Quick Tool Coupler System

Description

TECHNICAL FIELD

This patent disclosure relates generally to tool coupler systems for coupling a work tool to a work machine and, more particularly, to system and method for determining whether if the work tool is correctly coupled to the work machine.

BACKGROUND

Various types of work machines in the construction, mining, and landscaping fields such as, for example, wheel loaders and dozers, include a bucket or blade that is located at the distal end of an implement linkage connected to the main body of the machine. The implement linkage can articulate to spatially move and maneuver the work tool to conduct various operations. In the example of a wheel loader, the work tool may be a bucket used to scope, haul, and dump earthen or granular materials about a worksite.

To increase the functionality and versatility of the work machine, the work machine can be equipped with a quick tool coupler that enables the implement linkage to be interchangeably attached to a variety of different work tools. A conventional design for a quick tool coupler system includes a tool coupler fixed to the end of the implement linkage and a corresponding coupler interface on the exterior of the work tool. The tool coupler and the coupler interface are structurally designed to mate and unmate with each other to attach and detach the work tool to the work machine. Furthermore, the quick tool coupler system can be engaged by an operator maneuvering the implement linkage from the cab of the work machine without direct, hands-on interaction with the work tool.

An example of a quick tool coupler system is described in Patent Publication U.S. 2016/0176691, assigned to the applicant of the present application. The '691 publication describes a tool coupler having a coupler frame made from a plurality of laterally spaced apart frame plates that are joined across the top by a tube or beam and at the lower extension by a base assembly. The tool coupler can also include a pair of hydraulically actuated wedge mechanisms each including a movable wedge that can be extended and retracted from the base assembly by hydraulic cylinders. To engage the tool coupler, the coupler interface can include a pair of laterally spaced apart hooks that hook about the upper beam and a pair of lower wedge pockets that can receive the moveable wedges when extended.

By using corresponding pairs of hooks, moveable wedges, and wedge pockets to result in multiple points of physical connection, the tool coupler and the coupler interface can stably and securely attach the work tool to the implement linkage. The present disclosure is directed to a system and method of verifying that the tool coupler and the coupler interface are properly engaged.

SUMMARY

The disclosure describes, in one aspect, a tool coupler system for a work machine to attach with a work tool including a coupler interface. The coupler interface has a first coupler hook and second coupler hook and a first wedge pocket and a second wedge pocket located below the first and second coupler hooks. The tool coupler system also includes a tool coupler associated with the implement linkage of the work machine. The tool coupler includes a coupler frame having frame beam and a base assembly located below the frame beam. The tool coupler further includes a first wedge mechanism having a first movable operatively associated with a first hydraulic actuator. To monitor attachment of the work tool to the work machine, the tool coupler system is associated with a coupling monitoring system embodied as an electronic controller and including a fluid pressure sensor associated with the hydraulic actuator. The electronic controller is configured to receive a pressure data set from the fluid pressure sensor and to compare the pressure data set with a control model data set to determine if the work tool is attached to the tool coupler.

In another aspect, there is disclosed a method of attaching a work tool having coupler interface to tool coupler on a work machine. According to the method, a pressure data set is received from at least one hydraulic actuator displacing a moveable wedge on the tool coupler to engage a wedge pocket on the coupler interface. The method compares the pressure data set with a control model data set and determines if the work tool is attached to the work machine based on the step of comparing the pressure data set with the control model data set.

In a further aspect, the disclosure describes a coupling monitoring system configured as a computer readable program to be executed by an electronic controller associated with a work machine. The coupling monitoring system includes a data gathering operation that receives a first pressure data set about a first hydraulic actuator displacing a first movable wedge with respect to a first wedge pocket on a work tool and a second pressure data set about a second hydraulic actuator displacing a second movable wedge with respect to a second wedge pocket on the work tool. The coupling monitoring system also include a comparison operation configured to compare the first pressure data set and the second pressure data set with a control model data set to determine if the first and second movable wedges are received correctly in the first and second wedge pockets respectively.

The first pressure data set, the second pressure data set, and the control model data set include a plurality of pressure datum with respect to time.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is as isometric view of a work machine including a quick tool coupler system to attach a work tool to a work machine such as a wheel loader.

FIG. 2 is a rear isometric view of a coupler interface associated with the work tool that can be operatively engaged with the tool coupler by actuating movement of the moveable wedges.

FIG. 3 is front isometric view of an embodiment of the tool coupler component that can be joined to a tool linkage associated with the work machine.

FIG. 4 is a rear isometric view of the tool coupler component showing the arrangement of the hydraulic cylinders to moveably actuated movable wedges to attach and release the work tool.

FIG. 5 is an elevational view of the operative engagement of the moveable wedge with a corresponding wedge pocket of the coupler interface.

FIG. 6 is a graph depicting comparisons of the measured hydraulic pressure and the linear extension of the hydraulic cylinders with a control model for attaching the work tool with the quick tool coupler system.

FIG. 7 is a flow diagram of an exemplary method for assessing and evaluating the attachment of the work tool with the quick tool coupler system using pressure data sets from the hydraulic cylinders.

