WO2009087795A1 - 双腕作業機械 - Google Patents
双腕作業機械 Download PDFInfo
- Publication number
- WO2009087795A1 WO2009087795A1 PCT/JP2008/066998 JP2008066998W WO2009087795A1 WO 2009087795 A1 WO2009087795 A1 WO 2009087795A1 JP 2008066998 W JP2008066998 W JP 2008066998W WO 2009087795 A1 WO2009087795 A1 WO 2009087795A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- arm
- work
- fronts
- region
- angle
- Prior art date
Links
Images
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
- E02F3/964—Arrangements on backhoes for alternate use of different tools of several tools mounted on one machine
-
- 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
- E02F3/302—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 with an additional link
-
- 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
- E02F3/965—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements of metal-cutting or concrete-crushing implements
-
- 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
Definitions
- the present invention relates to a work machine used for structure demolition work, waste demolition work, road work, construction work, civil engineering work, and the like, and more particularly to a double-arm work machine provided with two articulated work fronts. .
- a work machine such as a hydraulic excavator is configured such that an articulated work front composed of a boom and an arm is connected to an upper swing body so as to be movable up and down, and a bucket is attached to the tip of the arm so as to be swingable up and down.
- a work machine used for structure demolition work, waste demolition work, civil engineering work, etc. may be configured.
- this type of work machine has only one work front.
- two work fronts are provided on the left and right sides of the upper swing body, respectively. Equipped work machines (double-arm work machines) have also appeared.
- the total weight of the two work fronts of the double-arm work machine is equivalent to the weight of the work front of a single-arm work machine of the same class as this double-arm work machine (a single-arm work machine having the same engine output).
- the dual arm work machine can maintain the same stability (static balance) as a single arm work machine of the same class.
- the present invention has been made in view of the above, and an object of the present invention is to provide a double-arm working machine capable of suppressing deterioration in stability associated with improvement in output of each of the two work fronts.
- the present invention provides a lower traveling body provided with a traveling device, an upper swing body provided on the upper portion of the lower traveling body and provided with a cab, and a front of the upper swing body.
- Two work fronts that are provided on both the left and right sides of the unit so as to be swingable up and down, and each provided with an arm, a boom, and a work tool;
- the arm angle detection means for detecting the angle of the arm with respect to the boom of the two work fronts
- the operation detection means for detecting the operation direction and the operation amount of the operation device, and the operation
- a work area calculation means for calculating a drive signal to the arm based on a detection signal from the detection means and the arm angle detection means.
- the instability evaluation value is the stability determination value, and the stability determination value area where there is no risk of the aircraft becoming unstable regardless of the operating state of the two work fronts is the normal area. If the region is defined as an unstable region, the stability limit region, the region of the set range adjacent to the outside of the stability limit region, where the stability determination value is larger than a predetermined stability determination reference value,
- the work area calculation means calculates the stability determination value based on the arm angles respectively detected by the arm angle detection means of the two work fronts, the stability determination value is in the stability limit area, and at least the When approaching the unstable region side, the drive signal is reduced and output compared to the case where the stability determination value is in the normal region, and the operating speed of the arm is limited.
- the total weight of the two work fronts of the double-arm work machine is, for example, equal to the weight of the work front of a single-arm work machine of the same class as this double-arm work machine (a single-arm work machine having an equivalent engine output). If comprised in this way, stability (static balance) of this double arm working machine will become equivalent to the single arm working machine of the same class. However, if the total output of the two work fronts of the double-arm work machine is improved, the output and strength of the work front, and the strength and weight are approximately proportional to each other. The total weight increases and the stability may deteriorate compared to a single-arm work machine of the same class.
- the stability determination value area where there is no risk of the aircraft becoming unstable regardless of the operating states of the two work fronts is the normal area
- the setting range area adjacent to the outside of the normal area is the stability limit area
- An area of a set range adjacent to the outside of the stability limit area, where the stability determination value is larger than a predetermined stability determination reference value is defined as an unstable area
- arm angle detection of two work fronts The stability determination value is calculated based on the angle of the arm detected by each means, and when the stability determination value is in the stability limit region, the drive signal is decreased to decrease the operating speed of the arm.
- the stability limit area in consideration of the stability of the single-arm work machine of the same class as the double-arm work machine, the same stability as the double-arm work machine and the single-arm work machine of the same class is secured. It is possible to suppress the deterioration of stability due to the improvement in output of the two work fronts.
- the work area calculation means is the operation detection means.
- the boom and arm drive signals based on the detection signals from the boom and arm angle detection means, and the work area calculation means detects the arms detected by the arm angle detection means of the two work fronts, respectively.
- the stability determination value is calculated on the basis of the angle of the boom and the boom angle detected by the boom angle detection means, and the stability determination value is in the stability limit region and at least approaches the unstable region side.
- the drive signal is reduced and output compared to the case where the discriminant value is in the normal region, and the operation speed of the arm and boom is controlled. It shall be.
- the stability determination value is calculated from an average value of the angles of the arms of the two work fronts.
- the stability determination value is an average of a distance between an arm tip of the two work fronts and an upper swing body calculated from the boom angle and the arm angle of the work front. It shall be calculated from the value.
- the work area calculation means when the stability determination value is in the stability limit area and approaches the unstable area side, The degree of decrease in the drive signal is increased continuously or stepwise as the stability determination value approaches the unstable region.
- the work area calculation unit is configured to move away from the stability limit area when the stability determination value is in the unstable area.
- the drive signal is stopped to stop the operation of the arm.
- the stability determination reference value is set such that a total of static moments of the two work fronts has an engine output equivalent to that of the double-arm work machine provided with one work front.
- the stability determination value is the same as the maximum value of the static moment of the work front of the single-arm working machine.
- FIG. 1 is a side view showing an appearance of a double-armed hydraulic excavator that is an example of a double-arm working machine according to a first embodiment of the present invention.
- FIG. 1 is a top view showing an external appearance of a double-arm hydraulic excavator that is an example of a double-arm working machine according to a first embodiment of the present invention. It is a perspective view which shows the operating device provided in the driver's cab. It is a functional block diagram which shows the control system of the 1st and 2nd work front. It is a figure which shows the operation direction of an operating device.
- a First work front B Second work front 200 Double-arm hydraulic excavator 1 Traveling body 2 Lower car body 3 Upper turning body 3a Turning center line 4
- Driver's seat 50a, 50b Operating device 51a, 51b Operation arm bracket 52a, 52b Operation Arm 53a, 53b Armrest 54a, 54b Operation lever 55a, 55b Work tool rotation lever 56a, 56b Work tool operation switch 57a, 57b Operation arm displacement detector 581a, 581b Operation lever vertical displacement detector 582a, 58 2b Operation lever front-rear direction displacement detectors 59a, 59b Work tool rotation lever displacement detectors 60a, 60b Work tool operation switch displacement detectors 61, 261,
- FIG. 1 and 2 are views showing the appearance of a double-armed hydraulic excavator 200 that is an example of a double-arm working machine according to the first embodiment of the present invention.
- FIG. 1 is a side view of a double-arm hydraulic excavator 200
- FIG. 2 is a top view of the double-arm hydraulic excavator 200.
- a double-armed hydraulic excavator 200 includes a lower vehicle body 2 provided with a traveling body 1, an upper revolving body 3 that is turnable on the lower vehicle body 2, and an upper revolving body 3.
- a cab 4 provided in the vicinity of the center of the front part, and a first work front A and a second work front B provided so as to be swingable up and down and to the left and right of the front part of the upper swing body 3 are provided.
- the first work front A includes a first bracket 6a provided on the right side of the front portion of the upper swing body 3, a swing post 7a attached to the first bracket 6a so as to be swingable left and right around the vertical axis, and the swing.
- a boom 10a attached to the post 7a so as to be swingable up and down, an arm 12a attached to the boom 10a so as to be swingable up and down, and a work tool 20a attached to the arm 12a so as to be rotatable up and down (in the drawing).
- the work tool 20a can be arbitrarily replaced with any one of a cutter, a breaker, a bucket, and other work tools in addition to the grapple shown in the drawing according to the work contents of the work machine.
- the second work front B is provided on the front left side of the upper swing body 3. This is configured in the same manner as the first work front A, and the same members are indicated by changing the subscripts from “a” to “b”, and the description is omitted here.
- operating devices 50a and 50b for operating the first and second work fronts A and B, respectively, and valid / invalid of work area calculation (described later) are provided.
- a work area calculation switch 110 for switching is provided.
- FIG. 3 is a perspective view showing the operation devices 50 a and 50 b provided in the cab 4 together with the driver seat 49.
- An operating device 50a for the first work front A and an operating device 50b for the second work front B are provided on the left and right sides of the driver seat 49.
- the operating device 50a is provided with an operating arm bracket 51a provided on the right side of the driver's seat 49, and attached to the operating arm bracket 51a so as to be able to swing left and right around the swing center axis 73a.
- An operation arm 52a for instructing movement and an armrest 53a attached to the operation arm 52a so as to swing integrally are provided.
- the armrest 53a has an elbow joint support portion 77a where the operator's elbow joint is located, and the operation arm 52a and the armrest 53a have the elbow joint support portion 77a of the armrest 53a positioned on the swing center axis 73a of the operation arm 52a. It is attached to the operation arm bracket 51a.
- the operation arm bracket 51a has an elbow joint position adjusting device 78a for adjusting the position of the elbow joint instruction section 77a in accordance with the body shape of the operator.
- the operating device 50a is attached to the front end portion of the operating arm 52a so as to be rotatable up and down, and is provided with a horizontal operating lever 54a for instructing the operation of the boom 10a and the arm 12a of the first work front A, and this operation.
- a horizontal operating lever 54a for instructing the operation of the boom 10a and the arm 12a of the first work front A, and this operation.
- the lever 54a it is rotatably attached around the rotation center axis 74a of the operation lever 54a, and is attached to the work tool turning lever 55a for instructing the turning of the work tool 20a, and the tip of the operation lever 54a.
