WORK MACHINE WITH MATERIAL MANAGEMENT DURING GRADING OPERATIONS

Abstract

A working machine comprises a frame, a drawbar assembly, a slewing ring drive assembly, and a blade coupled to the slewing ring drive assembly. A sensor indicating the working machine's heading generates a signal as the ground engagement mechanism moves the frame across the ground surface. A blade is pivotally coupled to one end of the blade, and the blade is actuated to move into an open position, a closed position, or an intermediate position. A controller comprises a processor capable of executing a material management algorithm for receiving a signal from the heading sensor and controlling the blade based on that heading to direct the flow of moving material.

Description

TECHNICAL AREA The present disclosure relates generally to construction machinery with leveling operations, in particular to construction vehicles comprising a blade or a share. BACKGROUND When construction equipment, such as motor graders, modifies or profiles a ground surface, the distribution of material from the cutting edge of a blade can necessitate repeat passes due to swaths of debris created by spillage over the blade's edge. For example, when clearing snow from roads, the resulting snowdrifts necessitate subsequent passes for their removal. In another example, grading operations can lead to spillage around and over a blade when profiling the ground surface at greater cutting depths. However, in residential areas, there are more turns along the grading path and varying area widths, or alternatively, objects in the path. Most grading equipment, such as motor graders, is equipped with a blade. However, in certain situations, spillage from both ends of the blade can be detrimental.This presents an opportunity for improved efficiency during plowing and leveling. SUMMARY According to one aspect of the present disclosure, material management and shield protection are shown on a working machine, such as a motor grader. The working machine comprises a frame extending in a forward and backward direction, a tiller assembly coupled to the frame, and a slewing ring drive assembly coupled to the tiller assembly. A ground engagement mechanism is configured to support the frame on a ground surface. A blade coupled to the slewing ring drive assembly is configured to level the ground surface. A sensor is used to generate a signal indicating the heading of the working machine while the ground engagement mechanism moves the frame across the ground surface. A blade is coupled to the slewing ring drive assembly and is configured to level the ground surface.A blade is pivotally coupled to one end of the array, and the blade can be actuated to move into an open position, a closed position, or an intermediate position. A control unit is connected to the sensor. The control unit comprises a processor and memory on which a material management algorithm is stored. The processor is capable of executing the material management algorithm to receive the signal indicating the course and to control the blade based on this course, moving it into the open position, the closed position, or the intermediate position to direct the flow of moving material. According to another aspect of the present disclosure, the working machine can include a second blade which is pivotally coupled to a second end of the share. The second blade is actuated, based on the heading, to move into an open position, a closed position, or an intermediate position. Alternatively, the second blade can be actuated to move synchronously with the first blade. According to another aspect of the disclosure, the blade is actuated by a first linear actuator and a first linkage mechanism, which is pivotally coupled at a first end to an upper section of the blade and at a second end to an upper section of the blade, wherein the first linear actuator selectively positions the blade in a flap pivoting direction. The flap pivoting direction is a direction in which the outermost edge of the blade rotates about a pivoting attachment in a direction transverse to the front or rear blade surface. The blade can be actuated by a second linear actuator and a second linkage mechanism, which is pivotally coupled at one end to the rear share surface and at the other end to an upper section of the blade, wherein the second linear actuator selectively positions the blade in a flap lowering direction. In the flap lowering direction, the uppermost edge of the blade rotates in a longitudinal tilting direction to raise and lower the blade relative to the ground surface about a lowering attachment connected to the rear share surface. The share includes a stop that is rigidly coupled to the outermost laterally located share surface, the stop being configured to prevent movement of the blade beyond an inner limit in the inward pivoting direction. The stop includes an arc shape configured to match the curvature of the share. According to another aspect of the present disclosure, the working machine further comprises an object detector for generating an object