EA047502B1 - SYSTEM AND METHOD FOR CARRYING OUT WORK IN THE FIELD - Google Patents

Description

Field of invention

The present invention relates to a system and method for carrying out work in field conditions.

Background of the invention

In mining and construction, wear parts are typically provided for earthmoving equipment such as excavators, crushers, wireline machines, rope shovels, front shovel excavators, hydraulic excavators, loaders, cutters, bucket wheel excavators, etc. One example of a wear part is a tooth, which includes a tip mounted on an adapter attached to a bucket. Wear parts such as tips and other components that interact with the ground are subject to high loads and abrasive conditions during use, so that the wear part wears out and requires replacement. However, such wear parts are difficult and dangerous to remove and install because they can be large, heavy, and/or bulky.

The essence of the invention

The present invention relates to a system and method for carrying out field operations such as removing and/or installing wear parts on and/or from excavation equipment.

In one example, a wear element is attached to a base on excavation equipment. A tool supported by a manipulator is attached to the wear element. At least one sensor detects an installation path of the wear element, and a controller using programmable logic moves the wear element along the installation path to remove the wear element from the base. In one embodiment, this installation path can be straight or discrete nonlinear (e.g., arcuate, stepped, or some combination of linear and nonlinear).

In another example, a maintenance device comprises a tool attached to a wear element; a manipulator having the functionality of performing at least two different types of movement, supporting the tool with the ability to move; at least one sensor detecting the movement of each type of movement; and a controller using programmable logic to guide the movements of the manipulator so as to move the tool in a certain movement for removing the wear element from the base and/or installing it.

In another example, a system for removing and/or installing a wear element from and/or onto excavation equipment comprises: a maintenance device having a tool attached to the wear element; an articulated arm supporting the tool with the ability to move; an adjustable joint connecting the tool to the arm; sensor(s) for detecting the position of each part of the articulated arm and the adjustable joint that can move the tool; and a controller using programmable logic to coordinately guide the movements of the arm and the joint so as to move the tool along a predetermined path of motion for removing the wear element from a base and/or installing it. The sensor(s) determining the predetermined path may be part of the maintenance device or separate from it.

In another example, the maintenance device comprises a tool, a manipulator having a support and a joint, and a controller. The support comprises a rotatable mast, a first arm pivotally attached to the mast, and a second arm pivotally attached to the first arm. The second arm may also optionally be telescopic. The joint connects the tool to the support. The joint is pivotally attached to the second arm relative to the first axis and can provide movement of the tool around two axes perpendicular to the first axis. The controller using programmable logic directs the operation of the manipulator so as to remove a wear element from the excavation equipment by moving along a given path.

In another example, a tool supported by a manipulator is attached to a wear element that is to be removed from a base and/or installed on it. At least one sensor detects a position and/or orientation of a path along which the wear element is to be installed on the base or removed from it. A controller using programmable logic guides the movements of the manipulator so as to move the wear element from the base or and/or onto it along a given path.

In another example, the removal and/or installation of a wear element from and/or onto a base is achieved by gripping the wear element with a device that uses programmable logic to move the wear element from and/or onto the base along a predetermined path for the wear element.

In another example, a mounting axis for removing and/or installing a wear element from and/or onto a base is detected. The wear element is gripped by a hydraulically driven device that uses programmable logic to move the wear element along a mounting path from and/or onto the base.

In another example, a maintenance device for removing a worn wear element from

- 1 047502 fastening (for example, a main adapter on an earthmoving equipment, an edge on a bucket, an adapter on a main adapter, etc.) and installing a replaceable wear element on the same fastening. The servicing device comprises a tool for attaching a wear element to the earthmoving equipment, a manipulator supporting the tool for moving to and from the earthmoving equipment and a controller using programmable logic to guide the movements of the manipulator so as to remove and place a worn wear element and to hold and install a replaceable wear element where the worn wear element was removed. The controller automatically returns to the mounting location to install the replaceable wear element on the earthmoving equipment. Optionally, after the replaceable wear element is installed, the controller can automatically move to the next wear element to be removed. This example can also optionally be provided in combination with any of the above examples.

The adjustable components in each of the above and other examples may be driven by hydraulic motors and/or cylinders which may provide the reliability and strength required to remove wear parts in an excavation operation.

In one example, a three-point joint assembly comprises a computer having a processor and a memory, the memory containing instructions adapted to provide control of the three-point joint assembly, the manipulator, and/or the supported tool head(s).

In another example, a hydraulically driven manipulator comprises a joint connected to the end of an articulated arm. The joint supports a tool that holds a wear member that is to be removed from and/or installed on the mount. The joint comprises components movably connected together to define three non-parallel axes of movement for the tool. In one example, at least one of the three axes (and preferably two) has a float mechanism associated with an actuator(s) that controls the movement of the three-axis joint relative to the three axes. The float mechanism controls the pressure of a valve in a passage connecting both sides of at least one of the actuators that controls the manipulator about one axis. Fluid in the actuator is allowed to flow between both sides of the actuator, thereby allowing the manipulator to move about the corresponding axis in small increments. In the float mode, the actuator is moved by external forces external to the operator or the controller or the processor. In one embodiment, at least one float mechanism can be activated. In another implementation, at least two float mode mechanisms are activated, while the third actuator is still under control of either the programmable logic or the user. In one implementation, if the assembly path mode is activated, while also in the float mode, the manipulator assumes that the float hydraulic actuators are controlled, despite the fact that these actuators are controlled by external forces. In this example, when the assembly axis is defined and all other actuators move in concert along the assembly path, the float actuators are assumed to follow the correct path along the assembly axis.

In another example, a method for removing wear parts interacting with the ground from excavation equipment includes controlling movements of a manipulator and one or more tools supported by the manipulator so as to maintain the wear part attached to the excavation equipment. The manipulator includes a joint for attaching a tool to the manipulator. The joint includes components movably connected together with defining three non-parallel axes of movement, and hydraulic actuators for selectively moving and maintaining the components about the axes. The method may further include defining a mounting axis. In another implementation, the method may include a floating process in which the actuator is transferred to a neutral state and the fluid inside the actuator is balanced to allow for small incremental changes that connect the tool head to the wear element.

In another example, a wear element servicing system for removing and/or installing wear elements from a mount and/or onto it on excavation equipment comprises a lifting crane with crane components movably connected together and crane drives for selectively holding and moving the crane components in different positions relative to each other; at least one tool for selectively holding the wear element; a joint comprising a base for attaching the joint to the lifting crane, an adapter for attaching at least one tool to the joint, joint components movably connected together between the base and the adapter, and joint drives for selectively moving and holding the joint components in different positions relative to each other; and a processing system adapted to determine a path for removing the wear element from the mount and/or installing the wear element on the mount and to guide the movements of the crane drives and the joint drives so as to move the wear element along the specified path.

- 2 047502

In another example, a wear element servicing system for removing and/or installing wear elements from and/or onto a mount on excavation equipment comprises a manipulator supporting a wear element and comprising hydraulic actuators for adjusting the manipulator and thereby moving the wear element; a handling system adapted to determine a path for removing the wear element from the mount and/or installing the wear element onto the mount and directing the movements of the hydraulic actuators so as to move the wear element along the specified path; and a float manifold for directing the flow of fluid in the actuators and allowing for small adjustments for articulation by external forces as the wear element moves along the specified path.

In another example, a wear element servicing system for removing and/or installing wear elements from a mount and/or onto it on excavation equipment comprises a manipulator supporting a wear element and comprising hydraulic actuators for adjusting the manipulator and thus moving the wear element; a handling system adapted to direct the movements of the hydraulic actuators so as to move the wear element along a rectilinear path; and a controller with at least a manually activated control element for sending a signal to the handling system about the direction in which the wear element should be moved.

In another example, a system for performing work in field conditions comprises a manipulator comprising hydraulic actuators and at least one sensor for detecting the position of the manipulator; at least one tool attached to the manipulator; and a processing system adapted to determine a path for moving at least one tool for working in field conditions and to direct hydraulic actuators that adjust the manipulator so as to move at least one tool along the specified path.

In another example, a method for removing a ground-engaging wear element from an excavation equipment mount and/or installing a ground-engaging wear element on a mount includes: placing the ground-engaging wear element in alignment with the mount; using a handling system with determining a path along which the ground-engaging wear element should be moved with removal from the mount and/or installation on the mount; and using a handling system with guidance of a manipulator supporting the ground-engaging wear element so as to move the ground-engaging wear element along the specified path with removal of the ground-engaging wear element from the mount and/or installation of the ground-engaging wear element on the mount.

According to some examples, the manipulator may be used to remove wear parts from equipment and/or install wear parts on equipment in mining, construction, dredging and/or other operations related to earthmoving. For example, such earthmoving equipment may include, for example, various machines (e.g., excavators, crushers, single-bucket excavators, drill heads, etc.) and/or transport equipment (e.g., chutes, conveyors, truck bodies, etc.). Wear parts may include, for example, tips, adapters, guards, guides, cutters, guides, wear plate, track components, cutting plates, etc.

According to some examples, the manipulator can be used for a variety of activities, in particular those involving complex, dangerous and/or time-consuming processes, such as refueling equipment, clearing surfaces of ice, pruning branches, harvesting at height, precision control work on industrial sites, etc.

Brief description of graphic materials

Fig. 1 is a side view of an earthmoving machine with a bucket having teeth.

Fig. 2 is a perspective view of the excavator tooth.

Fig. 3 is an exploded perspective view of the tooth shown in Fig. 2.

Fig. 4 is a perspective view of another excavator tooth.

Fig. 5 is an exploded perspective view of the tooth shown in Fig. 4.

Fig. 6 is a side view of the service system and part of the earthmoving machine.

Fig. 7 is a perspective view of the lock pin for the tooth shown in Fig. 2.

Fig. 8 is a partial exploded view of the pin.

Fig. 9 is a cross-sectional view taken along line 9-9 in Fig. 7.

Fig. 10 is a side view of the bucket.

Fig. 11 is a perspective view of the instrument head holding the tip of the tooth shown in Fig. 2.

Fig. 12 is a perspective view of another instrument head holding the tip of the tooth shown in Fig. 2.

Fig. 13 is a perspective view of a three-axis joint.

Fig. 14 is a perspective view of the control module for the user to operate the unit.

- 3 047502 service devices.

Fig. 15A is a side view of the float control manifold.

Fig. 15B is a perspective view of the fluid paths in the dotted housing of the float control manifold shown in Fig. 15A.

Fig. 16A is a side view of another float control manifold.

Fig. 16B is a perspective view of the fluid paths with the float control manifold housing shown in dotted line of Fig. 16A.

Fig. 17 is a block diagram of a method for removing a wearing component.

Fig. 18 is a block diagram of a method for installing a wear component.

Fig. 19 is a schematic system diagram illustrating the system.

Detailed description of preferred examples

The present invention relates to systems, devices and/or maintenance methods for removing and/or installing wear parts, such as ground-interacting products, used in excavation operations that occur in mining, construction, mineral processing, dredging, etc. The systems, devices and/or methods may be used to remove and/or install a wide variety of wear parts (e.g., teeth, guards, guides, cutters, etc.) from and/or onto earthmoving equipment, which may include a variety of different machines such as hydraulic excavators, loaders, wireline excavators, rope shovels, front shovel excavators, dredgers, mining machines, crushers, continuous miners, mining trucks, etc., and/or various components used in conjunction with these machines such as buckets, drill heads, mining machine drums, truck bodies, chutes, etc.

With reference to Fig. 1, an example is shown of an earthmoving machine such as a hydraulic excavator 1 comprising a bucket 3 having a front cutting edge 5 comprising an edge 16. Teeth and/or protective covers may be fixed along the cutting edge 5 to protect the bucket 3 and/or improve its digging performance.

