Power actuated steering guide

Abstract

The work machine can include a frame supported by a traction device and a power actuated steering guide secured to the frame. The power actuated steering guide can include a stem portion arranged and configured to articulate laterally relative to a direction of travel of the work machine. The stem portion can include an actuation mechanism configured to perform the articulation and a controller configured to control the actuation mechanism to articulate the stem portion to an offset dimension.

Description

Technical Field

[0001] This invention generally relates to work machines. More specifically, it relates to guides for work machines that perform operations with alignment components. More specifically, it relates to automated guides for road work machines. Background Technology

[0002] Roads are constructed to facilitate vehicle traffic and are therefore typically designed to be straight and / or have smooth curves. Consequently, road work machines performing pavement removal, rotary mixing, and installation operations can be designed to follow relatively straight lines or smooth curves. Other road work machines, such as line marking equipment or other road work machines, can also be designed to follow relatively straight lines or smooth curves. For this purpose, road work machines typically include guides that provide the operator with visual indications of whether the machine is following the appropriate path. Current guides are, at best, cumbersome. The machine must be stopped before returning to operation, and the operator or other personnel must manually adjust the guides.

[0003] U.S. Patent No. 9,587,937 relates to a construction machine having a setup assistance system for a sensor unit. The construction machine has a sensor unit with a measurement range, and the sensor unit's orientation relative to the construction machine is variable. Summary of the Invention

[0004] In one or more embodiments, a working machine may include a frame supported by traction equipment and a power-actuated steering guide fixed to the frame. The power-actuated steering guide may include a main section arranged and configured to be laterally hinged relative to the working machine's direction of travel. The main section may include an actuation mechanism configured to perform the hinge and a controller configured to control the actuation mechanism to hinge the main section to an offset dimension.

[0005] In one or more embodiments, a method of adjusting a steering guide on a work machine may include receiving a command at a controller to adjust the steering guide to an offset dimension. The method may also include using the controller to control an actuation mechanism on the steering guide to laterally hinge the main body of the steering guide relative to the direction of travel of the work machine until its outer end reaches the offset dimension. Attached Figure Description

[0006] Figure 1 This is a front and side perspective view of a cold planer with a power-actuated steering guide according to one or more embodiments.

[0007] Figure 2 This is a front and side perspective view of an asphalt paving machine with a power-actuated steering guide according to one or more embodiments.

[0008] Figure 3 This is a top and side perspective view of an asphalt paving machine with a power-actuated steering guide according to one or more embodiments.

[0009] Figure 4 This is a disconnected view of the actuation mechanism of a power-actuated steering guide according to one or more embodiments.

[0010] Figure 5 This is a disconnected view of the actuation mechanism of a power-actuated steering guide according to one or more embodiments.

[0011] Figure 6 This is an illustration of a method for deploying a steering guide according to one or more embodiments. Detailed Implementation

[0012] Figure 1 This is a perspective view of a road work machine in the form of a cold planer 50 with a power-actuated steering guide 100, according to one or more embodiments. The cold planer 50 can be adapted to remove pavement from roads, parking lots, or other paved areas. The cold planer 50 can generally be used to remove pavement along relatively straight paths or smooth curves (such as those found on roads). The power-actuated steering guide 100 (discussed in more detail below) can serve as a visual indicator for the operator, indicating that the road work machine is following a suitable path. As shown, the cold planer 50 may include a frame 52 supported by a traction device 54 or system. The cold planer 50 may include a milling drum 56 supported by the frame 52 and a conveyor 58 for conveying milled material from the milling drum 56 and to, for example, a truck. The depth of the milling drum into the road surface can be controlled by one or more actuating devices 59 arranged between the traction device 54 and the frame 52. In other words, the milling drum 56 can be supported by the frame 52, and the upward or downward adjustment of the frame 52 can in turn move the milling drum upward and downward. The milling drum can extend across the frame and may have a protective housing or shield surrounding the frame. A power-actuated steering guide 100 can extend beyond the side of the cold planer and forward from it to provide a direct line of sight from the operator to the guide. The guide can be aligned with one side of a road or other alignment guide, allowing the operator to maintain the alignment of the road work machine as it travels along the milling path.

