EP4397812A1 - Engin de travail - Google Patents

Engin de travail Download PDF

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Publication number
EP4397812A1
EP4397812A1 EP22886510.1A EP22886510A EP4397812A1 EP 4397812 A1 EP4397812 A1 EP 4397812A1 EP 22886510 A EP22886510 A EP 22886510A EP 4397812 A1 EP4397812 A1 EP 4397812A1
Authority
EP
European Patent Office
Prior art keywords
movement
area change
work
motion
start position
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP22886510.1A
Other languages
German (de)
English (en)
Inventor
Ryunosuke MIYAZAKI
Takayuki Doi
Daisuke Noda
Nobuhiro FUKUO
Kenichi Terauchi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kobelco Construction Machinery Co Ltd
Original Assignee
Kobelco Construction Machinery Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2022111032A external-priority patent/JP2023066361A/ja
Application filed by Kobelco Construction Machinery Co Ltd filed Critical Kobelco Construction Machinery Co Ltd
Publication of EP4397812A1 publication Critical patent/EP4397812A1/fr
Pending legal-status Critical Current

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Classifications

    • 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
    • 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
    • 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
    • E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
    • 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
    • E02F9/22—Hydraulic or pneumatic drives
    • 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
    • E02F9/261—Surveying the work-site to be treated
    • E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller

