GB2552055A - Machinery for managing an articulated arm carrying a tool - Google Patents
Machinery for managing an articulated arm carrying a tool Download PDFInfo
- Publication number
- GB2552055A GB2552055A GB1707128.3A GB201707128A GB2552055A GB 2552055 A GB2552055 A GB 2552055A GB 201707128 A GB201707128 A GB 201707128A GB 2552055 A GB2552055 A GB 2552055A
- Authority
- GB
- United Kingdom
- Prior art keywords
- tool
- articulated arm
- machinery
- movement
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/306—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom with telescopic dipper-arm or boom
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/835—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes
- A01D34/86—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes for use on sloping ground, e.g. on embankments or in ditches
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/42—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a horizontal axis, e.g. cutting-cylinders
- A01D34/43—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a horizontal axis, e.g. cutting-cylinders mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/64—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle
- A01D34/66—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle with two or more cutters
- A01D34/661—Mounting means
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/04—Apparatus for trimming hedges, e.g. hedge shears
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/38—Cantilever beams, i.e. booms;, e.g. manufacturing processes, forms, geometry or materials used for booms; Dipper-arms, e.g. manufacturing processes, forms, geometry or materials used for dipper-arms; Bucket-arms
- E02F3/382—Connections to the frame; Supports for booms or arms
- E02F3/384—Connections to the frame; Supports for booms or arms the boom being pivotable relative to the frame about a vertical axis
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/436—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like for keeping the dipper in the horizontal position, e.g. self-levelling
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/28—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways
- E02F5/282—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways with rotating cutting or digging tools
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Operation Control Of Excavators (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
Machinery for an articulated arm carrying a tool (5), for example brush-cutting mower, comprises a jib (3) mounted on a carrier frame (1), a boom (4) mounted between the jib (3) and the tool (5), and at least one actuating mechanism (7a, 7b, 7c, 7e) at each articulation of the arm. The machinery also includes a device for managing the movement of the tool (5) in space in relation to the carrier frame (1). The managing device comprises at least one position sensor (6a, 6b, 6c, 6e) incorporated at each articulation of the arm, a central unit (9) connected to the at least one sensor (6a, 6b, 6c, 6e) for spatially positioning the tool (5) in relation to the carrier frame (1), and a coordinating unit (10) connected to the central unit (9), to the user interface (8) and to the actuating mechanisms (7a, 7b, 7c, 7e) of the arm.
Description
(54) Title of the Invention: Machinery for managing an articulated arm carrying a tool Abstract Title: Machinery for managing an articulated arm carrying a tool (57) Machinery for an articulated arm carrying a tool (5), for example brush-cutting mower, comprises a jib (3) mounted on a carrier frame (1), a boom (4) mounted between the jib (3) and the tool (5), and at least one actuating mechanism (7a, 7b, 7c, 7e) at each articulation of the arm. The machinery also includes a device for managing the movement of the tool (5) in space in relation to the carrier frame (1). The managing device comprises at least one position sensor (6a, 6b, 6c, 6e) incorporated at each articulation of the arm, a central unit (9) connected to the at least one sensor (6a, 6b, 6c, 6e) for spatially positioning the tool (5) in relation to the carrier frame (1), and a coordinating unit (10) connected to the central unit (9), to the user interface (8) and to the actuating mechanisms (7a, 7b, 7c, 7e) of the arm.
1/1
MACHINERY FOR MANAGING AN ARTICULATED ARM CARRYING A TOOL
The present invention relates to the field of the mechanism for movement of a tool and more particularly to the field of the devices for movement of a tool mounted on an articulated or jointed arm.
In the context of intervention on site and manipulation of bulky and heavy tools, such as brush-cutting mowers, it is current practice for these tools to be mounted at the end of a respective articulated arm. This articulated arm is thus adapted to allow a movement of the tool in space from a base forming a fixed point at which the second end of the articulated arm rests. Through the intermediary of a plurality of articulations or joints disposed between the fixed point and the tool and articulated by one or more dedicated actuating means, the arm is thus capable of allowing a movement, a desired orientation and also a use of the tool at a particular point of intervention on the site.
