Ejectable and lockable ground engaging tools for earth moving machines

Abstract

A device at least for ejection of at least one ground engaging tool (GET) of an earth moving machine, comprising at least one actuator; each actuator of the at least one actuator comprising moving means; each actuator of the at least one actuator has a first part that is movable and / or extensible and / or retractable, owing to the moving means, between a first position and a second position, the first part being arranged in such a way that the first part is adapted to push the GET during motion and / or extension from the first position to the second position when the GET is arranged on the device.

Description

[0001] EJECTABLE AND LOCKABLE GROUND ENGAGING TOOLS FOR EARTH MOVING

[0002] MACHINES

[0003] TECHNICAL FIELD

[0004] The present disclosure relates to the field of earth moving machines. More particularly, the disclosure relates to devices, wear assemblies and systems for earth moving machines adapted to eject ground engaging tools (GETs) and, optionally, lock new GETs in, and methods involving such devices and wear assemblies.

[0005] BACKGROUND

[0006] Earth moving machines require wear elements in the form of ground engaging tools for their operations, for instance for digging, tilling ripping, ground-engaging, and loading operations. Wear elements in general, and especially GETs, require replacement every now and then due to the wear they are subjected to as they pull out, move and load soil and objects such as stones, and the contact is typically preceded by strong impacts with said objects and surfaces. The mechanical efforts undergone by wear elements is such that sometimes the wear elements must be replaced several hours or few days after they have been installed in and operated by the earth moving machine.

[0007] Wear elements are generally fixedly attached to the relevant parts of the earth moving machines, for example the digging implements, the lip, the adapter, etc., by way of fixing pins, bolts or other fastening or attaching means devices. These are the devices that must be handled during extraction and attachment operations of worn GETs to be replaced and new GETs to be installed.

[0008] The aforesaid operations, together with ejection, extraction and insertion operations needed for removing old GETs and installing new GETs, require workers handling the devices for attachment and also the GETs for safe and correct extraction and attachment of the latter. On top of that, the workers need to be assisted by machines, such as booms, robots, forklifts and alike machines, when carrying out such maintenance tasks owing to the dimensions and weight of the GETs and the earth moving machines.

[0009] Maintenance of wear elements is an arduous set of tasks. The whole process is time-consuming and inefficient since it involves the halting of the earth moving machine, and the workers conducting the maintenance tasks as fast as possible to reduce the amount of time that the machine is not in operation to a minimum. Earth moving machines work round-the-clock, so stoppage times severely affect their productivity. To make things worse, working on the maintenance of an earth moving machine is hazardous, and safe precautions need to be taken to avoid endangering the lives of the workers, which inevitably reduces the speed at which maintenance is conducted. The typical maintenance process is as follows:

[0010] - Halting the machine at a predetermined position that ensures safe conditions for the workers to conduct maintenance and gives them access to the parts of the machine to undergo maintenance, including replacement thereof.

[0011] - Arranging the worn out GETs, e.g., each tooth, in such a way that they rest on or are suspended from a machine that can withstand its weight. This, in turn, generally requires attaching some device to the GET, for example chains, cables or the like, however the attachment is anything but simple. Any lifting eyes the GETs might have had at the beginning may be long gone as a result of wear or hits. Sometimes the cable device can be attached to holes of the GETs, or sometimes a new lifting eye is provided and welded to the GET just for the extraction of the GET.

[0012] - Reducing and removing the compacted soil of the GETs, particularly at the locations where the device(s) that attach the GET to the rest of the earth moving machine are. The compacted soil and, hence, the plastic deformation the GETs have been subjected to preclude or at least complicate the withdrawal of both the attaching device(s) and the GET itself. Any special tools devised to assist in the withdrawal may prove useless when there is too much compaction.

[0013] - Extracting, i.e., withdrawing, the GETs. Even if the GET is somehow fastened to a machine that supports its weight, sudden GET motion during extraction may occur as large forces need to be applied for it to be pushed or pulled and extracted from the fitting of the other part that the GET is attached to, for example a nose. Such motion, together with the large volume and weight of the piece, may harm the workers.

[0014] - Revising the fitting of the other part of the machine and maintenance thereof. The part where the GET was attached to must be inspected to see if it is somehow damaged, and it must be cleaned so as to remove any compacted soil.

[0015] - Installing, i.e., arranging, of the new GET on the earth moving machine while it is resting on or is suspended from a machine that supports the GET’s weight.

[0016] - Locking the GET in the earth moving machine by way of the respective attaching device(s). For example, a locking pin may be introduced in, e.g., the tooth and the nose, and secured thereto to keep the two parts fixedly attached.

[0017] Each one of these tasks is cumbersome and time-consuming. Improvements in any of these tasks is desirable to shorten the total time that the machine must be halted, and workers be devoted to the supervision and maintenance of the machine, even more so when replacement of wear elements occurs frequently. Automation of these tasks would be very convenient. There have been few attempts to improve this process, but they are deemed insufficient. For example, trucks that include pliers or a robot arm have been developed. The pliers and robot arms assist in the extraction of the wear element, but they are controlled by workers anyway. Depending on the dexterity of the workers and the free space between teeth, the operation of the pliers and robot arms might not even reduce the time it takes to perform one or more maintenance tasks, not to mention that it may even increase the elapsed time.

[0018] SUMMARY

[0019] A first aspect relates to a device at least for ejection of at least one ground engaging tool, GET, of an earth moving machine. The device comprises at least one actuator. Each actuator of the at least one actuator having at least a first part that is movable and / or extendible and / or retractable between a first position and a second position, the first part being arranged in such a way that the first part is adapted to push the GET during motion or extension of the first part from the first position to the second position when the GET is arranged on the device.

[0020] The device can eject one or more GETs for partial or complete extraction thereof without requiring pulling or pushing force of operators, for example the person or people in charge of maintenance tasks.

[0021] The ejection at least displaces the GET outside a coupling position where the GET is coupled to or is to be coupled to the device so as to protect a portion of the latter, this being the position of the GET when the earth moving machine is operated and ground material is to be engaged. As it is known in the art, GETs are coupled to a member of the earth moving machine within the digging implements assembly that encompasses the digging implements and the members directly or indirectly attached to it for protecting the digging implements and providing ground engaging capabilities. The member that the GET is coupled to is the device. The device is another GET, for example a nose that is to hold an ejectable tooth, or the digging implements.

[0022] The first part, e.g., a first mechanism, applies, owing to moving means of the at least one actuator configured to that end, a pushing force to the GET to overcome any compaction the GET may have suffered during its operation, and the friction between the engaging portions of the GET and the device, thereby moving the GET to an advanced position leading to a partial or complete extraction.

[0023] The first part, e.g., a first mechanism, of the actuator(s) is arranged such that it remains proximate or adjacent to the GET when the latter is arranged on the device. When the first mechanism is in the first position and the GET is arranged on the device, the first mechanism may or may not contact the GET. At least when the first mechanism is at a position between the first and second positions or is extended to a position between the first and second positions, so during motion and / or extension / retraction of the first mechanism, the mechanism contacts and pushes the GET to eject the latter from a fit position on the device. A portion or a surface of the device is, in some embodiments, adapted to receive the GET for arrangement thereof on a body of the device. The terms ‘part’ and ‘mechanism’ are used interchangeably in the present disclosure.

[0024] Partial extraction means that the respective GET remains in touch with the device in an advanced position and, thus, not in the coupling position in which the GET is coupled or to be coupled to the device so that the machine may operate and engage the ground. The advanced position is a position of the GET closer to a ground engaging end or side of the device, and through which the GET is inserted to and extracted from the device. When there is partial extraction, operators or external machines such as external booms complete the extraction by moving the GET to a further advanced position until it is completely extracted from the device; in these situations, the force needed to finalize the extraction is mainly that for withstanding the weight of the GET, and little or no force is needed to perform decompaction or overcome friction between the GET and the device.