Definitions

  • the present invention relates to a work machine capable of being automatically operated.
  • Patent Literature 1 discloses an automatically-operated excavator by which work motions from excavation of earth and sand to removal thereof are automatically performed. Specifically, Patent Literature 1 discloses automatically shifting the next excavation position in the turning direction of an upper turning body when the excavation depth reaches a set value at a certain excavation position.
  • Patent Literature 1 Japanese Unexamined Patent Publication No. 2001-123479
  • FIG. 1 shows a work machine 1 according to a first embodiment of the present invention.
  • the work machine 1 is capable of being automatically operated.
  • the work machine 1 is a hydraulic excavator, including a machine body 25 including a lower traveling body 21 and an upper turning body 22, a turning device 24, an attachment 30, and a work driving device 40.
  • the lower traveling body 21 includes a pair of crawler, which is actuated to thereby enable the lower traveling body 21 to perform a traveling motion.
  • the upper turning body 22 is mounted on the lower traveling body 21 capably of performing a turning motion of turning with respect to the lower traveling body 21.
  • the turning device 24 is a turning driving device that causes the upper turning body 22 to perform the turning motion.
  • the upper turning body 22 includes a cab (operation room) 23 which forms a front part of the upper turning body 22.
  • the attachment 30 is a work device attached to the upper turning body 22 capably of performing a work motion.
  • the work motion is a motion for processing an object, including a vertically rotational movement.
  • the attachment 30 includes a boom 31, an arm 32, and a bucket 33.
  • the boom 31 has a proximal end and a distal end opposite thereto, the proximal end being connected to the upper turning body 22 capably of vertically rotational movement (capably of being raised and lowered).
  • the arm 32 has a proximal end and a distal end opposite thereto, the proximal end being connected to the distal end of the boom 31 capably of vertically rotational movement.
  • the bucket 33 is a tip attachment, which is attached to the distal end of the arm 32 capably of rotational movement in a front-rear direction to form the tip of the attachment 30.
  • the bucket 33 has a shape capable of performing work operation such as excavation, leveling, scooping, and the like, on an excavation object including earth and sand.
  • the excavation object by the bucket 33 is not limited to earth and sand but allowed to be also a stone or a waste (industrial waste, etc.).
  • the work machine according to the present invention is not limited to an excavation machine and, therefore, the work object is not limited to the excavation object.
  • the tip attachment to form the tip of the work apparatus is not limited to the bucket 33 for holding earth and sand as described above but allowed to be also a grapple for gripping a work object, a lifting magnet for attracting a work object to hold it, or the like.
  • the work drive device 40 is capable of making the attachment 30 perform the work motion by hydraulic actuation of the attachment 30.
  • the work drive device 40 includes a plurality of hydraulic cylinders, each of which is capable of performing expansion and contraction motions, the plurality of hydraulic cylinders including a boom cylinder 41, an arm cylinder 42, and a bucket cylinder 43.
  • the boom cylinder 41 is arranged so as to actuate the boom 31 vertically rotationally in rising and falling directions (vertical direction) with respect to the upper turning body 22 by performing the expansion and contraction motions.
  • the boom cylinder 41 has a proximal end to be rotatably connected to the upper turning body 22 and a distal end to be rotatably connected to the boom 31.
  • the arm cylinder 42 is arranged so as to actuate the arm 32 vertically rotationally with respect to the boom 31 by performing the expansion and contraction motions.
  • the arm cylinder 42 has a proximal end to be rotationally connected to the boom 31 and a distal end to be rotationally connected to the arm 32.
  • the working posture detector 60 detects a working posture, which is the posture of the attachment 30 as the work device, including a boom inclination sensor 61, an arm inclination sensor 62, and a bucket inclination sensor 63 in the present embodiment.
  • the turning posture information is information detected by the turning angle sensor 52, that is, information about the turning angle (turning posture) of the upper turning body 22 with respect to the lower traveling body 21.
  • the working posture information is information about the posture detected by the working posture detector 60, that is, the posture of the attachment 30 as the work device.
  • the working posture information contains: information detected by the boom inclination sensor 61, that is, information on the posture of the boom 31; information detected by the arm inclination sensor 62, that is, information on the posture of the arm 32; and information detected by the bucket inclination sensor 63, that is, information on the posture of the bucket 33.
  • the control unit 11 makes the upper turning body 22 and the attachment 30 perform the series of motions a plurality of times.
  • the control unit 11 according to the present embodiment makes the series of motions repeated with a change of the height of the tip of the bucket 33 during the excavation motion.
  • the series of motions from excavation of earth and sand to earth removal are thereby repeated at the same excavation place with the change of the depth of excavation of earth and sand.
  • control unit 11 or the storage device 13 stores a target number of repetitions that is the number of times by which the series of motions is to be repeated and the control unit 11 is configured to judge that the work by the repetition of the series of motions has reached a predetermined stage at the time when the number of times by which the series of motions are repeated reaches the target number of repetitions.
  • the control unit 11 serves as a start position shifting means of shifting the start point of the excavation motion in the next series of motions in the turning direction of the upper turning body 22 from the point A. Specifically, the start position is shifted in the turning direction from the point A by means of turning the upper turning body 22. The start position is shifted to the position separated from the point A by a predetermined angle in a direction of separating from the point D in the turning direction (the reverse direction to that of the lifting and turning motion, i.e., the rightward direction in FIG. 3 ). Along with the shift of the start point from the point A, the terminal point of the excavation motion is also shifted from the point B by the same angle in the same direction.
  • the control unit 11 serves as a lower-traveling-body moving means of making the lower traveling body 21 perform the traveling motion to thereby move the lower traveling body 21 in the traveling direction when the work by the repetition of the series of motions reaches a predetermined stage in a state where the start position has reached the shift limiting surface 75, that is, when the excavation depth in the shift limiting surface 75 reaches the depth limit.
  • the movement of the lower traveling body 21 is the area change movement for changing the area of the processing work by the series of motions.
  • control unit 11 sets the start position of the excavation motion after the area change movement, namely, the after-movement start position, so as to make the processing work by the series of motions started immediately after the area change movement continued with the processing work by the series of motions immediately before the area change movement.
  • the movement direction which is the direction of the area change movement of the lower traveling body 21 is rightward in FIG. 3 , being the same direction as the direction in which the start position of the series of motions is shifted before the area change movement, that is, the same direction as the direction in which the area of the repeated series of motions is gradually shifted.
  • the shift limiting surface 75 is set to a surface passing through the position of the tip of the bucket 33 in a state where the upper turning body 22 has been turned in a direction of separating from the point D, i.e., in a direction reverse to the direction of the lifting and turning motion, by a preset limit angle ⁇ from a posture where the tip of the bucket 33 is located at the start position of the first excavation motion.
