Automated excavator tooth changing device

Abstract

An automated excavator bucket tooth changing device that includes the following: i) a body 1 designed to be positioned on a ground surface, the body 1 being fitted with an artificial intelligence-based imaging unit 2 integrated with a processor for capturing and processing multiple images near the body 1 in order to determine the location of excavator bucket teeth present near the body 1; ii) a plurality of motorized wheels 3 arranged below the body 1 and actuated by an integrated microcontroller to move the body 1 towards the blade, wherein an ultrasonic sensor is integrated into the body 1 and synchronized with the imaging unit 2 to monitor the dimensions of the teeth, after which the microcontroller evaluates the dimensions of the teeth that need to be replaced on the blade; iii) a motorized first gripper attached to the body 1 and actuated by the microcontroller to position a hydraulic piston 4, integrated into the first gripper, laterally against the teeth in alignment with pins attached to the teeth, wherein, upon successful alignment of the piston 4 with the pin, the microcontroller causes the piston 4 to repeatedly extend / retract to generate a thrust motion of the piston 4 against the pins, resulting in the pins being dislodged from the bucket, and iv) a multi-part chamber arranged on the body 1, to which a pair of robot arms 5, installed on the body 1, have access for grasping one of the new teeth and pins stored in the chamber and engaging the grasped tooth with the pin on the blade, wherein the microcontroller actuates a hydraulic piston integrated into the end effector of the arms 5 to extend it and exert pressure on the engaged pins to install the new teeth on the blade. Device according to claim 1, wherein a motorized second gripper is attached to the body 1 and integrated with an electronically controlled nozzle 6.

Description

FIELD OF THE INVENTION

[0001] The present invention relates to an automated excavator bucket tooth changing device capable of changing excavator bucket teeth in a self-sufficient manner without the need for skilled workers and with little time expenditure. BACKGROUND OF THE INVENTION

[0002] Excavator tooth changing tools are specialized devices that facilitate the removal and installation of excavator teeth on excavator buckets. Excavator bucket teeth are essential components that assist in digging, scooping, and loading materials during excavation and earthmoving operations. Conventional excavator tooth replacement tools are a simple set of hand tools typically used by maintenance personnel or operators on construction sites. Various wrenches, including adjustable wrenches or combination wrenches, are used to loosen and tighten the bolts or nuts that secure the excavator teeth to the excavator bucket.

[0003] The traditional method of replacing excavator teeth using wrenches has proven effective to some extent, but it does have limitations. Using hand tools to replace excavator teeth is labor-intensive and time-consuming, especially on larger excavators or when dealing with stubbornly stuck teeth. This results in longer downtime and reduced productivity on construction sites. Therefore, there is a need to develop an innovative tool that can replace excavator teeth in a consistent manner where conventional methods fail, and that meets the evolving needs of modern requirements.

[0004] US5063696A Excavator teeth and support adapters for excavator buckets and the like are supported in the event of failure of a tooth, its adapter, or a device that normally secures the tooth and adapter to the lip of the bucket by an elongated, flexible cable extending through a passage in the bucket lip, a passage in the adapter, and attached to the tooth. Retaining devices on the cable engage cooperating retaining members on the tooth and lip portion to prevent loss of the tooth due to such failure.

[0005] US8720088B2 A tooth retaining device for attachment to an excavator bucket, comprising a tooth attachment portion, a fork-shaped body that fits over the edge of the bucket, a clamp that extends through the body and the bucket, and a wedge that holds the clamp in position. The wedge comprises a threaded rod and a threaded block on the rod. The rod is rotatable to move the block between a locked and a released position.

[0006] Conventionally, there are many devices capable of replacing excavator bucket teeth, but these devices fail to replace excavator bucket teeth in a self-sufficient manner without any requirement of skilled labor in least time in a safe manner.

[0007] In order to overcome the above-mentioned disadvantages, there is a need in the prior art to develop a device capable of dispensing a lubricating solution for easy replacement of excavator bucket teeth and further capable of replacing excavator bucket teeth in a self-sufficient manner. SUBJECT OF THE INVENTION

[0008] The main object of the present invention is to overcome the disadvantages of the prior art.

[0009] An object of the present invention is to develop a device capable of replacing excavator bucket teeth in a self-sufficient manner, without the need for skilled workers in a short time.

[0010] Another object of the present invention is to develop a device capable of dispensing a lubricating solution for easy replacement of excavator bucket teeth.

[0011] Another object of the present invention is to develop a device that is reliable in nature.