DETAILED DESCRIPTION

Now referring to the figures, wherein whenever possible like reference numbers refer to like elements, there is illustrated a work machine 100 associated with a quick tool coupler system 102 for selectively attaching a work tool 104 to the work machine. The work machine 100 and the work tool 104 are shown in relation to a terrain surface 106 which the machine interacts with during a work related-activity such as construction, mining, agriculture, landscaping, or similar activities.

In the illustrated example, the work machine 100 may be in the embodiment of a wheel loader and may include an undercarriage or machine frame 108 that is supported on a plurality of propulsion devices 110 that contact the terrain surface 106 or another work surface. For mobility, the propulsion devices 110 can receive motive power from an internal combustion engine or electric motor supported on the machine frame 108 to propel the work machine 100 over the terrain surface 106. An example of suitable propulsion devices 110 may be pneumatic wheels that can rotate with respect to the machine frame 108. Another example of suitable propulsion devices 110 can be continuous tracks that can be disposed around a plurality of sprockets rotatably joined to the machine frame 108 to translate the tracks with respect to the terrain surface 106.

To accommodate an operator, an onboard operator station 112 can be situated on the machine frame 108 at a location to provide visibility over the terrain surface 106. The operator station 112 can include controls for interfacing with an operator to propel the work machine 100 and to manipulate the work tool 104. For example, steering and acceleration controls and tool controls such as levers and joysticks can be located in the operator station 112. In some examples, the work machine 100 can be configured for remote operation and the operator can control operation through a remote control aided by one or more onboard cameras or vision systems.

The work tool 104 can be a bucket which is a rigid structure defining an open interior volume that can receive and accommodate material during a digging and loading operation. To spatially move the work tool 104 with respect to the machine frame 108 through a range of motion during an operation, the work tool can be attached to a mechanical implement linkage 114 assembled from a plurality of rigid links pivotally connected through a series of resolute joints. The structural components of the implement linkage 114 are moveable with respect to each other to actuate the work tool 104 through various operations.

In the illustrated example, the implement linkage 114 can include a pair of parallel, spaced apart lift arms 116 that are pivotally joined to the machine frame 108 at the front end of the work machine 100 and that extend forwardly therefrom to attach to the work tool 104. The lift arms 116 can be rigid and configured to raise and lower the work tool 104 with respect to the terrain surface 106. To tilt and dump the work tool 104, the implement linkage 114 can also include a tilt arm 118 that is located between the pair of lift arms 116 and configured to pivot the work tool 104 with respect to the lift arms 116.

To power articulation of the lift arms 116 and the tilt arm 118, the implement linkage 114 can be operatively associated with one or more hydraulic actuators 120. In an embodiment, the hydraulic actuators 120 can be hydraulic cylinders that can telescopically extend and retract a piston rod from a cylinder barrel when receiving hydraulic fluid that pressurizes and forces movement of the piston rod. To supply the hydraulic fluid, the work machine 100 can include a hydraulic system 122 including a hydraulic fluid pump 124 and a hydraulic reservoir 126 that accommodates the fluid. The hydraulic fluid pump 124 can receive motive power through the same power source as the propulsion devices 110 and can direct hydraulic fluid between the hydraulic reservoir 106 and the hydraulic actuators 120 via hydraulic conduits that may be flexible tubing that is attached and run over the machine frame 108.

To selectively configure the work machine 100 for different operations, the quick tool coupler 102 is designed to interchangeably attach to different configurations of work tools 104. For example, if the work tool 104 is a bucket, the quick tool coupler 102 may enable releasable connections with buckets of different sizes or volumes. Other examples of work tools 104 can be forklifts for engaging pallets, shovels or plows, brushes etc. To enable quick and efficient attachment and release of the work tools 104, the quick coupler 102 is configured to operate with limited human interaction and may be controlled by an operator either from the operator station 112 or remotely.

To quickly and securely couple the work machine 100 with different work tools 104, the quick tool coupler system 102 can be a connection assembly including a tool coupler 130 that is associated with the implement linkage 114 configured to attach and release to a coupler interface 132 associated with the work tool 104. The quick tool coupler system 102 enables the work machine 100 to attach and pick up a work tool 104 from the terrain surface 106 for a specific operation and to detach and separate from the work tool 104 to proceed onto a different task. To engage the tool coupler 130 and coupler interface 132 to attach the work tool, an operator can maneuver the tool coupler 130 into proximity with coupler interface 132 using the propulsion devices 110 and the movable implement linkage 114.

For reference purposes, relative motion of the tool coupler 130 and the coupler interface 132 can occur with respect to a coordinate or reference system. For example, the design of the work tool 104 such as a bucket can be oriented along a tool centerline 134 that corresponds to the direction in which the tool coupler 130 and the coupler interface 130 are moved into engagement and/or release and separated. The tool centerline 134 may be associated with the forward and reverse travel direction of the work machine 100. To stabilize the work tool 104 from rotating about the tool centerline 134, the tool coupler 130 and coupler interface may engage at multiple contact points along the lateral direction 136 that is orthogonal to the tool centerline 134. Further, a vertical direction 138 can be defined as normal to both the tool centerline 134 and the lateral direction 136 and can be associated with the height of the work machine 100 and the work tool 104. It can be appreciated that due to the plurality of moving components, the reference frame itself may assume different orientations with respect to the work machine 100 and the terrain surface 106.