[0013] Figure 2This is a perspective view of a road work machine in the form of an asphalt paving machine 60. The asphalt paving machine 60 can be configured to receive an asphalt mixture into a hopper 62, convey the asphalt mixture to a slab 64 using an internal auger conveyor, and place the asphalt mixture onto a road surface in a controlled manner using the slab 64. The asphalt paving machine 60 can control the width, thickness, and density of the placed pavement. In one or more embodiments, the slab 64 may include a slab extension 66 that allows adjustment of the width of the placed pavement. Furthermore, the slab 64 can be adjusted upwards and downwards to control the thickness of the placed pavement. A power-actuated steering guide 100 can extend from the side of the asphalt paving machine and forwards from the machine to provide a direct line of sight from the operator to the guide. The power-actuated steering guide 100 can be aligned with a side of a predetermined road, an edge of previously laid asphalt, or other alignment guides, allowing the operator to maintain alignment of the road work machine as it travels along the road path. It should be understood that while cold planers and paving machines have been shown as examples of road work machines, other machines can also constitute road work machines. For example, road reclaimers, rotary mixers, and other machines can constitute road work machines. Furthermore, most work machines requiring alignment movement can use the power-actuated steering guides disclosed herein, and the use of these guides should not be limited to road work machines. Other work machines that may rely on alignment movement, for example, may include trenchers, loaders, slip steering systems, or other work machines.

[0014] Figure 3 It shows Figure 3 The figure shows a top perspective view of an asphalt paving machine 60. As shown, a power-actuated steering guide 100 extends laterally forward from the machine to provide the operator with a direct line of sight to the guide. The power-actuated steering guide 100 is aligned with the edge of the previously paved surface, as shown. When the operator operates the machine, the operator can maintain the alignment of the power-actuated steering guide 100 with the edge of the previously paved surface so that the edge of the entire slab of the asphalt paving machine follows that edge.

[0015] Turn now Figure 4 A more detailed discussion of the power-actuated steering guide 100 can be provided. Figure 4This is a partial close-up cutaway view of the power-actuated steering guide 100. As described above, the power-actuated steering guide 100 can be configured to extend laterally from the cold planer 50 / asphalt paving machine 60 and forward from the machine to provide the operator with a direct line of sight to the guide. Adjustment of the power-actuated steering guide 100 can allow for changes in machine operation. For example, in the case of an asphalt paving machine, the size of the slab can be adjusted to accommodate different selected widths of road surface. In these cases, the power-actuated steering guide 100 can be adjusted to take into account the selected width of the road surface and allow the steering guide to align with the edge of the slab. As shown, the power-actuated steering guide 100 may include a main section 102, a branch section 104, a towing component 106, and a controller 108. Each of these components can be discussed sequentially.

[0016] The main section 102 can be configured to support the power-actuated steering guide 100 and to laterally adjust the guide relative to the cold planer 50 / asphalt paving machine 60. In one or more embodiments, such as Figure 4 As shown, the main section 102 may include a shaft, rod, tube, or other elongated element 110 defining a longitudinal axis. The elongated element 110 may be arranged generally transverse to the machine's direction of travel, such that the elongated element 110 may generally extend beyond the side of the working machine. The elongated element 110 may be configured to be adjustable along the longitudinal axis, thereby allowing the degree to which the elongated element 110 extends beyond the side of the machine to be adjusted, and thus allowing adjustment of the steering guide position based on changing working conditions. The elongated element 110 may have a first or inner end 112 and a second or outer end 114. In one or more embodiments, the elongated element may be supported at or near the outer edge of the working machine by a sleeve, lug, nut, bushing, seal, bearing, or other external support element 116. The second or outer end of the elongated element may pass through the external support element. The first or inner end may be secured to or engaged with a sleeve, lug, nut, bushing, seal, bearing, or other internal support element 118. Accordingly, the elongated element 110 can extend laterally from the side of the working machine in a cantilevered and adjustable manner, wherein the outer support element 116 / internal support element 118 supports the elongated element 110 in a spaced-apart manner to hold the elongated element 110 in a generally horizontal orientation. As explained in more detail below, the internal and external support elements may include smooth sleeves or internal threads for engagement with external threads on the elongated element.