[0012] The foregoing and other objects, features and advantages of the present invention will become readily apparent upon closer examination of the following detailed description of the preferred embodiment as illustrated in the accompanying drawings. SUMMARY OF THE INVENTION

[0013] The present invention relates to an automated excavator bucket tooth changing device capable of replacing excavator bucket teeth in a self-sufficient manner without the need for skilled workers and with the least amount of time.

[0014] According to one embodiment of the present invention, an automated excavator bucket teeth replacement device comprising a body designed to be positioned on a ground surface, the body being installed with an artificial intelligence-based imaging unit integrated with a processor to determine the location of the excavator bucket teeth present near the body, a plurality of motorized wheels arranged below the body and actuated by a built-in microcontroller to move the body towards the bucket, an ultrasonic sensor integrated on the body and synchronized with the imaging unit to monitor the dimensions of the teeth, after which the microcontroller evaluates the dimensions of the teeth that need to be replaced on the bucket, a motorized first gripper mounted on the body and actuated by the microcontroller to move a hydraulic piston,which is integrated into the first gripper, to be positioned laterally on the teeth, in alignment with pins attached to the teeth, whereby upon successful alignment of the piston with the pin.,

[0015] According to another embodiment of the present invention, the piston, which is repeatedly extended and retracted to cause a pushing movement of the piston against the pins, resulting in a release of the pins from the bucket, comprises a multi-part chamber arranged on the body and accessible to a pair of robotic arms installed on the body to grasp one of the new teeth and pins stored in the chamber and engage the grasped tooth with the pin on the bucket, a hydraulic piston integrated into the end effector of the arms to extend and exert pressure on the engaged pins to install the new teeth on the bucket, a motorized second gripper attached to the body and integrated into an electronically controlled nozzle,to dispense a lubricating solution stored in the chamber into slots formed on the blade prior to installation of the pins and teeth, wherein a battery is configured with the frame to provide a continuous power supply for electronically operated components connected to the device.

[0016] While the invention has been described and shown with particular reference to the preferred embodiment, it will be apparent that variations are possible which would fall within the scope of the present invention. BRIEF DESCRIPTION OF THE DRAWING

[0017] These and other features, aspects and advantages of the present invention will be better understood from the following description, the appended claims and the accompanying drawings, in which: Fig. Figure 1 shows an isometric view of an automatic excavator bucket tooth changing device. DETAILED DESCRIPTION OF THE INVENTION

[0018] The following description contains the preferred best mode for carrying out an embodiment of the present invention. It will be apparent from this description of the invention that the invention is not limited to the illustrated embodiments, but that the invention also includes a variety of modifications and embodiments thereto. Therefore, the present description should be considered as illustrative and not restrictive. While the invention is susceptible to various modifications and alternative constructions, it should be understood that there is no intention to limit the invention to the specific form disclosed, but on the contrary, the invention is intended to cover all modifications, alternative constructions, and equivalents falling within the spirit and scope of the invention as defined in the claims.

[0019] In any embodiment described herein, the open-ended terms “comprising,” “comprises,” and the like (which are synonymous with “including,” “with,” and “characterized by”) may be replaced by the respective partially closed terms “consists essentially of,” “consists essentially of,” and the like, or the respective closed terms “consisting of,” “consists of,” and the like.

[0020] As used herein, the singular forms “a,” “an,” and “the” refer to both the singular and the plural, unless expressly stated to refer only to the singular.

[0021] The present invention relates to an automated excavator bucket tooth changing device capable of changing excavator bucket teeth in a self-sufficient manner without the need for skilled personnel and with little time expenditure.

[0022] Referring to Fig.Figure 1 shows an isometric view of an automated excavator bucket tooth changing device comprising a body 1 with an artificial intelligence-based imaging unit 2, a plurality of motorized wheels 3 arranged below the body 1, a hydraulic piston 4 integrated with a motorized first gripper, a pair of robotic arms 5 installed on the body 1, and a motorized second gripper 4 integrated with an electronically controlled nozzle 6.

[0023] The proposed invention comprises a body 1 designed to be positioned on a ground surface. The body 1 is equipped with an artificial intelligence-based imaging unit 2 integrated with a processor for acquiring and processing multiple images in the vicinity of the body 1. The artificial intelligence-based imaging unit 2 consists of a processor encrypted with an artificial intelligence protocol and a camera that, when activated, captures multiple images in the vicinity of the body 1 to determine the position of excavator teeth located near the body 1.

