Abstract: A method and hardware for damping and controlling unwanted motion in the fixed rigging of large machines. In a first approach large clamp blocks are added to multi-cable rigging systems. These blocks use a first cable to damp the motion of an adjacent cable. The invention also encompasses adding armored sections to synthetic cables to enhance their abrasion resistance and cut resistance.

Abstract: A method and hardware for damping and controlling unwanted motion in the fixed rigging of large machines. In a first approach large clamp blocks are added to multi-cable rigging systems. These blocks use a first cable to damp the motion of an adjacent cable. The invention also encompasses adding armored sections to synthetic cables to enhance their abrasion resistance and cut resistance.

Abstract: A robotic system includes a base movable relative to a floor surface and a controllable arm extending from the base. The arm is configured to support and move a tool. The arm has a powered joint operable to position and/or orient a distal portion of the arm. The robotic system further includes a processor coupled to the powered joint and configured to drive the powered joint to reposition the base while the position and/or orientation of the distal portion of the arm is maintained.

Abstract: A robotic system comprising: a joint coupling a linkage to an additional linkage; and at least one cable; wherein the joint includes a motor having a shaft, a strain wave gear having a flexible member coupled to a circular spline, a conduit, and a bearing; wherein the motor is configured to rotate the shaft in a first direction and the strain wave gear is configured to rotate a rotatable member, the rotatable member including one of the flexible member or the circular spline; wherein the conduit is configured to rotate in response to rotation of the rotatable member; wherein the at least one cable passes through both the bearing and into the additional linkage but does not pass through either of the strain wave gear or the motor.

Abstract: A hydraulic excavator includes: a revolving frame; a work implement including a first actuator and a second actuator; a control valve; and a first pipe through which hydraulic oil flows between the control valve and each of the first actuator and the second actuator. The first pipe includes: a first conduit connected to the control valve; a second conduit and a third conduit that are connected to the first actuator and the second actuator, respectively; and a first branch portion at which the first conduit branches into the second conduit and the third conduit. A first region and a second region are on one side and the other side respectively with respect to the virtual straight line passing through a center of swing of the revolving frame. In the first region, a work implement is disposed. In the second region, the control valve and the first branch portion are disposed.

Abstract: A novel cable construction provided an armored covering over a cable containing high-strength synthetic filaments. The synthetic cable is provided with a strong and tough termination where it attaches to heavy machinery, such as mining machinery. An external armoring is then provided for a desired portion of the cable (up to the entire length of the cable). A collar is preferably provided to seal the end of the armoring portion to a cable jacket (where a cable jacket is present).

Abstract: A yoke for a dipper handle assembly used on a power shovel. The yoke is constructed at least in part of a transition portion and associated lugs manufactured of a forged material as opposed to castings. Accordingly, the yoke is less prone to failure and easy to repair in the field.

Abstract: A modular drive system for use with an industrial machine having a gear case includes a motor system. The motor system includes a motor housing and a motor shaft disposed in the motor housing. The motor system has a first, non-drive end and a second, drive end. The modular drive system also includes a brake system coupled to the second end of the motor system, and a drive gear coupled to the motor shaft, the drive gear disposed between the first end and the brake system.

Abstract: A reconfigurable motion generator and control system for multi-phase motion generation. Reconfigurable motion generators are a new class of mechanical devices that are designed for a specific part family and their associated motion generation tasks. The reconfigurable motion generator may utilize revolute joints for link length and pivot adjustment to achieve different configurations from the same set of links. Due to the nature of adjustment of the mechanism this methodology may be used for different types of motion generation tasks such as (a) common start position, (b) common end position, (c) common intermediate position, and (d) distinct motion generation tasks with no common positions. This technique can be applied towards the synthesis of reconfigurable motion generators for use in many planar or spherical applications involving multi-phase function, path, and motion generation tasks.

