Lift Arm Orientation Control via Gravity Feedback
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Solution Overview
Problem
Operators of power machines with lift arms face challenges in precisely controlling the position and orientation of work implements, particularly when navigating uneven terrain, leading to material spillage due to the relationship between the implement and gravity.
Innovation Solution
A system and method that control both lift arm and tilt actuators using an enabling input device, lift arm control input, and tilt control input, with a controller that receives signals from position and orientation sensors to move the implement carrier to a target position and maintain a consistent orientation relative to gravity, ensuring precise positioning and orientation control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the lift arm path is not perfectly vertical, then the implement orientation changes with respect to gravity during raising or lowering, but this causes material spillage
Solution Approach 1:
The system uses an implement orientation sensor to continuously monitor the implement's orientation relative to gravity and provides feedback to the controller. The controller automatically adjusts the tilt actuator based on this feedback to maintain the desired implement orientation, preventing material spillage during lift arm movement.
Solution Approach 2:
The system merges the control of the lift arm actuator and tilt actuator into a coordinated operation. The controller simultaneously manages both actuators, adjusting the tilt angle in response to lift arm position changes to maintain implement orientation and prevent spillage.
2Ease of operation
If the operator manually controls lift arm positioning, then the operator has direct control over implement position, but this requires repetitive concentration and precise manual control
Solution Approach 1:
The system enables self-service operation where the implement automatically maintains its orientation relative to gravity without requiring continuous operator intervention. The controller and sensors work together to automatically adjust the tilt angle, freeing the operator from repetitive manual adjustments while maintaining precise control.
3Adaptability or versatility
If the power machine travels over uneven terrain, then the machine can access various working areas, but this changes the relationship between the implement and gravity
Solution Approach 1:
The implement orientation sensor continuously monitors changes in implement orientation caused by uneven terrain. The controller receives this feedback and automatically adjusts the tilt actuator to compensate for terrain-induced orientation changes, maintaining material containment even when operating on uneven surfaces.
Data Source
AI summary
A method of controlling a lift arm actuator and a tilt actuator to control positioning of an implement carrier coupled to a lift arm of a power machine. An activation signal is received from an enabling input device. A lift arm control signal is received from a lift arm control input commanding movement of the lift arm. The lift arm actuator is controlled responsive to receipt of both of the activation signal and the lift arm control signal to move the lift arm to a target lift arm position and to move the implement carrier to or maintain the implement carrier at a target implement carrier orientation relative to a gravitational direction.