Bolt and bushing wear detection system and method of a work vehicle with a linkage arrangement and work tool

Abstract

A work vehicle comprising a main frame, a first sensor coupled to the work tool, a work tool movably coupled to the main frame, a second sensor coupled to the main frame, and a controller. The controller communicates with the first and second sensors and includes a processor and memory containing a work tool vibration measurement sequence algorithm. The processor is capable of executing the work tool vibration measurement sequence algorithm to determine whether the range of motion of the first sensor exceeds a threshold for excessive wear.

Description

RELATED REGISTRATION

[0001] This document (including the drawings) claims priority and the benefit of the filing date based on preliminary US application number 63 / 714,399, filed on October 31, 2024, and entitled WORK VEHICLE WITH A PIN AND BUSHING WEAR DETECTION ON A WORK VEHICLE LINKAGE ASSEMBLY WITH WORK TOOL AND METHOD under 35 USC § 119 (e), the preliminary application being hereby incorporated by reference herein. TECHNICAL AREA

[0002] The present disclosure relates generally to the detection of wear in moving parts. In particular, the present disclosure relates to the detection of wear in parts of a work vehicle linkage assembly that couples a work tool. BACKGROUND

[0003] Bolts and bushings that connect the working tool to the main frame require replacement at some point during the service life of a work vehicle. However, the frequency of replacement and maintenance varies depending on several factors. These factors include the type of machine, operating conditions, the quality of maintenance, and the intensity of use. As a general guideline, bolts and bushings on work vehicles such as loaders, excavators, tracked vehicles, and graders may need to be replaced at regular intervals, typically ranging from every 1,000 to 5,000 operating hours. Manual inspections used to identify wear, damage, or excessive play are time-consuming, requiring the disassembly of components and relying on the operator's experience.With the advancement of precision control in work vehicles, the maintenance of moving parts is critical for achieving optimal results. Given the extended maintenance window, the timing and frequency of bolt and bushing maintenance can be subjective. This presents an opportunity for an improved process for indicating bolt and bushing wear that can be objectively assessed, efficiently, easily, and potentially even remotely. SUMMARY

[0004] According to one aspect of the present disclosure, a work vehicle comprises a main frame, a work tool movably coupled to the main frame, one or more sensors coupled to at least the work tool, and a controller. The controller communicates with a first sensor and possibly a second sensor, the controller comprising a processor and memory containing a work tool vibration measurement sequence algorithm, the processor being operational to execute the work tool vibration measurement sequence algorithm to perform the following: In a first step, the processor positions the work tool above the ground surface and activates the work tool vibration measurement sequence. Next, the processor monitors the second sensor to determine a degree of movement for the second sensor relative to the first sensor.Finally, the processor determines whether the movement of the second sensor exceeds a threshold for excessive wear. Alternatively, the processor monitors the first sensor to determine the movement and direction of the working tool relative to a known baseline.

[0005] In a special embodiment, the working tool includes a leveling blade.

[0006] The tool vibration measurement sequence involves vibrating the tool by repeatedly expanding and contracting a tool actuator coupled to the tool. The expansion and contraction of the tool actuator are performed with less than the maximum hydraulic flow capacity available to the tool actuator. Specifically, the expansion and contraction of the tool actuator are performed with 50% of the hydraulic flow capacity available to the tool actuator.

[0007] The work vehicle may also include a display.

[0008] The work tool vibration measurement sequence algorithm also includes displaying an alarm on the display when the movement range of the first sensor exceeds the threshold for excessive wear.

[0009] The tool vibration measurement sequence activation step involves increasing the expansion and contraction of the tool actuator coupled to the tool until a threshold velocity of the first sensor is reached. The expansion and contraction of the tool actuator is performed at 40% and over 20% of the maximum hydraulic flow capacity supplied to the tool actuator. The wear threshold can be monitored in one rolling direction.

[0010] According to another aspect of the present disclosure, a method for evaluating bushings comprises positioning a working tool above a ground surface, activating a working tool vibration measurement sequence, monitoring a first inertial measurement unit (sensor) coupled to the working tool with respect to a second sensor coupled to the main frame by the controller to determine a degree of movement for the first sensor, and finally determining whether the degree of movement of the first sensor exceeds a threshold for excessive wear by the controller.

