Systems and methods for performing in-field operations

Abstract

A processing device for performing in-yard operations such as removing and / or installing worn parts on earthmoving equipment along a controlled path. The device can include a crane, an articulated joint having three articulation axes, and a tool.

Description

Technical Field

[0001] The present disclosure relates to a system and method for performing in-yard operations. Background Art

[0002] In mining and construction, wear parts are typically provided for earthmoving equipment such as excavators, crushers, cable shovels, cable scrapers, front shovels, hydraulic excavators, loaders, shear drums, bucket-wheel excavators, etc. An example wear part is a tooth including a tooth tip mounted on an adapter fixed to a bucket. Wear parts such as tooth tips and other ground-engaging components encounter heavy loads and abrasive conditions during use, causing the wear parts to wear and need to be replaced. However, there are challenges and hazards associated with the removal and installation of such wear parts as they can be large, heavy, and / or difficult to manipulate. Summary of the Invention

[0003] The present disclosure relates to a system and method for performing in-yard operations such as removing a worn member from earthmoving equipment and / or installing a worn member onto earthmoving equipment.

[0004] In one example, a worn member is fixed to a base on earthmoving equipment. A tool supported by a manipulator is fixed to the worn member. At least one sensor detects an installation path of the worn member, and a programmable logic-based controller moves the worn member along the installation path to remove the worn member from the base. In one embodiment, the installation path can be linear or discretely non-linear (e.g., arcuate, stepped, or some combination of linear and non-linear).

[0005] In another example, a processing device includes: a tool that can be fixed to a worn member; a manipulator having the ability to movably support the tool in at least two different motions; at least one sensor that detects movement of each motion; and a controller that uses programmable logic to guide the movement of the manipulator to move the tool in a defined motion to remove the worn member from the base and / or install the worn member onto the base.

[0006] In another example, a system for removing a worn component from and / or installing a worn component onto earthmoving equipment includes a processing device having: a tool that can be fixed to the worn component; an articulated arm that movably supports the tool; an adjustable joint that connects the tool to the arm; sensors for detecting the orientation of each part of the articulated arm and the adjustable joint that can move the tool; and a controller that uses programmable logic to simultaneously guide the movement of the arm and the joint to move the tool along a specified motion path to remove the worn component from a base and / or install the worn component onto the base. The sensor that determines the specified path can be part of the processing device or separate from the processing device.

[0007] In another example, a processing device includes a tool, a robotic arm having a support and a joint, and a controller. The support includes a rotatable column, a first arm pivotally fixed to the column, and a second arm pivotally fixed to the first arm. The second arm is also optionally extensible. The joint connects the tool to the support. The joint is pivotally fixed to the second arm about a first axis and can provide movement of the tool about two axes perpendicular to the first axis. The controller using programmable logic guides the operation of the robotic arm to remove a worn component from earthmoving equipment in motion along a specified path.

[0008] In another example, a tool supported by a robotic arm is fixed to a worn component to be removed from and / or installed onto a base. At least one sensor detects the orientation and / or direction of a path along which the worn component will be installed onto or removed from the base. The controller using programmable logic guides the movement of the robotic arm to move the worn component away from the base and / or move the worn component onto the base along the specified path.

[0009] In another example, removing a worn component from and / or installing a worn component onto a base is achieved by gripping the worn component with a device that uses programmable logic to move the worn component from the base and / or move the worn component onto the base along the specified path of the worn component.

[0010] In another example, an installation axis for removing a worn component from and / or installing a worn component onto a base is detected. The worn component is gripped by a hydraulically driven device that uses programmable logic to move the worn component from the base and / or move the worn component onto the base along the installation path.

[0011] In another example, a processing device for removing a worn wear member from a mounting (such as a base adapter on earthmoving equipment, a lip on a bucket, an adapter on a base adapter, etc.) and installing a replacement wear member on the same mounting. The processing device includes: a tool for fixing the wear member of the earthmoving equipment; a manipulator for supporting the tool to move towards and away from the earthmoving equipment; and a controller that uses programmable logic to guide the movement of the manipulator to remove and load the worn wear member, and hold and install the replacement wear member when the worn wear member has been removed. The controller automatically returns to the installation site to install the replacement wear member on the earthmoving equipment. Optionally, after installing the replacement wear member, the controller can automatically move to the next wear member to be removed. This example can also optionally be provided in combination with any of the examples pointed out above.

[0012] The adjustable components in each of the examples pointed out above and other examples can be driven by a hydraulic motor and / or a cylinder, and the hydraulic motor and / or the cylinder can provide the robustness and strength desired for removing the wear member during earthmoving operations.

[0013] In one example, the three-point joint assembly includes a computer having a processor and a memory, and the memory has instructions configured to provide control of the three-point joint assembly, the manipulator, and / or the supported tool head.

[0014] In another example, the hydraulically driven manipulator includes a joint attached to the end of an articulated arm. The joint supports a tool that holds the wear member to be removed from and / or installed on the mounting. The joint includes components that are movably engaged together to define three non-parallel axes of movement for the tool. In one example, at least one (preferably two) of the three axes has a float mode mechanism associated with an actuator that controls the movement of the three-axis joint relative to the three axes. The float mode mechanism controls the valve pressure in a passage that connects the two sides of at least one of the actuators that control the manipulator around the axis. The fluid in the actuator is allowed to float between the two sides of the actuator, thereby allowing the manipulator to move around the corresponding axis in small increments. In the float mode, the actuator is moved by an external force outside the operator or the controller or the processor. In one embodiment, at least one float mode mechanism can be activated. In another embodiment, at least two float mode mechanisms are activated while the third actuator is still controlled by programmable logic or the user. In one embodiment, if the installation path mode is activated while otherwise in the float mode, the manipulator assumes that the floating hydraulic actuators are controllable even though these actuators are controlled by an external force. In this example, once the installation axis is determined and all other actuators move simultaneously along the installation path, it is assumed that the floating actuators are following the correct path along the installation axis.

[0015] In another example, a process for removing ground engaging wear parts from earthmoving equipment includes operating a manipulator and movement of one or more tools supported by the manipulator to hold a wear part secured to the earthmoving equipment. The manipulator includes joints for securing the tools to the manipulator. The joints include components movably engaged together to define three non-parallel axes of movement and hydraulically actuated actuators for selectively moving and holding the components about the axes. The process may also include determining an installation axis. In another embodiment, the process may include a float mode process where the actuators are moved to a neutral state and fluid is balanced within the actuators to allow for small incremental changes in attaching the tool head to the wear member to be achieved.

[0016] In another example, a wear member handling system for removing a wear member from a mount on earthmoving equipment and / or mounting a wear member to a mount on earthmoving equipment includes: a crane having crane components movably engaged together and crane actuators for selectively holding the crane components relative to each other in various orientations and moving them; at least one tool for selectively holding the wear member; a joint including a base for securing the joint to the crane, an adapter for securing the at least one tool to the joint, joint components movably engaged together between the base and the adapter, and joint actuators for selectively moving the joint components and holding them relative to each other in various orientations; and a handling system configured to determine a path for removing the wear member from the mount and / or mounting the wear member to the mount and to direct movement of the crane actuators and the joint actuators to move the wear member along the path.

[0017] In another example, a wear member handling system for removing a wear member from a mount on earthmoving equipment and / or mounting a wear member to a mount on earthmoving equipment includes: a manipulator supporting the wear member and including hydraulic actuators for adjusting the manipulator and thus moving the wear member; a handling system configured to determine a path for removing the wear member from the mount and / or mounting the wear member to the mount and to direct movement of the hydraulic actuators to move the wear member along the path; and a float manifold for guiding the flow of fluid within the actuators as the wear member moves along the path and allowing for small adjustments to the joint by an external force.

[0018] In another example, a wear member handling system for removing a wear member from a mount on earthmoving equipment and / or mounting a wear member to a mount on earthmoving equipment includes: a manipulator that supports the wear member and includes a hydraulic actuator to adjust the manipulator and thus move the wear member; a handling system configured to direct movement of the hydraulic actuator to move the wear member along a straight path; and a controller having at least manually actuated controls to signal the handling system as to which direction the wear member should be moved.

[0019] In another example, a system for performing in-yard operations includes: a manipulator that includes a hydraulic actuator and at least one sensor for detecting the orientation of the manipulator; at least one tool secured to the manipulator; and a handling system configured to determine a path for moving the at least one tool to perform the in-yard operation and direct the path of the hydraulic actuator to adjust the manipulator to move the at least one tool along the path.

[0020] In another example, a process for removing a ground engaging wear member from a mount on earthmoving equipment and / or mounting the ground engaging wear member to the mount includes: positioning the ground engaging wear member in alignment with the mount; using a handling system to determine a path that the ground engaging wear member should travel to be removed from and / or mounted on the mount; and using the handling system to direct a manipulator supporting the ground engaging wear member to move the ground engaging wear member along the path to remove the ground engaging wear member from the mount and / or mount the ground engaging wear member to the mount.

[0021] In accordance with some examples, a manipulator may be used to remove worn parts from equipment and / or mount worn parts on equipment in mining, construction, dredging, and / or other earthmoving operations. As an example, such earthmoving equipment can include, for example, various machines (e.g., excavators, crushers, cable shovels, cutters, etc.) and / or conveying equipment (e.g., chutes, conveyors, truck trays, etc.). Worn parts can include, for example, tooth tips, adapters, guards, rotors, picks, skids, wear plates, track components, blades, etc.

[0022] In accordance with some examples, a manipulator may be used for a variety of activities, particularly activities involving difficult, dangerous, and / or time-consuming processes such as equipment refueling, de-icing of planes, tree trimming, agricultural harvest elevation, precision controlled work in industrial environments, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a side view of an earthmoving machine with a bucket having teeth.

[0024] Figure 2 is a perspective view of an excavation tooth.

[0025] Figure 3 is Figure 2 an exploded perspective view of the tooth in

[0026] Figure 4 is a perspective view of another excavation tooth.

[0027] Figure 5 is Figure 4 an exploded perspective view of the tooth in

[0028] Figure 6 is a side view of a part of a processing system and an earthmoving machine.

[0029] Figure 7 is for Figure 2 a perspective view of the pin of the lock for the tooth in

[0030] Figure 8 is a partial exploded view of the pin.

[0031] Figure 9 is along Figure 7 a cross-sectional view taken along line 9-9 in

[0032] Figure 10 is a side view of a bucket.

[0033] Figure 11 is for holding Figure 2 a perspective view of the tool tip of the tooth in

[0034] Figure 12 is for holding Figure 2 a perspective view of another tool tip of the tooth in

[0035] Figure 13 is a perspective view of a three-axis joint.

[0036] Figure 14 is a perspective view of a control module for user operation of a processing device.

[0037] Figure 15A is a side view of a float control manifold.

[0038] Figure 15B is shown in a sectional view Figure 15A a perspective view of a fluid passage in the housing of the float control manifold of

[0039] Figure 16A is a side view of another float control manifold.

[0040] Figure 16B is shown in a sectional view and hasFigure 16A Perspective view of the fluid passage of the housing of the float control manifold.

[0041] Figure 17 Is an example process for removing worn components.

[0042] Figure 18 Is an example process for installing worn components.

[0043] Figure 19 Is a schematic system diagram of the illustrated system. Detailed Description

[0044] The present disclosure relates to systems, processing equipment, and / or processes for removing and / or installing worn components, such as ground engaging products used in earthmoving operations found in, for example, mining, construction, mineral processing, dredging, etc. These systems, equipment, and / or processes can be used to remove various worn components (e.g., teeth, shrouds, rotors, picks, etc.) from earthmoving equipment and / or install various worn components onto earthmoving equipment, which can include a variety of different machines, such as hydraulic excavators, loaders, draglines, cable shovels, front shovels, dredging cutters, shears, shredders, continuous miners, haul trucks, etc., and / or various components used with machines such as buckets, cutter heads, shear drums, truck trays, chutes, etc.

[0045] Reference Figure 1 , by way of example, an earthmoving machine such as a hydraulic excavator 1 is illustrated as including a bucket 3 having a front digging edge 5 including a lip 16. Teeth and / or shrouds can be fixed along the digging edge 5 to protect the bucket 3 and / or improve its digging performance.