Fig. 2, 3 shows one example of an excavating tooth 7. This tooth comprises a main adapter 9, an intermediate adapter 10, a tip 11 and locks 13. The main adapter 9 has a mounting end 15 with rearwardly extending legs 33A, 33B intended for gripping an edge 16 and welding or otherwise fastening to the edge 16, and a forwardly projecting nose 17 intended for mounting the intermediate adapter 10. A cutout 19 is provided in each side wall of the forwardly projecting nose 17 to receive the leading end 21 of a pin 29, which is part of the lock 13, for fastening the intermediate adapter to the main adapter 9. The intermediate adapter 10 comprises a rearwardly opening cavity 8 intended to receive the forwardly projecting nose 17, a front nose 18 for mounting the tip 11 and a locking opening in each side wall for receiving a shutter 13. The front nose 18 contains a cutout 20 for receiving a pin 29 of each shutter 13 to fasten the tip 11 to the intermediate adapter 10. The tip 11 contains a rearwardly opening cavity 12 designed to receive the front nose 18, a front working end, or crown, 23 and a shutter opening 25 in which the shutter 13 is received. The components of the tooth of this example are more fully disclosed in U.S. Patent No. 9,222,243, which is incorporated herein by reference in its entirety. Although the shutters in this tooth are inseparably attached to the tip and the intermediate adapter, the service system 35 could remove and/or install wear parts if the shutters were separate from the tip and the intermediate adapter. This tooth is provided as an example only. With respect to this tooth, all of the tip, the intermediate adapter and the main adapter are assumed to be wearable elements. That is, the tip 11 is a wearable element 7 that is attached to a fastening in the form of an intermediate adapter 10. The intermediate adapter 10 is a wearable element 7 that is attached to a fastening in the form of a main adapter 9. The main adapter 9 is a wearable element 7 that is attached to a fastening in the form of an edge 16. The systems, devices and methods disclosed in this document can be used with a variety of other types of teeth, other types of wear parts interacting with the ground, and / or other types of equipment for excavation.

Fig. 4-5 shows another example of a digging tooth 22 with which the present systems and methods can be used. The tooth 22 includes a main adapter 9 and a tip 24 having a rearward opening cavity 27 designed to receive a forward projecting nose 17, a front working end, or crown 26, and a shutter 13 on one side wall. As with the tooth 7, a pin 29 of the shutter 13 slides into a cutout 19 to secure the tip 24 to the main adapter 9.

As the bucket 3 digs, the wear parts (including the tip 11, 24 and the adapters 9, 10) wear until they are worn out and require replacement. For example, in normal operation this may involve opening the gate and removing the tip from the adapter by one or more workers. This may

- 4 047502 create hazards for workers because the parts may be large, heavy and/or bulky and may potentially cause injury. The lifting eyes 28, typically provided on large new parts, will usually already be worn out and inaccessible when removing worn parts. As a result, some workers simply allow the parts to fall to the ground when the shutter 13 is opened. The free fall of wear parts may be hazardous to workers.

At times, however, the presence of fine earth particles may cause a wear element, such as a tip 11, to be firmly held on the excavation equipment (e.g., adapters 10, 11), even when the gate 13 is removed. This may complicate the removal of the wear element from the base and increase the time required for the operator to remove them. Longer removal times not only result in more machine downtime and loss of productivity, but also increase the time the worker is in the hazardous work area. Moreover, levering, pulling, hitting, etc., which the worker may use to release the wear element, may also create hazards for the worker, especially if the wear element is dislodged and/or released.

When the gate is open, complex rigging arrangements involving chains and straps are used to support the tip that is to be removed. While this may create a safer environment, it still poses a risk to the worker if the rigging is weak, slips, and/or creates hazardous points. Also, since the chains and straps extend under the tips, removing them once the wear member is on the ground can be problematic and create additional hazards. A lifting eye 28 is also sometimes welded to the wear member to support the tip during removal, but this is often undesirable due to the need for mobile welding equipment, welding being prohibited at many mining sites, and/or the time consuming process required to weld to the tips, as they are made of very hard steel that may require special techniques to weld well.

U.S. Patent Publication 2017/0356167, which discloses a maintenance device, is incorporated herein by reference in its entirety. This device allows a worker to remove and install tips while being away from the bucket. Although this is a safer device for the worker, removing the tips can still be a difficult process at times. Due to the tight fit (e.g., small tolerances) that may exist between the wear element and the base and/or the accumulation of embedded fines, the wear element often must be pulled from the mount in a straight (or other) motion along a tooth mounting path (e.g., along mounting axis 31), i.e., the path 31 along which the wear element is installed on and removed from the base. Since this maintenance device is a hydraulically driven system with manual control, a straight, accurate, and straight motion is not possible. As a result, the wear element often moves to the side during removal, and in general, it requires some time for a skilled worker to operate the controls in order to eventually maneuver the tip 11 off the front nose 18 of the adapter 10. Also, in general, the deeper the mounting cavity (such as cavity 27 for tooth 24 shown in Figs. 4 and 5), the greater the need to remove the tip 11 along the mounting axis 31.

With reference to Fig. 6, the system 35 is used to remove and/or install wear parts (e.g., tips 11, 24 and other types of wear parts) from and/or onto the bucket 3 (or other types of excavation equipment). In this example, the excavation equipment includes an electronic device 39, such as a sensor, a beacon, an RFID tag, a Bluetooth® transmitter, etc., and/or some combination of such devices. As shown, the excavation equipment includes a bucket 3 for carrying a load. The bucket 3 has an edge 16 that supports teeth 7, one or more of which contain the electronic device 39. Alternatively or additionally, the bucket 3 may also contain an electronic sensor 39A (e.g., a sensor, a beacon and/or a combination of such devices) (Fig. 10). The arrangement of sensors or the like in the graphics is shown by way of example. These electronic devices 39, 39A can, for example, be included in the tip, adapter, edge, protective cover, bucket wall and/or be located on the top of the bucket. The sensors 39, 39A are optional.

In one embodiment, when it is necessary to replace one or more wear elements, the operator of the equipment 1 for excavation, such as the hydraulic excavator 1 shown in Fig. 1, positions the bucket 3 in a position in which the teeth 7, 22 can be accessed by means of the service device 37 for removing the worn tips. As can be understood, the operator of the machine 1 for excavation may not position the bucket 3 in any exact position when the tips 11 need to be replaced. The position, inclination and orientation of the bucket 3 in space will change each time the tips 11 need to be replaced. Moreover, the position and orientation of the service device 37 and the vehicle 49 relative to the bucket 3 will also change. An electronic device (for example, a sensor 39, 39A) can be used to assist in determining the position and/or orientation of the worn wear element. In such cases, the system 35 comprises an additional electronic device 41 on the service device 37 or elsewhere

- 5 047502 yet, which by means of programmable logic can detect the position and/or orientation of wear elements that need to be removed. Alternatively or additionally, the sensors can be in the form of a video camera, laser scanner or the like and can be attached to the maintenance device, service vehicle or elsewhere to determine the position and/or orientation of wear elements that need to be removed and replaced. Various sensors can also be used to determine when a wear element needs to be replaced, as disclosed in U.S. Patent Nos. 9,670,649, 10,011,975 and/or U.S. Published Application No. 2016/0237640, all of which are incorporated herein by reference in their entireties.

In addition, the position of the bucket (or other equipment) may make it difficult and/or dangerous to assess the condition of wear parts and/or replace wear parts. It is common practice for mining machines to shut down with safety measures such as disconnect/lockout before workers approach the machine to inspect and/or replace wear parts. Sometimes the bucket 3 is not positioned in a position that is convenient or accessible for the worker to assess and/or replace wear parts before shutting down, either because the bucket has been oriented for another maintenance operation (e.g. welding) or due to oversight on the part of the operator. In such cases, especially with increased attention to ergonomics and worker safety, authorized personnel must unlock, turn on and restart the machine and move the bucket to a suitable position - all of which results in longer machine downtime and lower productivity. By using the system 35 with the appropriate tool heads, the inspection and/or replacement of the wear parts 7 can be realized even when the bucket 3 is located inconveniently for manual inspection and/or operation, for example the cutting edge 5 may be too high from the ground, inclined too far upward, oriented below the equipment, etc.

In other cases, several operations must be performed on the bucket 3 while the machine 1 is out of service. As one example, the bucket 3 may need a repair using welding and also need to have a wear part 7 replaced. Sometimes these operations are planned to be performed sequentially rather than simultaneously because of the risk to which one or more workers are exposed. For example, a welding operation may require that a portion of the bucket 3 be isolated and shielded as a safety measure, which may prevent the inspection and/or replacement of the wear parts 7 on the bucket 3. Using the system 35 with the proper tools 59 may allow the simultaneous performance of the operations because it removes an otherwise additional worker from the isolated area. Also, the system 35 with the proper tools may be able to perform both operations simultaneously without the risk of harm to the worker. Using the system 35 also saves additional time that might otherwise be needed due to safety measures such as erecting protective barriers.

The system 35 improves the ease, speed and/or safety of the process of removing the tips 11 from the front nose 18 (or other wearable elements from the equipment for excavation). In other examples, the system 35 can be used to remove and/or install components or equipment of other types, especially those that are heavy or pose a hazard, such as a high location, a confined space, extreme temperatures, hazardous environments (e.g., dusty, toxic, caustic, etc.), etc. The system 35 can also be used to perform other operations, such as checking and/or repairing components, equipment and/or other things. In one example, the manipulator may support a tool in the form of a video camera, scanner, range finder or other means for performing or facilitating inspections and/or repairs, particularly when the component, etc., to be inspected and/or repaired is high, in a confined space, difficult to access or otherwise dangerous or difficult for a person to manually access and/or inspect. Such inspections and/or repairs may include, for example, guides or a wear plate in a chute or truck bed, bridge structures, roofs or other building structures, electrical or telephone poles and lines, earth embankments and/or other earth structures (e.g., embankment stability testing), etc. The system 35 may be used to hold and control a nozzle for cleaning (e.g., using water and/or abrasive), replacing cutting blades on earthmoving equipment, replacing railroad car couplers, etc. The manipulator can be used for a variety of field activities, including those involving complex, dangerous and/or time-consuming processes such as refueling equipment, clearing surfaces of ice, pruning branches, harvesting at height, etc.

The term device is also intended herein as a general term referring to one or more apparatuses, devices, components, assemblies, subassemblies, or the like that perform, facilitate, participate in, and/or are used in an operation, which may, for example, include removal, installation, inspection, repair, refueling, de-icing, harvesting, and/or other operations. A tool may consist of, for example, a single component, a plurality of components operating together, and/or a plurality of components performing different operations simultaneously or separately. As several examples, tool heads may include one or more of

- 6 047502 gripping devices, traction units, vibrators, cleaning devices, unscrewing and/or screwing units, welding equipment, impact devices, cutting devices, dispensing devices, magnets, video cameras, range finders, sensors, etc.

Relative terms such as front, rear, top, bottom, and the like are used for convenience of description. The terms front and forward are generally used to indicate the direction toward a component, equipment, machine, structure, ground, vegetation, etc., that is the object of the operation to be performed (such as removal, installation, inspection, repair, cleaning, refueling, harvesting, or other operation). Similarly, the terms top and upper are generally used to describe the direction or position away from the ground or other support for the manipulator. However, it is recognized that manipulators may be oriented differently for different operations and may move in a variety of directions when in use.

In one example, the system 35 may include a vehicle 49, a service device 37, at least one computer 43 having a memory and a processor or controller using stored programmable logic, sensors 39, 39A, 41, a bin 75 and a storage room 77. The vehicle 49 may accommodate the computer 43, the service device 37, the bin 75 and/or the storage room 77. The service device 37 includes a tool or tool head 59, such as a gripper 60 and/or a mover 65, and a manipulator 62. The service device 37 may be a stand-alone device or be attached to the vehicle 49 or other movable base. In the example shown in Fig. 6 manipulator 62 includes lifting crane 47, tool head 59, such as gripping device 60, and joint 71 or other connector for fastening the tool head to the lifting crane. Tool 59 can grip wear parts 7 or hold wear parts 7 in other ways for removing them from their bases and/or installing them on these bases.

Other arrangements are also possible. The tool head 59 and the manipulator 62 may comprise elements and/or auxiliary tools such as those disclosed in US Publication No. 2015/0104075, which is incorporated herein in its entirety, and/or US Publication No. 2017/0356167.

The service device 37 may include a host computer 43. The computer 43 may have a processor and a memory in which computer instructions, applications, programmable logic, etc. are retrievably stored. In the example shown, the computer 43 may also be remote from the device 37. The computer 43 may include various components that are discussed below (Fig. 19). The term processor, as used herein, may include one or more processors for the system. The host computer 43 may be one or more computers containing a CPU mounted on a truck, crane, joint, and/or tool head, or may be separate from the service device 37, such as part of a handheld device, mobile device, fixed station, or office, and provide wireless or wired controls for autonomous and/or controlled movement of the service device 37.

The computer 43 may comprise instructions to configure the processor to provide information and analysis obtained from data received from the sensor 39, 39A, 41, from a database, other data sources, another remote device, etc. In one example, the computer 43 may simply facilitate communication between the maintenance device 37 and the various components of the system (e.g., the manipulator 62, the gripper 60, the crane 47, etc.), such as through a network via a communication device. Each of the various components of the system may comprise a separate computer and memory, or a single computer 43 (distributed or otherwise) may control each of the various components of the system 35. In one example, the various components of the computer system 43 may be co-located, virtually, and/or may be geographically distributed. As will be understood by those skilled in the art, other exemplary computer systems 43 in accordance with examples of this technology may include components other than those shown and described herein.