[0025] In the context of the present disclosure, the term GET refers to any one of the following: tooth, point, adapter, intermediate adapter, corner adapter, wear cap, shroud, wing, structural plate, wear runner or bucket heel shroud. The GET to at least be ejected may be, for example, a tooth, a point, an adapter, an intermediate adapter, a corner a wear cap, a shroud, or a wing.

[0026] In some embodiments, each actuator of the at least one actuator has at least a second part that is movable and / or extensible and / or retractable between a third position and a fourth position. The second part is arranged in such a way that the second part protrudes from a body of the device in the fourth position, thereby locking the GET when arranged on the device, and, in the third position, the second part does not protrude from the body of the device or protrudes less than in the fourth position, thereby not locking (or, in other words, thereby unlocking) the GET when arranged on the device.

[0027] The second part works as a locking mechanism that allows or forbids the movement of the GET on the device other than the play that may exist between the GET and the device. Mainly, the movement of the GET that is allowed or forbidden is that necessary for partially or completely extracting the GET from the device.

[0028] When the GET is to be coupled to the device, the second part or mechanism must first be in the position that allows the GET to reach the coupling position. To this end, the mechanism should not protrude from the body of the device to not block the movement of the GET, which occurs at least in the third position. The second mechanism may move to the third position, or be retracted to the third position. When the GET is at the coupling position, the second mechanism may effect the coupling of the GET to the device by forbidding further movement. To this end, the second mechanism is to be deployed to the fourth position in which the mechanism protrudes from the body of the device. The second mechanism may move to the fourth position, and / or be extended to the fourth position.

[0029] In some embodiments, the first part protrudes from the body of the device in the first position, thus locking the GET when arranged on the device, and, in the second position, the first part does not protrude from the body of the device or protrudes less than in the first position, thus not locking the GET when arranged on the device.

[0030] The first part or mechanism of the actuator(s) can double as an ejecting part and a locking / unlocking part with just two positions, namely two configurations. This, in turn, may reduce the number of components within the actuator yet provide the same functionalities as if there were two parts or mechanisms.

[0031] In this sense, the two positions that the first part is movable and / or extensible and / or retractable and that enable ejection further unlock the GET and let it reach a coupling position (first part in the second position), and lock the GET to not let it move or reach the coupling position when still uncoupled to the device (first part in the first position).

[0032] In some embodiments, each actuator of the at least one actuator further comprises a detector configured to detect whether the GET is arranged on the device and / or to detect a position of the GET relative to the actuator. In some cases, detecting a position of the GET may include detecting whether the position of the GET relative to the actuator is according to a predetermined position range.

[0033] The detector of the actuator(s) enables controlled operation of the ejection process, and also of the locking and unlocking processes when the actuators include such functionalities.

[0034] The detector, which may be, e.g., a magnetic sensor, a mechanical sensor, and / or an optical sensor, such as a laser-based optical sensor, checks the position of the GET whenever commanded to do so, or automatically, depending on how the actuator is configured.

[0035] By way of example, an operator may remotely request that the position of the GET be checked to ensure that there is no GET on the device, or that the GET is at the coupling position and, therefore, a locking or ejection process can be carried out adequately.

[0036] In some embodiments, each actuator of the at least one actuator is configured to actuate or allow actuation of the first part thereof for motion and / or extension and / or retraction thereof from the first position to the second position, thereby pressing the GET for ejection thereof, when the respective detector detects that the GET is arranged on the device. In some cases, the actuation or allowance for actuation is further when the respective detector detects that a position of the GET relative to the actuator is according to the predetermined position range and / or it is not blocked by more than a predetermined level of blocking.

[0037] Additionally or alternatively, each actuator of the at least one actuator is configured to actuate or allow actuation of the first part thereof for motion and / or retraction and / or extension thereof from the second position to the first position when the respective detector detects that the GET is not arranged on the device or when the respective detector detects that the GET is arranged on the device.

[0038] The actuator may automatically check, using the detector, the positioning of the GET before performing an ejection task, and not proceed with the ejection until the check from the detector is successful, namely, the GET is in the coupling position.

[0039] The actuator may additionally or alternatively proceed in the same way whenever it performs the change in configuration of the part to allow a GET to reach the coupling position. In some cases, after ejecting a GET, the part may go back to the first position to enable the same or another GET to be coupled to the device when the device is designed in such manner that, while the part is in the second position, the GET cannot reach the coupling position due to the blocking the part does. In some other cases, especially when the first part is operable for ejection and locking / unlocking, the first part is made to go to the first position when the GET is already in the coupling position so that it can be locked.

[0040] In some embodiments, each actuator of the at least one actuator is configured to actuate or allow actuation of the second part thereof for motion and / or retraction thereof from the fourth position to the third position when the respective detector detects that the GET is arranged on the device and, optionally, that it is not blocked by more than a predetermined level of blocking, thereby not locking the GET (or, in other words, thereby not blocking movement of the GET). Additionally or alternatively, each actuator of the at least one actuator is configured to actuate or allow actuation of the second part thereof for motion and / or extension thereof from the third position to the fourth position when the respective detector detects that the GET is arranged on the device and, optionally, that a position of the GET relative to the actuator is according to the predetermined position range, thereby locking movement of the GET (or, in other words, thereby blocking movement of the GET-aside from existing play between the parts, if any).

[0041] The actuator may automatically check, using the detector, the positioning of the GET before performing a locking task, and not proceed with the locking until the check from the detector is successful, namely, the GET is in the coupling position.

[0042] The actuator may additionally or alternatively proceed in the same way whenever it performs the unlocking task. In such case, the unlocking may not be performed if the GET is blocked by more than a predetermined level of blocking as checked by the detector. Attempting to unlock the GET when the GET is blocked can be detrimental because the GET may exert pressure on the mechanism or on the device during movement and / or retraction of the actuator, thereby potentially causing cracks and deformations.

[0043] In some embodiments, each actuator of the at least one actuator further comprises a vibration-generating apparatus and / or an impact-generating apparatus.

[0044] The apparatus produces vibration or impacts on the device or on the GET, depending on how the apparatus is arranged on the actuator. Particularly, the apparatus may contact the device and / or the GET.

[0045] The vibration or impacts assist in loosening up the GET, which is especially useful to ease the ejection process. As the GET or the device moves a little bit thanks to the vibration or impacts, compaction of the GET can be reduced. Particles, fines, stones and other objects that may have found their way into the spaces between the GET and the device loosen up and, in some cases, fall off from those spaces, thereby reducing the friction between the GET and the device. With a lower compaction, the force necessary to eject the GET becomes lower.

[0046] In some embodiments, a direction of the motion and / or extension and / or retraction from the first position to the second position is or has a component parallel to a direction for ejecting the GET from the device when the GET is arranged thereon.

[0047] The motion and / or extension can be such that they / it apply / applies a pushing force on the GET that is partially or completely directed along the ejection direction.

[0048] The direction of the motion and / or extension / retraction is considered as the segment defined by a point of the respective mechanism when it is in the first position, and the same point when the mechanism is in the second position. Such direction is decomposable in one or more orthogonal components, i.e., vectors, with one such component being in the ejection direction.

[0049] By having a larger amount (or the totality) of the motion and / or extension / retraction in the ejection direction, more work is done towards ejection since the force applied to the GET is direct, i.e., aligned or substantially aligned with the motion that the GET must do for ejection.

[0050] In some embodiments, a direction of the motion and / or extension and / or retraction from the first position to the second position is or has a component perpendicular to a direction for ejecting the GET from the device when the GET is arranged thereon.