Abstract: A cable actuator comprising a chassis (1), a screw (2) mounted rotatably on the chassis and driven by an electric motor, a nut (4) engaging with the screw and associated with anti-rotation means such that a rotation of the screw, under the action of the motor, results in an axial movement of the nut, and two substantially parallel cables (10) coupled to the nut on either side of same. The cables are linked to an anchoring member (20; 30; 40) that is interposed between the nut and the cables, the anchoring member being secured to the nut while also being movable relative to same.

Abstract: Methods and apparatus are provided for filtering dynamically loadable namespaces (DLNs). In one exemplary embodiment, a method comprises the steps of, in response to a job submitted by an application, obtaining a dynamically loadable namespace (DLN) portion of a global single namespace of a file system, wherein the DLN is associated with the job and is maintained in a capacity tier of object storage of a storage system; obtaining one or more filtering directives from a user; reducing the DLN based on the one or more filtering directives to generate a filtered DLN; and dynamically loading the filtered DLN, including the metadata only for the filtered DLN, from the capacity tier of object storage into a performance tier of storage of the storage system for processing by the application. The filtered DLN is merged into the original DLN following one or more modifications to the filtered DLN.

Abstract: A bucket for use with a cable shovel includes a shell and a door collectively defining a cavity for gathering material to be excavated. The door is pivotally secured about a pivot axis on the shell so that the door can pivot between a closed position for gathering the material and an open position for dumping the material. The pivot axis is positioned forward of an exterior surface of a back wall of the shell to create a shallower and less forceful door swing during dumping. The door has a front portion that is bent towards a digging edge on the shell so that the door has greater strength, improves bucket loading, and moves a portion of the shell away from the highest wear area.

Abstract: A control system for a machine for digging and/or drilling earth, wherein the machine for digging and/or drilling earth comprises a digging head arranged to dig the soil, a flexible load-bearing cable arranged to support the digging head during normal operation, at least a first winch and a second winch, each of which in turn comprises a drum about which at least part of the flexible load-bearing cable can be wound, and a motor arranged to actuate the drum; the control system has an electronic control unit adapted for controlling the movement of the winches and a velocity sensor device arranged in each branch of load-bearing cable coming out from the winches adapted for monitoring the movement of the load-bearing cable.

Abstract: A power shovel including a tool for lifting, a machine house, a hoist drum, hoist drum machinery and an auxiliary weight box having a perimeter, the hoist drum and hoist drum machinery being at least partially disposed within the perimeter of the auxiliary weight box and the hoist drum being disposed outside of the machine house.

Abstract: Systems, methods, devices, and computer readable media for controlling a digging operation of an industrial machine that includes a dipper and a crowd drive. A method includes determining an acceleration associated with the industrial machine, determining a crowd retract factor based on the acceleration, comparing the crowd retract factor to a threshold crowd retract factor, setting a crowd speed reference and a crowd retract torque for the crowd drive for a period of time based on the comparison of the crowd retract factor to the threshold crowd retract factor.

Abstract: A crowd assembly (30) for a power shovel (10) includes a saddle block (34) adapted for pivotal connection to the shovel boom (24). A tubular dipper handle (32) is slideably supported by the saddle block. A hydraulic actuator (50) has a cylinder (52) and a piston rod (54) that is outwardly extendable from one end of the cylinder. One of the cylinder or the piston rod is fixed to the dipper handle and the other one is attached to the saddle block. The cylinder and the piston rod are within the tubular dipper handle which is able to slide longitudinally over the cylinder. A guide bushing (70) extends around the one end of the cylinder and engages an interior surface of the dipper handle. The guide bushing thereby supports that end of the cylinder and inhibits hydraulic actuator from deflecting within the dipper handle when the piston rod is extended from the cylinder.

Abstract: A mining shovel (10) includes a hydraulic system comprising a plurality of fixed displacement pumps (104,106,108,110) driven by a variable speed motor (100), and a tank (68) system comprising an upper return tank and a lower supply tank (70). A cylinder manifold (64) is connected to the pump control manifold (112), and includes a directional control valve for directing the extend and retract functions of the cylinder (50), while accepting fluid flow in a single direction from the pump control manifold. The single direction flow allows for the use of smaller fluid conduits (61), such that the hose providing a high pressure supply can be comparatively smaller than the return hose (67).