The computer 43 may contain instructions to configure the processor or controller to control the maintenance device 37 and/or the electronic device or sensor 39, 39A, 41. Some or all of the actions of the maintenance device 37 may be fully or partially automated. The computer 43 may control the pipeline fittings for the various hydraulic cylinders, actuators and motors using data from the sensors 39, 39A, 41. In particular, other types of arrangements may be used when other motors and actuators are used. This type of control allows the worker to avoid contact with the wearing parts and to remain at a safe distance from the parts during the maintenance operation. Lasers (not shown) may be provided on various components of the maintenance device 37 or various other machines to provide sight lines that can assist the machinist in positioning the wrapping tool 67 in the shutter 13. Video cameras may be provided (in addition to the lasers or by themselves) to assist in connecting the device 37 to the wearing parts. Application of video cameras

- 7 047502 can also be used to assist the machinist or to fully automate the operation of the device 37. In addition, some processes can be performed manually. For example, with other designs, the shutter 13 can be opened manually by the worker after the tool head 59 engages with the wearing part and supports it.

The system 35, using, for example, suitable sensors 39, 39A, 41, database(s) and/or a computer, can detect the position and/or orientation of the wear element 7 and its installation/removal path (which can extend along the axis 31), i.e. the path for removing (or installing) the wear element, whether it is a straight, curved or otherwise defined path. Optionally, input data on the type of the wear element 7 can be received by, for example, a sensor 39 in the wear element and/or a sensor 41 on the maintenance device 37, accessing a database, receiving input data from a code on the excavation equipment, etc. The sensors 39, 39A, 41, however, are optional. Alternatively, the assembly path can be pre-defined as a straight line (or other movement) so that as soon as the worn wear element is gripped by the maintenance device, the straight-line (or other pre-defined) movement occurs automatically (via sensors in the crane, joint and/or tool head and computer processing) when the operator indicates that the wear element should be removed, for example via a controller such as a lever indicator, switch, etc. The removal along the removal path can also take place autonomously. This method can also be used during installation, i.e. the maintenance device can move the wear element to the fastening along a straight-line or other assembly path.

Referring to Fig. 7-9, one or more sensors 39 can determine the position and/or orientation of the wear element to be removed. Such sensor(s) can take a number of different forms. For example, the sensor 39 can be provided in the tip 11 to identify the 3-D orientation of the mounting path, which in this example runs along the mounting axis 31. Such a sensor 39 can be provided in the pin 29 of the shutter 13 and/or in an opening in the molded body of the tip 11 (not shown). For example, the pin 29 can comprise a cutout 45 that can accommodate not only a tool for introducing the pin 29 into contact and removing it from contact with the intermediate adapter 10, but also accommodate and retain the sensor 39. The sensor 39 can, for example, be as disclosed in U.S. Patent No. 10,024,033, incorporated herein by reference in its entirety. The sensor 39 may detect the orientation of the wear element and/or the spatial position of the wear element and wirelessly transmit a signal with location information for use by the controller 43 in determining the orientation and/or position of the mounting axis 31. The sensor 39 may also have other functions, such as detecting unintentional separation and/or wear of the wear element during use.

With reference to Fig. 10, in the example shown, a sensor 39A can be provided on the bucket 3 to detect spatial positions and/or orientations of the mounting axes of the tips on the bucket 3. Such sensors 39, 39A in the wear parts 24 and/or on the buckets 3 can, for example, include GPS and/or inclinometers. Providing digital coordinates to the service device 37 can allow the device 37 to automatically approach the machine with the wear elements 24 that need to be replaced and/or provide navigation for the driver.

As another example, an image sensor, such as a video camera(s), on the service device 37 or separately from it, can be used by the controller 43 together with programmable logic, such as pattern recognition software, adapted to determine a specific 3-D orientation and/or position of the mounting axis 31 of the tooth 7. The controller 43 may optionally access a database with details of the tips 11 and the mounting axes 31 to make the necessary determination. Other types of sensors are possible, and/or sensors of two or more different types can be used in combination with each other.

The sensors 41 may be displacement sensors or other types of sensors. If the second arm 55 is telescopic (for example, an inner section of a boom), then the sensor 41 may be provided to detect the extension of the arm (Fig. 13). The sensor 41 is physically connected to the maintenance device 37 and/or mounted on it and may be adapted to detect or track the location of a worn wear element. For example, the sensor 41 on the maintenance device 37 may be a passive sensor for collecting data. In another example, the sensor 41 on the maintenance device 37 may be active and/or located on the equipment 1 intended for moving earth. The sensor 41 may work in combination with a second sensor (for example, 39), separate from the maintenance device 37.

In one embodiment, the computer 43 may provide information to or receive information from the sensor(s) 39, 39A, 41, and/or communicate directly with them. The maintenance device 37 may also collect and exchange data about the wear parts that are installed and/or removed. This data may include, for example, photographs of the wear parts, weight, force required for installation/removal, time required for installation/removal, notification to personnel about replacement of wear parts, etc. The maintenance device 37

- 8 047502 may also exchange data with sensors provided in the wear parts and/or receive data from them. The maintenance device may provide data to the wear part sensors related to, for example, a change in date, time, location, duration, etc. of replacement of the wear parts. The maintenance device may also receive data from the wear part sensors related to, for example, service life, impact load, performance characteristics, etc., as disclosed in U.S. Patent No. 10011975. The sensor data and/or data from other sources may be processed by the computer 43 to provide various output data.

The computer 43 may contain instructions to configure the processor or the controller to receive signals from the sensors 39, 39A, 41, such as via wireless transmission, containing data, such as about the position and/or orientation of the mounting axis 31. The computer 43 may use the data, including the detected position and/or orientation of the mounting axis 31 and the relative positions of the crane 47 and the components 71 of the articulation, to control the hydraulic cylinders and/or motors to move the tool head 59 in a rectilinear motion along the mounting axis 31 (or other offset movement) regardless of the 3-D orientation of the mounting axis 31. The movement of the gripper 60 along the removal path may be a coordinated simultaneous movement of different adjustable components directed by the controller via programmable logic. It may include a coordinated movement of all adjustable components or it may include an adjustment of not all adjustable components. It is envisaged that the wear element 7 must be removed along a certain removal path or axis 31. Other removal paths are also possible. For example, certain wear elements (e.g., tips and protective covers) can be removed and/or installed along an assembly path that is non-linear (e.g., arc-shaped).

The term manipulator, as used herein, refers to an apparatus, device, assembly, subassembly, or the like for movably supporting instrument(s) for performing an operation, such as removal, installation, inspection, repair, etc. The term manipulator is intended as a general term that may include, for example, (i) a plurality of components, such as a combination of a base, arm, joint, and instrument support or head, (ii) a subassembly, such as an articulated arm, joint, and/or instrument support, and/or (iii) another assembly or subassembly that movably supports or works with other assemblies or subassemblies to movably support instrument(s) for performing an operation.

The manipulator 62 may include a lifting crane 47 and an articulation 71. In the example shown, the lifting crane 47 comprises a mast 51 configured to rotate around a first axis A1 oriented vertically, a first arm 53 pivotally attached to the mast 51 for moving around a second axis A2 oriented horizontally, and a second arm 55 pivotally attached to the first arm 53 for moving around a third axis A3, also oriented horizontally. The mast 51 may be attached to a vehicle 49, which provides the possibility of mobile placement of the lifting crane 47. The lifting crane 47 may comprise one or more segments 53, 55 pivotally connected together and controlled by means of hydraulic cylinders (not shown), but may have other designs and/or movers. A greater or lesser number of arms and articulation axes is possible. The second arm 55 may not necessarily be telescopic. The rotation of the mast 51 is preferably driven by a hydraulic motor, and the rotation of the arms 53, 55 by hydraulic cylinders. The lifting crane 47 may optionally also be mounted on a turntable to enable rotation around the first axis A1. Other types of devices with other types and/or other arrangements of possible movements may also be used. One alternative example is to use a boom 2 and a handle 4 of an earthmoving machine 1, as shown in Fig. 1, and a special component and/or another unit.

In one example, the tool head 59 is attached to the second arm 55 by a joint 71. In the example shown, the joint 71 rotates about the axis A4. In an alternative embodiment, the joint 71 may be configured to be adjustable about three perpendicular axes A4-A6, as discussed below. The various adjustments of the joint 71 are in one example driven by hydraulic motors. Sensors 41 in one example are provided for each adjustment to detect the relative position of each of the arms 53, 55 moving about the axes A1-A4 in the example shown in Fig. 6 and A1-A6 in the example shown in Fig. 13.

In one example, the manipulator 62 has a hydraulic drive to be sufficiently reliable in changing environmental conditions, such as those found in excavation environments, although other drives are possible for certain operations and/or conditions. The manipulator 62 with a hydraulic drive is less susceptible (e.g., compared to electric drives) to failure when operating in the field, where it may be exposed to changing environmental conditions, such as heat, cold, precipitation, dirt, fine particles, dust, smoke, corrosive materials, etc. The hydraulic drive can also provide significant power in a compact manner (e.g., compared to electric drives), which is useful for certain applications; one such example includes the removal and/or installation of wear parts.

- 9 047502 in a mining environment, checking the technical condition of the boom, any use of the lifting platform that exposes a person to danger, etc., although many other applications are possible.

In one example, the manipulator 62 according to the present invention can be used with a tool head(s), such as a gripper 60, for removing and/or installing a ground engaging wear part 11 from and/or onto a bucket (not shown). The manipulator 62 can be used in methods and operations and with tools 59 as disclosed in US Publication No. 2015/0104075, and/or used in methods and operations and with tools as disclosed in US Publication No. 2017/0356167. These are given as examples, since the manipulator 62 can have many other applications. The tool heads can be interchangeably attached to the manipulator to provide different operations as desired and/or a plurality of tool heads can be simultaneously attached to the manipulator 62 for joint, independent, simultaneous and/or sequential use.

The defined path 31 for removing the wear element 7 may optionally also include stripping movements for better removing it from its base before and/or during the movement of the wear element along its assembly path. Examples of stripping movements may, for example, include a short and/or fast rocking of the wear element in the vertical and/or transverse direction in order to help release a stuck (for example, due to the presence of embedded small particles) wear element from its base. The application of stripping movements may occur before or during the pulling of the wear element 7 along its assembly path. The stripping movements may be programmed to occur automatically during each removal of the wear element and/or only if the force for removing the wear element exceeds a predetermined limit, and/or they may be activated manually. Sensors (not shown) may be provided in the system 35 for detecting when a threshold of pulling force has been reached and when the stripping movements should be initiated. Such sensors may also be provided to detect forces that exceed the expected ones during installation, for example, if there is an unexpected incorrect positioning of the base for placing a replaceable wear part, for example due to an interfering movement of the bucket, an incorrectly aligned tooth, etc. The sensors may also be provided to stop the movement if the maintenance device encounters an unexpected obstacle. The removal movements may also and/or alternatively include a floating mode, as will be further described below.

Referring to Fig. 11, 12, in one example, the tool head 59 includes a main tool mount 76 (such as hooks 78) and an end effector (such as a gripper 60). In this illustrated example, the tool head 59 has hooks 78 at the rear end to attach the tool head 59 to the adapter 6 or the lifting crane 47, and an end effector 60 at the front end to grip the wear element 7. As can be seen, the tool head 59 can have a pin 80 for securing the hooks 78.

Wear parts 7 (such as tips 11) can become stuck in the base on which they are mounted due to friction, embedded small particles, bent components, corrosion, etc. In one example, the tool head includes a vibrator that can work in conjunction with the gripper 60 to remove ground-engaging wear parts 7 from the excavation equipment 1. Using the vibrator in conjunction with the wear part removal device (e.g., the gripper 60) can reduce the force required to remove the wear part and thus facilitate and/or shorten the removal process. For example, in order to remove the tip 11, the tool head 59 engages the tip 11 mounted on the front nose 18, wherein the gripper 60 has a pair of opposing legs 61, although other means for holding the wear element are also possible. The legs 61 at their distal ends may include inwardly directed flanges 63 for engaging with rear edges 64 along the sides of the tips 11. The tool head 59 shown in Fig. 11 includes a mover 65 configured to be adjustable in the direction toward and away from the shutter 13 for opening and/or closing the shutter 13. Each mover 65 comprises a rotary arm 83 and a tool 67 (for example, a hexagonal tool) configured to engage with a cutout (or other formation for engaging with a tool) 45 for moving the pin 29 into engagement with a cutout 20 in the intermediate adapter 10 and/or a shutter opening 25 in the tip 11 or out of this engagement. This is given as one example. Other assemblies may be used to open the closures 13 and/or closures of other types may be torn out, pulled out, knocked out, etc. from the wearing assembly.

