Abstract: An open loop electrohydraulic bucket position control system for a work vehicle having a positionable bucket coupled to a movable boom. The bucket control system maintains a position of the bucket with respect to a frame of the vehicle as the movable boom is raised or lowered. A bucket command, determined by an operator of the vehicle, is modified based on a pre-determined relationship of the work vehicle's hardware and known and constant properties of a linkage design of the work machine. The control system includes a processor and one or more look-up tables that include data identifying implement velocities with respect to boom commands and implement velocities with respect to bucket commands. Bucket commands are modified based on a relationship between the commanded velocity of the boom and a level orientation of the bucket during the commanded heights of the boom. Modified bucket commands and boom commands adjust the position of a bucket hydraulic cylinder and a boom hydraulic cylinder.

Abstract: The invention relates to a humanoid robot comprising two elements connected by a spherical joint with three degrees of freedom in rotation, the joint being moved by three actuators each acting in one of the three degrees of freedom. The invention is of particular use in the production of humanoid robots coming as close as possible to the human anatomy. According to the invention, the first and the second of the actuators act in parallel and the third of the actuators acts in series with the first and the second of the actuators.

Abstract: The present invention provides a control method and a control apparatus for a vehicle that make it possible to moderate or completely eliminate the impacts generated when the bucket is operated in a tilt direction, from a state in which the bucket in a dump position is forcibly actuated in the tilt direction and the bucket hydraulic cylinder is pressurized by the lifting operation of the boom and also to perform the boom lifting operation with good operability and workability.

Abstract: A method of operating a working machine which includes a main structure and a working arm pivotally mounted at one end on the main structure. The working arm is raisable and lowerable relative to the main structure by a first actuator device, and is extendible relative to the main structure by a second actuator device. In use, the arm carries at another end a working implement which can carry a load. The machine further including a ground engaging drive structure by which the machine is drivable on the ground. The machine has a longitudinal load moment control system which automatically disables operation of the first and/or second actuator devices from increasing longitudinal instability in the event that a predetermined instability is sensed. When the machine senses a ground travelling speed above a threshold speed, the longitudinal load moment control system is disabled.

Abstract: An improved Z-bar linkage for wheel loader machines for maneuvering an implement such as a bucket or pallet forks may include lift arms pivotally connected between an end frame of the machine and the implement, a tilt link pivotally connected between the implement and a tilt lever that is pivotally connected between the tilt link and the lift arms. Lift cylinders may rotate the lift arms to raise and lower the implement, and a tilt cylinder may drive the tilt lever and tilt link to rotate the implement between a dump position and a racked position. Ratios of the lengths of these kinematic elements are provided such that the good performance with one implement, such as bucket, does not result in poor performance with another implement, such as the pallet forks.

Abstract: A leveling control system and method for heavy equipment, in which a lower frame having a traveling unit and an upper frame are combined together by a tilting unit, includes a sensor unit, provided in the equipment, for measuring twist angles of the lower frame and the upper frame against a reference horizontal surface and a traveling speed of the equipment, and detecting working state information of working devices; a control unit for receiving the twist angles, the traveling speed, and the working state information, calculating a correction angle for the leveling control of the upper frame, and generating a control signal for instructing an operation of an actuator in accordance with the correction angle; and a driving unit for performing the leveling through the actuator in accordance with the control signal received therein.

Abstract: A method for controlling a boom construction and a tool articulated thereto, the boom construction comprising a first boom and a first actuator controlling the same, a second boom articulated to the first boom, and a second actuator controlling the same, as well as a third actuator controlling the position of the tool, wherein in the method: the first actuator is controlled manually; and/or the second actuator is controlled manually and the third actuator is also controlled at the same time automatically to control the position of the tool. For example, the first actuator is controlled by use of a first set point; and/or the second actuator is controlled by use of a second set point; and in addition, the third actuator is controlled simultaneously by using for the control a variable dependent on at least one of said set points.

Abstract: A leveling control system and method for heavy equipment, in which a lower frame having a traveling unit and an upper frame are combined together by a tilting unit. The system includes a sensor unit, provided in the equipment, for measuring twist angles of the lower frame and the upper frame against a reference horizontal surface and a traveling speed of the equipment, and detecting working state information of working devices; a control unit for receiving the twist angles, the traveling speed, and the working state information, calculating a correction angle for the leveling control of the upper frame, and generating a control signal for instructing an operation of an actuator in accordance with the correction angle; and a driving unit for performing the leveling through the actuator in accordance with the control signal received therein.