[0024] The camera of the imaging unit 2 consists of a lens and a digital camera sensor of the imaging unit 2. The camera lens captures all the light rays bouncing in the environment and uses the lenses to focus them on a single point to create a sharp image. When all these light rays bounce back and meet on the digital camera sensor, a digital image is generated, and the processor performs various operations such as preprocessing, feature extraction, and classification, which are then transferred to a built-in microcontroller (not shown in the figure) for further processing.

[0025] The microcontroller mentioned here is preferably an Arduino microcontroller. The Arduino microcontroller used here controls the overall functionality of the components connected to it. The Arduino microcontroller is an open-source programming platform. The microcontroller processes the signal received from the imaging unit 2 to determine the position of the excavator teeth located near the body 1.

[0026] Several motorized wheels 3 (between 4 and 6) are arranged, which are operated by a built-in microcontroller to move the body 1 toward the bucket. The wheels 3 have small discs or rollers around the circumference of the wheel, which are driven by a direct drive.

[0027] The microcontroller controls a DC motor that allows the wheels 3 to move in all directions, giving the body 1 the required movement.

[0028] The microcontroller then activates an ultrasonic sensor, which is integrated into the body 1 and synchronized with the imaging unit 2, to monitor the dimensions of the teeth. The ultrasonic sensor described here consists of a transmitter and a receiver that acts as a transducer. When the microcontroller activates the ultrasonic sensor, the transmitter emits ultrasonic waves towards the teeth. The radiation hits the teeth and is reflected and collected by the receiver. The signal is sent to the microcontroller. The microcontroller processes the signal received from the ultrasonic sensor and, based on the time interval between the transmitted and received radiation, monitors the dimensions of the teeth. The microcontroller then determines the dimensions of the teeth in the blade that need to be replaced.

[0029] Additionally, a motorized first gripper is mounted on the body 1, which is actuated by the microcontroller to position a hydraulic piston 4, integrated into the first gripper, laterally against the teeth, in alignment with pins attached to the teeth. The first gripper consists of an electric motor and a control unit. The control unit provides a signal related to the force, position, or speed required for gripping. The first gripper receives the signal, and its motor performs the positioning of the hydraulic ram 4.

[0030] Thereafter, after successful alignment of the plunger 4 with the in, the microcontroller actuates the plunger 4 to repeatedly extend / retract to produce a pushing motion of the plunger 4 against the pins, resulting in the release of the pins from the bucket, resulting in the uninstallation of the pins from the bucket.

[0031] The plunger 4 is driven by a pneumatic unit (not shown in the figure) comprising an air compressor, air cylinders, air valves, and a piston, which work together to assist in the extension and retraction of the plunger 4. The air valve allows compressed air from the compressor to enter / exit the cylinder. Furthermore, the valve opens and the compressed air enters the cylinder, increasing the cylinder's air pressure. The piston is connected to the plunger 4, and due to the increase in air pressure, the piston extends. To retract the piston, the air is released from the cylinder into the air compressor via the valve. This enables the required extension / retraction of the piston 4 to create a pushing motion of the piston 4 against the pins.

[0032] Furthermore, a multi-part chamber is arranged on the housing 1, which is accessed by a pair of robot arms 5 installed on the housing 1, which are activated by the microcontroller to grasp one of the new teeth and pins stored in the chamber and to engage the grasped tooth with the pin on the blade.

[0033] The robot arms 5 consist of motor controllers, an arm, an end effector, and sensors. All of these parts are configured using the microcontroller. The elbow is located in the middle part of the arm, allowing the upper part of the arm to move the lower part independently. Finally, the wrist is located at the tip of the upper arm and is connected to the end effector. The end effector acts as a hand to grasp one of the new teeth and pins stored in the chamber and connect the grasped tooth to the pin on the blade.

[0034] The microcontroller then actuates a hydraulic piston integrated into the end effector of arms 5 to extend and apply pressure to the engaged pins to install the new teeth on the bucket.

[0035] The hydraulic piston is driven by a hydraulic power unit consisting of a hydraulic cylinder, a hydraulic compressor, a hydraulic valve, and a ram, which work together to ensure the required extension / retraction of the piston. The microcontroller actuates the valve to allow hydraulic fluid to flow from the compressor into the cylinder. The hydraulic fluid builds pressure on the ram, causing the ram to push and extend. The ram is connected to the piston, and the applied pressure extends the piston. Similarly, the microcontroller retracts the piston by closing the valve, causing the ram to retract. The microcontroller controls the extension / retraction of the piston.