[0046] Figures 2 - 3FIG. illustrates an example mining tooth 7. This tooth includes a base adapter 9, an intermediate adapter 10, a tooth tip 11, and a lock 13. The base adapter 9 has a mounting end 15, which has backwardly extending legs 33A, 33B for straddling a lip 16 and being welded or otherwise fixed to the lip 16, and a forwardly projecting nose 17 for mounting the intermediate adapter 10. A recess 19 is provided in each sidewall of the forwardly projecting nose 17 to receive a front end portion 21 of a pin 29, which is part of the lock 13 for fixing the intermediate adapter to the base adapter 9. The intermediate adapter 10 includes a rearwardly opening cavity 8 for receiving the forwardly projecting nose 17, a front nose 18 for mounting the tooth tip 11, and lock openings in each sidewall for receiving the lock 13. The front nose 18 includes a recess 20 for receiving the pin 29 of each lock 13 to fix the tooth tip 11 to the intermediate adapter 10. The tooth tip 11 includes a rearwardly opening cavity 12 for receiving the front nose 18, a front working end or cutting head 23, and a lock opening 25 in which the lock 13 is received. The components of this example tooth are more fully disclosed in U.S. Patent No. 9,222,243, which is incorporated herein by reference in its entirety. Although the lock in this tooth is integrally fixed to the tooth tip and the intermediate adapter, the processing system 35 can remove and / or install wear members with the lock separated from the tooth tip and the intermediate adapter. This tooth is provided only as an example. With respect to this tooth, the tooth tip, the intermediate adapter, and the base adapter are each considered to be wear members. That is, the tooth tip 11 is a wear member 7 fixed to a mounting member in the form of the intermediate adapter 10. The intermediate adapter 10 is a wear member 7 fixed to a mounting member in the form of the base adapter 9. The base adapter 9 is a wear member 7 fixed to a mounting member in the form of the lip 16. The systems, devices, and processes disclosed herein can be used with various other types of teeth, other types of ground engaging wear parts, and / or other types of earthmoving equipment.

[0047] Figures 4 - 5 FIG. illustrates another example mining tooth 22 that can be used with the present system and method. The tooth 22 includes a base adapter 9 and a tooth tip 24, which has a rearwardly opening cavity 27 for receiving the forwardly projecting nose 17, a front working end or cutting head 26, and a lock 13 located in one sidewall. As with tooth 7, the pin 29 of the lock 13 advances into the recess 19 to fix the tooth tip 24 to the base adapter 9.

[0048] As the bucket 3 digs, wear components (including tooth tips 11, 24 and adapters 9, 10) wear until they are worn and need to be replaced. As an example, in conventional operations, this can involve one or more workers releasing a lock and removing the tooth tip from the adapter. This can be dangerous for the worker because the parts can be large, heavy and / or difficult to maneuver, with the potential for causing injury. The lifting eyes 28 that are typically provided on large new parts are often worn and not available for removing the worn parts. As a result, when the lock 13 is released, some workers simply let the parts fall to the ground. The free fall of the wear components can be dangerous to the worker.

[0049] However, sometimes, even when the lock 13 is removed, the presence of fine earth powder can cause wear components such as tooth tip 11 to be held fast to the earthmoving equipment (e.g., adapters 10, 11). This can make it difficult to remove the wear components from the base and increase the time it takes for the operator to remove them. The longer removal time not only results in longer machine downtime and lost productivity, but also increases the time the worker spends in a hazardous work area. In addition, the leverage, pulling, hammering, etc. that the worker can use to release the wear components can also be dangerous to the worker, especially if the wear components shift and / or release.

[0050] Complex rigging arrangements involving chains or belts have been used to support the tooth tips to be removed when the lock is released. While this can create a safer environment, the worker is still at risk if the rigging arrangement is not secured, slips and / or creates a kink point. Further, since the chains and belts are under the tooth tips, it can be problematic to remove the wear components once they are set on the ground and create additional hazards. The lifting eyes 28 have sometimes also been welded to the worn tooth tips to support the tooth tips during removal, but welding to the tooth tips requires a time-consuming process because moving welding equipment is required, welding is prohibited at many mine sites, and / or because the tooth tips are made of very hard steel (which may require a special process to ensure a good weld), which is often not desirable.

[0051] U.S. Patent Publication 2017 / 0356167 discloses a processing device, which is hereby incorporated by reference in its entirety. This device allows workers to remove and install the tooth tips while being away from the bucket. Although this is a safer arrangement for workers, the removal of the tooth tips can still sometimes be a difficult process. Due to the tight fit (such as small tolerances) that may exist between the worn member and the base and the accumulation of compacted fine powder, it is usually necessary to pull the worn member from the mounting along the mounting path of the tooth (e.g., along the mounting shaft 31), i.e., the path 31 along which the worn member is mounted onto and removed from the base, in a linear (or other) motion. When this processing device is a hydraulically driven, manually controlled system, a direct and exact linear motion is not possible. As a result, the worn member often flips during removal and it usually takes some time for a skilled worker to operate the controls to finally manipulate the tooth tip 11 from the front nose 18 of the adapter 10. Further, generally, the deeper the mounting cavity (such as Figure 4 and 5 the cavity 27 shown for the tooth 24), the greater the need to remove the tooth tip 11 along the mounting shaft 31.

[0052] Referring Figure 6 , the system 35 can be used to remove worn members (such as tooth tips 11, 24 and other kinds of worn members) from the bucket 3 (or other kinds of earthmoving equipment) and / or to install these worn members on the bucket. In this example, the earthmoving equipment includes electronic devices 39 such as sensors, beacons, RFID tags, Bluetooth transmitters, etc. and / or some combination of such devices. As shown, the earthmoving equipment includes a bucket 3 for carrying a load. The bucket 3 has a lip 16 that supports teeth 7, and one or more of the teeth include the electronic device 39. Alternatively or additionally, the bucket 3 may further include an electronic sensor 39A (e.g., a sensor, a beacon, and / or a combination of such devices) ( Figure 10 ). The positions of the sensors, etc. in the drawings are given as examples. These electronic devices 39, 39A can be included, for example, in the tooth tips, adapters, lips, shrouds, bucket walls, and / or on the top of the bucket. The sensors 39, 39A are optional.

[0053] In one embodiment, when one or more worn members need to be replaced, such as Figure 1The operator of the earthmoving equipment 1 of the hydraulic excavator 1 shown will position the bucket 3 so that the teeth 7, 22 can be accessed by the processing device 37 to remove worn tooth tips. As can be appreciated, when it is necessary to replace the tooth tip 11, the operator of the earthmoving machine 1 may not position the bucket 3 in any kind of precise orientation. Whenever the tooth tip 11 needs to be replaced, the spatial orientation, tilt, and orientation of the bucket 3 will vary. In addition, the orientation and orientation of the processing device 37 and the vehicle 49 relative to the bucket 3 will also vary. Electronic devices (e.g., sensors 39, 39A) can be used to assist in determining the orientation and / or orientation of the worn component. In such cases, the system 35 includes complementary electronic devices 41 on the processing device 37 or elsewhere, which can detect the orientation and / or orientation of the worn component to be removed in conjunction with programmable logic. Alternatively or additionally, the sensors can be in the form of cameras, laser scanners, etc. and can be fixed to the processing device, service vehicle, or elsewhere to determine the orientation and / or orientation of the worn component to be removed and replaced. Various sensors can also be used to determine when a worn component needs to be replaced as disclosed, for example, in U.S. Patent 9,670,649, U.S. Patent 10,011,975, and / or U.S. Published Application 2016 / 0237640, each of which is incorporated herein by reference in its entirety.

[0054] In addition, the orientation of the bucket (or other equipment) can make it difficult and / or dangerous to evaluate the condition of worn parts and / or replace worn parts. The mining machine is typically shut down with lockout / tagout safety precautions before workers approach the machine to inspect and / or replace worn parts. Sometimes the bucket 3 is not in a convenient or allowable orientation for workers to evaluate and / or replace worn parts before shutdown because the bucket is oriented for other maintenance (e.g., welding) or oversight by the operator. In such cases, especially with the increasing emphasis on ergonomics and worker safety, authorized personnel have to remove tags, unlock and restart the machine, and adjust the bucket to a suitable orientation - all of which result in longer machine downtime and less production. By using the system 35 with the appropriate tool head, inspection and / or replacement of the worn part 7 can be achieved even when the bucket 3 is not properly positioned, e.g., the digging edge 5 may be too high off the ground, tilted too far upward, oriented under the equipment, etc. for manual inspection and / or work.

[0055] At other times, when machine 1 is shut down, multiple operations need to be performed on bucket 3. As an example, bucket 3 may need welding repairs and replacement of worn parts 7. Sometimes, due to risks associated with one or more workers, these operations are scheduled consecutively rather than simultaneously. For example, the welding operation may require a portion of bucket 3 to be isolated and protected as a safety precaution, which can prohibit inspection and / or replacement of worn parts 7 on bucket 3. The use of system 35 with appropriate tools 59 can enable simultaneous operations as it removes additional workers from the isolation area. Further, system 35 with appropriate tools may be able to perform two operations simultaneously without risk of injury to workers. The use of system 35 also eliminates additional time that may otherwise be required following safety precautions such as setting up safety barriers.

[0056] System 35 improves the ease, speed, and / or safety of the process for removing tooth tips 11 (or other worn components from earthmoving equipment) from the front nose 18. In other instances, system 35 can be used to remove and / or install other types of components or equipment, particularly heavy or dangerous components or equipment involving hazards such as high placement, confined spaces, extreme temperatures, hazardous environments (e.g., dusty, toxic, corrosive, etc.). System 35 can also be used to perform other operations such as inspecting and / or repairing components, equipment, and / or other supplies. In one example, the manipulator is capable of supporting tools in the form of cameras, scanners, rangefinders, or other devices to perform or assist in inspection and / or repair, particularly when the component to be inspected and / or repaired is high, in a confined space, difficult to access, or otherwise dangerous or difficult for a person to manually access and / or inspect. Such inspection and / or repair can include, for example, chutes or skids or wear plates in truck trays, bridge structures, roofs or other building structures, power or telephone poles and lines, earth embankments, and / or other earth structures (such as to inspect embankment stability). System 35 can be used to hold and control nozzles for cleaning (e.g., using water and / or abrasives), changing blades on earthmoving equipment, railcar coupling changes, etc. The manipulator can be used to vary in-yard activities, particularly activities involving hazards and / or time-consuming processes such as equipment refueling, plane de-icing, tree trimming, agricultural harvest elevation, etc.

[0057] The term "tool" as used herein is also intended to be a general term referring to one or more devices, apparatuses, components, assemblies, sub-assemblies, etc. that perform, participate in, assist with, and / or are involved in operations such as, for example, removal, installation, inspection, repair, refueling, de-icing, harvesting, and / or other operations. A tool can, for example, include a single component, multiple components working cooperatively, and / or multiple components performing different operations simultaneously or separately. As several examples, a tool head can include one or more of a gripper, a pulling assembly, a vibrator, a cleaning device, a threading and / or unthreading assembly, a welding apparatus, an impact device, a cutting device, a dispensing implement, a magnet, a camera, a rangefinder, a sensor, etc.

[0058] For the sake of discussion, relative terms such as front, rear, top, bottom, etc. are used. The term "front" or "forward" is generally used to indicate the direction toward a component, apparatus, machine, structure, ground, vegetation, etc. that is the subject of an operation such as removal, installation, inspection, repair, cleaning, refueling, harvesting, or other operations. Similarly, the term "upper" or "top" is generally used as the direction or orientation that is farther from the ground or other support of the manipulator. However, it should be recognized that in various operations, the manipulator can be oriented in various ways and move in various directions during use.

[0059] In one example, system 35 can include a vehicle 49, a processing device 37, at least one computer 43 having a memory and a processor or controller using stored programmable logic, sensors 39, 39A, 41, a storage bin 75, and a magazine 77. The vehicle 49 can house the computer 43, the processing device 37, the storage bin 75, and / or the magazine 77. The processing device 37 includes a tool or tool head 59, such as a gripper 60 and / or a driver 65, and a manipulator 62. The processing device 37 can be a stand-alone device or be fixed to the vehicle 49 or other mobile base. In the illustrated Figure 6 example, the manipulator 62 includes a crane 47, a tool head 59 such as a gripper 60, and a joint 71 or other coupler for attaching the tool head to the crane. The tool 59 can grip the worn part 7 or otherwise hold the worn part 7 for removal from its base and / or installation onto the base.

[0060] Other arrangements are possible. The tool head 59 and the manipulator 62 can include features and / or auxiliary tools such as those disclosed in U.S. Publication No. 2015 / 0104075 and / or U.S. Publication No. 2017 / 0356167, which are incorporated herein by reference in their entirety.

[0061] The processing device 37 may include a host computer 43. The computer 43 may have a processor and a memory having computer instructions, applications, programmable logic, etc. written and readable thereon. In the illustrated example, the computer 43 may also be remote from the device 37. The computer 43 may include various components discussed below ( Figure 19 ). As used herein, the term processor can include one or more processors for the system. The host computer 43 may be one or more computers having CPUs mounted on trucks, cranes, joints, and / or tool heads, or may be separate from the processing device 37, such as part of a handheld device, mobile device, fixed station, and / or office, and provide wireless or wired controls for autonomous and / or controlled movement of the processing device 37.

[0062] The computer 43 may include instructions for the processor to be configured to provide information and analysis based on data received from sensors 39, 39A, 41, databases, other data sources, other remote devices, etc. In one example, the computer 43 may simply facilitate communication between the processing device 37 and various system components (such as the manipulator 62, the gripper 60, the crane 47, etc.) via a communication device through a network. Each of the various components of the system may include separate computers and memories, or a single computer 43 (distributed or otherwise) may control each of the various components of the system 35. In one example, the various components of the computer system 43 may be physically located together, and / or may be geographically distributed. As will be appreciated by those skilled in the art, other exemplary computer systems 43 according to examples of the present technology may include components different from those illustrated and described herein.