- a work tool operation switch 56a for instructing start / stop of the work tool 20a.
- the operating device 50a is provided on the operating arm bracket 51a, and is provided on the operating arm 52a and an operating arm displacement detector 57a that detects a swing displacement amount of the operating arm 52a and transmits a signal (operation signal).
- An operation lever vertical displacement detector 581a that detects the amount of displacement of the operation lever 54a in the vertical direction and transmits an operation signal, and an operation lever that similarly detects the amount of displacement in the front-rear direction and transmits the operation signal.
- the operating device 50b is provided on the left side of the driver's seat 49. This is configured in the same manner as the operation device 50a, and the same member is indicated by changing the subscript from “a” to “b”, and the description is omitted here.
- FIG. 4 is a functional block diagram showing the control system of the first and second work fronts A and B.
- symbol in the parenthesis in FIG. 4 has shown each displacement detector corresponding to the 2nd work front B, each angle detector, and a drive system.
- the control system of FIG. 4 is roughly classified into the above-described displacement detectors, work area calculation switches 110, first and second work fronts A, provided in the operation devices 50a and 50b in the cab 4. Generates and outputs a drive signal by performing a predetermined calculation based on an input system composed of angle detectors (described later) provided in B and input signals (operation signal, instruction signal, detection signal) from these input systems.
- the control device 61 is configured to receive a drive signal from the control device 61, and an output system including each drive system (described later) that operates each part of the first and second work fronts A and B.
- displacement detectors 57a and 57b for detecting the swing displacement of the operation arms 52a and 52b and transmitting signals (operation signals), and upper and lower of the operation levers 54a and 54b, respectively.
- Operation lever vertical displacement detectors 581a and 581b that detect the displacement in each direction and transmit an operation signal
- operation levers that detect the displacement in the front-rear direction of the operation levers 54a and 54b and transmit an operation signal
- Front / rear direction displacement detectors 582a, 582b work tool rotation lever displacement detectors 59a, 59b for detecting the rotational displacement amounts of the work tool rotation levers 55a, 55b, respectively, and transmitting operation signals
- Work tool operation switch displacement detectors 60a and 60b for detecting displacement amounts of the switches 56a and 56b and transmitting operation signals, respectively, Detecting the angles of the work area calculation switch 110 for transmitting a signal (instruction signal) for instructing the validity / invalidity of calculation (described later) and the arms 12a
- the output system of the control device 61 includes swing post cylinder drive systems 64a and 64b for driving the swing post cylinders 9a and 9b, boom cylinder drive systems 63a and 63b for driving the boom cylinders 11a and 11b, and the above.
- Arm cylinder drive systems 62a and 62b for driving the arm cylinders 13a and 13b
- work tool cylinder drive systems 65a and 65b for driving the work tool cylinders 15a and 15b
- a work tool drive system for driving the work tools 20a and 20b.
- the control device 61 performs a work area calculation based on input signals (operation signals) from the work area calculation switch 110, the arm angle detectors 69a and 69b, and the operation lever front / rear direction displacement detectors 582a and 582b.
- the boom cylinder based on the input signal from the drive signal generator 61A for generating the drive signal to the swing post cylinder drive system 62a, 62b based on the input signal from 57b and the vertical displacement detectors 581a, 581b for the operating lever.
- a drive signal generator 161B that generates a drive signal to the drive systems 63a and 63b, and a work tool turning lever displacement detector 59a Based on the input signals from the work tool cylinder drive systems 65a and 65b based on the input signals from 59b, the work signal is generated based on the input signals from the drive signal generator 61D and the work tool operation switch displacement detectors 60a and 60b. And a drive signal generation unit 61E that generates drive signals to the drive systems 66a and 66b.
- FIG. 5 is a diagram illustrating the operation directions of the operation devices 50a and 50b
- FIG. 6 is a diagram illustrating the operations of the first and second work fronts A and B corresponding to the operation directions of the operation devices 50a and 50b.
- the second work front B is indicated by parenthesized symbols in the figure.
- the operator sits on the driver's seat 49 and the elbow joint of the right arm is the elbow joint of the armrest 53a on the operation arm 52a.
- the work tool rotation lever 55a is gripped by the palm part on the support part 77a, and the thumb is put on the work tool operation switch 56a.
- the elbow joint of the left arm is placed on the elbow joint support portion 77b of the armrest 53b on the operation arm 52b, the work tool turning lever 55b is gripped by the palm, and the thumb is put on the work tool operation switch 56b.
- the operating arm displacement detectors 57a, 57b are controlled by the control device 61.
- An operation signal is transmitted to the drive signal generator 61A for the swing post cylinder drive systems 62a and 62b.
- the drive signal generator 61A transmits a drive signal to the swing post cylinder drive systems 62a and 62b.
- the swing post cylinder drive systems 62a and 62b that have received this drive signal expand and contract the swing post cylinders 9a and 9b.
- the swing posts 7a and 7b are swung in a direction coinciding with the displacement direction of the operation arms 52a and 52b (see W in FIG. 6).
- the swing speed of the swing posts 7a and 7b is in a simple increase relationship, for example, a proportional relationship with the displacement amount of the operation arms 52a and 52b, and the displacement of the operation arms 52a and 52b is the swing motion of the swing posts 7a and 7b.
- Speed control the movement for example, a proportional relationship with the displacement amount of the operation arms 52a and 52b, and the displacement of the operation arms 52a and 52b is the swing motion of the swing posts 7a and 7b.
- the vertical displacement detectors 581a and 581b for the operating lever are used for the boom cylinder drive systems 63a and 63b of the control device 61.
- An operation signal is transmitted to the drive signal generation unit 61B.
- the drive signal generator 61B that has received this operation signal transmits a drive signal to the boom cylinder drive systems 63a and 63b.
- the boom cylinder drive systems 63a and 63b that have received this drive signal extend and contract the boom cylinders 11a and 11b. Accordingly, the booms 10a and 10b are swung (see Y in FIG. 6).
- the swinging speed of the booms 10a and 10b is in a proportionally increasing relationship with the amount of displacement of the operating levers 54a and 54b in the vertical direction (y direction), for example, the vertical displacement of the operating levers 54a and 54b. Controls the swing of the booms 10a, 10b.
- the operation lever front-rear direction displacement detectors 582a, 582b and the arm angle detectors 69a, 69b are controlled by the control device.
- a signal is transmitted to the 61 work area calculation unit 61F.
- the work area calculation unit 61F Upon receiving these signals, the work area calculation unit 61F, when the work area calculation is effectively switched by the instruction signal from the work area calculation switch 110, the operation lever longitudinal displacement detectors 582a and 582b, and the arm angle detection The work area is calculated based on the input signals from the devices 69a and 69b, and a signal (calculation result) is transmitted to the drive signal generator 61C for the arm cylinder drive systems 64a and 64b.
- the drive signal generator 61C that has received this signal transmits a drive signal to the arm cylinder drive systems 64a and 64b.
- the arm cylinder drive systems 64a and 64b extend and contract the arm cylinders 13a and 13b. As a result, the arms 12a and 12b are swung (see X in FIG. 6).
- the work area calculation unit 61F does not perform the work area calculation and outputs from the operation lever longitudinal displacement detectors 582a and 582b.
- the operation signal is transmitted as it is to the drive signal generator 61C.
- the drive signal generator 61C that has received this operation signal transmits a drive signal to the arm cylinder drive systems 64a and 64b, and the arm cylinder drive systems 64a and 64b extend and contract the arm cylinders 13a and 13b. As a result, the arms 12a and 12b are swung (see X in FIG. 6).
- the swinging speed of the arms 12a and 12b is in a proportional increase relationship with the displacement amount of the operation levers 54a and 54b in the front-rear direction (x direction), for example, the displacement of the operation levers 54a and 54b in the front-rear direction. Controls the swing of the arms 12a, 12b.
- the work tool turning lever displacement detectors 59a and 59b are controlled by a control device.
- An operation signal is transmitted to the drive signal generator 61D for the work tool cylinder drive systems 65a and 65b.
- the drive signal generator 61D that has received this operation signal transmits a drive signal to the work tool cylinder drive systems 65a and 65b.
- the work tool cylinder drive systems 65a and 65b expand and contract the work tool cylinders 15a and 15b. Thereby, the work tools 20a and 20b are swung (see Z in FIG. 6).
- the swing speeds of the work tool 20a and 20b are in a simple increase relationship with the displacement amount of the work tool rotation levers 55a and 55b, for example, a proportional relationship, and the displacement of the work tool rotation levers 55a and 55b is The swing of the tools 20a and 20b is controlled in speed.
- the work tool operation switch displacement detectors 60a and 60b operate the drive signal generation unit 61E for the work tool drive systems 66a and 66b of the control device 61. Send a signal.
- the drive signal generator 61E that has received this operation signal transmits a drive signal to the work tool drive systems 66a and 66b.
- the work tool drive systems 66a and 66b that have received this drive signal drive the work tools 20a and 20b. For example, when the grapple shown in FIG. 1 is handled as the work tools 20a and 20b, the grapple is opened and closed according to the operation of the work tool operation switches 56a and 56b.
- the opening / closing speed of the grapples (work tools 20a, 20b) is in a proportionally increasing relationship with the displacement amount of the work tool operation switches 56a, 56b, for example, the displacement is proportional to the work tool operation switches 56a, 56b. , 20b is controlled in speed.
- FIG. 7 is a diagram showing how to set the arm angle in the first and second work fronts A and B.
- the angle (arm angle) between the boom 10a and the arm 12a of the first work front A is set as ⁇ a
- the angle (arm angle) between the boom 10b and the arm 12b of the second work front B is set as ⁇ b.
- the arm angles ⁇ a and ⁇ b may be set in the same manner for the first work front A and the second work front B.
- the line passing through both ends of the boom 10a of the first work front A is the boom reference line 101a, and both ends of the arm 12a (the boom 10a and the work tool 20a).