However, as the operation of the actuating means is effected by independent and specific operating mechanisms, the deployment of the articulated arm requires the user of the articulated arm firstly to coordinate the controls of each actuating means and secondly to constantly monitor the limits of movement of the articulated arm.
In fact, due to the plurality of articulations or joints, the tool carried by the articulated arm can be led to strike a portion of the arm or even possibly the base on which the articulated arm rests. Moreover, when the articulated arm is fully extended horizontally, the weight of the tool can lead to a loss of balance and to the arm and tool assembly tipping and falling over.
The objective of the present invention is notably to overcome these drawbacks by proposing a mechanism allowing facilitation of the control of the movement of the tool by the user while allowing limitation of the constraints in monitoring the amplitude of deployment of the tool.
Thus, the invention is machinery comprising a tool and an articulated arm at the end of which the tool is mounted, this articulated arm, activated from a user interface, comprising notably:
- a jib mounted on a carrier frame,
- a boom mounted and articulated at the second end of the jib, one end of the boom carrying the tool,
- at least one actuating mechanism at each articulation of the arm, characterised in that the machinery comprises a device for managing the movement of the tool in space in relation to the carrier frame, this managing device comprising:
- at least one angular or linear position sensor incorporated at each articulation of the articulated arm,
- at least one central unit connected to at least one sensor and capable of calculating the spatial position of the tool in relation to the carrier frame according to at least one measurement of a sensor,
- a coordinating unit connected to the central unit, to the user interface and to the actuating mechanisms of the connected arm, and capable of coordinating the actuating mechanisms of the articulated arm in order to impose a movement on the tool in at least two perpendicular axes disposed in a vertical plane.
The invention will be understood better through the following description which relates to one preferred mode of embodiment, given by way of nonlimiting example, and explained with reference to Figure 1 which is a diagrammatic illustration of an articulated arm incorporating a machinery according to the invention.
The present invention relates to a machinery comprising a tool 5 and an articulated arm at the end of which the tool 5 is mounted, this articulated arm, activated from a user interface 8, comprising notably:
- a jib 3 mounted on a carrier frame 1,
- a boom 4 mounted and articulated at the second end of the jib 3, one end of the boom carrying the tool 5,
- at least one actuating mechanism 7a, 7b, 7c, 7e at each articulation of the arm and/or of the jib 3 with a pivot 2, characterised in that the machinery comprises a device for managing the movement of the tool 5 in space in relation to the carrier frame 1, this managing device comprising:
- at least one angular or linear position sensor 6a, 6b, 6c, 6e incorporated at each articulation of the articulated arm,
- at least one central or processing unit connected 9 to at least one sensor 6a, 6b, 6c, 6e and capable of calculating the spatial position of the tool 5 in relation to the carrier frame 1 according to at least one measurement of a sensor 6a, 6b, 6c, 6e,
- a coordinating unit 10 connected to the central unit 9, to the user interface 8 and to the actuating mechanisms 7a, 7b, 7c, 7e of the connected arm, and capable of coordinating the actuating mechanisms 7a, 7b, 7c, 7e of the articulated arm in order to impose a movement on the tool 5 in at least two perpendicular axes disposed in a vertical plane.
In the machinery according to the invention, from the different angular and/or linear position sensors 6a, 6b, 6c, 6e of each portion 3, 4 of the articulated arm, the position of a first end of the articulated arm can be determined in relation to the second end. Thus, the position of the tool 5 mounted at one end of the articulated arm can be determined in relation to the carrier frame 1 positioned at the other end of the arm. The coordinates of the position of the tool 5 in relation to the carrier frame 1 taken as reference can thus be determined by the central unit 9. The coordinating unit 10 associated with the central unit 9 thus allows coordination of the actuating means 7a, 7b,
7c, 7e of the articulated arm to allow a movement of the end of the arm which carries the tool 5 in one or more vertical planes and/or in two perpendicular axes disposed in a same vertical plane. The movement of the articulated arm is thus controlled from a user interface 8 incorporated in the coordinating unit 10 and through which a user actuates the movement of the end of the articulated arm which carries the tool 5 through the coordination of the actuating means 7a, 7b, 7c, 7e of the arm by the dedicated unit 10.
