Method for disconnecting a tool from a tilting spinner

Abstract

The present invention relates to a method for disconnecting a tool (20) from a tilt rotator assembly (100), the tilt rotator assembly including a tilt rotator (10) having a tool (20) coupled thereto, the method comprising: retrieving (S20) at least one value (V1) corresponding to a current attitude of the tilt rotator assembly (100); determining (S30) at the control unit (2) whether the at least one retrieved value (V1) satisfies a predetermined condition; and if it is determined that the at least one retrieved value (V1) satisfies the predetermined condition, allowing (S40) the tool (20) to be disconnected from the tilt rotator assembly (100). The present invention also relates to a vehicle (200) comprising a tilt rotator assembly (100) configured to perform the method and a computer system for performing the method.

Description

BACKGROUND OF THE INVENTION

[0001] Embodiments of the present disclosure relate to a method of disconnecting a tool from a tiltrotator assembly, the tiltrotator assembly including a tiltrotator having a tool coupled thereto. Some embodiments of the present disclosure relate to a vehicle and / or a computer system configured to perform such a method.

[0002] Machines such as hydraulic excavators, hydraulic shovels, backhoe loaders, etc. typically need to perform different kinds of work at a job site. Different work tools, such as buckets, hammers, rippers, and grapples, can be engaged to the working end of a machine's arm assembly (including, for example, a dipper stick and a boom). In recent years, intermediate tools, so-called tiltrotators, have been widely used. A tiltrotator serves as a linkage device disposed between the working end of the arm assembly and the work tool to be coupled.

[0003] With only a slight loss of the overall machine digging force, recent tiltrotator models provide 360-degree rotation and approximately 40 degrees of tilt movement, allowing the machine to reach more work areas from a single position, significantly reducing machine repositioning and subsequent fuel consumption. The tiltrotator enables the operator to bypass pillars, rocks, and other obstacles and to more easily reach along the edge of a trench. Such functionality allows the machine to work above, below, and around all types of obstacles or infrastructure using any attachment or tool required for the job.

[0004] A tiltrotator is typically a modular system that can be configured according to operator-defined requirements. For example, a tiltrotator might be the only component connecting the dipper stick to the tool. Alternatively, the tiltrotator assembly can include a coupler attached to its bottom, the coupler being configured to couple / connect the tool to the tiltrotator. Additionally, the tiltrotator assembly can include a dedicated rotatable turntable component as part of the tiltrotator assembly.

[0005] To that end, disconnect methods are known. For example, WO 2014 / 168540 A1 describes a system for controlling a quick coupler that can be part of a tilt rotor assembly. The system includes first and second control units, both of which receive input signals as a basis for an inspection program performed by each control unit. The control system also includes control means arranged to control the quick coupler to an unlocked position if both the first and second control signals indicate values of valid signals corresponding to the unlocked position. SUMMARY OF THE INVENTION

[0006] Some embodiments of the present disclosure provide a method of disconnecting a tool from a tilt rotor assembly, the tilt rotor assembly including a tilt rotor having a tool coupled thereto. Some embodiments provide a vehicle and a computer system configured to perform such a method.

[0007] In some embodiments, a method for disconnecting a tool from a tilt rotator assembly is provided, the tilt rotator assembly including a tilt rotator having a tool coupled thereto. The method includes retrieving a value corresponding to a current pose / orientation / position of the tilt rotator. A control unit determines whether the retrieved value satisfies a predetermined condition. If it is determined that the retrieved value satisfies the predetermined condition, the controller provides for the disconnection of the tool from the tilt rotator assembly.

[0008] In some embodiments, a processor is configured to determine whether a pose / orientation / position of the tilt rotator and / or a value associated with the pose / orientation / position of the tilt rotator satisfies a predetermined condition, and may control or operate the controller to disconnect the tool from the tilt rotator if the pose / orientation / position of the tilt rotator or a value associated with the pose / orientation / position of the tilt rotator satisfies the predetermined condition.

[0009] In some embodiments, a machine may include a processor and / or a disconnect controller and may disconnect a tool from a tilt rotator when a pose / orientation / position of the tilt rotator and / or a value associated with the pose / orientation / position of the tilt rotator satisfies a predetermined condition. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The present disclosure will be more readily understood by reference to the following detailed description considered in conjunction with the accompanying drawings, in which:

[0011] Figure 1 A side view of a vehicle equipped with a tilt rotator assembly for performing a method for disconnecting a tool from a tilt rotator according to some embodiments of the present disclosure is schematically shown;

[0012] Figure 2 A side view of a tilt rotator assembly including a gripper pin coupler is schematically shown in a neutral pose of the tilt rotator assembly;

