CN108699799B - 作业机械 - Google Patents

作业机械 Download PDF

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Publication number
CN108699799B
CN108699799B CN201780011420.1A CN201780011420A CN108699799B CN 108699799 B CN108699799 B CN 108699799B CN 201780011420 A CN201780011420 A CN 201780011420A CN 108699799 B CN108699799 B CN 108699799B
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China
Prior art keywords
control
target surface
calculation unit
reference point
target
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CN201780011420.1A
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English (en)
Chinese (zh)
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CN108699799A (zh
Inventor
泉枝穗
成川理优
石川广二
坂井大斗
黑濑贵彦
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Hitachi Construction Machinery Co Ltd
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Hitachi Construction Machinery Co Ltd
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Publication of CN108699799A publication Critical patent/CN108699799A/zh
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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
    • E02F9/2271—Actuators and supports therefor and protection therefor
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Operation Control Of Excavators (AREA)
CN201780011420.1A 2016-06-30 2017-02-28 作业机械 Active CN108699799B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2016-129984 2016-06-30
JP2016129984A JP6564739B2 (ja) 2016-06-30 2016-06-30 作業機械
PCT/JP2017/007986 WO2018003176A1 (ja) 2016-06-30 2017-02-28 作業機械

Publications (2)

Publication Number Publication Date
CN108699799A CN108699799A (zh) 2018-10-23
CN108699799B true CN108699799B (zh) 2020-10-20

Family

ID=60786279

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201780011420.1A Active CN108699799B (zh) 2016-06-30 2017-02-28 作业机械

Country Status (6)

Country Link
US (1) US10801187B2 (enExample)
EP (1) EP3480371B1 (enExample)
JP (1) JP6564739B2 (enExample)
KR (1) KR102024701B1 (enExample)
CN (1) CN108699799B (enExample)
WO (1) WO2018003176A1 (enExample)

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6951069B2 (ja) * 2016-11-30 2021-10-20 株式会社小松製作所 作業機制御装置および作業機械
US11001985B2 (en) * 2017-09-13 2021-05-11 Hitachi Construction Machinery Co., Ltd. Work machine
JP6843039B2 (ja) * 2017-12-22 2021-03-17 日立建機株式会社 作業機械
EP3783155B1 (en) * 2018-04-17 2022-12-14 Hitachi Construction Machinery Co., Ltd. Work machine
JP7301875B2 (ja) * 2018-11-14 2023-07-03 住友重機械工業株式会社 ショベル、ショベルの制御装置
WO2020162619A1 (ja) * 2019-02-07 2020-08-13 学校法人慶應義塾 位置・力制御装置、位置・力制御方法及びプログラム
US11078648B2 (en) * 2019-02-22 2021-08-03 Caterpillar Inc. Grade control for machines with buckets
JP7227046B2 (ja) * 2019-03-22 2023-02-21 日立建機株式会社 作業機械
JP7025366B2 (ja) * 2019-03-26 2022-02-24 日立建機株式会社 作業機械
JP6934906B2 (ja) * 2019-03-27 2021-09-15 日立建機株式会社 作業機械
EP3951069A4 (en) * 2019-03-27 2022-11-30 Hitachi Construction Machinery Co., Ltd. WORK MACHINE
EP3951077B1 (en) * 2019-03-28 2024-07-10 Sumitomo Construction Machinery Co., Ltd. Excavator and construction system
US20220178113A1 (en) * 2019-04-05 2022-06-09 Volvo Construction Equipment Ab Construction equipment
WO2021059931A1 (ja) * 2019-09-24 2021-04-01 日立建機株式会社 作業機械
JP7269143B2 (ja) * 2019-09-26 2023-05-08 日立建機株式会社 作業機械
CN113439141B (zh) * 2019-09-30 2022-11-01 日立建机株式会社 作业机械
CN112411663B (zh) * 2020-11-06 2022-06-03 徐州徐工挖掘机械有限公司 挖掘机的控制方法和控制装置、挖掘机
KR102643536B1 (ko) * 2021-01-27 2024-03-06 히다치 겡키 가부시키 가이샤 유압 셔블
KR102815313B1 (ko) * 2021-01-29 2025-06-02 히다찌 겐끼 가부시키가이샤 작업 기계
WO2022208972A1 (ja) * 2021-03-30 2022-10-06 日立建機株式会社 作業機械
JP7615995B2 (ja) * 2021-09-29 2025-01-17 コベルコ建機株式会社 軌道生成システム
CN114296400B (zh) * 2021-11-16 2024-03-12 中南大学 一种用于激光切割高速插补的自适应前瞻处理方法