- the arm reference line 121a is defined as the arm reference line 121a
- the angle formed by the arm reference line 121a with respect to the boom reference line 101a is set as the arm angle ⁇ a.
- the arm angle ⁇ a is defined as a positive direction in which the arm 12a is directed from the inside to the outside. That is, when the arm 12a is driven in the dump direction, the arm angle ⁇ a increases.
- the arm angle ⁇ b is similarly set for the second work front B.
- a line passing through both ends of the boom 10b of the second work front B is set as a boom reference line 101b
- a line passing through both ends of the arm 12b is set as an arm reference line 121b
- the arm reference line 121b is formed with respect to the boom reference line 101b.
- the angle is set as the arm angle ⁇ b.
- the direction in which the arm 12b is directed from the inside to the outside is the positive direction.
- FIG. 8 is a conceptual diagram showing the relationship between the arm average angle ⁇ c and the stability / unstableness of the double-arm work machine.
- the horizontal axis represents the arm average angle ⁇ c.
- the double-arm hydraulic excavator 200 is in a stable state (dual-arm work machine stable), and when the arm average angle ⁇ c is larger than the threshold value ⁇ c2, the double-armed hydraulic excavator 200 is not stable. It is defined as a stable state (dual-arm work machine unstable).
- the method for determining the threshold value ⁇ c2 is not limited.
- the stability (static balance) of the double-arm work machine (double-arm hydraulic excavator 200) of the present embodiment is the same class as that of the double-arm work machine.
- the threshold value is the arm average angle (or an arm average angle smaller than that) when the work front (single-arm work machine having the same engine output) has the same stability as when the work front is fully extended forward.
- ⁇ c2 The threshold value ⁇ c2 is stored in the work area calculation unit 61F in advance, and an area of ⁇ c2 ⁇ ⁇ c, which is an arm average angle range in which the double-arm hydraulic excavator 200 becomes unstable, is defined as an unstable area N.
- the two-arm work machine does not become unstable when the two work fronts A and B are stopped.
- the work fronts A and B operate near the unstable region N and the arm average angle ⁇ c increases, the operation is performed.
- the arm average angle ⁇ c of the two work fronts A and B may enter the unstable region N and become unstable with the double-arm work machine.
- a threshold value is set.
- ⁇ c1 ( ⁇ c2) is set.
- the work area calculation unit 61F also stores this threshold value ⁇ c1 in advance, and sets an area of ⁇ c1 ⁇ ⁇ c ⁇ c2 that is a range of arm average angles set by the double-arm hydraulic excavator 200 adjacent to the unstable area N.
- the stability limit region M is defined.
- the region of ⁇ c ⁇ c1 is a region adjacent to the inside of the stability limit region M, and is a normal region L in which the two-arm work machine is not likely to become unstable regardless of the operating states of the two work fronts A and B. Define.
- the arm average angle ⁇ c is a stability determination value that is an evaluation value of airframe instability due to the postures of the two work fronts A and B
- the threshold ⁇ c2 is a stability determination reference value.
- FIG. 9 shows that when the work area calculation of the work area calculation unit 61F is effective and the arm average angle ⁇ c of the first and second work fronts A and B increases, the arm average angle ⁇ c and the work area calculation unit 61F It is a figure showing an example of the relationship of the magnitude
- the horizontal axis represents the arm average angle ⁇ c
- the vertical axis represents the output signal with respect to the input signal in the form of a ratio. That is, the output signal is made dimensionless by dividing by the input signal.
- the output signal when the arm average angle ⁇ c is in the normal region L, the output signal is 1, and the input signal is output as it is as an output signal (calculation result).
- the output signal When the arm average angle ⁇ c is in the stability limit region M, the output signal is ⁇ (0 ⁇ ⁇ 1), and a signal (calculation result) reduced by multiplying the input signal by a certain value ⁇ is output.
- the arm average angle ⁇ c is in the unstable region N, the output signal is 0, and the signal obtained by multiplying the input signal by 0 (zero) is the calculation result, and therefore no signal is output.
- the arm average angle ⁇ c of the first and second work fronts A and B is in the stability limit region M, and the input signal from the operation lever longitudinal displacement detectors 582a and 582b is a signal for increasing the arm average angle ⁇ c.
- the work area calculation unit 61F uses, as an output signal (calculation result), a signal obtained by multiplying the input signal from the operation lever longitudinal displacement detectors 582a and 582b by ⁇ (0 ⁇ ⁇ 1) (subtracted signal). It outputs to the drive signal generation part 61C.
- the arm average angle ⁇ c of the first and second work fronts A and B is in the stability limit region M, and the input signal from the operation lever longitudinal displacement detectors 582a and 582b decreases the arm average angle ⁇ c.
- the work area calculation unit 61F outputs the input signals from the operation lever longitudinal displacement detectors 582a and 582b as they are as output signals (calculation results) to the drive signal generation unit 61C.
- Unstable region N The arm average angle ⁇ c of the first and second work fronts A and B is in the unstable region N, and the input signal from the operation lever longitudinal displacement detectors 582a and 582b is a signal for increasing the arm average angle ⁇ c.
- the work area calculation unit 61F uses a signal (subtracted signal) obtained by multiplying the input signal from the operation lever longitudinal displacement detectors 581a and 582b by 0 (zero) as an output signal (calculation result). Therefore, no signal is output to the drive signal generation unit 61C.
- the arm average angle ⁇ c of the first and second work fronts A and B is in the stability limit region M, and the input signal from the operation lever longitudinal displacement detectors 582a and 582b decreases the arm average angle ⁇ c.
- the work area calculation unit 61F outputs the input signals from the operation lever longitudinal displacement detectors 582a and 582b as they are as output signals (calculation results) to the drive signal generation unit 61C.
- the work area calculation of the work area calculation unit 61F is switched between valid / invalid by the work area calculation switch 110.
- the calculation result (output signal) of the work area calculation unit 61F when the work area calculation is effectively switched by the work area calculation switch 110 is as described above.
- the work area calculation unit 61 does not perform the work area calculation. Therefore, the work area calculation unit 61F outputs the input signals from the operation lever front-rear direction displacement detectors 582a and 582b as they are to the drive signal generation unit 61C as output signals. The output signal at this time does not depend on the state of the arm average angle ⁇ c of the two work fronts A and B.
- the total weight of the two work fronts A and B of the double-arm work machine is, for example, a single-arm work machine of the same class as this double-arm work machine (single-arm having the same engine output)
- the stability (static balance) of the double-arm work machine is equivalent to that of the single-arm work machine of the same class.
- the output and strength of the work front, and the strength and weight are approximately proportional to each other.
- the total weight of the work fronts A and B of the platform increases, and the stability may be deteriorated as compared with a single-arm work machine of the same class.
- a region where the arm average angle ⁇ c of the two work fronts A and B is equal to or greater than the threshold value ⁇ c2 is set as an unstable region N so that the arm average angle ⁇ c does not enter the unstable region N.
- the operation of the two work fronts A and B is controlled. Therefore, by setting the threshold value ⁇ c2 to a value that considers the stability of the single-arm work machine of the same class, it is possible to ensure the same stability as the double-arm work machine and the single-arm work machine of the same class. The deterioration of the stability accompanying the output improvement of the work fronts A and B of a stand can be suppressed.
- the stability limit region M adjacent to the inside of the unstable region N is set, and the arm average angle ⁇ c approaches the unstable region N in the stability limit region M, the operation speed of the work fronts A and B is (limited). Therefore, the work fronts A and B can be stopped gently.
- the operation of the work fronts A and B is controlled based on the arm angle average value ⁇ c of the two work fronts A and B, when the arm angle of one work front is minimized, the work front of the other work front is You can make the most of your work area.
- the arm average angle ⁇ c of the two work fronts A and B is in the stability limit region M, and the input signals from the operating lever longitudinal displacement detectors 582a and 582b are the arm averages.
- the work area calculation unit 61F outputs the input signals from the operation lever longitudinal displacement detectors 582a and 582b as they are as output signals (calculation results) to the drive signal generation unit 61C.
- the present invention is not limited to this.
- a signal obtained by multiplying the input signal from the operation lever longitudinal displacement detectors 582a and 582b by ⁇ is output as an output signal (calculation result) to the drive signal generation unit 61C. May be.
- FIG. 10 shows another example of the relationship between the arm average angle ⁇ c and the magnitude of the output signal (calculation result) of the work area calculation unit 61F when the arm average angle ⁇ c of the first and second work fronts A and B increases.
- FIG. The horizontal and vertical axes in FIG. 10 are the same as those in FIG.
- the output signal in the stability limit region M is set so as to be continuously reduced from 1 to 0 (zero) as it approaches the unstable region N. It is defined by a non-linear curve with no continuous points.
- the arm average angle ⁇ c of the first and second work fronts A and B approaches the unstable region, the drive speed of the arms 12a and 12b is suppressed, and the arm cylinders 13a and 13b are compared with the example shown in FIG. Can be stopped gently.
- the relationship between the arm average angle ⁇ c and the output signal (calculation result) with a non-linear curve having no discontinuity as in this example, the operation of the arms 12a and 12b can be stopped more smoothly. it can.
- the curve shown in FIG. 10 (the relationship between the arm average angle ⁇ c and the magnitude of the output signal (calculation result) of the work area calculation unit 61F) may be defined by a parabola or an arc, for example.
- FIG. 11 shows still another relationship between the arm average angle ⁇ c and the magnitude of the output signal (calculation result) of the work area calculation unit 61F when the arm average angle ⁇ c of the first and second work fronts A and B increases. It is a figure showing an example.
- the horizontal and vertical axes in FIG. 11 are the same as those in FIG.
- the output signal in the stability limit region M is set to be continuously reduced from 1 to 0 (zero) as it approaches the unstable region N.
- it is defined by a linear line having a constant slope, and further, the connection point between the output signal of the normal region L and the stability limit region M and the connection point of the output signal of the stability limit region M and the unstable region N. Is a discontinuity point.
