Manipulator, system and process of operating the same

Abstract

A joint secured to a manipulator for movably supporting a tool(s) for conducting operations, particularly those in the field is hydraulic to be robust in varied environmental conditions and/or provide sufficient power. The joint includes a base to secure the joint to the manipulator, an adapter to secure a tool to the joint, components movably joined together in close proximity with each other between the base and the adapter to define three non-parallel axes of movement for the adapter wherein two of the axes always intersect a third of the axes, and hydraulically-driven actuators to selectively move and hold the components about the axes.

1 . A joint for securing a tool to a manipulator comprising a base to secure the joint to the manipulator, an adapter to secure a tool to the joint, components movably joined together in close proximity with each other between the base and the adapter to define three non-parallel axes of movement for the adapter wherein two of the axes always intersect a third of the axes, and hydraulically-driven actuators to selectively move and hold the components about the axes. 
     
     
         2 . The joint of  claim 1  wherein the three axes include a pitch axis, a yaw axis and a roll axis for maneuvering the adapter supporting the tool. 
     
     
         3 . The joint of  claim 1  including a manifold to direct the flow of the hydraulic fluid to the actuators. 
     
     
         4 . The joint of  claim 3  including a controller to control the manifold and a communication device to receive wireless signals for the controller. 
     
     
         5 . The joint of  claim 3  including hydraulic couplers secured to an exterior of the adapter to provide hydraulic fluid to a tool supported by the adapter. 
     
     
         6 . An apparatus for removing ground-engaging wear parts from earth working equipment comprising:
 a manipulator;   a joint secured to the manipulator and including a base to secure the joint to the manipulator, an adapter to secure a tool to the joint, components movably joined together in close proximity with each other between the base and the adapter to define three non-parallel axes of movement for the adapter wherein two of the axes always intersect a third of the axes, and hydraulically-driven actuators to selectively move and hold the components about the axes; and   one or more tools secured to the joint to hold the wear part and release a locking element securing the wear part to the equipment, wherein the manipulator in cooperation with the joint and one or more tools can remove the wear part from the equipment.   
     
     
         7 . The apparatus of  claim 6  wherein the three axes include a pitch axis, a yaw axis and a roll axis for maneuvering the adapter supporting the tool. 
     
     
         8 . The apparatus of  claim 6  including a manifold to direct the flow of the hydraulic fluid to the actuators. 
     
     
         9 . The apparatus of  claim 8  including a controller to control the manifold and a communication device to receive wireless signals for the controller. 
     
     
         10 . The apparatus of  claim 8  including hydraulic couplers secured to an exterior of the adapter to provide hydraulic fluid to a tool supported by the adapter. 
     
     
         11 . The apparatus of  claim 6  wherein the manipulator is movably about multiple axes by hydraulic actuators. 
     
     
         12 . An apparatus for conducting an in-field operation comprising:
 a manipulator;   a joint secured to the manipulator and including a base to secure the joint to the manipulator, an adapter to secure a tool to the joint, components movably joined together in close proximity with each other between the base and the adapter to define at least two non-parallel axes of movement for the adapter, and hydraulically-driven actuators to selectively move and hold the components about the axes; and   one or more tools secured to the joint to conduct an in-field operation.   
     
     
         13 . The apparatus of  claim 12  wherein the joint has three axes including a pitch axis, a yaw axis and a roll axis for maneuvering the adapter supporting the tool. 
     
     
         14 . The apparatus of  claim 12  wherein the joint has three axes, and two of the axes always intersect the third axes. 
     
     
         15 . The apparatus of  claim 12  including a manifold to direct the flow of the hydraulic fluid to the actuators. 
     
     
         16 . The apparatus of  claim 15  including a controller to control the manifold and a communication device to receive wireless signals for the controller. 
     
     
         17 . The apparatus of  claim 15  including hydraulic couplers secured to an exterior of the adapter to provide hydraulic fluid to a tool supported by the adapter. 
     
     
         18 . The apparatus of  claim 12  including hydraulic couplers secured to an exterior of the adapter to provide hydraulic fluid to a tool supported by the adapter. 
     
     
         19 . The apparatus of  claim 12  wherein the manipulator is movably about multiple axes by hydraulic actuators. 
     
     
         20 . The apparatus of  claim 12  wherein the tool includes a gripper to grip a ground-engaging wear part for earth working equipment for removing and/or installing the wear part from or on the equipment. 
     
