WO2021025170A1 - Excavatrice - Google Patents

Excavatrice Download PDF

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Publication number
WO2021025170A1
WO2021025170A1 PCT/JP2020/030521 JP2020030521W WO2021025170A1 WO 2021025170 A1 WO2021025170 A1 WO 2021025170A1 JP 2020030521 W JP2020030521 W JP 2020030521W WO 2021025170 A1 WO2021025170 A1 WO 2021025170A1
Authority
WO
WIPO (PCT)
Prior art keywords
boom
hydraulic oil
cylinder
arm
oil passage
Prior art date
Application number
PCT/JP2020/030521
Other languages
English (en)
Japanese (ja)
Inventor
孔康 井辻
Original Assignee
住友重機械工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 住友重機械工業株式会社 filed Critical 住友重機械工業株式会社
Priority to EP20849164.7A priority Critical patent/EP4012114A4/fr
Priority to CN202080045357.5A priority patent/CN114008276B/zh
Priority to JP2021537412A priority patent/JPWO2021025170A1/ja
Publication of WO2021025170A1 publication Critical patent/WO2021025170A1/fr

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2217—Hydraulic or pneumatic drives with energy recovery arrangements, e.g. using accumulators, flywheels
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/14—Energy-recuperation means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20507—Type of prime mover
    • F15B2211/20523—Internal combustion engine
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20576—Systems with pumps with multiple pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/21—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge
    • F15B2211/214—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge the pressure sources being hydrotransformers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
    • F15B2211/3057—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve having two valves, one for each port of a double-acting output member
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/3059—Assemblies of multiple valves having multiple valves for multiple output members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/3059—Assemblies of multiple valves having multiple valves for multiple output members
    • F15B2211/30595—Assemblies of multiple valves having multiple valves for multiple output members with additional valves between the groups of valves for multiple output members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • F15B2211/7114—Multiple output members, e.g. multiple hydraulic motors or cylinders with direct connection between the chambers of different actuators
    • F15B2211/7128—Multiple output members, e.g. multiple hydraulic motors or cylinders with direct connection between the chambers of different actuators the chambers being connected in parallel
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • F15B2211/7142—Multiple output members, e.g. multiple hydraulic motors or cylinders the output members being arranged in multiple groups
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/88—Control measures for saving energy

Definitions

  • Patent Document 1 discloses a shovel that uses hydraulic oil that flows out from the oil chamber on the bottom side of a boom cylinder when the boom is lowered in a regenerative hydraulic motor.
  • FIG. 3 is a diagram schematically showing an example of a configuration in which the boom cylinder 7 and the arm cylinder 8 are hydraulically driven in the excavator 100 according to the first embodiment.
  • each control valve 175B, 175R, 176B, 176R and the regenerative valve 19 are shown in a state at the time of regeneration, which will be described later.
  • the mechanical power system is shown by a double line
  • the hydraulic oil line is shown by a solid line.
  • the moving direction of the rod during regeneration which will be described later, is indicated by a white arrow
  • the flow of hydraulic oil is indicated by a black arrow.
  • the pump side port of the control valve 176B is connected to the main pump 14B via the hydraulic oil passage C4.
  • the tank side port of the control valve 176B is connected to the hydraulic oil tank via the hydraulic oil passage C7.
  • the actuator side port of the control valve 176B is connected to the bottom side oil chamber of the arm cylinder 8 via the hydraulic oil passage C5.
  • the boom rod pressure sensor S7R detects the oil pressure in the oil chamber on the rod side of the boom cylinder 7.
  • the boom bottom pressure sensor S7B detects the oil pressure in the oil chamber on the bottom side of the boom cylinder 7.
  • the arm rod pressure sensor S8R detects the oil pressure in the rod side oil chamber of the arm cylinder 8.
  • the arm bottom pressure sensor S8B detects the oil pressure in the oil chamber on the bottom side of the arm cylinder 8.
  • step S2 the controller 30 determines whether or not the differential pressure ⁇ P is equal to or greater than the threshold value Ref1.
  • the pressure boosting coefficient of the pressure boosting mechanism 18 is C
  • the oil pressure in the rod side oil chamber of the boom cylinder 7 is Pbr
  • the oil pressure in the bottom side oil chamber of the arm cylinder 8 is Pab
  • the differential pressure ⁇ P is the following equation. Let it be (1).
  • step S4 the controller 30 determines whether or not the differential pressure ⁇ P is less than the threshold value Pref2.
  • the controller 30 repeats the process of step S4.
  • the process of the controller 30 proceeds to step S5.
  • the regenerative valve 21 is an on-off valve provided in the hydraulic oil passage C13 to open and close the hydraulic oil passage C13.
  • the regenerative valve 19 may be, for example, a solenoid valve driven by a command from the controller 30.
  • the controller 30 opens the control valves 175B and 175R in response to an operation signal (for example, lever operation of the operation lever that operates the boom 4).
  • the hydraulic oil discharged from the main pump 14A is supplied to the bottom oil chambers of the boom cylinders 7A and 7B through the hydraulic oil passage C1, the control valve 175B, and the hydraulic oil passage C2. Further, the hydraulic oil flowing out from the rod-side oil chambers of the boom cylinders 7A and 7B flows into the hydraulic oil tank through the hydraulic oil passage C3, the control valve 175R, and the hydraulic oil passage C7.
  • one boom cylinder 7A out of the two boom cylinders 7 (7A, 7B) supports the reaction force. Therefore, as compared with the case where two boom cylinders 7 support the reaction force during excavation, the rod of the boom cylinder 7A due to the reaction force is supported by supporting the reaction force during excavation with one boom cylinder 7A.
  • the pressure rise in the side oil chamber increases.
  • the pressure in the rod side oil chamber of the boom cylinder 7A can be made higher than the pressure in the bottom side oil chamber of the arm cylinder 8. Therefore, the pressure (reaction force) generated in the boom cylinder 7 can be used in the arm cylinder 8 that drives during the excavation operation.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Operation Control Of Excavators (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