[0011] The controller communicates with the first and second sensors and comprises a processor and memory containing a tool vibration measurement sequence algorithm. The tool vibration measurement sequence involves vibrating the tool by repeatedly expanding and contracting a tool actuator coupled to the tool.

[0012] Further features and aspects will become apparent upon consideration of the detailed description, the claims and the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The detailed description of the drawings refers to the enclosed figures. Fig. Figure 1 shows a side view of a work vehicle, which is shown as a tracked vehicle. Fig. 2A is a rear perspective view of the linkage arrangement of the work vehicle in Fig. 1. Fig. 2B is a detailed view of the rear of the linkage assembly, which is shown in Fig. 2A is shown. Fig. Figure 3 shows a diagram of an exemplary embodiment of a bolt and bushing wear detection system. Fig. Figure 4 is a diagram showing steps for a method for detecting wear on bushings on a work vehicle, which is consistent with embodiments of the present disclosure. Fig. 5A represents a superposition of movement signals via extension / retraction signals with good bolts / sockets at a threshold frequency. Fig. 5B represents a superposition of movement signals via extension / retraction signals with worn bolts / bushings at a threshold frequency. Fig. 6A represents a superposition of movement signals via extension / retraction signals with good bolts / sockets above a threshold frequency. Fig. 6B represents a superposition of movement signals via extension / retraction signals with worn bolts / bushings above a threshold frequency.

[0014] All figures use the same reference symbols to denote the same elements. DETAILED DESCRIPTION

[0015] Reference is now made to the embodiments described herein and illustrated in the drawings, and specific language is used to describe them. However, it should be noted that this does not intend to limit the scope of protection of the new invention. Such changes and further modifications to the illustrated devices and methods, and such further applications of the principles of the new invention as described herein, which are considered, would normally occur to a person skilled in the art in the field to which the new invention relates.

[0016] Fig. Figure 1 shows a side view of a work vehicle 10, shown as a bulldozer, with a working tool 12 such as a dozer blade 23, which is connected to the main frame 16 by a linkage arrangement 14 (in Fig. 1, Fig. 2A and Fig. The vehicle 10 is coupled (2B shown). Other working tools, including scrapers, are considered. The vehicle 10 comprises the main frame 16, which accommodates a power source (not shown) located within the housing 20. The vehicle 10 includes a cabin 22 in which an operator sits to operate the vehicle. The vehicle is driven by a track 24, which engages with a rear main drive wheel 26 and a front auxiliary drive wheel 28. The track is tensioned by a tensioning and resetting device 30. The track is provided with centering guide pins for guiding the track over the drive wheels (26, 28) and a rib for frictional engagement with the ground.

[0017] Although the described embodiments are discussed with reference to a bulldozer, other work vehicles are considered, including other types of construction vehicles, forestry vehicles, and road vehicles, such as those used for snowplowing. Actuators used in these work vehicles include one or more tilt, angle, incline, lift, boom, shovel, blade side-shift, and blade tilt actuators.

[0018] The main drive wheels 26 are operationally coupled to a steering system, which in turn is coupled to a power source. The power source and other systems (such as hydraulics) supplied by the power source can be actuated by an operator interface 34 in response to operator input.

[0019] The dozer blade 23 (the working tool 12) is raised and lowered by the linkage assembly 14, which includes a number of actuators, such as hydraulic cylinders, to adjust the position of the dozer blade 23. The linkage assembly 14 includes a C-frame 31, which is raised and lowered relative to the main frame 16 by a lifting actuator 32. A second lifting actuator (not shown) is located on the other side of the housing 20. Each of the lifting actuators 32 includes a hydraulic actuator with a body or cylinder rotatably coupled to the main frame 16 at a spacer 36, and an arm 38 that extends from and retracts from the cylinder. The arm 38 is rotatably coupled to a plate 40 that extends from the C-frame 31 to raise and lower the C-frame 31 and, consequently, the dozer blade 23.Other configurations, or the raising and lowering of the dozer blade 23, are considered, including vertically oriented actuators. The movement for the working tool 12 can be referred to as roll 90 or roll direction, tilt 94 or tilt direction, and yaw 92 or yaw direction.