Referring to FIG. 2, the tool interface 132 can be physically associated with work tool 104 and, in the example of a bucket or blade, can be generally located on the rear of the work tool and is exposed for accessibility during attachment. To physically hold the work tool 104 to the tool coupler 130, the tool interface 132 can include a pair of coupling hooks 140a, 140b, that project from the rear exterior of the work tool 104 and are spaced apart in the lateral direction 136 even distances from the tool centerline 134. The coupling hooks 140a, 140b are shaped to curve or bend upon themselves to form a deep indentation or hook eye 142a, 142b that are accessible from below. The hook eyes 142a, 142b of the coupling hooks 140a, 140b are coaxially aligned and located toward the upper half of the work tool 104 with respect to the vertical direction 138. The planar metal plates forming the coupling hooks 140a, 140b are situated parallel to each other and can be integrally formed as part of the structure of the work tool 104.

To securely engage with the tool coupler 130, the coupler interface 132 can also include a pair of wedge pockets 144a, 144b that are also located on and protrude from the rear exterior of the work tool 104. The wedges pockets 144a, 144b can be made as rectangular hollow tubes integrally joined to the rear of the work tool 104 and can structurally define a pair of wedge cavities 146a, 146b that are oriented in and accessible from the vertical direction 138. The wedge pockets 144a, 144b are also spaced apart with respect to the lateral direction 136 and may be laterally aligned with the corresponding first and second coupling hooks 140a, 140b. The wedge pockets 144a, 144b are located below the first and second coupling hooks 140a, 140b in the vertical direction 138 such that the wedge cavities 146a, 146b are vertically spaced from and vertically opposed to the first and second coupling hooks 140a, 140b.

Referring to FIGS. 3 and 4, to physically engage with the coupler interface 132, the tool coupler 130 can be construed as a coupler frame 150 assembled from structural metal beams and plates rigidly connected together for supporting and transferring loads. The structural framework 150 can include a plurality of vertically oriented and parallel metal frame plates that are laterally spaced apart with respect to the lateral direction 136. The frame plates can be arranged in duplicate pairs based upon lateral spacing from the tool centerline 134. For example, a pair of central frame plates 152a, 152b can be oppositely located with respect to the tool centerline 134 and situated mid center of the coupler frame 150. Spaced apart from the tool centerline 134 at a larger lateral distance can be a pair of duplicate and opposing first and second intermediate frame plates 154a, 154b. Situated at the lateral extensions of the coupler frame 150 are a pair of laterally opposed outer frame plates 156a, 156b that delineate the lateral ends of the tool coupler 130.

To join the tool coupler 130 with the distal end of the implement linkage 114, select frame plates can include circular pin eyelets disposed through the planar metal plates. For example, disposed in the central frame plates 152a, 152b can be a first set of pin eyelets 158a, 158b aligned and situated toward the vertically upper ends of the central frame plates 152a, 152b. The pin eyelets 158a, 158b can receive a cylindrical pin to connect with the tilts arm 118 of the implement linkage 114. The outer frame plates 154 can include a second set of laterally aligned pin eyelets 159a, 159b that are situated toward the vertically lower ends of the coupler frame 150. The second set of pin eyelets 159a, 159b are intended to receive cylindrical pins associated with the lift arms 116 of the implement linkage 114. The spacing in the vertical direction 138 between the first set of pin eyelets 158a, 158b and the second set of pin eyelets 159a, 159b enables the coupler frame 150 to tilt by rotating with respect to the lateral direction 136.

To engage the coupling hooks, the coupler frame 150 can include a cylindrical frame beam 160, that may be hollow and referred to as a tube, that aligns and extends in the lateral direction 136 between the first and second intermediate frame plates 154a, 154b. The frame beam 160 can be situated toward and establish the upper edge of the coupler frame 150 rigidly fixed to central frame plates 154a, 154b. The coupling hooks 140a, 140b can be set upon the frame beam 160 that can be inserted and received into the hook eyelets 142a, 142b, thereby connecting the tool coupler 130 to the coupler interface 132. The cylindrical shape of the frame beam 160 allows relative rotation with respect to the coupling hooks 140a, 140b to facilitate attachment. To further facilitate connection to the coupling hooks 140a, 140b, a pair of alignment ears 162a, 162b can project vertically from the frame bream 160 and can be shaped or tapered to make sliding contact with the coupling hooks 140a, 140b.

The vertically lower ends of the central frame plates 152a, 152b and the intermediate frame plates 154a, 154b can be interconnected by a laterally traverse base assembly 164 that establishes the lower edge of the coupler frame 150. The frame beam 160 and the base assembly 164 maintain the lateral spacing between the adjacent central frame plates 152a, 152b and the intermediate frame plates 154a, 154b that extend vertically between the structures. The base assembly 164 can be an orthogonal box-like structure welded to the respective frame plates to stiffen the coupler frame 160. To rigidly connect the outer frame plates 156a, 156b, first and second frame webs 166a, 166b can extend laterally outward from the upper and lower ends of the first and second intermediate frame plates 154a, 154b.