[0017] The lateral position of the elongated element 110 can be controlled by the actuation mechanism 120. Figure 4In the illustrated embodiment, the actuation mechanism 120 may include, for example, a screw driver. As shown, the actuation mechanism 120 may be positioned adjacent to and generally parallel to the elongated element 110. The elongated element 110 may include threads on its outer surface adapted to engage with the screw driver. The internal support element 118 may include an access window extending longitudinally along the sleeve and allowing the threaded screw or other gear mechanism of the screw driver to engage with the threads on the elongated element 110. In other embodiments, the screw driver may be positioned adjacent to the internal support element along the length of the elongated element. The screw driver may be fixed to the working machine in a substantially fixed position. Accordingly, when the screw driver is actuated, the elongated element 110 may be pushed outward or inward depending on the actuation direction of the screw driver and due to the engagement of the threads on the elongated element with the gears of the screw driver. The screw driver may be reversible to extend or retract the elongated element, thereby adjusting the steering guide further away from or closer to the side of the machine. Unless actuated, the screw driver can prevent unintentional adjustment of the steering guide by preventing extension or retraction.

[0018] As described above, the outer support element 116 / inner support element 118 may include internal threads to receive and engage with threads on the outer side of the elongated element. In some embodiments, for example, the elongated element may extend beyond 5 feet to the side of the machine, and the total length of the elongated element may be approximately 10 feet. When the elongated element is fully retracted, the second or outer end may be supported by the outer support element, and the elongated element may extend substantially across the width of the machine such that the first or inner end is positioned on the opposite side of the machine. Given the relatively large extension as a percentage of the total length of the elongated element, the relatively large length of the elongated element may be threaded. Accordingly, the threaded portion of the elongated element may engage the outer support element 116 / inner support element 118 at some point along its entire travel. In one or more embodiments, substantially the entire length of the elongated element may be threaded.

[0019] Branch portion 104 may extend from a second or outer end 114 of main portion 102 and may be adapted to extend forward along the machine to a point allowing direct line of sight to the operator. In one or more embodiments, the branch portion may include an elongated shaft, rod, conduit, pipe, or tube having a connecting end 122 and a free end 124. The branch portion may be secured to the main portion 102 at its connecting end with a vertically arranged pin, such that branch portion 104 may pivot between a stored position (extending rearward from the main portion) and an extended position (extending forward from the main portion). In one or more embodiments, branch portion 104 may be a telescopic branch having a sleeve portion and a rod portion, and includes a retaining screw or other locking mechanism for securing the rod portion in the extended position. In one or more embodiments, the extension may include an actuator that is the same as or similar to that of the main portion. In another embodiment, branch portion 104 may have one or more hinges instead of a telescopic component, such that the branch portion may fold about one or more vertically extending axes to fold the branch portion.

[0020] It should be understood that the branch portion 104 can help reach points that are easier for the operator to see. However, in one or more embodiments, the branch portion may be omitted, and the operator may rely on the outer end of the trunk portion for alignment guidance.

[0021] A towing member 106 may extend from the free end 124 of the branch portion 104. The towing member 106 may be adapted to be dragged across a road surface or suspended from the free end 124 of the branch portion to provide the operator with a perspective view of the position of the free end 124 suspended on the road surface. In one or more embodiments, the towing member 106 may include a chain or other relatively flexible element that is also relatively heavy to avoid being affected by, for example, wind or a light breeze. In one or more other embodiments, the towing member may include a plastic or other flexible element adapted to flexibly engage and drag on the ground, thereby providing minimal support to the free end of the branch portion without affecting its lateral position. Similar to the branch portion, a towing member may be omitted where the operator does not need or desire contact with or proximity to the ground.