Abstract: The invention relates to a device for controlling the position for work devices (41) of mobile machines (40). The inventive device comprises a measuring device (1,2) for measuring an angle (?) which is formed between a level (42) that is determined by the position of the work device (41) and the direction of the gravitational force (g). The inventive device also comprises an angle transmitter (5) for predetermining an angle (??) which is formed between a level (42) that is determined by the position of the work device (41) and the direction of the gravitational force (g). The inventive device further comprises a controller (3, 4, 6–16) for controlling the angle (?) between the level (42) of the work device (41) and the direction of the gravitational force (g) in such a way that the measured angle (?) matches the predetermined angle (??).

Abstract: A loader-type heavy construction machine has a chassis and work equipment. The work equipment includes two parallel arms articulated relative to the frame, a bucket articulated relative to the arms, a set of link rods forming, with a portion of the bucket and of the arms, a deformable parallelogram, and a bucket actuator capable of being controlled to cause deformation of the deformable parallelogram so as to orient the bucket with respect to the arms. A cam is moved by a connecting bar connected at one end to the deformable parallelogram so that the position of the cam is dependent on the orientation of the bucket with respect to the chassis. The cam interfaces with an hydraulic circuit to ensure that the bucket is maintained in a position preventing it from accidentally tipping over backwards, regardless of commands exerted on an hydraulic manipulator by a driver of the machine.

Abstract: A loader is provided with rack stops on a pair of side walls of a loader boom which abut rack stops beneath opposite ends of a pair of implement tilt links to stop rack back movement of an implement pivotally mounted on one end of the boom.

Abstract: Cosmetic and/or dermatological compositions containing a non-photocatalytic metal oxide and tocopherol and, optionally, a metal-inactivating complexing agent are effective for inhibiting the light-induced peroxidation of lipids, and in particular lipids of sebaceous origin such as squalene.

Abstract: A load stabilizing means for elongated objects grasped at one end and held vertically comprising gravity induced signals to hydraulic power and control means to correct deviations of the axis of the longitudinal object from the vertical. The preferred embodiment applies the invention to felling heads on light carriers.

Abstract: A loading/unloading vehicle having booms and a bucket carried thereon such as a shovel loader, a wheel loader or the like vehicle detects that a true bucket-to-ground angle coincides with a preset angle after the vehicle starts automatic turning movement of the bucket. When the coincidence is detected, the automatic turning movement of the bucket is interrupted. Thereafter, a differential value between the true bucket-to-ground angle and the preset angle is determined, if any and then the bucket angle is corrected so as to allow the differential value to be reduced to zero. Consequently, the bucket is held at the preset angle after the bucket stops, even though the booms continue to be turned.

Abstract: A loading/unloading vehicle having booms and a bucket carried thereon such as a shovel loader, a wheel loader or the like vehicle detects that a true bucket-to-ground angle coincides with a preset angle after the vehicle starts automatic turning movement of the bucket. When the coincidence is detected, the automatic turning movement of the bucket is interrupted. Thereafter, a differential value between the true bucket-to-ground angle and the preset angle is determined, if any and then the bucket angle is corrected so as to allow the differential value to be reduced to zero. Consequently, the bucket is held at the preset angle after the bucket stops, even though the booms continue to be turned.

Abstract: An apparatus for controlling the posture of a front loader has booms attachable to a vehicle body which are pivotally movably upward and downward and has a work implement attached to the forward ends of the booms and pivotally movable in a scooping direction and a dumping direction. Each of the booms and the implement are pivotally movable by a single control lever independently of each other or movable simultaneously. The apparatus includes an actuating member for shifting the control lever from a boom raising position to a boom raising and dumping position when the booms are not positioned lower than a specified level. This eliminates the likelihood of the implement tilting rearwardly downward even if the booms are raised, precluding the implement from spilling the earth or sand scooped up.