In this case, the experience of the user allows a better appreciation of the movements of the tool 5, as regards both its position and its speed. Thus, the machinery according to the invention provides an electronic means which makes it possible to obtain a movement of the jib 3 which is coordinated with the respective movements of the boom 4 and the pivot 2 in order to obtain a more flexible path for the tool and produce convenience and safety for the operator.
Thus, according to one preferred design feature which does not limit the invention, the user interface 8 is produced comprising on the one hand a first control allowing the movement of the tool 5 in a horizontal axis (Vx) disposed in a first vertical plane which comprises the axis of the pivot 2 and, on the other hand a second and a third control allowing a movement of the tool 5 of the articulated arm in two axes, one vertical (Vy) and one horizontal (Vz), in a second vertical plane perpendicular to the first vertical plane. In addition, the user interface 8 also comprises a fourth control allowing the pivoting of the tool 5 in relation to the articulated arm.
According to one design feature, the tool 5 has a substantially axial shape. Also, the actuating means 7a, 7b, 7c, 7e of the articulated arm are capable of cooperating in order to maintain the position of the longitudinal axis of the tool 5 at a constant angle in relation to the surface of the ground and/or in relation to a horizontal plane.
According to one exemplary design of the user interface 8, at least one of the first, second, third and fourth controls for the movement of the tool 5 of the articulated arm is embodied in the form of at least one control element 13 of joystick or lever type. Preferably, the user interface 8 comprises a first control allowing the movement of the end of the articulated arm which carries the tool 5 in the horizontal axis (Vx), a second control which manages the movement of the end of the articulated arm in the vertical axis (Vy), a third control which manages the movement of the end of the articulated arm in the horizontal axis (Vz), and a fourth control which manages the rotation of the tool 5 in relation to the articulated arm.
According to one design feature, the boom 4 of the articulated arm comprises a telescopic structure allowing its axial extension associated with a deployment mechanism 7d and coupled to at least one sensor 11, the sensor 11 being connected to the central unit 9. The deployment mechanism 7d is coupled to the coordinating unit 10 in order to be coordinated with the actuating mechanisms 7b, 7c, 7e of the articulated arm in the movement of the tool 5. According to one preferred design, the sensor 11 is capable of determining the elongation of the boom 4. According to this variant of embodiment of the boom 4 of the articulated arm, the articulated arm is capable of producing an axial movement of the tool 5 in a vertical plane, without necessitating the actuation of the articulations between the different portions of the arm. By not necessitating the operation of the actuating means 7a, 7b, 7c, 7e of the articulations, this telescopic structure facilitates the planar movement of the tool 5. Moreover, the sensor 11 for the elongation of the boom 4 also participates, in combination with the sensors 6a, 6b, 6c, 6e for the angular position of the portions of the articulated arm, in determining the position of the tool 5 mounted at one end of the articulated arm in relation to the carrier frame 1 which carries the articulated arm.
According to another design feature, the jib 3 is mounted on the carrier frame 1 through the intermediary of a pivot 2, the jib 3 being mounted and articulated with the pivot 2 at a first of its ends. The boom 4 is mounted and articulated at the second of the ends of the jib 3.
According to one specific detail of this feature, the machinery of the invention comprises an actuating mechanism 7a disposed at the interaction of the jib 3 with the pivot 2 and at least one angular or linear position sensor 6a is incorporated at the pivot 2.
According to another design feature of the invention, the data transmitted by at least one sensor 6a, 6b, 6c, 6e, 11 participate in defining the position of the tool 5 on at least one axis independent of the operating axis of an actuating mechanism 7a, 7b, 7c, 7e of the machinery of the invention.
According to another design feature of the invention, possibly complementing the features previously listed, the managing device comprises a programmable database 12 incorporating at least one limit value and/or a combination of limit values transmitted by at least one sensor 6a, 6b, 6c, 6e, 11 not allowing the continuation of a movement of the tool 5 by the articulated arm beyond this limit value and/or combination of limit values. Thus, this database 12 makes it possible to define a spatial volume or envelope limiting within its bounds the movement of the end of the articulated arm which carries the tool 5. Thus, this programmable spatial limit makes it possible to avoid the risk of impact of the tool with a portion of the arm or with the carrier frame. Likewise, at a distance from the carrier frame 1, the spatial limit defined by the database 12 makes it possible to avoid any risk of the articulated arm toppling over when it is extended. According to one feature, the spatial limits can be modulated according to the weight of the tool 5 and the type of tool mounted at the end of the articulated arm and the carrier frame used to carry the machine.
