Work Tool Leveling via Tip Axis Rotation
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Solution Overview
Problem
Work vehicles equipped with fork tools face challenges in leveling the forks to properly engage pallet slots without damaging the forks or the pallet, as existing systems struggle to maintain the correct height and levelness simultaneously.
Innovation Solution
A control system comprising a chassis, linkage, actuators, sensors, and a controller that allows for precise leveling of the work tool by rotating it about a tip axis, using lift and tilt actuators and sensors to maintain the correct angle relative to the ground surface, ensuring the forks remain at the appropriate height and levelness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If the forks are raised to the correct height for pallet slots, then the height parameter is satisfied, but the levelness may be compromised making it difficult to engage slots without damage
Solution Approach 1:
The system dynamically adjusts fork levelness by rotating the work tool about a tip axis using coordinated actuation of lift and tilt actuators. The controller continuously monitors sensor data and adjusts actuator positions in real-time to achieve precise leveling at the correct height, transforming a static positioning problem into a dynamic control solution.
Solution Approach 2:
The system changes multiple parameters simultaneously - both the height position and angular orientation of the forks - to achieve the desired state. By controlling both vertical position and tilt angle through coordinated actuator movement, the system can satisfy both height and levelness requirements that cannot be achieved by adjusting a single parameter.
2Device complexity
If traditional lift and tilt actuators are used independently, then the system structure is simple, but the ability to maintain both correct height and levelness simultaneously is insufficient
Solution Approach 1:
The system merges the functions of lift and tilt actuators into a coordinated control system. The controller integrates signals from both actuators and sensors to perform combined operations - raising/lowering the forks while simultaneously adjusting their angle - enabling precise positioning that neither actuator could achieve alone.
Solution Approach 2:
The system incorporates sensors that provide feedback to the controller about the actual position and orientation of the forks. The controller uses this feedback to continuously adjust actuator commands, creating a closed-loop control system that maintains precise height and levelness despite variations in load, terrain, or actuator performance.
Data Source
AI summary
In accordance with an example embodiment, a work vehicle may include a chassis, a linkage, a work tool, first and second actuators connected to linkage, one or more sensors, and a controller. The work tool is movably connected to the chassis by the linkage and pivotally connected to the linkage about a base axis. The work tool includes a tip positioned at a forward end of the work tool, with a tip axis parallel to the base axis and passing through the tip. The one or more sensors are configured to provide one or more signals indicative of at least one of a position, velocity, and acceleration of the work tool. The controller is configured to actuate, based on the one or more signals, the first actuator and the second actuator to level the work tool by rotating the work tool about the tip axis.