To engage the wedge pockets 144a, 144b of the coupler interface 132, the tool coupler 130 can include a pair of hydraulically actuated wedge mechanisms 170a, 170b that are operatively attached to the coupler frame 150. The wedge mechanisms 170a, 170b can be located between the central frame plates 152a, 152b and the intermediate frame plates 154a, 154b to the respective lateral sides of the tool centerline 134. The wedge mechanisms 170a, 170b can include a pair of displaceable or moveable wedges 172a, 172b that can extend and retract with respect to the base assembly 164. The movable wedges 172a, 172b can be accommodated and can slide within in a corresponding pair of wedge guide passages 174a, 174b that are disposed through the base assembly 164 and oriented to guide the movable wedges 172a, 172b generally with respect to the vertical direction 138 during extension and retraction.

The movable wedges 172a, 172b can be generally orthogonal in shape and made from a metal square bar. The movable wedges 172a, 172b further can extend between a wedge tip 176a, 176b and a wedge tail 178a, 178b. The movable wedges 172a, 172b can be generally longer than the base assembly 164 such that the wedge tails 178a, 178b protrude from the wedge guide passages 174a, 174b. To establish the wedge shape, the movable wedges 172a, 172b can taper between the wedge tail 178a, 178b and the wedge tip 176a, 176b. For example, the rear structural faces of the movable wedges 172a, 172b can each include an inclined surface 179a, 179b that narrows the wedge tips 176a, 176b.

To extend and retract the moveable wedges 174a, 174b, the wedge mechanisms 172a, 172b can include a pair of hydraulic actuators 180a, 180b that are hydraulically powered by hydraulic fluid from, for example, the hydraulic system 122 associated with the work machine 100. The hydraulic actuators 180a, 180b can each be embodied as hydraulic cylinders including a rod end from which a piston-connected rod 182a, 182b extends from the cylinder body and is operably connected to the respective wedge tails 178a, 178b protruding from above the base assembly 164. The hydraulic actuators 180a, 180b can also each include a blind end 184a, 184b that is operatively connected to the respective intermediate frame plates 154a, 154b to fix the spatial relation of the hydraulic cylinders with respect to the coupler frame 150.

In another configuration, the moveable wedges 174a, 174b may be jointly connected with single hydraulic actuator that simultaneously moves multiple wedges with respect to the wedge pockets 144a, 144b upon receiving hydraulic fluid from the hydraulic system.

The hydraulic actuators 180a, 180b may be configured as double acting cylinders such that they can receive and/or discharge pressurized hydraulic fluid resulting in extension and retraction of the rods 182a, 182b. In an embodiment, each of the hydraulic actuators 180a, 180b can be operatively associated with a corresponding hydraulic valve 186a, 186b that selectively directs or discharges the hydraulic fluid from the cylinder body. The hydraulic actuators 180a, 180b can be fluidly coupled to the hydraulic system 122 via one or more hydraulic fluid lines 188 that may be flexible, reinforced rubber hoses that are guided along and secured at various locations to the structure of the coupler frame 150. In an example, the hydraulic fluid lines 188 can connect to the hydraulic actuators 180a, 180b in series such that the first hydraulic actuator 180a is upstream of and directs fluid to the downstream second hydraulic actuator 180b. In other examples, though, the first and second hydraulic actuators 180a, 180b can be connected in parallel. The hydraulic fluid lines 188 can arranged and feed and return lines directing fluid to and returning fluid from the first and second hydraulic actuators 180a, 180b.

Referring to FIG. 5, to engage the tool coupler 130 and the coupler interface 132, the tool coupler 150 is maneuvered so that the frame beam 160 is received by and sits within the hook eyelets 142a, 142b of the coupling hooks 140a, 140b. This can be done by inserting the frame beam 160 underneath the coupling hooks 140a, 140b then raising the coupler frame 150 vertically upwards so that the frame beam 160 is situated within the hook eyelets 142a, 142b. The coupler frame 150 is then tilted forwardly along the tool centerline 134 to move the base assembly 164 proximately over the first and second wedge pockets 144a, 144b and the movable wedges 172a, 172b are aligned with the wedge cavities 146a, 146b with respect to the vertical direction 138.

The hydraulic actuators 180a, 180b are activated to cause the movable wedges 172a, 172b to descend from the wedge guide passages 174a, 174b and to be received in the wedge cavities 146a, 146b. The inclined surfaces 179a, 179b of the wedge tips 176a, 176b can move in sliding contact with the interior surfaces of the wedge pocket 144a, 144b so that the tool coupler 130 and the tool interface 132 are held in a fixed, stabilized relation to each other. For example, the inclined surfaces 179a, 179b of the movable wedges 172a, 172b can apply sliding forces against the wedge pockets 144a, 144b biasing the coupler interface 132 rearward along the tool centerline 134 and downward with respect to the vertical direction 138 thereby clamping the coupler interface 132 to the tool coupler 130.

To monitor attachment of the tool coupler 130 and the coupler interface 132, the quick tool coupler 102 can be associated with a coupling monitoring system that may be embodied as and function as part of an electronic controller 190. The electronic controller 190 can be a programmable computing device and can include one or more microprocessors 192 for executing software instructions and processing computer readable data. Examples of suitable microprocessors include programmable logic devices such as field programmable gate arrays (“FPGA”), dedicated or customized logic devices such as application specific integrated circuits (“ASIC”), gate arrays, a complex programmable logic device, or any other suitable type of circuitry or microchip.