It should be noted that the carrier frame can be embodied in the form of a carrying system which can be a site vehicle of the tractor type.
According to one specific design detail of this feature, the coordinating unit 10 is programmed to slow the operation of one or more of the actuating means 7a, 7b, 7c, 7e or the deployment means 7d of the arm when the movement of the tool 5 is effected in the proximity of this spatial limit or when the tool is approaching it.
According to another design feature of the invention, possibly complementing the features previously listed, the carrier frame 1 of the machinery is embodied in the form of the structure of a vehicle such that the machinery is mounted so as to be able to move with the vehicle. This design makes it possible to implement the machinery while the vehicle carrying the articulated arm is moving. This implementation of the machinery can also lead to the intervention of an interface for coordinating the implementation of the movements of the articulated arm with the movement of the vehicle.
According to another design feature of the invention, possibly complementing the preceding features, the tool 5 mounted at one end of the articulated arm is a tool of the mower or brush-cutter or trimmer type. By way of implementation example, by combining this characteristic with a machinery mounted on a vehicle, a user can carry out work along a verge concomitantly with the movement of the vehicle along this verge. Thus, the articulated arm allows intervention with the tool 5 at different heights of the verge with increased facility.
The invention also relates to a method for implementation of the invention. Thus, this method comprises:
- a step for determination of the spatial position of the tool 5 in relation to the carrier frame 1 by the central unit 9 at a moment in time TO,
- a step for generation by the user interface 8 of an order for movement of the tool 5 in at least one axis,
- a step for reception of the order for movement by the coordinating unit 10,
- a step for calculation of the action of each of the actuating mechanisms 7a, 7b, 7c, 7d of the articulated arm by the coordinating unit 10,
- a step for distribution of respective orders for action destined for each actuating mechanism 7a, 7b, 7c, 7d of the articulated arm,
- a step for activity of each actuating mechanism 7a, 7b, 7c, 7d of the articulated arm according to the order for action received.
According to one feature of implementation of the machinery of the invention, the method also comprises:
- a step for monitoring of the spatial position of the tool 5 in relation to the carrier frame 1 by the central unit 9 at a moment in time T1, the moment in time T1 being firstly after the moment in time TO and secondly definable in the course of a step for activity of an actuating mechanism 7a, 7b, 7c, 7d of the articulated arm.
This complementary step of the method thus makes it possible to determine the spatial position of the tool 5 at any moment in time. Moreover, when this step is performed recurrently, possibly at regular intervals, the spatial position of the tool 5 is determined periodically. Likewise, the permanent repetition of this step makes it possible to know the position of the tool 5 continuously.
According to one specific detail of this feature of implementation, the monitoring step comprises:
- a sub-step for measurement by at least one sensor 6a, 6b, 6c of an angular or linear position of an articulation of the articulated arm, and/or a sub-step for measurement of the deployment of the boom 4 by at least one sensor 11,
- a step for transmission to the central unit 9 of at least one measured value,
- a step for comparison by the central unit 9 of at least one measured value with at least one limit value and/or a combination of limit values from a programmable database 12,
- a step for blocking or for continuation of the movement of the tool 5 by the articulated arm beyond this limit value and/or combination of limit values.
By virtue of these complementary steps, the machinery allows monitoring, possibly recurrent or even permanent, of the position of the end of the articulated arm and the tool 5 in relation to an authorised spatial volume or envelope. Complementing the step for blocking of the movement, this monitoring of the position of the tool 5 can also be coupled with a forced slowing of the operation of the actuating mechanisms 7a, 7b, 7c, 7d of the articulated arm when one or more sensors 6a, 6b, 6c, 11 of the arm approach one or more values defining the limits of the spatial volume or envelope authorised for the movement.
Naturally, the invention is not limited to the mode of embodiment described and illustrated in the attached drawing. Modifications are still possible, notably from the viewpoint of the constitution of the diverse elements or through substitution of technical equivalents, without thereby going beyond the scope of protection of the claimed invention.