- the arm average angle ⁇ c of the first and second work fronts A and B approaches the unstable region, the driving speed of the arms 12a and 12b is suppressed, and the arm cylinder 13a is compared with the example shown in FIG. , 13b can be gently stopped.
- FIGS. 12 to 14 show the magnitude of the arm average angle ⁇ c and the output signal (calculation result) of the work area calculation unit 61F when the average value ⁇ c of the arm angles of the first and second work fronts A and B increases. It is a figure showing the modification of a relationship.
- the horizontal axis represents the arm average angle ⁇ c as in FIG. 9, but the vertical axis represents the upper limit value of the output signal.
- the output signal is calculated by multiplying the input signal by a coefficient in the stability limit region M and the arm driving speed is reduced.
- the upper limit value of the arm driving speed is set as shown in each figure, and the operating speed is reduced by limiting the operating speed of the arms 12a and 12b of the work fronts A and B in the stability limit region M.
- the output signal can be suppressed within the upper limit value. In this way, substantially the same effect as in FIGS. 9 to 11 can be obtained.
- the curve (the relationship between the arm average angle ⁇ c and the magnitude of the output signal of the work area calculation unit 61F) shown in FIG. 13 may be defined by a parabola or an arc, for example.
- the unstable region N, the stability limit region M, and the normal region L are defined by the arm average angle ⁇ c and the operations of the two work fronts A and B are controlled based on the arm average angle ⁇ c.
- the interference risk area N, the quasi-interference risk area M, and the normal area L are defined by the average values of the horizontal coordinates of the arms 12a and 12b, and the average values of the horizontal coordinates of the arms 12a and 12b are defined.
- the operation of the two work fronts A and B is controlled to suppress the deterioration of the stability of the two work fronts A and B.
- the horizontal coordinates of the arms 12a and 12b of the two work fronts A and B are the relative angles (boom angles) of the booms 10a and 10b with respect to the upper swing body 3 and the arms 12a and 12b with respect to the booms 10a and 10b. It is calculated based on the relative angle (arm angle).
- FIG. 15 is a functional block diagram showing a control system of the first and second work fronts A and B in the present embodiment.
- the second work front B is indicated by parenthesized symbols in the drawing.
- the control system of the present embodiment is similar to the first embodiment in that each displacement detector provided in the operating devices 50a and 50b in the operator cab 4 and the work area calculation switch 110, Predetermined calculation is performed based on the input system composed of the angle detectors provided on the first and second work fronts A and B and the input signals (operation signal, instruction signal, detection signal) from these input systems.
- a control device 261 that generates and outputs a drive signal and an output system that includes the drive systems that receive the drive signal from the control device 261 and operate the parts of the first and second work fronts A and B are configured. .
- operation arm displacement detectors 57a and 57b As an input system of the control device 261, operation arm displacement detectors 57a and 57b, operation lever vertical displacement detectors 581a and 581b, and operation lever front and rear direction displacement detection having the same configuration as in the first embodiment.
- the work tool rotation lever displacement detectors 59a and 59b In addition to the detectors 582a and 582b, the work tool rotation lever displacement detectors 59a and 59b, the work tool operation switch displacement detectors 60a and 60b, the work area calculation switch 110, and the arm angle detectors 69a and 69b, Boom angle detectors 68a and 68b for detecting the angles of the booms of the first and second work fronts A and B and transmitting signals (detection signals) are provided.
- swing post cylinder drive systems 64a and 64b As an output system of the control device 261, swing post cylinder drive systems 64a and 64b, boom cylinder drive systems 63a and 63b, arm cylinder drive systems 62a and 62b, and work tool cylinder drive, which have the same configuration as that of the first embodiment.
- Systems 65a and 65b and work tool drive systems 66a and 66b are provided.
- the control device 261 includes a work area calculation switch 110, arm angle detectors 69a and 69b, operation lever longitudinal displacement detectors 582a and 582b, operation lever vertical displacement detectors 581a and 581b, and a boom angle detector 68a. , 68b, a work area calculation unit 261F that performs a work area calculation based on an input signal (operation signal) and an input signal (calculation result) from the work area calculation unit 261F to the arm cylinder drive systems 64a and 64b.
- a drive signal generator 61C that generates a drive signal
- a drive signal generator 61B that generates a drive signal to the boom cylinder drive systems 63a and 63b based on an input signal from the work area calculator 261F
- an operating arm displacement Based on the input signals from the detectors 57a and 57b, drive signals to the swing post cylinder drive systems 62a and 62b are generated.
- FIG. 16 is a side view showing the appearance of the double-armed hydraulic excavator 200 in the present embodiment, and is a diagram showing how to take the arm horizontal direction coordinates in the first and second work fronts A and B.
- a reference coordinate system 130 is set.
- the reference coordinate system 130 has a connecting portion between the upper swing body 3 and each vehicle body 2 on the swing center axis 3a of the upper swing body 3 as an origin 130a, a Z axis along the swing axis 3a, and an upper portion perpendicular to the Z axis.
- the X axis is set in the front-rear direction of the revolving unit 3.
- One end to which the work tools 20a and 20b of the first and second work fronts A and B are connected is referred to as arm tips 71a and 71b, respectively.
- the horizontal distance between the origin 130a of the reference coordinate system 130 set in this way and the arm tip 71a of the arm 12a of the first work front A is the arm horizontal coordinate Xa
- the arm tip of the arm 130b of the origin 130a and the arm 12b of the second work front B is set.
- the horizontal distance of 71b is defined as the arm horizontal direction coordinate Xb
- the arm horizontal direction coordinates Xa and Xb have a forward direction in front of the upper swing body 3. That is, when the arms 12a and 12b are driven in the dump direction, the arm horizontal direction coordinates Xa and Xb increase.
- FIG. 17 is a conceptual diagram showing the relationship between the arm horizontal coordinate average value Xc and the stability / unstableness of the dual-arm work machine.
- the horizontal axis represents the arm horizontal direction coordinate average value Xc.
- the double-arm hydraulic excavator 200 is in a stable state (dual-arm work machine stable), and when the arm horizontal coordinate average value Xc is larger than the threshold value Xc2. It is defined that the type excavator 200 is unstable (double-arm work machine unstable).
- the method of determining the threshold value Xc2 is not limited.
- the stability (static balance) of the double-arm work machine (double-arm hydraulic excavator 200) of the present embodiment is the same arm as that of the double-arm work machine.
- the arm horizontal direction coordinate average value (or smaller arm horizontal direction coordinate average value) when the stability is equivalent to that of the work machine (single-arm work machine having an equivalent engine output) is set as the threshold value Xc2.
- the threshold value Xc2 is stored in advance, and an area of Xc2 ⁇ Xc, which is an arm horizontal coordinate average value range in which the double-arm hydraulic excavator 200 becomes unstable, is defined as an unstable area N. Define.
- the two-arm work machine does not become unstable when the two work fronts A and B are stopped.
- the work fronts A and B operate near the unstable area N and the arm horizontal coordinate average value Xc increases.
- the arm horizontal coordinate average value Xc of the two work fronts A and B may enter the unstable region N and the two-arm work machine may become unstable.
- the threshold Xc1 is set in consideration of a margin for reducing the operating speed of the two work fronts A and B in an area adjacent to the inner side of the unstable area N and stopping the two-arm work machine before it becomes unstable. ( ⁇ Xc2) is set.
- This threshold value Xc1 is also stored in advance in the work area calculation unit 261F, and Xc1 ⁇ Xc ⁇ Xc2 which is the range of the arm horizontal direction coordinate average value set adjacent to the unstable area N for the double-arm hydraulic excavator 200 Is defined as the stability limit region M.
- the region of Xc ⁇ Xc1 is defined as a normal region L in which there is no possibility that the two-arm work machine will become unstable regardless of the operating states of the two work fronts A and B.
- the arm horizontal direction coordinate average value Xc is a stability determination value that is an evaluation value of the instability of the body due to the postures of the two work fronts A and B
- the threshold value Xc2 is a stability determination reference value.
- the work area calculation in the work area calculation unit 261F is effective, and the arm horizontal direction coordinate average value Xc of the first and second work fronts A and B increases.
- the relationship between the coordinate average value Xc and the calculation result (output signal) of the work area calculation unit 261F is the same as the relationship shown in FIG. 9 in the first embodiment of the present invention.
- threshold values ⁇ c1 and ⁇ c2 are replaced with threshold values Xc1 and Xc2
- arm average angle ⁇ c is replaced with arm horizontal direction coordinate average value Xc.
- the output signal of the work area calculation unit 261F is 1 when the arm horizontal coordinate average value Xc is in the normal area L, and the input signal is output as an output signal (calculation result) as it is.
- the arm horizontal coordinate average value Xc is in the stability limit region M, ⁇ (0 ⁇ ⁇ 1), and a signal (calculation result) reduced by multiplying the input signal by a certain value ⁇ is output.
- the output signal is 0, and the signal obtained by multiplying the input signal by 0 (zero) is the calculation result, and therefore no signal is output.
- the work area calculation unit 261F operates the operation lever longitudinal displacement detector 582a. , 582b are directly output to the drive signal generator 61C as output signals, and the input signals from the operating lever vertical displacement detectors 581a and 581b are output to the drive signal generator 61B as they are.
- the output signal (calculation result) at this time is the same when the arm horizontal direction coordinate average value Xc of the two work fronts A and B is increasing and decreasing.
- the arm horizontal direction coordinate average value Xc of the first and second work fronts A and B is in the stability limit region M, and from the operation lever longitudinal displacement detectors 582a and 582b and the operation lever vertical displacement detectors 581a and 581b.
- the work area calculation unit 261F outputs a signal obtained by multiplying the input signal from the operation lever longitudinal displacement detectors 582a and 582b by ⁇ . (Calculation result) is output to the drive signal generation unit 61C, and a signal obtained by multiplying the input signal from the operation lever vertical displacement detectors 581a and 581b by ⁇ is output to the drive signal generation unit 61B as an output signal (calculation result).