[0051] The motion and / or extension can be such that they / it apply / applies a pushing force on the GET that is partially or completely directed orthogonal to the ejection direction.

[0052] Motion and / or extension being or having a component orthogonal to the ejection direction is generally less effective than being or having a component parallel to the ejection direction as no work is done towards ejection. Notwithstanding, application of a pushing force in this direction is also convenient to reduce compaction and friction between the GET and the device, thus lowering the force needed in the ejection direction.

[0053] Further, the mechanism may include a component or be shaped so as to convert the orthogonal motion and / or extension / retraction (or orthogonal part thereof) to a force applied on the GET that is parallel to the ejection direction; the GET may, in some cases, be shaped so as to produce such conversion. For example, an end of the mechanism shaped such that it forms an angle with the ejection direction causes that part of the pushing force be applied to the GET in the direction for ejection.

[0054] A mechanism configured to move and / or extend with this direction may be convenient when there are space limitations, when it is simpler to arrange a movable / extensible / retractable mechanism in this fashion, when much compaction is expected, etc.

[0055] By way of example, the component / s or shape / s include, e.g., wedges, threads, cams, etc.

[0056] In some embodiments, the first part of each actuator of the at least one actuator is coupled with moving means of the at least one actuator in a decouplable manner.

[0057] The first part(s) of the at least one actuator is coupled with a shaft of the moving means that move and / or extend and / or retract the first part(s) in a decouplable manner. When the first part(s) wear off and / or break, the first part(s) is replaceable with new part(s) by first decoupling the part(s) from the moving means and coupling new part(s).

[0058] In some embodiments, the at least one actuator comprises a decoupling mechanism for decoupling the first part of each actuator of the at least one actuator from moving means of the at least one actuator.

[0059] This mechanism forces, by way of a moving part, the decoupling of the first part(s) from the moving means so that they the first part(s) is not tied to the moving means upon actuation of the decoupling mechanism, thereby letting the first part(s) to move freely. Occasionally, the moving means may break or get stuck and, thus, forbid the movement of the first part(s), which impedes further operation of the device up until the decoupling mechanism is actuated.

[0060] In some embodiments, the device is or comprises one of the following: a lip, a cast lip, an adapter, intermediate adapter, a weld-on nose, or a cast nose.

[0061] In some embodiments, the device further comprises a plurality of noses. Each of one or more noses of the plurality of noses comprises an actuator of the at least one actuator.

[0062] The noses typically receive the GETs and, thus, actuators may be arranged in or on the noses to provide the aforementioned functionalities. In some embodiments, the device further comprises one or more cavities receiving the at least one actuator. Each cavity of the one or more cavities is at least partially formed in / on a nose of the one or more noses.

[0063] In some embodiments, each cavity of the one or more cavities is formed inside of a respective nose. In some embodiments, each cavity of the one or more cavities is formed outside of a respective nose, on an outer surface thereof, and extends to the body of the lip, thereby forming part of the cavity on a portion of the body.

[0064] In some embodiments, the device further comprises one or more GETs coupled or couplable to a nose of the plurality of noses.

[0065] In some embodiments, the first part of each actuator of the at least one actuator is arranged such that the first part is adapted to push at least one surface of the GET when arranged on the device. The at least one surface is a wall delimiting an inner cavity of the GET adapted to receive the device, or a wall at a rear end of the GET opposed to a front end for engaging ground, or a wall inside the inner cavity.

[0066] Different ways of pushing the GET are possible depending on, e.g., the shape of the device, the shape of the GET, the arrangement of the first part on the device, etc.

[0067] In some embodiments, the device comprises at least one electric motor or at least one pneumatic system or at least one hydraulic system. The at least one motor or the at least one system is, in some embodiments, arranged within one or more actuators of the at least one actuator.

[0068] In some embodiments, the device further comprises one or more channels receiving or having an end thereof adjacent to one or more actuators of the at least one actuator and / or adjacent to moving means (e.g., at least one electric motor or at least one pneumatic system or at least one hydraulic system) of the device, and one or more electric wires introduced in the one or more channels and having a first end thereof connected to the one or more actuators, for powering the one or more actuators upon connection of a second end of the one or more electric wires to a power source, and / or to the moving means, for powering the moving means upon connection of the second end of the one or more electric wires to the power source. Additionally or alternatively, the moving means and / or each actuator of the at least one actuator further comprises at least one battery.

[0069] The actuator(s) and / or the moving means can be powered from the earth moving machine itself by way of electric wiring that connects the actuator and / or moving means to a power source within the machine, not necessarily arranged on the digging implements or proximate thereto, but also in a cabin of the machine or another location of the machine.

[0070] The actuator(s) and / or the moving means may also be powered on demand, for example through a cable receiving port arranged on the digging implements or somewhere else on the earth moving machine, and the cable receiving port being adapted to receive connection of a power source external to the machine whenever maintenance tasks are to be conducted. During maintenance, an operator may connect the power source to the cable receiving port, and the electric wiring go from the port to the actuator(s) and / or the moving means for powering.

[0071] The actuator(s) and / or the moving means may also or alternatively be autonomously powered by way of batteries.

[0072] In some embodiments, each actuator of the at least one actuator is configured to actuate the first part thereof (and / or the second part thereof, if any) upon reception of one or more actuation instructions through: an input port of the actuator for wired connection; and / or a wireless communications module. The device and / or the actuator comprises the wireless communications module.

[0073] An operator located either in the earth moving machine or remote therefrom, not necessarily proximate to the machine, may transmit actuation instructions to the actuator(s) to carry out one or more maintenance tasks, e.g., ejection, locking, unlocking, etc.

[0074] In some embodiments, the device further comprises the GET arranged or arrangeable on a body of the device in an ejectable manner.

[0075] In some embodiments, the GET arranged or arrangeable on the body of the device comprises at least one part that is movable and / or extendible and / or retractable between a cooperative locking position and a cooperative unlocking position that respectively locks and unlocks the GET (or, in other words, that respectively blocks and unblocks movement of the GET) when arranged on the device. The at least one part is arranged in such a way that the at least one part is adapted to be pushed by a part (e.g., the first part, the second part) of the device upon movement and / or extension and / or retraction thereof from the first position to the second position, or from the third position to the fourth position, when the GET is arranged on the device.

[0076] The locking and unlocking of the GET on the device can be carried out in a cooperative manner between the GET and the device. To this end, a moving and / or extensible / retractable part of the device that is comprised in one or more actuators thereof contacts the at least one part of the GET, thereby locking or unlocking the GET.

[0077] By way of example, the at least one part of the GET may be a retractable stopper or a pivotable stopper that switches between the cooperative unlocking position, in which the stopper has at least a portion thereof within an opening formed in the GET, and the cooperative locking position, in which the stopper has at least a portion thereof out of the opening formed in the GET. More particularly, in the cooperative locking position, the portion of the at least one part projects towards the device so that there is interference between said portion and the device, thereby blocking the movement of the GET (aside from existing play, if any). Such interference does not exist when the at least one part is in the cooperative unlocking position.

[0078] A second aspect relates to an assembly comprising: a GET, and a support device of an earth moving machine adapted to receive and support the GET. The support device is a device as described in the first aspect or includes at least one device as described in the first aspect.

[0079] In some embodiments, the GET is any one of the following: a tooth, a point, an adapter, an intermediate adapter, a corner a wear cap, a shroud, or a wing.

[0080] In some embodiments, the support device is any one of the following: a lip, cast lip, an adapter, intermediate adapter, a weld-on nose, or a cast nose.

[0081] In some embodiments, the support device is a GET.

[0082] A third aspect relates to digging implements for an earth moving machine. The digging implements comprise a device as described in the first aspect or an assembly as described in the second aspect.