To store application software and data, the electronic controller 190 can include a non-transitory computer readable and/or writeable data memory 194, for example, read only memory (“ROM”), random access memory (“RAM”), EPROM memory, flash memory, or another more permanent storage medium like magnetic or optical storage. The data memory 194 is capable of storing software in the form of computer executable programs including instructions, definitions, and electronic data for the operation of the mobile machine. The programs can include equations, algorithms, charts, maps, lookup tables, databases, and the like.

To interface and network with other operational systems, the electronic controller 190 can include an input/output interface 196 to electronically send and receive non-transitory data and information. The input/output interface 196 can be physically embodied as data ports, serial ports, parallel ports, USB ports, jacks, and the like to communicate via conductive wires, cables, optical fibers, or other communicative bus systems and can utilize any suitable forms of communication protocol for data communication including sending and receiving digital or analog signals synchronously, asynchronously, or elsewise.

For example, to receive information about operation of the first and second hydraulic actuators 180a, 180b, the coupling monitoring system can include one or more fluid pressure sensors 198a, 198b in electronic communication with the electronic controller 190 via the input/output interface 196. The fluid pressure sensors 198a, 198b can be piezoelectric sensors, pressure transducers, or the like that are responsive to the hydraulic pressure in the first and second hydraulic actuators 180a, 180b. The fluid pressure sensors 198a, 198b may also measure flowrate to the hydraulic actuators 180a, 180b which may be indicative of or converted to the fluid pressure therein.

The measured pressure or fluid flow conditions can be converted to electronic data signals communicated to the electronic controller 190 for processing. The first and second fluid pressure sensors 198a, 198b can be physically associated with the first and second hydraulic actuators 180a, 180b to directly measure the fluid pressure therein, or may be located in the hydraulic fluid lines 188 directing hydraulic fluid to and from the hydraulic actuators 180a, 180b. The first and second fluid pressure sensors 198a, 198b can make separate measurements of the fluid pressure in the respective first and second hydraulic actuators 180a, 180b.

In the configuration wherein a single hydraulic actuator is connected to and displaces both movable wedges 172a, 172b, the coupling monitoring system may include a single fluid pressure sensor. Further, if the first and second hydraulic actuators 180a, 180b are fluidly connected, a single fluid pressure sensor may be used to measure the pressure in both hydraulic actuators 180a, 180b.

Referring to FIG. 6, with continued reference to the previous figures, there is shown a pair of graphs illustrating the correspondence between actuation of the hydraulic actuators 180a, 180b and engagement of the movable wedges 172a, 172b with the wedge pockets 144a, 144b. For example, a pressure chart 200 can include curves depicting the fluid pressure 202 or force associated with the hydraulic actuators 180a, 180b on the Y-axis during attachment of the tool coupler 130 and the coupler interface 132, temporally represented on the X-axis 204 with respect to time. The measured fluid pressure 202 may correspond or indicate in a directly related manner the force being exerted by the first and second hydraulic actuators 180a, 180b to displace the movable wedges 172a, 172b and thus the force applied by the moveable wedges on another object.

The fluid flow associated with the hydraulic actuators 180a, 180b causes extension of the respective rods 182a, 182b that are attached to the movable wedges 172a, 172b, and thus results in the movable wedges being received into the wedge pockets 144a, 144b. A displacement chart 206 includes curves depicting along the Y-axis the travel displacement 208 of the rods 182a, 182b, for example in millimeters, and likewise with respect to time 204 on the X-axis, from the cylinder bodies of the hydraulic actuators 180a, 180b. Displacement of the rods 182a, 182b in the displacement chart 206 corresponds to the engagement of the movable wedges 172a, 172b within the respective wedge pockets 144a, 144b.

For reference purposes, the correspondence between fluid pressure 202 of the hydraulic actuators 180a, 180b represented by the pressure chart and displacement 208 of the rods 182a, 182b represented by the displacement chart 206 can be indicated by a control model curve 210 (solid line). The control model curve 210 can depict or represent the fluid pressure 202 in the hydraulic actuators 180a, 180b and displacement of the rods 182a, 182b during the successful or desired sliding engagement of the movable wedges 172a, 172b and the wedge pockets 144a, 144b. Although the control model curve 210 is shown as a continuous curve over time, the control model curve can also be represented as a range of temporally distinct measurements of the fluid pressure 202 and displacement 206 at particular times 204 during the successful or desired engagement of the movable wedges 172a, 172b.

The pressure chart 200 and the displacement chart 206 can also include curves representing the actual pressure 202 and displacement 208 as obtained from direct measurements made during engagement of the tool coupler 130 and the coupler interface 132. For example, the pressure and displacement charts 200, 206 can include a first measurement curve 212 (short dashes) representing pressure and displacement measurements 202, 208 obtained from the first hydraulic actuator 180a associated with the first wedge mechanism 170a. Also shown can be a second measurement curve 214 (long dashes) representing pressure and displacement measurements 202, 208 obtained from the second hydraulic actuator 180b associated with the second wedge mechanism 170b. The first and second measurement curves 212, 214 can be obtained from data sets representing a plurality of data points obtained with respect to time 204. Data sets can refer to a collection of data or information that can be obtained by measurements made with respect to the first hydraulic actuator 180a, and the second hydraulic actuator 180b.