[0020] The dozer blade 23 is tilted relative to the work vehicle 10 by actuating a tilting actuator 42, the dozer blade 23 being rotatable about an axis 44 of a ball bearing 46. For the tilting actuator 42, a rod end is pivotally connected to a fork positioned on the rear and left side of the dozer blade 23 above the ball bearing 46. A head end of the tilting actuator 42 is pivotally connected to an upwardly projecting section 48 extending from the C-frame 31. The opposite end of the tilting actuator 42 is coupled to a rear side of the dozer blade 23. The positioning of the pivot connections for the head end and the rod end of the tilting actuator 42 causes the dozer blade 23 to tilt to the left (counterclockwise) or right (clockwise) as viewed from the cab 22. Extending the rod of the tilting actuator 42 tilts the dozer blade counterclockwise.The retraction of the tilt actuator 42 tilts the dozer blade 23 to the right, or clockwise, as viewed from the operator's cab 22. In alternative embodiments, the dozer blade 23 is tilted by various mechanisms (e.g., an electric or hydraulic motor). The tilt actuator 42 is configured differently in one or more embodiments, such as a configuration in which the tilt actuator 42 is mounted vertically and on the left or right side of the dozer blade 23, or a configuration with two tilt actuators 42.

[0021] The dozer blade 23 is angled relative to the work vehicle 10 by actuating angular actuators 50, one of which is shown. For each of the angular actuators 50, the rod end is pivotally connected to the dozer blade 23, while the head end is pivotally connected to the C-frame 31. One of the angular actuators 50 is positioned on the left side of the work vehicle 10, and the other angular actuators are positioned on the right side of the work vehicle 10. Extending the left angular actuator 50 and retracting the right angular actuator 50 angles the dozer blade to the right, so that, viewed from the cab 22, the right side of the dozer blade 23 is pulled closer to the cab 22. The retraction of the left angle actuator 50 and the extension of the right angle actuators 50 angles the dozer blade 23 to the left, so that the left side of the dozer blade 23 is pulled closer to the cabin 22.

[0022] The dozer blade 23 is tilted relative to the cab 22 by a tilt actuator 53, which is connected at one end to the upwardly projecting section 48 and at the other end to the dozer blade 23. Extending and retracting the tilt actuator 53 moves an upper section 49 of the dozer blade 23 toward or away from the cab 22 to achieve a desired tilt. The tilt of the dozer blade 23 is also achieved by raising and lowering the C-frame 31 by means of lifting actuators 32 with ends coupled to pivot points 55. In another embodiment, the tilt actuator 53 is not included, and the retraction and extension of the lifting actuators 32 tilts the dozer blade 23 about the ball bearing 46.

[0023] As in Fig. As shown in Figure 3, a controller 220 comprises a processor 252 and a memory 270. In other embodiments, the controller 220 can be a distributed controller with separate individual controllers distributed at different locations on the work vehicle 10. Furthermore, the controller 220 is generally hardwired to associated components by electrical wiring or cabling. In other embodiments, however, the controller 220 comprises a wireless transmitter and / or receiver for communicating with a controlled or sensing component or sensing device, which provides information to the controller 220 or transmits controller information to controlled devices.

[0024] The controller 220 executes or otherwise relies on software applications, components, programs, objects, modules, or data structures, etc. Software routines and program instructions reside in the controller 220's contained memory 270 or in other memory and are executed in response to received signals. In other embodiments, the computer software applications are located in the cloud. The executed software comprises one or more specific applications, components, programs, objects, modules, or sequences of instructions, typically referred to as "program code." The program code comprises one or more instructions located in memory and other storage devices that execute instructions located in memory, respond to other instructions generated by the system, or provided at an operator interface 34.The 252 processor is configured to execute stored program instructions and to access data stored in one or more data tables.