- the arm horizontal coordinate average value Xc of the first and second work fronts A and B is in the stability limit region M
- the operation lever longitudinal displacement detectors 582a and 582b and the operation lever vertical displacement detector 581a When the input signal from 581b is a signal for decreasing the arm horizontal coordinate average value Xc, the work area calculation unit 261F directly uses the input signals from the operation lever longitudinal displacement detectors 582a and 582b as output signals (calculation results).
- the drive signal generating unit 61C To the drive signal generating unit 61C, and the input signals from the operation lever vertical displacement not detected 581a and 581b are directly output to the drive signal generating unit 61B as output signals (calculation results).
- Unstable region N The arm horizontal direction coordinate average value Xc of the first and second work fronts A and B is in the unstable region N, and the operation lever longitudinal displacement detectors 582a and 582b and the operation lever vertical displacement detectors 581a and 581b.
- the work area calculation unit 261F multiplies the input signals from the operation lever longitudinal displacement detectors 581a and 582b by 0 (zero). Let the signal be an output signal (calculation result). Therefore, no signal is output to the drive signal generator 61C and the drive signal generator 61B.
- the arm horizontal coordinate average value Xc of the first and second work fronts A and B is in the stability limit region M
- 581b is a signal in which the arm horizontal coordinate average value Xc decreases
- the work area calculation unit 261F directly uses the input signals from the operation lever longitudinal displacement detectors 582a, 582b as output signals (calculations). Result) is output to the drive signal generator 61C
- the input signals from the operating lever vertical displacement detectors 581a and 581b are directly output to the drive signal generator 61B as output signals (calculation results).
- the work area calculation of the work area calculation unit 261F is switched between valid / invalid by the work area calculation switch 110.
- the calculation result (output signal) of the work area calculation unit 261F when the work area calculation is effectively switched by the work area calculation switch 110 is as described above.
- the work area calculation unit 261F does not perform the work area calculation. Accordingly, the work area calculation unit 261F outputs the input signals from the operation lever front / rear direction displacement detectors 582a and 582b as they are to the drive signal generation unit 61C as output signals, and outputs them from the operation lever vertical direction displacement detectors 581a and 581b. The input signal is output as it is to the drive signal generator 61B as an output signal. The output signal at this time does not depend on the state of the arm horizontal coordinate average value Xc of the two work fronts A and B.
- the arm horizontal coordinate average value Xc of the two work fronts A and B is in the stability limit region M, and the operation lever longitudinal displacement detectors 582a and 582b and the operation lever vertical direction.
- the work area calculation unit 261F directly uses the input signals from the operation lever longitudinal displacement detectors 582a and 582b.
- An output signal (calculation result) is output to the drive signal generation unit 61C, and an input signal from the operation lever vertical direction displacement detection not yet 581a, 581b is directly output to the drive signal generation unit 61B as an output signal (calculation result).
- the present invention is not limited to this.
- the operation lever longitudinal displacement detectors 582a and 582b and the operation lever up and down Direction displacement detectors 581a may be configured to output the drive signal generator 61C and a drive signal generating unit 61B a signal obtained by multiplying the ⁇ input signal from 581b as the output signal (calculation result).
- the unstable region N, the stability limit region M, and the normal region L are defined by the arm average angle ⁇ c and the operations of the two work fronts A and B are controlled based on the arm average angle ⁇ c.
- the interference danger area N, the quasi-interference danger area M, and the normal area L are defined by the average value of the static moments of the first and second work fronts A and B, and the first and second work fronts A are defined.
- B based on the average value of the static moments of B, the operation of the two work fronts A, B is controlled to suppress the deterioration of the stability of the two work fronts A, B.
- the static moments of the two work fronts A and B are the relative angle (boom angle) of the booms 10a and 10b with respect to the upper swing body 3 and the relative angle (arm angle) of the arms 12a and 12b with respect to the booms 10a and 10b.
- the relative coordinates (work tool angles) of the work tools 20a and 20b with respect to the arms 12a and 12b, and the respective center-of-gravity coordinates of the booms 10a and 10b, the arms 12a and 12b, and the work tools 20a and 20b It is calculated based on the masses of booms, arms and work tools, which are known values.
- FIG. 18 is a functional block diagram showing the control system of the first and second work fronts A and B in the present embodiment.
- the second work front B is indicated by parenthesized symbols in the drawing.
- the control system of FIG. 18 includes boom angle detectors 68 a and 68 b and work tool angle detectors 70 a and 70 b in addition to the input system of the first embodiment, and further includes a control device 361 instead of the control device 61.
- the control system of the present embodiment is similar to the first embodiment in that each displacement detector provided in the operating devices 50a and 50b in the operator cab 4 and the work area calculation switch 110, Predetermined calculation is performed based on the input system composed of the angle detectors provided on the first and second work fronts A and B and the input signals (operation signal, instruction signal, detection signal) from these input systems.
- a control device 361 that generates and outputs a drive signal and an output system including each drive system that receives the drive signal from the control device 361 and operates each part of the first and second work fronts A and B are configured. .
- operation arm displacement detectors 57a and 57b As an input system of the control device 361, operation arm displacement detectors 57a and 57b, operation lever vertical displacement detectors 581a and 581b, and operation lever longitudinal displacement detection having the same configuration as that of the first embodiment.
- the work tool rotation lever displacement detectors 59a and 59b In addition to the detectors 582a and 582b, the work tool rotation lever displacement detectors 59a and 59b, the work tool operation switch displacement detectors 60a and 60b, the work area calculation switch 110, and the arm angle detectors 69a and 69b, Boom angle detectors 68a and 68b that detect the angles of the booms of the first and second work fronts A and B and transmit signals (detection signals), and the signals (detection signals) by detecting the angles of the work tools. Transmitting work tool angle detectors 70a and 70b are provided.
- swing post cylinder drive systems 64a and 64b As an output system of the control device 361, swing post cylinder drive systems 64a and 64b, boom cylinder drive systems 63a and 63b, arm cylinder drive systems 62a and 62b, and work implement cylinders having the same configuration as in the first embodiment.
- Drive systems 65a and 65b and work tool drive systems 66a and 66b are provided.
- the control device 361 includes a work area calculation switch 110, arm angle detectors 69a and 69b, operation lever longitudinal displacement detectors 582a and 582b, operation lever vertical displacement detectors 581a and 581b, a boom angle detector 68a, 68b and a work area calculation unit 361F for performing a work area calculation based on input signals (operation signals) from the work tool angle detectors 70a and 70b, and an arm based on an input signal (calculation result) from the work area calculation unit 361F.
- a drive signal generator 61C that generates a drive signal for the cylinder drive systems 64a and 64b, and a drive signal generator that generates a drive signal for the boom cylinder drive systems 63a and 63b based on an input signal from the work area calculator 361F.
- Swing post cylinder drive based on input signals from the unit 61B and the operating arm displacement detectors 57a and 57b
- drive signals to the work tool cylinder drive systems 65a and 65b are generated.
- a drive signal generator 61E that generates drive signals to the work tool drive systems 66a and 66b based on input signals from the work tool operation switch displacement detectors 60a and 60b. Yes. *
- FIG. 19 is a side view showing the external appearance of the double-armed hydraulic excavator 200 in the present embodiment, and is a diagram showing the center-of-gravity coordinates of the arm, boom, and work implement in the first and second work fronts A and B. .
- a reference coordinate system 130 is set.
- the reference coordinate system 130 has a connecting portion between the upper swing body 3 and the lower vehicle body 2 on the swing center axis 3a of the upper swing body 3 as an origin 130a, the Z axis along the swing axis 3a,
- the X axis is set in the front-rear direction of the revolving unit 3.
- the center of gravity positions of the boom 10a, the arm 12a, and the work tool 20a of the first work front A are P1a, P2a, and P3a, respectively
- the center of gravity positions of the boom 10b, arm 12b, and work tool 20b of the second work front B are P1b, respectively. Let P2b and P3b.
- the same reference numerals are used for the center of gravity positions of the two work fronts A and B and the coordinates (center of gravity coordinates) of each center of gravity position in the basic coordinate system 130. That is, the center of gravity coordinates of the boom 10a, the arm 12a, and the work tool 20a of the first work front A are P1a, P2a, and P3a, respectively, and the center of gravity coordinates of the boom 10b, arm 12b, and work tool 20b of the second work front B are P1b, respectively. Denoted as P2b and P3b.
- the work area calculation unit 361F obtains the barycentric coordinates P1a, P2a, P3a, P1b, P2b, and P3b by the following procedure.
- the relative angle (boom angle) of the booms 10a and 10b with respect to the upper swing body 3 the relative angle (arm angle) of the arms 12a and 12b with respect to the booms 10a and 10b, and the relative angle of the work tools 20a and 20b with respect to the arms 12a and 12b ( The work tool angle) is calculated.
- the barycentric coordinates in the reference coordinate system 130 of the booms 10a and 10b, the arms 12a and 12b, and the working tools 20a and 20b are respectively calculated from the relative barycentric coordinate table using the boom angle, the arm angle, and the working tool angle.
- the relative center-of-gravity coordinate table indicates the relationship between the boom angle, the arm angle, and the work tool angle, and the barycentric coordinates in the reference coordinate system 130 of the booms 10a, 10b, arms 12a, 12b, and work tools 20a, 20b. It is stored in advance in the work area calculation unit 361F.
- the static moment of the first work front A is Ta
- the static moment of the second work front B is Tb
- the first The static moment Ta of the work front A includes the X-axis direction components (P1ax, P2ax, and P3ax, respectively) of the center-of-gravity coordinates P1a, P2a, and P3a of the boom 10a, the arm 12a, and the work tool 20a. It is calculated
- the static moment Tb of the second work front A is the X-axis direction components (P1bx, P2bx, P3bx, respectively) of the center-of-gravity coordinates P1b, P2b, P3b of the boom 10b, the arm 12b, and the work tool 20b described above.