[0013] Figure 3 A side view of a tilt rotator assembly including a gripper pin coupler is schematically shown in a neutral pose of the tilt rotator assembly with a locked device unlocked;

[0014] Figure 4 A side view of a tilt rotator assembly including a gripper pin coupler is schematically shown in a curled pose of the tilt rotator assembly;

[0015] Figure 5 A perspective view of an isolated tilt rotator assembly including a gripper pin coupler is shown;

[0016] Figure 6is a flowchart showing a method of disconnecting a tool from a tilt rotator as shown, for example, in Figure 2-5 ;

[0017] Figure 7 is a flowchart showing a method of disconnecting a tool from a tilt rotator as shown, for example, in Figure 2-5 ;

[0018] Figure 8 is a flowchart showing a method of disconnecting a tool from a tilt rotator as shown, for example, in Figure 2-5 ; and

[0019] Figure 9 is a flowchart showing a method of disconnecting a tool from a tilt rotator as shown, for example, in Figure 2-5 ; DETAILED DESCRIPTION

[0020] Hereinafter, some embodiments of the present disclosure will be explained with reference to the drawings. In the drawings, the same elements are denoted by the same reference numerals, and their repeated description may be omitted to avoid redundancy.

[0021] The present disclosure generally relates to a method of disconnecting a tool from a tilt rotator assembly including a tilt rotator having a tool coupled thereto. According to an embodiment of the present disclosure, the method provides a safe and simple disconnection method, which includes controlling whether the tool can be disconnected from the tilt rotator assembly. When the tool and / or the tilt rotator assembly is not in a safe disconnection state / orientation / pose, this control prevents disconnection. For example, it prevents an operator from accidentally detaching the tool when the tilt rotator is in a pose where the tool would fall from the tilt rotator assembly. It also prevents the operator from accidentally releasing the tool when the tilt rotator is in a pose where the tool could swing outside the tilt rotator assembly.

[0022] The basic method of disconnecting a tool from a tilt rotator assembly is well known to those skilled in the art and will not be further described. Instead, the features of the method of disconnecting a tool from a tilt rotator assembly according to the present invention are presented and described hereinafter.

[0023] Hereinafter, the present invention and its basic principle are exemplarily explained for a tilt rotator assembly including a pin grabber coupler. However, any other coupler can be interchangeably used with the tilt rotator assembly in addition to the pin grabber coupler, particularly S-type excavator couplers and CW series couplers, provided that predetermined conditions are defined taking into account the specific design features of the attached coupler.

[0024] Figure 1An embodiment of a vehicle 200 is shown, which is intended for excavation applications and performs the methods set forth in this specification. The vehicle 200 includes a boom 210 and a dipperstick 220, and the dipperstick is equipped with a tilt-rotator assembly 100 at the working end of the dipperstick 220. The tilt-rotator assembly 100 includes a tilt-rotator 10 and a grapple-coupler 12 mounted to the bottom of the tilt-rotator 10.

[0025] As Figure 1 can be seen, the tool 20 can be rigidly coupled to the tilt-rotator assembly 100. When coupled, the tool 20 can be actuated / controlled by the tilt-rotator assembly 100. The tool 20 can be coupled to the grapple-coupler 12, which can be a component of the tilt-rotator assembly. More specifically, the tool 20 can be received through the rear-facing notch 16 and the downward-facing notch 18 of the grapple-coupler 12. In this way, the tool 20 can be coupled to the tilt-rotator assembly 100. Since the grapple-coupler 12 can be fixedly attached to the tilt-rotator assembly 100, the tool 20 can be rigidly coupled to the tilt-rotator assembly 100. Therefore, the tool 20 can be easily picked up, coupled, and locked remotely. The working principle of picking up, coupling, and locking the tool 20 using the grapple-coupler 12 may require aligning the grapple-coupler 12 in such a way that the rear-facing notch 16 and the downward-facing notch 18 can engage with the tool 20. When engaged, the tool 20 can be locked in the rear-facing notch 16 and / or the downward-facing notch 18 using a locking device.

[0026] Hereinafter, the terms "rear" and "down" are defined according to the representation of the vehicle 200 and the Cartesian coordinate nomenclature XYZ provided as Figure 1 . Thus, even if the tilt-rotator assembly 100 can rotate approximately 360 degrees in the X-Z plane, tilt approximately 40 degrees in the Y-Z plane, and curl and unfold in the X-Y plane, for example, the rear-facing notch 16 and the downward-facing notch are respectively defined as facing "rearward" and "downward".

[0027] In other words, the terms "rearward" and "downward" can also be understood relative to the coordinate system defined by the tool 20, where the rearward direction is the direction in which active work is typically performed by pulling the tool closer to the vehicle 200.