Abstract: A saddle block assembly including a main body having a shipper shaft opening through the main body bottom end, and an eccentric pin opening in the main body top end, an eccentric pin received in an eccentric pin opening in the top end of the main body, and a wear plate support. The wear plate support has a pin receiving opening, the eccentric pin being received in the pin receiving opening. Wear plates are mounted on the bottom end of the wear plate support and are adapted to bear against the top of a dipper handle.

Abstract: A crowd assembly (30) for a power shovel (10) includes a saddle block (34) adapted for pivotal connection to the shovel boom (24). A tubular dipper handle (32) is slideably supported by the saddle block. A hydraulic actuator (50) has a cylinder (52) and a piston rod (54) that is outwardly extendable from one end of the cylinder. One of the cylinder or the piston rod is fixed to the dipper handle and the other one is attached to the saddle block. The cylinder and the piston rod are within the tubular dipper handle which is able to slide longitudinally over the cylinder. A guide bushing (70) extends around the one end of the cylinder and engages an interior surface of the dipper handle. The guide bushing thereby supports that end of the cylinder and inhibits hydraulic actuator from deflecting within the dipper handle when the piston rod is extended from the cylinder.

Abstract: A saddle block assembly including a main body having a shipper shaft opening through the main body bottom end, and an eccentric pin opening in the main body top end, an eccentric pin received in an eccentric pin opening in the top end of the main body, and a wear plate support. The wear plate support has a pin receiving opening, the eccentric pin being received in the pin receiving opening. Wear plates are mounted on the bottom end of the wear plate support and are adapted to bear against the top of a dipper handle.

Abstract: A shovel including a dipper for gathering material from a bank. The shovel further includes a hoist motor operating control for operating a hoist motor, a speed sensor for monitoring the hoist motor speed, a torque sensor for monitoring the hoist motor torque, and a mechanism communicating with a crowd motor control, the torque sensor and the speed sensor for moving a dipper handle toward a boom when the hoist motor speed is below a low-speed value while under high torque, and for permitting movement of the dipper away from the boom when the hoist motor speed is above the low-speed value or not under high torque.

Abstract: A shovel including a dipper for gathering material from a bank. The shovel further includes a hoist motor operating control for operating a hoist motor, a speed sensor for monitoring the hoist motor speed, a torque sensor for monitoring the hoist motor torque, and a mechanism communicating with a crowd motor control, the torque sensor and the speed sensor for moving a dipper handle toward a boom when the hoist motor speed is below a low-speed value while under high torque, and for permitting movement of the dipper away from the boom when the hoist motor speed is above the low-speed value or not under high torque.

Abstract: A belt drive including a first belt sheave having a center, the first belt sheave having a center, the first belt sheave being pivotally mounted on a member, and a motor base pivotally connected at one end to the member. The belt drive further includes a motor mounted on the other end of the motor base, and a second belt sheave rotatable by the motor. A belt is trained around the first and the second belt sheaves. The belt also includes an adjusting mechanism extending between the motor base and the member for fixing the position of the motor base relative to the member and for fixing the center to center distance between the first and the second belt sheaves. The adjusting mechanism comprises a cylinder assembly including a cylinder housing and a piston rod extending from the housing and being extendable from and retractable into the housing, with the housing being connected to the member and the piston rod being connected to the motor base.

Abstract: A freight manipulator includes a mobile chassis positioned on a pair of guide tracks and have an articulated cantilever boom extending forwardly thereof. A tool carriage is mounted at the end of the boom and has a pair of freight engaging tools thereon for engaging freight articles. The boom is connected to a two-axis gimbals at the rear of the chassis which allows swinging of the boom about a vertical axis and tilting of the boom about a horizontal tilt axis to increase the positioning range of the freight engaging tools. A boom bearing assembly at the front of the chassis supports the boom on the chassis during movement thereof. A pair of swing cylinders are connected to the chassis and have a chain connecting the ends of their rams to the bearing assembly. The swing cylinders work in opposition to swing the boom. A pair of boom tilt cylinders are connected between the bearing assembly and the boom and operate in unison to tilt the boom.