- the boom mass M1b, arm mass M2b, and work implement mass M3b which are known values acquired in advance, are obtained by the following equation (2).
- FIG. 20 is a conceptual diagram showing the relationship between the static moment average value Tc and the stability / unstableness of the double-arm work machine.
- the horizontal axis represents the static moment average value Tc.
- the static moment average value Tc is smaller than the threshold value Tc2
- the double-arm hydraulic excavator 200 is in a stable state (double-arm work machine stable)
- the static moment average value Tc is larger than the threshold value Tc2
- the excavator 200 is unstable (double-arm work machine unstable).
- the method for determining the threshold value Tc2 is not limited.
- the stability (static balance) of the double-arm work machine (double-arm hydraulic excavator 200) of the present embodiment is the same class as that of the double-arm work machine.
- Static moment average value (or smaller static moment average) when the work front (single-arm work machine with the same engine output) has the same stability as when the work front is fully extended forward Value) is a threshold value Tc2.
- Tc2 Static moment average value
- this threshold value Tc2 is stored in advance, and an area of Tc2 ⁇ Tc that is a range of the static moment average value in which the double-arm hydraulic excavator 200 becomes unstable is defined as an unstable area N. To do.
- the two-arm work machine does not become unstable when the two work fronts A and B are stopped.
- the work fronts A and B operate near the unstable region N and the static moment average value Tc increases.
- the static moment average value Tc of the two work fronts A and B may enter the unstable region N and become unstable with the two-arm work machine.
- the threshold Tc1 ( ⁇ Tc2) is set in consideration of a margin for reducing the operating speed of the two work fronts A and B and stopping them before the two-arm work machine becomes unstable.
- This threshold value Tc1 is also stored in the work area calculating unit 361F in advance, and the static moment average value range Tc1 ⁇ Tc ⁇ Tc2 that the double-arm hydraulic excavator 200 is set adjacent to the unstable area N is satisfied.
- the region is defined as a stability limit region M.
- the region of Tc ⁇ Tc1 is defined as a normal region L in which there is no possibility that the two-arm work machine will become unstable regardless of the operating states of the two work fronts A and B.
- the arm average angle Tc is a stability determination value that is an evaluation value of the instability of the body due to the postures of the two work fronts A and B
- the threshold Tc2 is a stability determination reference value.
- the relationship between the value Tc and the calculation result (output signal) of the work area calculation unit 361F is the same as the relationship shown in FIG. 9 in the first embodiment of the present invention.
- threshold values ⁇ c1 and ⁇ c2 are replaced with threshold values Tc1 and Tc2, and arm average angle ⁇ c is replaced with static moment average value Tc. That is, the output signal of the work area calculation unit 361F is 1 when the static moment average value Tc is in the normal area L, and the input signal is output as an output signal (calculation result) as it is.
- the work region calculation unit 361F includes the operation lever longitudinal displacement detector 582a, The input signal from 582b is output as it is to the drive signal generator 61C as an output signal, and the input signals from the operation lever vertical displacement detectors 581a and 581b are output to the drive signal generator 61B as they are.
- the output signal (calculation result) at this time is the same when the static moment average value Tc of the two work fronts A and B is increasing and when it is decreasing.
- the static moment average value Tc of the first and second work fronts A and B is in the stability limit region M, and from the operation lever longitudinal displacement detectors 582a and 582b and the operation lever vertical displacement detectors 581a and 581b.
- the work area calculation unit 361F outputs a signal obtained by multiplying the input signal from the operation lever longitudinal displacement detectors 582a and 582b by ⁇ as an output signal (calculation). Result) is output to the drive signal generator 61C, and a signal obtained by multiplying the input signals from the vertical displacement detectors 581a and 581b for the operating lever by ⁇ is output to the drive signal generator 61B as an output signal (calculation result).
- the static moment average value Tc of the first and second work fronts A and B is in the stability limit region M, and the operating lever longitudinal displacement detectors 582a and 582b and the operating lever vertical displacement detectors 581a and 581b.
- the work area calculation unit 361F directly uses the input signals from the operation lever longitudinal displacement detectors 582a and 582b as output signals (calculation results).
- the output signal is output to the drive signal generating unit 61C, and the input signals from the operation lever vertical displacement not detected 581a and 581b are directly output to the drive signal generating unit 61B as output signals (calculation results).
- Unstable region N The static moment average value Tc of the first and second work fronts A and B is in the unstable region N, and the operation lever longitudinal displacement detectors 582a and 582b and the operation lever vertical displacement detectors 581a and 581b are used.
- the work area computing unit 361F obtains a signal obtained by multiplying the input signals from the operation lever longitudinal displacement detectors 581a and 582b by 0 (zero). Output signal (calculation result). Therefore, no signal is output to the drive signal generator 61C and the drive signal generator 61B.
- the static moment average value Tc of the first and second work fronts A and B is in the stability limit region M
- the operation lever longitudinal displacement detectors 582a and 582b and the operation lever vertical displacement detector 581a When the input signal from 581b is a signal that decreases the static moment average value Tc, the work area calculation unit 361F directly outputs the input signals from the operation lever front-rear direction displacement detectors 582a and 582b (output results).
- the drive signal generator 61C and the input signals from the operation lever vertical displacement detectors 581a and 581b are directly output to the drive signal generator 61B as output signals (calculation results).
- the work area calculation of the work area calculation unit 361F is switched between valid / invalid by the work area calculation switch 110.
- the calculation result (output signal) of the work area calculation unit 361F when the work area calculation is effectively switched by the work area calculation switch 110 is as described above.
- the work area calculation unit 361F does not perform the work area calculation. Accordingly, the work area calculation unit 361F outputs the input signals from the operation lever longitudinal displacement detectors 582a and 582b as they are to the drive signal generation unit 61C as output signals, and the operation lever vertical displacement detectors 581a and 581b. The input signal is output as it is to the drive signal generator 61B as an output signal. The output signal at this time does not depend on the state of the static moment average value Tc of the two work fronts A and B.
- the static moment average value Tc of the two work fronts A and B is in the stability limit region M, and the operation lever longitudinal displacement detectors 582a and 582b and the operation lever vertical displacement
- the work area calculation unit 261F directly uses the input signals from the operation lever longitudinal displacement detectors 582a and 582b as output signals.
- (Operation result) is output to the drive signal generation unit 61C, and the input signals from the operation lever up / down direction displacement detection not yet 581a, 581b are directly output to the drive signal generation unit 61B as output signals (calculation result).
- the operation lever longitudinal displacement detectors 582a and 582b and the operation lever vertical displacement are not limited thereto.
- Can 581a it may be configured to output the drive signal generator 61C and a drive signal generating unit 61B a signal obtained by multiplying the ⁇ input signal from 581b as the output signal (calculation result).
- construction tool angle detectors 70a and 70b detect the relative angles of the work tools 20a and 20b with respect to the arms 12a and 12b
- the present invention is not limited to this.
- the construction tool angle detectors 70a and 70b are not provided.
- a predetermined value may be used as the relative angle of the work tools 20a and 20b with respect to the arms 12a and 12b.
- center of gravity position is set for each of the booms 10a and 10b, the arms 12a and 12b, and the work tools 20a and 20b
- the present invention is not limited to this.
- each of the members of the two work fronts A and B is provided.
- a plurality of calculation mass points in place of the center of gravity position may be set.