The term opening in conjunction with the breech means engaging the adjustment of the breech while maintaining the fastening to the wear member and/or removing the breech from the wear member so that the breech no longer fastens the wear member to the fastener.

In one embodiment, to remove the tip 11, the legs 61 grip the tip with flanges 63 at the rear edges 64, with the front end of the tip pressed against the stop 69. The motor

- 10 047502 the arm 65 is lowered so that the tool 67 is located in the cutout 45 and is rotated to move the leading end 21 of the pin 29 out of the cutout 20. The tool 59 is in one example driven by a hydraulic motor. The tip 11 is now ready to be pulled off the fastening (e.g. the front nose 18).

In another implementation, in order to install the replaceable tip 11A on the mount (for example, the front nose 18 of the intermediate adapter 10), the service device 37 grips the replaceable tip 11A and positions the tip 11A adjacent to and aligned with the intermediate adapter 10 along the mounting axis 31. This position can be determined by the computer 43 based on data from the sensors 39, 39A, 41, and/or from the memory of the removal process, and/or the database, and/or by means of manual (or semi-manual) control on the part of the worker.

The control of the service device 37 may have several modes or control elements. In Fig. 14, a manual or mobile control unit 100 for the service device 37 is shown. The mobile control unit 100 comprises a user interface 101, a switch 102, a display 103, a speed switch 104, a toggle switch 105, a float switch 107, action buttons 108, emergency switches 109, 110 and/or joysticks 111, 113, 115. The control unit 100 may be attached to a mast or tied to a user with a belt 116. The display 103 may show different operating modes for the user to control via the user interface 101. The display may show a percentage of the full length of a particular component of the service device 37 (for example, the second arm 55).

The user interface 101 includes a rotary button 117, an input button 119 and a cancel button 121. The rotary button 117 allows the user to position it so as to select a specific function (for example, an operating mode). The input button 119 allows to confirm the selection, and the cancel button 121 allows to return from the selection to the previous screen or to cancel the selection. The user interface 101 can also be a display with a touch screen to allow the user to select different functions or modes for the service device 37 by means of tactile feedback from the display 103.

For example, one mode can be intended for controlling the lifting crane 47. For example, the joystick 111 (or another controller) can control the operation of only the lifting crane 47. The second mode can be intended for controlling the three-axis joint assembly 71, 71A. The manual control unit 100 can contain a second joystick 113 (or another controller), which controls the operation of only the joint assembly 71, 71A. The third mode can be intended for joint control of the lifting crane and the joint. The control element can include a third joystick 115, which controls the joint operation of the lifting crane and the joint.

In this example, pressing forward on the first joystick 111 causes the hydraulic cylinders of the crane to move together so as to coordinate a rectilinear (or other) movement of the end of the crane 47 (i.e. in 41). Pressing backwards occurs in the opposite direction, pressing to the right on the first joystick 111 moves the end of the crane in the right direction, etc. Pressing forward on the second joystick 113 moves the joint so as to tilt the tool head downwards. Pressing to the sides of the second joystick 113 causes the joint to rotate the tool head to the right. Pressing forward on the third joystick 115 controls the crane 47 and the joint assembly 71, 71A so as to move the tool head directly forward in a rectilinear movement (or other movement, if it is programmed to be another movement). This is a control that is preferably carried out for pulling the wear element off the base and/or for installing the wear element on the base.

In this example of removal, the tool head grips the wear element 7 and opens the shutter(s). Then the third joystick 115 is moved backwards, so that the service device automatically moves the wear element along the removal path 31 by a reverse movement, which in the example shown is a rectilinear movement. For installing the replaceable wear element 7aA, the operation of any of the or a plurality of joysticks 111, 113, 115 moves the wear element 7A so as to align it with the base. The third joystick 115 can then be pressed forward, so that the computer interacts with the sensors 41 and controls the hydraulic cylinders and/or motors so as to move the tool head with the replaceable wear element 7A along the installation path 31 (for example, by a rectilinear movement), so as to completely position the wear element on the base. The tool head is then used to move (or position) the gates into a holding position to attach the wear member to the base. The wear member can be released and the service device retracted. The tool head controls can be separate (and not necessarily on a manual control) from the crane/joint controls. Other embodiments are possible, and a fully automated method is possible. Although a joystick control is shown, other arrangements are possible. For example, a single joystick can be used in different modes. As another example, other types of controllers can replace the joysticks.

- 11 047502

In another example, one mode controls the movement of the crane 47 and the three-axis joint. The joystick 111 can control the mast 51 or the rotation or swing rotation (for example, by rotating the joystick 111 left/right) and the up and down movement of the main boom, or arm, 53 (for example, by moving the joystick 111 up/down or right/left). The joystick 113 can control the three-axis joint assembly 71A so that each direction, up/down, left/right and left/right rotation, controls a specific axis (for example, pitch, roll, yaw) on the three-axis joint assembly 71A. The joystick 115 can control the inner and outer booms. For example, moving left/right controls the extent of the inner boom, and moving up/down controls the outer boom, or arm, 55.

In another embodiment, the toggle switch 105 switches between several modes that control different tool heads, such as the adapter installation/removal tool, or the tip installation/removal head, or the gripper 60 (Fig. 11). In such a mode, the joystick 111 can control the adapter stabilizer by moving it inward and outward by moving the joystick 111 up/down. The joystick 111 can also control the movement of the legs 61 of the gripper inward and outward by moving the joystick 111 (for example, moving left/right). The joystick 113 can move the screwing tool 67 up and down and rotates the tool clockwise and counterclockwise (for example, by moving up/down and left/right). The joystick 115 can move the screwing tool 67 back and forth and left to right to align with the shutter. In one example, it may be necessary to press the emergency switch 109 while pressing the toggle switch 105 in order to perform an intentional purposeful switching between the modes. In another implementation, the float switch 107 may activate the float mode of the three-axis joint assembly 71A during the tool head mode. The float switch 107 may also be turned on/off during the single crane mode and the crane and three-axis joint assembly mode. Activation of the float mode may further determine which axis is floated (e.g., A4, A5, A6, or some combination), as will be discussed in more detail below. It may be necessary to press the emergency switch 110 while pressing the float switch 107 in order to perform an intentional purposeful activation of the float mode.

In another example, the toggle switch 105 may select a mode for controlling the assembly axis of both the crane 47 and the joint assembly 71, 71A. Such an assembly axis mode may, for example, be a linear motion mode. In this case, the assembly axis 31 is determined or set by the operator by maneuvering the maintenance device adjacent to the wear element that needs to be replaced or installed. Once the assembly path 31 has been determined, the joysticks 111, 113, 115 may be used so as to simultaneously control both the crane 47 and the three-axis joint assembly. For example, the joystick 111 may control the movement in the x-y direction along the path 31, while the joystick 115 may control the z direction (e.g. longitudinal). It should be noted that the three-axis joint assembly 71, 71A can change the pitch, roll and yaw angle in any number of directions, and the joysticks 111 and 115 will still control both the crane 47 and the three-axis joint assembly 71 to move along the path 31. The joystick 113 can still be used only to control the three-axis joint assembly even during the mounting axis or linear motion mode.

In one embodiment, the speed switch 104 may control the speed at which the crane 47 and the articulation components move. In one example, the switch 102 may stop all operations until the switch 102 is turned off. This may account for any errors during field operations.

In another implementation, the action buttons 108 may allow for switching to functions that need to be performed in other modes outside of the currently selected mode. For example, in the crane-only mode 47, the action button 108 may be pressed to compress the arms of the tool head in the form of a gripper or to extend/retract the stabilizer on the tool head in the form of a gripper. This reduces the need for the user to switch between modes and provides the ability to use some shortcut to a specific function regardless of the mode in which the hand unit 100 is located.

Whether joysticks or other forms of control are used, one example mode of operation controls the orientation and position of the crane 47, the manipulator 62, the three-axis joint assembly 71A, and the tool head 59 simultaneously such that the tool 59 holding the wear member moves along a single mounting path 31, which in this example extends along a linear mounting axis. Once the replaceable tip 11A is aligned with the base or adapter, the computer 43 moves the tip 11A forward in a linear or other defined motion along the mounting axis or along another mounting path 31 to mount the tip 11A on the intermediate adapter 10. Adjustment of the degree of movability, known as compliance, provided by springs (or other means such as floating, discussed below) can be used to mount the tip on the mount

- 12 047502 (e.g. intermediate adapter 10) to reduce the need for movement strictly along a specified or defined path and/or precise alignment with the mounting path of the fastener (e.g. front nose 18 of intermediate adapter 10). The degree of mobility provided by springs or the like (if provided) will usually be locked (at least part of the time) and inapplicable during removal due to the amount of force sometimes required to remove the tip from the front nose 18 of intermediate adapter 10.

Referring again to Fig. 6, in order to facilitate the work of removing and installing the wear elements 7/7A (such as the tips 11, 11A or 24), the computer 43 having a processor using programmable logic can automate the movements of the device 37. During the replacement of the wear element 11A, the worn wear element 7 is replaced and thrown into a bin or other storage place 75.

New wear parts 7A can be provided on the vehicle 49 in the trunk, storage place or carousel 77. The replacement wear element 7A is captured in the storage place 77 and mounted on the fastening (for example, the main adapter 9, the intermediate adapter 10, the edge 16 or another mounting place) from which the worn wear element 7 was removed. The carousel 77 can include several compartments containing individual wear parts 7A that are to be installed. The carousel 77 can be controlled by a computer and rotated into discrete positions. When the device 37 pulls the replacement wear part 7A (for example, the tip 11A) from the carousel 77 for installation, the carousel 77 can rotate into a discrete position, providing the next new wear part 7A in the same position as the previous wear part 7A. This allows the device 37 to store in memory and access the same position each time to pull off a different part. The carousel 77 may have a single layer or may have multiple storage layers with more than one discrete position. Alternatively, the carousel 77 may present an empty bin in a discrete position and the device 37 may place the used worn and wear part 7 removed from the excavation equipment 1 in the empty bin 75. The carousel 77 may then rotate, providing a new wear part 7A, which the device 37 can pull off for installation. Alternatively, the device 37 may place the used wear parts 7 in a bin 75, for example located on the vehicle 49. At the end of the installation work, the bin 75 may be emptied to dispose of the used parts. The carousel 77 may also contain a library for different tool heads, which may be equally adapted to issue tool heads in discrete positions. Alternatively, the carousel 77 can output both wear parts 7A and tool heads.

In one example, the computer 43 may contain instructions to configure the processor or controller to move the worn wear element 7 pulled from the base or fixture (for example, along the mounting axis 31) to throw it into a bin or other storage location 75. The controller, using programmable logic, then grips (or otherwise secures) the replacement wear element 7A for installation on the base or fixture from which the worn wear element 7 was removed. The controller can store the path 31 and the location at which the worn wear element 7 was pulled from the fixture (for example, the intermediate adapter 10), and can re-call (without returning to the waste bin 75) with programmable logic the previous movement to align the replacement wear element 7A with the mounting axis 31 for installation on the base or fixture. The controller may then use programmable logic to move the wear element 7A to the base 9, the intermediate adapter 10, the edge 16 or to another mounting location. The controller may also autonomously by means of programmable logic or manually by means of user control (with or without programmable logic) move the gripper 60 to the next wear element 7 that needs to be removed. Also, as an alternative, the controller may be designed with a learning mode in which the controller learns the path of operation when the operator manually moves the maintenance device along a repeating route or repeating in the field, and then the learning mode can be called up to reproduce the same movements or slightly modified movements for the next wear part.

The disclosed use and design of the service device 37 and the tool head 59 are only one example, and other arrangements are possible. The service device 37 may have different shapes and/or have fewer or more different degrees of freedom of movement.

Referring to Fig. 13, the manipulator 62 may comprise a three-axis joint assembly 71A (as one example of joint 71) for attaching the tool head 59 to the manipulator 62. The joint assembly 71A may have a structure that is disclosed in U.S. patent application Ser. No. 16/370,868, filed March 29, 2019, which is incorporated herein by reference in its entirety. The three-axis joint assembly 71A may be located at the far, or distal, end of the second arm 55. The tool head 59 may be removably attached to the far end 70 of the three-axis joint assembly 71A.