[0022] The controller 108 may be part of the control console of the working machine. In other words, the machine may include a computing device having a computer-readable storage medium and instructions stored thereon for deploying and manipulating various components of the working machine, such as the slab and heating elements, in the case of an asphalt paving machine, or deploying and manipulating the milling drum and conveyor, in the case of a cold planer. The computing device may also include a processor for executing instructions in response to operator control inputs, as well as other inputs and directions. In this embodiment, the instructions stored on the computer-readable storage medium may include instructions for adjusting the power-actuated steering guide, and thereby the computing device may function as a controller for the steering guide. In other embodiments, a dedicated controller may be provided. The controller 108 may communicate with the actuation mechanism 120 on the power-actuated steering guide 100 via wired or wireless signals and may be adapted to control the main body and / or branch portions of the steering guide based on operator instructions.

[0023] In one or more embodiments, instructions on a computer-readable storage medium can be adapted for operator-selectable adjustments. In other words, for example, an offset distance 126 for the steering guide (i.e., the lateral distance of the working machine) can be selected and input. For example, if a 10-foot-wide machine is used and the desired road width is 12 feet, the operator can select a 1-foot offset distance and input it into the machine such that the steering guide is aligned with the road slab. In other words, for a 12-foot-wide road, the road slab can be 12 feet wide, thus allowing a 1-foot lateral extension beyond each side of the working machine. In imperial units, increments of one foot, one inch, or fractions of an inch, such as one-eighth or one-sixteenth, can be obtained on the selector. Controller 108 can signal the actuation mechanism 120 of the main body 102 of the power-actuated steering guide 100 and can operate the actuation mechanism 120 until the main body is properly adjusted. In one or more embodiments, controller 108 can be calibrated by returning the trunk to a fully retracted state (i.e., zero offset), and the controller can then rely on the operating speed and the known travel of the actuator to determine how long the actuator should operate. In other embodiments, one or more electronic sensors can be positioned along the trunk to determine when to stop the actuator. In yet another embodiment, computer-executed instructions can allow an operator to manipulate the actuator and rely on visual inspection (via a camera or direct line of sight or other personnel) to determine the appropriate extension of the trunk.

[0024] In one or more other embodiments, the system may include algorithms for determining the road width and adjusting the power steering guide accordingly. For example, in one or more embodiments, the operator may input the road width instead of an offset. Controller 108 may receive the road width, retrieve the machine width from a computer-readable storage medium, subtract the machine width, and divide the result by 2 to obtain an offset distance 126. Given the calculated offset position, the controller may control the position of the trunk to place the outer end of the trunk at the offset distance 126. Other methods based on the road width to reach the power steering guide position may also be used. In one or more embodiments, the entire road width may be input into the controller. For example, the operator may input a width of 24 feet for the road. Given the limitations of the flatbed extension, the need for tire crowns and other factors in most road surfaces, the computing device may calculate the road width to be applied and adjust the power steering guide accordingly. For example, when using a machine with a 10-foot wide flatbed with a 5-foot extendable flatbed, the maximum road section width may be approximately 20 feet. However, given the tire crowns in the road, two 12-foot wide road sections may be placed. Taking into account a 12-foot wide road section, the calculation device can subtract the machine width and divide by 2 to obtain a 1-foot offset distance 126 for the power-actuated steering guide. Based on the calculated offset, the controller can adjust the steering guide to the 1-foot offset via the actuation mechanism. Other methods for calculating the offset based on the entire road width are also available.

[0025] In one or more embodiments, actuation of the steering guide may be associated with the extension or retraction of the slab extension. For example, an operator may adjust the width of the slab on an asphalt paving machine to produce a desired pavement width. Similar to a power-actuated steering guide, the slab extension may extend laterally away from each side of the machine, and the edges of the slab extension may define a desired edge of the pavement. In one or more embodiments, an operator may adjust the slab extension, and a computing device may determine an offset of the power-actuated steering guide based on the adjusted position of the slab extension. For example, if an operator adjusts the slab extension for a 14-foot-wide pavement section, the computing system may identify that the slab extension extends 2 feet from each side of a 10-foot machine, and thus a 2-foot offset may be established. Based on the established 2-foot offset, the controller may also adjust the power-actuated steering guide to the 2-foot offset. Other methods for establishing an offset based on the position of the slab extension may also be provided.