Abstract
Description
B 第2作業フロント
200 双腕型油圧ショベル
1 走行体
2 下部車体
3 上部旋回体
3a 旋回中心線
4 運転室
6a 第1ブラケット
6b 第2部ラケット
7a,7b スイングポスト
9a,9b スイングポストシリンダ
10a,10b ブーム
11a,11b ブームシリンダ
12a,12b アーム
13a,13b アームシリンダ
15a,15b 作業具シリンダ
20a,20b 作業具
49 運転席
50a,50b 操作装置
51a,51b 操作アームブラケット
52a,52b 操作アーム
53a,53b アームレスト
54a,54b 操作レバー
55a,55b 作業具回動レバー
56a,56b 作業具操作スイッチ
57a,57b 操作アーム用変位検出器
581a,581b 操作レバー用上下方向変位検出器
582a,582b 操作レバー用前後方向変位検出器
59a,59b 作業具回動レバー用変位検出器
60a,60b 作業具操作スイッチ用変位検出器
61,261,361 制御装置
61A~61E 駆動信号生成部
61F,261F,361F 作業領域演算部
62a,62b アームシリンダ駆動系
63a,63b ブームシリンダ駆動系
64a,64b スイングポストシリンダ駆動系
65a,65b 作業具シリンダ駆動系
66a,66b 作業具駆動系
69a,69b アーム角度検出器
71a,71b アーム先端
73a,73b 揺動中心軸線
74a,74b 回動中心軸線
77a,77b 肘関節支持部
78a,78b 肘関節位置調整装置
110 作業領域演算用スイッチ
130 基準座標系
130a 基準座標系原点
L 通常領域
M 安定限界領域
N 不安定領域
P1a,P1b ブーム重心座標
P2a,P2b アーム重心座標
P3a,P3b 作業具重心座標
θa,θb アーム角度
θc アーム平均角度
θc1,θc2 閾値
Xa,Xb アーム先端水平方向距離
Xc アーム先端水平方向距離平均
Xc1,Xc2 閾値
Ta,Tb 静的モーメント
Tc 静的モーメント平均値
Tc1,Tc2 閾値
第1及び第2作業フロントA,Bのアーム平均角度θcが通常領域L、つまり安定限界領域Mの外側にある場合、作業領域演算部61Fは、操作レバー用前後方向変位検出器582a,582bからの入力信号をそのまま出力信号として駆動信号生成部61Cに出力する。このときの出力信号(演算結果)は2つの作業フロントA,Bのアーム平均角度θcが増加である場合と減少である場合で同じである。
第1及び第2作業フロントA,Bのアーム平均角度θcが安定限界領域Mにあり、かつ操作レバー用前後方向変位検出器582a,582bからの入力信号が、アーム平均角度θcが増加する信号の場合、作業領域演算部61Fは、操作レバー用前後方向変位検出器582a,582bからの入力信号にα(0<α<1)を乗じた信号(減じた信号)を出力信号(演算結果)として駆動信号生成部61Cに出力する。
第1及び第2作業フロントA,Bのアーム平均角度θcが不安定領域Nにあり、かつ操作レバー用前後方向変位検出器582a,582bからの入力信号が、アーム平均角度θcが増加する信号の場合、作業領域演算部61Fは、操作レバー用前後方向変位検出器581a,582bからの入力信号に0(ゼロ)を乗じた信号(減じた信号)を出力信号(演算結果)とする。したがって、駆動信号生成部61Cに信号は出力されない。
第1及び第2作業フロントA,Bのアーム水平方向座標平均値Xcが通常領域L、つまり安定限界領域Mの外側にある場合、作業領域演算部261Fは、操作レバー用前後方向変位検出器582a,582bからの入力信号をそのまま出力信号として駆動信号生成部61Cに出力し、操作レバー用上下方向変位検出器581a,581bからの入力信号をそのまま駆動信号生成部61Bに出力する。このときの出力信号(演算結果)は2つの作業フロントA,Bのアーム水平方向座標平均値Xcが増加である場合と減少である場合で同じである。
第1及び第2作業フロントA,Bのアーム水平方向座標平均値Xcが安定限界領域Mにあり、かつ操作レバー用前後方向変位検出器582a,582b及び操作レバー上下方向変位検出器581a,581bからの入力信号が、アーム水平方向座標平均値Xcが増加する信号の場合、作業領域演算部261Fは、操作レバー用前後方向変位検出器582a,582bからの入力信号にαを乗じた信号を出力信号(演算結果)として駆動信号生成部61Cに出力し、操作レバー用上下方向変位検出器581a,581bからの入力信号にαを乗じた信号を出力信号(演算結果)として駆動信号生成部61Bに出力する。
第1及び第2作業フロントA,Bのアーム水平方向座標平均値Xcが不安定領域Nにあり、かつ操作レバー用前後方向変位検出器582a,582b及び操作レバー用上下方向変位検出器581a,581bからの入力信号が、アーム水平方向座標平均値Xcが増加する信号の場合、作業領域演算部261Fは、操作レバー用前後方向変位検出器581a,582bからの入力信号に0(ゼロ)を乗じた信号を出力信号(演算結果)とする。したがって、駆動信号生成部61C及び駆動信号生成部61Bに信号は出力されない。
Tb=M1b×P1bx+M2b×P2bx+M3b×P3bx・・・(2)
図20は、静的モーメント平均値Tcと双腕作業機械の安定/不安定の関係を示した概念図である。
第1及び第2作業フロントA,Bの静的モーメント平均値Tcが通常領域L、つまり安定限界領域Mの外側にある場合、作業領域演算部361Fは、操作レバー用前後方向変位検出器582a,582bからの入力信号をそのまま出力信号として駆動信号生成部61Cに出力し、操作レバー用上下方向変位検出器581a,581bからの入力信号をそのまま駆動信号生成部61Bに出力する。このときの出力信号(演算結果)は2つの作業フロントA,Bの静的モーメント平均値Tcが増加である場合と減少である場合で同じである。
第1及び第2作業フロントA,Bの静的モーメント平均値Tcが安定限界領域Mにあり、かつ操作レバー用前後方向変位検出器582a,582b及び操作レバー上下方向変位検出器581a,581bからの入力信号が、静的モーメント平均値Tcが増加する信号の場合、作業領域演算部361Fは、操作レバー用前後方向変位検出器582a,582bからの入力信号にαを乗じた信号を出力信号(演算結果)として駆動信号生成部61Cに出力し、操作レバー用上下方向変位検出器581a,581bからの入力信号にαを乗じた信号を出力信号(演算結果)として駆動信号生成部61Bに出力する。
第1及び第2作業フロントA,Bの静的モーメント平均値Tcが不安定領域Nにあり、かつ操作レバー用前後方向変位検出器582a,582b及び操作レバー用上下方向変位検出器581a,581bからの入力信号が、静的モーメント平均値Tcが増加する信号の場合、作業領域演算部361Fは、操作レバー用前後方向変位検出器581a,582bからの入力信号に0(ゼロ)を乗じた信号を出力信号(演算結果)とする。したがって、駆動信号生成部61C及び駆動信号生成部61Bに信号は出力されない。
Claims (8)
- 走行装置(1)を備えた下部走行体(2)と、この下部走行体の上部に設けられ運転室(4)を備えた上部旋回体(3)と、この上部旋回体の前部の左右両側に上下揺動自在に設けられ、アーム(12a,12b)、ブーム(10a,10b)及び作業具(20a,20b)をそれぞれ備えた2つの作業フロント(A,B)と、前記運転室内に設けられ、前記2つの作業フロントの動作を指示する操作装置(50a,50b)とを備えた双腕作業機械(200)において、
前記2つの作業フロントの前記ブームに対する前記アームの角度(θa,θb)をそれぞれ検出するアーム角度検出手段(69a,69b)と、
前記操作装置の操作方向及び操作量を検出する操作検出手段(57a,57b,581a,581b,582a,582b,59a,59b,60a,60b)と、
前記操作検出手段と前記アーム角度検出手段からの検出信号に基づき、前記アームへの駆動信号を演算する作業領域演算手段(61F;261F;361F)とを備え、
前記2つの作業フロントの姿勢による機体不安定性の評価値を安定判別値(θc;Xc;Tc)とし、2つの作業フロントの動作状態によらず機体が不安定になる恐れが無い安定判別値の領域を通常領域(L)、この通常領域の外側に隣接する設定範囲の領域を安定限界領域(M)、この安定限界領域の外側に隣接する設定範囲の領域であって、この安定判別値が予め定めた安定判別基準値(θc2;Xc2;Tc2)よりも大きくなる領域を不安定領域(N)と定義した場合、前記作業領域演算手段は、前記2つの作業フロントのアーム角度検出手段でそれぞれ検出した前記アームの角度に基づいて前記安定判別値を算出し、前記安定判別値が前記安定限界領域にあって、少なくとも前記不安定領域側に近付く場合、前記安定判別値が前記通常領域にある場合よりも前記駆動信号を減じて出力し、前記アームの動作速度を制限することを特徴とする双腕作業機械。 - 請求項1記載の双腕作業機械(200)において、
前記2つの作業フロント(A,B)の前記上部旋回体(3)に対するブーム(10a,10b)の角度をそれぞれ検出するブーム角度検出手段(68a,68b)を更に有し、
前記作業領域演算手段(261F)は、前記操作検出手段(57a,57b,581a,581b,582a,582b,59a,59b,60a,60b)と前記ブーム及びアーム角度検出手段(68a,68b,69a,69b)からの検出信号に基づき、前記ブーム及びアーム(12a,12b)の駆動信号を演算すると共に、前記作業領域演算手段は、前記2つの作業フロントのアーム角度検出手段でそれぞれ検出した前記アームの角度及びブーム角度検出手段でそれぞれ検出したブームの角度に基づいて前記安定判別値(Xc)を算出し、前記安定判別値が前記安定限界領域(M)にあって、少なくとも前記不安定領域(N)側に近付く場合、前記安定判別値が前記通常領域(L)にある場合よりも前記駆動信号を減じて出力し、前記アーム及びブームの動作速度を制限することを特徴とする双腕作業機械。 - 請求項1記載の双腕作業機械(200)において、
前記安定判別値(θc)は前記2つの作業フロント(A,B)の前記アームの角度(θa,θb)の平均値から算出することを特徴とする双腕作業機械。 - 請求項2記載の双腕作業機械(200)において、
前記安定判別値(Xc)は、前記作業フロントの前記ブームの角度及び前記アームの角度から算出した前記2つの作業フロント(A,B)のアーム先端(71a,71b)と上部旋回体(3)の距離(Xa,Xb)の平均値から算出することを特徴とする双腕作業機械。 - 請求項1乃至4の何れか1項記載の双腕作業機械(200)において、
前記作業領域演算手段(61F;261F;361F)は、前記安定判別値(θc;Xc;Tc)が前記安定限界領域(M)にあって前記不安定領域(N)側に近付く場合、前記安定判別値が前記不安定領域に近付くにつれて連続的又は段階的に前記駆動信号の減少の度合を大きくすることを特徴とする双腕作業機械。 - 請求項1乃至5の何れか1項記載の双腕作業機械(200)において、
前記作業領域演算手段(61F;261F;361F)は、前記安定判別値(θc;Xc;Tc)が前記不安定領域(N)にあって、前記安定限界領域(M)から遠ざかる場合、前記駆動信号を停止し前記アーム(12a,12b)の動作を停止させることを特徴とする双腕作業機械。 - 請求項1乃至6の何れか1項記載の双腕作業機械(200)において、
前記2つの作業フロント(A,B)の合計出力が、前記双腕作業機械と同等のエンジン出力を有する単腕作業機械の作業フロントの出力よりも大きいことを特徴とする双腕作業機械。 - 請求項1記載の双腕作業機械(200)において、
前記安定判別基準値(Tc2)は、前記2つの作業フロント(A,B)の静的モーメントの(Ta,Tb)合計が、1つの作業フロントを備えて前記双腕作業機械と同等のエンジン出力を有する単腕作業機械の作業フロントの静的モーメントの最大値と同じになるときの前記安定判別値(Tc)としたことを特徴とする双腕作業機械。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP08869253.8A EP2116670B1 (en) | 2008-01-07 | 2008-09-19 | Double arm type work machine |
US12/522,203 US8366374B2 (en) | 2008-01-07 | 2008-09-19 | Dual arm working machine |
CN2008800048111A CN101605954B (zh) | 2008-01-07 | 2008-09-19 | 双臂工程机械 |
JP2009527376A JP4841671B2 (ja) | 2008-01-07 | 2008-09-19 | 双腕作業機械 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008-000717 | 2008-01-07 | ||
JP2008000717 | 2008-01-07 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2009087795A1 true WO2009087795A1 (ja) | 2009-07-16 |
Family
ID=40852919
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2008/066998 WO2009087795A1 (ja) | 2008-01-07 | 2008-09-19 | 双腕作業機械 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8366374B2 (ja) |
EP (1) | EP2116670B1 (ja) |
JP (1) | JP4841671B2 (ja) |
CN (1) | CN101605954B (ja) |
WO (1) | WO2009087795A1 (ja) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20120323454A1 (en) * | 2010-02-05 | 2012-12-20 | Ransomes Jacobsen Limited | Machine with ground working elements providing improved stability |
CN103415664A (zh) * | 2011-03-08 | 2013-11-27 | 住友建机株式会社 | 挖土机及挖土机的控制方法 |