[0063] The computer 43 may include instructions for a processor or controller to be configured to control the processing device 37 and / or the electronic devices or sensors 39, 39A, 41. Some or all of the actions of the processing device 37 can be fully or partially automated. The computer 43 can use data from the sensors 39, 39A, 41 to control the valves of various hydraulic cylinders, actuators, and motors. In particular, when using other motors and actuators, other types of arrangements can be used. This control allows the worker to avoid contact with worn parts and stay at a safe distance from the parts during the processing operation. Lasers (not shown) can be provided on various components of the processing device 37 or various other machines to provide a sight line, which can assist the operator in positioning the drive tool 67 in the lock 13. A camera can also be provided (in addition to or independently of the laser) to assist in connecting the device 37 to the worn part. The use of the camera can also be used to assist the operator or fully automate the operation of the device 37. Further, some processes can be performed manually. For example, in other configurations, the lock 13 can be manually released by the worker after the tool head 59 engages and supports the worn part.

[0064] The system 35, using, for example, suitable sensors 39, 39A, 41, databases, and / or computers, can detect the orientation and / or alignment of the worn member 7 and its installation / removal path (which may be along an axis) 31, i.e., the path for removing (or installing) the worn member, regardless of whether it is a straight path, a curved path, or a different defined path. Optionally, inputs regarding the type of the worn member 7 can be received, for example, through sensors 39 in the worn member and / or sensors 41 on the processing device 37, accessing databases, receiving inputs from codes on the earthmoving equipment, etc. However, the sensors 39, 39A, 41 are optional. As an alternative, the installation path can be pre-loaded as a straight line (or other motion) such that once the worn worn member is grasped by the processing device, when the operator indicates that the worn member should be removed, for example, by operating a joystick controller, a switch, etc., the straight line (or other prescribed) motion automatically occurs (through sensors and computer processing in the crane, joints, and / or tool head). The removal along the removal path can also occur autonomously. Such a process can also be used in installation, i.e., the processing device can move the worn member along a straight line or other installation path onto the installation piece.

[0065] Reference Figures 7 - 9, one or more sensors 39 are capable of determining the orientation and / or direction of the wear member to be removed. Such sensors can take many different forms. For example, sensor 39 can be disposed in the tooth tip 11 to identify the 3-D direction of the installation path, which in this instance is along the installation axis 31. Such a sensor 39 can be disposed in the pin 29 of the lock 13 and / or in an opening in the casting body of the tooth tip 11 (not shown). For example, the pin 29 can include a recess 45 that can not only accommodate a tool for driving the pin 29 into and out of contact with the intermediate adapter 10, but also accommodate and hold the sensor 39. The sensor 39 can be, for example, as disclosed in U.S. Patent No. 10,024,033, which is incorporated herein by reference in its entirety. The sensor 39 can detect the orientation and / or the spatial direction of the wear member and wirelessly transmit a signal with position information for use by the controller 43 in determining the orientation and / or direction of the installation axis 31. The sensor 39 can also have other functions, such as detecting an unintended separation and / or wear of the wear member during use.

[0066] Reference Figure 10 , in the illustrated example, the sensor 39A can be disposed on the bucket 3 to detect the spatial direction and / or orientation of the installation axis of the tooth tip on the bucket 3. Such sensors 39, 39A in the wear part 24 and / or on the bucket 3 can include, for example, GPS and / or an inclinometer. Providing digital coordinates to the processing device 37 can enable the device 37 to automatically travel to the machine with the wear member 24 that needs to be replaced and / or provide navigation for the driver.

[0067] As another example, an image sensor such as a camera on or separate from the processing device 37 can be used by the controller 43 in conjunction with programmable logic such as vision recognition software configured to determine the specific 3-D direction and / or orientation of the installation axis 31 of the tooth 7. The controller 43 can optionally access a database with details of the tooth tip 11 and the installation axis 31 to make the desired determination. Other types of sensors are possible and / or two or more of different types of sensors can be used in combination with each other.

[0068] The sensor 41 can be an encoder or other type of sensor. If the second arm 55 telescopes (e.g., an inner cantilever), then the sensor 41 can be provided to detect the extension of the arm ( Figure 13)。The sensor 41 is physically coupled to and / or mounted on the processing device 37 and can be configured to detect or monitor the position of a worn wear member. For example, the sensor 41 on the processing device 37 can be a passive sensor that collects data. In another example, the sensor 41 on the processing device 37 can be active and / or positioned on the earth-moving equipment 1. The sensor 41 can work in combination with a second sensor (such as 39) that is separate from the processing device 37.

[0069] In one embodiment, the computer 43 can provide or receive information and / or communicate directly with and / or from the sensors 39, 39A, 41. The processing device 37 can also collect and transmit data regarding the worn parts being installed and / or removed. The data can include, for example, photos of the worn parts, weights, forces required for installation / removal, times required for installation / removal, notifications to personnel for replacing worn parts, and the like. The processing device 37 can also communicate with and / or receive data from sensors disposed in the worn parts. The processing device can provide data to the worn part sensors regarding, for example, the replacement date, time, location, duration, etc. of the worn parts. The processing device can also receive data from the worn part sensors regarding, for example, wear life, impact, performance, etc. as disclosed in, for example, U.S. Patent No. 10,011,975. The sensor data and / or data from other sources can be processed by the computer 43 to provide various outputs.

[0070] The computer 43 can include instructions for a processor or controller to be configured to receive signals from the sensors 39, 39A, 41, for example, via a wireless transmission that includes data such as the orientation and / or direction of the mounting shaft 31. The computer 43 can use data including the detected orientation and / or direction of the mounting shaft 31 and the relative orientation of the crane 47 and the joint member 71 to control the hydraulic cylinders and / or motors to move the tool head 59 in a linear motion (or other removal motion) along the mounting shaft 31 regardless of the 3-D orientation of the mounting shaft 31. The movement of the gripper 60 along the removal path can be a coordinated simultaneous movement of different adjustable components guided by the controller through programmable logic. It may involve the coordinated movement of all adjustable components, or it may involve the adjustment of less than all adjustable components. The wear member 7 is contemplated to be removed along the defined removal path or shaft 31. Other removal paths are also possible. For example, certain wear members (such as tooth tips and shrouds) can be removed and / or installed along a non-linear (e.g., arcuate) mounting path.

[0071] As used herein, the term "manipulator" refers to a device, apparatus, component, sub-component, etc. capable of moving to support a tool for performing operations - such as removing, installing, inspecting, repairing, etc. The term "manipulator" is intended as a general term that can include, for example: (i) a plurality of components such as a combination of a base, arm, joints, and a tool support or head, (ii) a sub-component such as an articulated arm, joints, and / or a tool support, and / or (iii) other components or sub-components capable of movably supporting other components or sub-components or working with them to movably support a tool for performing operations.

[0072] The manipulator 62 can include a crane 47 and joints 71. In the illustrated example, the crane 47 includes a column 51 rotatable about a vertically oriented first axis A1, a first arm 53 pivotally fixed to the column 51 for movement about a horizontally oriented second axis A2, and a second arm 55 pivotally fixed to the first arm 53 for movement about a third axis A3 also horizontally oriented. The column 51 can be fixed to a vehicle 49, which allows for the mobile positioning of the crane 47. The crane 47 can include one or more segments 53, 55 pivotally joined together and controlled by hydraulic cylinders (not shown), but can have other configurations and / or drives. More or fewer arms and joint axes are possible. The second arm 55 can optionally be telescopic. The rotation of the column 51 is preferably driven by a hydraulic motor and the pivotal movement of the arms 53, 55 by hydraulic cylinders. The crane 47 can optionally be mounted on a turntable to allow rotation about the first axis A1. Other types of devices with different kinds and / or different arrangements of possible movements can be used. One alternative example would be to use the boom 2 and stick 4 of an excavator 1 as seen in Figure 1 and custom components and / or other components.

[0073] In one example, the tool head 59 is fixed to the second arm 55 by the joint 71. In the illustrated example, the joint 71 abuts about the axis A4. In an alternative, the joint 71 can be adjusted about three vertical axes A4 - A6 as discussed below. The various adjustments of the joint 71 are driven by a hydraulic motor in one example. In one example, sensors 41 are provided for each adjustment to detect the relative orientation of each of the arms 53, 55 moving about the Figure 6 axes A1 - A4 in the illustrated example and Figure 13 axes A1 - A6 in the illustrated example.

[0074] In one example, the manipulator 62 is hydraulically driven to be robust enough in varying environmental conditions such as those found in earthmoving environments, but other drives are possible for certain operations and / or conditions. The hydraulically driven manipulator 62 is less susceptible to in-field operation failures in situations where it may be subjected to varying environmental conditions such as heat, cold, precipitation, dirt, fines, dust, fumes, corrosive materials, etc. (e.g., as compared to an electric drive). The hydraulic drive (e.g., as compared to an electric drive) is also capable of providing a significant amount of power through a compact device, which is useful for certain applications; one such example includes removing and / or installing worn parts in a mining environment, boom structure inspections, any elevated platform applications that would place an individual in harm's way, etc. - but many other uses are possible.

[0075] In one example, the manipulator 62 in accordance with the present disclosure can be used with a tool head such as a grapple 60 to remove ground engaging worn parts 11 from a bucket (not shown) and / or install them on the bucket. The manipulator 62 can be operated in various ways and used with tools such as tool 59 disclosed in U.S. Publication No. 2015 / 0104075, and / or operated in various ways and used with tools such as those disclosed in U.S. Publication 2017 / 0356167. These are intended as examples, as the manipulator 62 can have many other uses. The tool head can be interchangeably fixed to the manipulator to enable different operations as needed and / or multiple tool heads can be simultaneously fixed to the manipulator 62 to be used collaboratively, independently, simultaneously, and / or sequentially.

[0076] The defined path 31 for removing the wear member 7 can optionally also include a release motion to better release it from its base before and / or during moving the wear member along its installation path. Examples of the release motion can include, for example, the wear member vertically and / or laterally short and / or quickly swinging to help release an adhered wear member from its base (such as due to the presence of compacted fines). The use of the release motion can occur before or during pulling the wear member 7 along its installation path. The release motion can be programmed to occur automatically during each removal of the wear member and / or only when the force to remove the wear member exceeds a predetermined limit and / or they can be manually activated. Sensors (not shown) can be provided in the system 35 to detect when the threshold pull force has been met and the release motion should be initiated. Such sensors can also be provided to detect a higher-than-expected force during installation, such as if there is an unexpected misalignment of the base for accommodating a replacement wear part, for example, due to intervening movement of the bucket, misaligned teeth, etc. Sensors can also be provided to stop movement in the event the processing device encounters an unexpected barrier. The release motion can also and / or alternatively include a float mode as will be discussed further below.

[0077] ReferenceFigures 11 - 12 , in one example, the tool head 59 includes a base tool mount 76 (such as a hook 78) and an operating device (such as a gripper 60). In the example illustrated herein, the tool head 59 has a hook 78 that secures the tool head 59 to the adapter 6 or the crane 47 at the rear end, and an operating device 60 that grasps the wear member 7 at the front end. As can be seen, the tool head 59 may have a pin 80 for securing the hook 78.

[0078] The wear member 7 (such as the tooth tip 11) may become stuck to the base, and the wear member is mounted on the base due to friction, compacted fines, bent components, corrosion, etc. In one example, the tool head includes a vibrator that can cooperate with the gripper 60 when removing the ground engaging wear part 7 from the earthmoving equipment 1. Using a vibrator together with a device for removing the wear part (e.g., the gripper 60) can reduce the force required to remove the wear part, thus making the removal process easier and / or shortening it. For example, to remove the tooth tip 11, the tool head 59 engages the tooth tip 11 mounted on the front nose 18, where the gripper 60 has a pair of opposing arms 61, but other arrangements for holding the wear member are possible. The arms 61 can include an inward flange 63 that engages the trailing edge 64 along the side of the tooth tip 11 at its distal end. In Figure 11 the tool head 59 seen includes a driver 65 that can be adjusted towards and away from the lock 13 to release and / or secure the lock 13. Each driver 65 includes a pivot arm 83 and a tool 67 (e.g., a hexagon tool) that can be engaged in a recess (or other tool engaging formation) 45 to move the pin 29 into and out of engagement with the recess 20 in the intermediate adapter 10 or the lock opening 25 in the tooth tip 11. This is intended as an example. Other components can be used to release the lock 13 and / or other types of locks that can be pried, pulled, impacted, etc. from the wear component. The term release in relation to the lock is intended to include adjusting the lock and / or removing the lock from the wear member while the lock remains fixed to the wear member, so that the lock no longer secures the wear member to the mount.

[0079] In one embodiment, to remove the tooth tip 11, the arm 61 grasps the tooth tip with the flange 63 on the trailing edge 64 while the front end of the tooth tip is pressed against the stop 69. The drive arm 65 is lowered so that the tool 67 is received in the recess 45 and rotated to move the front end 21 of the pin 29 out of the recess 20. The tool 59 in one example is driven by a hydraulic motor. The tooth tip 11 is now ready to be pulled from the mount (e.g., from the front nose 18).