[0028] Figure 2 A side view of the tilt-rotator assembly 100 including the grapple-coupler 12 is schematically shown in the neutral posture of the tilt-rotator assembly 100. As Figure 2As shown by the dashed line in [description], the posture of the bucket handle 220 can be ignored for the features described below. Instead, the posture of the tilt-rotator assembly 100 itself is important in the method of disconnecting the tool 20 from the tilt-rotator assembly 100 as described in the present disclosure. In the context of the present application, the term "posture of the tilt-rotator assembly 100" refers to the posture of the tool 20 because the tool 20 can be rigidly attached to the tilt-rotator assembly 100.

[0029] So far, Figure 2 The tilt-rotator assembly 100 in a neutral posture is shown. The tilt-rotator assembly 100 includes a tilt-rotator 10, and a grapple-coupler 12 is mounted to the tilt-rotator on a rotatable console 14 of the tilt-rotator 10. Thus, the grapple-coupler 12 can rotate and tilt as described above. The tool 20 includes a first pin 24 and a second pin 26, where the first pin 24 is received in a rear-facing notch 16 of the grapple-coupler 12, and the second pin 26 is received in a downward-facing notch 18 of the grapple-coupler 12. Thus, the tool 20 can be coupled by engaging the first pin 24 with the rear-facing notch 16 in a first step and then engaging the second pin 26 in the downward-facing notch 18 in a subsequent step. Additionally, a locking device 22 can be used to lock the second pin 26 in the downward-facing notch 18. As an example, the locking device 22 can be a hydraulically actuated latch that can securely lock the second pin 26 in the downward-facing notch 18. As an example, in a deactivated state, the latch can be contained on the inner side of the grapple-coupler 12. When activated, the latch can be driven outside the grapple-coupler 12 to lock the second pin 26 within the downward-facing notch 18 of the tool 20. The force required to lift the tool is distributed between the first pin 24 and the second pin 26 of the tool 20. As an example, as Figure 2 shown in [reference], the center of gravity 28 of the tool 20 results in a substantially equal balance of weight distribution between the first pin 24 and the second pin 26 of the tool 20.

[0030] Figure 3 A situation where the tool 20 swings outwards beyond the grapple-coupler 12 is shown. In the neutral posture of the tilt-rotator assembly 100 and with the locking device 22 open, the tool 20 can only be held by its first pin 24, which is received in the rear-facing notch 16 of the grapple-coupler 12. Thus, the tool 20 can be tilted into a posture where its center of gravity 28 is aligned with a vertical plane A passing through the central axis of the first pin 24. In other words, the gravitational force G acting at the center of gravity 28 of the tool 20 can cause an outward swing amount S such that the tool 20 swings outwards from the rear-facing notch 16 of the grapple-coupler 12. Theoretically, Figure 3The situations described above may occur in different operations. For example, if there is no safety method and the tool 20 is released during the neutral position of the tilt-rotator assembly 100. Moreover, this situation can occur in a controlled manner, i.e., during the deployment step after the step of curling the tilt-rotator assembly 100, followed by the step of unlocking the tool 20 from the tilt-rotator assembly 100.

[0031] In view of Figure 2 and 3 , the disconnection of the tool 20 is only allowed when the tool 20 is in the curled state. Referring to Figure 4 , the curled state can be a state in which the center of gravity 28 of the tool 20 deviates from the vertical plane A. In this context, the term "deviates" refers to the relative side where the downward-facing notch 18 is positioned with respect to the rear-facing notch 16. If the rear-facing notch 16 is significantly higher than the downward-facing notch 18, as represented by the height difference ΔH in Figure 4 , the center of gravity 28 of the tool 20 can be located outside the vertical plane A. A minimum height difference ΔH can be provided and included in the predetermined conditions of the method disclosed in this specification. This condition has the effect that the second pin 26 of the tool 20 applies a force F to the downward-facing notch 18. Therefore, the tool 20 is prevented from swinging outwards or falling outside the gripper coupler 12. The condition discussed above can be referred to as the curled state. In other words, the curled state can be a state in which the second pin 26 of the tool 20 applies a force F to the downward-facing notch 18 of the gripper coupler 12. Therefore, in the curled position of the tilt-rotator assembly 100, the tool 20 will remain attached to the tilt-rotator assembly 100 regardless of whether the locking device 22 is in the open position or the locked position. Alternatively, the curled position can be defined as the position of the tool 20 in which the first pin 24 is at a higher height relative to the second pin 26 of the tool 20, such that the height difference between the first pin 24 and the second pin 26 from the ground is greater than or equal to a predetermined value. According to this embodiment, any position that does not meet the curled position criteria can be considered a non-curled position.