[0026] Turn now Figure 5 Another embodiment of the power-actuated steering guide 200 is shown. In this embodiment, a hydraulic actuator 220 may be provided. In other words, regarding... Figure 4The elongated element 210 of the main trunk 202 described herein can be the rod of the hydraulic cylinder in this embodiment. As shown, the hydraulic cylinder can be arranged within the main body of the working machine, and actuation of the hydraulic cylinder can cause the rod to extend from the cylinder out of the side of the road working machine. The branch 204, towing 206, and controller 208 portions of this embodiment can be the same as or similar to those described above.

[0027] Industrial applicability In operation and use, a method for automatically adjusting the power-actuated steering guide can be provided. (300) For example, the operator can input an actuation command on the machine control panel. In one or more embodiments, the operator can input a command to adjust the power-actuated steering guide, and the operator can continue inputting the command while the steering guide is in place. When the operator deems the steering guide to be properly adjusted, the operator can stop inputting the command. In one or more other embodiments, the operator can input the command by inputting an offset distance. In other embodiments, the operator can input the command by inputting the road width. In other embodiments, the operator can input the command by inputting the road width and / or other parameters associated with the project, such as road tread, centerline position or tread position, number of lanes, etc.

[0028] In the above scenario, the controller can receive an actuation command as input from the operator's console. (302) If the received input provides an active instruction to adjust the power-actuated steering guide, the controller can transmit a signal to the actuating device to control the actuating device to reach the offset dimension. (304) In this case, the controller can control the actuating device and can continue to do so unless / until the active instruction stops (i.e., when the operator stops inputting commands). The signal to the actuating device can be a forward or backward signal based on the operator's input, and power can be supplied to the actuating device to extend or retract the main body of the steering guide.

[0029] When the received input provides an offset distance, the controller can transmit a signal to the actuation device and can continue to do so unless / until the trunk of the steering guide reaches the input offset distance. The controller can rely on the known position of the trunk and the travel speed of the trunk to identify when the steering guide reaches the input offset. In one or more other embodiments, the controller can receive input from one or more sensors that monitor the position of the trunk and can stop actuation based on sensor readings indicating that a selected offset has been established.

[0030] When the received input includes the road width, the controller can perform a series of calculations to establish the offset dimension. For example, in one or more embodiments, the controller can access the stored machine width, subtract the machine width from the road width, and divide the result by 2 to establish the offset dimension. Once the offset dimension is established, the controller can adjust the position of the steering guide in the same or similar manner as the steps used by the operator to directly input the offset dimension.

[0031] When the received input includes the road width, the controller can perform a series of calculations to establish the offset dimensions. For example, in one or more embodiments, in addition to the stored maximum slab width, the controller may also rely on the entire road width as input. The controller may also access information about the tire crown or its location. Based on this information, the controller can calculate one or more road widths for paving the surface. In one example, the entire road width could be 30 feet and consist of two 12-foot lanes and two 3-foot shoulders. The entire extended slab width of the machine could be, for example, 20 feet, based on a 10-foot wide machine and a 5-foot slab extension extending from each side of the machine. Accordingly, at least two road access paths could be used to pave the entire 30-foot width. Furthermore, since there are two lanes and one tire crown in the road, the controller can determine two access paths that can provide 15 feet of road surface. Given a 15-foot road surface width, the controller can subtract a 10-foot machine width and divide the result of 5 by 2 to establish an offset of 2 feet 6 inches. Given an offset of 2 feet 6 inches, the controller can adjust the automatic steering guide to the 2 feet 6 inches offset distance using the method described above, where the operator directly inputs the offset distance.

[0032] In other embodiments, the operator may not need to input commands; instead, the offset distance of the steering guide can be adapted to follow the extension of the flatbed. For example, the flatbed can be adjusted to provide a selected road width. Based on the adjusted flatbed dimensions, the controller can determine an offset dimension that is the same as or similar to the dimension of each flatbed extension. In determining the offset dimension, the controller can use the method described above to adjust the power-actuated steering guide to be equal to the offset distance of the flatbed extension, where the operator directly inputs the offset distance.