- 13 047502

The three-axis articulation assembly 71A may comprise a base 14 and an adapter 6. The adapter 6 may serve as a mount for a plurality of different tool heads 59 secured together in series, or may support different tool heads 59 in series. The base 14 is preferably secured to the distal end 71 of the arm 55, which in this example ends on the base plate 30. The base plate 30 may be fixed in a single orientation to the arm 53 or include an articulation with the provision of a hinge, universal or other connection. In one example, the base 14 comprises movable components in close proximity, defining three axes A4, A5, A6 for the composite movement of the supported tool(s), such as the tool head 59. The components or connectable elements of the articulation are secured together to form three hinge points or axes (or more or less than three). In one example, one axis always intersects the other two axes. Alternatively, the three-axis joint assembly 71A may be designed such that the three axes intersect at all times. Alternatively, the three-axis joint assembly 71A may be designed such that two of the three axes intersect at all times. In another example, none of the axes A4, A5, A6 intersect. In one design, the axes A4-A6 are in close proximity to facilitate controlled movement in a tight space.

The base 14 is attached to the distal end of the arm 55 by the first support 28. The first support 28 in this example includes spaced apart fastening plates 32, which are attached (for example, by bolts) to the base plate 30. In the example shown, the axes A4-A6 are oriented sequentially from the distal end as the pitch axis A4, the yaw axis A5 and the roll axis A6, although they can be oriented in another order.

In the example shown, the base 14 comprises a first actuator 34 for moving about the pitch axis A4. The first actuator 34 comprises a shell 36 attached to the mounting plates 32 and a first internal rotating element (not shown) connected to the second support 38 and supporting it with the possibility of movement. The second support 38 comprises a pair of brackets 40 extending around opposite ends of the casing 36 to connect the first internal rotating element, the base plate 42 and the mounting plates 44 for supporting the second actuator 46. The first actuator 34 in this example may be a hydraulic rotary actuator, such as is available from Parker-Helac Corporation. In this example, the actuator 34 provides a movement about the pitch axis A4 by approximately 100°. The first, or pitch, actuator 34 in this example provides a degree of mobility in the range from -10 to +90° relative to the neutral position, which in this case occurs when the base plate 42 is parallel to the base plate 30. Other propellers, designs and degrees of mobility are also possible.

The second actuator 46, or yaw actuator, in this example may be a hydraulic rotary actuator such as that available from Parker-Helac Corporation. The second actuator 46 comprises a shell 48 attached to the mounting plates 44 and a second internal rotating member (not shown) attached to the third support 66 and supporting it with the ability to move. In this example, the third support 66 comprises brackets 52 attached to the second internal rotating member and a base plate 54 supporting the fourth support 50. In this example, the second actuator 46, or yaw actuator, provides movement about the second axis A5, or yaw axis, by approximately 160°. In this example, the actuator 46 provides a degree of mobility in the range from -80 to +80° relative to the neutral position, which in this case occurs when the base plate 55 of the support 50 is parallel to the base plate 42. Other propulsion systems, designs and degrees of mobility are also possible.

The third actuator 56, or roll actuator, in this example is a hydraulic cylinder supported by the fourth support 50 for moving the turntable 57. In this example, the roll actuator 56 provides a movement about the roll axis A6 by approximately 40°. In this example, the actuator 56 provides a degree of movement in the range of -20 to +20° relative to the neutral position, which in this case occurs when the legs 85 of the adapter extend in a downward direction for installation on the ground or other support when not in use. In one example, the roll axis A6 intersects the other two axes A4, A5 at all times, i.e., in all orientations. Other drives, designs and degrees of movement are also possible. In an alternative design, the yaw actuator 46 is offset in the rear direction to overlap the pitch joint so that the pitch and yaw axes A4, A5 always intersect. In this arrangement, the roll axis A6 also preferably intersects the other two axes A4, A5 so that all three axes intersect at all times (not shown). In another configuration, none of the axes A4, A5, A6 intersect.

The adapter 6 comprises a tool mount 70, which in this example is located at the front end 80 opposite the turntable 57. The tool mount 70 may comprise a connector for attaching a tool head to the tool mount 70. In this example, the tool mount 70 comprises a pin 64 and a support plate 65 to which a tool, such as a tool head 59, is attached. In one example, the tool head 59 is a gripper assembly 60 that holds wear parts 7 (such as tips 11) when they are installed on or removed from the excavation equipment 1

- 14 047502 of it. However, other types of tool heads and fasteners can be used to accommodate tools with different types of connections. In one embodiment, other tool heads can be fastened in series. As one example, a tool head in the form of a sensor module can be mounted in series with the tool head 59. For example, the sensor module can detect one or more of the applied traction force for removing the wear part, the level of applied vibration, signals from sensors in the wear parts, and / or other operating characteristics. The sensor module can include a connector in the form of hooks 78, although other devices are possible. Each tool head can be used as needed, continuously, when certain events occur, etc., depending on what is needed or required. Other tool heads, including, for example, one or more sprayers for cleaning small particles, welding equipment, video cameras, etc., can be attached in series from the adapter 6. The various tools can be attached and removed as needed for the desired operation. Although tool holders and hooks are shown, other fastening devices are also possible. Additionally, although examples with two or three tools connected in series have been described, other numbers of tools can be fastened together.

Additionally, the adapter 6 may be provided with various means for attaching different types of tools, such as holes allowing the use of bolts and/or other general or special connecting devices. Different adapters may also be attached to the base 14 for using different tools and/or operations.

Connectors 68 may be attached to the adapter 6 outside the adapter housing 72 to facilitate hydraulic, pneumatic and/or electrical connection to the tool(s), i.e. to operate and/or control various mechanisms and working tool(s). They may be attached in other ways. In this example, two connectors 68 with six ports are provided to provide an easy and quick source of hydraulic pressure for the tool(s); other arrangements are possible. Electrical connectors (not shown) may also be provided for use by the tool(s).

In one example, the arm 55 and the joint assembly 71A are together under the control of the same control element, whether manual, automatic or semi-automatic. For example, the operation of the joint assembly 71A can be linked to the operation of the crane 47 or other main manipulator, so that they work together. In such cases, the three-axis joint assembly 71A can comprise a computer 43 and a manifold 73 with a plurality of valves to control the supported tool head(s) 59 via connectors 68. In an alternative example, the arms 53, 55 can be under the control of the controls of the crane 47 or other manipulator and separate computers 43 and manifold 73 are used to control the actuators 34, 46 and 56 and the supported tool head(s). This independence allows the 71A coupling assembly to be attached to virtually any crane, handle, arm, or other support without the need to build controls into the crane, handle, arm, etc.

In other alternative embodiments, the crane 47, the articulation assembly 71A, and the tool head(s) 59 may all have separate computers or may all be under the control of a single main computer 43. Hoses and/or internal passages provide hydraulic fluid or the like from a source to components of the manipulator 62, the articulation assembly 71A, and/or the supported tool(s). The hoses and/or passages are omitted from the drawings; they may be of virtually any arrangement. Similarly, power supply lines may be provided to the manipulator 62, the articulation assembly 71A, and/or the supported tool(s). Power supply lines are also not shown in the drawings. The computer 43 may be powered by a power source from a crane, excavator, vehicle, power supply, etc., and/or by a battery located in an adapter or elsewhere. The battery may be provided in addition to or instead of such power supply lines. Hydraulic fluid (and electrical power, if necessary) for the joint assembly 71A and/or tool(s) may be supplied by a crane, excavator, vehicle, or other device supporting the joint, or from a separate drive unit(s). The computer 43 may be located remotely from the service device.

The computer 43 may contain instructions to configure a processor or controller to direct the operations of the crane 47, the three-axis joint 71A, and/or the supported tool head(s) 59. The computer 43 may have a processor with instructions adapted to receive signals from another computer, handheld or mobile device to conduct real-time operations such as removal, installation, inspection, repair, refueling, limbing, harvesting, etc. The computer 43 may be contained in a mobile and/or handheld device having joystick(s) or other type of controls to control and operate the crane 47, the three-axis joint 71A, and/or the tool head(s) 59. Alternatively, the instructions from the computer 43 may provide directions for automatic or semi-automatic

- 15 047502 automated operation by means of the crane 47, the three-axis joint 71A and/or the tool head(s) 59. In such a system, the commands for the automated operations are preferably pre-stored in a database (remote or located in the adapter 6) and are used to perform the desired operation(s). In automatic operation, the crane 47, the three-axis joint 71A and/or the tool head(s) 59 can be provided with displacement sensors (linear or angular) and/or position sensors on the drives 34, 46, 56 to identify their positions and/or orientations. The automated and manual controls can work together in interaction, sequentially or separately. The signals may be alternatively or additionally received from sensors contained in the components and/or equipment to be removed, installed, tested, etc., in order to, for example, identify the component(s) and/or equipment, direct the crane 47, the three-axis joint 71A and/or the tool head(s) 59, or provide other information about the position, condition, or operation of the wear component 7 and/or equipment. Examples of sensors that may be included are disclosed in U.S. Patents Nos. 9,670,649, 10,011,975, and/or U.S. Publication No. 2016/0237640. The signals may be received from other cranes, three-axis joints, and/or tool heads operating near or in conjunction with the crane 47, the three-axis joint 71A, and/or the tool head(s) 59. Any or all of such signals in various instances may be used together or made available for use together. Alternatively, all of them may be used individually or in various combinations with other types of signals and operations. Also, whether used together or individually, they may be received in combination with other types of signals. The communication device may also or alternatively transmit signals for various purposes, including any or all of those specified above. The transmitted signals may be of any of a variety of different types, one example of which is radio waves.

In one example, the maintenance device 37 can be used to check and/or replace a wear part on a bucket for excavating soil. A video camera or other tool can be connected to, for example, the adapter 6 to check the condition of the wear parts. A tool, such as the presented tool head 59, can be used to replace the wear part. The video camera or other inspection tool can be provided as part of the tool head 59, can be a tool separately attached to the adapter 6, or can be attached to the adapter 6 instead of the presented tool head 59 for inspection.

The manipulator 62 and/or the tool head(s) 59 may be under complete manual control by means of a processor having commands stored in memory for gripping, opening the shutter and removing the wear part. Alternatively, the computer 43 may by means of manual control adjust the manipulator to position the tool in the vicinity of the wear element or in engagement with it, and a programmable sequence of commands is used to control the manipulator and/or the tool to perform one or more of gripping the wear element, opening the shutter and/or removing the wear element. Alternatively, the entire operation may be under the control of a sequence of programmable commands. Video cameras and/or sensors may be used in manual, automatic and/or semi-automatic operations. The computer 43 may receive information from such a video camera (or the like), and/or sensors, and/or sensors in the wear elements or equipment supporting the wear elements. For example, computer 43 may receive information to identify the type of wear elements 7 installed on the bucket, the position of the wear element 7 on the bucket 3, the orientation of the wear element 7, the state of the wear element 7, etc.

The adjustment of the degree of mobility, known as compliance or float, can be provided by the float control manifolds 81, 82 (or other means). The float or float removes control from the driver and can (by means of a barrier or pipe fitting) allow or direct the fluid to flow freely or exchange from one side of the hydraulic actuator to the other through a passage (e.g. in the actuator or in the float control manifold). The direction of flow through the passage is influenced by an external acting force, such as contact with a wear element 7 or a fastening (e.g. an intermediate adapter 10). The float control may be used, for example, when mounting the tip 11 on a fixture (for example, the front nose 18 of the intermediate adapter 10) or when initially gripping the tip 11 during removal, to reduce the need to move strictly along a specified or determined path 31 and/or to accurately align with the installation/removal path 31. The float control may be automated and/or controlled by the computer 43. The float mode or control may be initiated in a number of different ways, including floating for one or more actuators in the crane, joint and/or tool head. For example: floating all three actuators 34, 46, 56 of the three-axis joint assembly 71A about their respective axes A4, A5, A6; floating two of the three actuators 34, 46, 56 about their respective axes A4, A5, A6; floating of one of the three drives 34, 46, 56 around their respective axes A4, A5,

- 16 047502

A6; absence of floating of all three drives 34, 46, 56 around their respective axes A4, A5, A6, while floating of one or more joints of the crane arms around their respective axes A1, A2, A3 or some combination thereof.

In the example shown, the drive 34 has the ability to float about the axis A4 and the drive 46 has the ability to float about the axis A5, while the axis A6 is controlled (for example, two axes are in a floating mode). This arrangement provides the ability to make minor or short-term adjustments along the axes A4, A5 during installation or removal along the installation path. The manipulator 62 moves the tool head 59 along the axis A6, while the floating can provide selected minor movements to help align the tool (if it is slightly misaligned) with the removal/installation path along the axes A4 and/or A5, so that the tool head can more easily remove from the mount and/or install the wear element on it. The three-axis joint assembly 71A can comprise float control manifolds 81, 82 and/or a warning signal 84.