[0032] Identifying whether the tilt-rotator assembly 100 is in the curled state can be achieved by the sensor unit 3. Such a sensor unit 3 is generally understood as any information source or physical medium on the basis of which a value corresponding to the current position of the tilt-rotator assembly can be retrieved. In this way, the sensor unit 3 can provide at least one value corresponding to the position of the tilt-rotator assembly 100.

[0033] As an example, posture information about one, some, or all of the components (so-called "actuating components") for actuating the tilt-rotator assembly 100 can be provided by the sensor unit 3. In this context, the actuating components can include the boom 210 and / or the dipper stick 220 and / or the means for actuating the tilt-rotator assembly 100 itself, in particular the means for rotating and tilting the tilt-rotator assembly 100.

[0034] According to one embodiment, the sensor unit 3 can include a dipper cylinder and a pressure relief valve and can be configured to provide posture information about the associated actuating component. More specifically, the dipper cylinder can be configured such that, in a specific posture of the associated actuating component, the pressure accumulation in the dipper cylinder is released through the pressure relief valve. The actuation of the pressure relief valve can physically or logically trigger a value corresponding to the current posture of the component. Preferably, the specific posture can be the curled posture. In this case, the sensor unit 3 provides a value V1 corresponding to the specific value V1. The value corresponding to the current posture of the tilt-rotator assembly can be a logical value of the boolean type and thus be "TRUE" (1) or "FALSE" (0). Furthermore, if more components are used to actuate the tilt-rotator assembly, several sensor units 3 can be used. In this case, each sensor unit 3 can provide a value similar to the above. Alternatively, the sensor unit 3 can include several subunits that provide a combined value corresponding to the current posture of the tilt-rotator assembly.

[0035] As described above, identifying whether the tilt-rotator assembly 100 is in the curled state can be achieved by the sensor unit 3 located in the downward-facing notch 18. According to this embodiment, the sensor unit 3 can be configured such that it provides a value that indicates whether a force F is applied by the second pin 26 of the tool 20 to the downward-facing notch 18, and preferably the magnitude of the force applied by the second pin 26 of the tool 20 to the downward-facing notch 18. Since, in this posture, the force applied to the downward-facing notch 18 indicates that the dropping of the tool 20 can be excluded, only the potential outward swing has to be considered within the predetermined conditions. The latter can be encountered, for example, by defining a sufficient minimum amount of force applied to the downward-facing notch 18 within the predetermined conditions.

[0036] At least one value received from the sensor unit 3 can be used to determine whether the at least one value meets a predetermined condition, such as whether the tilt rotator is in a curled posture. Of course, the predetermined condition can be formulated in different ways. For example, if the value corresponding to the current posture of the tilt rotator assembly is a logical value of the Boolean type and thus is "TRUE" (1) or "FALSE" (0), the predetermined condition can be formulated such that the value "TRUE" is required. Additionally, if several logical values of the Boolean type are retrieved, the predetermined condition can be formulated such that all retrieved values must be "TRUE". Alternatively, if the sensor unit provides data corresponding to the force measured at the downward-facing notch, at least one value corresponding to the posture of the tilt rotator assembly can be a value corresponding to the measured force. Thus, the predetermined condition can then include a minimum force value that must be reached in order to meet the condition. As an alternative to measuring force, other sensors can be used. Additionally, for a given tool known to be within the condition, one or more postures of the tilt rotator assembly can be stored.

[0037] Starting from the curled posture as shown in Figure 4 , the locking device 22 can be safely opened without the risk of the tool 20 swinging outwards or falling outside the grapple coupler 12. In a subsequent step, the deployment of the tilt rotator assembly 100 can result in the release of the tool 20 from the tilt rotator assembly 100 in a controlled manner. This can be achieved by deploying the tilt rotator assembly 100 from the curled posture of the tilt rotator assembly 100 as shown in Figure 4 to the neutral posture of the tilt rotator assembly 100 as shown in Figure 3 . Additionally, the deployment of the tilt rotator assembly 100 can be further carried out such that the tool 20 swings outwards or falls outside the rear-facing notch 16 of the grapple coupler 12.

[0038] Figure 5 A perspective view of a tilt rotator assembly 100 including a tilt rotator 10 is shown, with a grapple coupler 12 coupled to the lower end of the tilt rotator 10. The lower end of the tilt rotator 10 includes a rotatable console 14 to which the grapple coupler 12 is fastened. The tilt rotator 10 further includes a tilt cylinder 30 configured to tilt the grapple coupler 12 by up to 40 degrees. The tilt rotator assembly 100 also includes means (not shown) for actuating the rotatable console 14 by, for example, hydraulic power by approximately 360 degrees. Alternatively, any other coupler can be interchangeably combined with the tilt rotator assembly 100 in place of the grapple coupler 12, particularly an S-type excavator coupler and a CW series coupler.