[0025] The processor 252 and the memory 270 are configured to monitor the movement of the main frame 16 and the working tool 12. At least one sensor, such as an inertial measurement unit (or “IMU”) 262, is coupled to the dozer blade 23 (in Fig. (1 to be seen). Although the sensor in this embodiment is described as an IMU, it is considered that the sensor may include other sensor types capable of measuring angular velocities and forces. The first sensor 262 detects an angular velocity and an acceleration of the dozer blade. Various accelerations include at least the acceleration due to gravity and distinguish the types thereof with high accuracy. In a coordinate system (x, y, z), the sensor 262 detects accelerations in an x-axis direction, a y-axis direction, and a z-axis direction, as well as angular velocities about the x-, y-, and z-axes. In the Fig. In the example shown, the y-axis is an axis parallel to the forward and backward directions of the dozer blade, the x-axis is an axis parallel to a width direction of the dozer blade, and the z-axis is an axis orthogonal to both the x-axis and the y-axis. The coordinate system (x, y, z) can, for example, be a dozer blade coordinate system.

[0026] In an alternative configuration, a second sensor 260, coupled to the main frame 16, can be used in conjunction with the first sensor 262. Using the first sensor 262 with the second sensor 260 can help reduce background noise by measuring the difference in vibration between the main frame 16 and the working tool, as opposed to mere absolute values, to provide more precise results. Any drift that the working vehicle 10 may encounter over time, and the overall wear, are filtered out using the relative values ​​between the first sensor 262 and the second sensor 260.

[0027] The controller 220 communicates with the first sensor 262 and the second sensor 260, the controller 220 comprising a processor 252 and a memory 270 with a work tool vibration measurement sequence algorithm 290 stored thereon. The processor 252 is operational to execute the work tool vibration measurement sequence algorithm 290 in order to identify whether the bolts 110 and the bushings 112 that couple the work tool 12 to the main frame 16 are worn and require replacement.

[0028] The program instructions that cause the processor 252 to position the working tool 12 above the ground surface activate a working tool vibration measurement sequence algorithm, monitor the first sensor 262 to determine the degree of movement of at least the first sensor 262 (according to the first configuration), and possibly relative to the second sensor 260 (according to the second configuration) to determine whether the degree of movement of the first sensor 262 exceeds a threshold value 118 for excessive wear. In the present embodiment, the working tool 12 comprises a dozer blade 23.

[0029] Fig. Figure 3 is an architectural diagram of the bolt and bushing wear detection system 200 for the work vehicle 10, which enables and analyzes the vibration of the work tool 12 to measure the wear 106 of the bolt 110 and the bushing 112. The bolt and bushing wear detection system 200 comprises a work tool control lever 210, an electronic controller 220, an electro-hydraulic control valve 230, a work tool actuator 150, and a hydraulic pump 250. The electro-hydraulic control valve 230 in the exemplary embodiment is a 2-way / 3-position valve that controls the fluid flow from the hydraulic pump 250 to the work tool actuator 150. The controller 220 sends electrical signals to electrical solenoids of the electro-hydraulic control valve 230 to control the position of the electro-hydraulic control valve 230.The operator can use the work tool control lever 210 to send control signals to the controller 220 to actuate signals that are sent to the solenoids (232, 234) of the electro-hydraulic control valve 230.

[0030] The work tool actuator 150 comprises the hydraulic cylinder 152 and the piston rod 154, which can be used to move the dozer blade 23. The electro-hydraulic control valve 230 comprises a first solenoid 232 and a second solenoid 234, which position the electro-hydraulic control valve 230 in one of its three positions. In the first (left) position, the flow from the hydraulic pump 250 is directed through the electro-hydraulic control valve 230 to extend the work tool actuator 150. In the second (middle) position, the electro-hydraulic control valve 230 blocks the flow from the hydraulic pump 250 to the work tool actuator 150. In the third (right) position, the flow from the hydraulic pump 250 is directed through the electro-hydraulic control valve 230 to retract the work tool actuator 150.

[0031] The work tool control lever 210 can include a work tool vibration switch or a work tool vibration button 212 to activate the work tool vibration measurement sequence algorithm 290. In a broader description, the operator-initiated mechanism includes an operator interface 34 with a toggle switch, lever, roller, or pictogram. When the button 212 is pressed, a vibration activation signal is sent from the work tool control lever 210 to the controller 220. The controller 220 then sends electrical signals to the solenoids (232, 234) to cause the electro-hydraulic control valve 230 to "shake" or "vibrate" the work tool 12. Alternatively, the actuator oscillates between a first position and a second position within a frequency range.