The float control manifolds 81, 82 enable or disable the float mode (for example, a direct barrier or valve for engaging and blocking the passage or disengaging and allowing fluid to flow through the passage) for the three-axis joint assembly 71A. In the float mode, the three-axis joint assembly 71A can still be controlled by the joint actuators and/or the manipulator, wherein at least one actuator controlling the joint components for movement about the axis A4 and/or A5 is in the float mode. The float mode effectively disables control (for example, a neutral state) for this actuator so that other external forces can affect the alignment when connecting to a wear part or connecting to a fastener. Such maneuvers may require control in smaller increments than those that could be achieved by controlling only the joint and/or the manipulator. Floating can be activated manually and/or automatically, for example for a short period when forces exceed a set level.

The warning signal 84 (if present) is activated whenever the float mode is activated. The warning signal 84 may be, for example, a visual warning, tactile feedback and/or an audible warning. In one example, the warning signal 84 may be activated by an electrical switch. Alternatively, the warning signal 84 may activate a radio transmitter to generate a notification or an alarm signal. In the illustrated example, the warning signal 84 is shown on one of the arms 52 attached to the second inner rotating element, being a lamp visible to the operator of the maintenance device 37 and/or the nearby earthmoving machine 1. The device 37 may wirelessly provide the warning signal 84 to equipment operators or other persons and/or to handheld or wireless devices accessible to the operator or other persons. In addition, the programmable logic may be programmed to generate a warning signal 84 if the programmable logic determines that a float operation is necessary or to place the device 37 into a float operation.

Referring to Fig. 15A and 16A, the float control manifolds 81, 82 may in one example comprise counterbalance valves 86, a bent arm type tube 87, a needle valve 88, inlet valves 89 and a float mode assembly 90. Each of the actuators 34, 46, 56 has inlet ports 96, 97, which are inlet channels to each side of the actuator for controlling, for example, a piston, a rotary device or the like. Each of the components of the float control manifolds 81, 82 may have a fluid connection, as will be discussed further below.

The counterbalance valves 86 maintain the fluid pressure in the manifold when direct fluid pressure is not applied, for example the system 35 is stopped in a particular position. The needle valve 88 can be adjustable and act as a flow control valve in which the flow of fluid (for example, hydraulic fluid) is weakened in two different directions. The needle valve 88 is adjusted by inserting the needle into the connection between the passage R and the passage T in Fig. 15B and R, S and T in Fig. 16B or removing it from it. The smaller the pitch allowed by the needle in the needle valve 88, the smaller the increments of movement with which the actuator 34, 46, 56 moves along the corresponding axis A4-A6. The needle valve 88 reduces the passages R, T for the flow of hydraulic fluid, which moves the actuator 34, 46, 56 in each direction in Fig. 15B. The needle valve 88 reduces the passages R, S, T in each direction in Fig. 16B. In one example, these directions determine in which direction the rotary actuator rotates. Alternatively, the needle controls in which direction the piston moves in the piston actuator. The reduction of the passage by the needle affects how much fluid is passed (e.g., the flow is weakened), and therefore affects the amount of movement of the actuator 34, 46, 56. The needle valve 88 can also be fixed. In another example, the needle valve can control the amount of float allowed (e.g., 1-2°).

The floating mode unit 90 comprises a motor 92 and a barrier 94. The floating mode unit 90 can

- 17 047502 be located at least partially inside the float manifold 81, 82 or connected separately as a stand-alone device. The motor 92, which can be, for example, a solenoid or a DC motor, controls the position of the barrier 94 (for example, it is turned on to close or turned off to open). The paths or passages S, T, U create a channel between two units of inlet pipeline fittings 96, 97 of the actuator and the barrier 94 blocks or opens this channel in Fig. 15B. The units of inlet pipeline fittings of the hydraulic actuator control the direction along a specific axis of the manipulator. The paths R, S, T, U create a channel between two units of inlet pipeline fittings 96, 97 of the actuator in Fig. 16B. If the barrier 94 is in the closed position, the channel is blocked and the floating mode is disabled. If the barrier 94 is open, then the channel is also open, allowing the fluid to exchange and move freely between both ports 96, 97, and the float mode is enabled. The float mode unit 90 creates a float function, consisting in the fact that at least one of the actuators 34, 36, 56 and the lifting crane 47 will move, for example, approximately -2.5-2.5° around the corresponding axis A4, A5, A6 under the influence of an external source or force. The external source in the illustrated embodiment is a wear part attached to the excavation equipment or a mount on the excavation equipment. These small movements allow the tool head 59 to perform movements in small increments, which may not be available for the maintenance device 37 during a complex movement operation. These small movements allow the parts to be installed and removed with small tolerances, where these tolerances provide a tight fit. These small movements also allow for small changes during the installation and removal process, when the device 37 has the tool 59 slightly shifted either from the mounting axis 31 or from the front of the worn product. In one example, the manipulator may be under control while the joint is in a floating mode. The floating mode is advantageous given the preferred hydraulic drive, which is powerful and reliable in an excavation operation. Although electric motors would provide the necessary precision, they would not be able to withstand the harsh conditions typically encountered in mining, construction, or other excavation-related operations.

With reference to Fig. 15B and 16B, the shown passages P, Q for the fluid may not completely intersect with the openings 86', 87', 88', 89', 90', with which the components of the manifolds 81, 82 are connected, and only a part of the passages may intersect. The openings 86' of the counterbalancing valves are connected to each other by means of the passages P and Q. The passage Q connects the inlet opening 89' with the counterbalancing opening 86' opposite to the inlet opening 89'. The passage P connects together the openings 86' of the counterbalancing valves. The openings 89' of the inlet pipeline fittings may intersect with the openings 86' of the counterbalancing valve.

One of the counterbalancing openings 86' can be connected to the opening 87' of the bent arm valve. The opening 90' of the float valve can be connected to the opening 87' of the bent arm valve through the passage U in Fig. 15B. The float valve 90' can be connected to the opening 89' of the inlet pipeline fitting through the passage U in Fig. 16B. The opening 90' of the float valve can be connected to the opening 88' of the needle valve through the passage T in Fig. 15B and through the passage S, T in Fig. 16B. The opening 88' of the needle valve can be connected to the other opening 86' of the counterbalancing valve through the passage R. The passage R can be connected to the passage S. The passage S can be connected to the inlet pipeline fitting 96 of the actuator 34, as shown in Fig. 15B. Other designs for float control are also possible.

The manipulator 62 and/or the tool head(s) 59, as disclosed herein, may be used to remove wear parts from and/or install them on equipment in mining, construction, dredging, processing and/or other operations related to earthworks. For example, the earthworks equipment may include various machines (e.g., excavators, single-bucket excavators, longwall miners, continuous miners, crushers, etc.) and/or transport equipment (e.g., chutes, conveyors, truck bodies, etc.). The wear parts 7 may include, for example, tips, adapters, cutters, guards, guides, wear plate, track components, cutting plates, etc. The above descriptions of the system 35 in a mining environment (e.g., for replacing wear parts) are provided as examples of possible designs, operations, and uses of manipulators. The systems 35 according to the present invention may have many other uses.

Fig. 17 shows an example of a method, or process, or program 200 for removing a worn wear component from an earthmoving machine. The method 200 may be implemented in software instructions in the context of any of the applications, modules, components, or other such software elements installed on the computer 43. The software instructions may direct the underlying physical or virtual computing system or systems to operate in the following manner, while referring to the steps shown in Fig. 17. The various steps may also be performed by manual and/or semi-automated elements.

- 18 047502 controls. The different steps may be performed in different orders and/or include more or fewer steps.

To begin with, in one example, the position and/or orientation of the worn wear element is determined (step 201). This determination can be made, for example, by sensors 39, 39A, 41 in combination with programmable logic and/or manual placement. In another example, video cameras can assist in the determination. From the position and/or orientation, an installation path or axis 31 can be determined (step 203) by the computer 43. The installation path 31 is the path along which the wear element should be guided to be removed from the fixture and/or installed on it. The installation path 31 may optionally be manually set by the machinist, who aligns the gripper of the tool head with the wear element to be removed. The maintenance device 37 can have several modes. One mode may be specifically designed to control the crane 47. Another mode controls the crane 47 and the three-axis joint 71A simultaneously so that the device 37 moves the wear element along a single mounting axis 31. The computer 43 may use the data from the sensors 41, including the detected orientation of the mounting axis 31 and the relative positions of the crane 47 and the components 71 of the joint, to control the hydraulic cylinders and motors to move the tool head 59 in a linear motion along the mounting axis 31 regardless of the 3-D orientation of the mounting axis 31. The appropriate tool head(s) 59 are selected and mounted on the manipulator 62 (step 205); this may represent the first step. The manipulator is maneuvered to align with the wear element (step 206). The maintenance device 37 is maneuvered to engage with the wear element (step 207). The engagement may be such that the front end of the tip 11 is pressed against the stop 69 of the tool in the form of a gripping device. The movement of the servicing device 37 may include guiding the movements of the crane drives and the articulation drives so as to move the tool head with the wearing element along the mounting axis in a coordinated manner simultaneously in one solid movement. It is determined whether the tool 59 is correctly attached to the worn wearing element (step 209). For example, for a tool in the form of a gripping device, the paws try to grip the tip 11 with flanges 63 located completely on the rear edges 64 of the tip 11. If the attachment to the wearing element is unsuccessful, the float mechanism is activated (step 211). In another example, the float mechanism may be automatic. In addition, a warning signal 84 may be activated to indicate that the floating mode has been initiated.

The float mechanism may be controlled by the main computer 43 with or without a driver (e.g. automated). The float mechanism may be started in a number of different ways, such as those indicated above. The float mechanism may be started several times before coupling with the worn wear element. Such examples include floating one drive in an attempt to couple, and if this fails, floating the second drive, etc. The drives may alternatively float simultaneously.

In the example shown in Fig. 13, the three-axis joint assembly 71A comprises float mechanisms 81, 82 on drives 34, 46, respectively. The floating mode may provide the ability to control the axis A6, while the axes A4 and/or A5 are in the floating mode. In this example, the movement along the removal/installation path 31 can be better achieved by means of small increments on the part of the drives 34, 46. This step can include, for example, preparing the worn tip 11 that needs to be removed, so that the driving arm 65 is lowered so that the tool 67 is placed in the cutout 25 of the tip 11 and is rotated with the movement of the leading end 21 of the pin 29 from the cutout 20. This can further include confirmation by sensor data of the complete extraction of the pin from the tip 11 or from the adapter 10, 9. In another implementation, the sensors can also help to determine when the pin has been removed from the adapter 10, so that the tip 11 can be removed without completely extracting the pin. In another implementation, sensors may assist in determining when the pin is fully installed in the adapter 10. The pin determination may be obtained by means of GPS or accelerometers that either track a predetermined distance that the gate must travel to fully engage or fully remove, or take data for comparison with other gates already installed or removed on the excavation equipment. If the connection is successful, then the worn wear element 7 is removed along the assembly axis 31 (step 213). This may be done by means of manual control so that the maintenance device comprising the crane 4 and the joint assembly 71, 71A move in concert around the assembly axis or by means of a computer processing system that has commands or logic for a programmable removal path. The worn wear element 7 may be disposed of by placing the worn wear element 7 in the bin 75 on the system 35.

The removal step 213 may optionally also include removal movements for better removal thereof from its base before and/or during the movement of the wear element 7 along its assembly path 31. Examples of removal movements may, for example, include a short and/or rapid rocking of the wear

- 19 047502 of the wear element in the vertical and/or transverse direction to help release a stuck (e.g. due to the presence of pressed-in small particles) wear element from its base. The application of the removal movements may take place before or during the pulling of the wear element along its assembly path. The removal movements may be programmed to take place automatically during each removal of the wear element and/or only if the force for removing the wear element exceeds a specified limit.

The method 200 can start again by moving the gripping device 60 to the next wear element 7 that needs to be removed, or it can be followed by a method of installing a new replaceable wear element where the worn one was removed. Also, the method 200 can learn the work path in a learning mode, when the operator manually moves the maintenance device along a repeating route or stages when removing and installing a wear part. The method 200 can save these maneuvers and repeat them exactly or with a small adjustment when moving to the next wear element 7.