[0083] In some embodiments, the digging implements further comprise the GET or a plurality of GETs.

[0084] A fourth aspect relates to an earth moving machine. The earth moving machine comprises a device as described in the first aspect, or an assembly as described in the second aspect, or digging implements as described in the third aspect.

[0085] In some embodiments, the earth moving machine further comprises at least one computing device configured to control operation of the at least one actuator, especially for actuation or allowing actuation of the first and / or second part / s thereof.

[0086] The at least one computing device may be part of a control unit of the earth moving machine that monitors and adjusts the operation of the machine, for example but without limitation, adjusting the trajectory of the digging implements during ground engaging, halting the machine whenever a problem has been detected, etc.

[0087] Such at least one computing device, which may be located anywhere on the machine, for example in the cabin thereof or elsewhere, oversees and controls the operation of the actuators during maintenance tasks. In this sense, the at least one computing device might force checks effected by the detector of the actuators to allow certain functions to be commanded by, e.g., an operator, for example actuation of the first mechanism for ejection of a GET, or to automatically execute one such function without any external input from, e.g., an operator, for example automatically lock a GET whenever the detector has detected its presence within the predetermined position range.

[0088] A fifth aspect relates to a system. The system comprises a device as described in the first aspect, or an assembly as described in the second aspect, or digging implements as described in the third aspect, or an earth moving machine as described in the fourth aspect, and the system also comprises at least one computing device configured to control operation of the at least one actuation, especially for actuation or allowing actuation of the first and / or second part / s thereof.

[0089] The at least one computing device may oversee and control operation of the actuators remotely from the device, digging implements or earth moving machine. By way of example, the at least one computing device may be a personal computer, a mobile phone, a tablet, etc., which may be operated by an operator in the vicinity of the device, digging implements or machine, e.g., at a distance usually not greater than 1 kilometer, or even be in a control center. A control center may not be even close to the device, digging implements or machine, in fact it may not even be at the same location, e.g., quarry. In some cases, the control center is at a distance greater than 2 km, and it may be in a region different from the device, digging implements or machine, or even in a different country.

[0090] A sixth aspect relates to a method. The method comprises: arranging, on an earth moving machine, a device as described in the first aspect or an assembly as described in the second aspect; arranging one or more ground engaging tools, GETs, on the device; and pushing at least one GET of the one or more GETs by actuating the first part of at least one actuator of the at least one actuator of the device such that said first part moves and / or extends and / or retracts from the first position to the second position, thereby ejecting the at least one GET from a coupling position in which the at least one GET is coupled or is to be coupled to the device.

[0091] The method makes possible to eject at least one GET directly with components that are within the device, particularly components within the actuator(s) arranged on the device. Hence, operators and / or external devices are not needed for ejection of GETs.

[0092] Subsequent to the pushing, the at least one GET can be extracted from the device if not already extracted due to the pushing, namely, if the pushing did not move the at least one GET beyond the end or side of the device so that it does not contact the device anymore.

[0093] In some embodiments, the method further comprises arranging the device on an earth moving machine; arranging one or more ground engaging tools, GETs, on the device; and pushing at least one GET of the one or more GETs by actuating the first part of at least one actuator of the at least one actuator of the device such that said first part moves and / or extends and / or retracts from the first position to the second position, thereby ejecting the at least one GET from a coupling position in which the at least one GET is coupled or is to be coupled to the device.

[0094] In some embodiments, the method further comprises locking at least one GET of the one or more GETs by actuating the second part of at least one actuator of the at least one actuator of the device such that said second part moves and / or extends and / or retracts from the third position to the fourth position, thereby blocking movement of the at least one GET (aside from existing play, if any). Additionally or alternatively, the method further comprises unlocking at least one GET of the one or more GETs by actuating the second part of at least one actuator of the at least one actuator of the device such that said second part moves and / or extends and / or retracts from the fourth position to the third position, thereby not blocking movement of the at least one GET.

[0095] In some embodiments, the method further comprises locking the at least one GET by actuating the first part of at least one actuator of the at least one actuator of the device such that said first part moves and / or extends from the second position to the first position, thereby blocking movement of the at least one GET. Additionally or alternatively, the method further comprises unlocking the at least one GET by actuating the first part of at least one actuator of the at least one actuator of the device such that said first part moves and / or retracts from the first position to the second position, thereby not blocking movement of the at least one GET.

[0096] In some embodiments, the pushing is based on the respective detector detecting that the at least one GET is arranged on the device and / or that a position of the GET relative to the actuator is according to the predetermined position range.

[0097] In some embodiments, each of the locking and the unlocking is based on the respective detector detecting that the at least one GET is arranged on the device and / or that a position of the GET relative to the actuator is according to the predetermined position range and / or that the at least one GET is arranged on the device not blocked by more than a predetermined level of blocking.

[0098] A seventh aspect relates to a method. The method, that in some embodiments is a computer-implemented method when run by at least one computing device, comprises activating or commanding to activate a first part of an actuator for a device of an earth moving machine, which is movable and / or extensible and / or retractable between a first position and a second position, to move and / or extend / retract, e.g., to the second position, to push a ground engaging tool, GET, during motion and / or extension / retraction from the first position to the second position to push the GET when arranged on the device.

[0099] In some embodiments, the device is a device as described in the first aspect or is comprised by an assembly as described in the second aspect or by digging implements, or by an earth moving machine, or a system as described in the third, fourth and fifth aspects, respectively.

[0100] In some embodiments, the method further comprises activating or commanding to activate a second part of an actuator for a device of an earth moving machine, which is movable and / or extensible between a third position and a fourth position, to move and / or extend / retract, e.g., to the fourth position, to get inserted in a hole of the GET to block movement of the GET when arranged on the device.

[0101] In some embodiments, the method further comprises activating or commanding to activate the second part to move and / or extend / retract, e.g., to the third position, to get withdrawn from a hole of the GET to unblock movement of the GET when arranged on the device.

[0102] In some embodiments, the method further comprises: arranging the device on the earth moving machine; and arranging one or more ground engaging tools, GETs, on the device.

[0103] An eighth aspect relates to a computing device comprising: at least one processor; and at least one memory. Further, the at least one memory is configured, together with the at least one processor, to cause the computing device to carry out the steps of a method as described in the seventh aspect.

[0104] A ninth aspect relates to a data processing device comprising means or modules for carrying out the steps of a method as described in the seventh aspect.

[0105] A tenth aspect relates to a computer program comprising instructions which, when the program is executed by at least one computing device, cause the at least one computing device to carry out the steps of a method as described in the seventh aspect.

[0106] An eleventh aspect relates to a computer-readable non-transitory storage medium comprising instructions which, when executed by at least one computing device, cause the at least one computing device to carry out the steps of a method as described in the seventh aspect.

[0107] A twelfth aspect relates to a data carrier signal carrying a computer program as described in the tenth aspect.

[0108] BRIEF DESCRIPTION OF THE DRAWINGS

[0109] To complete the description and in order to provide for a better understanding of the disclosure, a set of drawings is provided. Said drawings form an integral part of the description and illustrate embodiments of the disclosure, which should not be interpreted as restricting the scope of the disclosure, but just as examples of how the disclosure can be carried out. The drawings comprise the following figures:

[0110] Figure 1 shows a device for ejecting a GET in accordance with embodiments.

[0111] Figure 2 shows a device for ejecting, locking and unlocking a GET in accordance with embodiments.

[0112] Figures 3A-3D, 4A-4B, 5A-5C, 6-9, 12A-12B and 13 show devices and actuators thereof in accordance with different embodiments. Figures 10 and 11A-11C show assemblies of a GET and a device in accordance with embodiments in which locking / unlocking of the GET is attained by cooperation of the GET and the device.