[0032] Fig. Figure 3 further shows sample waveforms (232s and 234s) that can each be sent to the solenoids of the control valve 230. The complementary square waveforms (232s, 234s) repeatedly move the control valve 230 between the first and third positions, repeatedly extending and retracting the work tool actuator 150, causing the work tool 12 to shake or vibrate. In an execution mode, the waveform (232s, 234s) can repeatedly move the control valve 230 to actuate the actuator without performing any work. Alternatively, the work tool vibration measurement sequence algorithm 290 can be activated, with the controller 220 overlaying the waveform (232s, 234s) onto an existing operator work tool command.

[0033] The superimposed waveforms (232s, 234s) have a defined amplitude and frequency for the work tool vibration measurement sequence algorithm, or alternatively, because an identified range yields optimal results in distinguishing bolts and bushings from those within a range of an operating function to those that fall outside the range where maintenance is required. Alternatively, the amplitude and frequency of the superimposed waveform can be made adjustable by a vehicle monitor using discrete settings (for example, "low," "medium," or "high"). In yet another embodiment, one or more of the amplitude and frequency settings can be adjusted through a full proportional range using a dial or other control mechanism.

[0034] The tool vibration measurement sequence algorithm 290 comprises vibrating the tool 12 by repeatedly expanding and contracting a tool actuator 150 coupled to the tool 12. The expansion and contraction of the tool actuator 150 is performed with less than a maximum hydraulic flow capacity 505 (i.e., maximum flow) to the tool actuator 150. Fig. 5A and Fig. Figure 5B shows a rectangular waveform (232s, 234s) for the work tool vibration sequence over time (x-axis), as identified in seconds. The y-axis reveals the relative flow capacity from zero to one (i.e., as a percentage of the maximum flow capacity, with zero and one being 100%) in a first tilt command direction and a second tilt command direction. The roll rate 515 of the work tool 12 or the dozer blade 23 is detected by the first sensor 262, as shown by the swirly waveform 520, which correlates with the rectangular waveform (232s, 234s). Due to bolt and bushing wear, the "play" does not result in a movement aligned with the tilt commands. Rather, the increased tolerance attributed to wear dampens the reaction movement of the work tool 12 and the respective vibration detected by the first sensor 262. This contrasts with a "good" bolt (i.e.a bolt within the specification), which moves with the appropriate amplitude during a “vibration”.

[0035] Fig. 5A and Fig. Figure 5B shows a rectangular waveform (232s, 234s) for the tool vibration measurement sequence 290 over time (x-axis), as identified in seconds. The y-axis reveals the flow capacity from zero to one (i.e., 100%), which is shown as amplitude, in a first tilt command direction and a second tilt command direction, where zero marks a neutral position or no tilting. The roll rate 515 of the working tool 12 or dozer blade 23 is detected by the first sensor 262, as shown by the measured swirly waveform 520, which correlates with the rectangular waveform (232s, 234s). Fig. 5A demonstrates the recorded (or measured) roll rate 515 with bushings 112 and bolts 110 requiring replacement. Fig. Figure 5B demonstrates the recorded (measured) roll rate with bushings 112 and bolts 110 in good condition. The relative movement introduced by wear when the working tool vibration measurement sequence algorithm 290 is activated is an indicator of the degree of wear without requiring a visual inspection. In particular, and as shown in Fig. 5A and Fig. As shown in Figure 5B, the identification of worn bolts 110 and bushings 112 is performed by expanding and contracting the working tool actuator 150 at or approximately 50% of the maximum hydraulic flow capacity 505 that can reach the working tool actuator 150. This tilting of the approximate hydraulic flow at 50% is the "ideal point" that allows differentiation between worn and good bolts. The detected shield roll rate 515 falls within + / - 20 degrees, resulting in the corresponding detected vibration waveform from the first sensor 262. Furthermore, the expansion and contraction of the working tool actuator 150 is performed at or above a threshold frequency 525a, but below the normal vibration sequence frequency, where the normal vibration sequence frequency is the conventional frequency setting for "shaking" stuck soil material at the working tool 12.When the working tool vibration measurement sequence algorithm 290 is executed with the reduced command using the tilt actuator 42, this wear threshold value 118 is monitored in the rolling direction 90. Insufficient flow capacities (i.e., well below 50%) or an insufficient frequency (i.e., below the threshold frequency 525a) also prevent the differentiation between a good bolt and a worn bolt.

