WO2008015801A1 - Dispositif de commande pour malaxeur - Google Patents
Dispositif de commande pour malaxeur Download PDFInfo
- Publication number
- WO2008015801A1 WO2008015801A1 PCT/JP2007/053026 JP2007053026W WO2008015801A1 WO 2008015801 A1 WO2008015801 A1 WO 2008015801A1 JP 2007053026 W JP2007053026 W JP 2007053026W WO 2008015801 A1 WO2008015801 A1 WO 2008015801A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- pressure
- pilot
- work arm
- weight
- work
- Prior art date
Links
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
- E02F3/96—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements
- E02F3/963—Arrangements on backhoes for alternate use of different tools
-
- 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
- E02F9/2004—Control mechanisms, e.g. control levers
- E02F9/2012—Setting the functions of the control levers, e.g. changing assigned functions among operations levers, setting functions dependent on the operator or seat orientation
-
- 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
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2239—Control of flow rate; Load sensing arrangements using two or more pumps with cross-assistance
- E02F9/2242—Control of flow rate; Load sensing arrangements using two or more pumps with cross-assistance 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
- E02F9/2285—Pilot-operated systems
-
- 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
-
- 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
- E02F9/2296—Systems with a variable displacement pump
Definitions
- the present invention relates to a control device for a work machine that controls a pilot control pressure of a pilot operated control valve with an electromagnetic proportional valve.
- Patent Document 1 Japanese Unexamined Patent Publication No. 2000-145720 (Page 3-4, Fig. 6)
- the present invention has been made in view of the above points, and in a work machine that controls the pilot control pressure of a pilot operated control valve with an electromagnetic proportional valve, it is automatically performed even when the weight of the work arm is changed. It is an object of the present invention to provide a control device for a work machine that can obtain optimal operability.
- the invention described in claim 1 is a work machine in which at least a part of a work arm operated by a fluid pressure actuator is provided in a replaceable manner.
- a control device for a work machine comprising: a measuring means for measuring the pressure; and a controller for converting the characteristics of the manual operation amount of the electromagnetic proportional valve and the pilot control pressure into characteristics according to the weight of the work arm measured by the measuring means. It is.
- the measurement means in the control device for the work machine according to claim 1 includes a pressure sensor that measures the holding pressure of the fluid pressure actuator of the work arm, and the controller includes the work arm.
- the invention described in claim 3 is an operation table in which the controller in the work machine control device according to claim 1 or 2 represents characteristics of the manual operation amount of the electromagnetic proportional valve and the pilot control pressure. Is converted into an operation table having characteristics corresponding to the weight of the work arm measured by the measuring means.
- the invention described in claim 4 is that when the controller in the control device for the work machine according to claim 3 is mounted with a standard work arm of an electromagnetic proportional valve that moves the work arm in the direction of gravity-facing or mounted with a standard packet
- the operation table at the time is converted into an operation table with characteristics that gradually increase the pilot control pressure so that the pilot control pressure rises to the maximum at the pilot control pressure rise position.
- the controller of the control device for the work machine according to claim 3 or 4 is equipped with a standard workarm of an electromagnetic proportional valve that moves the work arm in the direction of gravity.
- the operation table when the standard packet is installed is converted to an operation table with characteristics that are gradually reduced so that the pilot control pressure above the intermediate range of the manual operation amount is gradually reduced.
- the measuring means for measuring the weight of at least a part of the work arm, and the characteristics of the manual operation amount of the electromagnetic proportional valve and the pilot control pressure are measured in the measuring means. It is equipped with a controller that converts the characteristics according to the measured weight.
- a work machine that controls the pilot control pressure of the operation type control valve with an electromagnetic proportional valve can automatically obtain good operability even when the weight of the work arm or a part thereof is changed.
- the controller includes an automatic stop function for stopping the work arm in a constant holding pressure measurement posture and a holding measured by the pressure sensor in the constant holding pressure measurement posture. Since it has a weight calculation function that estimates the weight of the work arm from the pressure, the weight of the work arm can be easily estimated from only the holding pressure without detecting the posture of the work arm.
- the controller uses the operation arm measured by the measuring means to display the operation table that represents the characteristics of the manual operation amount of the electromagnetic proportional valve and the notor control pressure. Since it is converted to an operation table with characteristics according to weight, even when the weight of the work arm or part of it is changed, this operation table can be used to quickly perform calculations that can automatically obtain good operability. .
- the operation table at the time of mounting the standard work arm or the standard packet of the electromagnetic proportional valve that moves the work arm in the direction of gravity opposition is set to the middle of the manual operation amount.