[0113] Figures 14A-14D show a device for ejecting, locking and unlocking a GET in accordance with embodiments.

[0114] Figure 15 shows a method in accordance with embodiments.

[0115] Figures 16-19 show devices in accordance with embodiments.

[0116] DETAILED DESCRIPTION

[0117] Figure 1 shows a device 1 for an earth moving machine, which is adapted for ejecting a GET, in accordance with embodiments.

[0118] The device 1 includes or is arranged on at least one nose 2 that has a channel 3 and a cavity 4 formed therein. The channel 3 reaches the cavity 4 and makes possible to provide electric wiring (not illustrated) to an actuator 10.

[0119] The actuator 10, which is arranged in the cavity 4, includes moving means 30. In this example, the moving means includes a motor assembly comprising at least one motor 32 and at least one gear reducer 34 coupled therewith; in other embodiments, the moving means 30 includes, e.g., a pneumatic system or a hydraulic system. The actuator 10 includes a shaft 40, for example a worm drive, and a first part or mechanism 50, also referred to as ejection part or mechanism 50. The shaft 40, which is driven by the moving means (in this case, the at least one motor 32 with reduced gear), drives the ejection part 50 so that it can move and / or extend from a first position (the illustrated one) to a second position that pushes a GET when the GET has been arranged on the nose 2. The second position places the ejection part 50 (if it moves) and / or part thereof (if it extends) somewhere in the direction of the illustrated arrow.

[0120] Figure 2 shows a device 1 for ejecting, locking and unlocking a GET in accordance with embodiments.

[0121] The nose 2 comprised in the device 1 or where the device 1 is arranged on also has a channel 3 and a cavity for receiving the device 1 or the actuator 10.

[0122] The actuator 10 includes the moving means 30, e.g., the motor assembly with at least one motor 32 and two gear reducers 34, although other moving means 30 are possible as well. The motor assembly is coupled to a shaft 40 that, in turn, has a first part or mechanism 50, or ejection part or mechanism 50, and a second part or mechanism 60, also referred to as locking / unlocking part or mechanism 60.

[0123] The ejection part 50 can be driven with the shaft 40 itself, whereas the locking / unlocking part 60 may require, for example, that the shaft 40 couples with another shaft 65 that is orthogonal to it, e.g., a worm drive and a sprocket 66 or the like; this latter coupling may be attained by way of, e.g., a sprocket 66 that is not seen due to the presence of the shaft 40. It will be apparent to the skilled person that different coupling mechanisms are possible without departing from the scope of the present disclosure.

[0124] The locking / unlocking part 60 has, in this example, two opposite piston pins 62 configured to allow or forbid movement of a GET when arranged on the nose 2. To this end, the locking / unlocking part 60 for example extends from a third position (not illustrated), also referred to as unlocking position, to a fourth position (the illustrated one), also referred to as locking position. The amount of extension, or movement when the locking / unlocking part 60 operates by way of movement, may be set by end-of-strokes 63.

[0125] In the locking position, the locking / unlocking part 60 extends beyond the footprint of a body of the device 1 , in this case of the body of the nose 2, which is shown with dashed lines for illustrative purposes only. By contrast, in the unlocking position, the locking / unlocking part 60 is within the footprint area of the body of the nose 2, hence not protruding unlike the locking position. The protruded parts, in this example the protruded portions of the piston pins 62, are to engage a hole or cavity of the GET for coupling the GET to the device 1.

[0126] Figures 3A-3B show an actuator 10 for a device 1 in accordance with embodiments. Figure 3A is a cross-section of the actuator 10 while inserted in a GET 90; Figure 3B shows the actuator 10 in a perspective view. Figures 3C and 3D show the actuator 10 arranged on a device 1 , including a nose 2 in this case, in different views. The device 1 is shown translucent for the sake of clarity only.

[0127] The actuator 10 includes moving means 30, an ejection part 50 and a locking / unlocking part 60. Both parts 50, 60 are driven by the moving means 30 and a shaft 40, together with, e.g., respective sprockets 56, 66 and respective shafts 55, 65. Mechanisms such as clutches 41 are preferably arranged as well to drive one mechanism or the other depending on the task to be carried out.

[0128] Each of the two parts or mechanisms 50, 60 has respective piston pins 52, 62 on opposite sides with respective end-of-strokes 53, 63. The piston pins 52 of the ejection part 50 have, in this example, wedge-shaped ends 51 intended to convert pushing force of motion and / or extension in a vertical direction (in relation to the illustration of Figure 3A) into pushing force in a horizontal direction (again, in relation to the illustration of Figure 3A) owing to the contact with a wall 93 at an end 92 of the GET 90. This occurs when the ejection part 50 is in the ejection position or configuration, and at least during part of the motion and / or extension from a non-ejection position or configuration to the ejection position or configuration.

[0129] Holes 91 in the walls 92 of the GET 90 receive a portion of the locking / unlocking part 60 when piston pins 62 thereof protrude beyond the body of the nose 2 (, which happens when the part 60 is in the locking position or configuration. The holes 91 do not receive said piston pins 62 when they do not protrude beyond the body of the nose 2, which happens when the part 60 is in the unlocking position or configuration.

[0130] As best seen in Figures 3C and 3D, both the ejection part 50 and the locking / unlocking part 60 are arranged in respective through holes of the nose 2, thereby allowing the respective piston pins 52, 62 to protrude towards the GET when arranged on the nose 2.

[0131] Figures 4A and 4B show a device 1 in accordance with embodiments, particularly in cross-section and perspective views, respectively.

[0132] The actuator 10 of the device 1 includes moving means 30, an ejection part 50 and a locking / unlocking part 60. The actuator 10 also includes a servomotor 38 driving, e.g., gear teeth 39 for selectively driving, with the moving means 30, either the ejection part 50 or the locking / unlocking part 60.

[0133] The configuration of the example of Figures 4A and 4B shows that the motor assembly of the moving means 30 can be arranged in parallel to any one or both mechanisms 50, 60. It is noteworthy that, in other embodiments, either the locking / unlocking mechanism 60 or the ejection mechanism 50 is not present, and thus the actuator only includes one of the two mechanisms 50, 60, or even a single mechanism provides all the functionalities, namely the ejection, the locking and the unlocking.

[0134] Figures 5A-5C show an actuator 10 or a device 1 in accordance with embodiments. Figure 5A is a cross-section of the actuator 10 of the device 1 positioned relative to a GET 90 for ejection and / or locking / unlocking the latter; Figure 5B shows the actuator 10 in a perspective view; and Figure 5C shows the actuator 10 in the device 1 , which includes a nose 2; the nose 2 is shown translucent for the sake of clarity only.

[0135] The actuator 10 includes moving means 30, which as aforesaid can be of any type, e.g., including at least one motor and at least one gear reducer, a shaft 40, an ejection part 50, and a locking / unlocking part 60.

[0136] The ejection part 50 is arranged at the end of the shaft 40, like in the embodiment of Figure 1 , and the locking / unlocking part 60 is between the ejection part 50 and the moving means 30. The coupling of the locking / unlocking part 60 can be driven by way of the cooperation of shaft 40 and another shaft (not seen), for example a worm drive and a stud, the latter coupling the torque of the moving means 30 with a sprocket 65 for example.

[0137] The ejection part 50 may have a piston pin 52 that moves and / or extends from a first position (the illustrated one in Figure 5B) to a second position (the illustrated one in Figure 5C, which is more forward or advanced, in this case more towards the left with reference to how the actuator 10 is illustrated in Figures 5A-5C) to push a GET 90. End-of-stroke(s) 53 of the part 50 limit how much the piston pin 52 can protrude from a housing of the part 50 and push the GET 90. The ejection part 50 is arranged to push a wall 96 delimiting an inner cavity 95 of the GET 90 that is adapted to receive the nose 2 of, e.g., a cast lip, an adapter, etc.

