US 5,019,761 AGranted

Force feedback control for backhoe

OwnerBrett W. Kraftinventor

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Abstract

A force feedback control system for a backhoe includes a single grip articulated control arm having members and joints therebetween analogous to the members and joints of an articulated backhoe arm connecting an excavation bucket to a backhoe frame. A bilateral closed loop control circuit compares slave position signals from output joint position sensors associated with the backhoe arm joints with corresponding master position signals from input joint sensors associated with the control arm joints and provides command signals to actuators associated with the backhoe joints to move them so that differences in corresponding master and slave position signals are minimized. Backhoe joint load sensors provide load signals indicating resistance to movement of the associated backhoe joints, and the control circuit generates force feedback signals to drive feedback motors associated with the control arm joints to apply toruqes thereto to reflect the resistance to movement of the associated backhoe joints.

Claims15

Dependent claims

A force reflecting control system for an earthworking implement including an implement frame with an earthworking tool articulated thereto and a tool actuator connected between said implement frame and said tool, said system comprising:

(a) an operator input device including an operator frame with an operator control element articulated thereto;
(b) an operator position sensor coupled between said operator frame and said element and providing an element position signal;
(c) a feedback motor connected between said operator frame and said element and operable to apply a counter articulation force between said operator frame and said element;
(d) a tool position sensor adapted for operative coupling between an earthworking implement frame and an earthworking tool articulated thereto, said tool position sensor providing a tool position signal;
(e) a tool load sensor adapted for operative coupling to a tool actuator connected between said implement frame and said tool and providing a load signal having a parameter indicative of a resistance to articulation of said tool relative to said implement frame upon activation of said tool actuator;
(f) control means having said element position sensor, said feedback motor, said tool position sensor, and said tool load sensor coupled thereto and adapted for coupling of said tool actuator thereto;
(g) said control means activating said tool actuator to urge said tool to articulate said tool relative to said implement frame in substantial synchronism with an proportion to an articulation of said operator element relative to said operator frame;
and
(h) said control means activating said feedback motor to apply said counter articulation force between said element and said operator frame in proportion to said parameter of said load signal to thereby reflect to said operator element said resistance to articulation of said tool relative to said implement frame.

6 more elements

An earthworking implement comprising:

(a) an earthworking implement frame;
(b) an earthworking implement tool;
(c) an implement arm articulating said tool to said implement frame and providing at least two implement joints of articulation among implement members including said implement frame, said tool, and said implement arm to provide at least two degrees of freedom between said tool and said implement frame;
(d) a plurality of implement actuators associated respectively with said implement joints, each actuator being connected between implement members connected by a respective implement joint and operable to cause relative articulation of said implement members through said implement joint;
(e) a plurality of implement joint position sensors associated respectively said implement joints, each implement joint position sensor being coupled with the implement members connected by a respective implement joint and providing a respective implement joint position signal indicating said articulation of said implement members connected by said implement joint;
(f) a plurality of implement joint load sensors associated respectively with said implement joints, each joint load sensor being coupled with the actuator associated with a respective implement joint and providing a respective joint load signal having a parameter indicating a resistance to said articulation of said implement members connected by said implement joint;
(g) an operator frame corresponding to said implement frame;
(h) an operator control handle corresponding to said tool;
(i) an operator arm articulating said handle to said operator frame and providing at least two operator joints of articulation among operator members including said operator frame, said handle, and said operator arm;
said operator arm and said operator joints corresponding respectively to said implement arm and said implement joints;
(j) a plurality of operator joint position sensors associated respectively said operator joints, each operator joint sensor being coupled with the operator members connected by a respective operator joint and providing a respective operator joint position signal indicating said articulation of said operator members connected by said operator joint;
(k) a plurality of feedback motors associated respectively with said operator, each feedback motor being connected to the operator members connected by a respective operator joint and operable to apply a counter articulation force between said operator members connected by said operator joint;
(l) control means having said actuators, said implement joint position sensors, said implement joint load sensors, said operator joint position sensors, and said feedback motors connected thereto;
(m) said control means activating one of said actuators to articulate the implement members connected by an associated implement joint through said implement joint in substantial synchronism with and proportion to an articulation of the operator members associated with a corresponding operator joint through said operator joint;
and
(n) said control means activating one of said feedback motors to apply said counter articulation force to the operator members connected by an associated operator joint in proportion to said parameter of the load signal of the implement joint corresponding to said operator joint.

13 more elements

Dependencies are inferred from the claim text.