Operator Assist Control for Suspended Tool Oscillation Damping
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Solution Overview
Problem
Existing working machines with freely suspended tools, such as clamshell buckets and timber grapples, experience oscillations that skilled operators must manually counteract, leading to operator fatigue and high training costs, with no effective damping systems available for such machines.
Innovation Solution
An operator assist system utilizing fast-reacting hydraulic, electric rotary, and electric linear drives, combined with multiple sensors to measure angle, velocity, and acceleration, and a control unit to initiate precise counter or amplifier movements to stabilize the tool, including deceleration of the machine.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If skilled operators manually counteract oscillations through precise timing, then oscillation control is achieved, but operator fatigue increases and requires expensive training
Solution Approach 1:
The system enables self-service oscillation control by using sensors to detect tool oscillations and automatically actuating counter-movements through hydraulic drives, eliminating the need for operator intervention and reducing fatigue while maintaining reliable oscillation control
Solution Approach 2:
The system implements feedback by continuously monitoring tool oscillations via sensors and using this information to automatically generate and execute counter-movements, replacing manual operator judgment with automated closed-loop control
2Reliability
If dampening systems are used for stationary cranes, then oscillation control is provided, but these systems are not applicable to freely movable working machines
Solution Approach 1:
The system adapts to machine mobility by using dynamic sensors that detect oscillations in real-time and fast-reacting hydraulic drives that can execute counter-movements regardless of machine position or motion state, making oscillation control effective for both stationary and moving conditions
Solution Approach 2:
The system achieves universality by designing a multi-functional solution that works across different machine configurations and operational states, using sensor-based detection and automated actuation that is applicable to both stationary cranes and freely movable working machines
3Speed
If fast reacting drives are used for boom and arm, then oscillation annihilation speed is improved, but system complexity increases
Solution Approach 1:
The system uses hydraulic drives for the boom and arm, which provide fast reacting capabilities through fluid power transmission, achieving high-speed counter-movements while utilizing well-established hydraulic technology to manage system complexity
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system effectively reduces operator fatigue by automatically stabilizing freely suspended tools, enhancing efficiency and reducing the need for skilled operators through precise counter movements and machine deceleration.
Implementation Method 1
at least one sensor arrangeable at the freely suspended tool or at the arm, which is able to measure angle, velocity and/or acceleration
Implementation Method 2
fast reacting drives, namely for example hydraulic drives like hydraulic cylinders
Implementation Method 3
The control is able to calculate a needed counter or amplifier movement based on information on angle, velocity and/or acceleration received from the at least one sensor
Data Source
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AI summary
The invention relates to an operator assist system (800) for a working machine (1000) having a boom (300) and an arm (200) and with a freely suspended tool (100) comprising at least one sensor (510, 520, 530, 540) arrangeable at the freely suspended tool or at the arm, which is able to measure angle, velocity and/or acceleration, fast reacting drives (610, 620) for boom and arm and as swing drive (630), and a control unit (700), which is able to calculate a needed counter or amplifier movement based on information on angle, velocity and/or acceleration received from the at least one sensor and control the fast reacting drives to carry out the counter or amplifier movement accordingly or to initiate a deceleration or acceleration of the working machine according to the calculated needed counter movement, if the working machine is moving along. The invention also relates to a corresponding method and a working machine.