[0080] In another embodiment, to install the replacement tip 11A on a mounting (e.g., the front nose 18 of the intermediate adapter 10), the processing device 37 grasps the replacement tip 11A and positions the tip 11A adjacent to and aligned with the intermediate adapter 10 along the mounting axis 31. The orientation can be determined by the computer 43 based on data from the sensors 39, 39A, 41 and / or the memory and / or database of the removal process, and / or determined by the worker through manual (or semi-manual) control.

[0081] The control of the processing device 37 can have several modes or controls. Figure 14 Illustrated is a handheld or mobile control unit 100 for the processing device 37. The mobile control unit 100 includes a user interface 101, a stop switch 102, a display 103, a speed control switch 104, a toggle switch 105, a float mode switch 107, quick buttons 108, accident automatic brake switches 109, 110 and / or joysticks 111, 113, 115. The control unit 100 can be fixed to a column via a belt 116 or strapped to the user. The display 103 can show different operating modes controlled by the user through the user interface 101. The display can show the percentage of full extension of a particular component of the processing device 37 (e.g., the second arm 55).

[0082] The user interface 101 includes a rotary button 117, a keypad button 119 and an esc button 121. The rotary button 117 allows the user to orient to select a particular function (e.g., an operating mode). The keypad button 119 allows acceptance of the selection and the esc button 121 allows returning the selection to the previous screen or canceling the selection. The user interface 101 can also be a touchscreen display to allow the user to select various functions or modes for the processing device 37 through tactile feedback with the display 103.

[0083] For example, one mode can be used to control the crane 47. As an example, the joystick 111 (or other controller) can control only the operation of the crane 47. A second mode can be used to control the three-axis joint assemblies 71, 71A. The handheld control unit 100 can include a second joystick 113 (or other controller) that controls only the operation of the joint assemblies 71, 71A. A third mode can be used for collective control of the crane and the joints. The control can include a third joystick 115 that controls the combined operation of the crane and the joints.

[0084] In this example, a forward push of the first joystick 111 will cause the crane hydraulic cylinders to move jointly to coordinate the linear (or other) movement of the end of the crane 47 (i.e., at 41). A backward push will be in the reverse direction, a right lateral push on the first joystick 111 will move the end of the crane in the right direction, etc. A forward push on the second joystick 113 moves the joint to tip the tool head downward. A lateral push of the second joystick 113 will cause the joint to rotate the tool head to the right. A forward push on the third joystick 115 will control the crane 47 and the joint assemblies 71, 71A to move the tool head directly forward in a linear movement (or other movement if programmed differently). This is the control that will preferably be done to pull the wear member from the base and / or install the wear member onto the base.

[0085] In the removal example, the tool head will grip the wear member 7 and release the lock. Then, the third joystick 115 is moved backward so that the handling device automatically moves the wear member in a reverse movement along the removal path 31, which is a linear movement in the illustrated example. To install the replacement wear member 7aA, the operation of any or more of the joysticks 111, 113, 115 moves the wear member 7A to align with the base. Then the third joystick 115 can be pushed forward so that the computer cooperates with the sensor 41 and controls the hydraulic cylinders and / or motors to move the tool head along the installation path 31 (e.g., in a linear movement) with the replacement wear member 7A to place the wear member fully on the base. Then the tool head is operated to move (or install) the lock to the holding orientation to fix the wear member to the base. The wear member can be released, and the handling device can be removed. The tool head controls can be separate from the crane / joint controls (and optionally on a hand-held control). Other embodiments are possible, and a fully automated process is possible. Although controls with joysticks are shown, other arrangements are possible. For example, a single joystick that can operate in different modes can be used. As another example, the joysticks can be replaced with other types of controllers.

[0086] In another example, one mode controls the crane 47 and the three-axis joint movement. The joystick 111 can control the column 51 or the slewing or oscillating rotation (e.g., by left / right rotation of the joystick 111), and the main boom or arm 53 moves up and down (e.g., by up / down or right / left movement of the joystick 111). The joystick 113 can control the three-axis joint assembly 71A such that each direction, up / down, left / right, left / right, and left / right rotation controls a specific axis (e.g., pitch, roll, yaw) on the three-axis joint assembly 71A. The joystick 115 can control the inner boom and the outer boom. For example, left / right movement controls the extension and retraction of the inner boom, and up / down movement controls the outer boom or arm 55.

[0087] In another embodiment, the switching switch 105 switches between several modes for controlling different tool heads, such as an adapter mounting / demounting tool or a tip mounting / demounting head or a gripper 60 ( Figure 11 ). In such a mode, the joystick 111 can control the adapter stabilizer to move in and out as the joystick 111 moves up / down. The joystick 111 can also control the gripper arm 61 to move inwards and outwards as the joystick 111 moves (such as left / right movement). The joystick 113 can move the drive tool 67 up and down and rotate the tool clockwise and counterclockwise (such as by up / down and left / right movement). The joystick 115 can move the drive tool 67 forward and to the right and move from left to right to align with the lock. In one example, it may be required to press the accident automatic brake switch 109 while pressing the switching switch 105 so that there is a predetermined purposeful switching between the modes. In another embodiment, the float mode switch 107 can activate the float mode of the three-axis joint assembly 71A during the tool head mode. The float mode switch 107 can also be turned on / off during the crane-only mode and the crane and three-axis joint assembly mode. The activation of the float mode can also determine which axis floats (such as A4, A5, A6 or some combination) as will be discussed further below. It may be required to press the accident automatic brake switch 110 when pressing the float mode switch 107 so that there is a predetermined purpose to turn on the float mode.

[0088] In another example, the switching switch 105 can select a mode for the mounting shaft controls of both the crane 47 and the engagement assemblies 71, 71A. Such a mounting shaft mode can be, for example, a linear motion mode. In this case, the mounting shaft 31 is determined or set by the operator by manipulating the handling equipment adjacent to the worn component to be replaced or installed. Once the mounting path 31 is determined, the joysticks 111, 113, 115 can be used so that the controls of both the crane 47 and the three-axis joint assembly are controlled simultaneously. For example, the joystick 111 can control the movement in the X-Y direction along the path 31, while the joystick 115 can control the z direction (such as forward and backward). It should be noted that the three-axis joint assemblies 71, 71A can pitch, roll, and yaw in any number of directions, and the joysticks 111 and 115 will still control the movement of both the crane 47 and the three-axis joint assembly 71 along the path 31. The joystick 113 can still be used to control the three-axis joint assembly only during the mounting shaft or linear motion mode.

[0089] In one embodiment, the speed control switch 104 can control the speeds of the crane 47 and the joint components' movement. In one example, the stop switch 102 can stop the execution of all actions until the stop switch 102 is deactivated. This can account for any missteps during in-yard operations.

[0090] In another embodiment, the quick button 108 may allow for swapping the functions to be performed in other modes outside the currently selected mode. For example, in the crane-only 47 mode, the quick button 108 may be pressed to clamp the arm of the grapple head tool or extend / retract the stabilizer on the grapple head tool. This will relieve the user of the need to swap between modes and provide a certain shortcut to a specific function that is to be employed regardless of what mode the handheld unit 100 is in.

[0091] Regardless of whether a joystick or other form of control is used, one example operating mode simultaneously controls the orientation and position of the crane 47, the manipulator 62, the three-axis articulating assembly 71A, and the tool head 59 such that the tool 59 holding the wear member moves along a single mounting path 31, which in this example is along a linear mounting axis. Once the replacement tip 11A is aligned with the base or adapter, the computer 43 moves the tip 11A forward in a straight line or other defined motion along the mounting axis or other mounting path 31 to mount the tip 11A on the intermediate adapter 10. The degree-of-freedom motion adjustment (referred to as "compliance") provided by a spring (or other device, such as the float discussed below) can be used to mount the tip on the mount (such as the intermediate adapter 10) to relieve the need to move strictly along a specified or defined path and / or to precisely align with the mounting path of the mount (such as the front nose 18 of the intermediate adapter 10). The freedom of motion provided by a spring or the like (if provided) will typically be locked (at least part of the time) and not available during removal due to the force sometimes required to remove the tip from the front nose 18 of the intermediate adapter 10.

[0092] Return to reference Figure 6 To ease the operation of removing and installing the wear members 7 / 7A (such as the tips 11, 11A, or 24), the computer 43 having a processor with programmable logic is capable of automating the movement of the device 37. During replacement of the wear member 11A, the worn wear member 7 is replaced and discarded in a bin or other storage location 75.

[0093] The new worn part 7A can be set on the vehicle 49 via the frame, the storage location, or the turntable conveyor 77. The replacement worn member 7A is grasped at the storage location 77 and installed on the mounting (such as the base adapter 9, the intermediate adapter 10, the lip 16, or other mounting sites) where the worn worn member 7 has been removed. The turntable conveyor 77 can include a number of compartments for holding the respective worn parts 7A to be installed. The turntable conveyor 77 can be computer-controlled and rotated to the indexing orientation. When the device 37 pulls the replacement worn part 7A (such as the tip 11A) from the turntable conveyor 77 for installation, the turntable conveyor 77 can rotate to the indexing orientation to present the next new worn part 7A in the same orientation as the previous worn part 7A. This allows the device 37 to be stored in the memory and access the same orientation each time to pull another part. The turntable conveyor 77 can have one layer or can have multiple storage layers with more than one indexing orientation. Alternatively, the turntable conveyor 77 can present an empty bin in the indexing orientation and the device 37 can place the worn parts 7 removed from the earthmoving equipment 1 in the empty bin 75. The turntable conveyor 77 can then rotate to present the new worn part 7A that the device 37 can pull for installation. Alternatively, the device 37 can place the used worn parts 7 in a bin 75 (such as a bin on the vehicle 49). The bin 75 can be dumped at the end of the installation operation to recycle the used parts. The turntable conveyor 77 can also include a library for different tool heads, which can be similarly configured for dispensing the tool heads in the indexing orientation. Alternatively, the turntable conveyor 77 can dispense the worn parts 7A and the tool heads.

[0094] In one example, computer 43 can include instructions for a processor or controller to be configured to move a worn wear member 7 pulled from a base or mount (e.g., along mounting axis 31) to be discarded in a bin or other storage location 75. A controller using programmable logic then grasps (or otherwise secures) a replacement wear member 7A for installation on the base or mount from which the worn wear member 7 has been removed. The controller is capable of storing the path 31 and the location from which the worn wear member 7 was pulled from the mount (e.g., intermediate adapter 10) and can recall, via programmable logic (without returning to discard bin 75), a previous movement to align the replacement wear member 7A with the mounting axis 31 for installation on the base or mount. The controller can then use programmable logic to move the wear member 7A to the base 9, intermediate adapter 10, lip 16, or other mounting site. The controller can also move gripper 60, either autonomously via programmable logic or manually via user control (with or without programmable logic), to the next worn wear member 7 to be removed. Additionally, as an alternative, the controller can be configured to have a learning mode where the controller learns the path by which an operator manually moves the processing device along a repeated route or performs repeated operations within the field and can then call the learning mode to repeat the same movement or a slightly adjusted movement for the next worn part.

[0095] The disclosed uses and configurations of processing device 37 and tool head 59 are just one example and other arrangements are possible. Processing device 37 can have different forms and / or have fewer or more different degrees of freedom of movement.

[0096] Referring Figure 13 , robotic arm 62 can include a three-axis joint assembly 71A (as one example of joint 71) to secure tool head 59 to robotic arm 62. Joint assembly 71A can have a configuration as disclosed in U.S. Patent Application Serial No. 16 / 370,868, filed March 29, 2019, which is hereby incorporated by reference in its entirety. The three-axis joint assembly 71A can be located at the distal or distal end of second arm 55. Tool head 59 can be removably secured to the distal end 70 of the three-axis joint assembly 71A.

[0097] The three-axis joint assembly 71A can include a base 14 and an adapter 6. The adapter 6 can mount multiple different tool heads 59 fixed in series together or can continuously support different tool heads 59. The base 14 is preferably fixed to the distal end 71 of the arm 55, which terminates in the substrate 30 in this example. The substrate 30 can be fixed to the arm 53 in a single orientation or include joints to provide pivotal, universal, or other connections. In one example, the base 14 includes movable components that are extremely close to define three axes A4, A5, A6 for the compound movement of a supported tool such as the tool head 59. Joint components or articulators are fixed together to form three articulation points or axes (more or fewer than three). In one example, one axis always intersects the other two axes. Alternatively, the three-axis joint assembly 71A can be constructed such that the three axes always intersect. Alternatively, the three-axis joint assembly 71A can be constructed such that two of the three axes always intersect. In another example, none of the axes A4, A5, A6 intersect. In one configuration, the axes A4 - A6 are in close juxtaposition to facilitate controlled movement in a compact space.

[0098] The base 14 is fixed to the distal end of the arm 55 by a first support 28. The first support 28 in this example includes spaced-apart fixing plates 32 attached (e.g., by bolts) to the substrate 30. In the illustrated example, the axes A4 - A6 are continuously oriented as a pitch axis A4, a yaw axis A5, and a roll axis A6 from the distal end, but they can be oriented in a different order.