[0036] In contrast to the comparative results presented in Fig. 5A and Fig. 5B are shown, show Fig. 6A (bolt and bushing in good condition) and 6B (worn bolts and bushings) the roll rate 515, detected by the first sensor 262, as a swirly waveform 520 in response to a square waveform (232s, 234s) commanding the tilt actuator 42. The tilt command ratio, which in Fig. 6A and Fig. Figure 6B, which oscillates between maximum flow capacities 505 (i.e., one and negative one) in opposite directions, is a more aggressive “shaking” than the tilting command ratio shown in Fig. 5A and Fig. Figure 5B shows that between 50% flow capacities 505 oscillates in opposite directions. The difference between Fig. 6A (worn bolts) and 6B (good bolts) are virtually indistinguishable, indicating that the tilt command, operating at approximately 50% flow capacity, provides sufficient sensitivity to identify bolt and bushing wear by detecting vibrations from "shaker" actuations. Advantageously, the bolt and bushing wear detection system 200 provides absolute pass / fail values ​​instead of collecting "baseline" data from multiple work vehicles. Furthermore, system 200 and the associated method 400 avoid a heavy reliance on the calibration of the first sensor 262 and / or the second sensor 260 and a hydraulic system calibration. Additionally, system 200 allows operation without requiring the operator to physically leave the cab 22, or alternatively, when operated autonomously, semi-autonomously, or remotely.

[0037] The work vehicle 10 further includes a display 280, either physically located inside the cabin 22 or at a remote operator station. The work tool vibration measurement sequence algorithm 290 further includes displaying an alarm 295 when the range of motion of the first sensor 262 exceeds the wear threshold 118, indicating excessive wear. The work tool vibration measurement sequence algorithm 290 may further include activation with a gradual increase in the expansion and contraction of the work tool actuator 150, which is coupled to the work tool 12, until a threshold velocity 297 is detected by the first sensor 262.

[0038] Fig.Reference 4 discloses a method 400 for evaluating bushings 112 and bolts 110 on a work vehicle 10. The method 400 comprises at least the following. In step 410, the work tool 12 is positioned in the air above a ground surface. That is, the blade does not make contact with the ground surface and is sufficiently elevated so that the blade does not affect the ground surface during the actuation of the tilt actuator 42 during a "shake" command. In step 420, the method work tool shake measurement sequence algorithm 290 is activated. Subsequently, in step 430, at least one sensor (such as an inertial measurement unit 262) coupled to the dozer blade 23 is monitored. Alternatively, for improved precision, a second sensor 260 coupled to the main frame 16 is monitored to determine a comparative movement range of the first sensor 262 relative to the second sensor 260.In step 440, a processor on the controller or the controller 220 determines whether the range of motion of the first sensor 262 exceeds a threshold value 118 for excessive wear. The threshold value 118 for excessive wear can be predefined or derived from a baseline threshold if the bolts and bushings were last replaced.

[0039] The controller 220 communicates with the first sensor 262 and the second sensor 260, the controller 220 comprising a processor 252 and a memory 270 with a work tool vibration measurement sequence algorithm 290 stored therein. The work tool vibration measurement sequence activation 290 comprises an increasing pressure of hydraulic fluid, which is sent to the work tool actuator 150 until a work tool vibration pressure is reached. In one embodiment, the roll rate detected by the first sensor 262 is compared with the roll rate 515 detected by the second sensor 260, the second sensor 260 providing a relative baseline for determining the degree of wear. Alternatively, the roll rate 515 from the first sensor 262 can be used in measuring the degree of wear by comparison with historical values ​​stored in the memory 270 or a predetermined threshold 118 for excessive wear.