[0039] The basic structure and basic operation mode of the vehicle 200 equipped with the tilt rotator assembly 100 are well known to those skilled in the art and will not be further described. Instead, the features of the method of disconnecting the tool 20 from the tilt rotator assembly 100 and its implementation on the vehicle 200 will be presented and described in the following paragraphs.

[0040] An embodiment of the method of disconnecting the tool 20 from the tilt rotator assembly 100 is shown in Figure 6 in the form of a flowchart. In step S20, at least one value V1 corresponding to the current posture of the tilt rotator assembly 100 is retrieved. The expression "posture of the tilt rotator assembly" may also include the posture of the tool 20 coupled to the tilt rotator assembly 100. The value V1 may be a signal calculated, measured, otherwise processed or unprocessed from a sensor and / or any other source (such as the sensor unit 3). The retrieved value V1 may be retrieved by the control unit 2 or transmitted to the control unit for further processing. The at least one value V1 may be any value related to the posture of the tilt rotator assembly 100. Retrieving the at least one value V1 may be performed once upon request, according to external conditions, intermittently or continuously.

[0041] In step S30, the control unit 2 may determine whether the at least one retrieved value V1 satisfies a predetermined condition. Additionally, the predetermined condition may include a threshold value, an upper limit value or a lower limit value and / or a Boolean condition used as a basis for comparing or evaluating the at least one retrieved value V1. If it is determined in step S30 that the at least one retrieved value V1 satisfies the predetermined condition, then in step S40, the control unit 2 may allow the disconnection of the tool 20. Allowing the disconnection of the tool 20 from the tilt rotator assembly 100 may include indicating a variable that allows a particular retrieved variable V1.

[0042] Allowing the disconnection of the tool in step S40 may include a step of checking whether the current posture of the tilt rotator assembly 100 is still valid. Alternatively, the decision to allow the disconnection of the tool 20 in step S40 may expire after a predetermined amount of time and / or until a new variable V1 is determined in step S30. Allowing the disconnection of the tool 20 in step S40 may include issuing an alarm or signal to indicate that the current posture of the tilt rotator assembly 100 satisfies the predetermined condition.

[0043] If it is determined that the at least one retrieved value V1 does not satisfy the predetermined condition, the method may further include a holding step S41, in which the tool 20 remains coupled to the tilt rotator assembly 100. In this way, the tool 20 remains coupled, thus allowing the method of disconnecting the tool 20 from the tilt rotator assembly 100 to be repeated. Additionally, if it is determined that the at least one retrieved value V1 does not satisfy the predetermined condition, a signal or alarm may be issued indicating that the at least one value V1 does not satisfy the predetermined condition.

[0044] In another embodiment, as Figure 7 shown in, the method of disconnecting the tool 20 from the tilt rotator assembly 100 may further include step S10 of receiving an input i1 at the input device 1, wherein receiving the input i1 at the input device 1 causes at least one value V1 to be retrieved S20. Thus, the input device 1 may be configured to provide an interface to the operator, the interface including, for example, a panel having a touch screen, buttons, switches, etc., enabling the operator to initiate the method of disconnecting the tool 20 from the tilt rotator assembly 100.

[0045] In another embodiment, as Figure 8 shown in, the method of disconnecting the tool 20 from the tilt rotator assembly 100 may further include step S50 of unlocking the tool 20 using the locking device 22 if the disconnection of the tool 20 from the tilt rotator assembly 100 is allowed. In this configuration, the tool 20 may still be coupled to the tilt rotator assembly 100, but the tool 20 may be detached by subsequent actuation of the tilt rotator assembly 100, by manual disassembly, etc.

[0046] Preferably, the unlocking step S50 of the tool may further include restricting further actuation of the tilt rotator assembly 100. In particular, the further movement may be restricted such that only a predetermined tool disconnection procedure can be followed. Alternatively or additionally, the restriction of further actuation of the tilt rotator assembly 100 may be effective until the tool 20 is disconnected or until the tool 20 is re-coupled and locked again. Thus, the tool 20 can be prevented from falling or swinging outside the tilt rotator assembly 100 after the tool 20 is disconnected.

[0047] The predetermined condition may include the tilt rotator assembly 100 being in a curled posture as defined in the present disclosure. Generally, the curled posture of the tilt rotator assembly 100 means that the tool 20 is brought into such a curled posture that the tool 20 will not fall or swing outwards when the tool 20 is unlocked. In particular, in step S40, the necessary electrical and / or hydraulic actuators may be actuated to unlock the locking device 22 so that the tool 20 can be unlocked from the tilt rotator assembly 100.