With respect to the pressure chart 200, the first and second measurement curves 212, 214 represent fluid pressure measurement taken of the first and second hydraulic actuators 180a, 180b. If the number of hydraulic actuators 180a, 180b differ, or the arrangement of fluid pressure sensors 1988a, 198b differs, the measurement curves 212, 214 will be correspondingly different. With respect to the displacement curve 206, the first and second measurement curves represent spatial displacement of the movable wedges 172a, 172b that is caused in response to the fluid pressure and/or fluid flow into the hydraulic actuators 180a, 180b. For example, the fluid pressure can be converted to displacement of the movable wedges 172a, 172b or the resistance to displacement of the movable wedges.

Engagement of the movable wedges 172a, 172b and the wedge pockets 144a, 144b, and thus engagement of the tool coupler 130 and coupler interface 132, can be partitioned into a plurality of temporal steps or sequences. For example, during an initial wedge travel segment 220, the rods 182a, 182b can extend moving the movable wedges 172a, 172b into the corresponding wedge pockets 144a, 144b as indicated by the displacement chart 206. The movable wedges 172a, 172b may be received freely into the wedge pockets 144a, 144b and initially encounter little physical resistance if the movable wedges 172a, 172b are correctly aligned with the wedge pockets 144a, 144b. The control model curve 210 of the pressure charts 200 indicates the unobstructed movement of the movable wedges 172a, 172b by showing little or insignificant pressure increase during the wedge travel segment 220.

The pressure chart 200 and the displacement chart 206 can also be associated with an alignment segment 222 and 224 in which the movable wedges 172a, 172b initially contact the respective wedge pockets 144a, 144b. The initial contact may forcibly shift or spatially displace the movable wedges 172a, 172b and the wedge pockets 144a, 144b into alignment if the structures were not previously aligned. For example, the first measurement curve 212 may be associated with the first the moveable wedges in series 172a, and the second measurement curve 214 may be associated with the downstream second movable wedge 172b. The displacement 208 of the first movable 172a may proceed the displacement of the second movable wedge 172b if the corresponding hydraulic actuators are connected in series. The first movable wedge 172a may therefore contact the corresponding wedge pocket 144a earlier then the second movable wedge contacts the second wedge pocket 144b. The unimpeded displacement of the first movable wedges 172a, as represented by the first measurement curve 212 may cease earlier than unimpeded displacement of the second movable wedge 172b as indicated by the second measurement curve.

For example, the first measurement curve 212 may be associated with the correct alignment of the first movable wedge 172a and the first wedge pocket 144a, and the pressure chart 200 and the displacement chart 206 shows that the first measurement curve 212 experienced some rise in pressure when wedge 172a engaged with the wedge pocket 144a and completed the majority of its travel. The second measurement curve may be associated with misalignment of the second movable wedge 172b and second wedge pocket 144b such that the pressure chart 200 indicates an increase in fluid pressure as force is applied to continue forced extension of the second moveable wedge 172b as indicated in the displacement chart 206.

The pressure chart 200 and the displacement chart 206 can also be associated with a clamping or loading segment 224 in which the movable wedges 172a, 172b have established and are in complete contact with the respective wedge pockets 144a, 144b. Once contact is established between the movable wedges 172a, 172b and the wedge pockets 144a, 144b, further displacement 208 is generally prohibited as indicated by the first and second measurement curves 212, 214 being substantially level in the displacement curve 206. Further addition of hydraulic fluid to the hydraulic actuators 180a, 180b causes an increase in fluid pressure, as indicated in the pressure chart 200, which corresponding to an application of clamping force between the movable wedges 172a, 172b and the respective wedge pockets 144a, 144b.

The attachment sequence may also be associated with a settling action or a securing activity in which the movable wedges 172a, 172b and the wedge pockets 144a, 144b settled into fixed contact with one another. For example, the pressure chart 200 and the displacement chart 206 indicate the settling segment 226 wherein both the fluid pressure 202 and the displacement 208 of the first measurement curve 212 and the second measurement curve 214 is generally flat. The settling segment 226 can indicate that the first and second movable wedges 172a, 172b are properly set with respect to the wedge pockets 144a, 144b and that the tool coupler 130 is attached to the coupler interface 132.

INDUSTRIAL APPLICABILITY

Referring to FIG. 7, with continued reference to the previous figures, there is illustrated an embodiment of a process or method of monitoring the engagement of the tool coupler 130 and the coupler interface 132 and thus mating of the work machine 100 and work tool 104 using the quick tool coupler system 102. The method or process illustrated in FIG. 7 can be embodied as a computer readable program written as software in a suitable computer programming language and can be executed by the electronic controller 190 associated with the quick tool coupler system 102. The method can be initiated by an attachment initiation step 300, which can be in response to an operator directed command. Alternatively, the attachment initiation step 300 can be accomplished by configuring the electronic controller 190 to recognize particular movements of the implement linkage 114 associated with attachment of the work tool 104 to the work machine 100.