[0099] In the illustrated example, the base 14 includes a first actuator 34 for movement about the pitch axis A4. The first actuator 34 includes a housing 36 fixed to the fixing plate 32, and a first internal rotatable element (not shown) attached to and movably holding a second support 38. The second support 38 includes a pair of arms 40, a substrate 42, and a fixing plate 44 for holding a second actuator 46 that extend around opposite ends of the housing 36 to be attached to the first internal rotatable element. In this example, the first actuator 34 can be a hydraulic rotary actuator such as available from Parker-Helac Corporation. In this example, the actuator 34 provides movement of about 100° about the pitch axis A4. In this example, the first or pitch actuator 34 provides a degree of freedom of movement that varies from -10° to +90° from neutral, where the neutral in this case is when the substrate 42 is parallel to the substrate 30. Other drives, configurations, and degrees of freedom of movement are possible.

[0100] In this example, the second or yaw actuator 46 can be a hydraulic rotary actuator such as available from Parker-Helac Corporation. The second actuator 46 includes a housing 48 fixed to the fixed plate 44, and a second internally rotatable element (not shown) attached to and movably supporting the third support member 66. In this example, the third support member 66 includes an arm 52 fixed to the second internally rotatable element and a base plate 54 supporting the fourth support member 50. In this example, the second or yaw actuator 46 provides a movement of about 160° about the second or yaw axis A5. In this example, the actuator 46 provides a degree of freedom of movement that varies from -80° to +80° from neutral, where the neutral in this case is when the base plate 55 of the support member 50 is parallel to the base plate 42. Other drives, configurations, and degrees of freedom of movement are possible.

[0101] In this example, the third or roll actuator 56 is a hydraulic cylinder supported by the fourth support member 50 for moving the turntable 57. In this example, the roll actuator 56 provides a movement of about 40° about the roll axis A6. In this example, the actuator 56 provides a degree of freedom of movement that varies from -20° to +20° from neutral, where the neutral in this case is when the adapter leg 85 extends downward so as to be set on the ground or other support when not in use. In one example, the roll axis A6 always intersects the other two axes A4, A5 in all orientations. Other drives, configurations, and degrees of freedom of movement are possible. In an alternative configuration, the yaw actuator 46 is shifted rearward to cover the pitch joint such that the pitch axis A4 and the yaw axis A5 always intersect. In this arrangement, the roll axis A6 also preferably intersects the other two axes A4, A5 such that all three axes always intersect (not shown). In another configuration, none of the axes A4, A5, A6 intersect.

[0102] Adapter 6 includes a tool mount 70 which, in this instance, is located on a front end portion 80 opposite the turntable 57. The tool mount 70 may include a connector for securing a tool head to the tool mount 70. In this instance, the tool mount 70 includes a pin 64 and a support plate 65 to which a tool such as the tool head 59 is secured. In one instance, the tool head 59 is a gripper assembly 60 that holds wear parts 7 (such as tooth tips 11) when installing them onto or removing them from the earthmoving equipment 1. However, other types of tool heads and mounts can be used to accommodate tools with different types of connections. In one embodiment, additional tool heads can be secured in series. As an example, a tool head in the form of a sensor module can be mounted in series with the tool head 59. As an example, the sensor module can detect one or more of the pulling force applied to remove a wear part, the vibration level applied, signals from sensors in the wear part, and / or other characteristics of the operation. The sensor module can include a connector in the form of a hook 78, but other arrangements are possible. Each tool head can be operated when needed, continuously, when certain events occur, etc., depending on what is needed or desired. Other tool heads including, for example, one or more sprayers for cleaning fines, welding equipment, cameras, etc. can be secured in series from the adapter 6. Various tools can be secured and removed as needed for the desired operation. Although a tool mount and hook are illustrated, other securing arrangements are possible. Additionally, although examples having two or three tools in series have been discussed, other numbers of tools can be secured together.

[0103] Additionally, the adapter 6 can be provided with various means for attaching different types of tools, for example, holes allowing bolt connection and / or other common or custom connection means. Different adapters can also be fixed to the base 14 to accommodate different tools and / or operations.

[0104] A coupler 68 can be fixed to the adapter 6 outside the adapter housing 72 to facilitate hydraulic, pneumatic, and / or electrical connection to the tool, i.e., to drive and / or control various mechanisms and operations of the tool. They can be fixed in other ways. In this instance, two six-port hydraulic couplers 68 are included to provide an easy and quick hydraulic source for the tool; other arrangements are possible. Electrical connectors (not shown) can also be provided for use by the tool.

[0105] In one example, the arm 55 and the joint assembly 71A are operated together by the same control, whether manual, automatic, or semi-automatic. For example, the operation of the joint assembly 71A can be coordinated with the operation of the crane 47 or other base manipulator so that they work together. In such cases, the three-axis joint assembly 71A can include a computer 43 and a multi-valve manifold 73 to operate the supported tool head 59 via the coupler 68. In an alternative example, the arms 53, 55 can be operated by the controls of the crane 47 or other manipulator, and separate computers 43 and manifolds 73 are used to operate the actuators 34, 46, and 56 and the supported tool head. This independence allows the joint assembly 71A to be attached to almost any crane, boom, arm, or other support without having to incorporate the controls into the crane, boom, arm, etc.

[0106] In other alternatives, the crane 47, the joint assembly 71A, and the tool head 59 may each have separate computers or all be operated by a single master computer 43. Hoses and / or internal piping supply hydraulic fluid, etc. from a source to the components of the manipulator 62, the joint assembly 71A, and / or the supported tool. The hoses and / or piping are omitted from the drawings; they can have almost any arrangement. Similarly, electrical wires can be provided to the manipulator 62, the joint assembly 71A, and / or the supported tool. The electrical wires are also not shown in the drawings. The computer 43 can be powered by a power source from a crane, excavator, vehicle, power unit, etc. and / or by a battery in an adapter or elsewhere. The battery can be provided as a supplement or alternative to such electrical wires. The hydraulic fluid (and if needed, electricity) for the joint assembly 71A and / or the tool can be supplied by the crane, excavator, vehicle, or other device supporting the joint or from a separate drive unit. The computer 43 can be located remotely from the processing equipment.

[0107] The computer 43 may include instructions for a processor or controller to be configured to direct the operation of the crane 47, the three-axis joint 71A, and / or the supported tool head 59. The computer 43 may have a processor with instructions configured to receive signals from another computer, a handheld device, or a mobile device for real-time operations—such as operations to remove, install, inspect, repair, refuel, tree trim, harvest, etc. The computer 43 may be included in a mobile device and / or a handheld device having a joystick or other type of controls to control and operate the movement of the crane 47, the three-axis joint 71A, and / or the tool head 59. Alternatively, instructions from the computer 43 may provide an indication for automatic or semi-automatic operation by the crane 47, the three-axis joint 71A, and / or the tool head 59. In such a system, instructions for automated operations are preferably pre-stored in a database (remote or in the adapter 6) and are used to perform the desired operations. In automated operations, the crane 47, the three-axis joint 71A, and / or the tool head 59 can be provided with encoders (linear or rotary) and / or orientation sensors at the actuators 34, 46, 56 to identify their orientation and / or direction. The automated controls and the manual controls can work cooperatively, continuously, or separately together. Signals can alternatively or additionally be received from sensors included in the components and / or equipment to be removed, installed, inspected, etc. to, for example, identify the components and / or equipment, direct the crane 47, the three-axis joint 71A, and / or the tool head 59, or convey other information regarding the orientation, condition, or operation of the worn components 7 and / or equipment. Examples of sensors that may be included are disclosed in U.S. Patent 9,670,649, U.S. Patent No. 10,011,975, and / or U.S. Publication No. 2016 / 0237640. Signals can be received from other cranes, three-axis joints, and / or tool heads in the vicinity of or working in cooperation with the crane 47, the three-axis joint 71A, and / or the tool head 59. Any one or all of such signals in the various examples can be used together jointly or are available for use together. Alternatively, they can each be used independently or in various combinations with other types of signals and operations. Further, whether they are used together or independently, they can be received in combination with other types of signals. A communication device can similarly or alternatively send signals for various purposes including any one or all of the purposes noted above. The signals sent can be of any of a variety of different types, with radio waves being an example.

[0108] In one example, the processing device 37 can be used to inspect and / or replace worn parts on an excavation bucket. A camera or other tool can be coupled to, for example, the adapter 6 to inspect the condition of the worn parts. A tool such as the illustrated tool head 59 can be used to replace the worn parts. The camera or other inspection tool can be provided as part of the tool head 59, possibly a tool separately attached to the adapter 6, or may be fixed to the adapter 6 in place of the illustrated tool head 59 for inspection.

[0109] The manipulator 62 and / or the tool head 59 can be completely manually controlled by a processor with instructions stored in a memory to grasp, release the lock, and remove the worn part. Alternatively, the computer 43 can manually adjust the manipulator to place the tool in proximity to or in engagement with the worn member, and a programmed sequence of instructions is used to operate the manipulator and / or the tool to perform one or more of grasping the worn member, releasing the lock, and / or removing the worn member. Alternatively, the entire operation can be controlled by a sequence of programmed instructions. The camera and / or sensor can be used in manual, automatic, and / or semi-automatic operations. The computer 43 can receive information from such a camera (or the like) and / or sensor and / or sensors in equipment such as the worn member or the equipment supporting the worn member. As an example, the computer 43 can receive information to identify the type of the worn member 7 installed on the bucket, the orientation of the worn member 7 on the bucket 3, the orientation of the worn member 7, the condition of the worn member 7, etc.

[0110] Motion freedom adjustment (referred to as "compliance" or "floating") can be provided by a float control manifold 81, 82 (or other device). Floating or the float removes control from the operator and can allow or direct fluid (by means of a barrier or valve) to flow freely or exchange through a passage (e.g., within an actuator or within the float control manifold) from one side of a hydraulic actuator to the other. The direction of flow through the passage is affected by external forces, such as contact with a wear member 7 or a mount (e.g., an intermediate adapter 10). For example, float adjustment can be used when mounting a tooth tip 11 on a mount (e.g., the front nose 18 of an intermediate adapter 10) or when initially gripping the tooth tip 11 during removal to relieve the need to move strictly along a specified or defined path 31 and / or to precisely align with the installation / removal path 31. The float adjustment can be automated and / or controlled by a computer 43. The float mode or adjustment can be initiated in many different ways, including for one or more actuators in a crane, joint, and / or tool head. As an example: floating all three actuators 34, 46, 56 of a three-axis joint assembly 71A about their respective axes A4, A5, A6; floating two of the three actuators 34, 46, 56 about their respective axes A4, A5, A6; floating one of the three actuators 34, 46, 56 about its respective axis A4, A5, A6; floating none of the three actuators 34, 46, 56 about their respective axes A4, A5, A6 while floating one or more in a crane arm joint about their respective axes A1, A2, A3 or some combination thereof.

[0111] In the illustrated example, actuator 34 is capable of floating about axis A4 and actuator 46 is capable of floating about axis A5 while axis A6 is controlled (e.g., two axes are in the float mode). This arrangement allows for small or minute adjustments along axes A4, A5 during installation or removal along the installation path. The manipulator 62 moves the tool head 59 along axis A6 while the float can provide selected small movements to assist in aligning the tool with the removal / install path along axis A4 and / or A5 (if slightly misaligned), such that the tool head can more easily remove the wear member and / or install the wear member on the mount. The three-axis joint assembly 71A can include float control manifolds 81, 82 and / or an alarm 84.

[0112] The float control manifolds 81, 82 engage or disengage the float mode for the three-axis joint assembly 71A (e.g., guiding a barrier or valve engagement and blocking a passageway or disengaging and allowing fluid to flow through the passageway). In the float mode, the three-axis joint assembly 71A can still be adjusted by the joint actuator and / or by the manipulator, however at least one actuator that controls the joint member to move about axes A4 and / or A5 is in the float mode. The float mode effectively shuts off the control of that actuator (e.g., neutral state) so that other external forces can effect alignment in the case of being attached to a wear part or attached to a mounting. Such maneuvering may require smaller incremental adjustments than can be achieved separately through control of the joint and / or manipulator. When the force exceeds a predetermined level, the float can be manually activated and / or automatically activated for a short duration, for example.

[0113] Whenever the float mode is activated, the alarm 84 (if included) is activated. The alarm 84 can be, for example, a visual alarm, a tactile feedback, and / or an audio alarm. In one instance, the alarm 84 can be activated by an electrical switch. Alternatively, the alarm 84 can activate a radio transmitter to generate a notification or alarm. The illustrated example shows that the alarm 84 fixed to one of the arms 52 of the second internal rotating element is light visible to the operator of the processing device 37 and / or the earthmoving machine 1 in the vicinity. The device 37 can wirelessly provide the alarm 84 to the equipment operator or others, as well as to a handheld or wireless device for access by the operator or others. Additionally, if the programmable logic determines that the float mode is necessary or controls the device 37 to a float function, the programmable logic can be programmed to generate the alarm 84.

[0114] Regarding Figure 15A and Figure 16A , in one instance, the float control manifolds 81, 82 can include a balance valve 86, a bent arm tube 87, a needle valve 88, an input valve 89, and a float mode assembly 90. The actuators 34, 46, 56 each have an input port 96, 97 which are inlets to each side of the actuator to control, for example, a piston, a rotating device, etc. Each of the components of the float control manifolds 81, 82 can be fluidly connected as further discussed below.