[0048] In this case, as Figure 9 shown in, the step of unfolding the tilt rotator assembly 100 S60 may be after the step of unlocking the tool 20 using the locking device 22. In this way, when the curled but unlocked tool 20 is unfolded from the tilt rotator assembly 100, the point at which the tool 20 swings outwards and / or falls in a controlled manner will be reached, thereby completely separating the tool 20 from the tilt rotator assembly 100.

[0049] It will be apparent to those skilled in the art that these embodiments and items merely depict examples of a variety of possibilities. Therefore, the embodiments shown herein should not be construed as forming a limitation on these features and configurations. Any possible combination and configuration of the described features can be selected according to the scope of the present invention.

[0050] This is particularly true for the following optional features, which can be combined in any technically feasible combination with some or all of the previously mentioned embodiments, items, and / or features.

[0051] A method of disconnecting a tool from a tilt-rotator assembly can be provided, the tilt-rotator assembly including a tilt-rotator having a tool coupled thereto. The method can include the steps of retrieving at least one value corresponding to a current attitude of the tilt-rotator, determining at a control unit whether the retrieved value satisfies a predetermined condition, and allowing the tool to be disconnected from the tilt-rotator assembly if it is determined that at least one retrieved value satisfies the predetermined condition. Thus, the method provides safety control depending on the posture of the tilt-rotator.

[0052] As a result, compared with known methods of disconnecting a tool from a tilt-rotator assembly, in principle, no sensors are required near the tool. Instead, variables corresponding to the current posture of the tilt-rotator assembly can be retrieved directly, for example, from the electronic and / or hydraulic controls of the tilt-rotator and / or the vehicle. As an example, if the tilt-rotator assembly is hydraulically actuated, information about the current position of the hydraulic cylinder may already be readily available in the machine control system. Alternatively, the information can be conveniently retrieved remotely from the tool and used as a variable corresponding to the current posture of the tilt-rotator assembly. In this way, a more reliable, simpler, and safer method of disconnecting a tool from a tilt-rotator assembly can be achieved.

[0053] In a further development, the method can also include the step of receiving an input at an input device, wherein receiving the input at the input device causes at least one value to be retrieved. Specifically, the method of disconnecting the tool from the tilt-rotator assembly can be triggered externally, which allows for a reduction in processing resources.

[0054] Furthermore, if it is determined that at least one retrieved value does not satisfy the predetermined condition, the method can include the step of holding the tool in a coupled state with the tilt-rotator assembly. Thus, an additional safety feature is provided since the disconnection of the tool is explicitly excluded. Specifically, holding the tool in the coupled state can remain effective until another value is determined to satisfy the predetermined condition.

[0055] In addition, if disconnection of the tool from the tilt-rotator assembly is permitted, the method may further include the step of unlocking the tool using a locking device. Specifically, the locking device may be, for example, an electrically and / or hydraulically actuated component. In particular, the locking device may include a hydraulic cylinder actuated latch that locks the tool securely in the tilt-rotator assembly.

[0056] Preferably, the step of unlocking the tool may further include restricting further actuation of the tilt-rotator assembly. Unlocking the tool itself poses a risk due to the loose-coupled tool. To mitigate this risk, for example, only actuation of the tilt-rotator assembly that is reasonable for fully releasing the tool from the assembly may be permitted. Conversely, actuation of the tilt-rotator assembly that is identified as unnecessary for fully releasing the tool may be prohibited. Such restrictions may include separate hardware components and the direction or speed parameters of one, some, or all of the hardware components used in the actuation of the tilt-rotator assembly.

[0057] In a further development, the predetermined condition may include the tilt-rotator assembly being in a curled position. As defined above, in the context of the present disclosure, the curled position involves a position in which the tool does not swing outwards or fall from the tilt-rotator assembly when unlocked. Curling the machine in order to unlock the tool is a procedure known to the operator from machines without an attached tilt-rotator. Therefore, an operator performing the method disclosed in the present disclosure will not notice any difference in the process.

[0058] In addition, if disconnection of the tool from the tilt-rotator assembly is permitted, it may include the step of deploying the tilt-rotator in order to disconnect the tool from the tilt-rotator assembly. Specifically, the deployment of the tilt-rotator assembly may be defined as fully releasing the tool from the tilt-rotator assembly in a controlled manner. Preferably, the step of deploying the tilt-rotator assembly may include further restrictions on the actuation of the tilt-rotator assembly regarding the speed, direction, and / or pose relationship towards the ground.