detection signal indicating an object on the path of the impeller blade while the ground engagement mechanism moves the frame over the ground surface, positioning the impeller blade in the closed position, the open position or an intermediate position based on the object detection signal. According to another aspect of the disclosure, the processor is capable of executing the material management algorithm only when the sheaf is positioned in a damage avoidance area with respect to the frame, wherein the damage avoidance area is at most 30 degrees away from the sheaf's base position. According to another aspect of the present disclosure, the vane is actuated by the first linear actuator in an inward pivoting direction to engage with a support surface of the first linkage mechanism, before a second linear actuator is actuated to tilt the vane upwards with a second linkage mechanism, while the vane remains engaged with the support surface. Further features and aspects will become apparent upon consideration of the detailed description, the claims and the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGSThe detailed description of the drawings refers to the accompanying figures. Fig. 1 is a side view of a working machine with a blade. Fig. 2A is a top view of the working machine of Fig. 1 with a blade in the closed position. Fig. 2B is a top view of the working machine of Fig. 1 with a blade in the open position. Fig. 3A is a perspective rear view of a section of the blade in a first embodiment with a blade in the closed position in the flap pivot direction. Fig. 3B is a perspective front view of a section of the embodiment shown in Fig. 3A with the blade in the closed position in the flap pivot direction. Fig. 3C is a perspective front view of a section of the embodiment shown in Fig. 3A with the blade in the open position in the flap pivot direction. Fig. 4A is a perspective rear view of the embodiment shown in Fig. 3A.Figure 3A shows the embodiment with the blade in the open position in the pivoting direction. Figure 4B is a perspective rear view of a section of the embodiment shown in Figure 3A with the blade raised in the flap lowering direction. Figure 4C is a perspective front view of a section of the embodiment shown in Figure 3A with the blade raised in the flap lowering direction. Figure 5A is a perspective rear view of a section of the array in a second embodiment with a blade that is movable only in the flap pivoting direction. Figure 5B is a perspective front view of a section of the embodiment shown in Figure 5A. Figure 6A is a perspective rear view of a section of the array in a second embodiment with a blade that is movable only in the flap lowering direction. Figure 6B is a perspective front view of a section of the embodiment shown in Figure 6A. DETAILED DESCRIPTION Fig. 1 depicts a working machine 10 with a frame 15 comprising a front frame 20 and a rear frame 25. The working machine 10 is represented as a motor grader 30. Other types of working machines 10 are considered in this disclosure, including, for example, compact loaders, compact track loaders, and crawler loaders. A ground engagement mechanism 35 is coupled to the front frame 20 and the rear frame 25 and is configured to support the front frame 20 and the rear frame 25 above the ground 40 and to move the working machine 10 in a direction or course 45 on the ground 40. The course 45 generally refers to the direction or orientation in which the working machine 10, or in the present application, the frame 15, moves, as is known to a person skilled in the art.It is noted that a blade may be angled in a transverse tilt, longitudinal tilt, rotation, and lateral displacement direction, but maintains a course in accordance with the frame 15. A course 45 of a working machine 10 can have operational effects depending on how the blade 175 interacts with the graded surface. For example, in "crab steering" or "crab steering mode," the front and rear wheel sets are not in a line, but remain parallel to each other. In this position, the motor grader moves along a line that is not parallel to the working machine axis. The depicted ground engagement mechanism 35 is a wheelset 50. Alternatively, the ground engagement mechanism could be track (not shown). The wheelset 50 comprises front wheels 55 for supporting the front frame 20 and left and right tandem rear wheelsets 60 for supporting the rear frame 25. An operator station 65 is coupled to the frame 15. Also coupled to the frame 15 is a power source 70 for operating a drive train and one or more hydraulic pumps 75, which pressurize hydraulic fluid in a hydraulic circuit for moving hydraulic actuators. A sensor 80 is configured to generate a signal indicating the heading 45 of the working machine 10 while the ground engagement mechanism 35 moves the frame 15 across the ground surface 40. The heading sensor 80 can be detachably or permanently coupled to the upper section of the operator station 65, with the heading 45 of the working machine 10 being derived from the known positions of each respective actuator, joint