Abstract: A small, self-contained portable back-hoe has a wheeled frame with a towing tongue for over-the-road trailering. Pivoted outriggers are connected to the back and a third support is secured to the front of the frame. Cylinder units are coupled to position the supports for digging and in raised position for trailering. The bucket and articulated boom assembly is affixed to the frame with a vertical pivot and includes cylinder units for digging operation thereof. An operator station and a hydraulic power supply source or system is secured to the front of the frame. A special hydraulic supply is integrated into the front framework. The back-hoe boom assembly and operating assembly are balanced about the single axle for convenient positioning. The bucket assembly and three-point support are arranged to minimize the tipping of the frame as a result of the digging forces. A gasoline driven high efficiency industrial-type pump is connected to the cylinder units with a filter and the suction side.

Abstract: An excavator for use in tunneling operations wherein there is minimal head room, comprising a boom mounted to a mobile carriage for rectilinear movement in a horizontal plane and angular movement in a vertical plane. A rigid arm is pivotally mounted at one end to the distal end of the boom for angular movement relative thereto and a slide is supported by the arm for rectilinear movement thereon. The backhoe is fixed to the slide and there is linkage for manipulating the backhoe.

Abstract: In a fork-lift truck comprising a wheeled structure carrying a lifting arm with a first part articulated at its rear end to the structure and a second part projecting downwardly from the front end of the first part and carrying a forked loading platform, and a jack for raising and lowering the arm, the lifting arm is supported by the wheeled structure so as to be orientable about a substantially vertical axis and two adjacent caliper units located in a general V configuration are provided to move the forked platform linearly relative to the lifting arm. Each caliper unit includes two plates having one mutual hinged articulation end and opposite articulation ends respectively hinged to the second part of the lifting arm and to the forked platform, the hinged articulations of the caliper units having respective axes which diverge downwardly and are substantially perpendicular to each other. Actuators are interposed between the two plates of each caliper unit for opening and closing them simultaneously.

Abstract: An excavator for use in tunneling operations wherein there is minimal head room, comprising a boom mounted to a mobile carriage for rectilinear movement in a horizontal plane and angular movement in a vertical plane. A rigid arm is pivotally mounted at one end to the distal end of the boom for angular movement relative thereto and a slide is supported by the arm for rectilinear movement thereon. The backhoe is fixed to the slide and there is linkage for manipulating the backhoe.

Abstract: An improved swing gear for a power mining shovel which can be removed and replaced simply by partially separating the upper rotatable frame assembly from the lower stationary frame assembly and including upper and lower bearing rails formed of a plurality of arcuate segments and a plurality of arcuate bearing segments removably coupled to each other to form a circular bearing arrangement positioned between the upper and lower bearing rails whereby the bearing segments and bearing rail segments may be removed and replaced in an area exposed by the upper frame assembly without any separation of the upper rotatable frame assembly from the lower stationary assembly.

Abstract: A shovel dipper bail assembly including a bail having a central cylindrical portion and a lifting hitch rotatably connected to the cylindrical portion, the hitch assembly extending only slightly above the cylindrical portion and having lift cable connection means on opposite sides of the bail.

Abstract: A robotic system including a manipulator arm for moving a device to a predetermined point within a working volume under control of microprocessor based control unit. The manipulator arm includes various sections and joints defining a base, a shoulder, an arm and a wrist. The wrist is jointed to pivot about a pitch axis and a roll axis. The manipulator is arranged to pivot the arm about the base axis and shoulder axis, which axes intersect at a common point. The arm includes a section which is extendable through the use of telescoping links. The wrist is mounted on the end of the telescoping links, with the pitch and roll axes intersecting at a second point. The second point lies along the extension axis of the arm links and is spaced from the shoulder-base axis intersection point. The links forming the telescoping section are arranged to move in unison with each other. A motor and associated harmonic drives are provided to effect the motion at the joints.