[0059] In a further development, retrieving at least one value includes retrieving at least one value from a sensor unit. In this case, the at least one retrieved value may include hardware parameters measured at the hardware components. Specifically, the hardware parameters may be, for example, the extension of a cylinder, the pressure within the cylinder, or the volume flow rate of hydraulic fluid through a valve of the given cylinder. In this case, the sensor unit may be an optical sensor, a pressure sensor, a proximity sensor, etc. Therefore, conclusions can be drawn regarding the pose of the tilt-rotator. Such hardware parameters may be converted or added to at least one value corresponding to the pose of the tilt-rotator assembly. Alternatively, such hardware parameters may be the same as the values corresponding to the current posture of the tilt-rotator.

[0060] The predetermined conditions may preferably include a threshold value, an upper limit value or a lower limit value and / or a Boolean condition. In the context of the present disclosure, the predetermined conditions may be understood as any information that allows comparison with the retrieved value corresponding to the current posture of the tilting rotator.

[0061] According to one embodiment, the tilting rotator assembly further includes a rotatable console disposed between the tilting rotator and the gripper coupler to connect the tilting rotator and the gripper coupler. Specifically, the gripper coupler may be attached to the bottom of the rotatable console. In particular, the rotatable console and the gripper coupler may include a plurality of through holes into which bolts may be inserted to attach the gripper coupler.

[0062] In addition, the tilting rotator assembly may further include a gripper coupler having a rear-facing notch and a downward-facing notch, wherein the predetermined conditions further include that the rear-facing notch of the gripper coupler is significantly higher than the downward-facing notch, so that when the tool is unlocked from the gripper coupler, the tool is prevented from swinging outwards or falling outside the gripper coupler. The combination of such a rear-facing notch and a downward-facing notch has the advantage that the tool can be conveniently coupled remotely by the operator. More specifically, during the coupling procedure, only the rear-facing notch facing the operator needs to engage with the pin of the tool. Therefore, the tool is hingedly coupled to the gripper coupler and can be conveniently fully coupled by tilting the tool until the downward-facing notch engages with the second pin of the tool. In the final step, a locking device may be actuated in one or both of the notches of the gripper coupler to lock the engagement pin.

[0063] As described in the above disclosure, the curled posture of the tilting rotator assembly may be a posture. The fact that the rear-facing notch of the gripper coupler is significantly higher than the downward-facing notch involves the state where the center of gravity of the attached tool is positioned such that the second pin of the tool exerts a force on the downward-facing notch. Therefore, even if the tool is unlocked, the tool can be prevented from swinging outwards or falling outside the gripper coupler. Since the tool and the load within the tool may vary, it may be necessary to include steps of checking whether the second pin of the tool exerts a force on the downward-facing notch of the gripper coupler. Alternatively, steps of checking whether the tool is loaded or empty and / or checking the tool against a predetermined data set including information about the curled state of the tool coupled to the tilting rotator assembly may be included.

[0064] In a further development, the predetermined condition may include the posture of the tilting spinner assembly such that the tool is substantially leveled, preferably, wherein the predetermined condition includes the tool being close to the ground. In this context, leveling the tool involves the gravity vector. Specifically, the tool can be leveled relative to the tilting direction of the tool. Thus, it is possible to prevent the tool from possibly falling or swinging out in a non-parallel manner with respect to the rear-facing notch, which may damage the tool, the tilting spinner assembly, and the surrounding environment. In this regard, it may be further advantageous to limit the height at which the tool may fall or swing out. The height can be determined assuming the ground is at the lowest point of the vehicle. Alternatively, a sensor can be used to determine the height.

[0065] In a further development, the method may also include the step of work tool identification, including reading a work tool identifier provided on the tool and checking the work tool identifier against a database, and if the check of the work tool identifier is successful, retrieving the predetermined condition from the database, preferably, wherein, if the tool is identified as one of a demolition tool, a gripper, or a compactor, the retrieved predetermined condition allows the tool to be disconnected in the working posture. Thus, a specific tool that is disadvantaged by curling due to its size or purpose can be granted a specific set of predetermined conditions without curling. Specifically, the work tool identifier can be an RFID tag provided on the work tool, also known as work tool identification. The work tool identifier can be read by the control unit and checked against a database that can be stored in the software of the machine. In this regard, it may be advantageous to issue a warning on the display indicating that disconnection may be allowed in the current posture of the gripper or compactor. Additionally, it may be advantageous that the retrieved predetermined condition includes the tool being close to the ground.

[0066] The proposed method of disconnecting the tool from the tilting spinner assembly can be implemented in a vehicle including the tilting spinner assembly. Specifically, the vehicle can be configured to perform the method according to the disclosure provided above. Thus, the technical features described in connection with the above method of disconnecting the tool from the tilting spinner assembly can also relate to and be applied to the proposed vehicle, and vice versa.

[0067] In addition thereto, a computer system can be provided, which may include a display and a non-transitory computer-readable storage medium for use on the computer system. Specifically, the computer-readable medium can store computer-executable instructions for performing the above method. Thus, the technical features described in connection with the above method of disconnecting the tool from the tilting spinner assembly and in connection with a vehicle configured to perform such a method can also relate to and be applied to the computer system, and vice versa.