Claims (10)
1. Machinery comprising a tool (5) and an articulated arm at the end of which the tool (5) is mounted, said articulated arm, activated from a user interface (8), comprising:
- a jib (3) mounted on a carrier frame (1);
- a boom (4) mounted and articulated at one end of the jib (3), one end of the boom carrying the tool (5); and
- at least one actuating mechanism (7b, 7c, 7e) for the or each articulation of the arm, wherein the machinery comprises a device for managing the movement of the tool (5) in space in relation to the carrier frame (1), said managing device comprising:
- at least one angular or linear position sensor (6b, 6c, 6e) incorporated at each articulation of the articulated arm;
- at least one central unit (9) connected to said at least one sensor (6b, 6c, 6e) and capable of calculating the spatial position of the tool (5) in relation to the carrier frame (1) according to at least one measurement of a said sensor (6b,
6c, 6e); and
- a coordinating unit (10) connected to the central unit (9), to the user interface (8) and to the actuating mechanisms (7b, 7c, 7e) of the connected arm, and capable of coordinating the actuating mechanisms (7b, 7c, 7e) of the articulated arm in order to impose on the tool (5) a movement in at least two perpendicular axes disposed in a vertical plane.
2. The machinery according to claim 1, wherein the boom (4) of the articulated arm comprises a telescopic structure allowing its axial extension associated with a mechanism for deployment (7d) and coupled to at least one sensor (11) connected to the central unit (9).
3. The machinery according to claim 1 or 2, wherein the jib (3) is mounted on the frame (1) through the intermediary of a pivot (2), the jib (3) being mounted and articulated with the pivot (2) at a first of its ends.
4. The machinery according to claim 3, including an actuating mechanism (7a) disposed at the interaction of the jib (3) with the pivot (2) and in that at least one angular or linear position sensor (6a) is incorporated at the pivot (2).
5. The machinery according to any preceding claim, wherein data transmitted by at least one said sensor (6a, 6b, 6c, 6e, 11) participate in defining the position of the tool (5) on at least one axis independent of the axis of operation of a said actuating mechanism (7a, 7b, 7c, 7e) of the machinery.
6. The machinery according to any preceding claim, wherein the managing device comprises a programmable database (12) incorporating at least one limit value and/or a combination of limit values transmitted by at least one said sensor (6a, 6b, 6c, 6e, 11) not allowing the continuation of a movement of the tool (5) by the articulated arm beyond this limit value and/or combination of limit values.
7. The machinery according to any preceding claim, wherein the carrier frame (1) is embodied in the form of the structure of a vehicle such that the machinery is mounted so as to be able to move with the vehicle.
8. A method for implementation of the machinery according to any preceding claim, wherein the method comprises:
- a step for determination of the spatial position of the tool (5) in relation to the carrier frame (1) by the central unit (9) at a moment in time TO;
- a step for generation by the user interface (8) of an order for movement of the tool (5) in at least one axis;
- a step for reception of the order for movement by the coordinating unit (10);
- a step for calculation of the action of each of the actuating mechanisms (7a,
7b, 7c, 7d, 7e) of the articulated arm by the coordinating unit (10);
- a step for distribution of respective orders for action destined for each 5 actuating mechanism (7a, 7b, 7c, 7d, 7e) of the articulated arm; and
- a step for activity of each actuating mechanism (7a, 7b, 7c, 7d, 7e) of the articulated arm according to the order for action received.
9. The method according to claim 8, including:
10. The method according to claim 9, wherein the monitoring step comprises:
- a sub-step for measurement by at least one angular position sensor (6a, 6b,
6c, 6e) of an articulation of the articulated arm, and/or a sub-step for measurement of the deployment of the boom (4) by at least one sensor (11);
2 0 - a step for transmission to the central unit (9) of at least one measured value;
- a step for comparison by the central unit (9) of at least one measured value with at least one limit value and/or a combination of limit values from a programmable database (12); and
- a step for blocking or for continuation of the movement of the tool (5) by the
2 5 articulated arm beyond this limit value and/or combination of limit values.