KR101760525B1 (ko) * | 2010-07-02 | 2017-07-21 | 히다찌 겐끼 가부시키가이샤 | 더블 아암형 작업 기계 |
WO2018123580A1 (ja) * | 2016-12-26 | 2018-07-05 | 本田技研工業株式会社 | 作業機 |
US11459728B2 (en) * | 2018-12-27 | 2022-10-04 | Industry-University Cooperation Foundation Hanyang University Erica Campus | Apparatus and method for controlling remote-controlled excavator for preventing overload |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2490488A (en) * | 2011-04-27 | 2012-11-07 | Keith Stephen | Agricultural or construction vehicle with mountings for two working arms |
US9348327B2 (en) * | 2011-06-10 | 2016-05-24 | Hitachi Construction Machinery Co., Ltd. | Work machine |
US9458602B2 (en) | 2012-02-15 | 2016-10-04 | Hitachi Construction Machinery Co., Ltd. | Dual-arm work machine |
DE102012103070A1 (de) * | 2012-04-10 | 2013-10-10 | Bernd Braun | Nutzfahrzeug oder Baumaschine |
CN102808431B (zh) * | 2012-08-21 | 2015-05-20 | 长安大学 | 双挖臂挖掘机 |
CN102878128B (zh) * | 2012-09-19 | 2015-02-25 | 浙江大学 | 工程机械液压系统 |
US9376784B2 (en) | 2013-03-29 | 2016-06-28 | Caterpillar Inc. | Control system for dual boom machine |
US20140305012A1 (en) * | 2013-04-10 | 2014-10-16 | Caterpillar Inc. | Single boom system having dual arm linkage |
CA3111350A1 (en) | 2016-07-20 | 2018-01-25 | Prinoth Ltd | Tracked vehicle with rotating upper structure and processes therefor |
WO2019116451A1 (ja) * | 2017-12-12 | 2019-06-20 | 住友重機械工業株式会社 | ショベル |
CN107964994A (zh) * | 2017-12-26 | 2018-04-27 | 贵州詹阳动力重工有限公司 | 一种多功能无线清障车 |
WO2020006537A1 (en) * | 2018-06-29 | 2020-01-02 | Eaton Intelligent Power Limited | Controller and control system with enhanced orientation detection for mobile hydraulic equipment |
JP7137855B2 (ja) | 2020-02-10 | 2022-09-15 | イワキパックス株式会社 | 仕切体 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0642014A (ja) * | 1991-02-14 | 1994-02-15 | Yutani Heavy Ind Ltd | 建設作業用機械の安全装置 |
EP0816576A1 (en) | 1996-06-28 | 1998-01-07 | KABUSHIKI KAISHA KOBE SEIKO SHO also known as Kobe Steel Ltd. | Construction machine |
JPH11181815A (ja) | 1997-12-19 | 1999-07-06 | Hitachi Constr Mach Co Ltd | 作業機械 |
JP2005232950A (ja) * | 2004-01-23 | 2005-09-02 | Hitachi Constr Mach Co Ltd | 作業機 |
JP2006070456A (ja) * | 2004-08-31 | 2006-03-16 | Hitachi Constr Mach Co Ltd | 作業機械 |
JP2007319962A (ja) * | 2006-05-31 | 2007-12-13 | Hitachi Constr Mach Co Ltd | 双腕作業機械 |
-
2008
- 2008-09-19 EP EP08869253.8A patent/EP2116670B1/en not_active Not-in-force
- 2008-09-19 JP JP2009527376A patent/JP4841671B2/ja not_active Expired - Fee Related
- 2008-09-19 WO PCT/JP2008/066998 patent/WO2009087795A1/ja active Application Filing
- 2008-09-19 US US12/522,203 patent/US8366374B2/en not_active Expired - Fee Related
- 2008-09-19 CN CN2008800048111A patent/CN101605954B/zh not_active Expired - Fee Related
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0642014A (ja) * | 1991-02-14 | 1994-02-15 | Yutani Heavy Ind Ltd | 建設作業用機械の安全装置 |
EP0816576A1 (en) | 1996-06-28 | 1998-01-07 | KABUSHIKI KAISHA KOBE SEIKO SHO also known as Kobe Steel Ltd. | Construction machine |
JPH11181815A (ja) | 1997-12-19 | 1999-07-06 | Hitachi Constr Mach Co Ltd | 作業機械 |
JP2005232950A (ja) * | 2004-01-23 | 2005-09-02 | Hitachi Constr Mach Co Ltd | 作業機 |
JP2006070456A (ja) * | 2004-08-31 | 2006-03-16 | Hitachi Constr Mach Co Ltd | 作業機械 |
JP2007319962A (ja) * | 2006-05-31 | 2007-12-13 | Hitachi Constr Mach Co Ltd | 双腕作業機械 |
Non-Patent Citations (1)
Title |
---|
See also references of EP2116670A4 * |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20120323454A1 (en) * | 2010-02-05 | 2012-12-20 | Ransomes Jacobsen Limited | Machine with ground working elements providing improved stability |
US9002592B2 (en) * | 2010-02-05 | 2015-04-07 | Ransomes Jacobsen Limited | Machine with ground working elements providing improved stability |
KR101760525B1 (ko) * | 2010-07-02 | 2017-07-21 | 히다찌 겐끼 가부시키가이샤 | 더블 아암형 작업 기계 |
CN103415664A (zh) * | 2011-03-08 | 2013-11-27 | 住友建机株式会社 | 挖土机及挖土机的控制方法 |
US20130345939A1 (en) * | 2011-03-08 | 2013-12-26 | Sumitomo(S.H.I.) Construction Machinery Co Ltd | Shovel and method for controlling shovel |
US9249556B2 (en) * | 2011-03-08 | 2016-02-02 | Sumitomo(S.H.I.) Construction Machinery Co., Ltd. | Shovel and method for controlling shovel |
KR101613560B1 (ko) * | 2011-03-08 | 2016-04-19 | 스미토모 겐키 가부시키가이샤 | 쇼벨 및 쇼벨의 제어방법 |
KR101768662B1 (ko) * | 2011-03-08 | 2017-08-17 | 스미토모 겐키 가부시키가이샤 | 쇼벨 및 쇼벨의 제어방법 |
WO2018123580A1 (ja) * | 2016-12-26 | 2018-07-05 | 本田技研工業株式会社 | 作業機 |
JP2018102203A (ja) * | 2016-12-26 | 2018-07-05 | 本田技研工業株式会社 | 作業機 |
US11267385B2 (en) | 2016-12-26 | 2022-03-08 | Honda Motor Co., Ltd. | Work equipment |
US11459728B2 (en) * | 2018-12-27 | 2022-10-04 | Industry-University Cooperation Foundation Hanyang University Erica Campus | Apparatus and method for controlling remote-controlled excavator for preventing overload |
Also Published As
Publication number | Publication date |
---|---|
US8366374B2 (en) | 2013-02-05 |
CN101605954A (zh) | 2009-12-16 |
US20110150615A1 (en) | 2011-06-23 |
EP2116670B1 (en) | 2013-11-06 |
JPWO2009087795A1 (ja) | 2011-05-26 |
EP2116670A4 (en) | 2012-03-28 |
EP2116670A1 (en) | 2009-11-11 |
JP4841671B2 (ja) | 2011-12-21 |
CN101605954B (zh) | 2012-11-07 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP4841671B2 (ja) | 双腕作業機械 | |
JP4823767B2 (ja) | 双腕作業機械 | |
WO2018003176A1 (ja) | 作業機械 | |
JP5851037B2 (ja) | 作業機械 | |
JP4587848B2 (ja) | 作業機械の操作装置 | |
JP4369329B2 (ja) | 作業機械 | |
JP2013189767A (ja) | 電動式旋回装置 | |
JP5730693B2 (ja) | 作業機械の操作装置 | |
JP2009121097A (ja) | 作業機械の油圧システム | |
JP5476286B2 (ja) | 作業機械の操作装置 | |
JP5079666B2 (ja) | 双腕型作業機 | |
JP4562583B2 (ja) | 作業機械 | |
JP5600830B2 (ja) | 作業機械の操作制御装置 | |
JP6479587B2 (ja) | 作業機械の遠隔操作装置 | |
JP2005248502A (ja) | 作業機の干渉防止装置 | |
JP4473057B2 (ja) | 建設機械の干渉防止装置 | |
JP5919305B2 (ja) | 作業機械の操作装置 | |
WO2023149104A1 (ja) | 作業機械および作業機械の制御方法 | |
JP5515050B2 (ja) | 作業機械の操作装置 | |
JP5015068B2 (ja) | オフセット式作業機 | |
JP2000204602A (ja) | 建設機械の操作制御装置 | |
JP2004218286A (ja) | 建設機械の干渉防止装置 | |
JPH11280103A (ja) | 3関節型掘削機の操作制御装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 200880004811.1 Country of ref document: CN |
|
ENP | Entry into the national phase |
Ref document number: 2009527376 Country of ref document: JP Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 12522203 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2008869253 Country of ref document: EP |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 08869253 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |