JPWO2020162428A1 - ショベル - Google Patents
ショベル Download PDFInfo
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- JPWO2020162428A1 JPWO2020162428A1 JP2020571200A JP2020571200A JPWO2020162428A1 JP WO2020162428 A1 JPWO2020162428 A1 JP WO2020162428A1 JP 2020571200 A JP2020571200 A JP 2020571200A JP 2020571200 A JP2020571200 A JP 2020571200A JP WO2020162428 A1 JPWO2020162428 A1 JP WO2020162428A1
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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
-
- 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
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- 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
- E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
- E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic 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
- E02F3/36—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
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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
- E02F3/30—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
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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
-
- 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
-
- 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
- E02F3/438—Memorising movements for repetition, e.g. play-back capability
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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
- E02F3/439—Automatic repositioning of the implement, e.g. automatic dumping, auto-return
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- 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
- E02F9/08—Superstructures; Supports for superstructures
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- 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
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
- E02F9/12—Slewing or traversing gears
- E02F9/121—Turntables, i.e. structure rotatable about 360°
- E02F9/123—Drives or control devices specially adapted therefor
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- 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
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- 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
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- 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
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- 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
- E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
- E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
-
- 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
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
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- 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
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- 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
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- 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
- E02F9/2267—Valves or distributors
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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)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Paleontology (AREA)
- Operation Control Of Excavators (AREA)
Abstract
Description
土砂を盛る作業及び土砂で埋める作業の少なくとも一方を自動で行う、
ショベルが提供される。
次に、図1(図1A、図1B)に加えて、図2(図2A、図2B)を参照して、ショベル100の具体的な構成について説明する。