- the operation table when the standard work arm or the standard packet of the electromagnetic proportional valve that moves the work arm in the direction of gravity is attached to the intermediate range of the manual operation amount.
- FIG. 1 is a circuit diagram showing an embodiment of a control device for a work machine according to the present invention.
- FIG. 2 (a) is a side view showing the measurement preparation posture of a work machine equipped with the control device. ) Is a side view showing the holding pressure measurement posture.
- FIG. 3 is a flowchart showing a control flow of the control device.
- FIG. 4 (a) is an operation table for the gravity facing operation of the control device, and is a characteristic diagram showing the lever stroke-pilot secondary pressure (pilot control pressure) characteristics, and (b) is the lever stroke. -Characteristic diagram showing offset pressure characteristic, (c) is a characteristic diagram showing its holding pressure-maximum offset amount characteristic.
- FIG. 5 (a) is an operation table for the operation in the direction of gravity in the control device, and is a characteristic diagram showing the lever stroke-pilot secondary pressure (pilot control pressure) characteristics, and (b) is the lever stroke. -Characteristic diagram showing offset pressure characteristic, (c) is a characteristic diagram showing its holding pressure-maximum offset amount characteristic.
- FIG. 2 shows a hydraulic excavator type work machine A, and a swiveling as a fluid pressure actuator with respect to a lower traveling body 1 having a crawler belt driven by a traveling motor ltr as a fluid pressure actuator.
- An upper swing body 2 that is swiveled by a motor 2sw is provided, and a work arm (front work device) 3 is mounted on the upper swing body 2.
- the work arm 3 is pivotally supported on the upper swing body 2 by the base end portion of the boom 4 that is pivoted up and down by a boom cylinder 4bm as a fluid pressure actuator.
- a stick 5 that is rotated in the stick-in / out direction by a stick cylinder 5st as a fluid pressure actuator is pivotally supported at the tip, and a bucket cylinder 6bk as a fluid pressure actuator is supported at the tip of the stick 5.
- the bucket or attachment tool 6 that is rotated in the packet in / out direction by the shaft is pivotally supported.
- the work arm 3 or the attachment tool 6 which is a part of the work arm 3 is provided in a replaceable manner.
- Fig. 1 shows a control device of the work machine A, wherein hydraulic oil supply lines 12 from a plurality of main pumps 11 are connected to a control valve 13, and a return oil discharge port of the control valve 13 is a check valve. 14 and oil cooler 15 are connected to tank 16.
- the control valve 13 includes left and right traveling motor spool valves 21 and 22, pilot motor spool valves 23, boom cylinder spool valves 24 and 25, and sticks as pilot-operated control valves for controlling the various fluid pressure actuators described above.
- the cylinder spool valves 26 and 27, the bucket cylinder spool valve 28, and the attachment spool valve 29 and 30 for controlling the attachment actuator 7at for operating (opening and closing) the attachment tool 6 are incorporated.
- pilot-operated control valves At one end and the other end of these various pilot-operated control valves, these various pilot-operated control valves are provided with a pilot control pressure (pilot secondary pressure) corresponding to an electric signal corresponding to a manual operation amount. ) are connected to pilot-controlled solenoid proportional valves 21ev, 22ev, 23ev, 24ev, 25ev, 26ev, 27ev, 28ev, 29ev, 30ev (hereinafter referred to as “21ev-30ev”). A pilot primary pressure line from the pilot pump llpi and a pilot return oil line to the tank 16 are connected to these solenoid proportional valves 21ev to 30ev, respectively.
- the electromagnetic proportional valve includes an electromagnetic proportional pressure reducing valve.
- the electromagnetic parts of these electromagnetic proportional valves 21ev to 30ev are connected to the signal output part of the controller 31, respectively.
- an operation lever 32 for operation manually operated by an operator of the work machine A and an operation pedal 33 for traveling are connected to the signal input section of the controller 31.
- the operation lever 32 and the operation pedal 33 convert the manual operation amount into an electric signal and inputs it to the controller 31.
- pressure sensors 34bm, 35st, 36bk for measuring the holding pressure of the boom cylinder 4bm, the stick cylinder 5st and the bucket cylinder 6bk of the work arm 3 These fluid pressure actuator heads It is installed on the cable side line and the rod side line.
- the weight of the work arm 3, that is, the front weight, can be estimated by measuring only at the three locations on the head side of the boom cylinder 4bm, the rod side of the stick cylinder 5st, and the rod side of the bucket cylinder 6bk.
- the signal output parts of the pressure sensors 34bm, 35st, 36bk are connected to the signal input part of the controller 31.