Abstract: The posture of a front loader attached to a vechicle body is controllable by an apparatus which comprises an engaging portion provided on a control lever, an engageable member pivoted to a fixed member on the vehicle body and releasably engageable with the engaging portion when the control lever is positioned for lowering the boom of the loader and for moving the work implement of the loader for scooping, an implement sensor for detecting whether the angle between the implement and the boom is an angle which provides contact of a work implement bottom surface parallel with horizontal ground, and a release interlocking mechanism operatively connected to the sensor and to the engageable member for moving the engageable member to a released position where the member is not engageable with the engaging portion upon the sensor detecting that the work implement is at the angle.

Abstract: An electronic bucket positioning and control system for a vehicle of the type including a hydraulically controlled boom assembly and bucket. The bucket positioning and control system can operate in a bucket positioning mode, bucket return to position mode, bucket anti-rollback mode, and tilt cushion mode.

Abstract: A boom mechanism including a linkage which interconnects the frame of a loader with the boom arm and the loader bucket. The linkage includes a cross-shaped member having arms extending forwardly, rearwardly and laterally. The rearward arm is pivotally connected to a hydraulic cylinder which is pivotally connected to the frame. The forward arm is pivotally connected to the bucket. The two lateral arms are pivotally connected to a pair of push rods which are pivotally connected to the sides of the boom arm.

Abstract: An apparatus for controlling the angular position of the booms of an earthwork vehicle such as a wheeled tractor loader includes a shock absorber, by which the hydraulic pressure to be applied to a cargo handling valve for changing the position of a valve spool therein is lowered so as to lessen the shocks which are felt when the booms come to a stop position.

Abstract: Load lifting apparatus comprises an extensible boom carrying a platform at its outer end and being pivotally mounted at its inner end on rotatable support structure. Hydraulic elevating and extending rams effect elevation and extension of the boom. The elevating ram acts at its bottom end on the support structure through a pivot arm which is seated at its free end on a spring pack. The coupling of the ram to the pivot arm preferably lies in the plane of the pivot axes of the arm and the boom, whereby the load on the spring pack can be independent of the boom elevation for a constant overturning moment of the boom. Hydraulic diverter valves, actuated by the pivot arm when it is deflected against the spring pack, operate to divert fluid flows from the elevating and/or extending rams to urge retraction of the boom upon a predetermined overturning moment being exceeded.

Abstract: A robot arm, especially useful as a parts catcher, uses an extensible arm which may be in the form of a telescopic slide. The arm and a fluid operated actuator, such as a pneumatic cylinder, are pivotally mounted on a base at one end thereof. A wrist is pivotally mounted on the upper end of the arm. The actuator is connected to the wrist and pivots the arm, extends and retracts the arm and pivots the wrist. A receptacle is carried by the wrist and serves to catch parts when the arm is pivoted and extended to a parts catching position. Stops on the arm limit its pivotal and extensile movement. Stops are also provided to limit the pivotal movement of the wrist. These stops and a compression spring which biases the wrist provide static limits or forces against which the actuator works.

Abstract: A range controller for continuously monitoring the position of the boom of heavy machinery, is disclosed.

Abstract: The previous linkages for transmitting signals across an axis (21) between a first member or cylinder (20) and a second member or frame (11) have been relatively difficult to adjust and have had a tendency to bind. Herein, a roller (44) is pivotally mounted to a first link structure (36) which is itself pivotally mounted relative to the cylinder (20). The roller (44) defines a generally circular cam surface (42). A second link structure (52) is mounted to the frame (11) and a generally U-shaped member (98) has one of its legs (100) mounted to the second link structure (52) and the other leg (102) positioned to define a coacting surface (106) for action against the roller (44). An adjustment device (122) serves for adjusting the other leg (102) of the generally U-shaped member (98) tangentially and radially relative to the roller (44). Relatively straightforward and easily accessible adjustment is thereby provided. Also, binding problems are reduced.

Abstract: An automatic bucket leveler is located on the underside of a bucket piston cylinder unit and is preset to stop the bucket in a horizontal or digging position. A trip bar is attached to the cylinder piston rod and moves with the cylinder piston rod through a magnetic field which is created by a proximity switch and is completed by a proximity of the trip bar within the magnetic field. A trip bar guide is provided as a part of the automatic bucket leveler structure which functions to protect the proximity switch from damage by encounter with the trip bar and keeps the trip bar in correct relationship to the proximity switch, within the magnetic field, as the trip bar passes alongside of the proximity switch.