     
         21 . The apparatus of  claim 12  wherein the one or more tools includes one or more of grippers, pulling assemblies, cleaning apparatus, unthreading and/or threading assemblies, welding equipment, impact devices, cutting apparatus, dispensing implements, magnets, cameras, range finders and sensors. 
     
     
         22 . An apparatus for conducting an in-field operation comprising a manipulator with an first tool mount, a first tool secured to the first tool mount to conduct an in-field operation, the first tool including a second tool mount, and a second tool secured to the second tool mount to conduct an in-field operation, the second tool being secured in a series with the first tool and first tool mount. 
     
     
         23 . The apparatus of  claim 22  wherein the manipulator includes a joint supporting the first tool mount, the joint including a base to secure the joint to the manipulator, and components movably joined together in close proximity with each other between the base and the first tool mount to define three non-parallel axes of movement for the adapter wherein two of the axes always intersect a third of the axes, and hydraulically-driven actuators to selectively move and hold the components about the axes. 
     
     
         24 . The apparatus of  claim 23  wherein the joint includes a pitch axis, a yaw axis and a roll axis for maneuvering the adapter supporting the tool. 
     
     
         25 . The apparatus of  claim 22  wherein the first tool is a vibrator and the second tool is a gripper to grip a ground-engaging wear part for earth working equipment for removing the wear part from the equipment. 
     
     
         26 . The apparatus of  claim 22  wherein the tools include two or more of grippers, pulling assemblies, cleaning apparatus, unthreading and/or threading assemblies, welding equipment, impact devices, cutting apparatus, dispensing implements, magnets, cameras, range finders and sensors. 
     
     
         27 . An apparatus for removing a ground-engaging wear part from earth working equipment comprising a gripper for gripping the wear part to be removed, a vibrator for vibrator at least a portion of the gripper contacting the wear part, and a manipulator supporting the gripper and the vibrator. 
     
     
         28 . The apparatus of  claim 27  wherein the vibrator is secured to the manipulator and the gripper is secured to the vibrator. 
     
     
         29 . The apparatus of  claim 27  wherein the manipulator includes a joint supporting the first tool mount, the joint including a base to secure the joint to the manipulator, and components movably joined together in close proximity with each other between the base and the first tool mount to define three non-parallel axes of movement for the adapter wherein two of the axes always intersect a third of the axes, and hydraulically-driven actuators to selectively move and hold the components about the axes. 
     
     
         30 . A system for conducting in-field operations comprising:
 a manipulator with base tool mount; and   a plurality of tools each having a connector, a tool mount and an operating device to conduct an in-field operation, the connector of each of the tools can be releasably secured to the base tool mount and the tool mount of the other tools so that one or more of the tools can be interchangeably secured in a series to the manipulator.   
     
     
         31 . The system of  claim 30  wherein the manipulator includes a joint supporting the first tool mount, the joint including a base to secure the joint to the manipulator, and components movably joined together in close proximity with each other between the base and the first tool mount to define three non-parallel axes of movement for the adapter wherein two of the axes always intersect a third of the axes, and hydraulically-driven actuators to selectively move and hold the components about the axes. 
     
     
         32 . The system of  claim 30  wherein the joint includes a pitch axis, a yaw axis and a roll axis for maneuvering the adapter supporting the tool. 
     
     
         33 . The system of  claim 30  wherein a first tool is a vibrator and a second tool is a gripper to grip a ground-engaging wear part for earth working equipment for removing the wear part from the equipment. 
     
     
         34 . The system of  claim 30  wherein the tools include two or more of grippers, pulling assemblies, cleaning apparatus, unthreading and/or threading assemblies, welding equipment, impact devices, cutting apparatus, dispensing implements, magnets, cameras, range finders and sensors. 
     
     
         35 . A process for removing ground-engaging wear parts from earth working equipment comprising:
 operating the movements of a manipulator, a joint secured to the manipulator and one or more tools secured to joint to grip a wear part secured to the earth working equipment, wherein the joint includes a base to secure the joint to the manipulator, an adapter to secure a tool to the joint, components movably joined together in close proximity with each other between the base and the adapter to define three non-parallel axes of movement for the adapter wherein two of the axes always intersect a third of the axes, and hydraulically-driven actuators to selectively move and hold the components about the axes;   subsequently operating the one or more tools to release a locking element securing the wear part to the earth working equipment; and
 operating the one or more tools to remove the wear part from the earth working equipment after the locking element has been released.