本実施形態に係るショベル100の油圧駆動系は、上述の如く、下部走行体1、上部旋回体3、ブーム4、アーム5、及びバケット6のそれぞれを油圧駆動する走行油圧モータ1M(1ML,1MR)、旋回油圧モータ2A、ブームシリンダ7、アームシリンダ8、及びバケットシリンダ9等の油圧アクチュエータを含む。また、本実施形態に係るショベル100の油圧駆動系は、エンジン11と、レギュレータ13と、メインポンプ14と、コントロールバルブ17とを含む。
本実施形態に係るショベル100の油圧駆動系に関する操作系は、パイロットポンプ15と、操作装置26とを含む。また、図2Aに示すように、ショベル100の油圧駆動系に関する操作系は、操作装置26が油圧パイロット式である場合、シャトル弁32を含む。
本実施形態に係るショベル100の制御系は、コントローラ30と、演算装置30Eと、比例弁31と、空間認識装置70と、向き検出装置71と、入力装置72と、測位装置73と、ブーム姿勢センサS1と、アーム姿勢センサS2と、バケット姿勢センサS3と、機体傾斜センサS4と、旋回状態センサS5とを含む。また、図2Aに示すように、本実施形態に係るショベル100の制御系は、操作装置26が油圧パイロット式である場合、操作圧センサ29を含む。
次に、本実施形態に係るショベル100のオペレータの操作に依らない自動動作について説明する。
最初に、本実施形態に係るショベル100の自動動作の概要について説明する。
続いて、図3を参照して、ショベル100の第1例の自動動作について説明する。
続いて、図4を参照して、ショベル100の第2例の自動動作について説明する。
続いて、図5を参照して、ショベル100の第3例の自動動作について説明する。
続いて、図6(図6A、図6B)を参照して、ショベル100の第4例の自動動作について説明する。
続いて、ショベル100の第5例の自動動作について説明する。
続いて、ショベル100の第6例の自動動作について説明する。
続いて、図7を参照して、ショベル100の第7例の自動動作について説明する。
次に、本実施形態に係るショベル100の作用について説明する。
以上、実施形態について詳述したが、本開示はかかる特定の実施形態に限定されるものではなく、特許請求の範囲に記載された要旨の範囲内において、種々の変形・変更が可能である。
3 上部旋回体
4 ブーム
5 アーム
6 バケット
7 ブームシリンダ
8 アームシリンダ
9 バケットシリンダ
10 キャビン
11 エンジン
13 レギュレータ
14 メインポンプ
15 パイロットポンプ
17 コントロールバルブ
30 コントローラ
30E 演算装置
31 比例弁
32 シャトル弁
70 空間認識装置
71 向き検出装置
72 入力装置
73 測位装置
74 通信装置
100 ショベル
S1 ブーム姿勢センサ
S2 アーム姿勢センサ
S3 バケット姿勢センサ
S4 機体傾斜センサ
S5 旋回状態センサ
下部走行体と、
前記下部走行体に旋回自在に搭載される上部旋回体と、
前記上部旋回体に取り付けられ、ブーム、アーム、及びバケットを有するアタッチメントと、を備え、
前記上部旋回体及び前記アタッチメントを自動で動作させることにより、土砂を盛る作業及び土砂で埋める作業の少なくとも一方の作業を自動で行う、
ショベルが提供される。
Claims (13)
- 土砂を盛る作業及び土砂で埋める作業の少なくとも一方を自動で行う、
ショベル。 - 盛る又は埋める土砂による地面が目標形状になるように前記作業を自動で行う、
請求項1に記載のショベル。 - 所定領域内の前記地面が一定の高さになるように前記作業を自動で行う、
請求項2に記載のショベル。 - 前記所定領域内の複数の位置に土砂を排土することにより、前記作業を自動で行う、
請求項3に記載のショベル。 - 地面の目標形状に関する情報と前記地面の実際の形状に関する情報とに基づき、前記地面の凹部を検出し、前記凹部を土砂で埋める、
請求項1に記載のショベル。 - 前記目標形状に関する情報と前記実際の形状に関する情報とに基づき、前記地面の凸部を検出し、前記凸部の土砂で前記凹部を埋める、
請求項5に記載のショベル。 - バケットの背面で土砂を前記凹部に押し入れることにより、又は、前記バケットで掬った土砂を前記凹部に排土することにより、前記凹部を土砂で埋める、
請求項5に記載のショベル。 - 前記地面にある複数の前記凸部のうちの相対的に前記凹部に距離の近い前記凸部の土砂で前記凹部を埋める、
請求項6に記載のショベル。 - 前記地面の前記凹部を前記凸部の土砂で埋めきれない場合、所定の保管場所から土砂を運んで前記凹部を埋める、
請求項6に記載のショベル。 - 自機での操作入力、又は、外部から受信される操作入力に応じて、所定領域内の前記凹部を埋める作業を自動で行う、
請求項5の何れか一項に記載のショベル。 - 所定領域を一の方向に直線的に移動しながら前記凹部を埋める作業と、前記一の方向と反対の他の方向に直線的に移動しながら前記凹部を埋める作業とを繰り返す、
請求項5に記載のショベル。 - 前記地面の前記凹部を埋めるための前記凸部の土砂が余った場合に、所定の場所に移動させる、
請求項6に記載のショベル。 - 作業対象の一の領域内で前記地面の前記凹部を埋めるための前記凸部の土砂が余った場合に、前記一の領域における次の作業対象の他の領域寄りの前記所定の場所に移動させる、
請求項12に記載のショベル。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019018048 | 2019-02-04 | ||
JP2019018048 | 2019-02-04 | ||
PCT/JP2020/004045 WO2020162428A1 (ja) | 2019-02-04 | 2020-02-04 | ショベル |
Publications (2)
Publication Number | Publication Date |
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JPWO2020162428A1 true JPWO2020162428A1 (ja) | 2021-12-09 |
JP7404278B2 JP7404278B2 (ja) | 2023-12-25 |
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Application Number | Title | Priority Date | Filing Date |
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JP2020571200A Active JP7404278B2 (ja) | 2019-02-04 | 2020-02-04 | ショベル |
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US (1) | US20210355651A1 (ja) |
EP (1) | EP3922776A4 (ja) |
JP (1) | JP7404278B2 (ja) |
KR (1) | KR20210122246A (ja) |
CN (2) | CN113396258A (ja) |
WO (1) | WO2020162428A1 (ja) |
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JP2016130409A (ja) * | 2015-01-13 | 2016-07-21 | 株式会社小松製作所 | 掘削機械、掘削機械の制御方法及び掘削システム |
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WO2020162428A1 (ja) | 2020-08-13 |
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