sensors, and steering sensors. In another embodiment, the heading sensor 80 can be directly coupled to the share 175 (such as an IMU) to detect the heading 45 of the share 175. With reference now made to Fig. 2A and Fig. 2B and continuing to refer to Fig. 1, the drawbar assembly 105 is coupled to the front frame 20. A drawbar 110 of the drawbar assembly 105 is attached to a front point 115 of the front frame 20, with a front end 120 of the drawbar being coupled to the front frame 20 by a ball-and-socket assembly 125, and with a left and a right rear section 130, opposite each other, hanging down from a raised central section 135 of the front frame 20. A left and a right first actuator 140 either raise or lower the drawbar 110. A side-shift linkage arrangement 145 is coupled between the raised central area 135 of the front frame 20 and a rear point 150 of the drawbar arrangement 105 and includes a side-swing hydraulic actuator 155. A slewing ring drive assembly 160 is coupled to the drawbar assembly 105. The slewing ring drive assembly 160 can include a rotatable slewing ring member 165, which is coupled to the drawbar assembly 105. The slewing ring drive assembly 160 can be rotatable about a pivot axis 170 in a clockwise or counterclockwise direction in the yaw direction. The share 175 (also referred to here as the "shield") is coupled to the slewing ring drive assembly 160 of the working machine 10 and configured to move the soil material 92 on the ground 40. The soil material 92 can be snow, rock, sand, aggregate, or other material. A slewing ring drive actuator 180 can be coupled to the share 175 or the slewing ring drive assembly 160. The slewing ring drive actuator 180 is configured to rotate the share 175. The share 175 of the motor grader has several adjustment options depending on the intended work and the soil material 92. The share 175 can also be raised or lowered by only a fraction of an inch. It can be fixed at any angle and tilted forward or backward. The more acute the angle, the more soil material 92 falls off the edge of the share 175 closer to the rear. A share angle greater than zero with respect to a central axis running in a forward and backward direction of the machine means that the edge closer to the front is closer to the front wheelset 50, and the edge closer to the rear is closer to the rear wheelset 60. For example, in Fig. 2A, the blade 186 is positioned closer to the rear. In contrast, the blade 185 is positioned closer to the front.With a straight share 175 (zero degrees, i.e., perpendicular to the frame axis), the effect is the same as when scraping or pushing material straight ahead. This "scraping" position can also be referred to here as the share's basic position 415. A "standing blade" position refers to a blade angle of less than or equal to thirty degrees relative to the share's basic position 415. The cutting depth is determined by raising and lowering the share 175. Lowering the share 175 sufficiently prevents material from flowing under the share's wear surface. Soil material 92, removed with the lowered blade, falls from the trailing edge and forms a windrow. Thus, raising the blade determines whether the material is ejected into windrows or evenly distributed.When the trailing edge of the blade is sufficiently raised, soil material 92 falls below it and is distributed over the area by the forward movement (or heading 45) of the blade 175. As described in more detail below, the control can advantageously be improved by adding adjustable vanes, either by increasing the volume of soil material 92 to be transported during leveling operations or, alternatively, by allowing spillage to form windrows. This depends on the degree of engagement of one or more vanes (185, 186) at each end of the blade 175 with the ground surface 40. Referring to Fig. 2-5, a first blade 185 is pivotally coupled to an end 210 of the share 175, the first blade 185 being actuated to move into an open position 201, a closed position 202, or an intermediate position 203. A control unit 295 is connected to the position sensor 80. The control unit 295 comprises a processor 290 and a memory 285 on which a material management algorithm 280 is stored. The processor 290 is capable of executing the material management algorithm 280 for receiving the signal 205 indicating course 45 from the sensor 80 and controlling the vane blade (185, 186) based on the course 45 so that it moves into an open position 201, a closed position 202 or an intermediate position 203 in order to direct the current 275 of moving material 92. A second blade 186 is pivotally coupled to the second end 220 of the share 175, the second blade 186 being actuated on the course 45 to move into an open position 201, a closed position 202 or an intermediate position 203 in order to direct the flow 275 of moving material 92. This second blade 186, which is pivotally coupled to the second end 220 of the share 175, can, although not required, be actuated to move synchronously with the first blade 185. Depending on the intended operation (such as removal