20 | Clark Equipment Co | Multifunction integrated control mechanism |
| US3880304A (en) * | 1972-02-11 | 1975-04-29 | Jr William A Strickland | Mimic positioning controller for a hydraulically actuated back hoe |
| US3799362A (en) * | 1973-01-22 | 1974-03-26 | Standard Mfg Co | Six wheel material handling vehicle |
| US3976023A (en) * | 1975-01-29 | 1976-08-24 | Niigata Engineering Co., Ltd. | Apparatus for maneuvering a ship |
| US4028958A (en) * | 1975-08-14 | 1977-06-14 | The Charles Machine Works, Inc. | Single lever control for actuating control valves and the like |
| US4019401A (en) * | 1975-10-09 | 1977-04-26 | Fiat-Allis Construction Machinery, Inc. | Dual pivot axis control lever |
| US4027547A (en) * | 1975-12-17 | 1977-06-07 | Massey-Ferguson Inc. | Single lever control |
| GB1510170A (en) * | 1975-12-19 | 1978-05-10 | Bamford Excavators Ltd J | Fluid control valve assembly |
| US4216467A (en) * | 1977-12-22 | 1980-08-05 | Westinghouse Electric Corp. | Hand controller |
| WO1981002209A1 (en) * | 1980-01-26 | 1981-08-06 | Massey Ferguson Services Nv | Control lever arrangement |
| JPS58195221A (en) * | 1982-04-21 | 1983-11-14 | Hitachi Constr Mach Co Ltd | Universal lever |
| JPS5954564A (en) * | 1982-09-24 | 1984-03-29 | Mitsubishi Heavy Ind Ltd | Powder coater for paper discharge part of printer |
| US4614476A (en) * | 1982-10-11 | 1986-09-30 | Santal Euipamentos S.A. Comercio E Industria | Mechanical sugar cane grab loader |
| DE8308716U1 (en) * | 1983-03-24 | 1984-01-05 | O & K Orenstein & Koppel Ag, 1000 Berlin | MULTIFUNCTIONAL GUIDE |
| JPS60211522A (en) * | 1984-04-05 | 1985-10-23 | Kubota Ltd | Operating structure of working truck |
| GB2183795B (en) * | 1985-12-03 | 1989-10-04 | Kubota Ltd | Valve control structure for working vehicle |
| US4763100A (en) * | 1987-08-13 | 1988-08-09 | Wood Lawson A | Joystick with additional degree of control |
-
1987
- 1987-11-11 DE DE19873738281 patent/DE3738281A1/en active Granted
-
1988
- 1988-10-25 JP JP63267346A patent/JPH01151625A/en active Pending
- 1988-10-28 US US07/264,329 patent/US4943205A/en not_active Expired - Fee Related
- 1988-11-10 CA CA000582811A patent/CA1328066C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH01151625A (en) | 1989-06-14 |
| DE3738281A1 (en) | 1989-06-01 |
| DE3738281C2 (en) | 1990-10-31 |
| US4943205A (en) | 1990-07-24 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| MKLA | Lapsed |