[0115] When no direct fluid pressure is introduced, for example when the system 35 has stopped in a particular orientation, the balance valve 86 maintains the fluid pressure within the manifold. The needle valve 88 can be adjustable and act like a flow control valve where the flow of fluid (e.g., hydraulic fluid) is damped in two different directions. The needle valve 88 can be penetrated into the channel R and Figure 15B the channel T in Figure 16Bis regulated in or away from the connection between channels R, S, and T. The smaller the tolerance allowed by the needle in the needle valve 88, the smaller the movement increments of the actuators 34, 46, 56 along the respective axes A4 - A6. The needle valve 88 cuts off channels R, T to Figure 15B the flow of the hydraulic system that moves the actuators 34, 46, 56 in either direction. The needle valve 88 cuts off channels R, S, T in Figure 16B either direction. In one example, those directions define the direction in which the hydraulic rotary actuator spins. Alternatively, the needle controls in which direction the piston moves in the piston actuator. The amount of fluid allowed to pass (e.g., damped) is affected by the needle cutting off the channels and thus affects the amount the actuators 34, 46, 56 move. Alternatively, the needle valve 88 can also be fixed. In another example, the needle valve can control the amount of float allowed (e.g., 1 - 2 degrees).

[0116] The float mode assembly 90 includes a motor 92 and a barrier 94. The float mode assembly 90 can be at least partially located within the float manifolds 81, 82 or attached separately as a stand - alone device. The motor 92, which can be, for example, a solenoid or a DC motor, controls the orientation of the barrier 94 (e.g., engages to block or disengages to open). The paths or channels S, T, U create channels between the two input valves 96, 97 of the actuator and the barrier 94 blocks or opens Figure 15B the channels in. The input valves of the hydraulic actuator control the direction along a particular axis of the manipulator. The paths R, S, T, U create channels between the two input valves 96, 97 of the Figure 16B actuator. If the barrier 94 is in the closed orientation, the channels are blocked and the float mode is off. If the barrier 94 is open, the channels are open allowing fluid to freely exchange and move between the two ports 96, 97 and the float mode is on. The float mode assembly 90 creates a float function because at least one of the actuators 34, 36, 56 and the crane 47 will move about the respective axes A4, A5, A6 from an external source or force, e.g., approximately - 2.5 degrees to 2.5 degrees. In the illustrated embodiment, the external source is a worn part fixed to or mounted on the earth - moving equipment. These small - degree movements enable the tool head 59 to make small incremental movements that the processing device 37 may not be able to achieve during complex movement operations. These small movements allow for the installation and removal of low - tolerance parts where the tolerance contributes to a tight fit. These small movements also account for small variances in the installation and removal process where the device 37 offsets the tool 59 slightly from the installation axis 31 of the worn product or the front. In one example, the manipulator can be controlled while the joint is in the float mode. The float mode is beneficial because of the powerful and robust preferred hydraulic actuators in earth - moving operations. While electric motors would provide the required precision, they would not withstand the rigors typically found in mines, construction sites, or other earth - moving operations.

[0117] Reference Figure 15B and Figure 16B As shown, the fluid channels P, Q may not intersect exactly with the apertures 86', 87', 88', 89', 90' in which the components of the float manifolds 81, 82 are attached, and only a portion of the channels may intersect. The balance valve aperture 86' is connected to each other by means of channels P and Q. Channel Q connects the input aperture 89' to the balance aperture 86' opposite the input aperture 89'. Channel P connects the balance valve apertures 86' together. The input valve aperture 89' may intersect with the balance valve aperture 86'.

[0118] One of the balance apertures 86' may be connected to the bent arm valve aperture 87'. The float valve aperture 90' may be connected to the bent arm valve aperture 87' through Figure 15B the channel U in Figure 16B The float valve 90' may be connected to the input valve aperture 89' through Figure 15B the channel U in Figure 16B The float valve aperture 90' may be connected to the needle valve aperture 88' through the channel T in Figure 15B and through the channels S, T in

[0119] The manipulator 62 and / or the tool head 59 as disclosed herein can be used to remove worn parts from the equipment and / or install worn parts on the equipment in mining, construction, dredging, mineral processing, and / or other earthmoving operations. As an example, the earthmoving equipment can include various machines (e.g., excavators, cable shovels, shears, continuous miners, crushers, etc.) and / or conveying equipment (e.g., chutes, conveyors, truck trays, etc.). The worn parts 7 can include, for example, tooth tips, adapters, picks, shrouds, rotors, wear plates, track components, blades, etc. The above description of the system 35 in a mining environment (e.g., for replacing worn parts) is provided as an example of the possible configurations, operations, and uses of the manipulator. The system 35 according to the present disclosure can have many other uses.

[0120] Figure 17 An example method or process or program 200 for removing worn wear components from an earthmoving machine is illustrated. The process 200 can be implemented with program instructions in the context of a software application, module, component, or other such programming element deployed in the computer 43. The program instructions can direct one or more underlying physical or virtual computing systems to operate as follows, with reference by way of example to Figure 17The steps in. Each step can also be performed by manual and / or semi - automated controls. The steps can be performed in a different order and / or include more or fewer steps.

[0121] First, in one example, the orientation and / or direction of a worn wear member is determined (step 201). This determination can be done, for example, by sensors 39, 39A, 41 in association with programmable logic and / or manually guided placement. In another example, a camera can assist in the determination. Based on the orientation and / or direction, the installation path or axis 31 can be determined by computer 43 (step 203). The installation path 31 is the path that the wear member should travel to be removed from and / or installed on the mount. The installation path 31 can optionally be manually set by the operator aligning the gripper of the tool head with the wear member to be removed. The processing device 37 can have several modes. One mode can be used for specific control of the crane 47. Another mode simultaneously controls the crane 47, the three - axis joint 71A such that the device 37 moves the wear member along a single installation axis 31. The computer 43 can use data from sensor 41 including the orientation of the detected installation axis 31 and the relative orientation of the crane 47 and the joint components 71 to control the hydraulic cylinders and motors to move the tool head 59 in a straight - line motion along the installation axis 31 regardless of the 3 - D orientation of the installation axis 31. A suitable tool head 59 is selected and installed onto the manipulator 62 (step 205); this may be the first step. The manipulator is maneuvered to align with the wear member (step 206). The processing device 37 is maneuvered to engage the wear member (step 207). The engagement can cause the front end of the tooth tip 11 to be pressed against the stop 69 of the gripper tool. Moving the processing device 37 can include guiding the movement of the crane actuator and the joint actuator to simultaneously move the tool head along the installation axis together with the wear member in a single solid motion. Determine whether the tool 59 has been properly fixed to the worn wear member (step 209). For example, for the gripper tool, the arm attempts to fully grip the tooth tip 11 with the flange 63 on the rear edge 64 of the tooth tip 11. If the fixation to the wear member is not successful, the float mechanism is enabled (step 211). In another example, the float mechanism can be automatic. Additionally, an alarm 84 can be activated to indicate that the float mode has been initiated.

[0122] The float mechanism can be controlled by the main computer 43 with or without the operator (e.g., automated). The float mechanism can be initiated in many different ways such as those pointed out above. The float mechanism can be initiated several times before being attached to the worn wear member. Such examples include floating one actuator that attempts attachment and, if unsuccessful, floating a second actuator, and so on. The actuators can alternatively float simultaneously.

[0123] As illustrated Figure 13In the example of, the three-axis joint assembly 71A includes float mechanisms 81, 82 on the actuators 34, 46 respectively. The float mode can allow control of axis A6, while axes A4 and / or A5 are in the float mode. In this example, it is possible to better achieve movement along the removal / install path 31 in small increments from the actuators 34, 46. This step can include, for example, preparing the worn tooth tip 11 to be removed, such that the drive arm 65 is lowered, such that the tool 67 is received in the recess 25 of the tooth tip 11 and rotated to move the front end portion 21 of the pin 29 out of the recess 20. This can also include sensor data for confirming that the pin has been completely withdrawn from the tooth tip 11 or from the adapters 10, 9. In another embodiment, the sensor can also assist in determining when the pin has been removed from the adapter 10 such that the tooth tip 11 can be removed without complete withdrawal of the pin. In another embodiment, the sensor can assist in determining when the pin has been completely installed into the adapter 10. The determination of the pin can come from a GPS or an accelerometer that monitors a predetermined distance that the lock must travel to be fully engaged or fully removed or sensor data to compare with other locks that have been installed or removed on the earthmoving equipment. If successful in the attachment, the worn wear member 7 is removed along the installation axis 31 (step 213). This can be done manually such that the processing equipment including the crane 47 and the joint assemblies 71, 71A is moved about the installation axis or by a computer processing system having instructions or logic for the programmed removal path. The worn wear member 7 can be disposed of by placing it in the bin 75 on the system 35.

[0124] The removal step 213 can also optionally include releasing motion to better release it from its base before and / or during moving the wear member 7 along its installation path 31. Examples of the release motion can include, for example, the wear member vertically and / or laterally short and / or quick swings to help release the adhered wear member from its base (such as from the presence of compacted fines). The use of the release motion can occur before or during pulling the wear member along its installation path. The release motion can be programmed to occur during each removal of the wear member and / or only when the force to remove the wear member exceeds a predetermined limit automatically.

[0125] The process 200 can start again by moving the gripper 60 to the next wear member 7 to be removed or can be followed by a process for installing a new replacement wear member in the case where the worn wear member has been removed. Additionally, the process 200 can learn the path of the operation of manually moving the processing equipment by the operator in a repeated route or steps when removing and installing the wear parts in a learning mode. The process 200 can save those maneuvers and repeat them exactly or with a slight adjustment when moving to the next worn member 7.

[0126] Figure 18 FIG. illustrates an example method or process or procedure 300 for installing a new wear member 7A onto an earthmoving machine. The process 300 can be implemented with program instructions in the context of a software application, module, component, or other such programming element deployed in a computer 43, or can be controlled by an operator via manual and / or semi-automated controls. The program instructions direct one or more underlying physical or virtual computing systems to operate as follows, with reference to the steps in Figure 18 The individual steps can be performed in a different order and / or include more or fewer steps.

[0127] First, a handling device 37 is secured to a replacement wear member 7A (e.g., a tooth tip 11A) (step 301). For example, this can be a gripper tool head that grasps onto the wear member and removes the replacement wear member from a stationary location. The stationary location may be a disk conveyor 77 or other similar holding location. An installation path 31 is determined (step 303). The path 31 can be determined by the computer 43 based on the removal process, by sensors 39 (such as those disclosed for the removal process or other sensors), and / or by manual (or semi-manual) control by the operator. For example, the operator can stop the device 37 at a given point in a manipulator or crane mode, the stop setting of the crane or manipulator sets the installation axis 31, and then the controls are switched to another mode, such as the installation axis mode or the "linear motion" mode, and all components of the system 35 will move along the set installation axis 31 (e.g., in a linear path). The process 300 can also include storing the maneuvers and the path 31 and the position of pulling the worn wear member 7 from the mount (e.g., the intermediate adapter 10) and being able to recall the stored information from any previous movement (without returning to the discard bin 75) to align the replacement wear member 7A with the installation axis 31 for installation on the base or mount.

[0128] The next step involves manipulating a processing device 37 that can include a crane 47, an articulation assembly 71A, and a tool head that secures to a wear member 7A (such as a tooth tip 11A) adjacent to a mounting orientation (such as the front nose 18 of the intermediate adapter 10) on earthmoving equipment and aligning or setting an installation path (step 305). Once the replacement tooth tip 11A is aligned, process 300 can simultaneously manipulate the processing device components (such as the crane, articulation assembly, tool head) such that the tooth tip 11A moves forward in a straight line or other defined motion along the installation path 31 to seat or install the tooth tip 11A on a mounting (such as the intermediate adapter 10) (step 306). Determine whether the installation of the tooth tip is misaligned (step 307). This can be done, for example, by examining the clearance of the lock 13, as the lock must be positioned onto the mounting (such as the intermediate adapter 10) through the wear member 7. In one example, the positioning of the lock 13 can be assisted by sensor data (such as from a sensor in the lock 13) that confirms the lock is in the proper position or misaligned. If misaligned, then, for example, the lock 13 may be misaligned to lock into the recess 19. If misaligned, enable a float mechanism (step 309). Additionally, an alarm 84 can optionally be activated to indicate that the float mode has been initiated.

[0129] The float mechanism can be initiated in a number of different ways such as previously noted. The float mechanism can be initiated several times before the replacement wear member is fully installed. Such examples include floating one actuator that attempts an attachment and, if unsuccessful, floating a second actuator, and so on. Alternatively, floating can occur simultaneously over two axes.

[0130] The float mode can allow control of axis A6, while axes A4 and A5 are in the float mode. In this example, it may be better able to achieve the installation axis 31 in small increments from the actuators 34, 46. The float mechanism compensates for misalignment of mating parts (such as relative positioning). In one example, this is due to the tight fit (such as small tolerances) that may exist between the tooth tip and the mounting, and the tooth tip 11 must typically be installed onto the base in a straight-line motion along the installation axis 31 of the tooth. In another example of misalignment, the tooth tip 11 may flip during installation. In yet another example, the deeper the installation cavity 27 (such as for Figure 4 and Figure 5 the tooth 24 as shown), the greater the need to install the tooth tip 11 along the straight installation axis 31.