[0040] The operator interface 34 can include controls to turn bolt and bushing wear detection on / off. Wear detection for bolts 110 and bushings 112 could be turned on by the operator activating a physical switch (e.g., a button or similar) or a virtual switch (e.g., an icon on a touchscreen). The bolt and bushing wear detection system 200 could also be passively turned on, if available, but would only activate when the desired conditions are detected, and the system would turn on automatically without operator input (e.g., automatic activation of the bushing wear detection system 200).

[0041] A number of operator interface (i.e., user interface (UI)) displays were also discussed. UI displays can take a wide variety of forms and can incorporate a wide variety of user-operated input mechanisms. These user-operated input mechanisms can include text fields, selection boxes, picture icons, links, drop-down menus, search fields, and so on. The mechanisms can also be operated in a wide variety of ways. For example, they can be operated using a pointing and clicking device (such as a trackball or mouse). They can also be operated using hardware buttons, switches, a control lever or keyboard, a push button, thumb pads, and so forth.The mechanisms can also be operated using a virtual keyboard or other virtual actuators. If the screen displaying the mechanisms is a touchscreen, the mechanisms can also be operated using touch gestures. If the device displaying the mechanisms has speech recognition components, the mechanisms can also be operated using voice commands. The operator interface 34 can alternatively or additionally be located away from the work vehicle 10 (e.g., it could be located at a remote location).

[0042] In other embodiments, the computer software applications may reside in the cloud (e.g., on a server or other remote computer arrangement). The executed software comprises one or more specific applications, components, programs, objects, modules, or sequences of instructions, commonly referred to as "program code." The program code comprises one or more instructions stored in memory and other storage devices that execute instructions stored in memory, respond to other instructions generated by the system, or are provided by a user interface 34 operated by the user (e.g., located in the main frame 16 or at a remote location). The electronic processor 252 is configured to execute the stored program instructions.

[0043] Without limiting in any way the scope, interpretation or application of the claims appearing below, a technical effect of one or more of the exemplary embodiments disclosed herein lies in the use of the combination of a vibration sequence with movement in a first direction and measuring the vibration detected by a sensor in a second direction orthogonal to the first direction, the bolt and bushing wear detection to identify bolts / bushings (110, 112) that are worn beyond the proposed limit for optimal performance, can be initiated intentionally by the operator or automatically during operation without purpose-bound routine.Another technical benefit of one or more of the example embodiments disclosed herein is the ability to derive wear indicators from an absolute threshold, as opposed to requiring the collection of data over a period of time or the averaging of baseline data across multiple machines. Another technical benefit of one or more of the example embodiments disclosed herein is the elimination of the high dependence on sensor calibration or hydraulic calibration. That is, false positives for wear do not occur simply due to calibration drift, since the sensor vibrations detected during a vibration sequence are substantially greater than during mere calibration drift.

[0044] As used here, "e.g." is used to provide non-exhaustive examples and carries the same meaning as alternative explanatory phrases such as "including," "including but not limited to," and "including without limitation." Unless otherwise limited or modified, lists of items separated by conjunctive terms (e.g., "and") and also preceded by the phrase "one or more of" or "at least one of" indicate configurations or arrangements that potentially include individual items in the list or any combination thereof. For example, "at least one of A, B, and C" or "one or more of A, B, and C" each indicate the possibilities of just A, just B, just C, or any combination of two or more of A, B, and C (e.g., A and B; B and C; A and C; or A, B, and C).

[0045] It is obvious to the average person skilled in the art that terms such as "above," "below," "upwards," "downwards," "upper," "lower," etc., are used descriptively for the figures and do not represent any limitations on the scope of protection of the disclosure as defined by the pending claims. Furthermore, the teachings may be described here with respect to functional and / or logical block components and / or various processing steps. It is understood that such block components may be formed from any number of hardware, software, and / or firmware components designed to perform the specified functions.

[0046] Terms relating to a degree, such as "generally", "essentially" or "approximately", refer, according to the understanding of the person skilled in the art, to reasonable ranges outside a specified value or orientation, e.g. general tolerances or positional relationships associated with the manufacture, assembly and use of the described embodiments.