- the controller 31 converts the characteristics of the manually operated amount of the solenoid proportional valves 21ev to 30ev and the pilot control pressure into characteristics according to the weight of the work arm 3 measured by the pressure sensors 34bm, 35st, and 36bk. It has a function to do.
- the controller 31 measures the holding pressure corresponding to the weight of the work arm 3 using only the pressure sensors 34bm, 35st, and 36bk. Therefore, it is necessary to measure the work arm 3 in a constant posture. Therefore, the automatic stop function that stops the work arm 3 at a constant holding pressure measurement posture and the holding pressure measured by the pressure sensors 34bm, 35st, and 36bk in the constant holding pressure measurement posture.
- the weight of the work arm 3 or attachment tool 6 And a weight calculation function to estimate
- the automatic stop function is changed to the measurement mode from the measurement preparation posture in which the stick cylinder 5st and the bucket cylinder 6bk of the work machine A are reduced to the shortest
- the pilot control pressure secondary pressure
- the solenoid proportional valves 26ev and 28ev and the pump discharge from the main pump 11 (swash plate tilt angle) Is a function that automatically stops after a stroke for a certain period of time in a state controlled to a predetermined value.
- the weight calculation function is obtained from the holding pressures of the boom cylinder 4bm, the stick cylinder 5st, and the bucket cylinder 6bk measured by the pressure sensors 34bm, 35st, and 36bk in this constant holding pressure measurement posture.
- the weight of the attachment tool 6 can be estimated. For example, from the differential pressure between the head side pressure and the rod side pressure of the boom cylinder 4bm and the known piston pressure receiving area, the holding force of the boom cylinder 4bm and the Since the torque of the boom cylinder 4bm is known, the holding force moment of the boom cylinder 4bm is known, and the holding force measuring posture force of the work arm 3 is divided.
- the weight of the work arm 3 can be calculated from the balance with the moment of gravity! /.
- the posture is changed from the constant measurement preparation posture shown in Fig. 2 (a) to the constant holding pressure measurement posture shown in Fig. 2 (b), and the boom cylinder 4bm, the stick cylinder 5st, and the bar
- the controller 31 automatically calculates the weight of the attached workarm 3. Can be calculated automatically.
- FIG. 3 shows the control flow of the controller 31.
- a special work arm such as a long reach arm
- the weight of the work arm 3 or the attachment tool 6 is measured by the above weight calculation function (step S1), and then the proportional solenoid valves 24ev, 25ev , 26ev, 27ev, 28ev manual operation amount (lever stroke) and pilot control pressure (pilot secondary pressure) characteristics of operation table with standard work arm or standard packet installed according to its weight Convert to an operation table with optimal characteristics (step S2).
- the controller 31 controls the manual operation amount (lever stroke) of the solenoid proportional valves 2 4ev, 25ev, 26ev, 27ev, 28ev and the pilot control.
- the operation table when the standard work arm is mounted or the standard packet is mounted, which shows the characteristics of the pressure (pilot secondary pressure), is measured by the pressure sensor 34bm, 35st, 36bk and calculated by the controller 31 or It is equipped with a function to convert it into an operation table with characteristics corresponding to the weight of the attachment tool 6.
- the operation table is a characteristic of lever operation amount-spool operation amount control pressure.
- Boom cylinder spool valves 24, 25, stick cylinder spool valves 26, 27, and bucket cylinder spool valves 28 spool operation amount control pressure with solenoid proportional valve 24ev, 25ev, 2 If it is an electrically controlled hydraulic excavator controlled by 6ev, 27ev, 28ev, this characteristic can be easily changed.
- the maximum offset is the maximum displacement from the standard position (angle) of the work arm 3, and the maximum offset increases with the holding pressure as the weight of the work arm 3 increases.
- FIG. 4 shows an operation table 41 in the case of a gravity facing operation such as a boom raising operation and a stick-out operation, and the controller 31 performs an actual machine measurement as shown in FIG. 4 (c). From the calculated holding pressure-maximum offset amount characteristic curve, obtain the maximum offset amount ⁇ at the measured holding pressure, and as shown in Fig. 4 (b), the offset pressure a force corresponding to this maximum offset amount a. Calculate the gradual decrease characteristic of the lever stroke-offset pressure. As shown in Fig. 4 (a), this lever stroke-offset pressure characteristic becomes the characteristic of the reburst stroke-pilot secondary pressure (pilot control pressure). to add.
- the control pressure can be converted to the characteristic 41b that is gradually increased so that it becomes the maximum at the rising position of the pilot control pressure.By this conversion, the pilot control pressure up to the intermediate range is increased and the cylinder movement start position equivalent to the standard machine is realized. This eliminates the drawback that the working arm movement point becomes deeper than the conventional lever operation amount.