as opposed to precise fine grading), the angle of the share 175 to the axis of the working machine, and the heading 45, the possibility of engagement by only one blade may be advantageous. For example, positioning the share 175 at a sharper angle during a removal operation leads to increased spillage over the trailing edge of the share, thus requiring engagement primarily by the blade at the trailing edge. Alternatively, both blades (185) can be engaged during a material distribution operation when "scooping" the ground surface 40. The first blade 185 and the second blade 186, because they have a similar structure and are essentially mirror images of each other (although this is not necessary), are collectively referred to as the blade (blades) (185, 186). The blade (185, 186) is actuated by a first linear actuator 225 and a first linkage mechanism 230, which is pivotally coupled at a first end 240 to an upper section 235 of the share and pivotally coupled at a second end 250 to an upper section 245 of the blade. This processor 290 is capable of executing the material management algorithm 280 to actuate the first linear actuator 225, to rotate the vane blade (185, 186) around the pivot mounting 305 in response to the signal 205 indicating the course 45, in order to maintain the current position of the vane blade (185, 186) parallel to the course 45. The flap pivot direction 300 comprises the outermost edge 265 of the blade (185, 186) rotating about a pivot mounting 305 in a direction transverse to the front or rear share surface 310. Alternatively, the first linear actuator 225 can be selectively controlled to move the blade (185, 186) either in an inward pivot direction 255 or an outward pivot direction 260 along a flap pivot path 267, wherein an outermost edge 265 of the blade rotates about a generally vertical pivot axis 272 with respect to the share 175 in a direction generally transverse 310 to a forward and backward direction 307 of the share 175. The blade (185, 186) can also be actuated by a second linear actuator 315 and a second linkage mechanism 320, which is pivotally coupled at a first end 330 to a rear surface 325 of the share and pivotally coupled at a second end 335 to an upper section 245 of the blade. The second linear actuator 315 selectively positions the blade (185, 186) in the flap lowering direction 340. In the flap lowering direction 340, the uppermost edge 345 of the blade rotates in a longitudinal tilting direction 355 to raise and lower the blade (185, 186) relative to the ground surface 40 about a lowering attachment 350 connected to the rear share surface 325. The share 175 further comprises a stop 360 (previously also referred to as a support surface 360) which is rigidly coupled to a laterally outermost share surface 365, the stop 360 being configured to prevent movement of the wing blade (185, 186) beyond an inner limit 375 in the inward pivoting direction 255. The stop 360 comprises an arc shape 380 which is configured to match the curvature of the share 175. The stop 360 follows a curve of the share 45 and prevents the blade (185, 186) from rotating past the stop 360. This mechanical means limits the potential for damage due to lateral soil loads when the blade is in use. The blade (185, 186) is positioned parallel to the heading 45 of the working machine 10. The sensor solutions used to determine the working machine heading 45 can control the angle of the blade (186, 186) so that it remains parallel to the machine heading 45, thus minimizing lateral soil loads. Furthermore, the second linear actuator 315 automatically adjusts the position of the vane (185, 186) to align the wear surface 370 of the vane (185, 186) with the base surface 40. The wear surface 370 is the edge that is in contact with the base surface 40 during operation. This wear surface 370 is similar to the wear surface of the share 175. Both can wear down and eventually need to be replaced. The working machine 10 can further include an object detector 400 for generating an object detection signal 405, which indicates an object 407 on the path of the blade (185, 186), while the ground engagement mechanism 35 moves the frame 15 over the ground surface 40, wherein the blade (185, 186) is positioned in the closed position 202, the open position 201, or an intermediate position 203 based on the object detection signal 405. The use of sensors for object detection can include GPS systems, cameras, radar, sound, and LiDAR for detecting entrances, intersections, and other obstacles that would automatically cause movement of the blade (or blades). During leveling operations (as opposed to spreading), the tip of the share is usually positioned at an angle such that the cutting edge (the wear surface) is at an angle of ninety degrees to the ground surface.In this position, downward pressure on the blade reduces the load on the cutting edge, thus tending to cause the blade 175 to "glide" over objects, helping to prevent damage. The object detector 400 advantageously improves the coordination of the blade positioning during grading operations, especially during excavation. Furthermore, the sensor combination (object detector 400 and heading sensor 80) can be used to limit potential damage when working near obstacles (e.g., curbs, driveways, etc.). The processor 290 is capable of executing the material management algorithm 280 only if the sheaf 175 is positioned within a damage avoidance zone 410 with respect to the frame 15, wherein the damage avoidance zone is at most 30 degrees away from a sheaf base position 415. This damage avoidance zone 410 was described above as the "standing blade" position. Each vane blade (175, 176) is actuated by the first linear actuator 225 in an inward pivoting direction 225 to engage with a support surface 360 ​​of the first linkage mechanism, before a second linear actuator 315 is actuated to tilt the vane blade upwards with a second linkage mechanism 320 355, while the vane blade remains engaged with the support surface 360. An electronic processor 290 is provided and is configured to perform an operation by monitoring the movement of the bucket 12 relative to the frame 15 and automatically vibrating the bucket 12 when a movement threshold is reached. The electronic processor 290 can be located locally as part of the utility vehicle 10 or remotely at a remote processing center (not shown). In various embodiments, the electronic processor 290 can comprise a processor, a microprocessor, a microcontroller, a controller, a central processing unit, a programmable logic assembly, a programmable logic controller, or another suitable programmable circuit arrangement designed to perform data processing and / or system control operations.The electronic processor 290 executes or otherwise relies on computer software applications, components, programs, objects, modules, or data structures, etc. Software routines located in the contained memory of the electronic processor 30 or in other memory are executed in response to received signals. 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 includes one or more instructions located in memory and other storage devices that execute the instructions in memory and respond to other instructions generated by the system or provided by an operator interface operated by the user (located, for example, in the operator station 65 coupled to the frame 15 or at a remote location). The electronic processor 290 is configured to execute the stored program instructions. Figures 5A and 5B show an embodiment in which the vane is functionally configured to move only in the flap pivot direction 300. Figures 6A and 6B show an embodiment in which the vane is functionally configured to move only in the flap lowering direction 340. This differs from the embodiment shown in Figures 3A-4C, which reveals a vane that is movable in both the flap pivot direction 300 and the flap lowering direction 340. Without limiting in any way the scope of protection, interpretation, or application of the claims that follow, one technical effect of one or more of the exemplary embodiments disclosed herein is to increase productivity by eliminating "cleanup" passes and enabling the movement of more material than with a standard blade. Another technical effect is the use of sensors coupled to the working machine 10 to protect components and prevent damage caused by objects in the path of travel. A further technical effect is improved grading operations with higher efficiency and productivity due to the features mentioned above. Moreover, the embodiments are readily adaptable to currently manufactured working machines. As used here, "e.g." is used to provide non-exhaustive examples and has the same meaning as alternative illustrative phrases such as "including," "including but not limited to," and "including without limitation." Enumerations with items separated by conjunctions (e.g., "and") and further preceded by the phrase "one or more of" or "at least one of" indicate, unless otherwise restricted or modified, configurations or arrangements that may include individual items in the enumeration 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 only A, only B, only 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). To the average person skilled in the art, it is obvious 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 can be described here by functional and / or logic block components and / or various processing steps. It is understood that such block components can contain any number of hardware, software, and / or firmware components configured to perform the specific functions. Terms relating to a degree, such as "general", "essentially" or "approximately", refer, according to the understanding of the person skilled in the art, to reasonable ranges outside of a specified value or orientation, e.g. general tolerances or positional relationships associated with the manufacture, assembly and use of the described embodiments. Although the foregoing describes exemplary embodiments of the present disclosure, these descriptions are not to be construed as limitations. 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.

Claims

Working machine comprising: a frame extending in a forward and backward direction; a drawbar assembly coupled to the frame; a slewing ring drive assembly coupled to the drawbar assembly; a ground engagement mechanism configured to support the frame on a ground surface; a share coupled to the slewing ring drive assembly and configured to level the ground surface; a sensor for generating a signal indicating a heading of the working machine while the ground engagement mechanism moves the frame across the ground surface; a blade pivotally coupled to one end of the share, the blade being actuated to move into an open position, a closed position, or an intermediate position;and a controller connected to the sensor, the controller comprising a processor and a memory on which a material management algorithm is stored, the processor being capable of executing the material management algorithm to receive the course-indicating signal and to control the blade based on the course such that it moves into the open position, the closed position or the intermediate position to direct the flow of moving material. Working machine according to claim 1, further comprising: a second blade pivotally coupled to a second end of the share, wherein the second blade is actuated to move into an open position, a closed position or an intermediate position, and the second blade is controlled based on the course into the open position, the closed position or the intermediate position. Working machine according to claim 1 or 2, further comprising: a second blade which is pivotally coupled to a second end of the share, wherein the second blade is actuated to move synchronously with the first blade. Working machine according to one of the preceding claims, wherein the vane blade is actuated by a first linear actuator and a first linkage mechanism which is pivotally coupled at a first end to an upper section of the share and pivotally coupled at a second end to an upper section of the vane blade, wherein the first linear actuator selectively positions the vane blade in a flap pivoting direction. Working machine according to claim 4, wherein the flap pivoting direction comprises the outermost edge of the wing leaf rotating about a pivoting attachment in a direction transverse to a front or rear share surface. Machine according to claim 4 or 5, wherein the processor is capable of executing the material management algorithm to actuate the first linear actuator to rotate the blade about the pivot attachment in response to the course-indicating signal in order to maintain the current position of the blade parallel to the course. A working machine according to one of claims 1 to 3, further comprising: a linkage mechanism pivotally coupled at a first end to an upper section of the share and pivotally coupled at a second end to an upper section of the blade; a first linear actuator selectively controllable to move the blade either in an inward pivoting direction or an outward pivoting direction along a flap pivot path, wherein an outermost edge of the blade rotates about a generally vertical pivot axis with respect to the share in a direction generally transverse to a forward and backward direction of the share. Working machine according to one of claims 4 to 6, wherein the blade is furthermore actuated by a second linear actuator and a second linkage mechanism which is pivotally coupled at a first end to a rear share surface and pivotally coupled at a second end to an upper section of the blade, wherein the second linear actuator selectively positions the blade in a flap lowering direction, wherein in the flap lowering direction the uppermost edge of the blade rotates in a longitudinal inclination direction for raising and lowering the blade with respect to the ground surface about a lowering attachment connected to the rear share surface. Working machine according to one of claims 4 to 8, wherein the share comprises a stop which is rigidly coupled to a laterally furthest outer share surface, wherein the stop is configured to prevent movement of the blade beyond an inner limit in the inward pivoting direction. Working machine according to claim 9, wherein the stop comprises an arc shape configured to match the curvature of the share. Working machine according to one of the preceding claims, further comprising an object detector for generating an object detection signal indicating an object on the path of the impeller blade while the ground engagement mechanism moves the frame over the ground surface, wherein the impeller blade is positioned in the closed position, the open position or an intermediate position based on the object detection signal. Working machine according to one of the preceding claims, wherein the processor is capable of executing the material management algorithm only when the share is positioned in a damage avoidance area with respect to the frame, wherein the damage avoidance area is at most 30 degrees away from a share base position. Working machine according to one of claims 4 to 7, wherein the blade is actuated by the first linear actuator in an inward pivoting direction to engage with a support surface of the first linkage mechanism before a second linear actuator is actuated to tilt the blade upwards with a second linkage mechanism while the blade remains engaged with the support surface. Working machine according to one of the preceding claims, further comprising a longitudinal tilt actuator that couples the share to the frame, wherein the processor is capable of executing the material management algorithm to adjust the longitudinal tilt of the share to align the wear surface of the blade with the ground surface.

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