[0138] Figure 6 shows an actuator 10 for a device in accordance with embodiments while the device, that is to say, a part of the earth moving machine (not illustrated), has a GET 90 arranged on it.

[0139] The actuator 10 includes moving means 30, an ejection part 50, and a locking / unlocking part 60. The locking / unlocking part 60 is positioned between the moving means 30 and the ejection part 50.

[0140] The ejection part 50 does not protrude from the footprint of the body of the device, but it rather fits within the cavity 95 of the GET 90. More particularly, the ejection part 50, which moves along the ejection direction and in the opposite direction, presses a wall 94 inside the inner cavity 95 of the GET 90. Alternatively, it may press a wall 96 delimiting the inner cavity 95.

[0141] Figure 7 shows an actuator 10 for a device in accordance with embodiments while the device, namely, a part of the earth moving machine (not illustrated) has a GET 90 arranged on it.

[0142] The actuator 10 of these embodiments is somewhat similar to that illustrated with reference to the embodiments of Figure 6. In these embodiments, part of the ejection mechanism 50 and the locking / unlocking mechanism 60 may be common, i.e. , it is shared between the two mechanisms 50, 60.

[0143] The ejection mechanism 50, in this case, is arranged to push the wall 96 delimiting the inner cavity 95 of the GET 90. In other embodiments, inner walls 94 inside the cavity 95 may also be arranged in the GET 90, and the ejection mechanism 50 be arranged to push such walls 94.

[0144] Figure 8 shows an actuator 10 for a device in accordance with embodiments while the device, namely, a part of the earth moving machine (not illustrated) has a GET 90 arranged on it.

[0145] The actuator 10 or the device includes moving means 30, and the actuator 10 has a part 50 that doubles as ejection part and as locking / unlocking part. The moving means 30 drive the part 50 by way of a shaft 40.

[0146] The part 50 moves and / or retracts between a first position (the illustrated one), in which it locks the GET 90 to the device , and a second position (not illustrated) in which, e.g., piston pins 52 move or retract towards the inside of the cavity 95 of the GET 90. As the part 50 moves and / or retracts towards the inside of the cavity 95, the piston pins 52 contact inner walls 94 of the inner cavity 95, that results in a pushing force that is substantially orthogonal to the ejection direction, however, thanks to the wedge-shaped surfaces of the piston pins 52 and / or the walls 94 of the GET 90, at least part of the pushing force is converted into pushing force along the ejection direction.

[0147] Owing to the motion and / or retraction of the piston pins 52, at some point they stop protruding from the footprint of the body of the device and are not within the holes 91 of the GET 90 anymore, thereby unlocking the GET 90 and letting it move in the ejection direction.

[0148] Whenever a GET 90 is to be coupled to the device, the part 50 must switch from the second position to the first position to lock the device. In fact, during the movement and / or extension of the part 50 to the first position, it may press the GET 90 and move it closer to the digging implements, thus towards the coupling position.

[0149] Figure 9 shows an actuator 10 for a device in accordance with embodiments.

[0150] The actuator 10 is similar to that of the embodiments of Figures 4A and 4B. In the embodiments of Figure 9, the ejection part 50 does not include piston pins but it rather includes pivoting pins 57. Upon extension of the ejection part 50, the pivoting pins 57 are forced to pivot and have a portion thereof extend towards a wall of the GET so as to push the latter. The pushing force is aligned or substantially aligned with the ejection direction, but in some other embodiments it does not necessarily have to be aligned or substantially aligned.

[0151] Figure 10 shows part of a GET 90 with at least one part for locking / unlocking the GET 90 onto a device 1 (partially illustrated) in accordance with embodiments.

[0152] The GET 90, which in Figure 10 is arranged on the device 1 , includes in at least one recess 98a portion thereof, at least one part for locking and unlocking the GET 90 to the device 1. The at least one part is formed by a stopper 98b that moves between a cooperative locking position (that illustrated in Figure 10) and a cooperative unlocking position in which the stopper 98b gets inside or mostly inside the respective recess 98a portion. For swapping between the two positions and all the positions therebetween, the part also includes a movable or extensible device 98c that forces the stopper 98b to be in a predetermined position, particularly the cooperative locking position. The device 98c can be, for example, an elastomer that, e.g., elastically deforms and changes its shape to behave in this manner, or at least one loaded spring that pushes the stopper 98b towards the cooperative locking position.

[0153] To unlock the GET 90 and, thus, allow its movement, the at least one part requires the cooperation of the device 1. In this sense, for example the locking / unlocking part 60 of the device 1 , by way of, e.g., a piston pin, presses against the stopper 98b so as to force it into its respective recess 98a portion. This means that the force exerted by the device 1 on the stopper 98b must be greater than the force exerted by the movable or extensible device 98c on the stopper 98b. Upon pressing the stopper 98b and moving or retracting it into the cooperative unlocking position, an ejection part (not illustrated) may move or extend, thereby pressing against the GET 90 and forcing its ejection.

[0154] During the arrangement of a new GET 90 on the device 1 , the stopper 98b stays within the recess 98a portion owing to walls of the device 1 that do not let the stopper 98b protrude until it reaches the coupling position. In the coupling position, as the walls of the device 1 do not get in the way anymore, the movable or extensible device 98a is able to make the stopper 98b protrude from the recess 98a portion, thereby locking the GET 90. The whole locking operation resembles that of a latch bolt in the lock of a door whenever the door closes. The stopper 98b may be provided with a wedge shape that eases the arrangement of the GET 90 on the device 1 .

[0155] Preferably, at least two opposite walls of the GET 90 include respective parts with recess 98a portions, stoppers 98b and movable or extensible devices 98c so that the locking is more reliable. In that case, the part of the device 1 that cooperates with the parts of the GET 90 presses against each stopper 98b of the latter.

[0156] Figures 11A-11C show a GET 90 and a device 1 including a nose 2 in accordance with embodiments. Figure 11 A shows the GET 90; Figure 11 B shows a cross-section of an assembly formed by the GET 90 and the device 1 ; and Figure 11C shows the actuator 10 of the device 1 .

[0157] The GET 90 has one or two holes or recesses 91 on opposite sides in which at least one part is respectively arranged for locking the GET 90 to the device 1. In these embodiments, each respective part of the GET 90 includes a stopper 97b that pivots around an axis 97c by way of a movable or extensible device 97a in the form of a loaded spring. The loaded spring forces the stopper 97b to be in the locking cooperative position (illustrated in Figures 11A and 11 B) in which there is interference between the stopper 97b and the device 1 as the former protrudes from the respective recess or hole 91 towards the device 1. In the unlocking cooperative position, the stopper 97b does not protrude in this fashion but it is rather inside the recess or hole 91.

[0158] The device 1 includes an actuator 10 that at least has a double output motor 32 coupled with a shaft 40 like a worm drive that engages other shafts 65 with, e.g., sprockets. These other shafts 65, in turn, enable movement of an ejection part 50 that doubles as ejection and locking / unlocking mechanism. Particularly, the distant-most portion of the ejection part 50 contacts the stopper 97b so as to force its pivoting towards the cooperative unlocking portion, whereas the portion closest to the shaft 65 contacts walls of the GET 90 so as to force its ejection, as seen in Figure 11 B. The ejection will be carried out once the stoppers 97b have reached the cooperative unlocking positions.