- FIG. 5 shows an operation table 42 in the case of a gravity direction operation such as a boom lowering operation, a stick-in operation, and a packet-in operation, and the controller 31 is configured as shown in FIG.
- the maximum offset amount j8 at the measured holding pressure is obtained from the holding pressure-maximum offset amount characteristic curve calculated by actual machine measurement, and this maximum offset amount / 3 is supported as shown in Fig. 5 (b).
- the lever stroke-offset pressure characteristic is also calculated by lever lever-pilot secondary pressure (pilot control pressure). Subtract from the characteristics of
- the characteristic 42a of the operation table 42 of the electromagnetic proportional valve 24ev, 25ev, 26ev, 2 7ev, 28ev that moves the work arm 3 in the direction of gravity is set in the middle range of the lever stroke (manual operation amount).
- This can be converted into the characteristic 42b that gradually reduces the pilot control pressure so that the pilot control pressure is gradually reduced.By this conversion, the pilot control pressure in the intermediate range or lower can be reduced, the spool movement amount can be limited, and the cylinder speed of the standard machine can be suppressed.
- the disadvantage of excessive cylinder speed due to the increased work arm weight can be eliminated.
- the controller 31 has an automatic stop function for stopping the work arm 3 at a constant holding pressure measurement posture and a work arm from the holding pressure measured by the pressure sensors 34bm, 35st, and 36bk in the constant holding pressure measurement posture. Since the weight calculation function for estimating the weight of 3 is provided, only the holding pressure without detecting the posture of the work arm 3 can be easily estimated.
- the controller 31 is an operation table 41 when the standard work arm is mounted or when the standard packet is mounted, which represents the characteristics of the manual operation amount of the solenoid proportional valves 24ev, 25ev, 26ev, 27ev, 28ev and the pie-port control pressure. Or 42 is converted into an operation table corresponding to the weight of work arm 3 measured by the pressure sensors 34bm, 35st, 36bk, so that the weight of work arm 3 or a part of it can be changed using this operation table. When this happens, calculations that can automatically obtain good operability can be performed quickly.
- Solenoid proportional valve that moves the work arm 3 in the direction of gravity. 24ev, 25ev, 26ev, 27ev When the standard work arm is mounted or when the standard packet is mounted 41
- the pilot control pressure By converting the pilot control pressure to the characteristic 41b that is gradually increased so as to become the maximum at the rising position of the pilot control pressure, it is possible to prevent the work arm 3 from starting deeper than the manual operation amount. That is, gravity against manual operation amount Fluid pressure actuator in the counter direction 4bm, 5st movement start reaction 3 ⁇ 4
- Solenoid proportional valve for moving work arm 3 in the direction of gravity 24ev, 25ev, 26ev, 27ev, 28ev when operating with standard work arm or standard packet 42
- the operating speed of the fluid pressure actuators 4bm, 5st, 6bk can be kept in the controllable region.
- the present invention can be used for work machines such as hydraulic excavators and loaders.
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN200780000074.3A CN101310114B (zh) | 2006-07-31 | 2007-02-20 | 作业机械的控制装置 |
US11/997,176 US7930970B2 (en) | 2006-07-31 | 2007-02-20 | Control unit for work machine |
EP07737285A EP2048371A4 (en) | 2006-07-31 | 2007-02-20 | CONTROL DEVICE FOR A WORKING MACHINE |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006208553A JP4931048B2 (ja) | 2006-07-31 | 2006-07-31 | 作業機械の制御装置 |
JP2006-208553 | 2006-07-31 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2008015801A1 true WO2008015801A1 (fr) | 2008-02-07 |
Family
ID=38996987
