JP6752186B2 - 作業機械 - Google Patents
作業機械 Download PDFInfo
- Publication number
- JP6752186B2 JP6752186B2 JP2017184547A JP2017184547A JP6752186B2 JP 6752186 B2 JP6752186 B2 JP 6752186B2 JP 2017184547 A JP2017184547 A JP 2017184547A JP 2017184547 A JP2017184547 A JP 2017184547A JP 6752186 B2 JP6752186 B2 JP 6752186B2
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- JP
- Japan
- Prior art keywords
- ground
- bucket
- rolling
- boom
- work
- 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.)
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Classifications
-
- 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
- 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
- E02F9/2004—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
- E02F9/2025—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
- 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
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
-
- 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
- E02F9/261—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
-
- 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)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Paleontology (AREA)
- Operation Control Of Excavators (AREA)
- Component Parts Of Construction Machinery (AREA)
Description
Claims (5)
- 作業具を有する作業機と、
前記作業機を駆動する複数の油圧アクチュエータと、
前記複数の油圧アクチュエータの操作量を指示する操作装置と、
前記作業具が所定の設計面より下方に移動しないように、前記操作装置によって指示された操作量を補正する半自動制御部を有する制御装置とを備えた作業機械において、
前記制御装置は、
前記作業具が地面に押し付けられているか否かを判定する転圧判定部と、
前記作業具が地面に押し付けられていると前記転圧判定部が判定したときに、前記作業具が地面に加える力が大きくなるように、前記半自動制御部によって補正された操作量を更に補正するアクチュエータ制御補正部とを有する
ことを特徴とする作業機械。 - 請求項1に記載の作業機械において、
前記作業機は、前記作業具を昇降させるブームを有し、
前記複数の油圧アクチュエータは、前記ブームを駆動するブームシリンダを含み、
前記転圧判定部は、前記ブームシリンダの負荷圧に基づいて、前記前記作業具が地面に押し付けられているか否かを判定する
ことを特徴とする作業機械。 - 請求項1に記載の作業機械において、
前記制御装置は、前記作業具と前記所定の設計面との距離が所定の閾値よりも小さいか否かを判定する転圧距離判定部を更に有し、
前記アクチュエータ制御補正部は、前記作業具が地面に押し付けられていると前記転圧判定部が判定しかつ前記作業具と前記所定の設計面との距離が前記所定の閾値よりも大きいと前記転圧距離判定部が判定したときに、前記作業具が地面に押し付けられていると前記転圧判定部が判定しかつ前記作業具と前記所定の設計面との距離が前記所定の閾値よりも小さいと前記転圧距離判定部が判定したときよりも前記作業具が地面に加える力が大きくなるように、前記半自動制御部によって補正された操作量を更に補正する
ことを特徴とする作業機械。 - 請求項1に記載の作業機械において、
前記制御装置は、前記作業具が地面と接触する位置が変わると予想されるときに、前記アクチュエータ制御補正部による補正内容を更新し、前記作業具が地面と接触する位置が変わらないと予想されるときに、前記アクチュエータ制御補正部による補正内容を保持する制御補正保持判定部を更に備えた
ことを特徴とする作業機械。 - 請求項3に記載の作業機械において、
表示装置を更に備え、
前記制御装置は、前記転圧判定部および前記転圧距離判定部の判定結果を前記表示装置に出力する転圧状態表示部を更に備えた
ことを特徴とする作業機械。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017184547A JP6752186B2 (ja) | 2017-09-26 | 2017-09-26 | 作業機械 |
PCT/JP2018/016876 WO2019064665A1 (ja) | 2017-09-26 | 2018-04-25 | 作業機械 |
US16/491,220 US20190390436A1 (en) | 2017-09-26 | 2018-04-25 | Work machine |
KR1020197024569A KR102282680B1 (ko) | 2017-09-26 | 2018-04-25 | 작업 기계 |
EP18863251.7A EP3690148B1 (en) | 2017-09-26 | 2018-04-25 | Work machine |
CN201880014108.2A CN110352279B (zh) | 2017-09-26 | 2018-04-25 | 作业机械 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017184547A JP6752186B2 (ja) | 2017-09-26 | 2017-09-26 | 作業機械 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019060109A JP2019060109A (ja) | 2019-04-18 |
JP6752186B2 true JP6752186B2 (ja) | 2020-09-09 |
Family
ID=65901204
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017184547A Active JP6752186B2 (ja) | 2017-09-26 | 2017-09-26 | 作業機械 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20190390436A1 (ja) |