In a data gathering step 302, the electronic controller 190 can obtain data associated with the actuation of the first and second hydraulic actuators 180a, 180b. For example, the data gathering step 302 can obtain a first pressure data set 304 from the first fluid pressure sensor 198a associated with the first hydraulic actuator 180a and can obtain a second pressure data set 306 from the fluid pressure sensor 198b associated with the second hydraulic actuator 180b. As explained above, the first and second pressure data sets 304, 306 can include a plurality of data points or individual fluid pressure measurements made with respect to time. The first and second pressure data sets 304, 306 thus enable the electronic controller 190 to plot curves of fluid pressure 202 shown in the fluid pressure chart 200.

Further, the fluid pressure 202 can correspond to displacement 208 of the rods 182a, 182b in the displacement chart 206 as explained above. As further explained above, a single pressure data set may be obtained from a single fluid pressure sensor in configurations wherein a single hydraulic actuator jointly moves both first and second moveable wedges 172a, 172b, or an upstream fluid pressure sensor measures pressure in multiple downstream hydraulic actuators fluidly connected in series.

The first and second data sets 304, 306 can include a plurality of individual datum points made during the course of the attachment operation. The plurality of datum points may be measured during and indicative of the complete attachment sequence, including the wedge travel segment 220, the alignment segment 222, the loading segment 224 and the setting segment 226. The data sets 304, 306 are continuously obtained and immediately usable as the attachment sequence is occurring.

For comparison, the data gathering step 302 can also obtain a control model data set 308. The control model data set 308 can be predetermined empirically by conducting test runs of attaching the work tool 104 to the work machine 100 and measuring the fluid pressure 202 of the hydraulic actuators 180a, 180b. The control model data set 308 can indicate when the movable wedges 172a, 172b are properly aligned with the wedge pockets 144a, 144b and thus reflect a proper or correct coupling of the tool coupler 130 with the coupler interface 132. The control model data set 308 can be stored as electronic data in the data memory 194 associated with the electronic controller 190.

The method may also include a data processing step 310 in which the electronic controller 190 analyzes and prepares the first and second pressure data sets 304, 306 for comparison with the control model data set 308. For example, the data processing step 310 can include a curve plotting step 312 in which the first and second pressure data sets 304, 306 are plotted to generate computer readable versions of the pressure chart 200 and the displacement chart 206. As indicated above, the first pressure data set 304 can be plotted as the first measurement curve 212 associated with actuation of the first hydraulic actuator 180a and the second pressure data set 214 can be plotted as the second measurement curve 214 associated with actuation of the second hydraulic actuator 180b. The curve plotting step 312 can also use the control model data set 308 to plot the control model curve 210.

In another example, the control model data set 308 and the plotted control model curve 210 can represent acceptable pressure values 202 and corresponding displacement values 206 at distinct times 204 that are associated with successful or desire coupling of the work tool. For example, the data processing step 310 may prepare the control model data set 308 as pressure readings 202 expected at distinct times 204 during the tool coupling process.

The data processing step 310 may also include a data partitioning step 314 in which the first and second pressure data sets 304, 306 are analyzed and particularized into the plurality of attachment segments such as those shown in pressure and displacement charts 200, 206. For example, the data partitioning step 314 can separate or distinguish the pressure curve 202 and the displacement curve 206 into the wedge travel segment 220, the alignment segment 222, the loading segment 224 and the setting segment 226. The data partitioning step 314 can use past empirical data from attachment testing runs to separate the first and second pressure data sets 304, 306 into the plurality of attachment segments.

In a possible example, the data processing step 310 can include a fuzzy approximation step 316 which applies logic approximation rules for comparison of the first and second data sets 304, 306 and the control model data set 308. The fuzzy approximation step 316 allows for partial approximations or matching of the data sets rather than a strictly binary comparison. For example, the fuzzy approximation step 316 allows for approximation between the control model curve 210 and the first and second measurement curves 212, 214 in the pressure and displacement charts 200, 206. The logic approximation rules and variables for the fuzzy approximation step 316 may be predetermined and stored in a library in the data memory 194 associated with the electronic controller 190.

The method may then proceed to a comparison and determination step 330 in which the first and/or second pressure data sets 304, 306 are compared with the control model data set 308 and/or each other to determine if the work tool 104 is correctly attached to the work machine 100. The data comparison and determination step 330 can, for example, make direct comparisons of the first and second measurement curves 212, 214 with the control model curve 210. If the fluid pressure 202 of the pressure chart 200 for each of the first and second measurement curves 212, 214 and the control model curve 210 match, that may indicate that the movable wedges 172a, 172b have been extended and properly receive into the respective wedge pockets 144a 144b.

The comparison and determination step 330 may also more particularly compare the distinct attachment segments. For example, a discrepancy in the fluid pressure 202 between the first measurement curve 212 and the second measurement curve 214 during the alignment step segment 222 may indicate that one set of the respective first and second movable wedges 172a, 172b is misaligned with the respective first and second wedge pockets 144a, 144b. The tool coupler 130 is therefore having to align and square up with respect to the coupler interface 132. As another example, if there is a discrepancy in the fluid pressure 202 between the first measurement curve 212 and the second measurement curve 214 during the loading segment 224 and/or the setting segment 226, that may indicate that one of the first and second movable wedges 172a, 172b is misaligned with the first and second wedge pockets 144a, 144b.