L'invention concerne une excavatrice qui utilise de façon appropriée un fluide hydraulique qui s'écoule à partir d'un vérin de flèche pendant l'excavation.　L'excavatrice comprend une flèche, un bras, un vérin de flèche qui entraîne la flèche, et un vérin de bras qui entraîne le bras et, pendant l'excavation, augmente la pression côté tige dans le vérin de flèche et fournit celle-ci au vérin de bras.
PCT/JP2020/030521 2019-08-08 2020-08-07 Excavatrice WO2021025170A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP20849164.7A EP4012114A4 (fr) 2019-08-08 2020-08-07 Excavatrice
CN202080045357.5A CN114008276B (zh) 2019-08-08 2020-08-07 挖土机
JP2021537412A JPWO2021025170A1 (fr) 2019-08-08 2020-08-07

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019146180 2019-08-08
JP2019-146180 2019-08-08

Publications (1)

Publication Number Publication Date
WO2021025170A1 true WO2021025170A1 (fr) 2021-02-11

Family

ID=74503918

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2020/030521 WO2021025170A1 (fr) 2019-08-08 2020-08-07 Excavatrice

Country Status (4)

Country Link
EP (1) EP4012114A4 (fr)
JP (1) JPWO2021025170A1 (fr)
CN (1) CN114008276B (fr)
WO (1) WO2021025170A1 (fr)

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4384977B2 (ja) * 2002-07-09 2009-12-16 日立建機株式会社 油圧駆動装置
JP2011069432A (ja) * 2009-09-25 2011-04-07 Caterpillar Sarl 作業機の回生制御装置
JP2012172491A (ja) * 2011-02-24 2012-09-10 Kobelco Contstruction Machinery Ltd 建設機械の油圧制御装置
WO2013005809A1 (fr) * 2011-07-06 2013-01-10 住友重機械工業株式会社 Pelleteuse et procédé de commande de pelleteuse
US8984873B2 (en) * 2011-10-21 2015-03-24 Caterpillar Inc. Meterless hydraulic system having flow sharing and combining functionality
JP2015172400A (ja) * 2014-03-11 2015-10-01 住友重機械工業株式会社 ショベル
WO2017056199A1 (fr) * 2015-09-29 2017-04-06 日立建機株式会社 Machine de construction
WO2017170352A1 (fr) * 2016-03-29 2017-10-05 住友重機械工業株式会社 Pelle
JP2019146180A (ja) 2014-08-18 2019-08-29 パナソニック株式会社 Ｍｉｍｏトレーニング方法及び無線装置

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4209705B2 (ja) * 2003-03-17 2009-01-14 日立建機株式会社 作業機の油圧回路
WO2016204309A1 (fr) * 2015-06-15 2016-12-22 볼보 컨스트럭션 이큅먼트 에이비 Dispositif de récupération de bras pour engins de chantier et procédé de commande
KR102062193B1 (ko) * 2016-09-23 2020-01-03 히다찌 겐끼 가부시키가이샤 작업 기계의 압유 에너지 회생 장치

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4384977B2 (ja) * 2002-07-09 2009-12-16 日立建機株式会社 油圧駆動装置
JP2011069432A (ja) * 2009-09-25 2011-04-07 Caterpillar Sarl 作業機の回生制御装置
JP2012172491A (ja) * 2011-02-24 2012-09-10 Kobelco Contstruction Machinery Ltd 建設機械の油圧制御装置
WO2013005809A1 (fr) * 2011-07-06 2013-01-10 住友重機械工業株式会社 Pelleteuse et procédé de commande de pelleteuse
US8984873B2 (en) * 2011-10-21 2015-03-24 Caterpillar Inc. Meterless hydraulic system having flow sharing and combining functionality
JP2015172400A (ja) * 2014-03-11 2015-10-01 住友重機械工業株式会社 ショベル
JP2019146180A (ja) 2014-08-18 2019-08-29 パナソニック株式会社 Ｍｉｍｏトレーニング方法及び無線装置
WO2017056199A1 (fr) * 2015-09-29 2017-04-06 日立建機株式会社 Machine de construction
WO2017170352A1 (fr) * 2016-03-29 2017-10-05 住友重機械工業株式会社 Pelle

Also Published As

Publication number Publication date
CN114008276B (zh) 2023-09-08
EP4012114A4 (fr) 2022-11-02
JPWO2021025170A1 (fr) 2021-02-11
CN114008276A (zh) 2022-02-01
EP4012114A1 (fr) 2022-06-15

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