  • the surface passing through the start position that has been shifted by a preset allowable number of shift times may be set to the shift limiting surface 75.
  • the control unit 11 is preferably configured to, for example, as shown in FIG.
  • the earth removal position between the point C and the point D shown in FIG. 3 and FIGS. 6 to 8 i.e., the position to which the earth and sand excavated by the bucket 33 is to be discharged, is outside the working area 80.
  • the earth and sand excavated by the bucket 33 may be discharged to the earth removal position in the working area 80.
  • the control unit 11 sets the start position of the excavation motion immediately after the area change movement, namely, the after-movement start position, so as to allow the earth and sand discharged to the earth removal position before the area change movement to be excavated by the excavation motion after the area change movement.
  • the movement direction of the area change movement is the leftward direction in FIG.
  • the control unit 11 judges whether or not the amount of soil at the earth removal position is equal to or more than a predetermined amount (YES in step S6), and only when judging the amount of soil at the earth removal position to be equal to or more than the predetermined amount (YES in step S6), the control unit 11 moves the shift limiting surface 75 in a direction reverse to the movement direction of the lower traveling body 21 (step S7).
  • the control unit 11 judges whether or not the start position of the excavation motion gradually changed in the above-described manner has reached the shift limiting surface 75 (step S8). If judging that the start position has not yet reached the shift limiting surface 75 (NO in step S8), the control unit 11 makes the upper turning body 22 turned by a predetermined turning angle to thereby shift the start position of the excavation motion in the turning direction of the upper turning body 22 (Step S9). The series of motions is thereby repeated in an new excavation place.
  • FIGS. 12 to 14 Next will be described a second embodiment of the present invention with reference to FIGS. 12 to 14 .
  • the configuration common to the first embodiment and the effect exhibited thereby will be omitted, and the points different from the first embodiment will be mainly described.
  • the same member as the first embodiment has the same sign as that of the first embodiment.
  • FIGS. 12 and 13 show a posture change angle ⁇ c in each case, and the after-movement posture is set to a posture where the upper turning body 22 has been turned in the direction reverse to the movement direction (leftward direction in FIG. 12 ) with respect to the lower traveling body 21 by the posture change angle ⁇ c from the turning posture immediately before the area change movement.
  • the control of turning the upper turning body 22 by the posture changing angle ⁇ c after the area change movement is performed, and the start position is determined in the posture of the upper turning body 22 after the turning.
  • the turning posture of the upper turning body 22 is changed by a predetermined turning angle each time the work by the repetition of the series of motions reaches a predetermined stage.
  • the setting of the after-movement posture setting enables the processing work by the series of motions after the area change movement to be suitably continued with the processing work before the area change movement.
  • the control unit 11 serves as a movement limit setting means of setting a movement limiting position 88 of the lower traveling body 21.
  • the movement limiting position 88 is set to such a position that the processing work after the area change movement of the lower traveling body 21 stopped at the movement limiting position 88 is continued with the processing work before the area change movement. More specifically, the movement limiting position 88 is set so as to render the start position of the excavation motion in the first series of motions in a state where the area change movement of the lower traveling body 21 is stopped at the movement limiting position 88, namely, the after-movement start position (point A1), a position on the shift limiting surface 75.
  • the control unit 11 serves as a lower-traveling-body moving means of making the lower traveling body 21 perform the area change movement and stopping the area change movement at the time when the lower traveling body 21 reaches the movement limiting position 88.
  • Such control of the area change movement enables the processing work after the area change movement to be suitably continued with the processing work before the area change movement.
  • the movement limiting position 88 may be set based on a work plan. For example, setting the movement limiting position 88 on the boundary of the area in which the work is planned allows work to be restrained from deviating from the work plan.
  • the movement limiting position 88 alternatively, may be set based on the position of an obstacle or the like imaged by the imaging device 26. Setting the movement limiting position 88 on the front side of the position of the obstacle or the like prevents the attachment 30 from interfering with the obstacle or the like.
  • the after-movement start position (point A1), which is the start position of the excavation motion after the area change movement, may be deviated beyond the shift limiting surface 75 in the movement direction, for example, as shown in FIG. 14 .
  • the controller is configured to perform setting the after-movement posture to the same posture as the initial posture and setting a distance of the area change movement so as to make the processing work after the area change movement continued with the processing work before the area change movement.
  • the thus set movement distance enables the processing work by the series of motions after the area change movement to be suitably continued with the processing work before the area change movement, in spite of the return of the posture of the upper turning body after the area change movement (after-movement posture) to the same posture as the initial posture.
  • the controller is configured to move the lower traveling body in a direction reverse to a movement direction of the area change movement when the after-movement start position is deviated beyond the shift limiting surface by the area change movement.
  • the reverse movement of the lower traveling body allows the after-movement start position deviated beyond the shift limiting surface to be corrected in a direction of approaching the shift limiting surface, thereby effectively reducing the non-working area, i.e., the area where neither the processing work before the area change movement nor the processing work after the area change movement is performed.
  • the controller is configured to set the after-movement start position to a position upstream of the shift limiting surface in the movement direction. This makes it possible to prevent a non-working area (area in which neither the processing work before the area change movement nor the processing work after the area change movement is performed) from being caused by the start of the processing motion at a position deviated beyond the shift limiting surface (downstream position) after the area change movement.
  • the controller is configured to make the upper turning body and the work device repeat the series of motions with a change of a height of a tip of the work device in the processing motion.
  • the area change movement of the lower traveling body enables excavation work to be performed over a large area.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Paleontology (AREA)
  • Operation Control Of Excavators (AREA)
EP22886510.1A 2021-10-28 2022-09-15 Engin de travail Pending EP4397812A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021176405 2021-10-28
JP2022111032A JP2023066361A (ja) 2021-10-28 2022-07-11 作業機械
PCT/JP2022/034606 WO2023074176A1 (fr) 2021-10-28 2022-09-15 Engin de travail

Publications (1)

Publication Number Publication Date
EP4397812A1 true EP4397812A1 (fr) 2024-07-10

Family

ID=86157856

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22886510.1A Pending EP4397812A1 (fr) 2021-10-28 2022-09-15 Engin de travail

Country Status (2)

Country Link
EP (1) EP4397812A1 (fr)
WO (1) WO2023074176A1 (fr)

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3364419B2 (ja) * 1997-10-29 2003-01-08 新キャタピラー三菱株式会社 遠隔無線操縦システム並びに遠隔操縦装置，移動式中継局及び無線移動式作業機械
JP2001123479A (ja) 1999-10-28 2001-05-08 Hitachi Constr Mach Co Ltd 自動運転ショベル
JP2002294735A (ja) * 2001-03-28 2002-10-09 Kumano Takeshi Kensetsu Kk 掘削機械

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Publication number Publication date
WO2023074176A1 (fr) 2023-05-04

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