Abstract: A telescoping boom assembly having novel and inexpensive apparatus for extending and retracting the boom assembly and for extending and retracting an articulated pipeline mounted on the boom assembly. A total of three winches can be used to move a multiple section boom assembly between a retracted position and an extended position regardless of the number of movable boom sections, and the same three winches can independently move the articulated pipeline between a folded and an extended position.

Abstract: A rod device for use as an arm of an excavator, so as to be pivotally supported by a boom and inclined relative to the boom by an actuator, including a plurality of tubular elements assembled in a telescoping manner, means for restricting relative axial movement of each two mutually telescoping tubular elements, and a means for drivingly connecting the outermost and the innermost of the plurality of telescoping tubular elements, wherein a clamshell bucket or a rock breaker is directly mounted to the tip end of the rod device so that the rod device serves both as an arm and a cable for suspending the clamshell bucket or the rock breaker.

Abstract: A double articulated material handling machine that is particularly adapted for use with a rotatable working tool having a cantilevered boom arm. The machine includes a front module, a central module, and a rear module with the front and rear modules being connected to the central module for pivotal motion about vertical axes. Steering of the machine is effected by double acting hydraulic rams which are mounted in symmetrical relation to the longitudinal axis of the machine. A pair of retractable and extensible stabilizers extend laterally from the central module. If the fluid steering rams on one side of the machine are retracted and the rams on the other side of the machine are extended, the front and rear modules are caused to turn through an angle relative to each other for steering or for placing the machine in a working position.

Abstract: An extendable utility boom assembly for assisting fire-fighting operations performed from a semi-submersible service vessel upon an offshore platform is disclosed. The boom assembly is moved to operating position by means of a carriage assembly which is mounted for movement along a track secured to the deck of the service vessel. Orientation of the boom assembly in azimuth and pitch is provided by a supporting frame which is pivotally mounted on the carriage assembly for angular movement through a horizontal plane, and a trunnion which is pivotally mounted on the supporting frame for angular movement through a vertical plane. An elongated utility boom is supported by roller bearing elements for axial movement through the trunnion. A first linear actuator is interconnected between the carriage assembly and supporting frame for displacing the supporting frame through the horizontal plane.

Abstract: A crowd drive assembly for a power shovel is described. The power shovel includes a main frame, a boom connected at the lower end thereof to the main frame, a dipper handle pivotally connected to the boom and a dipper connected to the dipper handle. A rack and pinion crowd drive arrangement is provided wherein a yoke is mounted within an opening in the boom for receiving and guiding the dipper handle as it is extended and retracted by the crowd drive. A shipper shaft is journaled in the boom and extends through trunnions therein. The yoke is pivotally mounted, coaxially with the shipper shaft directly on the trunnions which are an integral part of the boom so that loads experienced by the yoke are transmitted directly to the boom and not to the shipper shaft. A removable bearing housing arrangement supports the yoke on the trunnions.

Abstract: An excavator having a boom with slidably engaging base and beam parts is disclosed. The base part is mounted on a support part of the excavator for rotation about a horizontal axis; and a dipper arm which carries an excavating tool is pivotally suspended from the beam part. The base and beam parts are joined by channel section guides which permit sliding movement between the parts. A wedge member releasably fixes the relative position of the base and beam parts by wedgingly engaging both parts.

Abstract: An extendable utility boom assembly for assisting fire-fighting operations performed from a semi-submersible service vessel upon an offshore platform is disclosed. The boom assembly is moved to operating position by means of a carriage assembly which is mounted for movement along a track secured to the deck of the service vessel. Orientation of the boom assembly in azimuth and pitch is provided by a supporting frame which is pivotally mounted on the carriage assembly for angular movement through a horizontal plane, and a boom housing which is pivotally mounted on the supporting frame for angular movement through a vertical plane. An elongated utility boom is supported by roller bearing elements for axial movement through the boom housing. A first linear actuator is interconnected between the carriage assembly and supporting frame for displacing the supporting frame through the horizontal plane.