In Fig. 18, one example of a method, or process, or program 300 for installing a new wear component 7A on an earthmoving machine is shown. The method 300 may be implemented in software instructions in the context of any of the applications, modules, components or other such software elements installed on the computer 43, or may be under the control of a machine operator through manual and/or semi-automatic controls. The software instructions direct the underlying physical or virtual computing system or systems to operate in the following manner, while referring to the steps shown in Fig. 18. The various steps may be performed in a different order and/or include more or fewer steps.

To begin with, the service device 37 is attached to the replaceable wear element 7A (for example, the tip 11A) (step 301). For example, this can be a tool head of a gripping device that grips the wear element and removes the replaceable wear element from a storage location. The storage location can be a carousel 77 or other similar storage locations. An assembly path 31 is determined (step 303). The path 31 can be determined by the computer 43 based on the removal process, by sensors 39 (such as those described for the removal process or others) and/or by the machinist using manual (or semi-manual) control. For example, the operator can stop the device 37 at a given point in the manipulator or crane mode, this stop of the crane or manipulator sets the mounting axis 31, and then switching the controls to another mode, such as the mounting axis mode or the linear motion mode, will lead to the movement of all components of the system 35 along this set mounting axis 31 (for example, along a linear path). The method 300 can further include storing the maneuvers, the path 31 and the location in which the worn wear element 7 was pulled off the fastening (for example, the intermediate adapter 10), and can call the stored information (without returning to the waste bin 75) from any previous movement to align the replaceable wear element 7A with the mounting axis 31 for installation on the base or fastening.

The next step includes maneuvering the servicing device 37, which may comprise the crane 47, the articulation unit 71A and the tool head attached to the wear member 7A (e.g., the tip 11A), adjacent to the mounting position (e.g., the front nose 18 of the intermediate adapter 10) on the excavation equipment and aligning it with the mounting path or installing it (step 305). When the replaceable tip 11A is aligned, the method 300 can coordinately maneuver the components of the servicing device (e.g., the crane, the articulation unit, the tool head), so that the tip 11A moves forward in a straight or other determined motion along the mounting path 31 to mount or install the tip 11A on the fastener (e.g., the intermediate adapter 10) (step 306). It is determined whether the mounting of the tip is not correctly aligned (step 307). This can be done, for example, by checking the clearance for the shutter 13, since the shutter must be positioned passing through the wear element 7 on the fastener (for example, the intermediate adapter 10). In one example, the placement of the shutter 13 can be assisted by sensor data (for example from sensors in the shutter 13), which confirm that the shutter is in place or is skewed. For example, being incorrectly aligned, the shutter 13 cannot be aligned so as to enter the cutout 19. In the event of incorrect alignment, the float mechanism is activated (step 309). In addition, the warning signal 84 can optionally be activated to indicate that the float mode has been initiated.

The float mechanism may be initiated in a number of different ways, such as those previously indicated. The float mechanism may be initiated several times before the replacement wear element is fully assembled. Such examples include the implementation of the float of one actuator in an attempt to connect and, if this is unsuccessful, the implementation of the float of the second actuator, etc. Alternatively, the float may occur in two axes simultaneously.

Floating mode can provide control of axis A6, while axes A4 and A5

- 20 047502 are in a floating mode. In this example, the mounting axis 31 can be better reached by means of small increments on the part of the drives 34, 46. The float mechanism compensates for incorrect alignment (e.g., relative positioning) of the mating parts. In one example, this is due to tight fits (e.g., small tolerances) that may exist between the tip and the fastening, the tip 11 must generally be mounted on the base with a straight movement along the mounting axis 31 of the tooth. In another example of incorrect alignment, the tip 11 may move to the side during installation. In yet another example, the deeper the mounting cavity 27 (e.g., as for the teeth 24 shown in Figs. 4 and 5), the greater the need to mount the tip 11 along the straight mounting axis 31.

The mounting process is completed by aligning the replaceable wear element 7A on the mount and preparing it to receive the bolt (step 310). When the mounting process is completed, the method 300 fixes the wear element 7A on the mount (step 311). This step may further include lowering the drive 65 so that the bolt 13 is placed in the cutout 19 of the wear element 7 and is rotated with the movement of the pin in the bolt to maintain the position. If the mounting is successful, the wear element is removed along the mounting axis 31 (step 313).

The method 300 may begin again by moving the gripping device 60 to the next wear element 7 that needs to be installed, or it may be followed by a method of removing the worn wear element where a replacement wear element needs to be installed. Also, the method 300 may learn the work path in a learning mode, when the operator manually moves the maintenance device along a repeating route or steps when removing and installing a wear part. The method 300 may store these maneuvers and repeat them exactly or with a small correction when moving to the next fixture for installation. The various steps of the method 300 may be performed in a different order and/or include more or fewer steps.

Fig. 19 is a system diagram illustrating an example machine representing a taxonomy of a computing system or host computer 401 used to monitor one or more ground interacting articles or at least a portion thereof (e.g., a backside or a bottom side). Examples of the computing system 401 include, but are not limited to, server computers, web servers, cloud computing platforms and data center equipment, as well as any other types of physical or virtual server machine, container and any variation or combination thereof. The computing system 401 can be implemented as a single apparatus, system or device or can be implemented distributedly as multiple apparatuses, systems or devices. Information and/or data can be processed by the processing system 402. The processing system 402 can be part of a stand-alone or monitoring system of the maintenance device 37, the excavation equipment 1, the system 35, the handheld device, the mobile device, the computer 43, the sensors 39, 39A, 41 and/or remote device(s).

The main computing system 401 includes, but is not limited to, a processing system 402, a storage system 403, software 405, a communication interface system 407, and a user interface system 409 (optional). The processing system 402 is operatively connected to the storage system 403, the communication interface system 407, and the user interface system 409.

The computing system 401 for processing information may employ central processing units (CPUs) or processors. The processing system 402 may be implemented within a single processing device, but may also be distributed across multiple processing devices or subsystems that cooperate to execute software instructions. Examples of the processing system 402 include general-purpose programmable central processing devices, special-purpose microprocessors, programmable controllers, graphics processors, embedded components, specialized processors, and programmable logic devices, as well as any other type of processing devices, combinations, or variations thereof. The processing system 402 may facilitate communication between coprocessor devices. The processing system 402 may be implemented in distributed computing environments where tasks or modules are executed by remote processing devices that are linked via a communication network such as a local area network (LAN), a wide area network (WAN), the Internet, and the like. In a distributed computing environment, program modules or subroutines may be located in both local and remote storage devices. Distributed computing may be used to balance loads and/or aggregate processing resources.

In one embodiment, the processing system 402 or other elements of the system 401 may be an equipment control unit ECU or be operatively connected to it. In another embodiment, the processing system 402 may operatively perform encryption and decryption of requests or data.

The processing system 402 may include a microprocessor and other circuitry that retrieves and executes computer instructions, programs, applications, and/or software 405 from the storage system 403. The processing system 402 executes software components in response to requests generated by the user and/or the system. One or more of these software components

- 21 047502 can be implemented in software, hardware, or both hardware and software 405. The processing system 402 can transmit commands (e.g., operational commands and data commands) to implement various operations.

The communication interface system 407 may include connections and communication devices that enable communication with other computing systems over communication networks. For example, the communication interface system 407 may be in communication with a network.

Examples of connections and devices that together provide communication between systems may include network interface cards, antennas, power amplifiers, RF circuits, transceivers and other communication circuits. The communication interface system 407 may use various wired and wireless connection protocols, such as a direct connection, Ethernet, a wireless connection such as IEEE 802.11a-x, miracast and the like. The connections and devices may communicate over communication media to exchange messages with other computing systems or networks of systems, such as metal, glass, air or any other suitable communication media. The aforementioned media, connections and devices are well known and do not need to be discussed in detail here.

The communication interface system 407 may include a firewall that may, in some embodiments, control and/or process permissions for implementing/granting access rights to data in a computer network and monitor various levels of trust between different machines and/or applications. The firewall may consist of any number of modules having any combination of hardware and/or software components configured to implement a predetermined set of access rules between a specific set of machines and applications, machines and machines, and/or applications and applications, for example, to regulate the flow of data exchange and the division of resources between these different entities. Other network security functions performed by or included in the firewall functions may be, for example, but not limited to, intrusion prevention, intrusion detection, a next-generation firewall, a personal firewall, etc., without departing from the inventive idea of the present invention.

The user interface system 409 facilitates communication between user input devices, peripheral devices, and/or the like and components of the computing system 401 using protocols such as those used to process audio, data, video interface, wireless transceivers, or the like (e.g., Bluetooth®, Bluetooth® Low Energy, IEEE 1394a-b, serial, universal serial bus (USB), digital video interface (DVI), 802.11a/b/g/n/x, cellular, etc.).

User input devices may include card readers, fingerprint readers, joysticks, keyboards, microphones, mouse-type manipulators, remote control devices, retinal readers, touch screens, sensors, and/or the like. Peripheral devices may include an antenna, audio devices (e.g., microphone, speakers, etc.), video cameras, external processors, displays, communication devices, radio frequency identification (RFID) elements, scanners, printers, storage devices, transceivers, and/or the like. For example, user interface 409 may receive data and format the data for display on a display.

User input devices and peripheral devices may be connected to the user interface 409 and potentially other interfaces, buses and/or components. Also, user input devices, peripheral devices, coprocessor devices, etc. may be connected via the user interface system 409 to the system bus. The system bus may be connected to a number of interface adapters, such as the processing system 402, the user interface system 409, the communication interface system 407, the storage system 405, etc.

The storage systems 403 may employ any number of magnetic disk drives, optical drives, solid-state memory devices, and other storage media. The storage system 403 may include volatile and nonvolatile media implemented using any method or technology for storing information such as machine-readable instructions, data structures, program modules, or other data. Examples of storage media include tangible storage devices or long-term storage systems such as fixed or removable random access memory (RAM), read-only memory (ROM), magnetic disks, optical disks, flash memory, virtual memory and non-virtual memory, magnetic cassettes, magnetic tape, solid-state memory devices, magnetic disk drives, or other magnetic storage devices, or any other suitable storage media readable by the processor. In no case are the machine-readable storage media a propagating signal. The memory system 403 may employ various forms of memory, including on-chip CPU memory (e.g., registers), RAM, ROM, and storage devices. The memory system 403 may be in communication with a number of storage devices, such as storage devices, databases, removable disk devices, and the like. The memory system 403 may employ various protocols with

- 22 047502 connections such as Serial Attachment Advanced Technology (SATA), IEEE 1394, Ethernet, Fiber, Universal Serial Bus (USB), etc.

In addition to the computer-readable storage media, in some embodiments, the storage system 403 may also include a computer-readable communication medium, on which at least some software 405 may be transmitted internally or externally. The storage system 403 may be implemented as a single storage device, but may also be implemented on several storage devices or subsystems located together or distributed relative to each other. The storage system 403 may contain additional elements, such as a controller, configured to communicate with the processing system 402 or, possibly, other systems.

The storage system 403 may be a database or database components that can store programs executed by the processor to process the stored data. The database components may be implemented in the form of a database that is relational, scalable and secure. Examples of such databases include DB2, MySQL, Oracle, Sybase, etc. Alternatively, the database may be implemented using various standard data structures, such as an array, a hash, a list, a stack, a structured text file (e.g., XML), a table and/or the like. Such data structures may be stored in memory and/or in structured files.

Computer-executable instructions and data may be stored in memory (e.g., registers, cache memory, random access memory, flash memory, etc.) accessible by processors. These stored instruction codes (e.g., programs) may interact with processor components, a motherboard, and/or other system components to perform desired operations. Computer-executable instructions stored in memory may include an interactive human-machine interface or platform having one or more software modules, such as procedures, programs, objects, components, data structures, etc., that perform specific tasks or implement specific abstract data types. For example, memory may contain an operating system (OS), modules, processes, and other components, database tables, etc. These modules/components may be stored in and accessed from memory devices, including external memory devices accessible through an interface bus.

The software 405 (including the move process 411, the removal process 413, the mounting axis process 415, the installation process 417, and the floating mode process 419) may be implemented in software instructions and, among other functions, may, when executed by the processing system 402, direct the processing system 402 to operate as described with respect to the various operating scenarios, sequences, and processes presented herein. For example, the software 405 may include software instructions for implementing the installation and removal process as described herein.

In particular, the software instructions may include various components or modules that cooperate or otherwise interact to perform the various methods and operational scenarios described herein. The various components or modules may be embodied in compiled or interpreted instructions or in some other variation or combination of instructions. The various components or modules may be executed synchronously or asynchronously, sequentially or in parallel, in a single-threaded environment or in a multi-threaded environment, or in accordance with any other suitable execution paradigm or variation or combination thereof. The software 405 may include additional processes, programs, or components, such as operating system software, software for creating a virtual environment, or other application software. The software 405 may also contain firmware or some other form of machine-readable processing instructions executed by the processing system 402.