EP (1) | EP3690148B1 (ja) |
JP (1) | JP6752186B2 (ja) |
KR (1) | KR102282680B1 (ja) |
CN (1) | CN110352279B (ja) |
WO (1) | WO2019064665A1 (ja) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7463270B2 (ja) | 2018-03-31 | 2024-04-08 | 住友重機械工業株式会社 | ショベル |
US10870968B2 (en) * | 2018-04-30 | 2020-12-22 | Deere & Company | Work vehicle control system providing coordinated control of actuators |
JP7171317B2 (ja) | 2018-08-30 | 2022-11-15 | 日立建機株式会社 | 作業機械 |
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 |
JP7318414B2 (ja) * | 2019-08-21 | 2023-08-01 | コベルコ建機株式会社 | 作業機械 |
CN117500986A (zh) * | 2021-06-28 | 2024-02-02 | 斗山山猫北美公司 | 用于控制挖掘机和其他动力机器的系统和方法 |
JP2023106870A (ja) * | 2022-01-21 | 2023-08-02 | 国立大学法人広島大学 | 建設機械の制御装置およびこれを備えた建設機械 |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07190004A (ja) * | 1993-12-28 | 1995-07-28 | Hitachi Constr Mach Co Ltd | 建設機械の油圧制御装置 |
JP3258891B2 (ja) * | 1996-02-21 | 2002-02-18 | 新キャタピラー三菱株式会社 | 建設機械の作業機制御方法およびその装置 |
KR100231757B1 (ko) * | 1996-02-21 | 1999-11-15 | 사쿠마 하지메 | 건설기계의 작업기 제어방법 및 그 장치 |
JPH11210514A (ja) * | 1998-01-22 | 1999-08-03 | Komatsu Ltd | 建設機械の原動機制御装置 |
JP5342900B2 (ja) * | 2009-03-06 | 2013-11-13 | 株式会社小松製作所 | 建設機械、建設機械の制御方法、及びこの方法をコンピュータに実行させるプログラム |
CN102341548B (zh) * | 2009-03-06 | 2014-07-02 | 株式会社小松制作所 | 建筑机械以及建筑机械的控制方法 |
US9777465B2 (en) * | 2009-09-04 | 2017-10-03 | Philip Paull | Apparatus and method for enhanced grading control |
JP5548306B2 (ja) * | 2011-03-24 | 2014-07-16 | 株式会社小松製作所 | 作業機制御システム、建設機械及び作業機制御方法 |
JP2014043682A (ja) * | 2012-08-24 | 2014-03-13 | Yokohama National Univ | 作業モード判定装置、作業モード判定方法およびプログラム |
CN103890273B (zh) * | 2013-04-12 | 2017-01-25 | 株式会社小松制作所 | 建筑机械的控制系统及控制方法 |
GB201322858D0 (en) * | 2013-12-23 | 2014-02-12 | Jc Bamford Excavators Ltd | A disarm device for a working machine hitch arrangement, and working machine hitch arrangement and a working arm of a working machine |
KR20160129708A (ko) | 2015-04-30 | 2016-11-09 | 김시환 | 휴대 단말기에서의 광고 제공 시스템 |
US10364546B2 (en) * | 2016-03-17 | 2019-07-30 | Komatsu Ltd. | Control system for work vehicle, control method, and work vehicle |
US9938694B2 (en) * | 2016-03-29 | 2018-04-10 | Komatsu Ltd. | Control device for work machine, work machine, and method of controlling work machine |
-
2017
- 2017-09-26 JP JP2017184547A patent/JP6752186B2/ja active Active
-
2018
- 2018-04-25 KR KR1020197024569A patent/KR102282680B1/ko active IP Right Grant
- 2018-04-25 WO PCT/JP2018/016876 patent/WO2019064665A1/ja unknown
- 2018-04-25 EP EP18863251.7A patent/EP3690148B1/en active Active
- 2018-04-25 US US16/491,220 patent/US20190390436A1/en active Pending
- 2018-04-25 CN CN201880014108.2A patent/CN110352279B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
EP3690148A1 (en) | 2020-08-05 |
JP2019060109A (ja) | 2019-04-18 |
EP3690148B1 (en) | 2023-06-21 |
KR20190110583A (ko) | 2019-09-30 |
CN110352279A (zh) | 2019-10-18 |
US20190390436A1 (en) | 2019-12-26 |
CN110352279B (zh) | 2022-03-15 |
EP3690148A4 (en) | 2021-07-21 |
KR102282680B1 (ko) | 2021-07-28 |
WO2019064665A1 (ja) | 2019-04-04 |
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