[0159] Figures 12A and 12B show a device 1 in accordance with embodiments with a GET 90 arranged thereon. The device 1 , which is or includes a nose 2 that is part of, e.g., a cast lip 8, at least includes an actuator with a hydraulic system 75 and one or more parts for ejection and, optionally, locking / unlocking; in the embodiments of Figures 12A and 12B, the device 1 includes both an ejection part 50 and a locking / unlocking part 60.

[0160] The hydraulic system 75 has a hydraulic circuit 76 in the cast lip 8 that is powered by hydraulic power of the earth moving machine, or by hydraulic power external to the earth moving machine upon coupling said hydraulic power to the hydraulic circuit 76.

[0161] A hydraulic input circuit 77 and a hydraulic output circuit 78 are connected to the main hydraulic circuit 76, and each of the input and output circuits 77, 78 is arranged on the device 1 so as to actuate the mechanism or mechanisms 50, 60 within the device 1. In this case, the hydraulic input and output circuits 77, 78 will act on the ejection mechanism 50, and on the locking / unlocking mechanism 60. In Figure 12A, the locking / unlocking mechanism 60 is in a locking position since part thereof protrudes from the body of the device 1 and gets inside a hole or recess of the GET 90 whereas, in Figure 12B, said mechanism 60 is in an unlocking position and the ejection mechanism 50 has already forced ejection of the GET 90 from the device 1 .

[0162] Figure 13 shows a device 1 in accordance with embodiments.

[0163] The device 1 , which is or includes a nose 2 that is part of, e.g., a cast lip 8, at least includes an actuator with a motor 32, a gear reducer 34, a shaft 40, an ejection part 50, a locking / unlocking part 60, and a vibration-generating apparatus and / or an impactgenerating apparatus 70, which in these embodiments is coupled with the motor 32 by way of coupling with the shaft 40. Said apparatus 70 may be, for example, an impact wrench that continuously or intermittently produces a vibration or impacts that shake the whole device 1. Owing to the contact between the device 1 and the GET 90, the vibration or impacts are coupled to the GET 90. The forced movements between the device 1 and the GET 90 generates spaces therebetween owing to the movements of particles and fines that there might be between the two, thereby reducing compaction and releasing part of the particles and fines, in turn easing the ejection process.

[0164] Figures 14A-14D show a GET 90 arrangeable on a device 1 in accordance with embodiments.

[0165] The device 1 includes or is a cast lip 108 adapted to receive coupling of the GET 90 in such a way that the GET 90 has a male portion and the cast lip has a female portion 115. The female portion 115 is adapted to receive a central protruding member 195 of the male portion of the GET 90, together with ribs 197 and wings 199 thereof. Each of these elements of the male portion of the GET 90 fit in respective recesses 118, 119 of the device 1 , which are formed on the cast lip 108. As best seen in Figure 14D, the device 1 includes a first motor 32a for the ejection mechanism, and a second motor 32b for the locking / unlocking mechanism. One or more gear reducers may be provided and coupled with one or the two motors 32a, 32b.

[0166] The ejection mechanism comprises an ejection ring 58 that includes a plurality of ejecting pins 59 that contact the rear side of the GET 90 to eject them in a direction towards the front side of the GET 90. The locking / unlocking mechanism comprises a ball locking device 68 that moves, in the form of a rotation, between locking and unlocking positions. In the locking position, balls arranged in the ball locking device 68 get inside a recess (not seen) within the central protruding member 195 of the GET 90; said recess has walls delimiting it that produce interference with the balls when the balls are inside the recess and an ejection of the GET 90 from the device 1 is attempted. By contrast, in the unlocking position, the balls get inside another recess of the central protruding member 195 of the GET 90 but which either is open-ended (i.e., with no wall delimiting it) or has a wall delimiting that projects less than the recess for the locking position; owing to the characteristics of the recess at the unlocking position, the balls are free to move in the coupling and ejection directions of the GET 90.

[0167] Figure 15 shows a method 200 in accordance with embodiments triggered by a command or order to extract, partially or completely, a GET.

[0168] The method 200 includes a step whereby a locking / unlocking mechanism of an actuator for a device is activated 202 so as to conduct unlocking of a GET arranged on a portion of the device or an earth moving machine where the actuator is arranged. Prior to start the unlocking, a detector of the actuator may check whether there is a GET in place and correctly placed according to predetermined criterion or criteria, for example a predetermined position range. The unlocking may not be activated 202 up until the check is successful, that is to say, the GET is properly arranged according to the predetermined criterion or criteria.

[0169] The method 200 optionally includes a step whereby moving means driving the locking / unlocking mechanism are checked to detect 204 whether any problem may exist during the unlocking that causes a problem in the moving means, e.g., overcurrent in a motor. For example, when the unlocking cannot be adequately conducted due to, for example, friction, blocking elements, etc., the motor can eventually overheat due to excessive current and get damaged. Upon detecting such a problem, the unlocking is preferably halted and a warning may be issued so that an operator may review what the problem is.

[0170] The unlocking 206 is conducted up until it is completed. In those embodiments in which the actuator includes a detector, the determination of the unlocking 206 being complete or not can be made based on the measurements of the detector, and / or based on sensors or coders of the locking / unlocking mechanism that indicate whether the mechanism has moved and / or extended / retracted as expected.

[0171] The method 200 optionally includes a step whereby a vibration-generating apparatus and / or an impact-generating apparatus is activated 208 for a period of time.

[0172] The method 200 optionally includes a step whereby presence of the GET is checked 210, for instance with a detector in those embodiments in which the actuator includes one.

[0173] The method 200 includes a step whereby an ejection mechanism is activated 212. If the method 200 includes the GET presence checking 210, the activation 212 of the ejection mechanism can be made conditional on the outcome of the checking 210.

[0174] The method 200 optionally includes a step whereby moving means (e.g., a motor, or the same motor used for the unlocking 202 of the locking / unlocking mechanism if the motor is shared) driving the ejection part is checked to detect 214 whether any problem may exist during the ejection that causes problems in the moving means, e.g., overcurrent in the motor. Upon detecting such a problem, the ejection is preferably halted and a warning may be issued so that an operator may review what the problem is.

[0175] The ejection 216 is conducted up until it is completed. In those embodiments in which the actuator includes a detector, the determination of the ejection 216 being complete or not can be made based on the measurements of the detector, and / or based on sensors or coders of the ejection mechanism that indicate whether the mechanism has moved and / or extended / retracted as expected.

[0176] The method 200 optionally includes a step whereby the ejection mechanism is moved and / or retracted / extended back to its original position or configuration prior to the ejection to allow another GET to be arranged on the device or part of the earth moving machine.

[0177] The method 200 is implemented as a series of steps that are conducted on the device, particularly on the actuator. In some embodiments, the method 200 is a computer- implemented method where at least one computing device runs or commands the aforementioned steps. The at least one computing device may be part of the device or actuator, or may be external to it, in the latter case, the at least one computing device may be part of the earth moving machine or be remote therefrom. Further, not each and every step needs to be run by the same computing device, but several computing devices may run the method 200 sequentially and / or in distributed form.

[0178] Figure 16 shows a device 1 in accordance with embodiments.

[0179] The device 1 includes control electronics 5 that monitor and control the operation of the different parts of the device 1 , especially those of the actuator 10. The actuator 10 in turn includes a locking / unlocking part 60, an ejection part 50, and each part 50, 60 having its respective moving means 30a, 30b; for example, each part 50, 60 may have its respective gear reducer associated with one or several motors (not illustrated). Additionally, the device 1 or the actuator 10 may include sensors 80 for monitoring the status of different parts thereof, and one or more detectors 85 that work as presence detectors for detecting whether the GET is arranged on a device or the earth moving machine and how.

[0180] The ejection part 50 and the locking / unlocking part 60 may thus share a same actuator, but each part 50, 60 having separate components for effecting their respective tasks, that is to say, ejection, locking and unlocking.