If the comparison and determination step 330 determines the first and second pressure data sets 304, 306 match the control model data set 308, the method can proceed to an affirm tool coupling step 332 affirming proper engagement of the quick tool coupler 102 and attachment of the work tool 104 to the work machine 100. The electronic controller 190 can be programmed to issue a signal or an alert to the operator corresponding to the affirm tool coupling step 332.

If the comparison and determination step 330 determines that the first and/or second pressure data sets 304, 306 do not match the control model data set 308, even if applying the fuzzy approximation rules, the method can proceed to an incorrect tool attachment step 334. The incorrect tool attachment step 334 may recognize that at least one of the first or second movable wedges 172a, 172b is not properly aligned with or received in the corresponding wedge pocket 144a, 144b. The electronic controller 190 therefore determines that the tool coupler 130 and the coupler interface 132 are not properly engaged and the work tool 104 is not properly attached to the work machine 100.

In an example, in cooperation with the incorrect tool attachment step 334, the method can include an alert or deactivation step 336. In the alert or deactivation step 336, the electronic controller 190 can issue an alert to the operator and/or deactivate operation of the work machine 100. The alert or deactivation step 336 thereby prevents movement of the implement linkage 114 while the work tool 104 is improperly attached to the quick tool coupler system 102 resulting in possible damage to the work tool 104 and quick coupler 102 or harm to worksite personnel.

The disclosed coupling monitoring system compares pressure data sets obtained from first and second hydraulic actuators 180a, 180b to determine if either of the first or second moveable wedges 172a, 172b is received correctly in the corresponding first or second wedge pockets 144a, 144b. For example, if either the first measurement curve 212 or the second measurement curve 214 does not align or match with the control model curve 210, the coupling monitoring system may determine the work tool 104 is not properly attached to the tool coupler 130. This results from using a first pressure sensor 198a and second pressure sensor 198b to separately measure the actuation of the first and second hydraulic actuators 172a, 172b.

The coupling monitoring system may also compare the first pressure data set 304 and the second pressure set 306 with each other to determine if the work tool is properly attached 104. For example, the first measurement curve 212 should match the second measurement curve 214, at least with respect the fluid pressure 202 and/or time 204 of selected attachment segments, if the work tool 104 is properly attached. Plotting and comparing first and second pressure data sets 304, 306 provides another useful method of verifying tool attachment.

A possible advantage of measuring first and second pressure data sets 304, 306 that include a plurality of pressure datum over time is a better basis of comparison of the engagement of the first and second movable wedges 172a, 172b with the respective first and second wedge pockets 144a, 144b. For example, comparing first and second measurement curves 212, 214 and the control model curve 210 accommodates the temporary misalignment of the movable wedges 172a, 172b with the wedge pockets 144a, 144b or temporary misreadings. Further, using pressure data sets comprising a plurality of pressure datum facilitate applying the logic approximation rules to employ fuzzy approximation. The coupling monitoring system can better accommodate and account for temporary misalignments that may occur during coupling of the tool coupler 130 and coupler interface 132 in actual worksite settings.

Another possible of measuring first and second pressure data sets 304, 306 and immediately comparing the data sets with the control model set 308 is that the coupling monitoring system is proceeding in real time as the attachment sequence occurs. The coupling monitoring system and method therefore provide a more complete view of the work tool attachment activity over a sequence of attachment segments, opposed to identifying and comparing a single data point with a threshold value.

It will be noted that the terms “forward,” “rearward,” “upper,” “lower”, “vertical,” “lateral” the like are for referential and orientation purposes only and are not intended as an limitation on the disclosure. Those of skill in the art will recognize that the orientation of the adapter bracket are a matter of perspective and therefore terms of orientation are for reference only.

It will be appreciated that the foregoing description provides examples of the disclosed system and technique. However, it is contemplated that other implementations of the disclosure may differ in detail from the foregoing examples. All references to the disclosure or examples thereof are intended to reference the particular example being discussed at that point and are not intended to imply any limitation as to the scope of the disclosure more generally. All language of distinction and disparagement with respect to certain features is intended to indicate a lack of preference for those features, but not to exclude such from the scope of the disclosure entirely unless otherwise indicated.

Recitation of ranges of values herein are merely intended to serve as a shorthand method of referring individually to each separate value falling within the range, unless otherwise indicated herein, and each separate value is incorporated into the specification as if it were individually recited herein. All methods described herein can be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context.

The use of the terms “a” and “an” and “the” and “at least one” and similar referents in the context of describing the invention (especially in the context of the following claims) are to be construed to cover both the singular and the plural, unless otherwise indicated herein or clearly contradicted by context. The use of the term “at least one” followed by a list of one or more items (for example, “at least one of A and B”) is to be construed to mean one item selected from the listed items (A or B) or any combination of two or more of the listed items (A and B), unless otherwise indicated herein or clearly contradicted by context.

Accordingly, this disclosure includes all modifications and equivalents of the subject matter recited in the claims appended hereto as permitted by applicable law. Moreover, any combination of the above-described elements in all possible variations thereof is encompassed by the disclosure unless otherwise indicated herein or otherwise clearly contradicted by context.