In general, the software 405 can, when loaded into the processing system 402 and executed, transform the suitable apparatus, system or device (represented by the computer system 401) as a whole from a general-purpose computer system to a special-purpose computer system adapted to provide packet forwarding. Indeed, the encoding software 405 in the storage system 403 can transform the physical structure of the storage system 403. For example, if the computer-readable storage media are implemented as a semiconductor-based memory, the software 405 can transform the physical state of the semiconductor memory when program instructions are encoded therein, such as by transforming the state of transistors, capacitors or other discrete circuit elements that make up the semiconductor memory. Such a transformation can occur with respect to magnetic or optical media. Other transformations of physical media are possible without departing from the scope of the present description, and the previous examples are presented only to facilitate the present discussion.

The movement process 411 includes commands for controlling the service device 37. Some

- 23 047502 some or all of the actions of the servicing device 37 may be fully or partially automated. The movement process 411 may control the pipeline valves for various hydraulic cylinders, actuators and/or motors. The movement process 411 may contain commands for the processor or controller to configure or manually direct the actions of the lifting crane 47, the three-axis joint 71A and/or the supported tool head(s) 59. The movement process 411 may have a processor with commands adapted for reception by another host computer, a handheld device or a mobile device performing an operation in real time, such as removal, installation, inspection, repair operations, etc.

In the movement process 411, the commands for the automated operations are preferably pre-stored in a database (remote or located in the adapter 6) and used to perform the desired operations (for example, the process 413, 415, 417 and 419). In the movement process 411, the service device 37 and/or the three-axis joint unit 71A and/or the tool head(s) 59 can be provided with displacement sensors (linear or angular) and/or position sensors 41 on the drives 34, 46, 56 to identify their positions and/or orientations. The automated and manual controls can work together in interaction, sequentially or separately. The signals may be alternatively or additionally received from sensors 41 contained in components and/or equipment that are to be removed, installed, tested, etc., for example, to identify the component(s) and/or equipment, to direct the crane 47, the three-axis joint 71A and/or the tool head(s) 59 or to report other information about the position, condition or operation of the wear component 7 and/or equipment. The signals may be received from other assemblies of the three-axis joint and/or the tool head(s) operating near or in cooperation with the crane, the three-axis joint assembly 71A and/or the tool head(s) 59. The process 411 allows the worker to avoid contact with the wear parts and to remain at a safe distance from the parts during the maintenance operation.

The removal process 413 is used to remove the worn wear component 7 from the earthmoving machine 1. Since the earthmoving machine can be turned off in any given position, the removal process 413 must determine the orientation and the number of worn wear components. The removal process 413 can receive generated information from the electronic sensor 39, 39A, 41, which, for example, receives data. The process 413 can receive information from such a video camera (or the like), and/or sensors, and/or sensors in the wear elements or equipment supporting the wear elements. For example, the removal process 413 can receive information to identify the type of the wear elements 7 installed on the bucket, the position of the wear element 7 on the bucket 3, the orientation of the wear element 7, the state of the wear element 7, etc.

For example, the sensor 39, 39A, 41 may detect the orientation of the wear element and/or the spatial position of the wear element and wirelessly transmit a signal with location information for use by the process 413 in determining the orientation and/or position of the wear element. As another example, an image sensor, such as a video camera(s), located on the maintenance device 37 or separate from it, may be used by the process 413 to determine a specific 3-D orientation and/or position of the tooth 7 (for example, the tip 11). Other types of sensors are possible and/or sensors of two or more different types may be used in combination with each other (for example, a wear sensor in combination with a position sensor, an inclination sensor or an accelerometer).

The removal process 413 may use the mounting axis process 415. The removal process 413 may provide information and analysis obtained from data received from the sensor 39, 39A, 41, from a database, other data sources, another remote device, etc. In an alternative embodiment, the mounting axis process may receive signals from the sensors 39, 39A, 41, in one example via wireless transmission (other configurations are possible), containing data such as the location of the mounting axis 31. The mounting axis process 415 may use the data collected from the sensors, including the detected orientation of the worn wear component, to determine the mounting axis 31. The mounting process 415 may optionally access a database with details of the tips 11 and the mounting axes 31 to perform the required determination.

The removal process 413 may determine that the appropriate tool head(s) 59 are selected and mounted on the manipulator 62. The removal process 415 may use data from the mounting axis process 415, including the detected orientation of the mounting axis 31, the orientations of the worn wear member, and the relative positions of the crane 47 and the articulation components 71, to control the hydraulic cylinders and motors to move the tool head 59 in a linear motion or a non-linear motion along the mounting axis 31, regardless of the 3-D orientation of the mounting axis 31. The movement of the tool head 59 along the mounting path 31 may be a coordinated, simultaneous movement of different adjustable components directed by the removal process 413. It may include a coordinated movement of

- 24 047502 all adjustable components or it may not include the adjustment of all adjustable components. It is envisaged that the wear element 7 must be removed along a certain assembly path or axis 31. Other assembly paths are also possible. For example, certain wear elements 7 (e.g. tips and protective covers) can be removed and/or installed along an assembly path that is non-linear (e.g. arcuate).

Alternatively, during the removal process 413, the manipulator 62 can be manually adjusted to position the tool head 59 in the vicinity of the wear element 7 or in engagement with it, for example by pressing against the stop 69. Lasers (not shown) can be provided on the manipulator 62 to provide sight lines that can help the machinist position the screwing tool 67 in the shutter 13. Video cameras and/or sensors can be used in manual, automatic and/or semi-automatic operations. Video cameras can be provided (in addition to lasers or by themselves) to assist in connecting the tool 59 to the wear parts. The use of video cameras can also be used to assist the machinist or to fully automate the operation of the maintenance device 37.

The front end of the tip 11 is pressed against the stop 69 along the mounting axis 31. The removal process 413 can determine whether the tool head 59 has correctly gripped the worn wear element 7. In the removal process 413, the gate 13 can be removed. In one example, the placement of the gate 13 can be assisted by sensor data (for example, from sensors in the gate 13), which confirm that the gate has been removed, can be removed, or is incorrectly aligned. The determination of the pin of the gate 13 can be obtained by GPS or accelerometers that either track a predetermined distance that the gate must travel for partial or complete removal, or take data for comparison with other gates already installed on or removed from the excavation equipment. In the process 413 of removal, the paws 61 of the gripping device 60 try to grip the tip 11 with the flanges 63 on the rear edges 64 of the tip 11. In case of failure, the process 413 of removal can cause the process 419 of the floating mode. The process 419 of the floating mode transfers the actuators 34, 46, 56 to a neutral state so that the pressure of the valves is balanced in both directions and the actuators move in smaller increments in each direction of the axis A4 and/or A5.

The floating process 419 may be started in a number of different ways, such as those indicated above. The floating process 419 may be started several times in different ways, as explained above, before a connection with the worn wear element is achieved. The removal process 413 may optionally also include removal movements, as discussed above, to better remove the wear element 7 from its base before and/or during movement along its mounting path 31/removal path.

The removal process 413 may further include preparing the worn wear element 7 to be removed, such that the driving arm 65 is lowered so that the tool 67 is placed in the cutout 45 of the wear element 7 and is rotated with the movement of the leading end 21 of the pin 29 from the cutout 19. After unlocking, the worn wear element 7 is removed along the mounting axis 31. The removal process 413 may include recycling the worn wear element 7 by placing the worn tip 11 in the bin 75. The process 413 may be started again by moving the gripper 60 to the next worn wear element 7 to be removed. Also, the process 413 may learn in the learning mode the work path, when the machinist manually moves the maintenance device during repeated sessions. Process 413 may store these maneuvers and repeat them exactly or with a slight correction when moving to the next worn wear element 7.

The installation process 417 is used to install a new wear component 7A on the earthmoving machine 1. The installation process 417 relates to a replaceable wear component 7A, such as a tip 11A, from a predetermined position, such as a carousel 77 or similar holding place. The location of the replaceable tip 11A may be determined by sensors on the replaceable tip 11A or by a location programmed in the process 417. The installation process 417 uses the installation axis process 415, as described above. The installation axis 31 may be determined based on finer details of the removal process 413, by sensors 39 (such as those described for the removal process or others) and/or by manual (or semi-manual) control. The installation process 417 may further include storing the maneuvers, path 31 and location at which the worn wear member 7 was pulled off the fastener, and may recall the stored information from any previous iteration of the movement to align the replacement wear member 7A with the mounting axis 31 for installation on the base 9, nose 10, edge 16 or other mounting location by reversing these maneuvers.

Once the replacement tip 11A is aligned along the mounting axis 31, the installation process 415 can move the tip 11A forward in a straight or other defined motion along the mounting axis or other mounting path 31 to mount the tip 11A on the fastener (for example, the front nose 18 of the intermediate adapter 10). The installation process 415 can determine whether the mounting of the tip 11 is not correctly aligned. This can be done, for example,

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Claims (2)

by checking the clearance for the shutter 13, since the shutter must be positioned passing through the wear member 7 on the mount (for example, the front nose 18 of the intermediate adapter 10). Alternatively, this can be done by visually checking the image data of the video camera. In another example, the placement of the shutter 13 can be assisted by sensor data (for example from sensors in the shutter 13), which confirm that the shutter is in place or is incorrectly aligned. The determination of the shutter pin can be obtained by means of GPS or accelerometers, which either track a predetermined distance that the shutter must travel to fully engage or fully remove, or take data for comparison with other shutters already installed or removed on the excavation equipment. In the event of incorrect alignment, the installation process can engage the float process 419, as explained above. The floating process 419 compensates for incorrect alignment (e.g., relative positioning) of the mating parts. In one example, this is due to tight fits (e.g., small tolerances) that may exist between the tip and the fastener, the tip 11, as a rule, must be mounted on the intermediate adapter 10 or the main adapter 9 with a straight-line movement or a non-linear movement along the mounting axis 31 of the tooth. In another example of incorrect alignment, the tip 11 may move to the side during installation. In another example, the deeper the mounting cavity 27 (e.g., as for the teeth 24 shown in Figs. 4 and 5), the greater the need to mount the tip 11 along the mounting axis 31. The installation process 419 then locks the wear element 7A on the main adapter 9, the intermediate adapter 10, or the mounting location, after the alignment has been performed in the floating mode process 419. The installation process may include installing the shutter with the driving arm 65. In one example, the driving arm is lowered so that the shutter 13 is placed in the cutout 19 of the wear element 7 and rotated to lock. If the installation is successful, the tool 59 is removed from the replaceable wear element 7A. As can be understood, examples of the present invention can be implemented in the form of a system, a method, or a computer program product. Accordingly, examples of the present invention can take the form of a completely hardware example, a completely software example (including firmware, resident software, microcode, etc.) or an example combining software and hardware implementations, which can all be collectively referred to herein as a circuit, a module, or a system. In addition, implementations of the present invention can take the form of a computer program product embodied in one or more computer-readable media on which computer-readable program code is embodied. Although the present invention has been discussed above primarily in conjunction with a wear member on a bucket, the tool may be used to remove and install guards, fenders and/or guides on chutes, cutters on crushers, pipes, pipe fittings, truck bodies, end cutters from cutting plates or other attachments and components of earthmoving equipment and/or on them. The above description provides specific examples of a tool for installing and removing wear parts intended for excavation equipment. The system may contain different embodiments or features of the present invention. Features from one example may be used with features of another example. The examples and combinations of disclosed features are not intended to be limiting in the sense that they must be used together. The steps of the methods and processes may be performed in any order and may include fewer or more steps. CLAUSE OF THE INVENTION 1. A wear element maintenance system for removing and/or installing wear elements from and/or onto a mount on excavation equipment, wherein the wear element maintenance system comprises: a manipulator supporting the wearing element and containing hydraulic drives for adjusting the manipulator and thus moving the wearing element; a processing system configured to determine a path for removing a wear element from a fastening and/or installing a wear element on a fastening and a direction of movement of the hydraulic actuators so as to move the wear element along said path; and a float mechanism for controlling the pressure of the valve in the passage connecting both sides of at least one of the hydraulic actuators in order to direct the flow of fluid in the hydraulic actuators and to provide the possibility of small adjustments along at least one axis under the influence of external forces, as the wear element moves along said path. 2. A system for servicing wearable elements according to claim 1, characterized in that it includes sensors for determining the position of the crane components and the articulation components, when -