[0181] Figure 17 shows a device 1 in accordance with embodiments.

[0182] The device 1 is similar to that described with reference to the embodiments of Figure 16.

[0183] The device 1 , in these embodiments, includes separate actuators 10a, 10b; an actuator 10a devoted to ejection of a GET, thus including an ejection part 50, and another actuator 10b devoted to locking / unlocking of a GET, thus including a locking / unlocking part 60.

[0184] Figure 18 shows a device 1 in accordance with embodiments.

[0185] The device 1 is similar to that described with reference to the embodiments of Figure 16.

[0186] The device 1 includes an actuator 10 shared between the ejection part 50 and the locking / unlocking part 60. In these embodiments, however, the device 1 or the actuator 10 also includes shared moving means 30, e.g., at least one motor, a single motor, at least one hydraulic system, a single hydraulic system, etc. Notwithstanding, parts 30a, 30b of the moving means may not be shared by both parts, e.g., respective gear reducers for the parts 50, 60 of the actuator 10. In such exemplary case, the gear reducers are coupled with the same motor(s), which may also include a main gear reducer in some embodiments, in which case the gear reducers already use the lower speed due to a main gear reducer that may be part of the moving means 30.

[0187] Figure 19 shows a device 1 in accordance with embodiments.

[0188] The device 1 has separate parts for each of the two blocks of functions. To this end, each of the ejection and the locking / unlocking functions has a respective set of components associated therewith: own control electronics 5a, 5b; own actuator 10a, 10b; own moving means 30a, 30b (but shared moving means are possible as well); own respective part for ejection 50 or part for locking / unlocking 60; own sensors 80 for monitoring the status of different parts of the components associated with the respective function, and own one or more detectors 85 that work as presence detectors.

[0189] In this text, the term “includes”, “comprises” and derivations thereof (such as “including”, “comprising”, etc.) should not be understood in an excluding sense, that is, these terms should not be interpreted as excluding the possibility that what is described and defined may include further elements, steps, etc.

[0190] On the other hand, the disclosure is obviously not limited to the specific embodiment(s) described herein, but also encompasses any variations that may be considered by any person skilled in the art (for example, as regards the choice of materials, dimensions, components, configuration, etc.), within the general scope of the invention as defined in the claims.

Claims

CLAIMS1. A device (1) for an earth moving machine at least for ejection of at least one ground engaging tool, GET (90), of the earth moving machine, comprising at least one actuator (10), each actuator of the at least one actuator comprising moving means (30, 75); characterized in that each actuator of the at least one actuator has a first part (50) that is movable and / or extensible and / or retractable, owing to the moving means, between a first position and a second position, the first part being arranged in such a way that the first part is adapted to push the GET during motion and / or extension from the first position to the second position when the GET is arranged on the device.

2. The device (1) of claim 1 , wherein: each actuator (10) of the at least one actuator has a second part (60) that is movable and / or extensible and / or retractable, owing to the moving means, between a third position and a fourth position, the second actuator being arranged in such a way that the second actuator protrudes from a body of the device in the fourth position, thereby locking the GET when arranged on the device, and, in the third position, the second actuator does not protrude from the body of the device or protrudes less than in the fourth position, thereby not locking the GET when arranged on the device; or the first part (50) protrudes from the body of the device in the first position, thus locking the GET when arranged on the device, and, in the second position, the first part does not protrude from the body of the device or protrudes less than in the first position, thus not locking the GET when arranged on the device.

3. The device (1) of any one of the preceding claims, wherein each actuator (10) of the at least one actuator further comprises a detector configured to detect whether the GET (90) is arranged on the device and / or to detect a position of the GET relative to the device.

4. The device (1) of claim 3, wherein each actuator (10) of the at least one actuator is configured to actuate or allow actuation of the first part (50) thereof for: motion and / or extension and / or retraction thereof from the first position to the second position when the respective detector detects that the GET (90) is arranged on the device and / or when the respective detector detects that a position of the GET relative to the actuator is according to the predetermined position range, thereby pressing the GET for ejection thereof; and / ormotion and / or extension and / or retraction thereof from the second position to the first position when the respective detector detects that the GET is not arranged on the device.

5. The device (1) of any one of claims 3-4 when depending upon claim 2, either directly or indirectly, wherein each actuator (10) of the at least one actuator is configured to actuate or allow actuation of: the second part (60) thereof for motion and / or retraction thereof from the fourth position to the third position or the first part (50) thereof for motion and / or retraction thereof from the first position to the second position when the respective detector detects that the GET (90) is arranged on the device and, optionally, that the GET is not blocked by more than a predetermined level of blocking; and / or the second part thereof for motion and / or extension thereof the third position to the fourth position or the first part thereof for motion and / or extension thereof from the second position to the first position when the respective detector detects that the GET is arranged on the device and, optionally, that a position of the GET relative to the actuator is according to a predetermined position range, thereby locking the GET.

6. The device (1) of any one of the preceding claims, wherein each actuator (10) of the at least one actuator further comprises a vibration-generating apparatus and / or an impactgenerating apparatus (70).

7. The device (1) of any one of the preceding claims, wherein a direction of the motion and / or extension and / or retraction from the first position to the second position is or has a component parallel to a direction for ejecting the GET (90) from the device when the GET is arranged thereon.

8. The device (1) of any one of the preceding claims, wherein a direction of the motion and / or extension and / or retraction from the first position to the second position is or has a component perpendicular to a direction for ejecting the GET (90) from the device when the GET is arranged thereon.

9. The device (1 ) of any one of the preceding claims, further comprising a plurality of noses (2), wherein each of one or more noses of the plurality of noses comprises an actuator (10) of the at least one actuator.

10. The device (1) of any one of the preceding claims, wherein the device is or comprises: a lip, a cast lip, an adapter, a weld-on nose, or a cast nose.

11. The device (1) of any one of the preceding claims, further comprising the GET (90) arranged or arrangeable on a body of the device in an ejectable manner.

12. A method comprising: arranging a device (1) on an earth moving machine, the device being of any one of claims 1-11 ; arranging one or more ground engaging tools, GETs (90), on the device; and pushing (212) at least one GET of the one or more GETs by actuating the first part (50) of at least one actuator (10) of the at least one actuator of the device such that said first part moves and / or extends and / or retracts from the first position to the second position, thereby ejecting the at least one GET from a coupling position in which the at least one GET is coupled or is to be coupled to the device.

13. The method of claim 12, wherein the device (1) is according to claim 2, or according to any one of claims 3-11 when depending upon claim 2, either directly or indirectly, and wherein the method further comprises: locking at least one GET (90) of the one or more GETs, thereby blocking movement of the at least one GET, by actuating the first part (50) or the second part (60) of at least one actuator (10) of the at least one actuator of the device such that: said first part moves and / or extends from the second position to the first position, or said second part moves and / or extends from the third position to the fourth position; and / or unlocking at least one GET of the one or more GETs, thereby not blocking movement of the at least one GET, by actuating the first part or the second part of at least one actuator of the at least one actuator of the device such that: said first part moves and / or retracts from the first position to the second position, or said second part moves and / or retracts from the fourth position to the third position.

14. The method of any one of claims 12-13, wherein the device (1) is according to any one of claims 3-5, or according to any one of claims 6-11 when depending upon any one of claims 3-5, either directly or indirectly, and wherein the pushing (212) is based on the respective detector detecting that the at least one GET (90) is arranged on the device and / or that the at least one GET is arranged on the device and, optionally, that a position of the at least one GET relative to the actuator (10) is according to a predetermined position range.

15. The method of claim 14 when depending upon claim 13, wherein each of the locking and the unlocking is based on the respective detector detecting that the at least one GET (90) is arranged on the device (1).

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