[0036] In addition, a motorized second gripper is mounted on the body 1 and integrated with an electronically controlled nozzle 6, which is actuated by the microcontroller to distribute a lubricating solution stored in the chamber in the slots on the blade prior to installation of the pins and teeth. The motorized second gripper functions similarly to the motorized first gripper, as mentioned above.

[0037] The electronically controlled nozzle 6 used here controls the flow of the lubricating solution by varying the size of the flow channel via a signal from a control unit. This enables direct control of the flow rate and the subsequent control of process variables such as pressure and fill level of the lubricating solution with a view to delivering the lubricating solution according to specified requirements.

[0038] A battery (not shown in the diagram) is connected to the device to power the electrically operated components used within it. The battery consists of a pair of electrodes called the cathode and anode. The battery uses a chemical reaction of oxidation / reduction to perform work on the charge and generate a voltage between the anode and cathode, thus generating electrical energy that is used to perform work in the device.

[0039] The present invention works best in the following manner, the body 1 is designed to be positioned on the ground surface, followed by the body 1 is connected to the artificial intelligence based imaging unit 2 installed with the processor for capturing and processing multiple images taken near the body 1, respectively to determine location of excavator bucket teeth present near with the body 1. Then, multiple motorized wheels 3 are placed under the body 1, which are actuated by the built-in microcontroller to move the body 1 towards the bucket, followed by the ultrasonic sensor integrated on the body 1 and synchronized with the imaging unit 2 to monitor the dimensions of the teeth, after which the microcontroller evaluates the dimensions of the teeth that need to be replaced on the bucket.Then, the motorized first gripper mounted on the body 1 is actuated by the microcontroller to position the hydraulic piston 4, integrated on the first gripper on the side of the teeth, in alignment with the pins fixed to the teeth. Following the successful alignment of the piston 4 with the pin, the microcontroller actuates the piston 4 to repeatedly extend / retract to provide the impact movement of the piston 4 against the pins, resulting in the release of the pins from the bucket.Then, the multi-part chamber arranged on the body 1 and accessed by the pair of robot arms 5 installed on the body 1 is engaged to grasp one of the new teeth and pins housed in the chamber and engages the grasped tooth with the pin on the bucket, whereupon the microcontroller actuates the hydraulic piston integrated into the end effector of the arms 5 to apply pressure to the engaged pins to install the new teeth on the bucket. Although the scope of the invention has been described herein with limited reference to specific embodiments, this description is not intended to be construed in a limiting sense. Various modifications of the disclosed embodiments, as well as alternative embodiments of the invention, will become apparent to those skilled in the art upon reference to the description of the invention. QUOTES CONTAINED IN THE DESCRIPTION

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

[0000] US 5063696A

[0004] US 8720088B2

[0005]

Claims

[1] An automated excavator bucket tooth changing device comprising: i) a body 1 designed to be positioned on a ground surface, the body 1 being installed with an artificial intelligence-based imaging unit 2 integrated with a processor for acquiring and processing a plurality of images in the vicinity of the body 1 to determine the location of excavator bucket teeth present in the vicinity of the body 1, respectively; ii) a plurality of motorized wheels 3 arranged below the body 1 and actuated by a built-in microcontroller to move the body 1 towards the blade, an ultrasonic sensor being integrated into the body 1 and synchronized with the imaging unit 2 to monitor the dimensions of the teeth, after which the microcontroller evaluates the dimensions of the teeth that need to be replaced on the blade; iii) a motorized first gripper mounted on the body 1 and actuated by the microcontroller to position a hydraulic piston 4, integrated into the first gripper, laterally against the teeth in alignment with pins attached to the teeth, wherein, upon successful alignment of the piston 4 with the pin, the microcontroller repeatedly extends / retracts the piston 4 to produce a pushing movement of the piston 4 against the pins, resulting in a release of the pins from the bucket, resulting in a deinstallation of the pins from the bucket; and iv) a multi-part chamber arranged on the body 1 and accessible to a pair of robotic arms 5 installed on the body 1 for grasping one of the new teeth and pins stored in the chamber and engaging the grasped tooth with the pin on the bucket, wherein the microcontroller actuates a hydraulic piston integrated into the end effector of the arms 5 to extend and apply pressure to the engaged pins to install the new teeth on the bucket. The apparatus according to claim 1, wherein a motorized second gripper is mounted on the body 1 and integrated with an electronically controlled nozzle 6. [2] The device of claim 1, wherein the device is actuated by the microcontroller to dispense a lubricating solution stored in the chamber into slots on the blade prior to installation of the pins and teeth. [3] The device of claim 1, wherein a battery is configured with the frame to provide a continuous power supply to electronically operated components connected to the device.

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