[0131] The installation process is completed by aligning and reading the worn component 7A on the mounting piece to accommodate the lock (step 310). Once the installation process is completed, process 300 then locks the worn component 7A to the mounting piece (step 311). This step may also include lowering the actuator 65 such that the lock 13 is received in the recess 19 of the worn component 7 and rotated to move the pin in the lock to the retaining orientation. If successful in the installation, the worn component is removed along the installation axis 31 (step 313).

[0132] Process 300 can be restarted by moving the gripper 60 to the next worn component 7 to be installed or can be followed by a process for removing the worn worn component at the location where the replacement worn component is to be installed. Additionally, process 300 can learn in a learning mode the path of operation of manually moving the processing device by the operator when removing and installing worn parts through repeated routes or steps. Process 300 can save those maneuvers and repeat them exactly or with slight adjustments when moving to the next mounting piece for installation. The various steps of process 300 can be performed in a different order and / or include more or fewer steps.

[0133] Figure 19 It is a schematic system diagram of an exemplary machine that graphically represents a computing system or host computer 401 for monitoring one or more ground engaging products or at least a portion thereof (such as the rear side or bottom side). Examples of the computing system 401 include, but are not limited to, server computers, web servers, cloud computing platforms, and data center equipment, as well as any other type of physical or virtual server machine, container, and any variations or combinations thereof. The computing system 401 can be implemented as a single device, system, or apparatus or can be implemented in a distributed manner as multiple devices, systems, or apparatuses. Information and / or data can be processed by the processing system 402. The processing system 402 can be part of an independent or monitoring system of the processing device 37, earthmoving equipment 1, system 35, handheld device, mobile device, computer 43, sensors 39, 39A, 41, and / or remote device.

[0134] The host computing system 401 includes, but is not limited to, a processing system 402, a storage system 403, software 405, a communication interface system 407, and a user interface system 409 (optional). The processing system 402 is operatively coupled to the storage system 403, the communication interface system 407, and the user interface system 409.

[0135] The computing system 401 may employ a central processing unit (CPU) or a processor to process information. The processing system 402 may be implemented within a single processing device, but may also be distributed across multiple processing devices or subsystems that cooperate when executing program instructions. Examples of the processing system 402 include programmable general-purpose central processing units, dedicated microprocessors, programmable controllers, graphics processing units, embedded components, dedicated processors, and programmable logic devices, as well as any other type of processing device, combination, or variation thereof. The processing system 402 may facilitate communication between coprocessor devices. The processing system 402 may be implemented in a distributed computing environment, where tasks or modules are executed by remote processing devices that are linked by a communication network such as a local area network (“LAN”), a wide area network (“WAN”), the Internet, etc. In a distributed computing environment, program modules or subroutines may be located in both local and remote memory storage devices. Distributed computing may be employed to load balance and / or aggregate resources for processing.

[0136] In one embodiment, the processing system 402 or other elements of the system 401 may be operatively coupled to or be an equipment control unit ECU. In another embodiment, the processing system 402 may accelerate the encryption and decryption of requests or data.

[0137] The processing system 402 may include a microprocessor and other circuitry that retrieves computer instructions, programs, applications, and / or software 405 from the storage system 403 and executes them. The processing system 402 executes program components in response to user- and / or system-generated requests. One or more of these program components may be implemented in software, hardware, or both hardware and software 405. The processing system 402 may pass instructions (e.g., operation and data instructions) to implement various operations.

[0138] The communication interface system 407 may include connections and devices that permit communication with other computing systems via a communication network. For example, the communication interface system 407 may communicate with a network.

[0139] Examples of connections and devices that together permit inter-system communication may include network interface cards, antennas, power amplifiers, RF circuitry, transceivers, and other communication circuitry. The communication interface system 407 may use various wired and wireless connection protocols, such as direct connection, Ethernet, wireless connections such as IEEE802.11a-x, miracast, etc. The connections and devices may communicate with other computing systems or a network of the system via a communication medium such as metal, glass, air, or any other suitable communication medium. The foregoing media, connections, and devices are well known and need not be discussed here.

[0140] The communication interface system 407 can include a firewall that, in some embodiments, can govern and / or manage permissions to access / proxy data in a computer network and track changing trust levels between different machines and / or applications. The firewall can be any number of modules with any combination of hardware and / or software components capable of enforcing a set of predefined access rights between a specific set of machines and applications, machine-to-machine, and / or application-to-application, e.g., to regulate the flow of traffic and resource sharing between these changing entities. For example, other network security functions performed or included in the functionality of the firewall can be, for example but not limited to, intrusion prevention, intrusion detection, next-generation firewall, personal firewall, etc., without departing from the novel techniques of this disclosure.

[0141] The user interface system 409 uses protocols such as those for handling audio, data, video interfaces, wireless transceivers, etc. (e.g., low energy, IEEE 1394a-b, serial, universal serial bus (USB), digital visual interface (DVI), 802.11a / b / n / n / n / x, cellular, etc.) to facilitate communication between user input devices, peripherals, and / or the like and components of the computing system 401.

[0142] User input devices can include card readers, fingerprint readers, joysticks, keyboards, microphones, mice, remote controls, retina readers, touchscreens, sensors, and / or the like. Peripherals can include antennas, audio devices (e.g., microphones, speakers, etc.), cameras, external processors, displays, communication devices, radio frequency identifiers (RFID), scanners, printers, storage devices, transceivers, and / or the like. As an example, the user interface 409 can receive data to be displayed on the display and format the data.

[0143] User input devices and peripherals can be connected to the user interface 409 and possibly other interfaces, buses, and / or components. Further, user input devices, peripherals, coprocessor devices, etc. can be connected to the system bus through the user interface system 409. The system bus can be connected to many interface adapters such as the processing system 402, the user interface system 409, the communication interface system 407, the storage system 405, etc.

[0144] The storage system 403 can employ any number of disk drives, optical drives, solid-state memory devices, and other storage media. The storage system 403 can include volatile and non-volatile, removable and non-removable media implemented by any method or technology for storing information such as computer-readable instructions, data structures, program modules, or other data. Examples of storage media include tangible non-transitory storage devices or systems such as fixed or removable random access memory (RAM), read-only memory (ROM), magnetic disks, optical disks, flash memory, virtual and non-virtual memory, magnetic cassettes, magnetic tape, solid-state memory devices, disk storage devices, or other magnetic storage devices, or any other suitable processor-readable storage medium. A computer-readable storage medium is never a propagated signal. The storage system 403 can employ various forms of memory including on-chip CPU memory (e.g., registers), RAM, ROM, and storage devices. The storage system 403 can communicate with many storage devices such as storage devices, databases, removable disk devices, etc. The storage system 403 can use various connection protocols such as Serial Advanced Technology Attachment (SATA), IEEE 1394, Ethernet, fiber optic, Universal Serial Bus (USB), etc.

[0145] In addition to computer-readable storage media, in some embodiments, the storage system 403 can also include computer-readable communication media that can be used to transfer at least some of the software 405 either internally or externally. The storage system 403 can be implemented as a single storage device and can also be implemented across multiple storage devices or subsystems that are co-located or distributed relative to each other. The storage system 403 can include additional elements such as controllers that are capable of communicating with the processing system 402 or possibly other systems.

[0146] The storage system 403 can be a database or a database component capable of storing programs executed by a processor to process the stored data. The database component can be implemented in the form of a relational, scalable, and secure database. Examples of such databases include DB2, MySQL, Oracle, Sybase, etc. Alternatively, the database can be implemented using various standard data structures such as arrays, hashes, lists, stacks, structured text files (e.g., XML), tables, and / or the like. Such data structures can be stored in memory and / or in structured files.

[0147] Computer-executable instructions and data can be stored in a memory accessible by a processor (e.g., registers, cache memory, random access memory, flash memory, etc.). These stored instruction codes (e.g., programs) can engage processor components, motherboards, and / or other system components to perform desired operations. The computer-executable instructions stored in the memory can include an interactive human-machine interface or platform having one or more program modules, such as routines, programs, objects, components, data structures, etc., that perform specific tasks or implement specific abstract data types. For example, the memory can contain an operating system (OS), modules, processes, and other components, database tables, etc. These modules / components can be stored and accessed from storage devices, including external storage devices accessible via an interface bus.

[0148] Software 405 (including a mobile process 411, a removal process 413, an installation axis process 415, an installation process 417, and a float mode process 419) can be implemented in program instructions and, among other functions, when executed by a processing system 402, can cause the processing system 402 to operate as described with respect to the various operation scenarios, sequences, and processes illustrated herein. For example, software 405 can include program instructions for implementing the installation and removal processes described herein.

[0149] In particular, the program instructions can include various components or modules that cooperate or otherwise interact to perform the various processes and operation scenarios described herein. The various components or modules can be embodied in compiled or interpreted instructions or in some other variation or combination of the instructions. The various components or modules can be executed in a synchronous or asynchronous manner, serially or in parallel, in a single-threaded environment or a multi-threaded environment, or according to any other suitable execution paradigm, variation, or combination thereof. Software 405 can include additional processes, programs, or components, such as operating system software, virtualization software, or other application software. Software 405 can also include firmware or other forms of machine-readable processing instructions executable by the processing system 402.

[0150] Typically, when software 405 is loaded into and executed by processing system 402, it generally transforms a suitable device, system, or apparatus (represented by computing system 401) from a general-purpose computing system into a special-purpose computing system customized to provide packet redirection. In fact, encoding software 405 on storage system 403 can transform the physical structure of storage system 403. For example, if a computer-readable storage medium is implemented as a semiconductor-based memory, software 405 can transform the physical state of the semiconductor memory when program instructions are encoded therein, such as by transforming the states of transistors, capacitors, or other discrete circuit elements that make up the semiconductor memory. Similar transformations can occur with respect to magnetic or optical media. Other transformations of the physical medium are possible without departing from the scope of this specification, and the above examples are provided only to facilitate this discussion.

[0151] The movement process 411 includes instructions for controlling the processing device 37. Some or all of the actions of the processing device 37 can be fully or partially automated. The movement process 411 can control the valves of various hydraulic cylinders, actuators, and / or motors. The movement process 411 can include instructions for a processor or controller to configure or manually guide the actions of the crane 47, the three-axis joint 71A, and / or the supported tool head 59. The movement process 411 can have a processor with instructions configured to be operated in real time by another host computer, a handheld device, or a mobile device - for example, to receive instructions for removal, installation, inspection, repair, etc.

[0152] During the movement process 411, instructions for automated operations are preferably pre-stored in a database (remote or in adapter 6) and are used to perform the desired operations (such as processes 413, 415, 417, and 419). During the movement process 411, the processing device 37 and / or the three-axis joint assembly 71A and / or the tool head 59 can be provided with encoders (linear or rotary) and / or orientation sensors 41 at the actuators 34, 46, 56 to identify their orientation and / or direction. The automated controls and the manual controls can work cooperatively, continuously, or separately together. Alternatively or additionally, signals can be received from sensors 41 included in the components and / or equipment to be removed, installed, inspected, etc., to, for example, identify the components and / or equipment, guide the crane 47, the three-axis joint 71A, and / or the tool head 59, or convey other information about the orientation, condition, or operation of the worn components 7 and / or equipment. Signals can be received from other three-axis joint assemblies and / or tool heads that are near or work in cooperation with the crane, the three-axis joint 71A, and / or the tool head 59. Process 411 allows workers to avoid contact with worn parts and stay at a safe distance from the parts during the processing operation.

[0153] Removal process 413 is used to remove worn wear member 7 from earthmoving machine 1. When the earthmoving machine may have been shut down in any given orientation, removal process 413 must determine the orientation and amount of the worn wear member. Removal process 413 can receive information generated from, for example, electronic sensors 39, 39A, 41 that capture data. Process 413 can receive information from such cameras (or the like) and / or sensors and / or sensors in equipment such as the wear member or the equipment supporting the wear member. As an example, removal process 413 can receive information to identify the type of wear member 7 mounted on the bucket, the orientation of wear member 7 on bucket 3, the orientation of wear member 7, the condition of wear member 7, etc.

[0154] For example, sensors 39, 39A, 41 can detect the orientation and / or the spatial orientation of the wear member and wirelessly transmit a signal with position information for use by process 413 when determining the orientation and / or the orientation of the wear member. As another example, an image sensor such as a camera on or separate from processing device 37 can be used by process 413 to determine the specific 3-D orientation and / or orientation of tooth 7 (e.g., tooth tip 11). Other types of sensors are possible and / or two or more of different types of sensors can be used in combination with each other (e.g., a wear sensor combined with a position sensor, an inclinometer, or an accelerometer).