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2007/053026 WO2008015801A1 (fr) | 2006-07-31 | 2007-02-20 | Dispositif de commande pour malaxeur |
Country Status (5)
Country | Link |
---|---|
US (1) | US7930970B2 (ja) |
EP (1) | EP2048371A4 (ja) |
JP (1) | JP4931048B2 (ja) |
CN (1) | CN101310114B (ja) |
WO (1) | WO2008015801A1 (ja) |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8095281B2 (en) * | 2008-12-11 | 2012-01-10 | Caterpillar Inc. | System for controlling a hydraulic system |
USD630268S1 (en) * | 2009-11-25 | 2011-01-04 | John Cunningham | Remote controlled vehicle |
JP5448187B2 (ja) * | 2010-06-25 | 2014-03-19 | キャタピラー エス エー アール エル | 作業機械の制御装置 |
CN102635137A (zh) * | 2011-02-12 | 2012-08-15 | 上海派芬自动控制技术有限公司 | 机械设备的全功率控制系统 |
CN105008623B (zh) * | 2014-06-04 | 2017-07-14 | 株式会社小松制作所 | 建筑机械的控制系统、建筑机械及建筑机械的控制方法 |
EP3020874B1 (en) * | 2014-11-12 | 2022-07-06 | John Deere Forestry Oy | A hydraulic control system for controlling a moveable device |
DE112015000055B4 (de) | 2015-05-29 | 2019-05-16 | Komatsu Ltd. | Steuersystem einer Arbeitsmaschine und Arbeitsmaschine |
JP6619163B2 (ja) * | 2015-06-17 | 2019-12-11 | 日立建機株式会社 | 作業機械 |
EP3128077B1 (de) * | 2015-08-04 | 2019-05-15 | Joseph Vögele AG | Strassenfertiger und verfahren zur bestimmung der bohlenkonfiguration |
JP6746333B2 (ja) * | 2016-03-22 | 2020-08-26 | 住友建機株式会社 | ショベル |
JP6589254B2 (ja) * | 2016-09-28 | 2019-10-16 | 日立建機株式会社 | 作業車両 |
DE112016000708B4 (de) * | 2016-11-09 | 2022-02-17 | Komatsu Ltd. | Arbeitsfahrzeug und Steuerungsverfahren |
US10378563B2 (en) * | 2016-11-09 | 2019-08-13 | Komatsu Ltd. | Work vehicle and data calibration method |
JP6707053B2 (ja) * | 2017-03-29 | 2020-06-10 | 日立建機株式会社 | 作業機械 |
PL3382099T3 (pl) | 2017-03-29 | 2019-09-30 | Joseph Vögele AG | Układarka z elementem grzejnym dla belki równającej |
JP7336853B2 (ja) * | 2019-02-01 | 2023-09-01 | 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 |
CN112095709A (zh) * | 2020-09-27 | 2020-12-18 | 徐州徐工挖掘机械有限公司 | 挖掘机的电控系统、控制方法、装置以及存储介质 |
JP2023157145A (ja) * | 2022-04-14 | 2023-10-26 | キャタピラー エス エー アール エル | 作業機械におけるブーム下降制御システム |
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US5361211A (en) | 1990-10-31 | 1994-11-01 | Samsung Heavy Industries Co., Ltd. | Control system for automatically controlling actuators of an excavator |
JPH0735105A (ja) * | 1993-07-21 | 1995-02-03 | Komatsu Ltd | 油圧駆動機械の不感帯自動補正装置およびその不感帯自動補正方法 |
JP2000145720A (ja) | 1998-11-12 | 2000-05-26 | Shin Caterpillar Mitsubishi Ltd | 作業機械における油圧制御装置 |
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US5218820A (en) * | 1991-06-25 | 1993-06-15 | The University Of British Columbia | Hydraulic control system with pressure responsive rate control |
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KR100533790B1 (ko) * | 1998-03-31 | 2005-12-06 | 신갸타피라 미쓰비시 가부시키가이샤 | 작업용 기계의 유압제어회로 |
JP3531904B2 (ja) * | 1998-03-31 | 2004-05-31 | 新キャタピラー三菱株式会社 | 作業用機械の油圧制御回路 |
US6286412B1 (en) * | 1999-11-22 | 2001-09-11 | Caterpillar Inc. | Method and system for electrohydraulic valve control |
-
2006
- 2006-07-31 JP JP2006208553A patent/JP4931048B2/ja not_active Expired - Fee Related
-
2007
- 2007-02-20 US US11/997,176 patent/US7930970B2/en not_active Expired - Fee Related
- 2007-02-20 CN CN200780000074.3A patent/CN101310114B/zh not_active Expired - Fee Related
- 2007-02-20 WO PCT/JP2007/053026 patent/WO2008015801A1/ja active Application Filing
- 2007-02-20 EP EP07737285A patent/EP2048371A4/en not_active Withdrawn
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US5361211A (en) | 1990-10-31 | 1994-11-01 | Samsung Heavy Industries Co., Ltd. | Control system for automatically controlling actuators of an excavator |
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Also Published As
Publication number | Publication date |
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JP2008032174A (ja) | 2008-02-14 |
CN101310114B (zh) | 2014-06-25 |
JP4931048B2 (ja) | 2012-05-16 |
EP2048371A4 (en) | 2011-03-09 |
EP2048371A1 (en) | 2009-04-15 |
US7930970B2 (en) | 2011-04-26 |
US20090090237A1 (en) | 2009-04-09 |
CN101310114A (zh) | 2008-11-19 |
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