Citations (6)

* Cited by examiner, † Cited by third party
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EP0404953A1 (en) * 1988-07-29 1991-01-02 Kabushiki Kaisha Komatsu Seisakusho Controller of construction equipment
CN102704523A (zh) * 2011-03-25 2012-10-03 日立建机株式会社 混合动力式工程机械
JP2013217137A (ja) * 2012-04-11 2013-10-24 Komatsu Ltd 油圧ショベルの掘削制御システム及び掘削制御方法
CN104487635A (zh) * 2012-07-20 2015-04-01 日立建机株式会社 作业机械
WO2015186180A1 (ja) * 2014-06-02 2015-12-10 株式会社小松製作所 建設機械の制御システム、建設機械、及び建設機械の制御方法
CN105604121A (zh) * 2015-12-29 2016-05-25 太原理工大学 一种工程作业装备工作装置的控制回路

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* Cited by examiner, † Cited by third party
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JP5054832B2 (ja) * 2011-02-22 2012-10-24 株式会社小松製作所 油圧ショベルの表示システム及びその制御方法
WO2012127913A1 (ja) * 2011-03-24 2012-09-27 株式会社小松製作所 掘削制御システムおよび建設機械
JP5624101B2 (ja) 2012-10-05 2014-11-12 株式会社小松製作所 掘削機械の表示システム、掘削機械及び掘削機械の表示用コンピュータプログラム
JP5476450B1 (ja) * 2012-11-19 2014-04-23 株式会社小松製作所 掘削機械の表示システム及び掘削機械
JP5823044B1 (ja) * 2014-05-30 2015-11-25 株式会社小松製作所 作業機械の制御システム、作業機械及び作業機械の制御方法
JP5781668B2 (ja) * 2014-05-30 2015-09-24 株式会社小松製作所 油圧ショベルの表示システム
US9598845B2 (en) 2014-06-04 2017-03-21 Komatsu Ltd. Posture computing apparatus for work machine, work machine, and posture computation method for work machine
JP6106129B2 (ja) * 2014-06-13 2017-03-29 日立建機株式会社 建設機械の掘削制御装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0404953A1 (en) * 1988-07-29 1991-01-02 Kabushiki Kaisha Komatsu Seisakusho Controller of construction equipment
CN102704523A (zh) * 2011-03-25 2012-10-03 日立建机株式会社 混合动力式工程机械
JP2013217137A (ja) * 2012-04-11 2013-10-24 Komatsu Ltd 油圧ショベルの掘削制御システム及び掘削制御方法
CN104487635A (zh) * 2012-07-20 2015-04-01 日立建机株式会社 作业机械
WO2015186180A1 (ja) * 2014-06-02 2015-12-10 株式会社小松製作所 建設機械の制御システム、建設機械、及び建設機械の制御方法
CN105604121A (zh) * 2015-12-29 2016-05-25 太原理工大学 一种工程作业装备工作装置的控制回路

Also Published As

Publication number Publication date
US20190119886A1 (en) 2019-04-25
CN108699799A (zh) 2018-10-23
WO2018003176A1 (ja) 2018-01-04
KR102024701B1 (ko) 2019-09-24
JP6564739B2 (ja) 2019-08-21
EP3480371B1 (en) 2022-08-31
JP2018003388A (ja) 2018-01-11
KR20180102137A (ko) 2018-09-14
EP3480371A4 (en) 2020-03-18
EP3480371A1 (en) 2019-05-08
US10801187B2 (en) 2020-10-13

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