[0047] Although the foregoing describes exemplary embodiments of the present disclosure, these descriptions are not to be understood in a restrictive sense. Rather, other variations and modifications may be made without deviating from the scope of protection and nature of the present disclosure, as defined in the pending claims. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] US 63 / 714,399

[0001]

Claims

[1] Work vehicle comprising the following: a main frame; a work tool that is movably coupled to the main frame; a first sensor that is coupled to the working tool; a second sensor that is coupled to the main frame; and a controller in communication with the first sensor and the second sensor, wherein the controller comprises a processor and a memory with a work tool vibration measurement sequence algorithm stored thereon, wherein the processor is operational to execute the work tool vibration measurement sequence algorithm in order to: to position the work tool above a ground surface; to activate a work tool vibration measurement sequence; to monitor the first sensor in order to determine a degree of movement for the second sensor relative to the first sensor; to determine whether the range of motion of the first sensor exceeds a threshold for excessive wear; and An alarm will appear on the display if the movement of the first sensor exceeds the threshold for excessive wear. [2] Working vehicle according to claim 1, wherein the working tool vibration measurement sequence algorithm further comprises vibrating the working tool by repeatedly expanding and contracting a working tool actuator coupled to the working tool. [3] Working vehicle according to claim 2, wherein the expansion and contraction of the working tool actuator is carried out at a level below a maximum amount of hydraulic flow capacity that can go to the working tool actuator. [4] Working vehicle according to claim 3, wherein the expansion and contraction of the working tool actuator is carried out at 50% of a hydraulic flow capacity that can go to the working tool actuator. [5] Working vehicle according to claim 1, wherein activating the working tool vibration measurement sequence algorithm comprises increasing the expansion and contraction of a working tool actuator coupled to the working tool until a threshold velocity of the working tool, detected by the first sensor, is reached. [6] Working vehicle according to one of claims 2 to 4, wherein the expansion and contraction of the working tool actuator is carried out above a threshold frequency. [7] Method for evaluating bushings, the method comprising the following: Positioning a work tool above a ground surface; Activating a work tool vibration measurement sequence; Monitoring at least one sensor coupled to the working tool to determine the sensor's range of motion, by means of a controller; Determine whether the sensor's range of motion exceeds a threshold for excessive wear, by the controller, and Display an alarm when the sensor's movement exceeds the threshold for excessive wear. [8] Method according to claim 7, wherein the controller communicates with the sensor, the controller comprising a processor and a memory with a work tool vibration measurement sequence algorithm stored thereon. [9] Method according to claim 7 or 8, wherein the working tool vibration measurement sequence comprises vibrating the working tool by repeatedly expanding and contracting a working tool actuator coupled to the working tool. [10] Method according to claim 9, wherein the expansion and contraction of the working tool actuator is carried out at a level below a maximum amount of hydraulic flow capacity that can go to the working tool actuator. [11] Method according to claim 9, wherein the expansion and contraction of the working tool actuator is carried out at 50% of a hydraulic flow capacity that can go to the working tool actuator. [12] Method according to any one of claims 9 to 11, wherein the working tool vibration measurement sequence comprises an increasing pressure of hydraulic fluid sent to the working tool actuator until a working tool vibration pressure is reached. [13] Method according to any one of claims 9 to 12, wherein activating the work tool vibration measurement sequence further comprises increasing the expansion and contraction of a work tool actuator coupled to the work tool until a threshold velocity of the work tool sensor is reached. [14] Work vehicle comprising the following: a main frame; a work tool that is coupled to the main frame; at least one sensor coupled to the working tool; and a controller in communication with the sensor, wherein the controller has a processor and a memory with a stored value. The work tool vibration measurement sequence algorithm comprises a processor capable of executing the work tool vibration measurement sequence algorithm to: to position the work tool above a ground surface; to activate a work tool vibration measurement sequence; to monitor the sensor in order to determine a roll rate for the sensor; to determine whether the sensor's range of motion exceeds a threshold for excessive wear; and It displays an alarm on a screen when the degree of movement exceeds the threshold for excessive wear. [15] Working vehicle according to claim 14, wherein the working tool vibration measurement sequence comprises vibrating the working tool by repeatedly expanding and contracting a tilt actuator coupled to the working tool, wherein the vibration is performed at approximately 50% of the hydraulic flow capacity that can go to the tilt actuator and above a threshold frequency.

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