[0155] Removal process 413 can use mounting shaft process 415. Removal process 413 can provide information and analysis based on data received from sensors 39, 39A, 41, databases, other data sources, other remote devices, etc. In an alternative, the mounting shaft process can receive signals from sensors 39, 39A, 41 in one instance via a wireless transmission that includes data such as the orientation of mounting shaft 31 (other arrangements are possible). Mounting shaft process 415 can use data collected from sensors that includes the detected orientation of the worn wear member to determine mounting shaft 31. Mounting process 415 can optionally access a database with details of tooth tip 11 and mounting shaft 31 to make the desired determination.

[0156] Removal process 413 can determine that the appropriate tool head 59 is selected and installed on the manipulator 62. Removal process 415 can use data from the mounting shaft process 415 including the orientation of the detected mounting shaft 31, the orientation of the worn wear member, and the relative orientation of the crane 47 and the joint member 71 to control the hydraulic cylinders and motors to move the tool head 59 along the mounting shaft 31 in a linear or non-linear motion regardless of the 3-D orientation of the mounting shaft 31. The movement of the tool head 59 along the mounting path 31 can be a coordinated simultaneous movement of different adjustable components guided by the removal process 413. It may involve the coordinated movement of all adjustable components, or it may involve the adjustment of less than all adjustable components. The wear member 7 is envisioned to be removed along the defined mounting path or shaft 31. Other mounting paths are possible. For example, certain wear members 7 (such as tooth tips and shrouds) can be removed and / or installed along a non-linear (e.g., arcuate) mounting path.

[0157] Alternatively, removal process 413 can manually adjust the manipulator 62 to place the tool head 59 in proximity to or in engagement with the wear member 7, such as against the stop 69. A laser (not shown) can be provided on the manipulator 62 to provide a sight line that can assist the operator in positioning the drive tool 67 into the lock 13. Cameras and / or sensors can be used in manual, automatic, and / or semi-automatic operations. A camera can also be provided (in addition to or independently of the laser) to assist in connecting the tool 59 to the worn part. The use of the camera can also be used to assist the operator or to fully automate the operation of the processing device 37.

[0158] The front end of the tooth tip 11 is pressed against the stop 69 along the mounting shaft 31. Removal process 413 can determine whether the tool head 59 has properly grasped the worn wear member 7. In removal process 413, the lock 13 can be removed. In one instance, the lock 13 positioning can be assisted by sensor data (such as from a sensor in the lock 13) that confirms the lock is removed, removable, or misaligned. The determination of the pins of the lock 13 can come from GPS or an accelerometer that monitors a predetermined distance that the lock must travel to be partially or fully removed or sensor data to compare with other locks that have been installed on or removed from the earthmoving equipment. In removal process 413, the arm 61 of the gripper 60 attempts to grasp the tooth tip 11 with the flange 63 on the rear edge 64 of the tooth tip 11. If unsuccessful, removal process 413 can call the float mode process 419. The float mode process 419 places the actuators 34, 46, 56 in a neutral state such that the valve pressures balance front and back, and the actuators move in small increments in each direction of the shafts A4 and / or A5.

[0159] The float mode process 419 can be initiated in many different ways such as those discussed above. The float mode process 419 can be initiated several times in different ways before implementing attachment to a worn wear member. The removal process 413 can also optionally include a release movement as discussed above to better release the wear member 7 from its base before and / or during movement of the wear member 7 along its removal / installation path 31.

[0160] The removal process 413 can also include preparing the worn wear member 7 to be removed such that the drive arm 65 is lowered so that the tool 67 is received in the recess 45 of the wear member 7 and rotated to move the front end portion 21 of the pin 29 out of the recess 19. Once unlocked, the worn wear member 7 is then removed along the mounting shaft 31. The removal process 413 can dispose of the worn wear member 7 by placing the worn tooth tip 11 into the bin 75. The process 413 can be started again by moving the gripper 60 to the next worn wear member 7 to be removed. Additionally, the process 413 can learn the path of operation of the processing device manually moved by the operator through repeated sessions in a learning mode. The process 413 can save those maneuvers and repeat them exactly or with slight adjustment in moving to the next worn wear member 7.

[0161] The installation process 417 is used to install a new wear part 7A onto the earthmoving machine 1. The installation process 417 attaches to the replacement wear part 7A, such as the tooth tip 11A, from a preset destination such as a disk conveyor 77 or similar holding location. The position of the replacement tooth tip 11A can be determined by a sensor on the replacement tooth tip 11A or from a position programmed into the process 417. The installation process 417 uses the mounting shaft process 415 as described above. The mounting shaft 31 can be determined based on more refined details of the removal process 413, by sensors 39 (such as those disclosed for the removal process or other sensors), and / or manual (or semi-manual) control. The installation process 417 can also include storing the maneuvers and path 31 and the position of pulling the worn wear member 7 from the installation and being able to callback the stored information from any previous iteration of movement to align the replacement wear member 7A with the mounting shaft 31 for installation on the base 9, nose 10, lip 16, or other mounting sites by reversing those maneuvers.

[0162] Once the replacement tip 11A is aligned along the mounting shaft 31, the installation process 415 can move the tip 11A forward in a straight line or other defined movement along the mounting shaft or other mounting path 31 to mount the tip 11A on a mounting member (such as the front nose 18 of the intermediate adapter 10). The installation process 415 can determine whether the installation of the tip 11 is misaligned. This can be done, for example, by examining the clearance of the lock 13, as the lock must be positioned on the mounting member (such as the front nose 18 of the intermediate adapter 10) via the wear member 7. Alternatively, this can be done via visual inspection through image data from a camera. In another example, the positioning of the lock 13 can be assisted by sensor data (such as from a sensor in the lock 13) that confirms the lock is in the proper position or misaligned. The determination of the pins of the lock can come from GPS or an accelerometer that monitors a predetermined distance the lock must travel to fully engage or fully remove, or sensor data to compare with other locks that have been installed or removed on earthmoving equipment. If misaligned, the installation process can enable the float mode process 419 as described above.

[0163] The float mode process 419 compensates for misalignment (such as relative positioning) of mating parts. In one example, this is due to a tight fit (such as small tolerances) that may exist between the tip and the mounting member, and the tip 11 must typically be mounted on the intermediate adapter 10 or the base adapter 9 in a straight or non-linear movement along the mounting shaft 31 of the tooth. In another example of misalignment, the tip 11 may flip during installation. In yet another example, the deeper the mounting cavity 27 (such as for Figure 4 and Figure 5 the tooth 24 shown), the greater the need to mount the tip 11 along the mounting shaft 31.

[0164] Once alignment is completed in the float mode process 419, the installation process 419 then locks the wear member 7A to the base adapter 9, the intermediate adapter 10, or the mounting site. The installation process can include driving an arm 65 to install the lock. In one example, the arm is lowered such that the lock 13 is received in the recess 19 of the wear member 7 and rotated to lock. If successful in the installation, the tool 59 is removed from the replacement wear member 7A.

[0165] As can be appreciated, the examples of the present disclosure can be embodied as a system, method, or computer program product. Thus, the examples of the present disclosure can take the form of an all-hardware example, an all-software example (including firmware, resident software, microcode, etc.), or an example of a combination software and hardware implementation, which can all generally be referred to herein as "circuitry", "module", or "system". Additionally, the embodiments of the present disclosure can take the form of a computer program product embodied in one or more computer-readable media having computer-readable program code embodied thereon.

[0166] Although the above discussion has primarily addressed the present disclosure in connection with wear components on a bucket, the tool can be used to remove shrouds, wings, and / or rotors on blades or other earthmoving equipment attachments and components, picks on crushers, pipes, valves, truck trays, cutting heads, and / or to install these on blades or other earthmoving equipment attachments and components.

[0167] The foregoing disclosure describes specific examples of tools for installing and removing wear products on earthmoving equipment. The system can include different embodiments or features of the present disclosure. Features in one example can be used with features in another example. The combinations of the examples given and the features disclosed are not intended to be limiting in the sense that they must be used together. The steps of the methods and processes can be completed in any order and can include fewer or more steps.

Claims

1. A worn component handling system for removing a worn component from a mount on earthmoving equipment and / or mounting a worn component onto a mount on earthmoving equipment, the worn component handling system comprising: a manipulator that supports the worn component and includes a hydraulic actuator to adjust the manipulator and thereby move the worn component; a processing system configured to determine a path for removing the worn component from the mount and / or mounting the worn component onto the mount and to direct movement of the hydraulic actuator to move the worn component along the path; and a float mechanism for guiding the flow of fluid within the hydraulic actuator and allowing small adjustments to be made along one axis or two non-parallel axes by an external force as the worn component moves along the path.

2. The worn component handling system according to claim 1, wherein the float mechanism includes a motor and a barrier having two orientations, in a closed orientation, the barrier blocks a passage between two fluid inlets of the hydraulic actuator, and in a float orientation, the barrier opens the passage between the two fluid inlets of the hydraulic actuator, and wherein the motor controls the orientation of the barrier.

3. The worn component handling system according to claim 1 or 2, the worn component handling system including a controller having at least one manually activated control to signal the processing system as to which direction the worn component should be moved.

4. The worn component handling system according to claim 1 or 2, wherein the path is along a straight line.

5. The worn component handling system according to claim 1 or 2, wherein the manipulator includes a gripper for holding the worn component.

6. The worn component handling system according to claim 1 or 2, wherein the manipulator comprising: a crane having at least two pivotally joined arms; and a joint secured to the crane and supporting a tool for holding the worn component, wherein the joint includes a base for securing the joint to the manipulator, joint members movably joined in close proximity to each other between the base and a first tool mount to define three non-parallel hinge axes, and wherein some of the hydraulic actuators selectively move the joint members about the axes and hold the joint members in respective orientations.

7. The worn component handling system according to claim 6, wherein the three hinge axes include a pitch axis, a yaw axis, and a roll axis for manipulating the tool.

8. The worn component handling system according to claim 6, which includes sensors on the crane and the joint for detecting the relative orientation of crane components relative to each other and joint components relative to each other, wherein the processing system communicates with sensors in the worn component to determine the path and simultaneously direct movement of the crane and the joint.

9. The worn component handling system according to claim 8, wherein the crane component includes at least two arms pivotally coupled together for movement about spaced parallel first axes.

10. The worn component handling system according to claim 9, wherein the at least two arms are capable of moving about a second axis perpendicular to the first axis.

11. The worn component handling system according to claim 10, wherein the joint component defines three articulation axes, including a pitch axis, a yaw axis, and a roll axis for manipulating an adapter supporting the tool.

12. The worn component handling system according to claim 6, wherein the crane is supported by a movable base to allow transportation to the location of the earthmoving equipment.

13. The worn component handling system according to claim 6, comprising a manual controller having a first mode that causes movement of only the crane component, a second mode that causes movement of only the joint component, and a third mode that causes simultaneous movement of both the crane component and the joint component.

14. The worn component handling system according to claim 1 or 2, wherein the path is determined by vision recognition software that maps the three-dimensional orientation of the teeth.

15. The worn component handling system according to claim 1 or 2, including a tool fixed to the manipulator for holding the worn component, wherein the manipulator includes a crane and a joint component, and the handling system is configured to orient the tool adjacent to the mount such that the path can be determined and the crane and joint component are guided to remove and / or install the worn component regardless of the three-dimensional orientation of the path.

16. The worn component handling system according to claim 1 or 2, comprising at least one sensor for detecting the orientation of the manipulator, wherein the handling system communicates with the at least one sensor to determine the path and guide the movement of the hydraulic actuator to adjust the manipulator.

17. A worn component handling system for performing in-yard operations, the system comprising: at least one tool for holding a worn component; a manipulator fixed to the at least one tool and including hydraulic actuators and at least one sensor for detecting the orientation of the manipulator, wherein the manipulator defines non-parallel first, second, and third axes for movement of the tool; and a handling system configured to activate a float mechanism to allow fluid to exchange between input valves of one or two hydraulic actuators associated with moving the manipulator about the first axis and / or the second axis, such that the worn component is moved about the first axis and / or the second axis by an external force.

18. The worn component handling system according to claim 17, wherein the external force is caused by the engagement of the worn component and / or the mount.

19. A method for installing a ground-engaging worn component onto earthmoving equipment, the method comprising: Fix the ground engaging wear member to a tool that is in turn fixed to a manipulator, wherein the manipulator defines non-parallel first, second, and third axes for the movement of the tool; Position the ground engaging wear member adjacent to the mounting member by manipulating the tool with the manipulator; Engage the ground engaging wear member to the mounting member; Activate a float mechanism to float one or both of the hydraulic actuators associated with moving the manipulator about the first axis and / or the second axis, such that the wear member moves about the first axis and / or the second axis by an external force caused by the engagement of the ground engaging wear member with the mounting member; And Install the ground engaging wear member to cooperate with the mounting member.

20. A method for removing a ground engaging wear member from earthmoving equipment, the method comprising: Fix the ground engaging wear member to a tool supported by a manipulator, wherein the manipulator defines non-parallel first, second, and third axes for the movement of the tool; Activate a plurality of hydraulic actuators associated with moving the manipulator to remove the ground engaging wear member from the mounting member; And Activate a float mechanism to float one or two of the hydraulic actuators to allow the wear member to move about the first axis and / or the second axis, such that the wear member moves about the first axis and / or the second axis by an external force caused by the engagement of the ground engaging wear member with the tool.

Images