Intellectual
Property
Office
Application No: Claims searched:
GB1707128.3
1-10
10 - a step for monitoring of the spatial position of the tool (5) in relation to the carrier frame (1) by the central unit (9) at a moment in time T1, the moment in time T1 being firstly after the moment in time TO and secondly definable in the course of a step for activity of an actuating mechanism (7a, 7b, 7c, 7d, 7e) of the articulated arm.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR1654104A FR3050955B1 (en) | 2016-05-06 | 2016-05-06 | MACHINERY FOR MANAGEMENT OF ARTICULATED ARM CARRYING TOOL |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| GB201707128D0 GB201707128D0 (en) | 2017-06-21 |
| GB2552055A true GB2552055A (en) | 2018-01-10 |
| GB2552055B GB2552055B (en) | 2022-04-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB1707128.3A Active GB2552055B (en) | 2016-05-06 | 2017-05-04 | Machinery for managing an articulated arm carrying a tool |
Country Status (2)
| Country | Link |
|---|---|
| FR (1) | FR3050955B1 (en) |
| GB (1) | GB2552055B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2582202A (en) * | 2019-01-08 | 2020-09-16 | Kuhn-Audureau Sa | Hedge and grass cutter device and motorised wheeled machine equipped with such a device |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110313297B (en) * | 2018-03-28 | 2021-03-05 | 南京德朔实业有限公司 | Riding mower operating device and riding mower |
| AU2019241288B2 (en) | 2018-03-28 | 2024-05-02 | Nanjing Chervon Industry Co., Ltd. | Riding lawn mower and operation device thereof |
| CN113443437B (en) * | 2021-05-27 | 2023-05-09 | 常州伟泰科技股份有限公司 | Power-assisted arm type automatic feeding tool |
| FR3124610B1 (en) | 2021-06-29 | 2023-10-27 | Kuhn Audureau Sas | Device for controlling one or more working function(s) of an agricultural machine and agricultural machine equipped with said control device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08238906A (en) * | 1995-03-03 | 1996-09-17 | Kochi Pref Gov | Slope traveling working vehicle |
| GB2370967A (en) * | 2001-01-15 | 2002-07-17 | Mcconnel Ltd | Apparatus for cutting vegetation |
| EP1297732A1 (en) * | 2001-09-27 | 2003-04-02 | Ferri S.rl. | Articulated hydraulic arm device particularly for an agricultural tool |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE20108012U1 (en) * | 2001-05-11 | 2001-10-18 | U.T.S. Umwelt- und Technologie-Service GmbH, 70619 Stuttgart | Tool for earthworks |
| US8862340B2 (en) * | 2012-12-20 | 2014-10-14 | Caterpillar Forest Products, Inc. | Linkage end effecter tracking mechanism for slopes |
| FR3013940B1 (en) * | 2013-12-02 | 2015-12-04 | Kuhn Audureau Sa | DEVICE FOR FASTENING KNIFE ON THE ROTOR OF A MOWER-BRUSHCUTTER |
| EP2987399B1 (en) * | 2014-08-22 | 2021-07-21 | John Deere Forestry Oy | Method and system for orienting a tool |
-
2016
- 2016-05-06 FR FR1654104A patent/FR3050955B1/en active Active
-
2017
- 2017-05-04 GB GB1707128.3A patent/GB2552055B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08238906A (en) * | 1995-03-03 | 1996-09-17 | Kochi Pref Gov | Slope traveling working vehicle |
| GB2370967A (en) * | 2001-01-15 | 2002-07-17 | Mcconnel Ltd | Apparatus for cutting vegetation |
| EP1297732A1 (en) * | 2001-09-27 | 2003-04-02 | Ferri S.rl. | Articulated hydraulic arm device particularly for an agricultural tool |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2582202A (en) * | 2019-01-08 | 2020-09-16 | Kuhn-Audureau Sa | Hedge and grass cutter device and motorised wheeled machine equipped with such a device |
| GB2582202B (en) * | 2019-01-08 | 2023-02-15 | Kuhn Audureau S A S | Hedge and grass cutter device and motorised wheeled machine equipped with such a device |
Also Published As
| Publication number | Publication date |
|---|---|
| FR3050955B1 (en) | 2020-01-03 |
| GB201707128D0 (en) | 2017-06-21 |
| GB2552055B (en) | 2022-04-06 |
| FR3050955A1 (en) | 2017-11-10 |
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