[0068] Industrial applicability

[0069] With reference to the accompanying drawings, a method of disconnecting a tilt rotor assembly including a tilt rotor and a tool coupled thereto, and a vehicle equipped with such a tilt rotor assembly are provided. The method of disconnecting the tool from the tilt rotor assembly is applicable to any suitable vehicle, such as an excavator. In addition, the method of disconnecting the tool from the tilt rotor assembly can replace the conventional method for disconnecting the tool from the tilt rotor assembly and can be used as a replacement method in the form of a software update or retrofit part.

[0070] The method, vehicle, and system consistent with the disclosed embodiments enable a safe disconnection operation of the tilt rotor assembly from the tool coupled thereto. In addition, from the operator's perspective, the proposed method is similar to the method that the operator has been trained to perform when operating a non-tilt rotary linkage. More specifically, performing the proposed method presents a task sequence similar to the standard curl-unlock method. The operator can perform the proposed method without additional training while benefiting from increased safety at the construction site. Thus, by applying the teachings presented, construction work may become more efficient and productive.

[0071] It will be apparent to those skilled in the art that various modifications and variations can be made to the disclosed method, vehicle, and computer system. Other embodiments of the present disclosure will be apparent to those skilled in the art by considering the specification and practice of the present disclosure. It is intended that the specification and examples be considered as exemplary only, with the true scope of the present disclosure being indicated by the following claims and their equivalents.

Claims

1. A method of disconnecting a tool from a tilt rotator assembly, the tilt rotator assembly including a tilt rotator having a tool coupled thereto, the method comprising: Retrieving at least one value corresponding to a current attitude of the tilt rotator assembly; Determining, at a control unit, whether the at least one retrieved value satisfies a predetermined condition; And If it is determined that the at least one retrieved value satisfies the predetermined condition, allowing the tool to be disconnected from the tilt rotator assembly, Wherein the tilt rotator assembly further includes a gripper coupler, and the tool is coupled to the gripper coupler, Wherein the tilt rotator assembly further includes a rotatable console disposed between the tilt rotator and the gripper coupler to connect the tilt rotator and the gripper coupler, Wherein the tilt rotator assembly includes a gripper coupler having a rearward-facing notch and a downward-facing notch, and wherein the predetermined condition further includes that the rearward-facing notch of the gripper coupler is significantly higher than the downward-facing notch, such that when the tool is unlocked from the gripper coupler, outward swinging or dropping of the tool outside the gripper coupler is prevented.

2. The method according to claim 1, further comprising the step of receiving an input at an input device, wherein receiving the input at the input device causes the at least one value to be retrieved.

3. The method according to claim 1, further comprising the step of maintaining the tool in a coupled state with the tilt rotator assembly if it is determined that the at least one retrieved value does not satisfy the predetermined condition.

4. The method according to claim 1, further comprising the step of unlocking the tool using a locking device if it is allowed to disconnect the tool from the tilt rotator assembly.

5. The method according to claim 4, wherein the step of unlocking the tool further includes restricting further actuation of the tilt rotator assembly.

6. The method according to claim 1, wherein the predetermined condition includes that the tilt rotator assembly is in a curled posture.

7. The method according to claim 1, further comprising the step of unfolding the tilt rotator assembly to disconnect the tool from the tilt rotator assembly if it is allowed to disconnect the tool from the tilt rotator assembly.

8. The method according to claim 1, wherein retrieving the at least one value includes retrieving the at least one value from a sensor unit.

9. The method according to claim 1, wherein the predetermined condition includes a threshold value, an upper limit value or a lower limit value and / or a Boolean condition.

10. The method according to claim 1, wherein the predetermined condition includes a posture of the tilt rotator assembly such that the tool is leveled.

11. The method according to claim 10, wherein, The predetermined condition includes that the tool is close to the ground.

12. The method according to claim 1, further comprising a step of work tool identification, including reading a work tool identifier provided on the tool and checking the work tool identifier against a database, and if the check of the work tool identifier is successful, retrieving a predetermined condition from the database.

13. The method according to claim 12, wherein, If the tool is recognized as one of a demolition tool, a gripper, or a compactor, the retrieved predetermined condition allows the tool to be disconnected in a working posture.

14. The method according to claim 12, wherein the predetermined condition further includes the tool being close to the ground.

15. A vehicle including a tilt rotator assembly configured to perform the method according to any one of claims 1-14.

16. A computer system, comprising: A display; A non-transitory computer-readable storage medium used on the computer system, the computer-readable medium storing computer-executable instructions for performing the method according to claim 1.

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