[0033] By adjusting the power-actuated steering guide, the operator can use the steering guide to lay out the road, keeping the road machine aligned with established guides such as stake lines, paint lines, and road edges. In other words, the operator can steer the machine by holding the free end of a branch of the steering guide above the guide.

[0034] The detailed description above is illustrative, not restrictive. Therefore, the scope of the invention should be determined by reference to the appended claims and the full scope of their authorized equivalents.

Claims

1. A working machine, comprising: The frame is supported by traction equipment; as well as A power-actuated steering guide, fixed to the frame and extending forward and laterally from the working machine, provides a direct forward line of sight from the operator to the guide, and the guide includes: The main section is arranged and configured to be laterally hinged relative to the direction of travel of the working machine, and the main section has an actuation mechanism configured to perform the hinge. A branch portion, extending from the outer end of the main section and adapted to proceed forward along the working machine to a point allowing the operator direct line of sight; and A controller configured to control the actuation mechanism so that the main section is hinged to an offset dimension.

2. The working machine according to claim 1, wherein the main body includes an elongated element having a longitudinal axis.

3. The working machine of claim 2, wherein the longitudinal axis extends laterally relative to the direction of travel, and the elongated element is configured to be hinged along the longitudinal axis.

4. The operating machine according to claim 3, wherein the actuation mechanism is a screw driver.

5. The working machine according to claim 3, wherein the actuation mechanism is a hydraulic cylinder.

6. The working machine of claim 1, wherein the controller is configured to receive continuous commands and control the actuation mechanism until the commands cease.

7. The working machine of claim 1, wherein the controller is configured to receive the offset dimension and control the actuation mechanism to hinge the main body until the outer end of the main body reaches the offset dimension.

8. The working machine of claim 1, wherein the controller is configured to receive the road width, establish the offset dimension based on the road width, and control the actuation mechanism to hinge the main section until the outer end of the main section reaches the offset dimension.

9. The working machine of claim 1, wherein the controller is configured to receive the road width, establish the offset dimension based on the road width, and control the actuation mechanism to hinge the main section until the outer end of the main section reaches the offset dimension.

10. The working machine of claim 1, wherein the controller is configured to receive the dimensions of the flat plate extension, establish the offset dimension based on the dimensions of the flat plate extension, and control the actuation mechanism to hinge the main body until the outer end of the main body reaches the offset dimension.

11. The working machine according to claim 1, wherein the working machine includes a laying machine.

12. The working machine according to claim 1, wherein the working machine includes a cold planer.

13. The working machine according to claim 1, wherein the working machine includes road marking equipment.

14. A method for adjusting a steering guide on a working machine, the steering guide having a main portion and branch portions extending from the outer end of the main portion, and extending forward and laterally from the working machine to provide a forward direct line of sight from the operator to the guide, the method comprising: The controller receives a command to adjust the steering guide to the offset dimension. The controller controls the actuation mechanism on the steering guide to laterally hinge the main body of the steering guide relative to the direction of travel of the working machine until the outer end of the main body reaches the offset dimension. The branch portion of the steering guide is hinged such that the branch portion is adapted to move forward along the working machine to a point where the operator has a direct line of sight.

15. The method of claim 14, wherein receiving a command comprises continuously receiving commands, and controlling the actuation mechanism comprises continuously controlling the actuation mechanism until the command stops.

16. The method of claim 14, wherein receiving the command includes receiving the offset dimension.

17. The method of claim 14, wherein receiving the command includes receiving the road width, the method further comprising using the controller to determine the offset dimension based on the road width.

18. The method of claim 14, wherein receiving the command includes receiving a road width, the method further comprising using the controller to determine the offset dimension based on the road width.

19. The method of claim 14, wherein receiving the command includes receiving the dimensions of the entire flat panel extension, the method further comprising using the controller to determine the offset dimension based on the dimensions of the entire flat panel extension.

20. The method of claim 14, wherein the working machine is a paving machine, and the method further comprises operating the paving machine to pave a road using the steering guide.

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