Abstract: In a power shovel having a main frame, a front end assembly operatively connected to the main frame and a rope crowd system including a rope drum supported on the main frame, a motor supported on the main frame drivingly connected to the rope drum, a brake operatively connected to the rope drum and a rope wound on the drum and operatively connected to the front end assembly, a system for preventing the rope from becoming slack comprising apparatus responsive to an impending slack condition of the rope for actuating the drum brake thereby preventing continued pay out of the rope by the drum and apparatus responsive to motor torque in a pay-out direction for disengaging the motor from the rope drum, allowing the motor to continue to operate in the pay-out direction when said drum brake is actuated.

Abstract: A machine comprising a rotatable telescopic boom assembly includes an outer boom section, an intermediate boom section rotatably mounted within the outer boom section, and an inner boom section located within the intermediate boom section on a telescopic relationship thereto. The inner boom section is adapted to carry an implement such as, for example, an impact hammer, at one end thereof. A mounting is provided to which the outer boom section is rigidly attached. Fluid actuating means are also provided for rotatably driving the intermediate boom section within the outer boom section continuously through 360.degree. in one direction of rotation and for reciprocating the inner boom section within the intermediate boom section.

Abstract: An apparatus for excavating or cleaning out sumps and drainage pits includes a mobile, towable chassis rotatably supporting a platform thereon. A standard extends upwardly from the platform and an elongate, rigid boom structure and guide is mounted upon the standard for upward and downward swinging movement and for forward and rearward reciprocal movement relative to the platform. A material engaging member such as a bucket is mounted to a forward end of the boom structure and has a cover therewith whereby the bucket closes and traps mud or loose materials for removal from the sump or drainage pit. An engine mounted upon the platform powers a hydraulic pump for routing fluid under pressure to motors and rams controlling operation of the platform, boom structure and material engaging member.

Abstract: In a power shovel having a lower frame and an upper frame rotatably supported on the lower frame, a center pin assembly for carrying radial and axial loads imposed on the upper frame comprising a downwardly opening socket mounted on the lower frame, a pin disposed on the axis of rotation of the upper frame, the pin having a center section and an annular section, the center pin section having an upper end rigidly secured to the upper frame and a lower portion extending downwardly into the socket, the annular pin section being interposed between the socket and the lower end of the center pin section, the annular pin section and the socket having bearing contact surfaces, axially spaced, annular sealing rings disposed between the lower portion of the center pin section and the annular pin section providing an annular variable volume chamber therebetween and means for supplying a measured volume of fluid to the variable volume chamber to effect a predetermined displacement between the center pin section and the a

Abstract: An improvement to large container handlers having a transportable platform. A powered positionable support arm is pivotally mounted on one end to the platform for vertical rotation. A L-shaped arm is pivotally mounted from the other end of the support arm to be vertically rotatable. A container gripping device is suspended from the L-shaped arm. In one embodiment, the support arm is mounted to move the L-shaped arm vertically as the support arm is rotated so as to, thereby, raise and lower a container without sidewards movement.

Abstract: A power shovel including a stiffleg, a dipper handle operatively connected to the stiffleg, a dipper having a forwardly disposed digging end pivotally connected to the dipper handle, the dipper being biased to pitch the forwardly disposed digging end thereof upwardly, means for limiting the upward pitch of the digging end of the dipper relative to the dipper handle, a hoist frame pivotally connected to the stiffleg, and a hoist link pivotally connected at the ends thereof to the hoist frame defining a four bar linkage.

Abstract: A bail assembly for a rope drive mechanism is described which operates to equalize the loads on the ropes extending through it and minimize bending of those ropes. Two ropes are looped through the bail around small sheaves which are rotatably mounted on a double eccentric shaft. The ropes are guided to and from the sheaves in the same plane. The bail assembly is mounted to align itself with the plane of the ropes, and it is balanced so that its weight will not bend the ropes under slack conditions. Provisions are made for the bail assembly to operate to remove slack in the ropes by exerting its weight on the ropes.